Professional Documents
Culture Documents
Dario Petri
Department of Industrial Engineering
What is mechatronics?
Role of Mechatronics for Industry and Society
What is a Mechatronic System
The core of Mechatronic Systems: the
Embedded processing Platform
Transducers and MEMS
3
What is mechatronics ?
a synergistic
integration and convergence of disciplines
A definition:
approach aiming at the
synergistic integration of
mechanics, electronics,
control theory, and
computer science in
order to improve and/or
optimize functionality of
systems or processes
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Role of Mechatronics
for Industry and Society
5
Where is mechatronics used?
32%
Excellent Total:
science 80 bn
Industrial Societal
leadership challenges
22% 38%
Others: 8%
8
Horizon 2020 priorities vs Mechatronics
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Example: Automotive
automobiles as distributed embedded systems
multiple processors
up to 100 and more
networked together 10
Example: factory of the Future
11
Example: Smart City
rational management of resources, sustainable
development, for the benefit of citizens,
companies, institutions
13
Example: Smart Home
Buildings as
Composition of
Subsystems
Sensors, Actuators,
Networks
Performance Database
Security
Safety
Entertainment
Environmental Control
Energy Efficiency
Example: Ageing and Well-being
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General functional overview
digital control
digital filtering
accelerometers parameter estimation
analog filtering
cameras feature extractions D/A conversion
amplification
sonar optimization power amplification
A/D conversion
a feedback system!
signals (gears, axles, )
valves
gyroscopes autonomous vehicle
motors (electric,
potentiometers manipulators
pneumatic, hydraulic,)
encoders assembling lines 17
Real-time operation
Time between data
acquisition and Residual Time
actuation
Release
time Period Deadline
18
An excellent example: The Robot
The term has been used for a variety of autonomous mechanical systems.
A robot is a reprogrammable multifunctional system designed to move
materials, parts, tools, or specialized devices through variable programmed
motions for the performance of a variety of tasks
(Robotics Institute of America)
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Design controls for robots
kynematics and dynamic models
robot describe the system time evolution
control electronics
20
The core of Mechatronic Systems:
the
"Embedded" Processing Platform
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Embedded platform
Software (Flash)
Data Link
Network
Aggregation Level
Protocols
Algorithms Protocols
to 10s of mm3
and 10s of W
Micro-OS and Middleware
from 10s of cm3
and 10s of mW Radio Unit
Processor BB Radio
sensor
A/D
SRAM Flash Acc.
D/A
Other Electronics Power Generator
Location finding
actuator
DC/DC Converter
Sensing Unit Processing Unit Power Unit
The central processing unit (CPU)
The CPU consists of:
data section (containing registers and ALU - arithmetic and logic
unit) also known as the datapath
control section, which interprets instructions and effects register
transfers
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CPU options for Mechatronics
performance
Embedded Microprocessors
Application specific processors
architectures (ASIC) disappearing
distinction
performance
Microcontrollers evolution
cost
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A CPU architecture: ARM A9
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Increasingly on the Same Chip
System-on-Chip (SoC)
Copyright 2003 Mani Srivastava
Embedded design variables
Contributions to cost:
silicon area
cost
27
Embedded system characteristics
Real-Time Operation
Reactive: computations must occur in response to external events
Correctness is partially a function of time
Small Size, Low Weight
Hand-held electronics and Transportation applications -- weight costs
money
Low Power
Battery power for several hours (laptops often last only 2 hours)
Harsh environment
Heat, vibration, shock, power fluctuations, RF interference, lightning, corrosion
Safety- critical operation
Must function correctly and Must not function in correctly
Extreme cost sensitivity
$0.05 adds up over 1,000,000 units
28
Hardware-software co-design
29
Microelectronic evolution: Moores law
Gordon Moore: noted that the number of transistors on a chip
doubled every 18 to 24 months (1965)
Prediction: semiconductor technology will double its effectiveness
every 18 months (strong impact on both CPUs and memories)
16
COMPONENTS PER INTEGRATED FUNCTION
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14
13
LOG2 OF THE NUMBER OF
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11
10
9 Electronics,
8
7 April 19, 1965
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5
4
3
2
1
0
1959
1960
1961
1962
1963
1964
1965
1966
1967
1968
1969
1970
1971
1972
1973
1974
1975
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Transistor count growth in CPUs
2012
> 1 billion
transistors
K 1 billion
1,000,000 transistors
100,000
Pentium III
10,000 Pentium II
Pentium Pro
1,000 Pentium
i486
100 i386
80286
10 8086
1
1975 1980 1985 1990 1995 2000 2005 2010
projected
Courtesy, Intel 31
Embedded HW: Moores Law
18 nm
5000 Kgates/mm2
45 nm today
2600 Kgates/mm2
atomic
65 nm
1400 Kgates/mm2 radius
30-300 pm
Margarshack03
STMicroelectronics
Roadmap
P.Marwedel
Instruction level parallelism
Instruction Level Parallelism (IPL): the capability of a CPU to run
more instructions at the same time
the most classic solution: the pipeline
33
The power wall
design goal (late 1990s - early 2000s): drive the clock rate up
by increasing parallelism
this increased the power dissipation of the CPU chip beyond
the capacity of inexpensive cooling techniques
34
Power density
Sequential App
Performance
36
A multi-core CPU: ARM11 MPcore
37
Evolution
of micro-integration
38
Integration of Technologies
3-D Hyperintegration and Packaging
Technologies for Micro-Nano Systems
Proceedings of the IEEE , January 2009
40
What is a transducer ?
transducer: a device that converts a quantity with a primary form of
energy to another
primary energy forms: mechanical, thermal, electromagnetic, optical, chemical
sensor intelligent
empirical feedback
world actuator system
41
Transducer examples
Light Sensors
photoconductor:
R = f (light level)
photodiode
I = f (light level)
Pressure sensors
resistive R = f (pressure)
capacitive C = f (pressure)
42
Micro Electrical Mechanical Systems (MEMS)
Characteristics:
miniaturization (size: 1 m 1 mm)
fabricated using micromachining
(technologies derived from electronics)
batch fabrication reduces cost
low power consumption
micro-fluidics
new capabilities:
micro-analysis and micro-manipulation systems
44
Ecall
mandatory in all EU new cars since October 2015
activated by airbag sensors, send an alarm signal to 112
(emergency call number) with date, time and GPS coordinates
of the vehicle
-2500 dead/year
cost: 50-300 euro
3D imagers
Maneuvering 3D imagers rely on the measurement of
area Time-of-Flight (ToF) of optical pulses
50 m 80 m
10 m
46
Autonomous Vehicle
Arnold Schwarzenegger
Total Recall, 1990
Piero Angela
Parma, Jan 2014
M.S. (Laurea Magistrale) in
Mechatronic Engineering
classe
Mechanical Engineering
48
M.S. Mechatronic Engineering
Curriculum Mechanics Mechatronics Curriculum Electronics - Robotics
1 year Manifesto 2014-15 (draft) 2 year
1 Semester
1Semester
Comp. Meth. for Mechatronics (6 CFU) Robotic Perception and Action (6/9 CFU)
Manufacturing Automation (6 CFU) Design Control of Product. Proc. (6 CFU)
Systems and tech. for D.S.P. (9 CFU) Functional and Smart Materials (6 CFU)
Mech. Design Machine Elem. (9 CFU) Elective course (6 CFU)
Introduction to Electr. Syst. (6 CFU) Elective course (6 CFU)
Elective course* (6 CFU)
Modeling design finite elements (6 CFU)
2Semester
2Semester
Automatic Control (9 CFU) Dynamic control vehicles robots (9 CFU)
Mechanical Vibrations (6 CFU) Embedded Systems (9 CFU)
Modeling Simul. Mech. Systems (9 CFU) Other activities (3 CFU)
Elective course* (6 CFU) Final project (15 CFU)