Description of Individual Course Units
Course Unit CodeCourse Unit TitleType of Course UnitYear of StudySemesterNumber of ECTS Credits
9105095032012Mechatronics SystemsCompulsory119
Level of Course Unit
Second Cycle
Objectives of the Course
The course gives an overview of the basics of mechatronic systems and products including the components and characteristics typical for such systems. The course introduces a mechatronics design procedure and provides insight into both advantages and difficulties of mechatronicis design.
Name of Lecturer(s)
Mustafa Engin
Learning Outcomes
1Design and simulate mechatronic and robotic systems using mechanical principals.
2Explain the operation of the fundamental elements of basic electronics circuits.
3Design simple analog and digital signal processing circuits.
4Select suitable actuators and sensors and integrate them with embedded system
5Design algorithms for new problems using algorithm design techniques.
Mode of Delivery
Face to Face
Prerequisites and co-requisities
Recommended Optional Programme Components
Course Contents
Background and general mechanical descriptions, spatial descriptions and transformations, manipulator kinematics, inverse manipulator kinematics, Jacobians: velocities and static forces. Basic electric and electronic components review, digital electronic components and circuits, digital storage, programmable logic devices, data converters, anolog and digital signal processing, digital actuators. continuous-drive actuators, power electronic devices and converters. common digital adnd analog sensors.
Weekly Detailed Course Contents
1Background and General Descriptions. Description of position and orientation, Forward kinematics of manipulators, Inverse kinematics of manipulators, Velocities, static forces, singularities, Dynamics, Trajectory Generation.
2Spatial Descriptions and Transformations Positions, orientations and frames. Mappings, changing descriptions from frame to frame. Operators, translation, rotation, transformation. Transform equations.
3Manipulator Kinematics Link connection description. Actuator space, joint space and cartesian space.
4Examples: Kinematics of industrial robots.
5Inverse Manipulator Kinematics Solvability, Algebraic vs. geometric. Algebraic solution by reduction to polynomial.
6Examples of inverse manipulator kinematics. Repeatability and accuracy.
7Jacobians: Velocities and Static Forces. Notation of time-varying position and orientation. Motion of the links of a robot. Jacobians, singularities. Static forces in manipulators.
9Basic electric and electronic components review Diode devices; Forward/reverse bias pn junctions, diode equation, reverse breakdown and zener diodes, rectifiers, voltage doubler and clamping. Transistor devices; Bipolar Junction Transistors: BJT operation and characteristics. Field Effect Transistors: FET, MOSFET, JFET operation and characteristics. Amplifier Principles. Equivalent circuit of an amplifier. Differential amplifiers.
10Operational Amplifiers; Ideal op-amp, differential and common-mode gains, common-mode rejection ratio. Applications of Op-Amp; Filters, inverting amplifier, non-inverting amplifier, adder, subtractor, integrator, differentiator.
12Combinatorial Logic; Basic Boolean operators (AND, OR, NOT) and corresponding circuit elements. Boolean algebra. Further Boolean operators (XOR, NAND, NOR). Encoders/decoders, multiplexers /demultiplexers. Digital Arithmetic; binary, octal, hexadecimal number systems. Binary arithmetic. Signed number representation. Logic circuits for addition and subtraction. Sequential Logic; Sequential logic elements including S-R, D, and J-K latches and flip-flops. Basic applications of flip-flops; registers and counters.
13Programmable Logic Devices; PAL, GAL, SPLD, CPLD and FPGA. Digital signal processing; ADC and DAC
14Digital Storage; static and dynamic RAM, ROM, organization of memory systems.
15Sensors; Switches and potentiometers, shaft encoders, position sensors; optical, ultrasonic, magnetic - hall effect and reed switches, electrostatic sensors.
16Final Exam
Recommended or Required Reading
1. Introduction to Robotics-Mechanics and Control, John J. Craig, Pearson Prentice Hall, ISBN 0-13-123629-6. 2. Mechatronics: A Multidisciplinary Approach, W. Bolton, Prentice Hall, ISBN-13: 978-0273742869, 2011. 3. Mechatronics, Sabri Cetinkunt, John Wiley & Sons Inc ISBN-13: 978-0471479871, 2004. 4. Introductions to Mechatronics and Measurement Systems 3rd Editions, David G. Alcaitore and Michael B. Histand, McGraw Hill, ISBN 0-07-296305-0, 2007. 5. Electronic Devices and Circuit Theory, R. Boylestad, L. Nashelsky, Pearson Education, ISBN: 0136064639, 2008 6. Introduction to the Design & Analysis of Algorithms , Anany Levitin, Addison Wesley; 3 edition, 20112 ISBN-10: 0132316811 ISBN-13: 978-0132316811
Planned Learning Activities and Teaching Methods
Assessment Methods and Criteria
Term (or Year) Learning ActivitiesQuantityWeight
End Of Term (or Year) Learning ActivitiesQuantityWeight
Language of Instruction
Work Placement(s)
Workload Calculation
ActivitiesNumberTime (hours)Total Work Load (hours)
Attending Lectures14456
Individual Study for Homework Problems8864
Individual Study for Mid term Examination12020
Individual Study for Final Examination16060
Contribution of Learning Outcomes to Programme Outcomes
* Contribution Level : 1 Very low 2 Low 3 Medium 4 High 5 Very High
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