"SSC" - Mechatronics and new frontiers

Mechatronics Seminar

Modugno, 24th January 2015

Index of contents

1. Introduction

2. What is Mechatronics 2.1 Definition 2.2 Historical background 2.3 Application fields

3. Mechatronics applications 3.1 Industrial/automation 3.2 Pneumatics 3.3 Automotive 3.4 Example: Mechatronic system development from scratch

4. Mechatronics: new frontiers 4.1 Mechatronics and functional safety 4.2 Biomechatronics 4.3 Mechatronics and AI

5. Sources and references



Introducing lecturer

What is Mechatronics

Mechatronics: combination of Mechanical engineering, Electronic engineering, Computer engineering, Software engineering, Control engineering, and Systems Design engineering in order to design and manufacture useful products


What is Mechatronics - approach


What is Mechatronics – general block diagram


What is Mechatronics – historical background


What is Mechatronics – application fields


What is Mechatronics – simulation


What is Mechatronics – mathematical modelling


Case Study #1: Robot and machine tool oscillations control

- Customer&partners: Fraunhofer IWU, Comau SpA, MCM SpA, Prima Industrie SpA, Jobs SpA, Alenia SpA etc.

- Problem Statement: oscillations during working operations

- Project Goal: Innovative oscillations control strategy development

- Measurement sensor: MEMS accelerometer/gyroscope unit


Mechatronics applications

Case Study #1: Robot and machine tool oscillation control



Case Study #2: Active Heave Compensation System for Offshore Cranes

- Customer: Sormec Marine Cranes

- Main supplier: Bosch Rexroth

- Problem Statement: heave motion, force/tension variation in cargo lifting operations

- Project Goal: constant tension, heave compensation system development



Case Study #3: Vibration damping for high performance machine tool

- Customer: Fraunhofer IWU, Comau SpA, MCM SpA, Prima Industrie SpA, Jobs SpA, Alenia SpA etc.

- Problem Statement: vibrations during cutting/working operations

- Project Goal: Innovative damping actuators and strategy development



Case Study #3: Vibration Damping for high performance machine tool



Case Study #4: Festo Kangaroo



https://www.youtube.com/watch?v=_4luJ0ZSqy8

https://www.youtube.com/watch?v=_4luJ0ZSqy8

Case Study #5: Agricultural machines and Combines – once upon a time



Case Study #5: Agricultural machines and Combines – nowadayshttp://www.youtube.com/watch?v=rH9a0E0rZ4s&feature=relmfu



http://www.youtube.com/watch?v=rH9a0E0rZ4s&feature=relmfu

Case Study #5: Agricultural machines and Combines – nowadays



Interactive example: let's start with a brand new mechatronic system development!

Customer high-level requirements: Any time I travel on a hydrofoil, I just get seasick!

Platform: Hydrofoil with front/rear flaps on airfoils

Objective: Increase total number of passengers/year

Project goal?




Mechatronics: new frontiers

Mechatronics and functional safety


- Project Goal: control system development for construction equipment

- Main activities:

1 - Control development methodology definition2 - Hazard Analysis3 - Control Architecture Design4 – Model based control system development…



Biomechatronics



Mechatronics and AI



Mechatronics and AI – Turing Machine



Mechatronics and AI – Halting problem



halts() boolean C(a, d): return halts(a(d));

Where a is an algorithm, d is an input data

boolean K(a): if C(a,a) loop(); else return false

Where loop() is a neverending loop

What about K(K)?

Mechatronics and AI – Gödel's way



First theorem of Incompleteness

Any effectively generated theory capable of expressing elementary arithmetic cannot be both consistent and complete. In particular, for any consistent, effectively generated formal theory that proves certain basic arithmetic truths, there is an arithmetical statement that is true, but not provable in the theory.

Second theorem of Incompleteness

For any formal effectively generated theory T including basic arithmetical truths and also certain truths about formal provability, if T includes a statement of its own consistency then T is inconsistent.

Mechatronics and AI – Try to solve this, harder and harder!



Mechatronics and AI – Intelligence vs self-consciousness



An artificial agent a, designed by h, passes the Lovelace Test if and only if: • a outputs o, • a’s outputting o is the result of processes a can repeat and not a fluke hardware error, and • h (or someone who knows what h knows and has h’s resources) cannot explain how a produced o.

Mechatronics and AI – Intelligence vs self-consciousness



“In hyperset theory, one can write an equation S = S(S) with complete mathematical consistency” Goertzel, B. (2010). Hyperset Models of Self, Will and Reflective Consciousness

Mechatronics and AI



https://www.youtube.com/watch?v=RR2CgqdGSjE

https://www.youtube.com/watch?v=RR2CgqdGSjE


Mechatronics SeminarReference and sources

1. Robert H. Bishop, "The Mechatronics Handbook",http://www.sze.hu/~szenasy/Szenz_akt/Mechatronics%2520handbook%5B1%5D.pdf

2. "Mechatronic systems, applications", Annalisa Milella, Donato di Paola, Grazia Cicirelli,http://www.mechatronic.me/files/ebooks/Mechatronic_Systems_Applications.pdf

3. Newton C. Braga, "Robotics, Mechatronics and Artificial Intelligence", http://www.amazon.it/Robotics-Mechatronics-Artificial-Intelligence-Experimental/dp/0750673893http://books.google.it/books?id=p6rUUZRON5EC&pg=PA1&lpg=PA1&dq=artificial+intelligence+mechatronics&source=bl&ots=5X9EuAvVkw&sig=JvIuVRDp-TGe9Y5v_Xl9O-b6cYU&hl=it&sa=X&ei=w-6iU-bQJ4mw7AbWp4G4Ag&ved=0CDEQ6AEwAjgK#v=onepage&q=artificial%20intelligence%20mechatronics&f=false 4. Isaac Asimov, "I, Robot",1950

5. Application examples:

5.1 Myoelectric controller for bionic robotic handhttp://community.arm.com/groups/embedded/blog/2014/05/29/bionic-robohand-prototype--myoelectric-controller-based-on-dsp-and-machine-learning 5.2 DEKA robotic armhttps://www.youtube.com/watch?v=R0_mLumx-6Y

6. Douglas R. Hofstadter, "Gödel, Escher, Bach. Un' eterna ghirlanda brillante. Una fuga metaforica su menti e macchine nello spirito di Lewis Carroll", 1979

7. Ray Kurzweil, "How to create a Mind", 2012

http://www.sze.hu/~szenasy/Szenz_akt/Mechatronics%2520handbook%5B1%5D.pdf

http://www.mechatronic.me/files/ebooks/Mechatronic_Systems_Applications.pdf

http://books.google.it/books?id=p6rUUZRON5EC&pg=PA1&lpg=PA1&dq=artificial+intelligence+mechatronics&source=bl&ots=5X9EuAvVkw&sig=JvIuVRDp-TGe9Y5v_Xl9O-b6cYU&hl=it&sa=X&ei=w-6iU-bQJ4mw7AbWp4G4Ag&ved=0CDEQ6AEwAjgK#v=onepage&q=artificial%20intelligence%20mechatronics&f=false

http://community.arm.com/groups/embedded/blog/2014/05/29/bionic-robohand-prototype--myoelectric-controller-based-on-dsp-and-machine-learning

https://www.youtube.com/watch?v=R0_mLumx-6Y



Thanks for your kind attention!



Question time

"SSC" - Mechatronics and new frontiers

Automotive

Transcript of "SSC" - Mechatronics and new frontiers