Simulation-Based Learning

A Hybrid Physical-Virtual Educational Robotic Arm

In the field of robotics education, introductory courses would ideally utilize heavy industrial arms for hands-on learning. This would provide students with valuable experience in joint programming, which involves direct control of each joint motor in the robotic arm to accomplish desired path planning and differential movements. This practice requires consideration of the physical properties of the large arm such as its large mass. However, the use of heavy industrial robotic arms has several drawbacks. They are large and expensive, require specialized maintenance, can pose safety risks, and they typically do not allow for direct control of the joint motors. The use of a small, lightweight, toy-like arm is not suitable since their lightweight construction means they do not exhibit behavior associated with heavier arms. Robotic arm simulators using a virtual arm doesn’t offer the same level of hands-on engagement and excitement as a physical arm.

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Active Learning Undergraduate Course on UAV Path Planning and Tracking Using Numerical Simulation

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Mario G. Perhinschi ✉ ¹

1 Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, 26506, USA

Abstract

This paper presents the use of numerical simulation tools developed in MATLAB and Simulink for the design and implementation of an undergraduate course, introducing students to the path planning and trajectory tracking of unmanned aerial vehicles (UAV). The course is part of an aerospace engineering emphasis area; however, with minimal flight dynamics background, it is beneficial to students in related disciplines relevant to UAVs. The major classes of UAV path generation and trajectory tracking algorithms are introduced. Significant design issues and their implications are discussed and illustrated through numerical simulation. Course assignments use active and experiential learning approaches encouraging student creativity and initiative. They involve investigating algorithm alternatives and UAV diverse operational conditions beyond nominal, including control surface failures and adverse atmospheric phenomena.

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Use of Open-source Software in Mechatronics and Robotics Engineering Education – Part II : Controller Implementation

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This article is the second of two-part article series discussing the use of Open Source Software in Mechatronics and Robotics Engineering. View Part I in Volume 12 Issue 3

Nima Lotfi ✉ ¹ , Dave Auslander ² , Luis A. Rodriguez ³ , Kenechukwu C. Mbanisi ⁴ , Carlotta A. Berry ⁵

1 Mechanical and Mechatronics Engineering Department, Southern Illinois University Edwardsville, Edwardsville, IL, United States

2 Mechanical Engineering, University of California Berkeley, Berkeley, CA, United States

3 Mechanical Engineering, Milwaukee School of Engineering, Milwaukee, WI, United States

4 Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, United States

5 Electrical and Computer Engineering, Rose-Hulman Institute of Technology, Terre Haute, IN, United States

Abstract

This paper is the second part of a two-part study on promoting the use of Open-Source Software (OSS) in Mechatronics and Robotics Engineering (MRE) education.

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