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Automation, Robotics and Mechatronics Laboratory

Research Expertise

Venkat N. Krovi PhD, FASME

Michelin Endowed Chair Professor of Vehicle AutomationClemson University- International Center for Automotive Researchvkrovi@clemson.eduhttp://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)

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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

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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

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Automation, Robotics and Mechatronics Laboratory

http://mechatronics.eng.buffalo.edu/

http://www.youtube.com/user/ubarmlabhttp://armlabrobotics.blogspot.com/

http://mechatronics.eng.buffalo.edu/

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Automation, Robotics and Mechatronics Laboratory

Mechatronics/Robotics Paradigm

Sense-Think-Act1000’s of times a second

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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

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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

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Automation, Robotics and Mechatronics Laboratory

http://harborresearch.com/

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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

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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.

▪

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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

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Automation, Robotics and Mechatronics Laboratory

Wireless Distributed Cooling Learning Thermostats

Future Thermostats

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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 ???

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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

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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.

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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%

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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)

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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).

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Automation, Robotics and Mechatronics Laboratory

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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.

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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

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Automation, Robotics and Mechatronics Laboratory

Movies of One of the Projects

Web Page

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Automation, Robotics and Mechatronics Laboratory

Movies of One of the Projects

Web Page

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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?

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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

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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

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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

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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

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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

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Automation, Robotics and Mechatronics Laboratory

Education

▪ Phased Introduction

▪ Simple Examples: Pendulum

▪ Intermediate examples: Double Pendulum/Fourbar

▪ Complex Examples: 3-RRR, 3PRR etc.

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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

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Automation, Robotics and Mechatronics Laboratory

Tutorials – Phase 2

Fourbar

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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

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Automation, Robotics and Mechatronics Laboratory

Tutorials – Phase 3

3RRR – MapleSim EOM extraction

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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

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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

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Automation, Robotics and Mechatronics Laboratory

Rotary Inverted (Furuta) Pendulum

▪ “One-semester” independent study led to an MS Thesis

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Automation, Robotics and Mechatronics Laboratory

Furuta Pendulum: Implementation

Overall MapleSim model

Simmechanics model with

MapleSim controller