Tutorials

Tutorial 1: Port-Based Modeling and Control of Mechatronic Systems

Presenter: Job van Amerongen, Department of Electrical Engineering, University of Twente

An introduction will be given to a physical modeling approach that enables easy modeling of mechatronic systems that extend over more than one domain, typically the electrical and mechanical domain. This approach is different from the common block-diagram or signal-based modeling and is much more effective during the design phase and easily allows modeling at different levels of detail. This method is supported by the 20-sim software. This software allows modeling and simulation as well as generation of linear system models in the form of transfer functions, poles and zeros or a state space description. The models can be used to generate bode, Nyquist and Nichols plots, as well as root loci for controller design purposes. Analogue or digitally controlled models can be simulated and C code can be automatically generated.


The tutorial will treat the following topics:

• port-based modeling of mechatronic systems in the

• mechanical
• electrical domain

• ideal physical models
• examples of some models
• deriving transfer functions of these models
• controller design
• choosing proper signals for the feedback controller
• use of this approach in education and research

During the tutorial, the concepts will be demonstrated with the 20-sim software. Participants will receive a free copy of this software that will allow for hands-on experience during the workshop.

Tutorial 2: Microelectromechanical and Nanoelectromechanical Sensors and Actuators: Conceptual Design, Recent Developments and Practical Implementation

Presenter: Nader Jalili, Associate Professor and Director, Smart Structures and Nanoelectromechanical Systems Laboratory, Founding Chair, ASME Technical Committee on Vibration and Control of Smart Structures, Department of Mechanical Engineering, Clemson University,

Due to the unique structure of nanomaterials, improved materials properties can be achieved in addition to the added multifunctionality of these materials. This short course will discuss the most commonly used methods for nanomaterials synthesis, micro- and nano-scale sensors and actuators analysis and applications. The short course will also discuss applications of novel nanoparticle/nanopowders-reinforced materials in general area of industrial applications with an overview of testing apparatus and required experimental setups. Nanosensors and nanoactuators are widely used in many fields for their unique physical and chemical properties. In this seminar, the application of these systems in the field of polymeric materials is introduced. The short course will also discuss the quantification of these molecular interactions in biological systems that are of interest to many researchers and engineers. A molecular level understanding of the interfacial adhesion is a necessary part of unraveling these phenomena and would be of tremendous potential benefit in associated applications such as rational drug design, molecular electronics, biomaterials development or biosensor design.

Tutorial Outline:
Session A-1: Overview and Introduction to Nanotechnology
The science of nanotechnology, its worldwide market and applications
Classification of nanomaterials, their manufacturing and applications
Representative examples for selected nanomaterial-based products

Session A-2: Multifunctional Nanomaterials (Sensors and Actuators)
Nanocomposite piezoelectric films (next-generation sensors/actuators)
Nanotube-based reinforcement

Session A-3: Vibration Control using Nanomaterials Reinforcement
Enhanced damping through nanotubes-based reinforcement
Passive vibration control (experiments and results)
Active vibration control at the micro- and nano-scale

Session P-1: Medical Diagnostic and Biosensing via Nanotechnology
Recent trends in nanotechnology application to medical diagnostics
Multifunctional biomaterials
Next-generation actuators/sensors for use in medical instruments
Micro and nanocantilever-based bio and chemical sensors

Session P-2: Recent Developments and Example Case Studies
Overview of recent nanotechnology-related applications
Smart tires with embedded actuators and sensors
Smart fabrics using nanotube-based active filler materials
Medical applications of smart fabric
Nanomanipulation and recent developments (nanofiber manipulation and atom-by-atom manipulation research at Clemson University)

Session P-3: Concluding Remarks, Questions and Answers (Q&A)

Biography: Nader Jalili joined the faculty of Clemson University in August 2000 from Northern Illinois University (DeKalb, Illinois) where he was a visiting assistant professor. His research interests and expertise include mechatronics, dynamics and linear and nonlinear vibration control, smart structures and piezoelectric-based actuators and sensors, functional nanomaterials, and control and manipulation at the nanoscale. Dr. Jalili is now Associate Professor of Mechanical Engineering and Director of the Clemson University Smart Structures and NEMS Laboratory. He is currently the technical editor of IEEE/ASME Transactions on Mechatronics; associate editor of ASME Transactions, Journal of Dynamic Systems, Measurement and Control; founding chair of the newly-formed ASME Technical Committee on Vibration and Control of Smart Structures; past chair and vice-chair of Vibration and Noise Control Panel of the ASME; and member of ASME Technical Committee on Vibration and Sound, IFAC Technical Committee on Mechatronic Systems, ASME Mechatronics Technical Committee, as well as ASME Vehicle Design Committee. He is the author/co-author of more than 150 peer-refereed technical publications including 45 journal papers. He is the recipient of many national and international awards including the 2003 Faculty Early Career Development (CAREER) Award from the National Science Foundation;, the 2002 Ralph E. Powe Junior Faculty Enhancement Award from Department of Energy; 2005, 2004, 2003 and 2002 Clemson University Board of Trustees Awards for Faculty Excellence in Research; major advisor to four Best Student Papers (IMECE 2001, IMECE 2002, IMECE 2004 and IMECE 2006); Outstanding Scholar Fellowship (OSF) from the University of Connecticut (1995-98); and First Class Honors for both MS (1995) and BS (1992) degrees from Sharif University of Technology, Tehran, Iran.

Tutorial 3: Probabilistic Techniques for Mobile Robot Navigation using Particle Filters

Presenter: Wolfram Burgard, computer science professor at the University of Freiburg and head of the research lab for Autonomous Intelligent Systems

In this tutorial, we will present the key principles of probabilistic techniques for mobile robot navigation using particle filters. We will start with an introduction to probability theory and we will derive the fundamental equations underlying recursive Bayesian filtering. We will then introduce particle filters as an efficient implementation of this general filtering approach. We will focus on the problem of mobile robot localization and present examples of sensor models for different types of sensors such as cameras, ultrasound sensors and laser range finders. Additionally, we will describe how to realize a motion model for mobile robots. We then will present example realizations of systems based on particle filters that can robustly keep track of the position of a robot, can globally localize a mobile robot, and can solve the kidnapped robot problem. Finally, we will discuss applications of particle filters to other state estimation problems.

Wolfram Burgard is a professor of computer science at the University of Freiburg and head of the research lab for Autonomous Intelligent Systems. His areas of interest lie in artificial intelligence and mobile robots Burgard's research mainly focuses on the development of robust and adaptive techniques for state estimation and control. Over the past years, he and his group have developed a series of innovative probabilistic techniques for robot navigation and control. They cover different aspects such as localization, map-building, path-planning and exploration. Burgard has co-authored two books and published over 100 papers and articles in robotic conferences and journals.  

Tutorial 4: Workshop on Autonomous Navigation

Presenter: Salah Sukkarieh, School of Aerospace, Mechanical & Mechatronic Engineering, University of Sydney

This workshop will focus on the theory and development of autonomous navigation for 6DoF platforms. The workshop will start by introduction of inertial navigation and inertial sensing technology. Aspects of inertial navigation system algorithms will then be presented as well as statistical estimation techniques that are used to estimate errors and constrain navigation drift. Two forms of navigation aiding will then be presented: the first on GPS and the second on Simultaneous Localisation and Mapping (SLAM). SLAM provides accurate navigation when there is no GPS available. The workshop will also look at implementations of both INS/GPS and INS/SLAM navigation systems on unmanned airborne platforms

Salah Sukkarieh is Aerospace Systems Research Program Leader at the University of Sydney. He earned his PhD from the University of Sydney in 2000. He is currently the director of teaching and learning at the School of Aerospace, Mechanical and Mechatronic Engineering. He is the author of more than 45 journal and conference publications in the area of navigation and localization of autonomous systems with a focus on UAVs.  

Tutorial 5: Micro and Nano Robotics

Presenter:  Toshio Fukuda, Department of Micro System Engineering and Department of Mechano-Informatics and Systems, Nagoya University, Japan

The emerging field of robotics and automation at small spatial scales raises new scientific challenges and promises revolutionary advancements in such applications as biology, medicine and the environment. Phenomena at the micro and nanoscale are often markedly different from their macroscopic counterparts, and this has strong implications on robotic strategies, algorithms, software and hardware. Cells, biomolecules and life processes all have characteristic dimensions in the nano- and micro- range. Artificial devices and systems at the nano- and microscales will be able to interact intimately with biological ones, and are expected to lead to new scientific understanding and to new tools for such fundamental tasks as detection and treatment of disease. The Technical Committee for Micro/Nano Robotics and Automation serves as a focal point and provides leadership for research in this new field.


Topics of interest include (all at the micro- or nanoscale):

• Actuators
• Sensors
• Measurements
• Manipulation
• Fabrication
• Assembly
• Design and analysis
• Control
• Energy
• Communications
• Interfaces
• Distributed systems
• Emergent systems
• Swarm intelligence
• Simulation
  Biomedical and other applications

Toshio Fukuda graduated from Waseda University, Tokyo, Japan in 1971 and received the Master of Engineering degree and the Doctor of Engineering degree both from the University of Tokyo, in 1973 and 1977, respectively. Meanwhile, he studied at the graduate school of Yale University from 1973 to 1975. In 1977, he joined the National Mechanical Engineering Laboratory in Japan. From 1979 to 1980, he was a visiting research fellow at the University of Stuttgart, West Germany. He joined the Science University of Tokyo in 1981, and then joined the Department of Mechanical Engineering, Nagoya University, Japan in 1989.

At present, he is a professor in the Department of Micro System Engineering and Department of Mechano-Informatics and Systems, Nagoya University, Japan. He is mainly engaging in the research fields of intelligent robotic system, self-organizing system, micro robotics, robotic system under hostile environment, bio-robotic system, neuromorphic intelligent control, fuzzy control, control of mechanical systems and technical diagnosis.

He was the vice president of IEEE Industrial Electronics Society (1990- ). He is a member of the administrative committees in the IEEE Robotics and Automation Society and the IEEE Industrial Electronics Society. He was the publication chairman (1991-1992) and the secretary of IEEE Neural Network Council (1992-1993). He was chairman of Division of Robotics and Mechatronics of Japan Society of Mechanical Engineering (JSME), chairman of Committee of Technical Committee of Robotics in Society of Instrument and Control Engineer (SICE) and chairman of many other technical committees. He was the president of IEEE Robotics and Automation Society (1998-1999). He is elected as director of the IEEE Division X, Systems and Control. He was the founding general chairman of the IEEE International Workshop on Intelligent Robots and Systems (IROS) held in Tokyo (1988) and program chairman of IJCNN '91-Singapore (1991). He was the steering chairman of the International Joint Conference on Neural Networks (IJCNN'93-Nagoya, 1993). He was the general chairman of the IEEE International Conference on Robotics and Automation (1995), the program co-chairman of the Fuzz-IEEE Conference (1995) and the general chairman of the IEEE International Conference on Evolutionary Computation (1996) and the steering member of many other international conferences. He was the general chairman of the Second Conference of Virtual Reality Society of Japan (1997) and the International Conference on Industrial Electronics, Control and Instrumentation- (2000). Currently, he is the editor-in-chief of the IEEE/ASME Transactions on Mechatronics (2000-2002), Journal of Micromechatronics (2000- ), Journal of Advanced Computational Intelligence (JACI) and IEEE Nanotechnology Council President (2002- ).

He has received many awards such as the Contribution Award from the Robotics and Mechatronics Division of JSME (1995), Best Paper Award of ICEC'96 and Best Paper Award of IECON'96, City of Grenoble Medal (1997), the IEEE Eugene Mittelmann Achievement Award (1997), the Banki Donat Medal from Polytechnic University of Budapest, Hungary (1997), Medal from City of Sartillo, Mexico (1998), and the IEEE Third Millennium Medal (2000). He is also an IEEE Fellow (1995) and a SICE Fellow (1995).