Corso di laurea magistrale - Area di Ingegneria - Accesso libero con verifica di requisiti curriculari in ingresso - Classe LM-29 (D.M. 270/2004)
Lingua: Inglese
Informazioni generali
o Classe di Laurea: LM-29 (D.M. 270/04)
o Tipologia di corso: Laurea magistrale
o Durata: 2 anni
o Tipo di accesso: Accesso libero con verifica dei requisiti curriculari in ingresso
o Macroarea di afferenza: Ingegneria
o Dipartimento: Ingegneria Elettronica
o Codice corso: T20
Descrizione e obiettivi formativi
Il corso integra ed estende al contempo le competenze meccaniche ed elettroniche richieste per il progetto, lo sviluppo e la produzione efficace di sistemi complessi.
Il progetto formativo si basa su tre discipline fondamentali: Elettronica, Meccanica e Automatica e le attività previste forniscono agli studenti gli strumenti necessari per lo sviluppo integrato di un sistema meccatronico, per il quale è necessario garantire un approccio progettuale di tipo integrato tra funzionalità meccaniche ed elettroniche, con caratteristiche di modularità e riconfigurabilità. Il laureato magistrale è caratterizzato da un lato da una estesa ed approfondita conoscenza delle discipline di base dell'elettronica e della meccanica moderna, e dall'altro da competenze che lo rendono in grado di apprezzare ed ulteriormente sviluppare i cambiamenti e le innovazioni di un settore in continua evoluzione: in particolare, le competenze dello studente vengono sviluppate nei settori della progettazione elettronica (digitale e analogica, anche RF), dell'elettronica di potenza (necessaria per l'attuazione), della sensoristica (per la misura e la trasduzione delle varie grandezze fisiche in gioco), della robotica (sia dal punto di vista meccanico che del controllo), dei motori a combustione, dell'automatica e del controllo. Oltre a queste aumentate competenze, che vanno ad ampliare o ad integrare la formazione pregressa, verrà fornito un ulteriore approfondimento, legato alle scelte dello studente, che ulteriormente accresca le capacità di analisi e comprensione tipiche dell'ingegnere meccatronico.
Il corso è organizzato in 3 distinti curriculum, che approfondiscono specifiche competenze professionali: Elettronica, Meccanica, Sistemi.
Sbocchi professionali
Il laureato è in grado di ricoprire ruoli tecnici, e ruoli di ricerca e sviluppo in quei contesti che richiedono la conoscenza degli aspetti metodologici ed operativi delle scienze di base e dell'Ingegneria. Il laureato potrà inoltre operare anche in un contesto progettuale e di ricerca avanzato, curando gli aspetti specifici degli ambiti dell'Elettronica, della Meccanica e dei Controlli, con particolare riferimento all'interazione fra tali discipline.
I principali sbocchi occupazionali previsti sono quelli dell'innovazione e dello sviluppo della produzione, della progettazione avanzata, della pianificazione e della programmazione, della gestione di sistemi complessi, sia nella libera professione sia nelle imprese manifatturiere o di servizi che nelle amministrazioni pubbliche. I laureati magistrali potranno trovare occupazione presso imprese di progettazione e produzione di componenti, apparati sia elettronici che meccanici, industrie manifatturiere, nel settore delle amministrazioni pubbliche e nelle imprese di servizi, che applicano tecnologie e infrastrutture meccatroniche per l'acquisizione e il trattamento dei segnali, il controllo e l'ottimizzazione di apparati e sistemi meccanici, in ambito civile e industriale.
La formazione mediante un percorso in lingua inglese, consente una più agevole proiezione del laureato in un mercato del lavoro direttamente estero ovvero l'inserimento in realtà produttive nazionali che abbiano una spiccata tendenza internazionale.
Valutazione della didattica - Studenti
Anno accademico precedente
Riferimenti web e contatti
Sito Web: http://mechatronics.uniroma2.it/
Coordinatore:
Prof. Cristiano Maria Verrelli
Segreteria didattica:
Sig.ra Simona Ranieri
da lunedi a giovedi 10:00 -13:00, 15:00 –16:30
Edificio Ingegneria dell’informazione, Stanza Bt-01 - Via Del Politecnico, 1 - Roma
Tel: +39 06 7259 7574
E-mail: info@mechatronics.uniroma2.it
Diode semiconductor devices and circuit applications: clipper, clamper, peak detector, etc. Bipolar Junction and Field Effect Transistors. Biasing techniques for Transistors. Amplifiers classification, analysis and circuit design. Frequency response of single and cascaded amplifiers. Differential amplifiers and Cascode. Current mirrors. Feedback amplifiers and stability issues. Power amplifiers. Operational amplifiers and related applications. Oscillator circuits. Integrated circuits and voltage waveform generators.
1. Architecture and classification of industrial and service robots 1.1. Definitions: kinematic chains, joints, mobility 1.2. Manipulation analysis 1.3. Types of manipulators 2. Kinematics 2.1. Reference frames 2.2. Denavit-Hartenberg notation 2.3. Forward kinematics 2.4. Inverse kinematics 2.5. Jacobian and singularities 2.6. Workspace 2.7. Path planning 3. Statics and dynamics 3.1. Equilibrium 3.2. Equation of motion 3.3. Grasp mechanics 4. Other designs 4.1. Actuation technologies 4.2. Parallel robots 4.3. Compliant robots 4.4. Soft and continuum robots
1. Fundamental laws of thermodynamics: zeroth law, first law for open and closed systems, second law, entropy definition and Clausius integral. 2. Thermodynamic diagrams: P-v, T-s, H-s, P-h 3. Thermodynamic cycles for close and open systems: engine cycles: Otto Cycle, Diesel cycle, Joule Brighton cycle, Rankine and Hirn cycle, refrigeration cycle 4. Heat transfer mechanisms. Conduction: Fourier law, basic conduction heat transfer equation, solution for simple geometries with and without heat generation. Convection: dimension analysis for forced and free convection. Radiation heat transfer: basic laws of radiation, radiation exchanges between black bodies and grey bodies, electric analogy.
Porous materials: metal foams, Open and closed porosity (micro and macro). Classification according to size and shape of the pores. Properties (sound, energy and vibration absorption, crash behavior) and production methods. Functional and structural applications: lightweight construction, automotive. Metal sandwich structures.
General information on internal combustion engines : Characteristics and Classification , thermodynamic and performance analysis. Experimental analysis of the performance of an internal combustion engine Air Supply for 4-stroke engines: volumetric efficiency and its evaluation, quasi-stationary effects ; valve sizing ; influence of other engine parameters ; Variable Valve Actuation systems; non-stationary phenomena in the intake and exhaust : inertia and wave propagation; variable valve geometry systems, computational models; Supercharging; In cylinder charge motion: Turbulence ; swirl , squish , tumble , stratified charge engines Traditional and alternative fuels ; Fuels general properties : fuel , air stoichiometric ; calorific value gaseous fuels : natural gas , hydrogen and mixtures thereof. bio -ethanol , bio- diesel and DME . Features and their use in engines: technical solutions , performance and emissions Fuel metering. Otto engines : carburetor ; injection systems ; lambda probe. Diesel engines: fuel injectors and injection systems , dimensioning . Experimental tests on a diesel injection system Common Rail Combustion: Fundamentals of analytical study of combustion , thermodynamics of combustion processes , calculation of the chemical composition and temperature in adiabatic equilibrium transport phenomena (notes) , chemical kinetics (notes). Combustion in Otto and Diesel engines . Emissions and their control systems: emissions formation mechanisms, effects on health and environment, measurement of emissions; influence of engine parameters , test cycles and legislation ; procedures and systems for the reduction of emissions in engines. Experimental tests . Cooling system : Heat flows , heat transfer in the engine cooling systems , liquid and air : structural layouts and sizing ; thermal stress of the mechanical parts . Sustainable mobility . Principles of operation of hybrid vehicles : series and parallel solution ; engines there and electrical workers , regenerative braking , lithium batteries, performance and prospects . Plug-in hybrid vehicles , engines c.i. " Range extender " . Electric vehicles, characteristics and perspectives For all the topics of the course the numerical simulation tools will be presented
Introduction Basics of digital electronics Data structures for microprocessor systems The Von Neumann Architecture The LC3 Architecture Machine language programming of the LC3 LC3 Assembly programming LC3 I/O LC3 Traps e subroutines Basics of C language programming Instrumentation and measurements for microprocessor systems
1. Introduction on Nanotechnology: Top Down and Bottom Up approaches 2. Physical Deposition: Thermal Evaporation and Sputtering (Working Principle and applications) 3. Chemical Deposition: Chemical Vapour Deposition and Atomic Layer Deposition (Working Principle and applications) 4. Solution Processing: Spin Coating, Spray coating, Screen Printing, (Working Principle and applications) 5. Solar cell fabrication based on Solution Processing (Fundamentals and Manufactuiring Flow) 6. Case of Study: Perovskite solar Cells (Working Principle, Deposition Techniques and applications) 7. Up-Scaling Process of perovskite solar cells (Fundamentals and possible applications) 8. Accelerated Stability Tests for solar cells 9. Lab Experience (Manufacturing Flow of Perovskite Solar Cell) 10. Lab Experience (Optical and Electrical Characterization of the Solar Cell)
Electronic properties of materials: semiconductors. General properties of sensors; sensitivity and resolution; Temperature sensors: thermistors, integrated sensors, thermocouples; mechanic sensors: Strain gauges: Indtroduction to MEMS: accelerometer, gyroscope, pressure and flow sensors; Magnetic sensors; Optical sensors: photodiodes and image sensors; infrared sensors; interface circuits for resistive and capacitive sensors.
- Linear systems The matrix exponential; the variation of constants formula. Computation of the matrix exponential via eigenvalues and eigenvectors and via residual matrices. Necessary and sufficient conditions for exponential stability: Routh-Hurwitz criterion. Invariant subspaces. Impulse responses, step responses and steady state responses to sinusoidal inputs. Transient behaviors. Modal analysis: mode excitation by initial conditions and by impulsive inputs; modal observability from output measurements; modes which are both excitable and observable. Popov conditions for modal excitability and observability. Autoregressive moving average (ARMA) models and transfer functions. Reachability conditions, gramian reachability matrices and the computation of input signals to drive the system between two given states. Observability conditions, gramian observability matrices and the computation of initial conditions given input and output signals. Equivalence between Kalman and Popov conditions. Kalman decomposition for non reachable and non observable systems. Eigenvalues assignment by state feedback for reachable systems. Design of asymptotic for state estimation of observable systems. Design of dynamic compensators to stabilize any reachable and observable system. Design of regulators to reject disturbances generated by linear exosystems. Introduction to adaptive control. Introduction to tracking control. Minimum phase systems and proportional Integral Derivative (PID) control. Bode plots. Static gain, system gain and high frequency gain. Zero-pole cancellation. Nyquist plot and Nyquist criterion. Root locus analysis. Stability margins. Frequency domain design. Realization theory. - Introduction to nonlinear systems Nonlinear models and nonlinear phenomena. Fundamental properties. Linear systems and linearization. Stabilization by linearization.
Elements of electrical engineering, Thevenin, Norton and Superposition theorems. Analysis and synthesis of circuits based on diodes with both Turning Point and State methods. Analysis and Synthesis of amplifiers based on both BJT and FET devices in common emitter (source), collector (drain) and base (gate) configurations. Analysis and synthesis of circuits with operational amplifiers.
PART I - Discrete-time signals and systems; sampling process; Discrete-time Fourier transform (DTFT); Z-transform; Discrete Fourier Series (DFS). PART II – Processing algorithms: introduction to processing; Discrete Fourier Transform (DFT); finite and long processing; DFT-based Processing; Fast Fourier Transform (FFT); processing with FFT. PART III – Filter Design: introduction to digital filters: FIR and IIR classification; structures, design and implementation of IIR and FIR filters; analysis of finite word length effects; DSP system design and applications; PART IV - Random sequences; processing of random sequences with digital filters; introduction to random sequence estimation; estimators of mean, variance and auto-covariance of random sequences with performance analysis; power spectrum estimation; periodogram and performance analysis; smoothed estimators of the power spectrum and performance analysis; use of FFT in power spectrum estimation.
In the first part of the course the basic principles of the propagation of electromagnetic waves are recalled with the transmission line model and then with the theory of radiation potentials and the Green function. The elementary antennas and the distributed sources and their performance parameters are then introduced. A numerical method is then described for the digital representation of computer radiating elements and how to use a commercial solver based on this method is explained. We then move on to wireless systems for broadcasting applications based on wire antennas and then to array configurations for applications to point-to-point communications, radar systems and adaptive cellular communication. The following section introduces antennas for personal communications (mobile phones, notebooks, wearable devices based on microstrips) and describes the entire communication system. In the last 3 CFUs (not mandatory for the 6CFU course) broadband and ultra-wide communication antennas based on volumetric and self-scaling devices are introduced and finally reflector antenna systems are described for directive communication over long distances. The frontal lessons are completed by several interactive numerical exercises also with the use of electromagnetic simulators in Details: 1. INTRODUCTION TO ANTENNAS (2h) Essential chronology. Radiation mechanisms. Types of antennas. 2.ANTENNA BASICS (4h) Introduction to transmission lines. Sources of electromagnetic field: impressed, equivalent, images. Radiation Potentials. Green Function. 3. ELEMENTARY ELECTRIC AND MAGNETIC DIPOLES (4h) Static and dynamic regimes (reactive and radiating field). Hertzian dipoles. 4. DISTRIBUTED SOURCES (4h) Fraunhofer and Fresnel radiation regions. Propagation as the two-dimensional spatial Fourier Transform. Radiation parameters: effective length, radiation intensity, directivity, gain. efficiency, beamWidth, polarization. Equivalent-circuit parameters: input impedance, reflection coefficient, bandwidth, realized gain. 5. COMPUTED AIDED ELECTROMAGNETICS (8) Integral equations of the Electromagnetic Scattering: wire scatterers (Pocklington, Hallen equations), extended scatterers. Method of Moments: theory and FEKO computer solver. 6. BROADCASTING ANTENNAS (10) Half-wave dipole antenna: transmission-line equivalent current, input impedance, series and parallel resonance, radiation pattern, beamwidth, directivity. Folded dipoles, T-match, Gamma Match. Quarter-wave monopole: Marconi antenna. Loop antennas: transmission-line equivalent, small loop, large loop, series and parallel resonance, radiation pattern, beamwidth, directivity. Frequency tuning, feeding techniques. 7. ARRAYS AND BEAMSHAPING (12) Arrays of Antennas: Array factor, multiplication principle, total gain, taper efficiency. Uniform linear arrays: visibility windows, radiation pattern, beamwidth, phased beam, broadside and endfire arrays, electronic beam scanning, greating lobes, arrays of dipoles, beamforming networks (tree and bus). Uniform two-dimensional array: beam scanning. Non-Uniform array synthesis: binomial illumination, Tchebyshev illumination, Fourier beam-shaping synthesis, Alternate Protection synthesis 8. ANTENNAS FOR PERSONAL DEVICES (12) The microstrip. The slot. Integrated Patch antennas: transmission-line model, impedance matching, substrates, radiation pattern, efficiency and bandwidth, PIFA antennas. Miniaturization techniques: slots, shorting pins, meandering. Broadbanding: multi-layer antennas, stacked configurations. Circular polarization: double-ports, single port configuration. 9. WIRELESS COMMUNICATION LINKS (4) Antennas in receiving mode: Friis formula, radar cross-section, radar equation. Introduction to Radiofrequency Identification.
Structure and classification of planar mechanical systems, kinematic modelling, mobility analysis, graphical approaches of kinematics analysis, kinematic analysis with computer-oriented algorithms; dynamics and statics modelling, graphical approaches of dynamics analysis, dynamic analysis with computer-oriented algorithms, performance evaluation; elements of mechanical transmissions.
Fundamentals on electronic devices. Equivalent circuits (mechanic systems, thermal systems,...). Diode circuits. Transistor circuits. Nullors. Operational amplifiers (op amps). Universal active devices. Non-idealities of op-amps and other universal active devices. Op-amp circuits. Simulations of electronic circuits (SPICE). Electronic interfaces. Circuits for mechatronics (design examples).
Electronic properties of materials: semiconductors. General properties of sensors; sensitivity and resolution; Temperature sensors: thermistors, integrated sensors, thermocouples; mechanic sensors: Strain gauges: Indtroduction to MEMS: accelerometer, gyroscope, pressure and flow sensors; Magnetic sensors; Optical sensors: photodiodes and image sensors; infrared sensors; interface circuits for resistive and capacitive sensors.
1. Architecture and classification of industrial and service robots 1.1. Definitions: kinematic chains, joints, mobility 1.2. Manipulation analysis 1.3. Types of manipulators 2. Kinematics 2.1. Reference frames 2.2. Denavit-Hartenberg notation 2.3. Forward kinematics 2.4. Inverse kinematics 2.5. Jacobian and singularities 2.6. Workspace 2.7. Path planning 3. Statics and dynamics 3.1. Equilibrium 3.2. Equation of motion 3.3. Grasp mechanics 4. Other designs 4.1. Actuation technologies 4.2. Parallel robots 4.3. Compliant robots 4.4. Soft and continuum robots
POWER SEMICONDUCTORS Power Semiconductors employed in Power Electronics converters: Diodes, BJT, MOSFET, IGBT, Thyristors, GTO, GTC, IGCT, SiC, GaN). Static and dynamic behavior. Thermal behavior. Conduction and switching losses. Technical specifications provided by manufacturers’ datasheets. Driving circuits. POWER CONVERTER TOPOLOGIES Behavioral characteristics: unidirectional and bidirectional energy transfer, controlled voltage sources. Analysis method of power converters. DC-DC Converters. Buck, Boost, Buck-Boost. Reduction of switching losses. Average Model. Modulation techniques (PWM, PFM, PRM). Output voltage open-loop control. Closed-loop control. Current control. Half and Full Bridge DC-DC converters. DC-AC Converters (Inverters). Half and Full Bridge DC-AC single-phase converters based on static switches. Three-phase converters. Modulation techniques. Selective Harmonic Elimination (SHE). Sinusoidal Pulse Width Modulation (SPWM). AC-DC Converters. Thyristor based single-phase converters: half and full wave rectifiers. Full converters. Semi converters. Three-phase converters. Bidirectional converters. Effects on grid side of power converters. Generalized power factor. Power factor improvement. Series-connected converters. Single-phase and three-phase force-commutated PWM rectifiers: topologies, voltage and current controls. FUNDAMENTAL OF ELECTRICAL DRIVES Classification of Electrical Machines and Drives. DC Motors. DC Electrical Drives. Speed and Torque Control. Design of position and speed closed-loop controls. Angular position and speed transducers. Electromagnetic resolver. Absolute and incremental encoder. Simulating Power electronics and electrical drives using Matlab-Simulink/Simpowersystem.
BASIC CONTROL TOOLS Bounded- input bounded- output linear systems. Pole placement theorem for controllable and observable linear systems. Luenberger observers for observable systems. Design of dynamic compensators for linear systems. Integral feedback control to reject constant disturbances. PID control. System inverses for minimum phase linear systems. The combination of feedback and feedforward control actions. ADVANCED CONTROL TOOLS Linear approximations of nonlinear control systems about operating conditions. The definition of region of attraction for an operating condition. Output feedback compensators with integral actions to control a nonlinear systems about a given operating condition. Liapunov matrix equations to determine quadratic Liapunov functions and assess the region of attraction. The definition of sensitivity transfer function and its properties. The gang of four: sensitivity, complementary sensitivity, load sensitivity and noise sensitivity funtions. How to determine the robustness of a control loop using the gang of four functions. Bode’s integral formula and the limitations imposed by unstable open loop poles. Youla parametrization to design stable compensatiors. Kalman filters, Riccati equations and robust control design. CONTROL DESIGN FOR MULTIVARIABLE NONLINEAR SYSTEMS Relative degree for a single input single output nonlinear system. State feedback control design for input-output linearization. State feedback linearization when the relative degree is equal to the state space dimension. The definition of nonlinear inverse systems. Relative degrees or decoupling indices for multivariable (multi-input, multi-output) nonlinear systems. The definition of the decoupling matrix. State feedback control design for input-output linearization when the decoupling matrix is full rank using the Penrose pseudoinverse. State feedback linearization when the sum of relative degrees is equal to the state space dimension and the decoupling matrix is full rank. CASE STUDIES OF NONLINEAR MECHANICAL CONTROL SYSTEMS Control of bycicles, robots, vehicles and aircrafts
Elements of probability theory: discrete and continuous random variables and processes, probability distribution function, probability mass function, expected value. Information Theory: concept of information, self-information, Shannon entropy, alternative entropy measures, relative entropies, Kullback-Leibler divergence, Jensen-Shannon divergence, conditional entropy, joint entropy, mutual information, total correlation, differential entropy, normalized measures of information. Data science: basic concept of data science, definition of dataset and attribute/feature, train set and test set, data types, multivariate analysis, basic statistical description of data, case studies, information theoretic metrics in data science tasks, data preparation, data cleaning, discretization of attributes, dimensionality reduction (Singular Value Decomposition), association rules (unidimensional and multidimensional), classification algorithms (ID3, C4.5, Bayes, K-NN), classification trees, anomaly detection, clustering, data visualization. Analysis and prediction of time series. Evaluation methods of data science algorithms. Computer experiments: introduction to Python, Python projects with applications of information theory to data analysis, Python projects with applications of data science algorithms to different areas.
PART I – Introduction to multimedia data source coding systems. Quantization. PART II – Source coding: Differential and Transform Coding, Variable-length Coding, Run-length and Dictionary Coding. PART III – Still image compression: JPEG standard, wavelet transform and JPEG 2000 standard. PART IV – Video compression: motion compensation, MPEG-1/2, MPEG 4, H.261, H.263, H.264/AVC, H.265, H.266/VVC.
General information on internal combustion engines : Characteristics and Classification , thermodynamic and performance analysis. Experimental analysis of the performance of an internal combustion engine Air Supply for 4-stroke engines: volumetric efficiency and its evaluation, quasi-stationary effects ; valve sizing ; influence of other engine parameters ; Variable Valve Actuation systems; non-stationary phenomena in the intake and exhaust : inertia and wave propagation; variable valve geometry systems, computational models; Supercharging; In cylinder charge motion: Turbulence ; swirl , squish , tumble , stratified charge engines Traditional and alternative fuels ; Fuels general properties : fuel , air stoichiometric ; calorific value gaseous fuels : natural gas , hydrogen and mixtures thereof. bio -ethanol , bio- diesel and DME . Features and their use in engines: technical solutions , performance and emissions Fuel metering. Otto engines : carburetor ; injection systems ; lambda probe. Diesel engines: fuel injectors and injection systems , dimensioning . Experimental tests on a diesel injection system Common Rail Combustion: Fundamentals of analytical study of combustion , thermodynamics of combustion processes , calculation of the chemical composition and temperature in adiabatic equilibrium transport phenomena (notes) , chemical kinetics (notes). Combustion in Otto and Diesel engines . Emissions and their control systems: emissions formation mechanisms, effects on health and environment, measurement of emissions; influence of engine parameters , test cycles and legislation ; procedures and systems for the reduction of emissions in engines. Experimental tests . Cooling system : Heat flows , heat transfer in the engine cooling systems , liquid and air : structural layouts and sizing ; thermal stress of the mechanical parts . Sustainable mobility . Principles of operation of hybrid vehicles : series and parallel solution ; engines there and electrical workers , regenerative braking , lithium batteries, performance and prospects . Plug-in hybrid vehicles , engines c.i. " Range extender " . Electric vehicles, characteristics and perspectives For all the topics of the course the numerical simulation tools will be presented
The course provides a basic understanding of the analysis and design of digital communication systems. Topics includes: principles of transmission; transmission over noisy channels; Modulation; Detection and probability of error for binary and M-ary signals (PAM, QAM, PSK etc.); Receiver design and sufficient statistics; the Nyquist criterion; Design trade-offs: rate, bandwidth, power and error probability; optimum reception in AWGN and band-limited AWGN channels; characterization of a wireless channel, wideband and narroband fading.
PART I - Discrete-time signals and systems; sampling process; Discrete-time Fourier transform (DTFT); Z-transform; Discrete Fourier Series (DFS). PART II – Processing algorithms: introduction to processing; Discrete Fourier Transform (DFT); finite and long processing; DFT-based Processing; Fast Fourier Transform (FFT); processing with FFT. PART III – Filter Design: introduction to digital filters: FIR and IIR classification; structures, design and implementation of IIR and FIR filters; analysis of finite word length effects; DSP system design and applications; PART IV - Random sequences; processing of random sequences with digital filters; introduction to random sequence estimation; estimators of mean, variance and auto-covariance of random sequences with performance analysis; power spectrum estimation; periodogram and performance analysis; smoothed estimators of the power spectrum and performance analysis; use of FFT in power spectrum estimation.
