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Brad Nelson (Coordinator), Raffaello D’Andrea, Margarita Chli, Jürg Dual, Roger Gassert (D-HEST), Christofer Hierold, Marco Hutter, Johann Kolar (D-ITET), John Lygeros (D-ITET), Edoardo Mazza, Mirko Meboldt, Chris Onder, Marc Pollefeys, Dimos Poulikakos, Robert Riener (D-HEST), Roland Siegwart, Lothar Thiele (D-ITET), Konrad Wegener.

24.04.20 1

Mechatronics Focus

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Mechatronics

Image courtesy: Kevin C. Craig

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The Scale of Robotics and Mechatronics

10-9

10-6

10-3

1

103

106

109

1012

1015

nm

µm

mm

m

km

Edge of the solar system

Earth to Mars

Nearest Stars

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Swiss Automata

Pierre Jacquet-Droz (1721-1790)Musée d'Art et d'Histoire, Neuchâtel

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Jacquet-Droz’s Automata (built between 1768-1774)

Boston Dynamics’ Atlas

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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

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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

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Computing Platforms

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Mechatronics Focus Courses (20 ETCS)Compulsory Course LE-Nr. ETCS

HS 17ETCSFS 18

Studies on Mechatronics 151-0640-00 5 5

Elective Courses LE-Nr. ETCSHS 17

ETCSFS 18

Microscale Acoustofluidics 151-0509-00 4Signals and Systems 151-0575-01 4Microrobotics 151-0604-00 4Microsystems Technology 151-0621-00 6Leistungselektronik 227-0113-00 6Electrical Drive Systems II 227-0517-00 6Physical Human Robot Interaction (pHRI) 376-1504-00 4Energy Systems and Power Engineering 151-0206-00 4Nicht-glatte Dynamik 151-0516-00 5Experimentelle Mechanik 151-0540-00 4Nanorobotics 151-0630-00 4Introduction to Robotics and Mechatronics 151-0641-00 4Ölhydraulik und Pneumatik 151-1224-00 4Embedded Systems 227-0124-00 6Elektrische 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 ETHcourse catalogue for updates: www.vvz.ethz.ch.

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§ Microrobots for Ophthalmic Surgery

§ Artificial Bacterial Flagella

§ Magnetic Manipulation

§ Micromanipulation

§ Nanostructures for Drug Delivery

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Micro and Nano Robotics

Bra

d N

elso

n

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§ 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

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Autonomous Mobile Robots

Rola

ndSi

egw

art

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Dynamic Human-Robot Interaction

Rog

erG

asse

rt

MechatronicsHigh-Fidelity

Haptics

www.relab.ethz.ch

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Sensory-Motor Systems Lab

Rob

ert R

iene

r

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.

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Institute for Dynamic Systems and Control

Raf

fael

lo D

’And

rea

Balancing CubeA structure that can balanceon any one of ist edges orcorners using six rotatingmechanisms on the cube’s inner faces.

Blind JugglerA robot that can bounce multiple balls on a paddle without sensory input.

CubliA 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.

RoboEarthA World Wide Web for robots, to greatly speed up robot learning and adaptation in complex tasks.

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Institute for Dynamic Systems and Control

Raf

fael

lo D

’And

rea

Distributed Flight ArrayA 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 PlatformAn 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

OmnicopterAn omni-directional aerial vehicle capable of independent tracking of position and attitude trajectories.

MonospinnerThe world’s mechanically simplest, controllable flying machine with only one moving part.

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Institute for Dynamic Systems and Control

Raf

fael

lo D

’And

rea

TailsitterA flying machine combining hover capability and efficient forward flight.

§ For more information on our projects visit www.idsc.ethz.ch

Quadrotor RingA quadrotor with an annular wing that acts as a lifting surface for high speed horizontal flight.

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§ 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

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Ultrasonic Particle Manipulation

Jürg

Dua

l

Ultrasonic Manipulation ofCopolymer Beads (74µm) withmicrogripperCollab. with Nelson group, ETHZ1 mm channel, 6x slower

Ultrasonic Manipulation ofMCF10A Cells: Line Formation Collab. with University Hospital ZurichField of view: 0.67 x 0.56 mm , Real time

Ultrasonic Rotation of ParticleClumps17 µm Copolymer particlesReal time, 3 mm x 3 mm square chamber

>

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Advanced Microsystems, Nanotransducers and Nanosystems

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Chr

isto

pher

Hie

rold

Ultraclean CNT transistors

Ultra-low power acoustic emission triggerPressure sensor for a

Ventricular Assist Device

Tunable CNT resonatorswww.micro.mavt.ethz.ch

µTEGs based on SiNWs

Energy harvesting from the human body

Single-wall CNT gas sensors

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§ Wireless Networks for Sensing in Extreme Environments (low power, energy harvesting, GPS, reliable communication)

§ Low Power and Temperature Hardware and SoftwareArchitectures

§ Exploration of DesignsUsing Evolutionary Approaches

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Embedded Systems

Loth

ar T

hiel

e

selection cross-over mutation

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Power Electronic Systems Laboratory

Joha

nn K

olar

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 !

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§ Robot vision§ Visual Localization and Mapping (V-SLAM)§ Real-time Computer Vision§ 3D modeling

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3D Geometric Computer Vision

Mar

c Po

llefe

ys

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Simulation Design Production Qualification Assembly Testing

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Product Development & Engineering DesignFor more information visit www.pdz.ethz.ch

Mirk

o M

ebol

dt

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:

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Vision-based perception for robots– focus on small UAVs

§ Robot Navigation§ Scene Reconstruction / Understanding§ Collaborative Robot sensing & mapping

Applications to:

Vision for Robotics Lab

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Mar

garit

a C

hliPlaceholder

image

www.v4rl.ethz.ch

CROP MONITORING SEARCH & RESCUE SCENE RECONSTRUCTION INDUSTRIAL INSPECTION

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Vision for Robotics Lab

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Mar

garit

a 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 aTime-of-flight camera

Event-based cameras for Robot Navigation

www.v4rl.ethz.ch

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§ Design and control of legged robots

§ Force control of electricand hydraulic actuators

§ Digital fabrication and construction automation

§ Dynamic manipulation

Robotic Systems Lab

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Mar

co H

utte

r

“create machines and their skills to work in challenging environments”

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Mechatronics

Thank you!