"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 #3: Vibration Damping for high performance machine tool

Case Study #4: Festo Kangaroo
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 – nowadays
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 definition
2 - Hazard Analysis
3 - Control Architecture Design
4 – 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

Reference 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/0750673893
http://books.google.it/books?id=p6rUUZRON5EC&pg=PA1&lpg=PA1&dq=artificial+intelligence+mechatronics&source=bl&ots=5X9
4. Isaac Asimov, "I, Robot",1950
5. Application examples:
5.1 Myoelectric controller for bionic robotic hand
http://community.arm.com/groups/embedded/blog/2014/05/29/bionic-robohand-prototype--myoelectric-controller-based-on-dsp-an
5.2 DEKA robotic arm
https://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

Thanks for your kind attention!

Question time

"SSC" - Mechatronics and new frontiers

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