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ME530420 2011 Fall Term

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530.420 Fall 2011 Class Photo - Click here for higher resolution image.

530.420 ROBOT SENSORS and ACTUATORS COURSE HOME PAGE
http://dscl.lcsr.jhu.edu/ME530420_2011_Fall_Term

Course Description

Introduction to modeling and hands-on use of actuators and sensors in mechatronic design including DC brush motors, stepper motors, position sensors (such as encoders, synchros, resolvers), microcontrollers, digital I/O, analog/digital conversion, sonar sensing.

Instructors

Faculty

Professor Louis L. Whitcomb
Department of Mechanical Engineering
G.W.C. Whiting School of Engineering
The Johns Hopkins University
office: 115 Hackerman Hall [formerly the Computational Science and Engineering Building (CSEB)]
Phone: 410-516-6724
Course Homepage: http://dscl.lcsr.jhu.edu/ME530420_2011_Fall_Term
email: llw@jhu.edu

Faculty Office Hours

Office Hours hours are held during regularly scheduled weekly problem session and lab sessions.

Teaching Assistants

  • Mr. John Dannenhoffer [email] - Lab Section 1, Wednesday 3-6PM
  • Mr. Yonjae Kim [email] - Lab Section 4, Wednesday 6-9PM
  • Mr. Christopher Price [email] - Lab Section 2, Thursday 6-9PM
  • Mr. Giancarlo Troni [email] - Lab Section 3, Friday 3-6PM

TA Office Hours

TA office hours are held during the normally scheduled laboratory sessions.

Professional Staff

Mr. Robert H. Blakely, Laboratory Technician
Department of Mechanical Engineering
G.W.C. Whiting School of Engineering
The Johns Hopkins University
office: B-2 Krieger Hall, phone: 410-516-8660
email: rblakel1@jhu.edu


Class Schedule

Lectures

Tuesdays and Thursdays 12:00PM-01:15PM, Room 213 Hodson Hall.

Problem Session

In class on Tuesdays.

Laboratory Sessions

  • Section #1: Wednesday 3:00-6:00PM Wyman 140
  • Section #4: Wednesday 6:00-9:00PM Wyman 140
  • Section #2: Thursday 6:00-9:00PM Wyman 140
  • Section #3: Friday 3:00-6:00PM Wyman 140

Labs are held in Room 140 of the Wyman Park Building. The Wyman Park Building is located at the South end of the Homewood Campus. Click here for a Homewood Campus Map.

Course Requirements

Course work includes weekly lectures and hands-on laboratory exercises in which the students construct and use various mechatronic sensors and actuators. This cumulative sequence concludes with students integrating the modules they have developed (incremental encoders, a quadrature decoder chip, a current-amplifier, interface to a microcomputer, BASIC-stamp microcomputer, and BASIC programs) to perform closed-loop control on a DC electric motor.

An independently written report of each weekly laboratory is required.

Unless previously arranged with the Instructor, no credit will be given for late assignments. All assignments are due at 115 CSEB on the announced due date and time.

All assignments must be handed in to Professor Whitcomb in class or at his office Room 115 CSEB. Do not hand in anything to the TAs. The TAs are not authorized to receive assignments. The lowest score laboratory will be dropped.

Course grade will be determined by lecture and laboratory participation, written laboratory reports, a midterm exam, and a final exam. The relative percentages will be something like the following (this is subject to revision): written laboratory reports (50%), in-class quizzes (10%), a midterm exam (20%), and a final exam (20%).

Prerequisites

  • Physics I and II
  • Calculus I - III
  • Linear Algebra
  • Differential Equations
  • Electronic Circuits Laboratory.

Exam Schedule

Midterm Exam: TBA.

Final Exam: 2-5PM Monday December 12, 2011, 213 Hodson Hall, per the JHU registrar's schedule. Exams are Cumulative, Closed Book, Closed Notes, Closed Cell-Phone, Calculators are OK.

Grades

Grades are posted here.

Recommended Text

Michael B. Histrand and David G. Alciatore. Introduction to Mechatronics and Measurement Systems, McGraw-Hill, Boston, Third Edition.

Note that we are using the newly released THIRD EDITION of this text.

Laboratory Instrument References

Syllabus

This syllabus will be revised as the term progresses - please refer to this web site for the latest updates to the syllabus.

WEEK DATE TOPIC READING LAB
1 Aug 30 Digital Position Encoders

CH 2*** CH 3.1-3.4***
CH 9.2.4
EESX-1042 Datasheet
SS49E Hall Sensor Datasheet
Pololu 2284 motor/encoder/gearbox information, specifications, and photos
Edwin Hall Biography.
E.H. Hall: "On a New Action of the Magnet on Electric Currents". American Journal of Mathematics vol 2, 1879, p.287-292

No lab this week.
3 Sept 6 DC Brush Motors CH 10.1-10.5, 10.7

TDS3014 Oscilloscope User Manual
TDS3014 Oscilloscope Training Manual
Pololu 2284 motor/encoder/gearbox information, specifications, and photos
Maxon 43.032.000-22.00-146 Datasheet

Laboratory 1 on Digital Position Encoders
4 Sept 13 Introduction to Microprocessors and the JHURSAEB/MaEvArM CH 7.1, 7.2

JHU Robot Sensors and Actuators Education Board (JHURSAEB) Home Page
JHURSAEB Reference Manual latest version
MaEvArM Online Reference Pages
JHURSAEB code library RSA_Library.zip
Please read all assigned sections before lab!

Laboratory 2 on DC Brush Motors
5 Sept 20 Serial Data Communication and Sonar Ranging with a Microprocessor Your lecture notes

ASCII Chart
Serial Display Manual
Ping Sonar Manual
JHURSAEB Reference Manual latest version
MaEvArM Online Reference Pages
JHURSAEB code library RSA_Library.zip

Laboratory 3 Introduction to Microprocessors and the JHURSAEB/MaEvArM
7 Sept 27 Step Motors - Design and Build Step Motor Controller
Your lecture notes

Stepper Motor Overview Slides Text CH 10.6
Device spec sheets for M42SP-5 (or similar) step motor, ULN2803A Darlington array, P584-ND green LED, P582-ND red LED
Control of Stepping Motors by Douglas W. Jones
M42SP-5 50? step motor spec sheet
Parallax application note for M42SP-5 (Parallax #27964)
ULN2803A Darlington array spec sheet
JHURSAEB Reference Manual latest version
MaEvArM Online Reference Pages
JHURSAEB code library RSA_Library.zip

Laboratory 4 Serial Data Communication and Sonar Ranging with a Microprocessor
6 Oct 4 Analog to Digital and Digital to Analog Conversion Your lecture notes

Text CH 8

MaEvArM Online Reference Pages
MAX517 DAC Spec Sheet
TMP36 Temperature Sensor Spec Sheet
25K Ohm Potentiometer Spec Sheet (296UD253B1N)
100K Ohm Two Axis Joystick Spec Sheet (252A104B60NB)
JHURSAEB Reference Manual latest version
MaEvArM Online Reference Pages
JHURSAEB code library RSA_Library.zip

Laboratory 5 Step Motors
7 Oct 11 Circuit Board Design
  • No Class on Tuesday Oct 11 - Tuesday will follow Monday class schedule due to Fall Break.
  • Lab #6 sessions meet this week on the regular schedule.
Your lecture notes

Get-started guide for ExpressSCH, ExpressPCB, and design tips guide for ExpressPCB
Spec sheets for 13 components listed in the lab assignment
Get-started guide for ExpressSCH
Get-started guide for ExpressPCB
Design tips guide for ExpressPCB
Zip file of custom components for this lab for ExpressSCH and ExpressPCB
ExpressPCB and ExpressSCH design software available on the lab PCs and for download here.

Laboratory 6 Analog to Digital and Digital to Analog Conversion
8 Oct 18 Midterm Exam Noon Thursday Oct 20, 2011. TBD TBD
9 Oct 25 Quadrature Decoding and SPI Serial Input Spec sheets for LS7366R Quadrature Decoder, SG531P 5.0 MHz TTL Clock.

LS7366 spec sheet
SG531P spec sheet
Pololu 2284 motor/encoder/gearbox information, specifications, and photos

Laboratory 7 Circuit Board design


10 Nov 1 Closed-Loop Velocity Feedback Control and Linear Amplifiers Pololu 2284 motor/encoder/gearbox information, specifications, and photos

LF411 spec sheet
OPA544 spec sheet
MAX517 DAC Spec Sheet

Laboratory 8 Quadrature Decoding and SPI Serial Input
11 Nov 8 Velocity and Position Control Spec sheets and lab assignments from all previous labs.

Pololu 2284 motor/encoder/gearbox information, specifications, and photos
LF411 spec sheet
OPA544 spec sheet
MAX517 DAC Spec Sheet

Laboratory 9 Closed Loop Velocity Control
12 Nov 15 Special Topics Design Project Laboratory 10 design Project
13 Nov 22 Problem Session. Thanksgiving Break: No lab this week


14 Nov 29 Special Topics Design Project Laboratory 10 design Project
15 Dec 13

Final Exam: 2-5PM Monday December 12, 2011, 213 Hodson Hall, per the JHU registrar's schedule.

Exam is cumulative, Closed Book, Closed Notes, Closed Cell-Phone, Calculators are OK.

.

*** The topics covered in this part of the assigned reading is prerequisite for this course.

Ethics

Students are encouraged to work in groups to learn, brainstorm, and collaborate in learning how to solve problems.

Pre-Lab and Lab Assignments Final Writeups: Your final writeups for pre-lab exercises and lab assignments must be done independently without reference to any notes from group sessions, the work of others, or other sources such as the internet.

While working on your final writeups for pre-lab exercises and lab assignments, you may refer to your own class notes, your own laboratory notes, and the text. Lab partners may share quantitative data and copies of data plots obtained together in lab.

Disclosure of Outside Sources: If you use outside sources other than your class notes and your text to solve problems in the pre-lab and lab assignments (i.e. if you have used sources such as your roommate, study partner, the Internet, another textbook, a file from your sorority/fraternity files) then you must disclose the outside source and what you took from the source in your writeup.

In this course, we adopt the ethical guidelines articulated by Professor Lester Su for M.E. 530.101 Freshman experiences in mechanical engineering I, which are quoted with permission as follows:

Cheating is wrong. Cheating hurts our community by undermining academic integrity, creating mistrust, and fostering unfair competition. The university will punish cheaters with failure on an assignment, failure in a course, permanent transcript notation, suspension, and/or expulsion.

Offenses may be reported to medical, law or other professional or graduate schools when a cheater applies. Violations can include cheating on exams, plagiarism, reuse of assignments without permission, improper use of the Internet and electronic devices, unauthorized collaboration, alteration of graded assignments, forgery and falsification, lying, facilitating academic dishonesty, and unfair competition. Ignorance of these rules is not an excuse.

On every exam, you will sign the following pledge: "I agree to complete this exam without unauthorized assistance from any person, materials or device. [Signed and dated]"

For more information, see the guide on "Academic Ethics for Undergraduates" and the Ethics Board web site (http://ethics.jhu.edu).

I do want to make clear that I'm aware that the vast majority of students are honest, and the last thing I want to do is discourage students from working together. After all, working together on assignments is one of the most effective ways to learn, both through learning from and explaining things to others. The ethics rules are in place to ensure that the playing field is level for all students. The following examples will hopefully help explain the distinction between what constitutes acceptable cooperation and what is not allowable.

Student 1: Yo, I dunno how to do problem 2 on the homework, can you clue me in? 

Student 2: Well, to be brief, I simply applied the **** principle
that is thoroughly explained in  Chapter **** in the course text.

Student 1: Dude, thanks! (Goes off to work on problem.)

- This scenario describes an acceptable interaction. 
There is nothing wrong with pointing someone in the right direction.


Student Y: The homework is due in fifteen minutes and I haven't 
done number 5 yet! Help me!

Student Z: Sure, but I don't have time to explain it to you, so
here. Don't just copy it, though.
(Hands over completed assignment.)

Student Y: I owe you one, man. (Goes off to copy number 5.)

 - This scenario is a textbook ethics violation on the part of 
 both students. Student Y's offense is obvious; student Z is 
 guilty by virtue of facilitating plagiarism, even though he/she 
 is unaware of what student Y actually did.


Joe Student: Geez, I am so swamped, I can't possibly write up the 
lab report and do the lab data calculations before it's all due.

Jane student: Well, since we were lab partners and collected all 
the data together...maybe you could just use my Excel spreadsheet
with the calculations, as long as you did the write-up yourself....

Joe Student: Yeah, that's a great idea!

- That is not a great idea. By turning in a lab report with Jane's
spreadsheet included, Joe is submitting something that isn't his 
own work.


Study group member I: All right, since there's three of us and
there's six problems on the homework, let's each do two. I'll 
do one and two and give you copies when I'm done.

Study group member II: Good idea, that'll save us a lot of work.
I'll take three and five.

Study group member III: Then I guess I'll do four and six. Are you
guys sure this is OK? Seems fishy to me.

Study group member I: What's the problem? It's not like we're
copying the entire assignment. Two problems each is still a lot 
of work.

- This is clearly wrong. Copying is copying even if it's only 
part of an assignment.


Mike (just before class): Hey, can you help me? I lost my
calculator, so I've got all the problems worked out but I 
couldn't get the numerical answers. What is the answer for 
problem 1?

Ike: Let's see (flips through assignment)... I got 2.16542.
 
Mike: (Writing) Two point one six five four two...what about 
number 2?

Ike: For that one... I got 16.0.

Mike: (Writing) Sixteen point oh...great, got it, thanks. 
Helping out a friend totally rules!

- Helping out a friend this way does not rule, totally or 
partially. As minor as this offense seems, Mike is still 
submitting Ike's work as his own when Mike gets the numerical 
answer and copies it in this way.
This page was last modified on 22 March 2014, at 16:47.