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11.04.2017|
Brad Nelson (Coordinator), Raffaello D’Andrea, Margarita Chli, Jürg Dual, Emilio Frazzoli, Roger
Gassert (D-HEST), Pavel Hora, Christofer Hierold, Marco Hutter, Walter Karlen (D-HEST), Johann Kolar
(D-ITET), John Lygeros, Edoardo Mazza, Mirko Meboldt, Marc Pollefeys, Dimos Poulikakos, Robert
Riener (D-HEST), Roland Siegwart, Lothar Thiele (D-ITET), Konrad Wegener, Melanie Zeilinger.
1
Mechatronics Focus
11.04.2017| 2
Mechatronics
Image courtesy: Kevin C. Craig
11.04.2017| 3
The Scale of Robotics and Mechatronics
10-9
10-6
10-3
1
103
106
109
1012
1015
nm
mm
mm
m
km
Edge of the
solar system
Earth
to Mars
Nearest
Stars
11.04.2017|
Pierre Jaquet-Droz (1721-1790)
4
Swiss Watchmaker and Builder of Automatons
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Jaquet-Droz / Honda Asimo
The Draughtsman
The Writer
The Musician
Honda Asimo
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The Traditional vs. Mechatronic Approach
Pinzgauer, Steyr-Daimler-Puch Hy-Wire, General Motors
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Actuators
DC servomotors, Stepper motors, Power amplifiers, Pneumatic actuators,
Hydraulic actuators, Piezoactuators, Voice coil motors, etc.
Sensors, e.g. encoders, strain gauges
Contact, proximity, position and orientation, acceleration, force, pressure,
temperature, etc.
CPU, e.g. PC, microcontrollers, digital signal processors (DSP), RISC
processor
7
Closed Loop Systems
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PC, Workstation
Pentium Chips
RAM (128 MB)
Disk drives
CDROM/DVDROM
Floppy drives
Hard disks (12GB)
Video Display (8MB)
Ethernet boards
Modems
Special graphics hardware etc.
and last, but not least, a complex
O.X., i.e. Windows
Embedded Systems
Microcontrollers
Digital Signal Processors (DSPs)
RISC Processors
Embedded PCs
Memory, backed up in some way
Battery backup
Some type of ROM
Magnetic bubble memory
Flash ram
Input/Output, digital and analog common
CPU, wide range of needs
Speed
Address bus size
Data bus size
8
Computing Platforms
11.04.2017| 9
Mechatronics Focus Courses (20 ETCS)Compulsory Course LE-Nr. ETCS
HS 17
ETCS
FS 18
Studies on Mechatronics 151-0640-00 5 5
Elective Courses LE-Nr. ETCS
HS 17
ETCS
FS 18
Microscale Acoustofluidics 151-0509-00 4
Signals and Systems 151-0575-01 4
Microrobotics 151-0604-00 4
Microsystems Technology 151-0621-00 6
Leistungselektronik 227-0113-00 6
Electrical Drive Systems II 227-0517-00 6
Physical Human Robot Interaction (pHRI) 376-1504-00 4
Energy Systems and Power Engineering 151-0206-00 4
Nicht-glatte Dynamik 151-0516-00 5
Experimentelle Mechanik 151-0540-00 4
Nanorobotics 151-0630-00 4
Introduction to Robotics and Mechatronics 151-0641-00 4
Ölhydraulik und Pneumatik 151-1224-00 4
Embedded Systems 227-0124-00 6
Elektrische Antriebssysteme I 227-0516-01 6
This overview is based on the HS 16 & FS 17 information – small modifications and course changes are possible. Pls. check the ETH
course catalogue for updates: www.vvz.ethz.ch.
11.04.2017|
Microrobots for Ophtalmic Surgery
Artificial Bacterial Flagella
Magnetic Manipulation
Micromanipulation
Nanostructures for Drug Delivery
10
Micro and Nano Robotics
Bra
d N
els
on
11.04.2017|
Research Area
Design of robots and mechatronic systems
Walking- and inspection robots
Aerial Robots: Solar, Helicopters
Service and Personal Robots
Autonomous Cars and Space Rovers
Navigation and mapping
Mapping and reasoning in real world settings
Visual navigation and planning in dynamic environments
11
Autonomous Mobile Robots
Ro
lan
dS
ieg
wa
rt
11.04.2017| 12
Dynamic Human-Robot Interaction
Ro
ge
rG
ass
ert
Mechatronics
High-Fidelity
Haptics
www.relab.ethz.ch
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Sensory-Motor Systems Lab
Ro
be
rt R
ien
er
Rehabilitation Robotics
Sleep Research
Motor Control & Sports
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Our work is focused on the creation of systems that leverage technological innovations,
scientific principles, advanced mathematics, algorithms, and the art of design in
unprecedented ways, with an emphasis on advanced motion control.
14
Institute for Dynamic Systems and Control
Raff
aello
D’A
nd
rea
Balancing Cube
A structure that can balance
on any one of ist edges or
corners using six rotating
mechanisms on the cube’s
inner faces.
Blind Juggler
A robot that can bounce
multiple balls on a paddle
without sensory input.
Cubli
A 15 x 15 x 15 cm cube
that can jump up and
balance on a corner,
using momentum wheels
mounted on three of its
faces.
RoboEarth
A World Wide Web for
robots, to greatly speed up
robot learning and adaptation
in complex tasks.
11.04.2017| 15
Institute for Dynamic Systems and Control
Raff
aello
D’A
nd
rea
Distributed Flight Array
A flying platform consisting
of multiple autonomous
single propeller vehicles that
are able to drive, dock with
their peers, and fly in a
coordinated fashion.
Flying Platform
An experimental set up to
study the use of electric
ducted fans for joint control
and propulsion. In addition,
it serves as a testbed for
novel control strategies
taking actuation limits into
account.
For more information on our projects visit www.idsc.ethz.ch
Omnicopter
An omni-directional aerial
vehicle capable of independent
tracking of position and attitude
trajectories.
Monospinner
The world’s mechanically
simplest, controllable flying
machine with only one
moving part.
11.04.2017| 16
Institute for Dynamic Systems and Control
Raff
aello
D’A
nd
rea
Tailsitter
A flying machine combining
hover capability and efficient
forward flight.
For more information on our projects visit www.idsc.ethz.ch
Quadrotor Ring
A quadrotor with an annular
wing that acts as a lifting
surface for high speed
horizontal flight.
11.04.2017|
Particles ( beads, cells, … ) are moved or rotated by nonlinear acoustics in fluid
cavities in microsystems (see Lab on Chip Tutorial Series 2011-2012) e.g. for biomedical
applications
17
Ultrasonic Particle Manipulation
Jü
rg D
ual
Ultrasonic Manipulation of
Copolymer Beads (74mm) with
microgripper
Collab. with Nelson group, ETHZ
1 mm channel, 6x slower
Ultrasonic Manipulation of
MCF10A Cells: Line Formation
Collab. with University Hospital
Zurich
Field of view: 0.67 x 0.56 mm , Real time
Ultrasonic Rotation of Particle
Clumps
17 mm Copolymer particles
Real time, 3 mm x 3 mm square chamber
>
11.04.2017|
Advanced Microsystems,
Nanotransducers and Nanosystems
18
Ch
risto
ph
er
Hie
rold
Ultraclean CNT transistors
Ultra-low power acoustic emission trigger
Pressure sensor for a
Ventricular Assist Device
Tunable CNT resonators
www.micro.mavt.ethz.ch
µTEGs based on
SiNWsEnergy harvesting from the
human body
Single-wall CNT gas
sensors
11.04.2017|
Mobile Health Systems Lab
19
Wa
lte
r K
arl
enPlaceholder
image
www.mhsl.hest.ethz.ch
Biomedical Signal & Image Processing
Embedded Systems & Sensors
Real Time Quality Control
Adaptive & Appropriate Systems
Clinical Evaluation
Biomedical Optics
11.04.2017|
Wireless Networks for Sensing
in Extreme Environments (low
power, energy harvesting, GPS,
reliable communication)
Low Power and Temperature
Hardware and Software
Architectures
Exploration of Designs
Using Evolutionary Approaches
20
Embedded Systems
Lo
thar
Th
iele
selection cross-over mutation
11.04.2017|
Power Electronic Systems Laboratory
Jo
han
n K
ola
r
Ultra-Light Weight Airborne Wind Turbine Generator
Little-Box Challenge Inverter System
• Ultra-Compact/Efficient Power Electronics Converters• Ultra-High Speed Motors• Bearingless Motors
• Green Energy Applications • Medical / Pharmaceutical Applications• Future More Electric Aircraft • etc.
Active Magnetic Bearing Machine for Satellite Attitude Control, etc.
500’000rpm !
11.04.2017|
Robot vision
Visual Localization and Mapping (V-SLAM)
Real-time Computer Vision
3D modeling
22
3D Geometric Computer Vision
Ma
rc P
oll
efe
ys
11.04.2017|
Simulation Design Production Qualification Assembly Testing
23
Product Development & Engineering DesignFor more information visit www.pdz.ethz.ch
Mir
ko
Meb
old
t
User Centred Design
• Fuzzy front end engineering
• Innovation
• Design Thinking
Design and Production
• 3D-Printing
• Additive manufacturing and Composite
Biomedical Systems
• Implants e. g. Left heart assist devices
Product development
• From customer needs to series production
Thoratec Heartmate II
A typical thesis starts with idea phase and ends with the tested product:
11.04.2017|
Vision-based perception for robots
– focus on small UAVs
Robot Navigation
Scene Reconstruction / Understanding
Collaborative Robot sensing & mapping
Applications to:
Vision for Robotics Lab
24
Ma
rgari
ta C
hliPlaceholder
image
www.v4rl.ethz.ch
CROP MONITORING SEARCH & RESCUE SCENE RECONSTRUCTION INDUSTRIAL INSPECTION
11.04.2017|
Vision for Robotics Lab
25
Ma
rgari
ta C
hliPlaceholder
image
MONOCULAR CAMERA
OTHER VISION-BASED SENSORS
Online Scene Reconstruction for
UAV navigation
Place Recognition for multi-robot
missions
Accurate Surface estimation with a
Time-of-flight cameraEvent-based cameras for
Robot Navigation
www.v4rl.ethz.ch
11.04.2017|
Design and control of
legged robots
Force control of electric
and hydraulic actuators
Digital fabrication and
construction automation
Dynamic manipulation
Robotic Systems Lab
26
Ma
rco
Hu
tte
r
“create machines and their skills to work in challenging environments”
11.04.2017|
Optimization-based Control:
Distributed Optimization for Control
Real-time Methods
Safe learning-based Control
Human in the loop Control Systems
Semi-autonomous Vehicles
Personalized Control
Intelligent Control Systems
27
Me
lan
ie Z
eil
ing
erPlaceholder
image
Goal:
High performance control for safety-critical systems
in varying, uncertain environments involving human interaction.
11.04.2017| 28
Mechatronics
Thank you!