11.04.2017|

Brad Nelson (Coordinator), Raffaello D’Andrea, Margarita Chli, Jürg Dual, Emilio Frazzoli, Roger

Gassert (D-HEST), Pavel Hora, Christofer Hierold, Marco Hutter, Walter Karlen (D-HEST), Johann Kolar

(D-ITET), John Lygeros, Edoardo Mazza, Mirko Meboldt, Marc Pollefeys, Dimos Poulikakos, Robert

Riener (D-HEST), Roland Siegwart, Lothar Thiele (D-ITET), Konrad Wegener, Melanie Zeilinger.

1

Mechatronics Focus

11.04.2017| 2

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

mm

mm

m

km

Edge of the

solar system

Earth

to Mars

Nearest

Stars

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Pierre Jaquet-Droz (1721-1790)

4

Swiss Watchmaker and Builder of Automatons

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Jaquet-Droz / Honda Asimo

The Draughtsman

The Writer

The Musician

Honda Asimo

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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

7

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 17

ETCS

FS 18

Studies on Mechatronics 151-0640-00 5 5

Elective Courses LE-Nr. ETCS

HS 17

ETCS

FS 18

Microscale Acoustofluidics 151-0509-00 4

Signals and Systems 151-0575-01 4

Microrobotics 151-0604-00 4

Microsystems Technology 151-0621-00 6

Leistungselektronik 227-0113-00 6

Electrical Drive Systems II 227-0517-00 6

Physical Human Robot Interaction (pHRI) 376-1504-00 4

Energy Systems and Power Engineering 151-0206-00 4

Nicht-glatte Dynamik 151-0516-00 5

Experimentelle Mechanik 151-0540-00 4

Nanorobotics 151-0630-00 4

Introduction to Robotics and Mechatronics 151-0641-00 4

Ölhydraulik und Pneumatik 151-1224-00 4

Embedded Systems 227-0124-00 6

Elektrische 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 ETH

course catalogue for updates: www.vvz.ethz.ch.

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Microrobots for Ophtalmic Surgery

Artificial Bacterial Flagella

Magnetic Manipulation

Micromanipulation

Nanostructures for Drug Delivery

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Micro and Nano Robotics

Bra

d N

els

on

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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

Ro

lan

dS

ieg

wa

rt

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Dynamic Human-Robot Interaction

Ro

ge

rG

ass

ert

Mechatronics

High-Fidelity

Haptics

www.relab.ethz.ch

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Sensory-Motor Systems Lab

Ro

be

rt R

ien

er

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

Raff

aello

D’A

nd

rea

Balancing Cube

A structure that can balance

on any one of ist edges or

corners using six rotating

mechanisms on the cube’s

inner faces.

Blind Juggler

A robot that can bounce

multiple balls on a paddle

without sensory input.

Cubli

A 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.

RoboEarth

A 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

Raff

aello

D’A

nd

rea

Distributed Flight Array

A 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 Platform

An 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

Omnicopter

An omni-directional aerial

vehicle capable of independent

tracking of position and attitude

trajectories.

Monospinner

The world’s mechanically

simplest, controllable flying

machine with only one

moving part.

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Institute for Dynamic Systems and Control

Raff

aello

D’A

nd

rea

Tailsitter

A flying machine combining

hover capability and efficient

forward flight.

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

Quadrotor Ring

A 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

Jü

rg D

ual

Ultrasonic Manipulation of

Copolymer Beads (74mm) with

microgripper

Collab. with Nelson group, ETHZ

1 mm channel, 6x slower

Ultrasonic Manipulation of

MCF10A Cells: Line Formation

Collab. with University Hospital

Zurich

Field of view: 0.67 x 0.56 mm , Real time

Ultrasonic Rotation of Particle

Clumps

17 mm Copolymer particles

Real time, 3 mm x 3 mm square chamber

>

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Advanced Microsystems,

Nanotransducers and Nanosystems

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Ch

risto

ph

er

Hie

rold

Ultraclean CNT transistors

Ultra-low power acoustic emission trigger

Pressure sensor for a

Ventricular Assist Device

Tunable CNT resonators

www.micro.mavt.ethz.ch

µTEGs based on

SiNWsEnergy harvesting from the

human body

Single-wall CNT gas

sensors

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Mobile Health Systems Lab

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Wa

lte

r K

arl

enPlaceholder

image

www.mhsl.hest.ethz.ch

Biomedical Signal & Image Processing

Embedded Systems & Sensors

Real Time Quality Control

Adaptive & Appropriate Systems

Clinical Evaluation

Biomedical Optics

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Wireless Networks for Sensing

in Extreme Environments (low

power, energy harvesting, GPS,

reliable communication)

Low Power and Temperature

Hardware and Software

Architectures

Exploration of Designs

Using Evolutionary Approaches

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Embedded Systems

Lo

thar

Th

iele

selection cross-over mutation

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Power Electronic Systems Laboratory

Jo

han

n K

ola

r

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

Ma

rc P

oll

efe

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

Mir

ko

Meb

old

t

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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Ma

rgari

ta 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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Ma

rgari

ta 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 a

Time-of-flight cameraEvent-based cameras for

Robot Navigation

www.v4rl.ethz.ch

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Design and control of

legged robots

Force control of electric

and hydraulic actuators

Digital fabrication and

construction automation

Dynamic manipulation

Robotic Systems Lab

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Ma

rco

Hu

tte

r

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

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Optimization-based Control:

Distributed Optimization for Control

Real-time Methods

Safe learning-based Control

Human in the loop Control Systems

Semi-autonomous Vehicles

Personalized Control

Intelligent Control Systems

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Me

lan

ie Z

eil

ing

erPlaceholder

image

Goal:

High performance control for safety-critical systems

in varying, uncertain environments involving human interaction.

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Mechatronics

Thank you!