EE192: Mechatronics Design Lab, DRAFT Spring 2019

Course/Lab Schedule (check for updates- version 1-22-2019)

Week	Lecture and Quizzes	Discussion	Checkoff	Misc. Deadlines
1 22 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 29 Jan	Project proposal Motor control &modelling IOs and peripherals motor worksheet + soln (slides)	Project proposal Lab equipment Car critiques (slides)	C1: Hello world, blinking LED Do NOT disassemble cars!
3 5 Feb	Motor drivers MOSFETs H-bridge circuit PWM MOSFET worksheet soln (slides)	Motor control demo Servo control demo (slides)	C2: SMD soldering practice	Fri 2/8: Project proposal
4 12 Feb	Servos Power systems Battery model Buck converter buck converter notes SMPS practicalities (slides) Quiz 1 Motor model	SMPS demo (slides)	C3: Benchtop motor & steering
5 19 Feb	Power Systems Motor flyback diode Linear regulators LM2678 buck regulator buck converter notes (slides) worksheet and soln Quiz 2: Motor drivers and MOSFETs	PCB fabrication (PCB checklist) (slides)	C4: Motor from battery & PCB schematic
6 26 Feb	Velocity and Line Sense Intro (slides) (line camera datasheet) (latchup) Sharp GP2S60 optical detector	PCB peer review Optical encoder Velocity sensing (slides)	last minute PCB changes?	Lab: PCB design due Tue 2/26 11:59 pm draft for peer review Final Gerbers due Fri 3/1 afternoon 1:59 pm
7 5 Mar	Sensors Quiz 3: SMPS, linear regulators (slides) Line detection Optical encoder Velocity sensing Sharp GP2S60 optical detector (HW1: line detection)	Linescan (slides) (pru slides)	C5: Velocity control	Fri: Lab cleaned
8 12 Mar	Control principles/Steering model (slides) PID control Bicycle model	GDB (slides)	C6: Benchtop tracking telemetry working] (on benchtop)
9 19 Mar	Steering (slides) Model recap Step response Tracking control (HW2: steering sim) DT control example Quiz 4: Line sensor TSL1401	Car construction Simulation (slides)	C7: Car assembled running from PCBs open-loop drop and run	Lec: HW1 (line detection) due Tues 3/19 4:59PM(before lecture) on Bcourses Assembling the track (volunteers needed)
25 Mar	Spring Break	N/A	Enjoy your break
10 2 Apr	Control practicalities (slides) DT control Feedforward	Control tuning (slides)	C8: Figure-8 test closed-loop drop and run	Fri 4/5: Lab cleaned Fri 4/5: HW2 (steer sim) due
11 9 Apr	PD Tuning for steering (slides) (PD example) problem(soln)	Hardware tips & AGC (slides)	C9: Practice course	Tue 4/9: Prog. Report due Fri 4/12: Lab cleaned (actually) Sat 4/13: 10 am CalDay at UCB
12 16 Apr	Robustness and uncertainty (slides) Digital Filtering Software robustness Supervisor systems	Vehicle Dynamics & Mechanical Tuning (slides)	Race 1! Mon 4/15 at 5:00pm 3rd floor Cory
13 23 Apr	Electronic stability control (slides) (Pilutti et al. ACC 1995.) (more steering references) Quiz 5 Steering behavior and error	Track Memorization (slides)
14 30 Apr	Mechatronics examples (slides)	None	Race 2! 4/29 at 5:00pm 3rd floor Cory	Fri: Lab cleaned
15 7 May	optional review Sp98 soln andSp99 soln Sp98 final andSp 99 final	N/A	Oral reports: date, time TBD	Sat 11 May 2019 NATCAR Race (at UC Davis)
16 17 May	Fri. May 17: Final Exam 1130 am - 230 p.m.	N/A