2. 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

3. April 20, 2001Oakland University - Hitachi America2 Detroit – USA Hitachi-America Sales, Marketing and Technical Center Oakland University Dept. of Electrical & Systems Engineering

4. April 20, 2001Oakland University - Hitachi America3 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

5. April 20, 2001Oakland University - Hitachi America4 Dynamic & Control Industrial & Mobile Robots Computer-based Systems Control Computer Simulations Mechatronics Communication Electronics VLSI Manufacturng Systems Electrical & Systems Engineering Department

6. April 20, 2001Oakland University - Hitachi America5 SH2 in Education Systems Behavior/Control Principles Microcomputers/Microcontrollers Computer Interface Signal Conditioning Electronics Sensors & Actuators Mechanical Mechanism Mechatronics & Computer Control Systems Courses

7. April 20, 2001Oakland University - Hitachi America6 Mechatronics Lab CAE Tools Simulation Data acquisition Analysis Design Computer methods Projects

8. April 20, 2001Oakland University - Hitachi America7 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 EE4/572 Microcomputer Control Systems

9. April 20, 2001Oakland University - Hitachi America8 Hitachi Donation & Support 11 SH2 7055 EVBs 15 H-8 EVBs HEW, HDI MakeApp TargetLink (dSpace donation) Funding

10. April 20, 2001Oakland University - Hitachi America9 EE/SYS4/575 AUTOMOTIVE MECHATRONICS I Aspects of Design, Analysis, Synthesis EE/SYS675 AUTOMOTIVE MECHATRONICS II Aspects of Microcomputer & Microcontrollers EE4/572 MICROCOMPUTER-BASED CONTROL SYSTEMS Aspects of computer control EE222 ELECTRICAL CIRCUITS Circuits analysis, op-amp filters ME221 STATIC & DYNAMICS Mechanical systems ECE171 PROGRAMMING LANGUAGE C/C++, Matlab/Simulnk EE326 ELECTRONIC CIRCUITS Transistors, FET, amplifiers EE378 DESIGN OF DIGITAL SYSTEMS Logic, TTL, CMOS SYS325 LUMPED PARAMETER SYSTEMS Representation of Signals & Systems EE351 ELECtROMECHANICAL ENERGY CONVERSION EE345 ELECTRIC & MAGNETIC FIELDS EE470 MICROPROCESSOR SYSTEMS Programming & Application Examples SYS431 AUTOMATIC CONTROL SYSTEMS Feedback Design & Analysis SYS433 MODERN CONTROL SYSTEMS Feedback Design & Analysis EE437 COMMUNICATION ELECTRONICS Computer Control Mechatronics Course Option at Electrical & Systems Engineering Department at Oakland University

11. April 20, 2001Oakland University - Hitachi America10 EXECUTION EXECUTIVE Knowledge & Decision Memory Rules Rules to change itself Perception Signal processing Pattern recognition Command Control principles Prediction Increasing Precision Increasing Intelligent Decision Computer Control for Mechatronic Systems Output Signal Conditioning Power electronics, Driver devices Modulation schemes Input Signal Conditioning Analog electronics Digital electronics Signal processing Computer Output Interface Computer Input Interface Sensory Systems Transducers Actuators motors, engine gears Mechanical process

12. April 20, 2001Oakland University - Hitachi America11 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 Examples of student projects Challenge Think Question Discover Learn Entertain Creative

13. April 20, 2001Oakland University - Hitachi America12 Product Shipment Product Testing Product Tooling 6121824 mos Product Prototype Concept Prototype A typical ideal plan Quality improves … Cost increases … Time increases $50k to $500k $500k to $5 mil Concept Studies University Involvement Industry Involvement From Concept to Mechatronic Product

14. April 20, 2001Oakland University - Hitachi America13 Concept Studies Review of Methodology & Technology Computer Simulation Demonstrate Proof of Principles Concept Prototype PC-based Implementation Embedded P Implementation Proof of Technologies

15. April 20, 2001Oakland University - Hitachi America14 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 TargetPC I/O Interface Electronics & Mechanical Systems PC-based Proof of Principles

16. April 20, 2001Oakland University - Hitachi America15 Real-Time Windows Target Focus less on programming/coding Focus more on experiment, calibration & tuning Proof of Concept/Principles Real-Time Windows TargetPC I/O Interface NI-DAQ MI-50-AT Stabilized Platform Matlab/Simulink schematic diagram implements functions Graphical visualization of results Test Equipment

17. April 20, 2001Oakland University - Hitachi America16 Demonstration of Technologies –capabilities, speed, cost, size, weight, integration Rapid Prototyping of Embedded P Controller –Hardware & software development –Debugging of program, parameter tuning, etc.. –Stand alone system Embedded P Electronics & Mechanical Systems Embedded P Proof of Technologies

18. April 20, 2001Oakland University - Hitachi America17 MakeApp autocodes I/O Functions TargetLink autocodes Application Functions Embedded SH2 7055 EVB Project Hitachi Embedded Workshop Downloadable Code Hitachi Development Interface Embedded P Stabilized Platform SH7055 EVB Matlab/Simulink for Visualization & Tuning Graphical visualization of results Effort focus on autocoding Scaling factors, saturation, fixed/floating point Fine tuning of parameters Stand alone

19. April 20, 2001Oakland University - Hitachi America18 C codes & Header SCIO RAM CAN1 SH2 EVB I/O SCI1 FLASH MEM CAN2 RS232 SCIO RAM CAN1 SH2 EVB I/O SCI1 FLASH MEM CAN2 SCIO RAM CAN1 SH2 EVB I/O SCI1 FLASH MEM CAN2 MakeApp Auto-code generators HDI Com1 Com2. OUT. ABS Schematic Capture Hand coding GNUMCS Converter. MOT FDT Compilers & Linkers Debugger Assembly & Object Files Source Files Flash Ram Downloader Stand-alone Codes Hitachi Programming Workbench - Integrated Development Environment PC Window Platform APPLICATIONSAPPLICATIONS Hitachi Programming Environment for Prototyping with SH2 7055

20. April 20, 2001Oakland University - Hitachi America19 SH2 in Class Projects Mobile Robot Engine Throttle Control Battery monitor/charger Engine Idle Speed Control

21. April 20, 2001Oakland University - Hitachi America20 SH2 in Class Projects Mobile RobotEngine Throttle Control Battery monitor/charger Engine Idle Speed Control

22. April 20, 2001Oakland University - Hitachi America21 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) Engine Idle Speed Control

23. April 20, 2001Oakland University - Hitachi America22 SimCar is a Matlab/Simulink model of a gasoline engine Overview – SimCar

24. April 20, 2001Oakland University - Hitachi America23 Implemented PID idle speed control on SimCar (tuned via Ziegler-Nichols & Classical Control Technique) Open-Loop ControlPID Control Simulation

25. April 20, 2001Oakland University - Hitachi America24 Implemented PID idle speed control on actual V8 engine at Hitachi-America lab (tuned via Ziegler-Nichols & manually) Experiment

26. April 20, 2001Oakland University - Hitachi America25 Engine Control at Hitachi-America Lab … A Rapid-Prototyping Approach APPLICATION SOFTWARE IgnitionInjectionIdle Speed Matlab / Simulink Model Target Link Model KERNEL SOFTWARE BIOS MakeApp Operating System Osek Configurator Project Hitachi Embedded Workshop Downloadable Code Hitachi Development Interface SH7055 EVB

27. April 20, 2001Oakland University - Hitachi America26 SH7055 EVB Downloadable Code Hitachi Development Interface Interface Board Rack Ford – V8, 4.6lt Engine Engine Real-Time Control Hardware Setup at Hitachi America Lab

28. April 20, 2001Oakland University - Hitachi America27 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 doesnt 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. Students Experiences

29. April 20, 2001Oakland University - Hitachi America28 SH2 in Research HMMWV Collision Warning Ground Robotics Automatic Lawn Mower & Stabilized platform Vehicle Dynamics Simulation

30. April 20, 2001Oakland University - Hitachi America29 Research HMMWV 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

31. April 20, 2001Oakland University - Hitachi America30 Research HMMWV Collision Warning

32. April 20, 2001Oakland University - Hitachi America31 Research HMMWV Collision Warning i X k+1 = A i X k + i W k i x k = C i X k + i V k i X 0|-1 = [ 0 0 0 ] T, i P 0|-1 = I i K k = i P k|k-1 i C T [ i C i P k|k-1 i C T + i R ] -1 i P k|k = [ I - i K k i C ] i P k|k-1 i P k+1|k = A i P k|k A T + Q i X k|k = i X k|k-1 + i K k [ i r k - C i X k|k-1 ] i X k+1|k = A i X k|k i K k = i P k|k-1 i C T [ i C i P k|k-1 i C T + i R ] -1 i P k|k = [ I - i K k i C ] i P k|k-1 i P k+1|k = A i P k|k A T + Q i X k|k = i X k|k-1 + i K k [ i k - C i X k|k-1 ] i X k+1|k = A i X k|k i r k i k 1 x k ~ N x k, 1 R~ N R i W k ~ N( 0, Q ) i V k ~ N( 0, i R ) 1 0 A = 0 1 0 0 1 C = [ 1 0 0 ] 0 i W k = 0 i W k Drivers intention iXk~ iXkiXk~ iXk i X k+1 ~ i X k+1 If i R=Inf then 0

33. April 20, 2001Oakland University - Hitachi America32 d r, V r Come from kalman filter v2v2 v1v1 v2v2 v1v1 TrTr T bT b TcTc VrVr D min = V r / T b D max = V r / T bmin Time T bmin CWI 0 1 Safe Alert Danger Minimum needed deceleration Time to collision Human reaciton time Computed remaining time to brake T c = d r / V r T b = T c - T r D min = V r / T b D max = V r / T bmin CWI = D min / D max = T bmin / T b Research HMMWV Collision Warning

34. April 20, 2001Oakland University - Hitachi America33 Research HMMWV Collision Warning

35. April 20, 2001Oakland University - Hitachi America34 Research Ground 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

36. April 20, 2001Oakland University - Hitachi America35 Research Ground Robotics Intelligent Ground Vehicle Competition Winners include Hosei University, Japan

37. April 20, 2001Oakland University - Hitachi America36 Research Stabilizing 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

38. April 20, 2001Oakland University - Hitachi America37 Research Stabilizing Platform

39. April 20, 2001Oakland University - Hitachi America38 Research Stabilizing Platform

40. April 20, 2001Oakland University - Hitachi America39 Research Stabilizing Platform

41. April 20, 2001Oakland University - Hitachi America40 Research Automatic Lawn Mower

42. April 20, 2001Oakland University - Hitachi America41 Research Automatic Lawn Mower

43. April 20, 2001Oakland University - Hitachi America42 Research Vehicle 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

44. April 20, 2001Oakland University - Hitachi America43 Research Vehicle Dynamics Simulation

45. April 20, 2001Oakland University - Hitachi America44 Research Vehicle Dynamics Simulation

46. April 20, 2001Oakland University - Hitachi America45 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

47. April 20, 2001Oakland University - Hitachi America46 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

48. April 20, 2001Oakland University - Hitachi America47 Oakland University appeciates Hitachi America support and intends to continue the fruitful collaboration