Cyber Physical Systems

The objective of this course is that students acquire knowledge and skills in cyber physical systems design and implementation through experience in mechanical and control subsystems co-design.

After successfully completing this course, the students should be capable to: - Design cyber physical systems through augmenting mechanical devices with computation and communication capabilities; - Implement smart and conventional sensors and actuators in various systems design; - Design embedded control systems based on microcontrollers; - Understand the principles of motion control and implement motion control in various tasks.

1. Introduction to cyber physical systems; 2. Microcontrollers: microcontroller architecture (based on 8-bit PIC and 32-bit ARM (Cortex-M3)), microcontroller components: digital I/O, Timers, ADCs, DACs, PWMs, serial interfaces (USART, SPI, I2C, CAN); microcontroller programming: from C to assembler, interrupts, interrupt service routine; 3. Sensors: absolute and incremental encoders (rotary and linear), strain gauges, force measurement, displacement measurement (LVDT, laser interferometers), accelerometers, gyroscopes, inertial measurement units, thermocouples, RFID, vision systems; 4. Digital signal processing basics: sampling theorem, Fourier transform, Discrete Time Fourier transform, Short Time Fourier transform, signal filtering, FIR filters design, convolution; 5. Actuators: Step motors, servo motors, pneumatic and hydraulic actuators; 6. Motion control: CNC system architecture with emphasis on Numerical Control Kernel (interpreter, acc/dec controller, interpolator), interpolation basics; 7. Smart sensors and actuators design; 8. Manufacturing resources as cyber physical systems; cyber physical systems as a basis for Manufacturing Execution Systems and Enterprise Resource Planning systems.

1. Laboratory exercises: PL1 Microcontroller programming basics: Digital I/O, ADC; PL2: Microcontroller programming: DAC; PL3: Microcontroller programming: serial interfaces; PL4: Microcontroller programming: PWM and interrupts; PL5: Digital signal processing basics; FIR filter design; Microcontroller programming: FIR filter implementation. PL6: Programming of NC machine tools according to ISO 6983; program generation and machining of part using selected machining system. 2. Project design: Design and physical realization of smart sensor and actuator.

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1. Jakovljevic, Z., Cyber Physical Systems, lecture handouts; 2. ARM Cortex-M3-based NXP LPC1768 microcontrollers; 3. Breadboards and electronic components; 4. MRF24J40MA 2.4 GHz IEEE Std. 802.15.4 RF Transceiver Modules; 5. Keil \mu Vision software; 6. Accelerometers, encoders, LVDT sensors, custom made strain gauge force sensor, 2-axis piezoelectric dynamometer, binary sensors; 7. Step motors, Electro-Pneumatic Regulator, pneumatic cylinders, dual control valves; 8. Sinumerik 802d CNC control unit installed on lathe ECHO ENG TCN-410-1250; 9. Personal computers.

Total assigned hours: 90

New material: 30
Elaboration and examples (recapitulation): 15

Auditory exercises: 0
Laboratory exercises: 15
Calculation tasks: 0
Seminar paper: 0
Project: 15
Consultations: 0
Discussion/workshop: 0
Research study work: 0

Review and grading of calculation tasks: 0
Review and grading of lab reports: 1
Review and grading of seminar papers: 0
Review and grading of the project: 3
Test: 0
Test: 6
Final exam: 5

Activity during lectures: 5
Test/test: 24
Laboratory practice: 16
Calculation tasks: 0
Seminar paper: 0
Project: 25
Final exam: 30
Requirement for taking the exam (required number of points): 35

Pilipović M, Jakovljević Ž, Manufacturing Automation, Faculty of Mechanical Engineering, Belgrade, 2017 /In Serbian/; Pilipović M, Automation of Manufacturing Processes - Laboratory, Faculty of Mechanical Engineering, Belgrade, 2006 /In Serbian/; Edward A. Lee and Sanjit A. Seshia, Introduction to Embedded Systems ‐ A Cyber--‐Physical Systems Approach, Second Edition, 2015. Available online at http://LeeSeshia.org; Rob Toulson and Tim Wilmshurst, Fast and effective embedded systems design: applying the ARM mbed, Newnes, 2016.; Rajeev Alur, Principles of Cyber--‐Physical Systems, MIT Press, 2015