EE192: Mechatronics Design Lab, Spring 2016

Course/Lab Schedule (check for updates- version 2-9-2016)

Week	Lecture and Quizzes	Discussion	Checkoff	Misc. Deadlines
1 19 Jan	Intro to mechatronics Project description MCU platform overview Administrivia (slides) (Thrun JFR 2006)	Administrivia FRDM board Soldering (slides)	C0: Team formation Do NOT disassemble cars!
2 25 Jan	Project proposal Motor control & modelling IOs and peripherals motor worksheet (slides)	Project proposal Lab equipment Car critiques (slides)	C1: Hello world, blinking LED Do NOT disassemble cars!
3 1 Feb	Motor drivers MOSFETs H-bridge circuit PWM (slides)	Motor control demo Servo control demo (slides)	C2: Car inspection and disassembly	Fri 2/5: Project proposal
4 8 Feb	Servos Power systems Battery model Boost converter SMPS practicalities (boost converter notes) (slides) Quiz 1 Motor model	SMPS demo (slides)	C3: Benchtop motor & steering
5 15 Feb	Power Systems Linear regulators LT1370 (slides) Quiz 2: Motor drivers and MOSFETs	PCB fabrication (PCB checklist) (slides)	C4: Motor from battery & PCB schematic
6 22 Feb	Line Sense Intro (slides) (line camera datasheet) (latchup) Quiz 3: SMPS, linear regulators	PCB peer review Line camera demo	last minute PCB changes?	Lab: PCB design due in discussion 2/24 draft for peer review Thurs 2/25 final Gerber for PCB due (1159 pm) fabrication-ready
7 29 Feb	Sensors (slides) Line detection Optical encoder Velocity sensing Hamamatsu optical detector (HW1: line detection)	Optical encoder Velocity control (slides)	C6: Benchtop tracking telemetry working	Fri: Lab cleaned
8 7 Mar	Control principles/Steering model (slides) PID control Bicycle model	PID demo	C5: Velocity control (on benchtop) C7: Car assembled running from PCBs open-loop drop and run
9 14 Mar	Steering (slides) Model recap Step response Tracking control (HW2: steering sim) Quiz 4 Line sensor TSL1401	Simulation Embedded Programming (slides)	C8: Figure-8 test closed-loop drop and run	Lec: HW1 (line detection) due
21 Mar	Spring Break	N/A	Enjoy your break even if all you're doing is preparing for the Freescale cup
10 28 Mar	Control practicalities (slides) DT control Feedforward	None	C9: Faster figure-8 and sensor mechanical response	Fri 4/1: Lab cleaned Fri 4/1: HW2 (steer sim) due
11 4 Apr	PD Tuning for steering DT control example (slides)	Embedded Programming II (slides)	C10: Practice course	Tue 4/5: Prog. Report due
12 11 Apr	Robustness and uncertainty (slides) Digital Filtering Software robustness Supervisor systems Quiz 5 Steering behavior and error	Mechanical Tuning (slides)	Race 1! Mon 4/11 430-530 pm	Sat 4/16: CalDay at UCB and Freescale Cup (at UC Davis)
13 18 Apr	Electronic stability control (slides) (Pilutti et al. ACC 1995.) (more steering references)	None
14 25 Apr	Mechatronics examples (slides)	None	Race 2! Mon. 4/25 430-530 pm	Oral reports: TBA Th, Fri Fri: Lab cleaned
15 2 May	optional review Sp98 final Sp99 soln Sp98 final	N/A
17 9 May	Wed May 11: Final Exam (11:30am-2:30pm)	N/A		Sun 15 May NATCAR Race (at UC Davis)