
Description of Individual Course UnitsCourse Unit Code  Course Unit Title  Type of Course Unit  Year of Study  Semester  Number of ECTS Credits  9105095032012  Mechatronics Systems  Compulsory  1  1  9 
 Level of Course Unit  Second Cycle  Language of Instruction  English  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  1  Design and simulate mechatronic and robotic systems using mechanical principals.  2  Explain the operation of the fundamental elements of basic electronics circuits.  3  Design simple analog and digital signal processing circuits.  4  Select suitable actuators and sensors and integrate them with embedded system  5  Design algorithms for new problems using algorithm design techniques. 
 Mode of Delivery  Face to Face  Prerequisites and corequisities  None  Recommended Optional Programme Components  None  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. continuousdrive actuators, power electronic devices and converters. common digital adnd analog sensors.
 Weekly Detailed Course Contents  
1  Background and General Descriptions. Description of position and orientation, Forward kinematics of manipulators, Inverse kinematics of manipulators, Velocities, static forces, singularities, Dynamics, Trajectory Generation.    2  Spatial Descriptions and Transformations
Positions, orientations and frames.
Mappings, changing descriptions from frame to frame. Operators, translation, rotation, transformation. Transform equations.
   3  Manipulator Kinematics
Link connection description. Actuator space, joint space and cartesian space.
   4  Examples: Kinematics of industrial robots.    5  Inverse Manipulator Kinematics
Solvability, Algebraic vs. geometric. Algebraic solution by reduction to polynomial.
   6  Examples of inverse manipulator kinematics. Repeatability and accuracy.    7  Jacobians: Velocities and Static Forces.
Notation of timevarying position and orientation. Motion of the links of a robot. Jacobians, singularities. Static forces in manipulators.
   8  Midterm    9  Basic 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.    10  Operational Amplifiers; Ideal opamp, differential and commonmode gains, commonmode rejection ratio. Applications of OpAmp; Filters, inverting amplifier, noninverting amplifier, adder, subtractor, integrator, differentiator.    11     12  Combinatorial 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 SR, D, and JK latches and flipflops. Basic applications of flipflops; registers and counters.
   13  Programmable Logic Devices; PAL, GAL, SPLD, CPLD and FPGA. Digital signal processing; ADC and DAC    14  Digital Storage; static and dynamic RAM, ROM, organization of memory systems.    15  Sensors; Switches and potentiometers, shaft encoders, position sensors; optical, ultrasonic, magnetic  hall effect and reed switches, electrostatic sensors.    16  Final Exam   
 Recommended or Required Reading  1. Introduction to RoboticsMechanics and Control, John J. Craig, Pearson Prentice Hall, ISBN 0131236296.
2. Mechatronics: A Multidisciplinary Approach, W. Bolton, Prentice Hall, ISBN13: 9780273742869, 2011.
3. Mechatronics, Sabri Cetinkunt, John Wiley & Sons Inc ISBN13: 9780471479871, 2004.
4. Introductions to Mechatronics and Measurement Systems 3rd Editions, David G. Alcaitore and Michael B. Histand, McGraw Hill, ISBN 0072963050, 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 ISBN10: 0132316811 ISBN13: 9780132316811  Planned Learning Activities and Teaching Methods   Assessment Methods and Criteria  
Midterm Examination  1  80  Homework  1  20  SUM  100  
Final Sınavı  1  100  SUM  100  Term (or Year) Learning Activities  40  End Of Term (or Year) Learning Activities  60  SUM  100 
 Work Placement(s)  None 
 Workload Calculation 

Attending Lectures  14  4  56  Individual Study for Homework Problems  8  8  64  Individual Study for Mid term Examination  1  20  20  Individual Study for Final Examination  1  60  60  Reading  14  5  70  
Contribution of Learning Outcomes to Programme Outcomes  LO1  4  5  3  3  5  4  LO2  5  3  4  4  4  4  LO3  5  4  5  4  5  5  LO4  5  5  5  5  5  4  LO5  5  4  3  4  3  4 
 * Contribution Level : 1 Very low 2 Low 3 Medium 4 High 5 Very High 



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