Modular embedded system design / implementation for mechatronic education and research

Nursal, Ali Özgü
In this thesis a modular embedded system for Mechatronics education and research is designed and implemented. Four types of control boards are manufactured and related software is developed at board and PC level. A star like topology is used for boards architecture. One bridge board is responsible for handling communication between the PC and all the other boards that are connected independently to that bridge board. For PC communication Universal Seial Bus (USB), for inter peripheral communication serial peripheral interface (SPI) is used. By the use of USB and SPI, the system becomes scalable and hot pluggable. All these four boards can be used in stand alone and/or together in different applications. The system covers; general analog digital input output, several types of motor control and simple graphical display applications. The firmware and software is developed in a modular, flexible and transparent way allowing users all level accessibility. This way, the application fields and the content of the courses that will be using this system become very versatile. A simulation of hard disk reading experiment is designed and implemented to show the integral capabilities of the system. In this experiment all the boards are utilized and used together. As a result, a system is designed for Mechatronics experiments and research. A modular approach is adopted which is compsed of units that can also work in a stand-alone manner. A software library developed for the PC platform facilitates high-level usage of these cards whereas it is possible to implement custom codes on these boards. To sum up, an affordable, versitale, scalable and transparent system is developed which is specifically tailored for Mechatronics applications.


A programmable control unit for industrial applications
Güngör, Mustafa Kemal; Hızal, Mirzahan; Department of Electrical and Electronics Engineering (2003)
In this thesis, the automation of the long term and cyclic processes by using a programmable control unit is aimed. To achieve this goal, timing relays and various microcontrollers are investigated. PIC microcontroller is chosen to implement the control unit due to its advantages like high speed, Harvard and RISC architecture, low cost and flexibility for programming. Theory of the PIC microcontrollers is studied and a controller unit to be used in the mentioned processes is designed. Some features are adde...
Design, fabrication and implementation of a vibration based mems energy scavenger for wireless microsystems
Sarı, İbrahim; Balkan, Raif Tuna; Department of Mechanical Engineering (2008)
This thesis study presents the design, simulation, micro fabrication, and testing steps of microelectromechanical systems (MEMS) based electromagnetic micro power generators. These generators are capable of generating power using already available environmental vibrations, by implementing the electromagnetic induction technique. There are mainly two objectives of the study: (i) to increase the bandwidth of the traditional micro generators and (ii) to improve their efficiency at low frequency environmental v...
"High precision CNC motion control"
Ay, Gökçe Mehmet; Dölen, Melik; Department of Mechanical Engineering (2004)
This thesis focuses on the design of an electrical drive system for the purpose of high precision motion control. A modern electrical drive is usually equipped with a current regulated voltage source along with powerful motion controller system utilizing one or more micro-controllers and/or digital signal processors (DSPs). That is, the motor drive control is mostly performed by a dedicated digital-motion controller system. Such a motor drive mostly interfaces with its host processor via various serial comm...
Improving performance of a remote robotic teleoperation over the internet
Arslan, Mehmet Selçuk; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2005)
In this thesis study, it is aimed to improve the performance of an Internet-based teleoperation system enabling the remote operation of a 6 DOF industrial robot. In order to improve the safety and efficiency of the teleoperation, stability and synchronization (hand-eye coordination) are considered. The selected communication medium between the human operator and remote robot is the Internet. The variable time delays and nondeterministic characteristics of the Internet may lead to instability of the teleoper...
Universal command generator for robotics and cnc machinery
Akıncı, Arda; Dölen, Melik; Department of Mechanical Engineering (2009)
In this study a universal command generator has been designed for robotics and CNC machinery. Encoding techniques has been utilized in order to represent the commands and their efficiencies have been discussed. The developed algorithm generates the trajectory of the end-effector with linear and circular interpolation in an offline fashion, the corresponding joint states and their error envelopes are computed with the utilization of a numerical inverse kinematic solver with a predefined precision. Finally, t...
Citation Formats
A. Ö. Nursal, “Modular embedded system design / implementation for mechatronic education and research,” M.S. - Master of Science, Middle East Technical University, 2007.