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Education & Research With SH2 at Oakland University

Education & Research With SH2 at Oakland University. Academic Overview of the Collaboration Between Oakland University – Hitachi America Prof Ka C. Cheok & Dr. G. E. Smid Department of Electrical & Systems Engineering. Detroit – USA. Hitachi-America Sales, Marketing and Technical Center

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Education & Research With SH2 at Oakland University

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  1. Education & Research With SH2at Oakland University Academic Overview of the Collaboration Between Oakland University – Hitachi America Prof Ka C. Cheok & Dr. G. E. Smid Department of Electrical & Systems Engineering

  2. Detroit – USA Hitachi-AmericaSales, Marketing and Technical Center Oakland University Dept. of Electrical & Systems Engineering Oakland University - Hitachi America

  3. Oakland University • 16000 students • 1600 Engineering • 800 M.Sc. • 60 Ph.D. students • Locations 30 mins to Big Three car companies and various automotive suppliers • Majority of OU graduates works in auto industry Oakland University - Hitachi America

  4. Electrical & SystemsEngineering Department • Dynamic & Control • Industrial & Mobile Robots • Computer-based Systems Control • Computer Simulations • Mechatronics • Communication Electronics • VLSI • Manufacturng Systems Oakland University - Hitachi America

  5. SH2 in Education • Systems Behavior/Control Principles • Microcomputers/Microcontrollers • Computer Interface • Signal Conditioning Electronics • Sensors & Actuators • Mechanical Mechanism Mechatronics & Computer Control Systems Courses Oakland University - Hitachi America

  6. Mechatronics Lab CAE Tools • Simulation • Data acquisition • Analysis • Design • Computer methods Projects Oakland University - Hitachi America

  7. EE4/572 Microcomputer Control Systems Hitachi Embedded Microcontroller Lab Learning Experience • PC-based control • uP-based control State-of-the-Art • Methodology • Technology Integrated Systems • Multidisplinary • Resources • Team effort • Scheduling • Project management Oakland University - Hitachi America

  8. Hitachi Donation & Support • 11 SH2 7055 EVBs • 15 H-8 EVBs • HEW, HDI • MakeApp • TargetLink (dSpace donation) • Funding Oakland University - Hitachi America

  9. EE4/572 MICROCOMPUTER-BASED CONTROL SYSTEMS Aspects of computer control EE/SYS4/575 AUTOMOTIVE MECHATRONICS I Aspects of Design, Analysis, Synthesis EE/SYS675 AUTOMOTIVE MECHATRONICS II Aspects of Microcomputer & Microcontrollers SYS431 AUTOMATIC CONTROL SYSTEMS Feedback Design & Analysis EE470 MICROPROCESSOR SYSTEMS Programming & Application Examples SYS433 MODERN CONTROL SYSTEMS Feedback Design & Analysis EE345 ELECTRIC & MAGNETIC FIELDS EE351 ELECtROMECHANICAL ENERGY CONVERSION EE437 COMMUNICATION ELECTRONICS EE326 ELECTRONIC CIRCUITS Transistors, FET, amplifiers EE378 DESIGN OF DIGITAL SYSTEMS Logic, TTL, CMOS SYS325 LUMPED PARAMETER SYSTEMS Representation of Signals & Systems ECE171 PROGRAMMING LANGUAGE C/C++, Matlab/Simulnk EE222 ELECTRICAL CIRCUITS Circuits analysis, op-amp filters ME221 STATIC & DYNAMICS Mechanical systems Computer Control Mechatronics Course Option at Electrical & Systems Engineering Department at Oakland University Oakland University - Hitachi America

  10. Increasing Intelligent Decision • Knowledge & Decision • Memory • Rules • Rules to change itself • Perception • Signal processing • Pattern recognition • Command • Control principles • Prediction Computer Input Interface Computer Output Interface • Input Signal Conditioning • Analog electronics • Digital electronics • Signal processing • Output Signal Conditioning • Power electronics, • Driver devices • Modulation schemes • Actuators • motors, engine • gears • Sensory Systems • Transducers Increasing Precision Mechanical process Computer Control for Mechatronic Systems EXECUTIVE EXECUTION Oakland University - Hitachi America

  11. Examples of student projects • Unicycle Balancing Control System • Self-leveling Stabilized Platform • Stewart Platform Motion Base System • Vision-based Navigation Mobile Robot • Radar-based Object Detection and Collision Avoidance • Sonar-based Object Detection and Collision Avoidance • Laser-Camera-based Object Detection and Collision Avoidance • Virtual Reality Modeling with Vision-based Navigation Virtual Vehicle • GPS-based Navigation & Guidance for Mobile Robot • Engine Control Simulation & Experiment • Vision-based Target Locking Tracking System • Cruise Speed Control with Head-up Display (HUD) • Speech Recognition Think Question Creative Entertain Challenge Discover Learn Oakland University - Hitachi America

  12. From Concept to Mechatronic Product $500k to $5 mil A “typical ideal” plan Product Shipment Product Testing Product Tooling $50k to $500k Product Prototype Quality improves … Cost increases … Time increases Concept Prototype Concept Studies 6 12 18 24 mos University Involvement Industry Involvement Oakland University - Hitachi America

  13. Concept Studies • Review of Methodology & Technology • Computer Simulation • Demonstrate Proof of Principles Concept Prototype • PC-based Implementation • Embedded mP Implementation • Proof of Technologies Oakland University - Hitachi America

  14. PC-based Proof of Principles • Study of Behavioral Performance • transient, frequency, stability, nonlinearity, uncertainty • PC-based Rapid Prototyping of Controller • evaluation of control scheme using high level language enhances successful implementation of sophisticated principles & algorithm • Ease of programming, parameter tuning, graphical visualization, etc. Real-Time Windows Target PC I/O Interface Electronics & Mechanical Systems Oakland University - Hitachi America

  15. Graphical visualization of results Matlab/Simulink schematic diagram implements functions Test Equipment Real-Time Windows Target PC I/O Interface NI-DAQ MI-50-AT Stabilized Platform Real-Time Windows Target • Focus less on programming/coding • Focus more on experiment, calibration & tuning • Proof of Concept/Principles Oakland University - Hitachi America

  16. Embedded mP Proof of Technologies • Demonstration of Technologies • capabilities, speed, cost, size, weight, integration • Rapid Prototyping of Embedded mP Controller • Hardware & software development • Debugging of program, parameter tuning, etc.. • Stand alone system Embedded mP Electronics & Mechanical Systems Oakland University - Hitachi America

  17. TargetLink autocodes Application Functions MakeApp autocodes I/O Functions Embedded mP Stabilized Platform Graphical visualization of results SH7055 EVB Matlab/Simulink for Visualization & Tuning Project Downloadable Code Hitachi Embedded Workshop Hitachi Development Interface Embedded SH2 7055 EVB • Effort focus on autocoding • Scaling factors, saturation, fixed/floating point • Fine tuning of parameters • Stand alone Oakland University - Hitachi America

  18. Battery monitor/charger Engine Idle Speed Control Mobile Robot Engine Throttle Control SH2 in Class Projects Oakland University - Hitachi America

  19. SH2 in Class Projects • Battery monitor/charger Engine Idle Speed Control Engine Throttle Control Mobile Robot Oakland University - Hitachi America

  20. Engine Idle Speed Control • Throttle is closed => Engine is Idling • Calculate desired Idle speed depending upon operating conditions (temperature, load etc) • Regulate the mass air flow (and apply feedback) Oakland University - Hitachi America

  21. Overview – SimCar SimCar is a Matlab/Simulink model of a gasoline engine Oakland University - Hitachi America

  22. Open-Loop Control PID Control Simulation • Implemented PID idle speed control on SimCar (tuned via Ziegler-Nichols & Classical Control Technique) Oakland University - Hitachi America

  23. Experiment • Implemented PID idle speed control on actual V8 engine at Hitachi-America lab (tuned via Ziegler-Nichols & manually) Oakland University - Hitachi America

  24. Target Link Model Ignition Injection Idle Speed BIOS Operating System Matlab / Simulink Model MakeApp Osek Configurator SH7055 EVB Generate C Code Generate C Code Generate C Code Project Downloadable Code Hitachi Development Interface Hitachi Embedded Workshop Engine Control at Hitachi-America Lab… A Rapid-Prototyping Approach APPLICATION SOFTWARE KERNEL SOFTWARE Oakland University - Hitachi America

  25. Interface Board Ford – V8, 4.6lt Engine Rack SH7055 EVB Downloadable Code Hitachi Development Interface Engine Real-Time ControlHardware Setup at Hitachi America Lab Oakland University - Hitachi America

  26. Students Experiences • Accomplishments • Learn basics of engine control • Learn modeling and simulation of engine control via SimCar • Learn software development & experimental setup for rapid prototyping of real-time engine using SH2 micro (hardware in the loop) • Problems Encountered • Steep learning curve (especially in the beginning)! • SimCar doesn’t represent precisely true behavior of the engine under investigation • Credits • Industry experience at Hitachi America Lab • Thanks to Dr. T. Oho, Dr. G. Sarkalis, Stephen and colleagues. Oakland University - Hitachi America

  27. SH2 in Research • HMMWV Collision Warning • Ground Robotics • Automatic Lawn Mower & Stabilized platform • Vehicle Dynamics Simulation Oakland University - Hitachi America

  28. ResearchHMMWV Collision Warning • Objective • Design and Evaluate a Collision Warning and Avoidance System with multiple sensors • Approach • Develop Sensor Fusion and Kalman Filter Algorithms in Simulink with Threat Assessment • Implementation • Laser radar, Millimeter-wave radar, Sonar, Vision • Implement Controller in SH-7055 with Simulink • Brake actuator and Throttle relaxer Oakland University - Hitachi America

  29. ResearchHMMWV Collision Warning Oakland University - Hitachi America

  30. iWk ~ N( 0, Q ) i Vk~ N( 0, iR ) iKk = iPk|k-1iCT [ iC iPk|k-1iCT + iR ]-1 iPk|k = [ I - iKkiC ] iPk|k-1 iPk+1|k = A iPk|k AT + Q iXk|k = iXk|k-1 + iKk [ iq k- C iXk|k-1 ] iXk+1|k = A iXk|k ResearchHMMWV Collision Warning iXk+1 = A iXk + iWk ixk = C iXk + iVk iX0|-1 = [ 0 0 0 ]T, i P0|-1 = I 1 t 0 A = 0 1 t 0 0 1 0 iWk = 0 iWk iKk = iPk|k-1iCT [ iC iPk|k-1iCT + iR ]-1 iPk|k = [ I - iKkiC ] iPk|k-1 iPk+1|k = A iPk|k AT + Q iXk|k = iXk|k-1 + iKk [i r k- C iXk|k-1 ] iXk+1|k = A iXk|k i r k C = [ 1 0 0 ] Driver’s intention iXk~iXk If iR=Inf then 0 iXk+1~iXk+1 1xk~Nxk , 1R~NR iq k If iR=Inf then 0 Oakland University - Hitachi America

  31. Come from kalman filter dr , Vr v1 v2 v2 Tc = dr / Vr Minimum needed deceleration Tb = Tc - Tr Dmin = Vr / Tb Dmin= Vr / Tb Vr Dmax= Vr / Tbmin Dmax = Vr / Tbmin v1 CWI = Dmin / Dmax =Tbmin / Tb Alert Safe Danger CWI 1 0 Time Tbmin Human reaciton time Computed remaining time to brake Tr Tb Tc Time to collision ResearchHMMWV Collision Warning Oakland University - Hitachi America

  32. ResearchHMMWV Collision Warning Oakland University - Hitachi America

  33. ResearchGround Robotics • Objective • Student teams build an autonomous robotic vehicle that can negotiate an obstacle course • Approach • Develop a mobile robot, equipped with vision and sonar in a real-time control environment • Implementation • Sonar, Vision • Implement Controller in SH8 through Simulink • DC Motors, typically skid-steer Oakland University - Hitachi America

  34. ResearchGround Robotics Intelligent Ground Vehicle Competition Winners include Hosei University, Japan Oakland University - Hitachi America

  35. ResearchStabilizing Platform • Objective • Automatically Level a platform on a floating base • Approach • Design a Closed-Loop Controller with Kalman Filter independent for X and Y • Implementation • Accelerometer and Rate Gyro Sensors • Implement Controller in SH-7055 1ms cycle Oakland University - Hitachi America

  36. ResearchStabilizing Platform Oakland University - Hitachi America

  37. ResearchStabilizing Platform Oakland University - Hitachi America

  38. ResearchStabilizing Platform Oakland University - Hitachi America

  39. ResearchAutomatic Lawn Mower Oakland University - Hitachi America

  40. ResearchAutomatic Lawn Mower Oakland University - Hitachi America

  41. ResearchVehicle Dynamics Simulation • Objective: • Develop Full Vehicle State Observer • Approach: • Embed Full Vehicle Dynamics Model in Real-Time Micro-Processor Environment • Implementation: • Driver Inputs and IO through CAN • Hitachi SH-7055 Oakland University - Hitachi America

  42. ResearchVehicle Dynamics Simulation Oakland University - Hitachi America

  43. ResearchVehicle Dynamics Simulation Oakland University - Hitachi America

  44. Other Research Collaborations • Ford Motor Company – Pre-Crash Sensing • DaimlerChrysler – Hybrid-Electric Vehicle • US Army TACOM – Collision Warning • ITT Automotive – Anti-Lock Brake System • Saturn Electronics – Traction Control • Chrysler – Virtual Prototyping • Ford Motor Company – Data Validation • Dana Corporation – Virtual Test Rig Oakland University - Hitachi America

  45. Closing • Hitachi SH-2 provides excellent solution for rapid prototyping of controllers for mechatronics systems • Software development tools are easy to use (Matlab/Simulink/TargetLink/MakeApp Code-Generation) • Latest Technologies & Methodologies employed in Education and Research • Conducive environment for academic-industry project collaboration Oakland University - Hitachi America

  46. Oakland University appeciates Hitachi America support and intends to continue the fruitful collaboration Oakland University - Hitachi America

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