Biomedical Robotics and Biomicrosystems Lab

Biomechatronics 

 

Teacher: F. Taffoni 

Tutors: D. Formica, M.T. Francomano

 

GOALS

The Biomecatronic course goals are to make students able to:

  1. critically analyse devices, machinery and biomedical systems in order to reconstruct the functional architecture and the rationale of design choices;
  2. assess the state art related to specific technical problems and reuse it;
  3. concurrently design systems integrating mechanical components, electronic and information technology with an optimal allocation of functions;
  4. manage systems acquisition and processing of multimodal data streams.

Alongside the theoretical skills listed above, the student will develop also basic skills in the use of some software tools for data analysis and simulation (Matlab / Simulink) for programming embedded systems (development environment CCS) and for the design of PCBs (Eagle CadSoft ).

 

MODULE 1: Introduction to biomechatronics; theoretical bases of mechatronic design, systems modelling.

Introduction to biomechatronics: history of mechatronic systems; classification of mechatronic systems; case study: the car and the development of mechatronic systems, from mechatronics to biomechatronics: examples of biomechatronic systems; mechatronic design principles Elements of systems theory: system classification,  transfer function, frequency response, and Bode plot. Modelling of physical systems: modelling principles, examples; introduction to SIMULINK; Examples of simulation in SIMULINK.

 

MODULE 2: Electronics for Embedded Systems: Microcontrollers for Mechatronics and electronic design

Principles of PCB design, and introduction to the EAGLE CAD; PCB design examples in Eagle; laboratory exercises on designing and development of PCB; introduction to microcontrollers and selection criteria; Microcontroller peripherals an overview: A/D module, USART module and communication protocols, QEI module, Timers, PWM, CCP; the PIC16F887A microcontroller; introduction to the development environment CCS; programming examples, laboratory exercises on CCS programming;

 

MODULE 3: Artificial Perception in mechatronic systems

Definition of sensor and transducer, classification of transducers and their properties; Function of sensors in mechatronic systems. Position sensors: switches, encoders, potentiometers, Hall effect sensors. Measuring the distance: triangulation, time of flight. Proximity sensors: ultrasonic and infrared sensors. Force Sensors: piezoresistive effect and strain gauge force sensors / torque. Notes on the sense of touch in humans. Neurophysiology of touch: transduction, transmission and processing. Artificial tactile sensors: design strategies for applications bio-inspired. Notes on the anatomy and physiology of the human vestibular system. Accelerometers and gyroscopes, applications in mechatronics and robotics. Magnetic Sensors. Example of artificial vestibular system. MATLAB Tutorial: data fusion algorithms for the reconstruction of orientation.

 

MODULE 4: Conventional actuation systems for biomechatronic devices, energy sources and low-level control strategies.

Classification and operational principles of the actuation systems for biomechatronic devices.  Comparative analysis and selection criteria of actuation systems. Electric motors: DC motors, brushless and stepper. Energy sources taxonomy; Selection criteria of energy sources. Motion control: closed loop control, PID control

 

MODULE 5: Laboratory project

Experimental project developed by the student. The project can be carried out at the Teaching Laboratory and at the Biomedical Robotics and biomicrosystem laboratory of Università Campus Bio-Medico di Roma.


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