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editor@icgst.com
Tel.: 0020-122-1804952
Fax.: 0020-2-24115475
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Education
Research
Development
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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
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Research
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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
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Development
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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
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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.
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What is the Mechatronics?
© Uni North Carolina
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Mechatronics Curricula
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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)
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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
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 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.
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Embedded Systems in Automotive
Applications
■ Entertainment
■ Generation II ABS
■ Heads-up monitoring
■ Night vision
■ Back-up collision sensor
■ Navigation
■ Tire pressure sensing
■ Holonomic non-holonomic
motion
■ Adaptive control
■Satellite services radio/GPS
■ Tele-operation
■ Software control
■ Rain-sensing
■ Auto parking
■ Simulators
■ Testing
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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.
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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).
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Robot Platforms (1)
Indoor Robots
DLR Gripper
Outdoor Robots
NASA Mars Rover
Robot Base Station
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Asimo Humanoid
KUKA Manipulator
Robot Platforms (2)
Aibo 4 legged Robot
Qurio Humanoid
NAO Humanoid
Robocup Team
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Robot Platforms (3)
Snake Robot
HEXAPOD Robot
Micro Robot
Flying UAV
Big Dog Robot
Underwater Robot
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Robot Platforms (4)
Robot simulators
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Robot Platforms (5)
Robot educational kits
CCD Camera
Compass
IR PSD
Servo motor
Sonar
Robot sensors
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Laser ranger
Robot Platforms (6)
NXT Intelligent Brick
Sound Sensor
key transponder
Servo Motor
Light Sensor
Accelerometer Sensor
Touch Sensor
Compass Sensor
LEGO MINDSTORMS NXT
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Ultrasonic Sensor
Stepper, AC and DC Motors
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PLC and Microcontrollers
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Pc Board
GPIB
Serial/paralell
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CAN BUS
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
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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.
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Buses: USB
USB Architecture:
 Host
◦ One host per system
◦ Typically the PC in standard USB topology
◦ Can be any device in OTG
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Hub
◦ Provides connecting ports, power, terminations
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Device/Node (i.e. Slave)
◦ Peripheral application
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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
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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
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Buses: USB
USB Devices:
 HUB
◦ Simplifies USB Connectivity
◦ Detect attach and detach
 Functions
◦ USB devices that transmit or receive data
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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, …
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Buses: FireWire
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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.
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Buses: FireWire
USB 1.1
12Mbps
FW 400
400 Mbps
USB 2.0
480 Mbps
FW 800
800 Mbps
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USB versus FireWire
On-bus power
USB
2.5W
FireWire
45W (!)
Max # devices
127
63
Topology
Star
Tree
Plug & Play
Yes
Yes
Peer-to-peer connectivity
No
Yes
Device Cost
Low
High
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BUSES: GPIB
INTRODUCTION:
• In 1965, Hewlett-Packard designed the Hewlett-Packard Interface Bus ( HPIB ) 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.
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BUSES: GPIB
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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.
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BUSES: GPIB
Oscilloscope
Function generator
GPIB
Interface
Digital multi-meter
Switch
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BUSES: GPIB
GPIB Connections
Linear Configuration
Star Configuration
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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 dualwire networked data bus up to 1Mbps.
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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.
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Engineering Software
Matlab
Labview
HP-VEE
Linux
Autocad
PowerSHAPE
IDL
Qt
PowerMILL
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Mathematica
Mathcad
CopyCAD
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