ENGRMAE 172 Design of Computer-Controlled Robots (2011-2012)

ENGRMAE 172 Design of Computer-Controlled Robots

(Not required for any major. Elective for ME.)
Catalog Data:

ENGRMAE 172 Design of Computer-Controlled Robots (Credit Units: 4) Students design a small robotic device and program it to exhibit sentient behaviors. The basic aspects of mechatronic design are covered, including motor and sensor selection, control strategies, and microcomputer programming for the implementation of control paradigms. Corequisite: MAE180. Prerequisite: MAE170. (Design units: 3)

Required Textbook:
. Edition, , 1969, ISBN-13 978-1568810973.

Recommended Textbook:
James E. Bobrow
Relationship to Student Outcomes
This course relates to Student Outcomes: EAC a, EAC c, EAC e, EAC g.
Course Learning Outcomes. Students will:

1. Ability to analyze a motor control system (EAC a)

2. Ability to implement control system on microcontroller (EAC c)

3. Ability to choose a motor for a robot (EAC e)

4. Ability to present final design project (EAC g)

Prerequisites by Topic
  • Classical Control
  • Vibration and Control Lab
Lecture Topics:
  • Basic robot design issues: Mechanics, Electronics, Computation
  • Microprocessor fundamentals: digital representation, memory maps, data flow, assemblers and assembly language programming
  • The MIT handy board and Interactive C
  • Essential concepts of C programming
  • Basic issues in sensing and control: A/D and D/A conversion, digital IO, pulse-width modulation
  • Common sensors: optical, IR, force, encoders, gyros, tilt
  • Review of common analog control systems. Digital implementation of analog control systems
  • The effects of sampling and filtering on closed loop performance.
  • Experimental identification of system dynamics
  • Implementation of behaviors in software; the subsumption approach
Class Schedule:

Meets for 3 hours of lecture and 3 hours of laboratory each week for 10 weeks.

Computer Usage:

All of the projects require programming of a microcontroller using the Interactive “C” software package.

Laboratory Projects:

The projects involve input and output of analog and digital data to a microcontroller, as well as manipulating that data in a control law written in high-level programming language.

Professional Component

Contributes toward the Engineering Topics and/or Design experience for both Mechanical and Aerospace Engineering majors.

Design Content Description

The entire course is focused on providing the students with the skills needed to complete the final design project, which is almost half of their grade. The final project is to design and program a robot to exhibit some interesting behavior. Examples include track following racers, light seeking firefighters, street sweepers, and wheely machines.

Lectures: 25%
Laboratory Portion: 75%
Grading Criteria:
  • Weekly Quizzes: 40%
  • Design Homework: 20%
  • Final Project: 40%
  • Total: 100%
Estimated ABET Category Content:

Mathematics and Basic Science: 0.0 credit units

Computing: 0.0 credit units

Engineering Topics: 4.0 credit units

Engineering Science: 1.0 credit units

Engineering Design: 3.0 credit units

February 22, 2011
Senate Approved:
October 26, 2007
Approved Effective:
2008 Winter Qtr