EE192: Mechatronics Design Lab, DRAFT Spring 2020

Course/Lab Schedule (check for updates- version 2-9-2020)

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 BBBL board tool chain intro (slides)	C0: Team formation Do NOT disassemble cars!
2 27 Jan	Project proposal Motor control &modelling IOs and peripherals motor worksheet + soln (slides)	advanced toolchain: git, debugging Project proposal Lab equipment Car critiques motor drive PCBs+demo solder intro (slides)	C1: Hello world, blinking LED Do NOT disassemble cars!
3 3 Feb	Motor drivers MOSFETs H-bridge circuit PWM MOSFET worksheet soln (slides)	Motor control code Servo control code battery safety (slides)	C2: Benchtop motor and steering (using power supply)
4 10 Feb	Velocity and Line Sensor I Battery model (line camera datasheet) (latchup) Sharp GP2S60 optical detector (slides) Quiz 1: Motor model	optical velocity encoder velocity control demo (slides)	C3: integrated motor & steering from battery	Tues 2/11 330 pm: Project proposal
5 17 Feb	Sensors II and Veocity Control Line detection Optical encoder Velocity sensing Sharp GP2S60 optical detector (HW1: line detection) (slides) Quiz 2: Motor drivers and MOSFETs	Linescan and basic steering (slides) (pru slides)	C4: open loop figure 8 and line camera readout
6 24 Feb	Steering Control I PID control Bicycle model (slides)	Steering and step tuning telemetry demo (slides)	C5 benchtop linescan tracking into servo and velocity sensing
7 2 Mar	Steering Control II PCB intro Quiz 3: Line sensor (slides)	PCB Design SMPS design and demo (slides) (PCB checklist)	C6: closed loop figure 8 with velocity control	Lec: HW1 (line detection) due Tues 3/3 3:29PM(before lecture) on Bcourses Assembling the track (volunteers needed)
8 9 Mar	Power Systems I Buck converter notes SMPS practicalities Motor flyback diode Linear regulators LM2678 buck regulator worksheet and soln (slides)	Sim/VRep pointers PCB design pointers (slides)	C7: test track with telemetry working	Fri: Lab clean
9 16 Mar	Power Systems II threads and timing DT Control (HW2: steering sim) DT control example Quiz 4: Steering (slides)	PCB peer review I GDB (slides)	C8: PCB design review I
23 Mar	Spring Break	N/A	Enjoy your break
10 30 Mar	Control practicalities (slides) DT control Feedforward	Vehicle Dynamics & Mechanical Tuning (slides)	C9: PCB design review II	Fri 4/3: HW2 (steer sim) due
11 6 Apr	PD Tuning for steering (slides) (PD example) problem(soln)	Track Memorization (slides)		Fri 4/10: Prog. Report due 6 pm
12 13 Apr	Robustness and uncertainty (slides) Digital Filtering Software robustness Supervisor systems	Hardware tips & AGC (slides)	Race 1!
13 20 Apr	Electronic stability control (slides) (Pilutti et al. ACC 1995.) (more steering references) Quiz 5 Steering model	(J. Yim learning)		Tues 4/28: (HW3 learning control) due
14 27 Apr	Race 2 in class Mechatronics examples (slides)	Sp 2021: effective oral presentations	Race 2!	Fri: Lab cleaned
15 4 May	Oral Reports in class Sp98 soln andSp99 soln Sp98 final andSp 99 final	NA	Oral reports: date, time TBD
16 11 May	Short Oral Final Exam individual time tba Fri 515.