Syllabus for ME 345 — Mechatronics
Fall 2016
Course description
This course is an introduction to the mathematical modeling and design of electrical, mechanical, and electromechanical systems. A system dynamical approach is used, which allows different energy domains to be modeled within a unified framework. Circuit elements covered include resistors, capacitors, inductors, diodes, transistors, and operational amplifiers. (Adopted from the course catalog.)
General information
 Instructor
 Rico AR Picone, PhD
 Office Hours
 MWF 9–10, 11–11:40 CH 103C
 Office location
 CH 103C
 Classroom location
 Harned 115
 Times
 MWF 10:00–10:50 am
 Website
 ME 345 Website
 Moodle
 ME 345 Moodle
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Textbooks
Derek Rowell and David N. Wormley. System Dynamics: An Introduction. Prentice Hall, 1997.
Paul Horowitz and Winfield Hill. The Art of Electronics. Third Edition. Cambridge University Press, 2015.
Notes
Partial notes will be posted here.
Schedule
The following schedule is tentative. All assignments will be set one week before the due date.
week  topics introduced  reading  assignment due 

introduction, voltage, current, resistance, signals  HH 1.1–1.3  
capacitors, general circuit analysis  HH 1.4  Assignment #1  
inductors, transformers  HH 1.5, 1.6  Assignment #2  
impedance, diodes, diode circuits  HH 1.7, 1.8, & 1.9  Assignment #3  
energy and power flow in statedetermined systems  RW Ch. 1 & Sec. 2.1  Assignment #4, Midterm #1  
oneport elements and their generalization  RW Sections 2.2–2.4, Ch. 3  Assignment #5  
formulation of system models  RW Ch. 4  Assignment #6  
state equation formulation  RW Ch. 5  Assignment #7  
state equation formulation  RW Ch. 5  Assignment #8  
energytransducing system elements  RW Ch. 6  Assignment #9  
transistors and opamps  HH 2.1, 2.2, 4.2, & 4.3  Assignment #10  
operational methods for linear systems  RW Ch. 7  Assignment #11  
Thanksgiving week  Midterm #2  
system properties and solution techniques  RW Ch. 8  Assignment #12  
first and secondorder response  RW Ch. 9  Assignment #13  
finals week  Final Exam 
Assignments
Assignment #1
 Do the assigned reading.
 Do HH Exercises 1.1, 1.2, 1.10, 1.11, 1.12, 1.37, and 1.38.
 Take the weekly homework quiz.
Assignment #2
 Do the assigned reading.
 Do HH Exercises 1.14, 1.15, and 1.16.
 Special Problem #1. For the RC circuit in HH Figure 1.41B, perform a complete circuit analysis to solve for $V_{out}(t)$ if $V_{in}(t) = A\ \sin{\omega t}$, where $A \in \mathbb{R}$ is a given amplitude and $\omega \in \mathbb{R}$ is a given angular frequency. Let $v_c(t)_{t=0} = v_{c0}$, where $v_{c0} \in \mathbb{R}$ is a given initial capacitor voltage. Hint: you will need to solve a differential equation for $v_C(t)$.
 Special Problem #2. In the previous problem, find $i_C(t)$.
 Special Problem #3. For the circuit diagram below, perform a complete circuit analysis to solve for $v_o(t)$ if $V_{s}(t) = A\ \sin{\omega t}$, where $A \in \mathbb{R}$ is a given amplitude and $\omega \in \mathbb{R}$ is a given angular frequency. Let $i_L(t)_{t=0} = 0$ be the initial inductor current. Hint: you will need to solve a differential equation for $i_L(t)$.
 Take the weekly homework quiz.
Assignment #3
 Do the assigned reading.
 Special Problem #1. For the circuit diagram below, solve for $v_o(t)$ if $V_{s}(t) = A\ \sin{\omega t}$, where $A=2\ V$ is the given amplitude and $\omega \in \mathbb{R}$ is a given angular frequency. Let $R = 50\ \Omega$, $L = 50\ mH$, and $C = 200\ nF$. Let the circuit have initial conditions $v_C(0) = 1\ V$ and $i_L(0) = 0\ A$. Find the steadystate ratio of the output amplitude to the input amplitude $A$ for $\omega = \{5000,10000,50000\}\ rad/s$. This circuit is called a lowpass filter—explain why this makes sense. Plot $v_o(t)$ in MATLAB for $\omega=400\ rad/s$ (you think this won’t be part of the quiz, but it will be!). Hint: either rewrite your system of differentialalgebraic equations and initial conditions as a single secondorder differential equation with initial conditions in the differential variable or rewrite it as a system of two firstorder differential equations and solve that.
 Special Problem #2. For the circuit diagram below, solve for $v_o(t)$ if $V_{s}(t) = A\ \cos{\omega t}$. Let $N = n_2/n_1$, where $n_1$ and $n_2$ are the number of turns in each coil, $1$ and $2$, respectively. Also let $i_L(0) = 0$ be the initial condition.
 Take the weekly homework quiz.
Assignment #4
 Do the assigned reading.
 Special Problem #1. Redo Special Problem #1 from the preceding assignment, but only consider the steadystate response. Use impedances!
 Special Problem #2. Redo Special Problem #2 from the preceding assignment, but only consider the steadystate response. Use impedances!
 Reread Secion 1.2.6.A of The Art of Electronics.
 HH 1.20.
 Special Problem #3: Examine the spec sheet on the real world Zener diode 1N4732A, determine its dynamic resistance $R_{dyn}$ at 4.7 V, and compute $\Delta V_{out}$ for the Zener regulator in Figure 1.16 using this diode.
 Take the weekly homework quiz.
Assignment #5
 Do the assigned reading.
 Do Rowell & Wormley homework problems 1.1, 1.4, 1.6, and 2.1.
 Take the weekly homework quiz.
Assignment #6
 Do the assigned reading.
 Do Rowell & Wormley homework problems 2.3, 2.5, 2.7, 2.10, 3.6, and 3.8.
 Take the weekly homework quiz.
Assignment #7
 Do the assigned reading.
 Do Rowell & Wormley homework problems 4.4, 4.6, 4.7, 4.9, 4.10, 4.16, 4.17, 4.18.
 Take the weekly homework quiz.
Assignment #8
 Do the assigned reading.
 Do Rowell & Wormley homework problems 5.2, 5.6, 5.8, 5.11, 5.12, and 5.13.
 Take the weekly homework quiz.
Assignment #9
 Do the assigned reading.
 Do Rowell & Wormley homework problems 6.3, 6.7, 6.8, 6.9, and 6.12.
 Take the weekly homework quiz.
Assignment #10
 Do the assigned reading.
 Special Problem #1: for the following circuit with opamp gain $k$, develop state and output equations if the output is $v_o$. Simulate $v_o(t)$ for a step input voltage of $V_s = 5$ V, a sine wave of $V_s(t) = 5 \sin{25 t}$, and a square wave of amplitude $5$ V and frequency of $25$ rad/s. Let $R_1 = 50 \Omega$, $R_2 = 10 k\Omega$, $C = 10 \mu F$, and the opamp openloop gain be $k = 10^5$. Let the initial condition be $v_C(t) = 0$ V. The simulation results should be plotted to show the transient response until it reaches steadystate.
 Take the weekly homework quiz.
Assignment #11
 Do the assigned reading.
 Do Rowell & Wormley homework problems 7.6, 7.11, 7.12, and 7.14. Note: to find the state equations, you may use the method to the book mentions in some of the problems (going from the block diagram straight to state equations) if you like, but you are welcome to use the usual state equation formulation method we’ve discussed (linear graph, elemental equations, etc.). There is a typo in the transfer operator in problem 7.12. The numerator should be 50 (as shown in the block diagram), not 100. Also in 7.12, part c is asking for a differential equation in $\Omega$ and $v_d$.
 Take the weekly homework quiz.
Assignment #12
 Do the assigned reading.
 Do Rowell & Wormley homework problems 8.5, 8.9, 8.11, 8.14, 8.15, and 8.18.
 Take the weekly homework quiz.
Assignment #13
 Do the assigned reading.
 Do Rowell & Wormley homework problems 9.9, 9.19, 9.20, 9.22, and 9.23 (I did a variation of 9.23 in class).
 Take the weekly homework quiz.
Resources
Class resources will be posted here throughout the semester.
Slack
Everyone is required to join the messaging service called “Slack.” We’ll use it to communicate with each other during the semester. The Slack team you need to join is called ME3452016F. You should have an invitation link in your email.
Homework, quiz, & exam policies
Homework & homework quiz policies
Weekly homework will be “due” on Wednesdays, but it will not be turned in for credit. However — and this is very important — each week a quiz will be given on Wednesday that will cover that week’s homework.
Quizzes will be available on moodle each Wednesday (as early as I can get them up), and must be completed by that evening (before midnight). Late quizzes will receive no credit.
Working in groups on homework is strongly encouraged, but quizzes must be completed individually.
Exam policies
The midterm and final exams will be inclass. If you require any specific accommodations, please contact me.
Calculators will be allowed. Only ones own notes and the notes provided by the instructor will be allowed. No communicationdevices will be allowed.
No exam may be taken early. Makeup exams require a doctor’s note excusing the absence during the exam.
The final exam will be cumulative.
Grading policies
Total grades in the course may be curved, but individual homework quizzes and exams will not be. They will be available on moodle throughout the semester.
 Homework quizzes
 20%
 Midterm Exam #1
 25%
 Midterm Exam #2
 25%
 Final Exam
 30%
Academic integrity policy
Cheating or plagiarism of any kind is not tolerated and will result in a failing grade (“F”) in the course. I take this very seriously. Engineering is an academic and professional discipline that requires integrity. I expect students to consider their integrity of conduct to be their highest consideration with regard to the course material.
Correlation of course & program outcomes
In keeping with the standards of the Department of Mechanical Engineering, each course is evaluated in terms of its desired outcomes and how these support the desired program outcomes. The following sections document the evaluation of this course.
Desired course outcomes
Upon completion of the course, the following course outcomes are desired: students will have a clear and thorough understanding of concepts, principles, and methods of modeling mechanical, electrical, and electromechanical systems;

students will be familiar with the operation and input and output characteristics of the following electrical circuit elements:
 resistors,
 capacitors,
 inductors,
 diodes,
 transistors, and
 operational amplifiers;
 students will understand the designs of basic circuits;
 students will be able to model electrical and mechanical systems with a unified modeling technique;
 students will be able to construct statespace models (including state equations) of electrical, mechanical, and electromechanical systems;
 students will be able to analyze the characteristics of system models;
 students will be able to solve for first and secondorder linear (timeinvariant) system responses;
 students will be able to solve for general linear (timeinvariant) system responses;
 students will understand the larger contexts of electromechanical system dynamics, especially with regard to technology development and society; and
 students will be able to communicate what they are learning and its broader contexts.
Desired program outcomes
The desired program outcomes are that mechanical engineering graduates have: an ability to apply knowledge of mathematics, science, and engineering;
 an ability to design and conduct experiments, as well as to analyze and interpret data;
 an ability to design a system, component, or process to meet desired needs;
 an ability to function on multidisciplinary teams;
 an ability to identify, formulate, and solve engineering problems;
 an understanding of professional and ethical responsibility;
 an ability to communicate effectively;
 the broad education necessary to understanding the impact of engineering solutions in a global and social context;
 a recognition of the need for, and an ability to engage in lifelong learning;
 a knowledge of contemporary issues; and
 an ability to use the techniques, skills, and modern engineering tools necessary for engineering practice
Correlation of outcomes
The following table correlates the desired course outcomes with the desired program outcomes they support.desired program outcomes  

A  B  C  D  E  F  G  H  I  J  K  
desired course outcomes  1  ✔   ✔  ✔  ✔       ✔ 
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
   ✔  ✔  ✔  ✔  ✔  ✔  ✔   
   ✔  ✔  ✔  ✔  ✔  ✔  ✔  