EE192: Mechatronics Design Lab, Spring 2017

Course/Lab Schedule (check for updates- version 1-13-2017)

Week	Lecture and Quizzes	Discussion	Checkoff	Misc. Deadlines
1 17 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 24 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 31 Jan	Motor drivers MOSFETs H-bridge circuit PWM MOSFET worksheet soln (slides)	Motor control demo Servo control demo (slides)	C2: Car inspection and disassembly	Fri 2/3: Project proposal
4 7 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 14 Feb	Power Systems Linear regulators LM2678 buck regulator buck converter notes (slides)worksheet Quiz 2: Motor drivers and MOSFETs	PCB fabrication (PCB checklist) (slides)	C4: Motor from battery & PCB schematic
6 21 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 before discussion Tue 2/21 midnight draft for peer review Thurs 2/23 final Gerber for PCB due (0900 pm) fabrication-ready
7 28 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)
9 14 Mar	Steering (slides) Model recap Step response Tracking control (HW2: steering sim) DT control example Quiz 4: Line sensor TSL1401	Simulation Embedded Programming (slides)	C7: Car assembled running from PCBs open-loop drop and run C8: Figure-8 test closed-loop drop and run	Lec: HW1 (line detection) due
10 21 Mar	Control practicalities (slides) DT control Feedforward	None	C9: Faster figure-8 and sensor mechanical response	Fri 3/24: Lab cleaned Fri 3/24: HW2 (steer sim) due
27 Mar	Spring Break	N/A	Enjoy your break
11 4 Apr	PD Tuning for steering (slides)	Embedded Programming II (slides)	C10: Practice course	Tue 4/4: 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 4/10 430-530 pm
13 18 Apr	Electronic stability control (slides) (Pilutti et al. ACC 1995.) (more steering references)	None		Sat 4/22: 10 am CalDay at UCB
14 25 Apr	Mechatronics examples (slides)	None	Race 2! Mon. 4/24 530-700 pm	Fri: Lab cleaned
15 2 May	optional review Sp98 final Sp99 soln Sp98 final	N/A		Oral reports: Wed May 3 11 am 310 Soda, Th 1230-2 pm 70 Evans
17 9 May	Thu May 11: Final Exam 3-6 pm GSPP 150	N/A		Sat 13 May NATCAR Race (at UC Davis)