Syllabus for EE/ME 345
Mechatronics
Fall 2018
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
 WF 12–1 and MWF 1–2
 Office location
 CH 103C
 Classroom location
 Cebula Hall 201B
 Times (A1)
 MWF 9:00–9:50 am
 Times (B1)
 MWF 11:00–11:50 am
 Moodle
 moodle.stmartin.edu
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Textbooks
Derek Rowell and David N. Wormley. System Dynamics: An Introduction. Prentice Hall, 1997. (Required.)
Paul Horowitz and Winfield Hill. The Art of Electronics. Third Edition. Cambridge University Press, 2015. (Recommended.)
Homebrew texts and notes
Partial texts (with fillins) I’m writing will be posted on the Electronics: an introduction and the Dynamic Systems: an introduction pages.
These texts are being constantly revised, so you have two printing options I recommend (both in color!):
 Have a service such as that of the SMU Computer Resource Center print them in bulk for you. Whichever printing service you use, I recommend binding them such that pages can be replaced (e.g. threering bindable) in case there are major revisions to a section during the term.
 Print each week’s lectures ondemand, yourself, when I give the “ok to print” signal. This is more tedious and requires more organization, but it’s at least a bit less paper.
In either case, you are required to have a binder (or equivalent) with Electronics Lectures 01.01 – 01.03 ready to show by our second class to avoid a 10% deduction on your first quiz grade. (Or you can show me those lectures on your notetaking tablet, if that’s your preferred method.)
Throughout the semester, you should be ready to show these (current) in any class, with threat of 10% quiz grade deductions.
Video lectures
Most lectures will be available online on my YouTube channel. I recommend subscribing and familiarizing yourself with the playlist for this course.
For last year’s lecture videos, see this playlist.
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 drrico. That’s a signup link. Be sure to join the channels #345general and #345homework.
Differential Equations Primer
I highly recommend reviewing the solution of linear ordinary differential equations. I have developed a text Differential Equations Primer For SISO Linear Systems and a companion lecture series to help prepare students to enter this course.
Resources
Class resources will be posted here throughout the semester.
Schedule
The following schedule is tentative. All assignments will be set one week before the due date.
week  topics introduced  reading  due 

introduction, voltage, current, resistance, signals, voltage dividers, sources  HH 1.1–1.3  
Thevenin and Norton's theorems, output and input resistance, circuit loading, capacitors, inductors  HH 1.4  assignment  
circuit analysis  HH 1.5, 1.6  assignment  
steadystate circuit analysis, impedance  HH 1.7, 1.8, & 1.9  assignment  
nonlinear circuits, twoport elements, transformers, diodes, MOSFETs  HH 2.1, 2.2  assignment  
opamps  HH 3, 4  assignment Midterm #1 

systems approach, statedetermined systems, energy, power, lumping  RW Ch. 1 & Ch. 2  
electronic elements, mechanical elements, oneport elements and their generalization  Ch. 3  assignment  
linear graph models, sign convention, element interconnection laws  RW Ch. 4  assignment  
state space models  RW Ch. 5  assignment  
state equation formulation  RW Ch. 5  
electromechanical systems  RW Ch. 6  assignment  
Thanksgiving week  Midterm #2  
electromechanical systems  RW Ch. 6  assignment  
superposition, stability, and other LTI system properties  RW Ch. 8  assignment  
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 or Python 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.
 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!
 Reread Section 1.2.6.A of The Art of Electronics.
 HH 1.20.
 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.
 Special Problem #3. Redo Special Problem #2, but only consider the steadystate response. Use impedances!
 Special Problem #4: 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 HH Figure 1.16 using this diode.
 Take the weekly homework quiz.
Assignment #5
 Do the assigned reading.
 Do the Electronics: an introduction Chapter 04 Problems: 04.05.1, 04.05.2, 04.05.3, 04.05.4, 04.05.6, 04.05.7, 04.05.8, 04.05.9. Recommended: 04.05.5.
 Take the weekly homework quiz.
Assignment #6
 Do the assigned reading.
 Do Rowell & Wormley homework problems 1.1, 1.4, 1.6, and 2.1.
 Take the weekly homework quiz.
Assignment #7
 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 #8
 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 #9
 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 #10
 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 #11
 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.
Homework, quiz, & exam policies
Homework & homework quiz policies
Weekly homework will be “due” on Fridays, but it will not be turned in for credit. However — and this is very important — each week a quiz will be given on Friday that will cover that week’s homework.
Quizzes will be available on moodle each Friday (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  ✔   ✔  ✔  ✔       ✔ 
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
✔   ✔  ✔  ✔       ✔  
   ✔  ✔  ✔  ✔  ✔  ✔  ✔   
   ✔  ✔  ✔  ✔  ✔  ✔  ✔  