EE192
Course Info
Schedule
Races
NATCAR Race Info
Freescale Cup Race Info
Labs
Parts Order Form
(coming soon!)
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Course Files
EE192: Mechatronics Design Lab, Spring 2015
Lab Schedule
Week
Lecture and Quizzes
Discussion
Checkoff
Misc. Deadlines
1
20 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
26 Jan
Project proposal
Motor control &
modelling
IOs and peripherals
motor worksheet
Project proposal
Lab equipment
Car critiques
(slides)
C1
: Hello world, blinking LED
Do NOT disassemble cars!
3
3 Feb
Motor drivers
MOSFETs
H-bridge circuit
PWM
(load line slide)
Motor control demo
Servo control demo
(slides)
C2
: Car inspection
and disassembly
Fri 2/6:
Project proposal
4
9 Feb
Servos
Power systems
Battery model
Boost converter
SMPS practicalities
(boost converter notes)
Quiz 1
Motor model
SMPS demo
(slides)
C3
: Benchtop motor & steering
5
16 Feb
Power Systems
Linear regulators
Comparison
Quiz 2
Motor drivers and MOSFETs
PCB peer review
PCB fabrication
(PCB checklist)
(slides)
C4
: Motor from battery
Lab: PCB #1
draft for peer review
Fri : PCB #1
fabrication-ready
6
23 Feb
Sensors
Optical encoder
Velocity sensing
Hamamatsu optical detector
Quiz 3:
SMPS, linear regulators
Optical encoder
Velocity control
C5
: Velocity control
7
2 Mar
Line Sense Intro
(line camera datasheet)
(latchup)
(HW1: line detection)
Line camera demo
C6
: Car assembled
running from PCBs
open-loop drop and run
Fri: Lab cleaned
8
9 Mar
Theoretical models
PID control
Bicycle model
PID demo
C7
: Benchtop tracking
9
16 Mar
Steering
Model recap
Step response
Tracking control
(HW2: steering sim)
Quiz 4
Steering models, PID control
Simulation
Embedded Programming
(slides)
C8
: Figure-8 test
closed-loop drop and run
Lec: HW1 (line detection) due
10
23 Mar
Spring Break
N/A
Enjoy your break
even if all you're doing is
preparing for the Freescale cup
11
30 Mar
Control practicalities
DT control
Feedforward
None
C9
: Faster figure-8
and sensor mechanical response
Fri 4/3: Lab cleaned
Fri 4/3: HW2 (steer sim) due
12
6 Apr
PD Tuning for steering
DT control example
Embedded Programming II
(slides)
C10
: Practice course
Tue 4/7:
Prog. Report
due
13
13 Apr
Robustness and uncertainty
Digital Filtering
Software robustness
Supervisor systems
Quiz 5
Steering behavior and error
Mechanical Tuning
(slides)
Race 1
!
Sat 4/18: Freescale Cup
(at UC Davis)
14
20 Apr
Mechatronics examples
Electronic stability control
(Pilutti et al. ACC 1995.)
(more steering references)
None
15
27 Apr
Mechatronics examples
None
Race 2
!
Oral reports:
Th 930-11 (289 Cory)
Fri 1130-2 pm (540 AB Cory)Fri: Lab cleaned
16
4 May
optional review
Sp98 final
Sp99 soln
Sp98 final
N/A
17
11 May
Wed: Final Exam 180 Tan
(11:30am-2:30pm)
N/A
23 May
Sat: NATCAR Race
(at UC Davis)