CHAPTER 1

Introduction to mechatronics
Chapter objectives
When you have finished this chapter you should be able to:
trace the origin of mechatronics;
understand the key elements of mechatronics systems;
relate with everyday examples of mechatronics systems;
appreciate how mechatronics integrates knowledge from different disciplines in order to realize
engineering and consumer products that are useful in everyday life.
CHAPTER 2
Electrical components and circuits
Chapter objectives
When you have finished this chapter you should be able to:
understand the basic electrical components: resistor, capacitor, and inductor;
deal with resistive elements using the node voltage method and the node voltage analysis
method;
deal with resistive elements using the mesh current method, principle of superposition, as well
as Thevenin and Norton equivalent circuits; deal with sinusoidal sources and complex
impedances.
CHAPTER 3
Semiconductor electronic devices
Chapter objectives
When you have finished this chapter you should be able to:
understand how covalent bonds and doping materials impact on semiconductor electronic
devices;
understand the p-n junction and the diode effect;
understand how a Zener diode works;
understand bipolar junction transistors (BJTs);
understand junction field-effect transistors (JFETs);
understand metal-oxide semiconductor field-effect transistors (MOSFETs);
understand transistor gates and switching circuits;
understand complementary metal-oxide semiconductor (CMOS) field-effect transistor gates
CHAPTER 4
Digital electronics
Chapter objectives
When you have finished this chapter you should be able to:
handle combinational logic design using a truth table;
understand Karnaugh maps and logic design;
understand combinational logic modules such as the half adder, the full adder, multiplexers,
and decoders;
understand sequential logic modules such as the S-R flip-flop, the D flip-flop, and the J-K flip-
flop;
understand sequential logic design;
understand data registers, counters, the Schmitt trigger, the 555 timer, the astable multivibrator,
and the one-shot monostable multivibrator
CHAPTER 5
Analog electronics
Chapter objectives
When you have finished this chapter you should be able to:
understand the basics of amplifiers;
understand and apply different types of amplifier such as inverting, noninverting, unity-gain
buffer, summer, difference, instrumentation, integrator, differentiator, comparator, and sample
and hold amplifiers;
understand and apply active filters such as low-pass active filters, high-pass active filters, and
active band-pass filters
C HAPTER 6
Microcomputers and
microcontrollers
Chapter objectives
When you have finished this chapter you should be able to:
understand microprocessors' and microcomputers' fundamentals;
understand the architectures of the PIC 16F84 and 16F877 microcontrollers, including their
main features;
understand programming a PIC using assembly language;
understand programming a PIC using C;
interface common PIC peripherals using the PIC millennium board, for numeric keyboard,
LCD display applications;
interface the PIC to some other practical mechatronics systems.

CHAPTER 8
Sensors
Chapter objectives
When you have finished this chapter you should be able to:
understand the fundamentals of distance sensors;
understand the fundamentals of movement sensors;
understand the fundamentals of proximity sensors;
understand the fundamentals of stress/strain/force sensors;
understand the fundamentals of temperature sensors.

C HAPTER 9
Electrical actuator systems
Chapter objectives
When you have finished this chapter you should be able to:
distinguish between the roles of solenoids and relays;
distinguish between shunt and separately excited d.c. motors;
control d.c. motor speed by adding an armature resistance;
control d.c. motor speed control by adjusting armature voltage;
control d.c. motor speed control by pulse width modulation;
understand how a stepper motor works;
understand the hardware for stepper motor speed control;
choose motors based on some practical guidelines.

CHAPTER 1 0
Mechanical actuator systems
Chapter objectives
When you have finished this chapter you should be able to:
realize the usefulness of hydraulic and pneumatic systems as mechatronics elements;
realize the usefulness of mechanical elements such as mechanisms, gears, cams,
clutches/brakes, and flexible mechanical elements in mechatronics applications.
C HAPTER 1 1
Interfacing microcontrollers
with actuators
Chapter objectives
When you have finished this chapter you should be able to:
understand the practical aspects of general purpose three-state transistors;
understand how to interface microcontrollers with relays;
understand how to interface microcontrollers with solenoids;
understand how to interface microcontrollers with stepper motors;
understand how to interface microcontrollers with permanent magnet motors;
understand how to interface microcontrollers with sensors;
be able to deal with power supplies requirements for a mechatronic system;
understand how to interface microcontrollers with a DAC.

CHAPTER 1 2
Control theory: modeling
Chapter objectives
When you have finished this chapter you should know:
the role of Laplace transformations in obtaining the transfer function of a system;
how to describe qualitatively the transient response of first- and second-order systems;
how to find transfer functions for an electrical network and mechanical systems;
how to find a mathematical model, known as a state-space representation, for line, time-
invariant systems;
how to convert between transfer functions and state-space models;
how to reduce a block diagram of multiple subsystems to a single block representing the
transfer function from input to output
CHAPTER 13
Control theory: analysis
Chapter objectives
When you have finished this chapter you should be able to:
understand poles and zeros as valuable tools for analysis and design of control systems;
find the step response of a first-order control system;
find the step response of a second-order control system;
use the Routh-Hurwitz criterion to determine the stability of control systems;
determine steady-state errors for a unity feedback system;
determine steady-state errors for a non-unity feedback system.

CHAPTER 1 4
Control theory:
graphical techniques
Chapter objectives
When you have finished this chapter you should be able to:
create a root locus;
use the locus to understand the closed-loop system behavior given an openloop system and a
feedback controller;
calculate the root locus gain at any point on the locus;
plot frequency response;
use frequency response to analyze stability

CHAPTER 1 5
Robotic systems
Chapter objectives
When you have finished this chapter you should be able to:
understand what robots are, and how they may be used;
differentiate between mobile and stationary robots;
understand basic definitions, configurations and components of robotic arms;
understand forward as well as inverse (backward) transformations for robotic arms;
understand the importance of resolutions, repeatability, and accuracy in the functioning of
robotic arms;
appreciate important aspects of robotic arm path planning.
Using MATLAB to analyze robotic manipulator path plannng
See website for a series of downloadable MATLAB codes which demonstrate
aspects covered in this chapter, including forward and backward transformation
for 2, 3 and 4 joint robot manipulato

CHAPTER 1 7
Reliability
Chapter objectives
When you have finished this chapter you should be able to:
understand the principles of reliability;
understand how to deal with the reliability of series systems;
understand how to deal with the reliability of parallel systems;
understand how to deal with the reliability of generic series-parallel systems;
understand how to deal with the reliability of major parallel systems;
understand how to deal with the reliability of standby systems;
appreciate common modes of failure;
understand availability of systems with repair;
understand the factors influencing failure rate;
understand the practical applications of response surface methodology
CHAPTER 1 8
Case studies
Chapter objectives
When you have finished this chapter you should be able to:
identify and recognize many engineering and consumer products as mechatronic systems;
understand the integration of control in mechatronic systems through computers and digital
electronics;
appreciate how mechatronics pulls together knowledge from different areas in order to realize
engineering and consumer products that are useful in everyday life.
APPENDIX 1
The engineering design process
Chapter objectives
When you have finished this chapter you should be able to:
understand the engineering design process;
apply the design process to mechantronics system design.

APPENDIX 2
Mechanical actuator systems design and analysis
Chapter objectives
When you have finished this chapter you should be able to:
understand a more detailed analysis of mechanical actuators;
understand fatigue failure mode for mechanical actuators subjected to dynamic loading