Mechatronics and Robotics

This course teaches clear, correct, concise, technical writing for the robotics field. Students learn how to organize technical information, illustrate documents, write routine letters and memos, prepare instructions, and produce a simple user manual. Students also learn how to prepare and deliver technical briefings.
Prerequisite(s):

• No prerequisites are required for this course.

This course teaches the principles and methods of analysis related to DC circuits. Topics include SI units and terminology, voltage, current, work, energy, power and resistance. Series, parallel and series-parallel circuits are analyzed and designed. Methods of analysis for more complex circuits include superposition, mesh, nodal, Thevenin, Norton, and wye to delta conversion. RMS values for sinewaves are calculated. Labs are synchronized with lectures so that theory is studied and confirmed by application.
Prerequisite(s):

• No prerequisites are required for this course.

This course teaches digital numbering systems and the design of combinational and simple sequential logic circuits. Numbering systems include: binary, octal, hexadecimal, BCD and Gray Code. Addition and subtraction of 2's complement numbers are covered, as well as ASCII codes and parity. Truth tables and Boolean algebra are used in the design of circuits and to minimize component counts. Electronic logic gates are investigated for function and specifications. Techniques for designing and building logic circuits using only NAND gates (or only NOR gates) are covered. Proper DeMorgan's equivalent logic symbols are used when preparing schematic diagrams. Encoders, decoders, latches and flipflops are introduced. Labs follow lectures so that theory is studied and confirmed by application.
Prerequisite(s):

• No prerequisites are required for this course.

Systems of linear equations, determinants, matrices. Rotations and transformations in three dimensions. Common and natural logarithms, logarithmic/semilogarithmic exponential growth and decay. Trigonometric functions, identities, solution of triangles, graphing and addition of sinusoidal functions. Complex numbers, rectangular/polar conversions, phasor representation of sinusoidal waveforms. Applications to electrical networks, circuit transients, AC theory and motion in space.
Prerequisite(s):

• No prerequisites are required for this course.

Covers techniques for producing and reading mechanical drawings using industry standards and the development of drawing skills using computer aided techniques. Topics include orthographic projection, auxiliary views, dimensioning and the hierarchy of drawings. Introduces the computer hardware and operating systems necessary in a computer aided design environment.
Prerequisite(s):

• No prerequisites are required for this course.

Physics 1164 is a general algebra-based physics course which emphasizes topics of special relevance to mechatronics and robotics. The laboratory portion of the course emphasizes the proper techniques of measurement, experimentation, and data analysis. The lecture portion of the course emphasizes basic Newtonian mechanics, including topics such as kinematics, static and dynamic equilibrium, work, energy, power, torque, rotational motion, linear and angular momentum.
Prerequisite(s):

• No prerequisites are required for this course.

This course introduces circuits which contain not only resistance, but also inductance and capacitance. The main focus is on circuits driven by AC sources, in preparation for courses in electronics and power systems. Course topics include: DC applied to capacitors and inductors; the sine wave; average and effective values; power and power factor; resistance, capacitance and inductance in AC circuits; phasor, impedance, admittance, and power diagrams; analysis of AC circuits using complex algebra; three phase circuits; resonance and resonant circuits; high and low-pass filters; the application of circuit laws and theorems to AC networks; transients in RC circuits. Circuit theory is verified in the lab using multimeters, sine wave generators and dual trace oscilloscopes.
Prerequisite(s):

• 50% in ELEX 1205 and 50% in MATH 1342

The first half of this course covers: sequential logic devices such as D and J-K flip-flops, counters, shift registers; electrical specifications; noise margins; propagation delay and loading considerations; interfacing to discrete devices; data multiplexing; bus structures; memory devices. The second half is an introductory electronic circuits course that provides the foundation for subsequent electronics courses in the Robotics program. The course covers: diodes and bipolar junction transistors; common emitter and common collector circuits and transistor switching; transistor biasing; field effect transistors; CMOS; frequency response of amplifiers; power amplifiers. Lab work emphasizes logical circuit layout and wiring and the use of common test equipment to analyse and troubleshoot electronic circuits.
Prerequisite(s):

• 50% in ELEX 1205 and 50% in ELEX 1215
• MATH 2342^‡ (^‡ must be taken concurrently)

Covers discrete math, the derivative, differentiation, rules, applied maxima/minima and implicit differentiation. Antidifferentiation, the indefinite and the definite integral including area, mean value and RMS value. Differentiation and integration of trigonometric, logarithmic and exponential functions. Infinite series. Fourier series, evaluation of Fourier coefficients and line spectrum. Applications to DC and AC circuits and waveform analysis.
Prerequisite(s):

• 50% in MATH 1342

Covers the basics of major manufacturing methods used today. Topics include metal cutting, welding, forming, casting, plastics processing, methods of numerical control and robotics programming as well as methods of measurement and inspection. The course addresses the principles upon which modern manufacturing processes are based.
Prerequisite(s):

• No prerequisites are required for this course.

PHYS 2164 is an algebra-based physics course that addresses topics of special relevance to mechatronics and robotics engineering technology. There are three major topic areas: Part 1 Thermal Physics; Part 2 Statics and Properties of Materials; and Part 3 Electricity and Magnetism. The accompanying laboratory program emphasizes the proper techniques of measurement, experimentation, graphical data analysis, and error analysis. Practical applications of the physics discussed in the course are identified in relation to current technology.
Prerequisite(s):

• 50% in PHYS 1164
• MATH 2342^‡ (^‡ must be taken concurrently)

Mechatronic systems are controlled by computers that require programming. This course presents structured program development in C, the prevalent programming language for mechatronic systems. Topics include programming style, constants and variables, conditional logic, loops, arrays, strings, pointers, structures, file input and output, and bit manipulation. Algorithm development is an essential component of the course and will be emphasized in lab exercises by solving problems from relevant application areas.
Prerequisite(s):

• No prerequisites are required for this course.

This course focuses on electronics as it applies to measurement and feedback control systems. The first half of this course involves the analysis and design of common operational amplifier (op-amp) circuits and examines the op-amp's non-ideal characteristics in terms of circuit performance. The second half of this course will engage students in studying the behaviour of first- and second-order systems.
Prerequisite(s):

• ELEX 2205 and ELEX 2220 and MATH 3342* (* may be taken concurrently).

First and second order differential equations. Step and impulse functions. Laplace transforms and inverse transforms. Solutions of differential equations by transforms. Applications to electrical circuits, mechanical systems, signal processing, analysis of circuits and systems. Probability and statistics coverage includes descriptive statistics and data presentation. Appropriate mathematical software will be used.
Prerequisite(s):

• 50% in MATH 2342

​The course builds on the fundamentals of physics to provide students with a theoretical framework of hydraulic and pneumatic systems. Through practical labs, students gain familiarity with actual hydraulic and pneumatic components and circuits found in common industrial and mobile applications. Pumps, compressors, cylinders, motors and hydraulic accumulators are covered with reference to their principles of operation and performance characteristics. The operation of control elements such as pneumatic pressure regulators, directional control valves, needle valves, check valves and direct-, and pilot-operating relief valves are covered and used in circuits for directional, speed, pressure, and flow control. Complete fluid power systems are analysed to determine overall system performance. ​
Prerequisite(s):

• 50% in MECH 1141 or 50% in PHYS 2164

Discusses various robot configurations, the coordinate systems in which they operate and kinematics of robot motion. Investigates specifications such as accuracy, repeatability and load capability, and their importance in various applications. Machine elements used in automated equipment and associated machinery will be investigated.
Prerequisite(s):

• 50% in MATH 2342 and 50% in PHYS 2164 and 50% in ROBT 1270

Covers transformers, rectifiers, voltage regulators, power supplies, dc motors, electric drives, speed torque characteristics of dc motors, braking conditions of dc motors, speed control of electric drives and selection criteria for choosing a servomotor.
Prerequisite(s):

• 50% in ELEX 2205 and 50% in ELEX 2220 and 50% in MATH 2342 and 50% in PHYS 2164

Investigates the software and hardware involved in the real-time control of a microprocessor -based system. Topics include microprocessor architecture, assembly language programming, input/output operations, handshaking, protocols, timer system, interrupt handling, address decoding and interfacing techniques. Troubleshooting techniques used in a fault analysis are also taught. Throughout the course, a single board microcontroller system is used to facilitate a detailed analysis of hardware and software involved. An automated controller system is designed, built and tested.
Prerequisite(s):

• 50% in ELEX 2220 and 50% in ROBT 1270

This course introduces advanced technical writing techniques and principles. In labs, students write industry-oriented reports and give technical briefings. They prepare proposals, progress reports, and documentation describing the project they designed and produced for ROBT 4491 - Robotics Project. They also write a resume and an application letter and hold meetings and interviews.
Prerequisite(s):

• 50% in COMM 1164
• ROBT 4491^‡ (^‡ must be taken concurrently)

This course starts with a study of feedback in electronic amplifiers. This is followed by a qualitative overview of general feedback systems with emphasis on the problem of stability and the need for an appropriate controller. Electromechanical systems are then examined as a specific example and the rest of the course investigates various aspects of electromechanical feedback systems. Topics include system modelling, block diagram reduction, transfer functions, derivation of time and frequency response, stability prediction, the significance of poles and zeros, root locus and Bode plots. Students design and test various continuous time feedback systems. Controllers studied include lead-lag filters, notch filters, and various PID controllers. Consideration is also given to the problems of non-linearity and overloading. Digital controllers are considered in as much detail as time allows and students design and test at least one digital control system.
Prerequisite(s):

• 50% in ROBT 3341 and 50% in ROBT 3351 and 50% in ROBT 3356 and 50% in MATH 3342 and 50% in ELEX 3321

This course introduces the ASTTBC Code of Ethics & Practice Guidelines and will familiarize the student with the principles of professional conduct in the field of applied science technology. The course consists of mandatory seminars accompanied by on-line review and testing. This course is a requirement for graduation.
Prerequisite(s):

• No prerequisites are required for this course.

Surveys the general background of operations management in terms of planning and organizing manufacturing operations. Topics include facilities planning, layout, and location, problem solving, continuous improvement, team practices, projects planning and scheduling, and production and inventory control.
Prerequisite(s):

• No prerequisites are required for this course.

This course covers interfacing microcontrollers to the digital and analog sub-systems found in mechatronic systems, robots, and industrial manufacturing systems. Topics include digital serial communications (SPI, I2C, UART), digital-to-analog (DAC) and analog-to-digital (ADC) converters, representing signals in the frequency domain (signal spectra, sampling and aliasing), sensor devices (optical encoders, potentiometers, resolvers, accelerometers), isolation, interconnect and power distribution techniques used in sensor/actuator systems, and MOSFET and SCR based drivers.
Prerequisite(s):

• 50% in ELEX 3321 and 50% in ROBT 3351 and 50% in ROBT 3356

Covers the application and programming of a programmable logic controllers (PLC). Topics include a description of the basic components of a PLC system, the fundamentals of ladder diagrams, PLC timers and counters, data manipulation, control and math functions, sequences, human machine interfaces (HMIs), and PLC programming methods. Throughout the course various industrial control examples are used for demonstrating the use of the PLC instructions.
Prerequisite(s):

• ROBT 3356

Project teams complete an industrial mechatronics project which involves integrating various skills learned throughout the program such as mechanical design and fabrication, electronics, and programming. Teams develop and present written and oral presentations of their proposed and completed designs.
Prerequisite(s):

• All level 1,2,3 courses. Corequisite: COMM2464