MTRX 3700 Mechatronics 3 2013

Unit of Study Outline David Rye

Welcome.
1 Unit of Study Details
1.1 Handbook Entry
The following formal description of MTRX3700 is abstracted from the entry in CUSP.

MTRX3700 Mechatronics 3
Credit points: 6. Session: Semester 2. Classes: (2hrs lec and one 3hr lab) per week. Prerequisites: MECH2701 or MTRX2700. Prohibitions:
MECH4710. Campus: Camperdown/Darlington. Mode of delivery: Normal (lecture/lab/tutorial) Day.
This unit aims to provide experience, confidence and competence in the design and implementation of microprocessor-based products and
instruments; to impart a detailed knowledge of the software and hardware architecture of a typical modern microcontroller, and an
understanding of the use of these resources in product design; and to provide experience of working in a project teamto prototype a realistic
product to meet a specification.
At the end of this unit students will understand microprocessor systemorganization, and the organization of multiple and distributed
processor systems, special purpose architectures (DSPs etc) and their application. The student will have a detailed knowledge of the software
and hardware architecture of a modern microcontroller. This knowledge will include an in-depth understanding of the relationship between
assembly language, high-level language, and the hardware, of the utilisation and interfacing of microcontroller hardware resources, and of
the design and development of software comprised of multiple interrupt-driven processes. The student will have the competence to develop
prototype microprocessor-based products.
Course content will include single processor systems, multiple and distributed processing systems, special purpose architectures (DSPs etc)
and their application; standard interfacing of sensor and actuation systems; ADC/DAC, SSI, parallel, CAN bus etc.; specific requirements for
microprocessor-based products; problemdefinition and systemdesign; tools for design, development and testing of prototype systems; the
unit of study will include a project, where groups of students design, develop and commission a microprocessor-based product.
Textbooks
. PIC18FXX2 Data Sheet. Document DS39564B, Microchip Technology Inc, 2002.
Peatman, J .B. Embedded Design with the PIC18F452 Microcontroller. Prentice Hall, 2003.
Library Classification: 629.398, 629.895, 621.3815, 621.38195, 001.6425, 005.1

1.2 Contact Information
The Lecturer and Coordinator for this Unit of Study is
David Rye d. r ye@acf r . usyd. edu. au
The Tutors are
Adrian Ball a. bal l @acf r . usyd. edu. au (?? Lab)
Daniel Wilson d. wi l son@acf r . usyd. edu. au (Monday Lab) (?? Lab) (
In the event of any technical difficulty with the computers or network in the Mechatronics Laboratory, please report the
problem to a Tutor, and also by email to mxl ab@acf r . usyd. edu. au This will help us to track down and correct the
issue as soon as possible.

Website: ht t p: / / sydney. edu. au/ engi neer i ng/ aer omech/ MTRX3700/ Cour se_Mat er i al /
Blackboard is not being used at this time.
1.3 Aims and Objectives
The Unit of Study has the following aims and objectives:
To provide experience, confidence and competence in the design and implementation of microprocessor-based
products and instruments;
To impart a detailed knowledge of the software and hardware architecture of a typical modern microcontroller,
and an understanding of the use of these resources in product design;

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To provide experience of working in a project team to prototype a realistic product to meet a specification.
1.4 Learning Outcomes
This Unit of Study has four key learning foci:
the organisation and architecture of a modern Harvard-architecture RISC microcontroller;
current microprocessor technology as it relates to the design of mechatronic systems;
design and prototyping of mechatronic systems, including some aspects of product design and the use of
contemporary hardware and development software;
project management, teamwork, software-hardware co-design, and iterative development.
Students who successfully complete this Unit of Study will have developed the competence to
Understand microprocessor system organization, and the organization of multiple and distributed processor
systems, special purpose architectures (DSPs etc) and their application.
Understand in detail the software and hardware architecture of a modern microcontroller. This knowledge will
include an in-depth understanding of the relationship between assembly language, high-level language, and the
hardware, of the utilisation and interfacing of microcontroller hardware resources, and of the design and
development of software comprised of multiple interrupt-driven processes.
Design and prototype a microcontroller-based system both software and hardware;
Reason logically about microcontroller system behaviour to isolate faults, and use development systems to
debug microcontroller software and hardware problems at the component level;
Differentiate between CISCs, RISCs and DSPs; understand the reasons for their evolution & adoption;
Understand various alternatives for data communications within a mechatronic system;
Understand and plan for the process of incremental development, recognising the importance of coordination
between members of a development team.
1.5 Syllabus
Single processor systems, multiple and distributed processing systems, special purpose architectures (DSPs etc) and
their application. Standard interfacing of sensor and actuation systems; ADC and DAC, SSI, parallel, CAN bus etc.
Specific requirements for microprocessor-based products. Problem definition and system design. Tools for design,
development and testing of prototype systems. The unit of study will include a project, where groups of students design,
develop and commission a microprocessor-based product.
1.6 Relevance
1.6.1 Relationship of this Unit to Previous Units of Study
MTRX 3700 is a second course in microprocessor systems. It builds on the fundamental material covered in the
immediate precursor, MTRX 2700 and in the first-year software design/C language subject. It also provides a context
for the extension and application of electronics theory from prior and concurrent subjects, ELEC 2401 and ELEC 3404.
1.6.2 Relationship of this Unit to Subsequent Units of Study
MTRX 3700 is not a direct precursor to other Units of Study. It does, however, develop specific skills and generic
attributes that are important for future work, and is a prerequisite for several fourth-year mechatronics electives.
1.6.3 Relationship of this Unit to Professional Practice
Both the technical and organisational aspects of the Unit of Study are strongly relevant to professional engineering
practice.
2 Learner Preparation
2.1 Particular Knowledge and Skills
This Unit of Study requires the following preparation:
A thorough knowledge of the C language;
An understanding of the fundamentals of microprocessor system design, including some interfacing;
Introductory digital and analogue electronics.
You will have this knowledge through the completion of all prerequisite subjects. MTRX 2700 provides a particularly
important preparation for MTRX 3700.

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3 Graduate Attributes
The University has adopted a policy on generic attributes of graduates
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that it believes each student should develop as
they progress through a degree course. Any degree course should provide students with the opportunity of becoming
more employable, more able to cope with change and more developed as people. The present Unit of Study aims to
develop students generic attributes in the areas of:
Research & Inquiry:
Through wide reading in the field of the Unit of Study;
Through the testing of interpretations and hypotheses through informed experimentation with hardware and
software;
Information Literacy:
Through locating, reading and understanding manufacturers data sheets;
Personal & Intellectual Autonomy:
By taking responsibility for ones own learning.
Ethical, Social & Professional Understanding:
By developing an understanding of the technical material in the Unit of Study;
By developing an understanding of the product development process, and of group dynamics.
Communication:
Through working in a group towards a shared goal;
Through practice in project and resource management;
Through oral presentation;
Through report writing.
4 Teaching/Learning Approach
Laboratory Work: MTRX 3700 Mechatronics 3 is a project-based unit of study. There is strong emphasis placed on
understanding the material so that a student can make things work. It is expected that most of the learning will therefore
occur in the laboratory. This practical learning must be supplemented by independent reading, particularly of
semiconductor manufacturers original documentation and of the text book. Please see the Mechatronics Laboratory
Introductory Notes for conditions of access to the Mechatronics Lab, and other important information about the Lab
Independent Study: Students are expected to commit to private study, including lab work, outside of the time tabled
hours. It is expected that the prescribed text books and appropriate reference books will be read to supplement material
presented during lectures.
Lectures: The function of the lectures is principally to impart quickly an overview of the material and to provide
perspective and balance.
Tutorials: Tutorials will be conducted informally as required during the Laboratory sessions. This assists learning by
providing a flexible and responsive learning environment.
5 Learning Commitments and Contact
5.1 Assumed Concepts
Completion of a first course in microprocessor systems, including assembly and some C language programming,
interfacing, introductory digital and analogue electronics.
5.2 Formal Contact Hours
Lectures: There are up to three hours of formally timetabled lectures each week
Wednesdays 10:00 am 11:00 am Aeronautical Engineering Lecture Theatre 311;
Thursdays 10:00 am 12:00 noon Aeronautical Engineering Lecture Theatre 311.
Attendance at lectures is compulsory.
Laboratories: Each student will be scheduled to attend one three-hour laboratory session per week: either
Tuesdays 2:00 pm 5:00 pm Mechatronics Lab (Room 330, Faculty Building); or
Wednesdays 2:00 am 5:00 pm Mechatronics Lab (Room 330, Faculty Building).
Attendance at laboratory sessions is compulsory. If you miss more than 10% of the laboratories (3 hours for the
semester) you will not have met the attendance requirements for a unit of study at the University, and may fail the unit
of study with a maximum mark of 45%.

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Generic Attributes of Graduates of the University of Sydney:
ht t p: / / sydney. edu. au/ pol i ci es/ showdoc. aspx?r ecnum=PDOC2011/ 185

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Please see the Mechatronics Laboratory Introductory Notes
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for conditions of access to the Mechatronics Lab, and
other important information about the Lab.
5.3 Student Learning Commitment
Students are expected to commit to this Unit of Study by attending lectures and actively participating in all aspects of
laboratory and project work; by reading textbooks and notes; and by seeking additional and/or specialist material in
reference books and manufacturers web sites.
5.4 Private Study
You are expected to commit to private study, including lab work, outside of the time tabled hours. An average amount
of private study would be 2 to 2 hours per 1 hour of formally-timetabled contact.
5.5 Feedback
Students can expect feedback for this Unit of Study through discussion during lectures and laboratory/project work
sessions, and through written responses to questions posed via email. Students can provide feedback to the Lecturer
and Tutors by discussion during lectures or laboratory/project work sessions, and by submitting comments and
questions by email.
5.6 Computer Access
Before you can be granted access to the computer account created for your use in the Mechatronics Laboratory you will
be required to read, understand, and sign a written agreement to comply with the Conditions of Use of the Universitys
Policy on the Use of University Information and Communication Technology Resources (ICT Resources). This
document is available at ht t p: / / sydney. edu. au/ pol i ci es/ showdoc. aspx?r ecnum=PDOC2011/ 140
5.7 Laboratory Safety Induction
A short induction covering safe working practices in the Mechatronics Laboratory will be conducted during the lab
sessions in week 2. You will not be permitted to work in the Lab until you have completed this induction.
6 Assessment Methods
The Unit of Study will assess students competencies through examination, group and team work, oral presentation and
project work.
Examination The examination is open-book, to encourage deep learning rather than reliance on memory.
Group/Team Work The first assignment is completed in groups of two persons. The small group environment
ensures that all students gain a detailed core of knowledge that will support their work in the Major Project.
Oral Presentation An oral presentation is required early in the Major Project development cycle. The intent is
to simulate a typical step in product development, where a team must rapidly be formed, a large amount of
technical data assimilated and key decisions taken, responsibilities allocated and project planning
commenced.
Project Work Mechatronics 3 is a project-based unit of study. There is strong emphasis placed on
understanding the material so that a student can make things work in the lab. Most of the learning will therefore
occur in the laboratory, and the assessment weighting of assignment and project work reflects this fact.
6.1 Grade Descriptions
Table 1 describes the competencies that will be expected of students who attain the various grades. Please do not
interpret the table as describing what is the minimum I must do to pass. I would like to award many HDs, and hope
that capable students will work to achieve a High Distinction.
6.2 Assessment Components and Weights
The assessment of this Unit of Study will be as shown in Table 2. The exam will be will be of two hours duration.
Candidates will be able to refer to their own annotated copy of the Microchip PIC18FXX2 Data Sheet during the
examination.
Note! Please ensure that you read carefully the Unit of Study Policies in
section 9.4.2 of this document. Many of these relate to assessment.
6.3 Award of Conceded Pass (PCON)
Please note that it is Faculty policy that the grade of Conceded Pass (PCON) is not awarded.

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Available at the Mx Lab web site, ht t p: / / sydney. edu. au/ engi neer i ng/ aer omech/ MTRXLAB

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Table 1: Description of Competencies
Grade Description of Competency
P Students at the Pass level should
Understand and recall the specific facts of the topics covered in attaining the Unit of Study
learning outcomes
Be capable of interpretation, translation and paraphrasing of this information
Be capable of using the information in situations different from the original learning context
CR Students at the Credit level should have all competencies expected at the Pass level, plus:
Demonstrate the capacity for critical analysis of the information
D Students at the Distinction level should have all competencies expected at the Credit level,
plus:
Use knowledge embodied in the learning outcomes to synthesise new applications outside
the scope of the original learning context.
HD Students at the High Distinction level should have all competencies expected at the
Distinction level, plus:
Demonstrate superior knowledge of the learning outcomes, gained from wide reading and/or
experience in the subject area.


Table 2: Assessment Components
Component What is Due Due Date Weight
Software
Tasks
Checking of tasks in lab due before
Report and Code Listing
Week 7:
5 pm, Wednesday 11 September
10 am, Monday 16 September
20%
Major Project
Demonstration of Completed Project and
Product User Manual
Project Documentation
Week 13:
3 pm, Wednesday 30 October

5 pm, Tuesday 5 November
40%
Examination 40%
7 Unit of Study Schedule
The Unit of Study will focus on topics central to the use of small, single-board computers for dedicated control applica-
tions. These are often called embedded controllers. We will concentrate in particular on the Microchip PIC18F452
RISC microcontroller.
The hardware and software architecture of the PIC18F452 will be described. Assembly-language tasks will be
completed in the laboratory to develop familiarity with the microcontroller resources and assembler. These assembly
language programs will run on Microchips PICDEM 2 demonstration board. Lectures on program design and project
documentation will be given, and C language programming in a microcontroller context will be discussed. We shall
cover mixed C and assembly language programming, and interrupt-driven systems. Single-chip operation, expansion
methods, and I/O will also be discussed.
Topics in advanced processor organisation will be covered: memory hierarchy and pipelining, RISC processors;
processes and threads; multiprocessor systems; DSP architecture, and data communication within mechatronic systems.
Students will undertake a six-week project, working in teams to design and prototype a stand-alone microprocessor-
based product. Assistance with design and wiring of prototype electronic circuits, together with practical information on
the use of test equipment and development tools will be given during the laboratory sessions. The major project will
conclude with a demonstration by students to the class of the working software and hardware, together with submission
of project documentation.
7.1 Unit of Study Program
Set out in Table 3 is a notional program for the course. The activity scheduled for any particular day may change, but
the general plan will remain. The program shows only formal sessions: whilst enrolled MTRX 3700, you may use the
facilities of the Mechatronics Lab whenever the Lab is not timetabled for another subject

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Table 3: Unit of Study Program
Week Date Lecture Lab/Tute Milestone
1 Wed 31/7 Intro, H/W Overview
Thu 1/8 MPLAB, PICDem2, ICD3 24
Thu 1/8 MPLAB Demo Hand Out Software Tasks
Tue
or Wed
30/7
31/7

`
None
2 Wed 7/8 18F452 Core Hardware 88 Handout Software Tasks
Thu 8/8 18F452 Core Hardware
Thu 8/8 18F452 Core Hardware
Tue
or Wed
6/8
7/8


Lab Induction 2:00pm
Lab Work
Start Software Tasks
3 Wed 14/8 18F452 Instruction Set 23
Thu 15/8 Assembler 68
Thu 15/8 Assembler
Tue
or Wed
13/8
14/8


Lab Work
4 Wed 21/8 18F452 Peripheral Hardware 72
Thu 22/8 18F452 Peripheral Hardware
Thu 22/8 18F452 Peripheral Hardware
Tue
or Wed
20/8
21/8


Lab Work
5 Wed 28/8 Relocation and Linking
Thu 29/8 Compiler 54
Thu 29/8 Compiler
Tue
or Wed
27/8
28/8


Lab Work
6 Wed 4/9 Assembler & C; Libraries Hand Out Major Project?
Thu 5/9 Software Design 75
Thu 5/9 Software Design
Tue
or Wed
3/9
4/9


Lab Work
7 Wed 11/9 Start Major Project
Thu 12/9 Hardware grounding, power, etc.
Thu 12/9 Hardware grounding, power, etc.
Tue
or Wed
10/9
11/9

Lab Work Software tasks must finish
5pm Wed 11 Sep
8 Wed 18/9
Thu 19/9 Major project discussion, Q&A
Thu 19/9 Major project discussion, Q&A
Tue
or Wed
17/9
18/9


Project Work
9 Wed 25/9 Memory Hierarchy 21
Thu 26/9 Pipelining 14
Thu 26/9 Processes and Threads 14
Tue
or Wed
24/9
25/9


Walkthroughs
M I D - S E M E S T E R B R E A K
10 Wed 9/10
Thu 10/10 Multiprocessors 25
Thu 10/10
Tue
or Wed
8/10
9/10


Project Work
11 Wed 16/10
Thu 17/10 RISC Processors & DSPs 22
Thu 17/10
Tue
or Wed
15/10
16/10


Project Work
12 Wed 23/10
Thu 24/10 Communications 66
Thu 24/10
Tue
or Wed
22/10
23/10


Project Work
13 Wed 30/10
Thu 31/10 Uncommitted (Discussion, project etc)
Thu 31/10
Tue
or Wed
29/10
30/10


Project Work Major Project Due
3pm Wed 30 Oct

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8 Textbooks and References
8.1 Essential Publications
There are two essential textbooks for this course:
Peatman, J .B., Embedded Design with the PIC18F452 Microcontroller, Prentice Hall, 2003.
. PIC18FXX2 Data Sheet. Document DS39564B, Microchip Technology Inc, 2002.
The book by Peatman is available from the Co-op Bookshop (about $90) and the Data Sheet from the Copy Centre
(about $25). You are also expected to consult texts from the following list of references. Some of these have been
placed in closed reserve in the Library.
8.2 Recommended Publications
The list below is not complete: there are many other textbooks on similar topics in the stacks. If you can't find what
you want in the Engineering, Physics or Fisher Libraries, try the University of New South Wales, or UTS.
Books
Alford, R.C. Programmable logic designer's guide. Howard Sams & Co., Indianapolis, 1989. 621.395/57
Allworth, S.T. and Zobel, R.N. Introduction to real-time software design. 2nd ed, Macmillan, London, 1987. 001.6425/74
Bollinger, J.G. and Duffie, N.A. Computer control of machines and processes. Addison-Wesley, Reading, MA, 1988.
629.895/18
Chesmond, C.J . Control system hardware. 2ed., Relf Publishing, Brisbane, 1981. 629.8315/3
Craine, J .F. and Martin, G.R. Microcomputers in engineering and science. Addison-Wesley, Reading, MA, 1985.
Electro-Craft Corporation. DC motors, speed controls, servo systems. 2ed., Pergamon Press, New York, 1977. 621.462/8
Hayes, J .P. Computer architecture and organization. McGraw-Hill, 3 ed., 1998.
Hall, D.V. Microprocessors and digital systems. 2ed., McGraw-Hill, Singapore, 1983. 621.38195/44
Holland, R.C. Microprocessors and their interfacing. Pergamon press, Oxford, 1982.
Holzbock, W.G. Robotic technology. Van Nostrand Reinhold, New York, 1986. 629.892/91
Horowitz, P. and Hill, W. The art of electronics. 2 ed., Cambridge University Press, Cambridge, 1989.
Kernighan, B.W. and Ritchie, D.M. The C programming language. 2 ed, Prentice-Hall, Englewood Cliffs, NJ , 1988.
005.133/166
Kenjo, T. Stepping motors and their microprocessor controls. Oxford University Press, Oxford, 1984. 621.462/20
Lawrence, P.D. and Mauch, K. Real-time microprocessor system design. McGraw-Hill, 1987. 629.895/21
McConnell, S. Code complete: A practical handbook of software construction. Microsoft Press, Redmond WA, 1993.
Pellerin, D. and Holley, M. Practical design using programmable logic. Prentice-Hall, Englewood Cliffs NJ , 1991.
621.395/51
Pressman, R.S. Software engineering: a practitioner's approach. 2nd ed., McGraw-Hill, Singapore, 1988. 005.1/72
Rohner, P. Industrial hydraulic control. A E Press, Melbourne, 1984. 621.2/14
Rohner, P. Pneumatic control for industrial automation. A E Press, Melbourne, 1984. 629.8045/5/A
SAA HB3-1986: Electrical and Electronic Drawing Practice for Students. Standards Association of Australia, Sydney, 1986.
Stone, H.S. Microcomputer interfacing. Addison-Wesley, Reading, 1982. 621.3819583/12
Tabak, D. Advanced microprocessors. McGraw-Hill, 2ed., 1995.
Tocci, R.J . and Laskowski, L.P. Microprocessors and microcomputers. 3ed., Prentice-Hall, London, 1987. 004.16/32
Williams, T. Circuit Designer's Companion. Butterworth Heinmann, Kent, 1991. 621.3815/118
Zaks, R. and Wolfe, A. From chips to systems. 2 ed., Sybex, San Francisco, 1981. 004.16/29
Zaks, R. and Lesea, A. Microprocessor interfacing techniques. Sybex, Berkeley, 1979. 621.381952/5
Journals and Magazines
EDN (Electronic Design News) ht t p: / / www. edn. com/
Embedded Systems Design ht t p: / / www. eet i mes. com/ desi gn/ embedded
Machine Design ht t p: / / www. machi nedesi gn. com/
Mechanical Engineering ht t p: / / www. memagazi ne. or g/
Electronic Component Datasheets
All semiconductor manufacturers publish technical information, such as datasheets and applications notes, as Adobe portable
document format (PDF) documents on the Internet. Some useful manufacturers sites are
Fairchild ht t p: / / www. f ai r chi l dsemi . com
Intel ht t p: / / www. i nt el . com/ desi gn
Microchip ht t p: / / www. mi cr ochi p. com
Motorola ht t p: / / www. mot or ol a. com
National Semiconductor ht t p: / / www. nat i onal . com
Texas Instruments ht t p: / / www. t i . com

8.3 Web Links
Please see the Unit of Study web page: ht t p: / / sydney. edu. au/ engi neer i ng/ aer omech/ MTRX3700/ Cour se_Mat er i al /

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8.4 Policies
8.4.1 University Policies
Students are reminded of the following University policies, available from ht t p: / / www. usyd. edu. au/ pol i cy/
Assessment and Examination of Coursework
Academic Honesty in Coursework
Policy on the Use of University Information and Communication Technology Resources
Student Plagiarism: Coursework Policy and Procedure
Written and Oral Communication Skills of Students
Generic Attributes of Graduates of the University of Sydney
8.4.2 Unit of Study Policies
Use of Mechatronics Lab
Students enrolled in MTRX 3700 may use the Mechatronics Lab for their work in MTRX 3700 whenever the Lab is
not formally timetabled for another Unit of Study. Further information on the Lab is provided in the Mechatronics
Laboratory Introductory Notes, available at the MTRX Lab web site,
ht t p: / / sydney. edu. au/ engi neer i ng/ aer omech/ MTRXLAB/
Moderation of Group Work Marks
Group marks for Lab Work will be moderated on the basis of individual effort and understanding, as perceived by
the Lecturer and Tutor(s).
Method of Submission of Written Work
Written work must be submitted electronically in either PDF or Word format: PDF format is preferred. Further
information will be given in assignment handouts.
Assignment Extensions and Deadlines
No extension of the published due dates and times will be given unless exceptional circumstances apply. In such
cases, application for an extension must be submitted in writing (email to d. r ye@acf r . usyd. edu. au), citing
those circumstances. A decision will be given in writing (email).
Late Submission of Assignments
Late submissions will be penalized 20% of the full mark for every day or part thereof that the assignment is late.
Must Pass Both Components
To pass this unit of study it is necessary to obtain a mark of not less than 45% in BOTH the assignment and
examination components. If you fail either the assignment component or the exam (even after supplementary
results) the maximum mark you can get for the unit of study is 45%.




29 J uly 2013