EE192
Course Info
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Freescale Cup Race Info
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(coming soon!)
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Handouts list
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)