IX Brazil/Japan International Workshop: Society, Energy and Environment
The mechatronics and robotics
at the Escola Politécnica of the
University of São Paulo
Prof.Dr. Oswaldo Horikawa
Department of Mechatronics Engineering
IX Brazil/Japan International Workshop: Society, Energy and Environment
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
IX Brazil/Japan International Workshop: Society, Energy and Environment
35 Docents
300 Undergraduate students
30 Master and Doctoral students
•Actuators
•Sensors
•Modelling
•Control
•Devices and robotics
•Production Eng
IX Brazil/Japan International Workshop: Society, Energy and Environment
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
IX Brazil/Japan International Workshop: Society, Energy and Environment
Underwater robots
(robot technology)
Adamowsky, Maruyama, Furukawa
http://www.inovacaotecnologica.com.br/noticias/noti
cia.php?artigo=010180051226
A REAL-TIME SIMULATOR FOR AUV DEVELOPMENT
João Lucas Dozzi Dantas, Ettore Apolonio de Barros,
ABCM Symposium Series in Mechatronics - Vol. 4 - pp.499-508
IX Brazil/Japan International Workshop: Society, Energy and Environment
4D medical
images
(modelling
technology)
Registration of temporal sequences of coronal and sagittal MR images through respiratory patterns André Kubagawa Satoa, 1, Neylor Antunes
Stevoa , Renato Seiji Tavaresa, 2, Marcos Sales Guerra Tsuzukia, 3, , , Eiji Kadotab, Toshiyuki Gotohb , Seiichiro Kageib and Tae Iwasawac, 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
IX Brazil/Japan International Workshop: Society, Energy and Environment
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.
IX Brazil/Japan International Workshop: Society, Energy and Environment
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.
IX Brazil/Japan International Workshop: Society, Energy and Environment
4kg drained
Tree trimming
~2m
Hydraulic saw
Secutrity
+
Quality & efficiency
Aerial bucket
IX Brazil/Japan International Workshop: Society, Energy and Environment
Load balancer – mechanical solution
Main arm
Saw
hook
Gas spring
Base
Body
Auxiliarly arm
Aerial bucket
Load balancer coupled to the aerial bucket
IX Brazil/Japan International Workshop: Society, Energy and Environment
Load balancer – mechanical solution
Main
arm
Auxiliarly arm
Load balancer
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
IX Brazil/Japan International Workshop: Society, Energy and Environment
Automatic load bancer – mechatronics solution
Automatic correction of imperfections in the balancing force
Sensor for working
angle
Arm
Gas
spring
Correction
mechanism
Load
Controller (PLC)
HMI
Error
map
or
mathematical model
matemático
Schematics.
Motor
Driver
Screw
rotations
counting
IX Brazil/Japan International Workshop: Society, Energy and Environment
Manipulation and
use of ladder
Retract Extend
Transport Clib
etc
>40kg
Glass fiber
ladder
IX Brazil/Japan International Workshop: Society, Energy and Environment
Elevator
Lamp
plattform
reactor
9m
2.5m
7m
pole
Specifications and operation of the elevator
IX Brazil/Japan International Workshop: Society, Energy and Environment
Elevator
column
plattform
Control
panel
Rotary base
Remote control
Prototype of the Elevator
IX Brazil/Japan International Workshop: Society, Energy and Environment
Elevator
Sensores
S1: col at work posit
S2: plattf at INF limit
S3: plattf at SUP limit
S4: rotation counting
S5: col at transp pos
Remote
control
120kg
load
Control panel
Radio
HMI
Interface
A3
r
botton
s
PLC
S3
sensors
driver
actuators
S5
S2
A1
A2
S4
S1
Actuators
A1: arm
A2: incline
A3: elevate
A4: rotate
Licght vehicle
A4
Elevator – Control system
Elevator – Load test
en t d
t
a
P
re
ste
i
g
e
IX Brazil/Japan International Workshop: Society, Energy and Environment
New Elevador
Aluminum
structure
Smaller vehicle (1,8 ton, 5m)
Electro-hydraulic actuators
Control by the panel
or the remote control
IX Brazil/Japan International Workshop: Society, Energy and Environment
Ventricular Assist Device – VAD (Artificial heart)
The most recent prototype