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Syllabus Mechanical Engineering 530.420 Robot Sensors and Actuators Fall 2020 (4 credits, E) Description Introduction to modeling and use of actuators and sensors in mechatronic design. Topics include electric motors, solenoids, micro-actuators, position sensors, and proximity sensors. Prerequisites ( (171.101 and 171.102 General Physics: Physical Science Major I and II) or (530.103 and 530.104 Introduction to Mechanics I and II) ) and (110.108 and 110.109 Calculus I and II) and (110.202 Calculus III or 110.211 Honors Multivariable Calculus) and (EN.550.291 Linear Algebra and Differential Equations or AS.110.302 Differential Equations and Applications) and (EN.530.241 Electronics & Instrumentation or EN.520.345 Electrical & Computer Engineering Laboratory) Instructor David R. B. Kraemer Associate Teaching Professor Latrobe 108 410-516-3386 [email protected] Office hours: Mon 8-9am, Fri 2-3pm, and by appointment; Times unavailable: Mon 2-5pm, Tue 8-10am, 11am-3pm, Wed 2-5pm, Thu 11am-3pm. Teaching Assistants Nick%Hinke% % Nicolas%Maritato%% Harrison%Riggott% Parker%Treadway%% Bokun%Zheng%% % %

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Professional Staff Patrick Caulfield ME Lab Manager [email protected] 410 516-5586, mobile 410 387-3321 Meetings Lecture (via Zoom): (Tu Th 12:00–1:15pm or Tu Th 1:30pm–2:45pm) and Lab (via Zoom): (W 6-9pm or Th 3-6pm or Th 6-9pm All meetings will be recorded, only for use with this class.

or

F 3-6pm)

Textbook Recommended: Alciatore, D., Introduction to Mechatronics and Measurement Systems 5th ed., McGraw Hill, 2018. (4th edition is OK!) Online Resources Course information will be posted on-line continuously throughout the semester using the Blackboard (Bb) course information system (http://blackboard.jhu.edu). Students are expected to check their e-mail regularly during the semester, excluding University holidays. If you will be unable to check these resources for a period of time during the semester, please notify the instructor. Course Objectives (1) To develop an understanding of modeling and hands-on use of actuators and sensors including DC brushed motors, stepper motors, and encoders, and Hall-effect sensors. (2) To develop an ability to integrate these sensors and actuators into mechatronic systems using microcontrollers, including digital I/O and analog/digital conversion. (3) To develop the ability to use experimental procedures to analyze electromechanical sensors and actuators. (4) To improve communications and team-working skills, and to develop research skills.

Course Topics Topic • Diodes, LEDs, and photo-transistors • Digital position sensors: Hall-effect sensors, encoders • DC brush motors • Microcontrollers, Arduino • Serial data communication, sonar sensors • Stepper motors • A/D and D/A conversion • Thermal sensors • Servomotors • RF communication • Velocity and position control • Kalman filter

Readings 3.1 – 3.4, notes 9.2.4, notes 10.1 - 10.5, 10.7, notes 7.2 - 7.2, notes notes 10.6, notes Ch 8, notes notes 10.6, notes notes notes notes

Course Expectations & Grading Scale: A+ A A- B+ B B- C+ C C- D+ D F (e.g. 80.0-83.3 B- / 83.4-86.6 B / 86.7-89.9 B+) Lab Reports & Assignments ~ 40% Project ~ 10% Midterm / quizzes ~ 20% Final Exam (comprehensive) ~ 30% (These are approximations, and may be adjusted as appropriate.) “You shall not pass!” -- Gandalf the Grey (The preceding quote might not have any relevance.) Since the final exam is comprehensive, test weights will be adjusted for evidence of strong improvement. For example, if the student’s score improves from the Midterm to the Final Exam more than the change in the class mean scores, the weight for the Midterm will be reduced and the weight for the Final will be increased. Prepared attendance is mandatory in both the lectures and the laboratory sessions. If you have an official excused absence, inform the instructor in advance. Occasionally, in-class assignments may be collected for grading. Make-ups for exams and quizzes will only be allowed with prior approval from the instructor or an official excuse from the university. Partial credit will be given as appropriate, but credit will be taken off for not having the final answer, as well as earlier mistakes. This may seem like unfair “double jeopardy”, but who wants to fly in an airplane designed by an engineer who gets every answer 90% right?

Key Dates Midterm exam: closed book/1 side of notes Drop deadline Withdraw deadline Final exam: closed book/2 sides of notes:

Tue 20 Oct TBA- Oct TBA- Nov TBA- Dec

Assignments & Readings There will be several written reports. While students are encouraged to perform experimental procedures as pairs, all reports are to be written and submitted by each individual. Communicating ideas will account for a majority of the grade. That means reports will also be graded on spelling and grammar! Engineers need to properly document their work, to give credibility to their recommendations. The written report should follow the format explained in class. Late reports will not be accepted without prior permission. Some assignments will be assigned throughout the course, posted on the course Blackboard site. Late assignments will be penalized 10% per day.

Ethics The strength of the university depends on academic and personal integrity. In this course, you must be honest and truthful. Ethical violations include cheating on exams, plagiarism, reuse of assignments, improper use of the Internet and electronic devices, unauthorized collaboration, alteration of graded assignments, forgery and falsification, lying, facilitating academic dishonesty, and unfair competition. Use of another person’s work, or a solutions manual, for course assignments are examples of ethical violations. Report any violations you witness to the instructor. You can find more information about university misconduct policies on the web at these sites: • For undergraduates: http://e-catalog.jhu.edu/undergrad-students/student-life-policies/ • For graduate students: http://e-catalog.jhu.edu/grad-students/graduate-specific-policies/ Personal Wellbeing •

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If you are sick please notify me by email so that we can make appropriate accommodations should this affect your ability to attend class, complete assignments, or participate in assessments. The Student Health and Wellness Center is open and operational for primary care needs. If you would like to speak with a medical provider, please call 410-516-8270, and staff will determine an appropriate course of action based on your geographic location, presenting symptoms, and insurance needs. Telemedicine visits are available only to people currently in Maryland. See also https://studentaffairs.jhu.edu/student-life/student-outreachsupport/absences-from-class/illness-note-policy/ The Johns Hopkins COVID-19 Call Center (JHCCC), which can be reached at 833-5467546 seven days a week from 7 a.m. to 7 p.m., supports all JHU students, faculty, and staff experiencing COVID-19 symptoms. Primarily intended for those currently within driving distance of Baltimore, the JHCCC will evaluate your symptoms, order testing if

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needed, and conduct contact investigation for those affiliates who test positive. More information on the JHCCC and testing is on the coronavirus information website. All students with disabilities who require accommodations for this course should contact me at their earliest convenience to discuss their specific needs. If you have a documented disability, you must be registered with the JHU Office for Student Disability Services (385 Garland Hall; 410-516-4720; http://web.jhu.edu/disabilities/) to receive accommodations. Students who are struggling with anxiety, stress, depression or other mental health related concerns, please consider connecting with resources through the JHU Counseling Center. The Counseling Center will be providing services remotely to protect the health of students, staff, and communities. Please reach out to get connected and learn about service options based on where you are living this fall at 410-516-8278 and online at http://studentaffairs.jhu.edu/counselingcenter/. Student Outreach & Support will be fully operational (virtually) to help support students. Students can self-refer or refer a friend who may need extra support or help getting connected to resources. To connect with SOS, please email [email protected], call 410-516-7857, or students can schedule to meet with a Case Manager by visiting the Student Outreach & Support website and follow “Schedule an Appointment”.

Classroom Climate As your instructor, I am committed to creating a classroom environment that values the diversity of experiences and perspectives that all students bring. Everyone here has the right to be treated with dignity and respect. I believe fostering an inclusive climate is important because research and my experience show that students who interact with peers who are different from themselves learn new things and experience tangible educational outcomes. Please join me in creating a welcoming and vibrant classroom climate. Note that you should expect to be challenged intellectually by me, the TAs, and your peers, and at times this may feel uncomfortable. Indeed, it can be helpful to be pushed sometimes in order to learn and grow. But at no time in this learning process should someone be singled out or treated unequally on the basis of any seen or unseen part of their identity. If you ever have concerns in this course about harassment, discrimination, or any unequal treatment, or if you seek accommodations or resources, I invite you to share directly with me or the TAs. I promise that we will take your communication seriously and to seek mutually acceptable resolutions and accommodations. Reporting will never impact your course grade. You may also share concerns with the Mechanical Engineering Department Head (Gretar Tryggvasen, [email protected]), the M.E. Director of Undergraduate Studies (Steven Marra, [email protected]), the Assistant Dean for Diversity and Inclusion (Darlene Saporu, [email protected]), or the Office of Institutional Equity ([email protected]). In handling reports, people will protect your privacy as much as possible, but faculty and staff are required to officially report information for some cases (e.g. sexual harassment).

Family Accommodations Policy You are welcome to bring a family member to class on occasional days when your responsibilities require it (for example, if emergency child care is unavailable, or for health needs of a relative). In fact, you may see my children in class on days when their school is closed. Please be sensitive to the classroom environment, and if your family member becomes uncomfortably disruptive, you may leave the classroom and return as needed. University Policy on Incompletes

The university recognizes that the Fall 2020 semester is surrounded with uncertainty and many students may find themselves in unexpected situations where study is difficult if not impossible. Students who are confronted with extraordinary circumstances that interfere with their ability perform their academic work may request an incomplete grade from the instructor. While approval of such a request is not automatic, it is expected that faculty will make every effort to accommodate students dealing with illness in the family and other pandemic-related hardships. The instructor and student must establish a timetable for submitting the unfinished work with a final deadline no later than the end of the third week of the Spring 2021 semester (February 12, 2021). Exceptions to this deadline require a petition from the instructor to the student's academic advising office by February 12, 2021. When entering an Incomplete grade in SIS, faculty must include a reversion grade which represents the grade the student will receive if s/he does not complete the missing work by the agreed-upon deadline.

Deadlines for Adding, Dropping and Withdrawing from Courses Students may add a course up to September 11, 2020. They may drop courses up to October 12, 2020 provided they remain registered for a minimum of 12 credits. Between October 12 and November 13, 2020, a student may withdraw from a course with a W on their academic record. A record of the course will remain on the academic record with a W appearing in the grade column to indicate that the student registered and then withdrew from the course. For more information on these and other academic policies, see ! https://e-catalogue.jhu.edu/engineering/full-time-residential-programs/undergraduatepolicies/academic-policies/grading-policies/!...