Mechatronics:

Education, Research & Development

Prepared by: Ashraf Aboshosha

Event: http://www.icgst.com/con11/cse11/index.html

EAEA, NCRRT, Engineering Dept.

www.icgst.com, www.icgst-amc.com
editor@icgst.com
Tel.: 0020-12-1804952
Fax.: 0020-2-24115475
Education Research

Development
 Education
 Bsc., Msc. and PhD regulations (Catalog)
 Preparation of curricula guidelines (Printed and Online materials)
 Academic advertising for mechatronics
 Preparing list of lab equipments
 Educational/public training courses (courses and partners)
 Comparative survey on local/international mechatronics institutes
 Contact with mechatronics pioneers to share ideas and strategies
 Inviting our strategic partners to explore the future
 Research
 Preparing our short/long term research plan (topics,
fund, priorities)
 Contacting mechatronics leading firms to join our
strategic partnership
 Academic promotion for our research products
 Scheduling our academic activities (conferences,
training, visiting Prof. etc.)
 Preparing our academic exchange program
 Preparing our academic press (small scale)
 Contacting our strategic partners to plan the future work
 Development
 A survey on the local and international job market of mechatronics
 A survey on the increasing demand in automation and exploring the
available chances of this field
 Preparing a study on mechatronics standards in industry and
automation
 Linking education, research and development
What is the Mechatronics?

Mechatronics basically refers to mechanical electrical

systems and is centered on mechanics, electronics,
computing and control which, combined, make possible
the generation of simpler, more economical, reliable and
versatile systems.

The term "mechatronics" was first assigned by Mr. Tetsuro

Mori, a senior engineer of the Japanese company
Yaskawa, in 1969.
What is the Mechatronics?

© Uni North Carolina

 Mechatronics Curricula
 Introduction to engineering (eng. math, physics, chemistry,
mechanical systems, eng. drawing, etc.),
 Engineering software; C, Java, Matlab, Labview, VEE, Linux etc.
 Fundamental of mechanical system design and analysis
 Electronic devices, circuits and systems
 Digital systems, computer architecture and computer interface
 Applied control theory (I, II and III)
 Robotics (sensors, actuators, control, vision, AI, etc.)
 Instrumentation and measurements
 Signal & image processing
 CAD/CAM, NC and CNC
 Embedded systems, sensors, actuators and software
 Fine mechanical parts, MEMS and nanotechnology
 Integrated mechanical/electrical systems
 Language (English)
 Mechatronics Labs (6G*N)
۩ Computer software lab
۩ Aero-, thermo- and fluid dynamics
۩ Embedded systems lab
۩ CAD/CAM lab
۩ Digital electronics lab
۩ Robotics
۩ Robocup team lab
۩ Electronics lab
۩ Advanced electricity lab
۩ Lab of mechanical systems
۩ Lab for fundamental chemistry
۩ Lab for basics of physics
۩ Eng. drawing hall
۩ Electrical/mechanical workshops
۩ Language lab
 Embedded Systems
A combination of hardware and software which
together form a component of a Mechatronics
systems. An embedded system is designed
to run on its own without human intervention,
and may be required to respond to events in
real time.
 Embedded Systems in Automotive
Applications
■ Entertainment
■ Adaptive control
■ Generation II ABS
■Satellite services radio/GPS
■ Heads-up monitoring
■ Tele-operation
■ Night vision
■ Software control
■ Back-up collision sensor
■ Rain-sensing
■ Navigation
■ Auto parking
■ Tire pressure sensing
■ Simulators
■ Holonomic non-holonomic
■ Testing
motion
 Hardware, Software, and Firmware

Hardware is the name given to the physical devices and circuitry

of the computer.

Software refers to the programs written for the computer.

Firmware is the term given to programs stored in ROMs or in

Programmable devices which permanently keep their stored
information.
 Robotics Curricula
Introduction to Robotics: History, Asimov’s laws, Different types of robot
platforms (humanoid, Car-like, holonomic & non-holonomic, miniature,
manipulators, animators, indoor, outdoor, space robots, medical robots, under
water robots, locomotion, areal robots, educational robots, legged robots,
mobile robots, robot simulators etc.)
Path Planning: objectives and methods (Voronoi, Bug, potential field, visibility,
reactive, road map).
Environment modeling:  the general meaning and the applied techniques
(occupancy grid, topological graphs, integrated, 3D modelling).
Distributed sensors: IR, laser, sonar, E-nose, vision, artificial skin, artificial ear
etc.
Robot kinematics and inverse kinematics
Sensors Integration: advantages, weaknesses and methods (Bayes network,
Kalman filter, fuzzy logic, particle filter).
Robot actuators: Hydraulic, pneumatic and electric drives (DC, Ac, servo, and
stepper motors)
Self localization: Introduction and techniques (SLAM, Markov, Bayes network,
expectation maximizing, maximum likelihood).
 Robot Platforms (1)

Indoor Robots DLR Gripper NASA Mars Rover Asimo Humanoid

Outdoor Robots Robot Base Station KUKA Manipulator

 Robot Platforms (2)

Aibo 4 legged Robot

Qurio Humanoid Robocup Team

NAO Humanoid
 Robot Platforms (3)

Snake Robot HEXAPOD Robot Big Dog Robot

Micro Robot Flying UAV Underwater Robot

Robot Platforms (4)

Robot simulators
 Robot Platforms (5)

Robot educational kits

CCD Camera Compass IR PSD Servo motor Sonar Laser ranger

Robot sensors
 Robot Platforms (6)

NXT Intelligent Brick Servo Motor

Sound Sensor Light Sensor Touch Sensor

key transponder Accelerometer Sensor Compass Sensor Ultrasonic Sensor

LEGO MINDSTORMS NXT

Stepper, AC and DC Motors
PLC and Microcontrollers
 Pc Board CAN BUS

Serial/paralell
GPIB
 Buses: USB
USB (Universal Serial Bus) is a new external bus developed by Intel, Compaq,
DEC, IBM, Microsoft, NEC and Northern Telcom and released to the public in
1996 with the Intel 430HX Triton II Mother Board. USB has the capability of
transferring 12 Mbps, supporting up to 127 devices and only utilizing one IRQ.
For PC computers to take advantage of USB the user must be running Windows
95 OSR2, Windows 98 or Windows 2000. Linux users also have the capability
of running USB with the proper support drivers installed.

USB cables are hot swappable which allows users to connect and disconnect the
cable while the computer is on without any physical damage to the cable.

USB Logo USB Type A & B USB mini

 Buses: USB
USB VERSIONS:
USB 1.0 - The original release of USB supports 127 devices
transferring 12 Mbps.

USB 1.1 - Also known as full-speed USB, USB 1.1 is similar to the
original release of USB however minor modifications for the
hardware and the specifications. This version of USB still only
supports a rate of 12 Mbps.

USB 2.0 - USB 2.0 also known as hi-speed USB was developed by
Compaq, Hewlett Packard, Intel, Lucent, Microsoft, NEC and Philips
and was introduced in 2001. Hi-speed USB is capable of supporting  a
transfer rate of up to 480 Mbps and is backwards compatible meaning
it is capable of supporting USB 1.0 and 1.1 devices and cables.
 Buses: USB
USB Architecture:
 Host
◦ One host per system
◦ Typically the PC in standard USB topology
◦ Can be any device in OTG
 Hub
◦ Provides connecting ports, power, terminations

 Device/Node (i.e. Slave)

◦ Peripheral application
 Buses: USB
USB Specifications:
 A unique connector
 Hub topology
 Auto detection and configuration
 Low power
 High Performance
 Supports up to 127 external devices
 Provides power
 BW:USB 1.1: 12 Mb/s, USB 2.0: 480 Mb/s
 Buses: USB
USB Topology:
• Maximum cable length of 30 meters
• Maximum of five non-root hubs
• Only a function is allowed in tier 7
• Maximum of six segments
• Hub at center of each star
• Each segment 5m max
• Tiered star
 Buses: USB
USB Devices:
 HUB

◦ Simplifies USB Connectivity

◦ Detect attach and detach
 Functions

◦ USB devices that transmit or receive data

 Buses: FireWire
 By Apple
 BW:

◦ 400 Mbps
◦ 800 Mbps for 1394b
◦ Can send more than a CD every 10 sec
 Plug & play
 Support 63 devices
 Provides power
 Digital audio, video, external hard drives, …
 Buses: FireWire
 The original FireWire was faster than USB when it came out.
 Transfer rates of up to 400 Mbps.
 The maximum distance between devices is 4.5 meters of
cable length.
 Eventually, FireWire 800 replaced USB 2.0 very easily.
 FireWire 800 had a transfer rate of up to 800 Mbps.
 The maximum distance of cable length between devices is
100 meters.
 Buses: FireWire
USB 1.1 12Mbps

FW 400 400 Mbps

USB 2.0 480 Mbps

FW 800 800 Mbps

 USB versus FireWire

USB FireWire
On-bus power 2.5W 45W (!)
Max # devices 127 63
Topology Star Tree
Plug & Play Yes Yes
Peer-to-peer connectivity No Yes
Device Cost Low High
 BUSES: GPIB
INTRODUCTION:
• In 1965, Hewlett-Packard designed the Hewlett-Packard Interface Bus ( HP-
IB ) to connect their line of programmable instruments to their computers.
Because of its high transfer rates (nominally 1 Mbytes/s), this interface bus
quickly gained popularity. It was later accepted as IEEE Standard 488-1975, and
has evolved to ANSI/IEEE Standard 488.1-1987.
•Today, the name G eneral Purpose Interface Bus (GPIB) is more widely used
than HP-IB. ANSI/IEEE 488.2-1987 strengthened the original standard by
defining precisely how controllers and instruments communicate.
•Standard Commands for Programmable Instruments (SCPI ) took the
command structures defined in IEEE 488.2 and created a single, comprehensive
programming command set that is used with any SCPI instrument. Figure 1
summarizes GPIB history.
 BUSES: GPIB
 GPIB can connect 15 instruments (0~31 address can be assigned)
to a PC (controller). The PC handles the transmission on the bus.
 8 bits parallel transmission, up to 8 Mbits/s transmission speed.
 The total cable length in a system should not exceed 20m (2m
max. between a device and next device)
 Text mode commands. (Easy to differentiate)
 Using three handshake line for handshaking to ensure data
transmission accuracy.
 BUSES: GPIB

Oscilloscope
Function generator

GPIB
Interface

Digital multi-meter Switch

 BUSES: GPIB

GPIB Connections

Linear Configuration Star Configuration

 BUSES: CAN
Controller–area network (CAN or CAN-bus) is a vehicle bus
standard designed to allow microcontrollers and devices to
communicate with each other within a vehicle without a host computer.
The CAN Bus is an automotive bus developed by Robert Bosch, which
has quickly gained acceptance into the automotive and aerospace
industries. CAN is a serial bus protocol to connect individual systems
and sensors as an alternative to conventional multi-wire looms. It
allows automotive components to communicate on a single or dual-
wire networked data bus up to 1Mbps.
 BUSES: CAN
In 2006, over 70% of all automobiles
sold in North America will utilize CAN
Bus technology. Beginning in 2008, the
Society of Automotive Engineers (SAE)
requires 100% of the vehicles sold in the
USA to use the CAN Bus communication
protocol while the European Union has
similar laws. Several new after market
devices have been introduced into the
market that utilize the CAN Bus protocol
but until now, there have been no new
devices that assist the aging after market
remote starter and alarm system
technology. Now there is an after market
module that offers remote starter and
alarm connectivity to the CAN Bus
communication protocol.
 Engineering Software

Matlab Labview HP-VEE IDL Mathematica

Linux Qt Mathcad

Autocad PowerSHAPE PowerMILL CopyCAD

 End

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