CMPE 118/L: Introductions to Mechatronics

Catalog Copy

CMPE118. Mechatronics. Technologies involved in mechatronics (intelligent electro-mechanical systems) and techniques necessary to integrate 
these technologies into mechatronic systems. Topics include electronics (A/D, D/A converters, op-amps, filters, power devices), software 
program design (event-driven programming, state machine-based design), DC and stepper motors, basic sensing, and basic mechanical design 
(machine elements and mechanical CAD). Combines lab component of structured assignments with a large and open-ended team project. 
Prerequisite(s): Electrical Engineering 70/L and course 12/L or equivalent. Concurrent enrollment in course 118L is required.

CMPE118L. Mechatronics Lab. Laboratory sequence illustrating topics covered in course 118. One lab per week for the first four weeks, 
covering software state machines, circuits and filtering, hardware prototyping, and motor control, followed by an open ended team design 
project covering the remaining six weeks.

Explanation of prerequisites
EE70/L: Students need to be familiar with electronics and basic circuit analysis to understand and use chip specification and design filter 
circuitry.
CMPE12/L (or C programming experience): 118 uses C to program a small microcontroller that serves as the "brain" of their projects. Students 
must be familiar with C to access the microcontroller I/O and communications.

Required skills to pass the course.

1. Ability to design, build, debug, and document a circuit that uses a sensor and analog filtering to produce a useable signal to the 
microcontroller.
2. Ability to design, debug, implement (in C), and document a software state machine that can process sensed events and react to produce the 
desired behavior.
3. Ability to understand and actuate electromechanical devices such as DC motors, stepper motors, and solenoids.
4. Ability to design and rapidly prototype simple structural chassis using CAD software and hand tools.
5. Ability to work with a team to complete a final project synthesizing the materials of the class.

Core topics (must be taught)
1.  Microcontrollers
    a. What is Mechatronics
    b. What is a Micro- processor/controller
    c. Microcontroller math and bit manipulation
2.  Basic Circuit Review
3.  OpAmps
    a. ideal
    b. non-ideal
4.  Sensors
    a. examples
    b. Signal conditioning
5.  Event driven programming
    a. Event/Action programming
    b. State Machines
6.  Digital Inputs and Outputs
    a. TTL/CMOS levels
    b. Open collector
    c. Power drivers
7.  Actuators
    a. Solenoids
    b. DC motors
    c. Stepper motors
8.  Rapid Prototyping
    a. Foam Core
    b. CAD software
    c. Laser cutter
9.  Modular Software Design
    a. Encapsulation
    b. Variable/Function scope
    c. Information hiding (.h/.c files)
10. Noise issues
    a. Noise sources
    b. Grounding
    c. Isolation techniques

Optional topics
1.  Timers
    a. Periodic
    b. Interrupts
    c. Specific implementations (e.g.: HC12)
2.  A/D and D/A
    a. Functional types
    b. Noise issues
3.  Communications
    a. Serial
    b. Parallel

Core lab exercises

Over the course of the quarter, build a complete mechatronic system in an appropriate prototyping technology. Students must turn in lab 
reports, document their progress, design their system to meet the project specifications, and have direct experience of the advantages of 
early planning and teamwork, or lack thereof.

Core exercises include:
1. Event driven programming
2. Circuit prototyping and signal conditioning
3. Mechanical and electronic fabrication
4. DC and Stepper motor driving
5. Final design project

Comments on related concurrent courses

CMPE 121/L: Microprocessor System Design.
This course provides an introduction to the hardware design of
microprocessor systems, as well as on the software aspect of low-level
device-driver programming. This course is a good complement to CMPE 118 (Mechatronics),
emphasizing the hardware and low-level software design of embedded
systems.  It would almost be appropriate to list CMPE 121 among the
prerequisites of CMPE 118, except for the fact that, in the course and
in the lab for 118, there is no need to be specifically acquainted
with hardware design or assembly language programming.
Hence, the course is a (strongly suggested) complement, rather than a
prerequisite.

Comments on following courses

CMPE 123A/B: Capstone Projects. The capstone projects rely on
118 to shape the computer engineering student into an
independent designer and constructor. The design projects
courses typically provide far less specification, and thus
require more independence than in 118. Students who take
CE123/L will build microcontroller-based systems extensively
use the material learned in 118 in their projects.

Text

“The Art of Electronics, 2nd Edition,” by Paul Horowitz and
Winfield Hill, Cambridge University Press, 1989.

“Mechanical Devices for the Electronics Experimenter,” by Britt
Rorobaugh, TAB books, 1995.

Datasheets

Possible texts

Introduction to Mechatronics, by Carryer, Kenny & Ohline, 2009.

Lecture notes are also distributed during the course, along
with other suggested reading made available in electronic
format.