The mechatronics and robotics at the Escola Politécnica of the University of São Paulo

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1 The mechatronics and robotics at the Escola Politécnica of the University of São Paulo Prof.Dr. Oswaldo Horikawa Department of Mechatronics Engineering

2 EPUSP Dep. Mechatronics Eng. Department of Mechatronics Engineering Created in 1988 Undergraduatye course: The first Mechatronics Engineering course in Brazil Grauduate course: Mechanical Engineering: Master and PhD program Mechatronics : Mechanics +Electronics + Computer Application Ability to integrate three fields of knowledge Industry and trade: simplifyiing devices, reduction in the development cost and time of products and services, development of products of high flexibility and autonomy

3 35 Docents 300 Undergraduate students 30 Master and Doctoral students Actuators Sensors Modelling Control Devices and robotics Production Eng

4 Field of activity Industry: design automation in the automobilistic industry, risc analysis in the aerounautic industry, etc Oil Production: logistics, fail analysis, underwater robots, underwater set-up inspection, etc Alcohol production: alcohol plant control Bioengineering: medical image analysis, rehabilitation, prosthesis, artificial heart, etc Sponsors CNPq FAPESP CAPES FINEP ANEEL ANEEL PETROBRÁS EMBRAER Other enterprises

5 Underwater robots (robot technology) Adamowsky, Maruyama, Furukawa cia.php?artigo= A REAL-TIME SIMULATOR FOR AUV DEVELOPMENT João Lucas Dozzi Dantas, Ettore Apolonio de Barros, ABCM Symposium Series in Mechatronics - Vol. 4 - pp

6 4D medical images (modelling technology) Registration of temporal sequences of coronal and sagittal MR images through respiratory patterns André Kubagawa Sato a, 1, Neylor Antunes Stevo a, Renato Seiji Tavares a, 2, Marcos Sales Guerra Tsuzuki a, 3,,, Eiji Kadota b, Toshiyuki Gotoh b, Seiichiro Kagei b and Tae Iwasawa c, Biomedical Signal Processing and Control Volume 6, Issue 1, January 2011, Pages 34-47, Biomedical signal processing(extended selected papers from the 7th IFAC Symposium on Modelling and Control in Biomedical Systems(MCBMS'09)) - MCBMS 2009

7 Hydroelectric dam monitoring (sensor technology) JARDINI, J. A. ; MAGRINI, L. C. ; LIMA, B. L. S. ; TORIKAI, D. ; Ibrahim, Ricardo Cury ; OLIVEIRA, A. L. ; PINFARI, J. C. ; CARNEIRO, E. F. ; ROSSETTO, S. L. G. ; CESTARI JUNIOR, E.. Sensoriamento para Segurança de Barragens de Usina Hidrelétricas. In: IEEE/PES 2010 Transmition & Distribution Conference and Exposition Latin America, 2010, São Paulo, SP. Anais do IEEE/PES2010, 2010.

8 Microgripper (MEMs technology) ALMEIDA, Vitório Arribabeni Longo de ; GODOY, Paulo Henrique de ; SILVA, Emilio Carlos Nelli ; IBRAHIM, R. C.. Microgrippers Driven by Electrostatic Comb Drive Actuators. In: 17th International Congress of Mechanical Engineering (COBEM 2003), 2003, São Paulo. Proceedings of the 17th International Congress of Mechanical Engineering (COBEM 2003), 2003.

9 4kg drained Tree trimming ~2m Hydraulic saw Secutrity + Quality & efficiency Aerial bucket

10 Load balancer mechanical solution Main arm hook Saw Aerial bucket Base Gas spring Body Auxiliarly arm Load balancer coupled to the aerial bucket

11 Load balancer mechanical solution Main arm Auxiliarly arm Load balancer

12 IX Brazil/Japan International Workshop: Society, Energy and Environment Load balancer mechanical solution nt Pate red st e regi Field tests New versions being developed

13 Automatic load bancer mechatronics solution Automatic correction of imperfections in the balancing force Arm Sensor for working angle Gas spring Correction mechanism Load HMI Controller (PLC) Error map or mathematical model matemático Driver Motor Screw rotations counting Schematics.

14 Manipulation and use of ladder Retract Extend Transport Clib etc >40kg Glass fiber ladder

15 Elevator Lamp reactor plattform 9m 7m 2.5m pole Specifications and operation of the elevator

16 Elevator column plattform Control panel Rotary base Prototype of the Elevator Remote control

17 Elevator Remote control Sensores S1: col at work posit S2: plattf at INF limit S3: plattf at SUP limit S4: rotation counting S5: col at transp pos Control panel 120kg load Patent registered A3 Radio Interface HMI botton s PLC S3 sensors driver S5 S4 A1 S1 S2 A2 A4 actuators Actuators A1: arm A2: incline A3: elevate A4: rotate Licght vehicle Elevator Control system Elevator Load test

18 New Elevador Aluminum structure Smaller vehicle (1,8 ton, 5m) Electro-hydraulic actuators Control by the panel or the remote control

19 Ventricular Assist Device VAD (Artificial heart) The most recent prototype

LOAD BALANCER WITH AUTOMATIC LIFTING FORCE COMPENSATION

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