16-681 - MRSD Project I
Fall 2011
Week Day
Date
M
29-Aug
W
31-Aug
M
5-Sep
W
7-Sep
M
12-Sep
1
2
3
W
M
4
W
5
M
W
6
14-Sep Fabrication: machining, rapid prototyping, housings
Dolan
Brown &
Schempf
Hayhurst
Dolan
M
17-Oct Midsemester Presentations
W
19-Oct
M
24-Oct
W
26-Oct
M
31-Oct
Dolan
9
10
11
12
13
14
W
2-Nov
M
7-Nov
W
9-Nov
Rybski
Dolan
Dolan
Dolan
A6: Schematic for PCB design
Lauwers/Kirby
Baker
M
21-Nov
W
23-Nov Thanksgiving - no class
Subsystem prototyping IV (sensor, actuator, etc. interfacing
28-Nov
tips)
1-Dec Subsystem prototyping V (practical timers & interrupts)
W
7-Dec Design reviews II
W
14-Dec No Lecture
A7: Layout for PCB (due
Sunday, 6 Nov at midnight)
Baker
Dolan
5-Dec Design reviews I
A5: ILR3
Lauwers/Kirby
16-Nov In-lab design review
15
16
Dolan
W
M
A3: Sensors lab + ILR2
A4: Midsemester
presentations (Preliminary
Design Review I)
Dolan
Baker
W
A2: Motor control lab + ILR1
Dolan
14-Nov Software practical exercise presentation
M
Visit CMU and Pitt machine
shops and rapid prototyping
facilities
A1: Written design proposals
(Conceptual Design Review);
identify critical subsystem for
fall semester and
performance requirements
Dolan
M
Subsystem Prototyping III: Assembly, debugging & testing
methods
Teams formed; projects
chosen
Dolan
8
Basic circuits: resistors, capacitors, inductors/inductance,
semiconductors
Op-amps & signal conditioning: op-amp theory and reality,
signal conditioning and filtering
Digital basics: digital I/O, power drivers, digital logic and
integrated circuits, data busses, digital comms protocols (I2C,
SPI, serial, parallel)
Subsystem prototyping I (overview, intro to PCBs & Eagle):
Schematic capture, ERC, powering a board, connectors, finding
parts online, finding parts in existing libraries
Subsystem prototyping II (more on PCBs): Trace widths,
design rules, noise, making library parts from datasheets, BOM,
Checklist of common problems to avoid
Software I: software design techniques; software engineering
principles
Software II: software engineering practice
Definition - ILR: Individual
Lab Report
Dolan
28-Sep Motor control lab presentation
3-Oct
New Assignment
Bergerman
Dolan &
Schempf
W
M
Instructor
Microcontrollers: basics of microcontrollers; architectures;
similarities and differences among families; programming
19-Sep languages; peripherals; IPC
Embedded Programming: event-driven programming, state
machines
Microcontroller Programming: timers, interrupts
21-Sep
Actuators I: DC motors, RC servos
Actuators II: solenoids, stepper motors
26-Sep
Controls: Digital PID control of motors
Sensors I: switches, resistive, capacitive, light, strain,
temperature, position
5-Oct Digital <--> Analog Conversion: ADCs and DACs
Sensors II: LIDAR, cameras, radar, other relatively large and
10-Oct
field robotics-type sensors
12-Oct Sensors lab presentation
M
W
7
Topic
Introduction: course overview; overview of the range of
industrial and research robots; presentation and description of
course projects
Systems Engineering: project planning, project management,
requirements development
Labor Day -- No Classes
The Design Process: Concepts, methods, and tools for
performing design
Mechanisms: overview of basic mechanism types; common
mechanism problems
Lauwers/Kirby
A8: Software practical
exercise presented
A9: In-lab design reviews (15
min. each) + ILR4
A10: Come with a very basic
blinky LED program to class
Lauwers/Kirby
Lauwers/Kirby A11: Subsystem prototype
A12: Preliminary Design
Dolan
Reviews II (30 min. each) 1st half
A12: Preliminary Design
Dolan
Reviews II (30 min. each) 2nd half
A13: Final report