Venkat N. Krovi PhD, FASMEengineering.nyu.edu/mechatronics/NSFWorkshop/slides/best_practices/... ·...
Transcript of Venkat N. Krovi PhD, FASMEengineering.nyu.edu/mechatronics/NSFWorkshop/slides/best_practices/... ·...
Slide 1
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Research Expertise
Venkat N. Krovi PhD, FASME
Michelin Endowed Chair Professor of Vehicle AutomationClemson University- International Center for Automotive [email protected]://mechatronics.eng.buffalo.edu/
Research Directions
• Lifecycle treatment (design,
analysis, prototyping
and verification) of smart,
mechatronic and robotic
systems with applications to
automotive, defense and
consumer arenas.
• Research Thrusts
(a) Multi-robot Cooperative
Payload Transport
(b) Haptic Device Design
(c) Mediated Teleoperation;
(d) Distributed real-time
simulation/control of systems.
(f) Human-Robot Interactions/
Assessment
• NNMI Involvement
• DMDII, CESMII, RIME
Professional Activities
IEEE (Robotics and Automation Society)
• IEEE RAS Conf. Activities Board
• IEEE RAS Industrial Activities Board
• IEEE RAS Member Activities
(Distinguished Lecture Series)
• Finance Chair: IEEE ICRA 2012, IROS
2014, ICRA2019
ASME (Design Engineering Division,
Dynamic Systems and Control Division)
• Design Materials & Manufacturing
Segment Leadership Team
• General Chair, ASME
IDETC 2014 & Inaugural ADMIF 2014
• Conference Chair, ASME MR 2010
Associate Editor
• ASME J. Mech. & Robotics (2015-2017)
• IEEE Trans on Robotics (2012-2016)
• IEEE/ASME Trs on Mechatronics (2009-12)
• ASME J. Dyn. Sys Meas & Con (2009-12)
Slide 2
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
2
http://mechatronics.eng.buffalo.edu/
Recent Research Focii
NSF
CAREER
(2004)
NSF IIS-
1319084
2011:
NSF CPS
1135660
2013:
Kaleida
Health &
Bruce-Holm
Innovation
Fund
DARPA
Minds-Eye
Program
Slide 3
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Bilateral Haptic TeleoperationMobile Manipulation
Surgical Robotics
Cable-based Manipulation
6DOF Personal Simulator 6DOF MTS SystemMusculoskeletal Analyses
NSF CAREER (2004) NSF IIS-1319084 NSF CNS-0751132
2008: CNS-0751132
2011: CPS -11356602013: CNS 13144842013: Kaleida Health &
Bruce-Holm Innovation Fund
Slide 4
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
http://mechatronics.eng.buffalo.edu/
http://www.youtube.com/user/ubarmlabhttp://armlabrobotics.blogspot.com/
http://mechatronics.eng.buffalo.edu/
Slide 5
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Mechatronics/Robotics Paradigm
Sense-Think-Act1000’s of times a second
Slide 6
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Robotics: Over the decades (50 years of Robotics)
▪ “Sense-Think-Act in Real-Time Paradigm”o Manipulating & Transforming the World
o Extending the reach of humans over various spatial and temporal scales (nano to macro)
o 4D (dull, dangerous, dirty, difficult) tasks
▪ Evolutionary Driverso Scientific and Technological Advances
• Improved fundamental scientific understanding
o Triple convergence• Computing: Moore’s law driven growth of raw
computing power • Communication: Ubiquitous and seamless wireless• Integration: Miniaturized and embedded in-silico
deployments of computing /communication/ sensing & actuation
Slide 7
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Robotics: Over the decades
▪ Evolutionary Drivers Drivers (Cont’d)o Digital Redesign Paradigm
▪ Growth of Application Spaces• Drive-By-Wire Cars• Computer-assisted Surgery• Energy-efficient Buildings • Micro- and Nano- Manipulation• Space Exploration• …
Physical Interconnection
Subsystem
A A/D
Subsystem
A
Subsystem
B
D/A
Subsystem
B
Digital Interconnection
Subsystem
A
Analog InterconnectionSubsystem
B
Slide 9
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
http://harborresearch.com/
Slide 10
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Examples of Analog Functions That Can Be Done Digitally
CONTROLSound
Motion
Speed
Light
MONITORPower Usage
Inputs/Outputs: I/O
Tracks Time
Pressure
Fluid Levels
Frequency
SENSE
Motion
Temperature
Optics
Light
REPORT/DISPLAY
Gauges/Dials
Reads Switches
Activates Relays
Keypads
Slide 11
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Exploiting the power of a Vignette/Case-study
Electro-mechanical Thermostat
Mercury switch is mounted to a bimetallic coil
Temperature rises/falls
Coil expands/contracts, tripping one of the two mercury switches (hot or cold)
Mercury switches enable a mechanical relay
Applies 24 VAC to either the compressor or heater coil.
Additional switch/relay is used to turn fan motor on/off.
▪
Slide 12
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Electronic Control Thermostat
▪ Temperature set using ‘Temp Up’ and ‘Temp Down’ buttons
▪ LCD display shows the set and current temperatures
▪ When ‘Fan’, ‘Heating’, or ‘Cooling’buttons are pressed, LCD is updated and microcontroller processes the request
▪ The mC uses an analog input to monitor the current temperature. The analog input is connected to a resistor and a thermister, in a voltage divider type circuit
▪ Controller maintains the set temperature by enabling either the heating or cooling coils
Slide 13
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Wireless Distributed Cooling Learning Thermostats
Future Thermostats
Slide 14
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Vignette: Electromechanical thermostat: Digital Redesign Paradigm
▪Basic Level:– Replacing the mechanical dial and pullout pins with
LCD panel display, one button to choose time for on/off
▪Mid Level:
– Add DAY feature
– Electromechanical timer don’t allow for programming on/off by day
– Security, Convenience
▪High Level:
– Add learning capability
– Senses when the AC line is drawing current
– Active lifestyle or vacation mode
– Add environmental controls
– Internet controlled appliances ???
Slide 15
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Consumer
TV/VCR equipment
Stereo receiver
CD player
Remote controls
Cable TV converter
Video games
Cameras
Garage opener
Carbon Monoxide
detector
Microwave oven
Washer/dryer
Kitchen appliances
Cordless tools
Vacuum cleaner
Electric blanket
Automotive
Auto security
system
Keyless entry
Radar detector
Cruise control
Anti-lock braking
Speedometer
Climate control
Turn signals
Active suspension
Fuel pump control
Fuel injection
Sun roof control
Air bag sensor
Power seats
Throttle Control
Office
Automation
Computer mouse
Laptop trackball
Computer
keyboard
Handheld scanner
Laser printer
interface board
PC LAN system
X/Y plotter
Copier
Bar code reader
Disk drive
Tape back-up unit
Serial bus
Facsimile machine
Fiber Optic Node
Telecom
Cellulartelephone
Cordlesstelephone
Feature phone
Answeringmachine
Pay phone
Pager
Modem
Line Card
Telephone
Exchange
911 Phone
Systems
Switching
Node
GSM Phone
Caller ID
Industrial
Motor control
Compressor
Thermostat
Postage meter
Utility meter
Robotics
Process control
Gas pump
Smoke detector
Credit card reader
Fuel Mix
Furnace
Lighting Ballast
Valve Control
Scanners
Pump Control
Hundreds of Applications
Slide 16
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Course Organization
Course Description
MAE476/576 Mechatronics will emphasize the theory and practice of hardware and software interfacing of microprocessors with analog and digital sensor/actuators. The objective is to build a working familiarity with microprocessor and electronic technologies needed in the design and control of mechatronic systems. This course will cover the following broad topics:
• Analog and Digital Signals conversion. • Digital Logic, Circuits and Implementation. • CPU Architectures. • Structured-language programming. • Digital (parallel/serial) and analog input/output (I/O). • Interfacing to external devices, sensors, and actuators and • Real time Operating System Issues and Operator Interfaces.
Slide 17
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Course Organization
▪ Lectures
o Major topics in electronics, instrumentation, actuation and sensing
▪ Labs (3-4) (building professional competence, structured, 2-3 weeks each)
o Teams of students will configure, and implement mechatronic subsystems
using Basic Stamp based systems.
▪ Final Project (more open-ended, about a month long)
o The same teams of students will work on a much larger final project using
Basic Stamps, PIC Microprocessors or others like Arduino
▪ Evaluation
o NO mid-term exam and one final examination.
o Each 3-4 student team:
• A detailed report for each of the lab exercises
• Demonstration of completion of the exercise.
• For the final project, an oral presentation will also be required
Lab Exercises (Submissions + Demonstrations) 40%
Final Project (Oral + Report + Demonstration) 30%
Final Examination 30%
Slide 18
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Concepts to learn
o Task 1 LCD Display + Matrix Keyboard interfacing
(interface between computers and hardware)
o Task 2 Analog/Digital conversion
(sensing the analog world)
o Task 3 Pulse Encoder Hardware/Software Decoding
(sensing with digital transducers)
o Task 4 DC Motor control
(acting on the real world)
o Task 5 IR Serial line interface + RF connection
(communicating with other computers)
Slide 19
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Slide 20
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Reporting Requirements▪ Lab Exercises
o A single report per group two weeks after the lab exercise assigned.
o E-mail soft copy (Word format) and hand in paper copy during lab hour.
o Detailed instructions regarding the format of the reports to be submitted are posted at Website.
▪ Weekly e-mails
o Each student, brief (5-10 sentence) status report by email
o CC'ing their teammates.
o Individual and team's progress w.r.t the labs/final project
o On weeks when the report of a lab exercise is due, submission of the soft copy (Word document) will be adequate.
▪ Final Project
o A single comprehensive final project report per team
o The exact due date for the submission will be announced.Note:
o Microsoft Word is the preferred word-processing software -- alternative arrangements may be made upon request.
o No credit will be given for late assignments (demonstrations or reports).
Slide 21
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Slide 22
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Final Project (will be similar to last year’s)▪ In these projects, you will be using
one Master processor (BS2) to control one or more Slave processor(s) (BS2/PIC) which now take on the role of the reading sensors in a distributed "intelligent sensor" scheme.
▪ The final project will require the delivery of : a comprehensive report, an oral presentation and a demonstration.
▪ Each group will be peer-evaluated on the oral presentation and demonstration sections.
Slide 23
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Final Project
▪ In these projects, you will be
using a Wheeled Mobile Robot
to solve open-ended problems
▪ The final project will require the
delivery of : a comprehensive
report, an oral presentation and
a demonstration.
▪ Each group will be peer-
evaluated on the oral
presentation and demonstration
sections.Past Year’s Projects
Slide 24
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Movies of One of the Projects
Web Page
Slide 25
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Movies of One of the Projects
Web Page
Slide 26
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory© 2011 Maplesoft, a division of Waterloo Maple Inc.
Benefits of Physical Modeling
Physical model diagrams
map directly to the system
Can we see
the math?
Slide 27
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Pedagogical Goal
Concepts ∙ Science ∙ Math ∙ Requirements ∙ Systems ∙ Theory
Experiments ∙ Validation ∙ Reality ∙ Intuition ∙ RT simulation
Models ∙ Virtual Simulation ∙ Visualization ∙ Parameters ∙ Design An effective bridge between theoretical
concepts and realistic design applications
Slide 28
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Conclusions
• Reduce model development time from months to days
• Realize previously infeasible models
• Quickly test new model formulations
• Maximum speed for real-time
Research• Bring theory to life
without sacrificing rigor
• Respond to emerging trends in industry
• Control, engineering modeling, robotics, mechatronics, machine design, …
Education
Slide 29
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Agenda
▪ Creation of Self-Paced MapleSim Tutorials to enhance a robotics course▪ 2010 ASME IDETC Conference, Aug. 16-18 2010 &
▪ ASEE Computers in Education (Special Issue on Robotics Education)
▪ Model-Based Control for Control Education.▪ 2010 Annual ASME DSCC Conference, Sept 12-15 2010 &
▪ ASEE Computers in Education (Special Issue on Robotics Education)
▪ Generation of Vehicle Dynamics Equations-of-Motion with Varying Fidelities.▪ 2007 ASME IMECE Conference.
▪ EOM Generation, Analysis, and Simulation for Complex Parallel Manipulators (Hexapod, HD2)
▪ 2010 ASME IDETC Conference, Aug. 16-18 2010 & 2011 ASME IDETC Conference, Aug. 28-31 2011
ED
UC
AT
ION
RE
SE
AR
CH
Acknowledgments: Hrishi Shah, Sumit Tripathi, Anand Naik, Leng-Feng Lee, Xiaobo Zhou, Srikanth Kannan
Madusudanan Sathia Narayanan, Seung kook Jun, Suren Kumar, Priyanshu Agrawal
Slide 30
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Role of Automated Symbolic
Generation of Equations of Motion in
Mechanisms and Robotics Education
Education
PublicationH. Shah, S. Tripathi, L-F. Lee, and V. Krovi, "Role of Automated Symbolic Generation of Equations of Motion in
Mechanism and Robotics Education,“ Proceeding of ASME 2010 International Design Engineering Technical
Conferences, Montreal, Quebec, Canada, August 15-18, 2010.
Shah, H. L., Tripathi, S., Lee, L.-F., and Krovi, V., “Role of Automated Symbolic Generation of Equations of Motion to
Enhance Robotics Education", ASEE Computers in Education Journal, July-September 2010, Vol. I, No. 3, pp. 2-20
(WINNER OF 2010 HARDENS-SIMONS BEST JOURNAL PAPER AWARD).
1
Slide 31
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Education
▪ Self-paced MapleSim tutorials to aid in learning of kinematics and dynamics concepts in a robotics course.
▪ Not familiar with either theory /formulations or the tools .
▪ Linkage between Traditional Analytical and Automated Symbolic approaches
Slide 32
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Education
▪ Phased Introduction
▪ Simple Examples: Pendulum
▪ Intermediate examples: Double Pendulum/Fourbar
▪ Complex Examples: 3-RRR, 3PRR etc.
Slide 33
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Tutorials – Phase 1
Fx,Fy v/s t y v/s x
ω v/s θ θ v/s tPendulum
Slide 34
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Tutorials – Phase 2
Fourbar
Slide 35
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Tutorials – Phase 3
Platform Center Active joints Passive joints
Platform Point Platform Point Platform Point
3RRR – MapleSim simulation
3PRR – MapleSim simulation
Slide 36
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Tutorials – Phase 3
3RRR – MapleSim EOM extraction
Slide 37
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Role of Automated Symbolic
Generation of Plant Models
in Control Education
Education
Publication
S. Tripathi, H. Shah, L-F. Lee, V.N. Krovi, "Role of Automated Symbolic Generation of Plant Models in Control Education",
Proceedings of 3rd Annual ASME Dynamic Systems and Control Conference, Cambridge, MA, September 13-15,
2010.
Shah, H. L., Tripathi, S., Lee, L.-F., and Krovi, V., “Role of Automated Symbolic Generation of Equations of Motion to
Enhance Robotics Education", ASEE Computers in Education Journal, July-September 2010, Vol. I, No. 3, pp. 2-20
(WINNER OF 2010 HARDENS-SIMONS BEST JOURNAL PAPER AWARD).
2
Slide 38
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Rotary Inverted (Furuta) Pendulum
▪ Spatial two link/two revolute system
▪ Multivariable
▪ Nonlinear
▪ Under-actuated
▪ Naturally unstable
▪ Benefits from model-based control
▪ Available commercially
▪ Quanser control experiment
Traditional Method Using Maplesim/Maple
2
1 {0}{1}
1 1( , )L m
2 2( , )L m
{2}
{3}
2
1
x axis
z axisy axis
Slide 39
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Rotary Inverted (Furuta) Pendulum
▪ “One-semester” independent study led to an MS Thesis
Slide 40
ARMLABhttp://cuicar.com
Automation, Robotics and Mechatronics Laboratory
Furuta Pendulum: Implementation
Overall MapleSim model
Simmechanics model with
MapleSim controller