CMPE 118/L(218/L) - Mechatronics - Winter 2012
Final Project: Slugs of the Caribbean: On Stranger Slimes, invite.
Public Demo on Wednesday, 14-Mar-2012, in Baskin 101 @ 7:00 - 9:00PM
Photo archive is here
Article in Santa Cruz Sentinel/San Jose Mercury News
Webcast of contest data projector
Webcast of contest rear camera (not high quality)
Class T-shirts can be purchased from zazzle
In 2011, the class was tasked with building a droid that fought in a mock bullfight, where the droid could act as either the Bull or the Matador, Slug-o-Lete. The final project was the subject of a Sentinel news article here, and a KSBW short news story, which can be seen here.
Mechatronics is the synergistic combination of mechanical engineering ("mecha" for mechanisms), electronic engineering ("tronics" for electronics), and software engineering. The purpose of this interdisciplinary engineering field is the study of automata from an engineering perspective and serves the purposes of controlling advanced hybrid-systems such as production systems, synergy-drives, planetary-rovers, automotive subsystems such as anti-block system, spin-assist and every day equipment such as autofocus cameras, video, hard disks, cd-players, washing machines, lego-matics etc.
Mechatronics is centered on mechanics, electronics and computing which, combined, make possible the generation of simpler, more economical, reliable and versatile systems.
The word "mechatronics" was first coined by Mr. Tetsuro Moria, a senior engineer of a Japanese company, Yaskawa, in 1969. Mechatronics may alternatively be referred to as "electromechanical systems," or as "smart products."
This course is based on a the Smart Product Design sequence (ME218A, B, C), and the one quarter Mechatronics class (ME210/EE118) offered at Stanford by the Smart Product Design Lab, headed by Dr. Ed Carryer.
I would like to acknowledge the tremendous help of Prof. Ed Carryer of Stanford University in teaching the subject matter to me, for all of his help with the slides, the software libraries, and the electronic hardware, and lastly for pioneering this video capture technology, and helping me to set this course up. Without his help and inspiration, this class would not be here.
I would also like to thank Texas Instruments Corp. for generously donating the bulk of the semiconductor parts for the new lab hardware, and to Microchip Corp. for donating the microcontroller boards and in-circuit programmers. Lastly, I would like to thank the class TA, Max Dunne, for yeoman's work in putting together the new PIC32 based hardware. It was a huge project, and he went above and beyond the call of duty to make this happen.
Index of class resources
- General Class Information class and section times, instructor and TA information
- Lecture Video Video files of the lectures, and download information for the right codec.
- Handouts quizzes, quiz solutions, other helpful handouts.
- WebForum - for announcements, general discussion, and help.
- General Course Information
- Course Syllabus
- Class Survey
- Extended course description
- Introduction to Oscilloscopes
- Essential C handout
- Analog Filtering Article
- Java Filter Design tool
- Digilent Uno32 Schematic
- Fabulous Foamcore
- Forces (Ch. 4)
- Moments (Ch. 5)
- Free Body Diagrams (Ch. 6)
- Material Properties Handout
- Steps to Writing A Routine
- High Quality Code Design
- Logic Data Sheets
- Sensor Data Sheets
- LM324 OpAmp Data Sheet
- Midterm Data Sheets 2012
- Using the LaserCutter
- State Machine Template Code, courtesy of Prof. Carryer @ Stanford.
- State Machine Microwave Example, courtesy of Prof. Carryer @ Stanford.
- Class Presentation Slides
The technology to record these videos is supported by a grant from the Center for Teaching Excellence (CTE), and it is an experiment. Feedback as to the utility, and the usability of these videos would be highly appreciated. The basic hardware required is a tablet PC with the Office Tablet PC extensions, and a standard headset to capture the lecturers voice. Additionally, a program called Camtasia is used to capture the entire sequence into a standard movie format that can then be viewed at a later time for review and additional study.
You may view these lectures at any time, but do not distribute them beyond the UCSC environment. These lectures have been created using the Camtasia software, and can be played through the Camtasia player software, downloadable for free from Techsmith here, or through the standard windows media player with the techsmith codec. A Mac OSX version of the codec can be found here that allows playback of the files. Note that some students have reported that VLC works much better on PCs, MacOSX and Linux.
- Lecture #0, 10-Jan-2012, Introduction to Mechatronics
- Lecture #1, 12-Jan-2012, Event Driven Programming
- Lecture #2, 17-Jan-2012, Sensors
- Lecture #3, 19-Jan-2012, Sensors (con't)
- Lecture #4, 24-Jan-2012, Filtering
- Lecture #5, 26-Jan-2012, Real OpAmps
- Lecture #6, 31-Jan-2012, Statics and Mechanical CAD (video failed, audio fine)
- Lecture #7, 02-Feb-2012, Digital I/O
- Lecture #8, 07-Feb-2012, Solenoids and DC Motors
- Lecture #9, 09-Feb-2012, DC Motors and Steppers
- Lecture #10, 14-Feb-2012, Preliminary Design Review
- Lecture #11, 16-Feb-2012, Steppers and Servos
- Lecture #12, 21-Feb-2012, Mechanical Stuff
- Lecture #13, 23-Feb-2012, Project Management
- Lecture #14, 28-Feb-2012, Noise
- Lecture #15, 03-Mar-2012, StateMachines (again)
- Lecture #16, 06-Mar-2012, Timers and Analog to Digital Conversion
- SolidWorks Gearbox Tutorial
- Basic Circuits, Supplemental Lecture, Part I.
- Basic Circuits, Supplemental Lecture, Part II.
- Basic Semiconductors, Supplemental Lecture, Part III.
- Basic OpAmps, Supplemental Lecture, Part IV.
- Google SketchUp Tutorial, by Ian Rickard.
- MidtermReview, 09-Feb-2012, 06:30PM @ E2-215
This is a lab class. That means that almost everything you will learn will be by doing, and that doing will be in the labs. The Pre-Labs are serious, as they are there to ensure that you don't hurt yourselves, or damage the equipment. Make sure that you have understood what is going on, and use you colleagues for guidance. Expect to put in long hours doing the labs and even more in the project, but they will definitely be worth it in the end.
- Lab 0: The Roach (Event Driven Programming), Due 18-Jan-12 @ 5PM.
- LM555.pdf, 555 Datasheet.
- Analog Filtering Article
- ScopeFace.pdf, O'scope faces sheet.
- Sensor Data Sheets
- gear_template.SLDPRT, SolidWorks gear template
- motor.SLDPRT, Jameco SolidWorks Motor
- Gearbox Schematics
- SolidWorks Gearbox Tutorial
- AD.h, Analog to Digital Converter code header file
- LED.h, LED Bank code header file
- PORTS.h, Port Control code header file
- PWM.h, Pulse Width Modulation code header file
- RC_Servo.h, R/C Servo Control code header file
- STEPPER.h, Stepper Motor Driver code header file
- TIMER.h, Timer Module code header file
- DS3658_Driver.pdf, DS3658 Quad Low-Side Driver Board
- ULN2003A_Darlington.pdf, ULN2003A Darlington Driver Board
- DRV8814_Bridge.pdf, DRV8814 Dual 2.5A H-Bridge Driver Board
- DRV8811_Stepper.pdf, DRV8811 2A Stepper Motor Driver Board
- Uno32_IO_board.pdf, Uno32 I/O Board and Power Distribution Board
- CMPE118.zip, Clean include files and source in case they get overwritten
Quizzes will be given out at least once a week at the beginning of class. These will be based entirely on the reading material that should have been completed before coming to class. Occasional homework assignments will be handed out or assigned during lecture to complete a series of short exercises. Cooperation and collaboration on the labs and homework is encouraged, but this is NOT licence to copy. The work you turn in should be your own.
- Intake Quiz 10-Jan-2012.
- Midterm is a takehome from 09-Feb-12 @ 7PM to 14-Feb-12 @ 2PM.
- Practice Midterm(solutions).
Class Presentation Slides
The class lectures use the digital ink capabilities of the TabletPC. The ink is saved back into the presentation, and the presentation is saved to the website for convenience. This year we are using Classroom Presenter rather than PowerPoint. It apprears to be far more stable, and has several nice utilities for the TabletPC. The presentation files are in the .CP3 format, and you will need to download Presenter to view them (download v3.1). Presenter can be downloaded free from here
- Lecture #0: Introduction to Mechatronics 10-Jan-2012
- Lecture #1-2: Microcontrollers and Bit-Banging 12-Jan-2012
- Lecture #2-3: Sensors 17-Jan-2012
- Lecture #4-5: Filtering 24-Jan-2012
- Lecture #6: Real OpAmps 26-Jan-2012
- Lecture #7: Statics 31-Jan-2012
- Lecture #7: Mechanical CAD 31-Jan-2012
- Lecture #8: Digital I/O 02-Feb-2012
- Lecture #9: Solenoids and DC Motors 07-Feb-2012
- 9_Steppers_marked.cp3: Stepper Motors 09-Feb-2012
- PDR_marked.cp3: Preliminary Design Review 14-Feb-2012
- 10_Mechanical_marked.cp3: Mechanical Elements 21-Feb-2012
- 11_Project_marked.cp3: Project Management 23-Feb-2012
- 12_ModularC_marked.cp3: Modular C 23-Feb-2012
- 13_Noise_marked.cp3: Noise 28-Feb-2012
- StateMachine.c: StateMachines 03-Mar-2012
- 14_Timers_marked.cp3: Timers and ADC 06-Mar-2012
- Lecture PDR: Preliminary Design Review, 14-Feb-2012
- Basic Circuits: Supplementary Lecture, Pats I and II.
- Basic Semiconductors: Supplementary Lecture, Part III.
- Basic OpAmps: Supplementary Lecture, Part IV.
- Midterm Review: 09-Feb-2012.
General Class Information
- [CKO]: Introduction to Mechantronic Design, 1st Ed., Carryer, Ohline, and Kenny, Prentice Hall, 2010
- [H&H]: The Art of Electronics, 2nd Ed., Horowitz and Hill, Cambridge University Press, 1989 (Optional)
- [Rorabaugh]: Mechanical Devices for the Electronics Experimenter, Rorabaugh, TAB Books, 1995 (Optional)
- [Gonick]: The Cartoon Guide to Computer Science, Gonick, Barnes and Noble Books, 1983, (Optional, online: part 1, part 2, part 3)
- Name: Gabriel Hugh Elkaim (firstname.lastname@example.org)
- Phone: 831-459-3054
- Office: Engineering 2, 337B
- Instructor Office Hours:
- T-Th, 12:00 - 2:00 PM, and by appointment
- Teaching Assistant(s):
- Name: Max Dunne (email@example.com)
- Name: Ryan Conway (firstname.lastname@example.org)
- Name: Peter Murphy (email@example.com)
- Name: David Oda (firstname.lastname@example.org)
- Phone: (831) 459-2140
- Office: E2-316
- Lab Hours:
- 24/7, TA times MWF: 2-4PM, T-Th: 4-6PM.