Preface. 1. Introduction to Mechatronics. 1.1 Introduction. 1.2 Examples of Mechatronic Systems. 1.3 Overview of Text. 1.4 Integrated Mechatronics Case Studies. Questions and Problems. 2. Analog Circuits and Components. 2.1 Introduction. 2.2 Analog Circuit Elements. 2.3 Switches. 2.3.1 Mechanical Switches. 2.3.2 Electromechanical Relays. 2.4 Circuit Analysis. 2.5 Equivalent Circuits. 2.6 Impedance. 2.7 AC Signals. 2.8 Power in Circuits. 2.9 Operational Amplifiers. 2.9.1 Comparator Op-Amp. 2.9.2 Inverting Op-Amp. 2.9.3 Non-Inverting Op-Amp. 2.9.4 Differential Op-Amp. 2.9.5 Instrumentation Amplifier Op-Amp. 2.9.6 Integrating Op-Amp. 2.9.7 Power Amplifier. 2.10 Grounding. 2.11 Power Supplies and Batteries. 2.12 Chapter Summary. Questions, Problems, and Laboratory/Programming Exercises. 3. Semiconductor Electronic Devices and Digital Circuits. 3.1 Introduction. 3.2 Diodes. 3.2.1 Zener Diode. 3.2.2 LED. 3.2.3 Photo-Diode. 3.3 Thyristors. 3.4 Bipolar Junction Transistor. 3.4.1 Transistor Switch Circuit. 3.4.2 Emitter Follower Circuit. 3.4.3 Open Collector Output. 3.4.4 Phototransistor, Photo-Interrupter, and Opto-Isolator. 3.5 Metal-Oxide Semiconductor Field Effect Transistor. 3.6 Combinational Logic Circuits. 3.6.1 Boolean Algebra. 3.6.2 Boolean Function Generation from Truth Tables. 3.6.3 Multiplexers and Decoders. 3.7 Sequential Logic Circuits. 3.8 Circuit Families. 3.9 Digital Devices. 3.10 H-Bridge Drives. 3.11 Chapter Summary. Questions, Problems, and Laboratory/Programming Exercises. 4. Microcontrollers. 4.1 Introduction. 4.2 Numbering Systems. 4.2.1 Decimal System. 4.2.2 Binary System. 4.2.3 Hexadecimal System. 4.2.4 Negative Numbers Representation. 4.2.5 Representation of Real Numbers. 4.3 Microprocessors and Microcontrollers. 4.3.1 Processor, Memory, and Buses. 4.3.2 Components of a Typical Microcontroller. 4.3.3 Design Architectures and MCU Operation. 4.4 AVR Microcontrollers. 4.4.1 Pin layout. 4.4.2 AVR MCU Block Diagram. 4.4.3 Arduino UNO Board. 4.4.4 Clock/Oscillator Source. 4.4.5 Programming a Microcontroller. 4.5 Digital Input/Output and Analog to Digital Conversion Operations. 4.6 PWM Operation. 4.6.1 PWM Generation and Modes. 4.6.2 PWM Details in ATMega328P MCU. 4.7 AVR MCU Components and Features. 4.7.1 EEPROM DATA. 4.7.2 Timing Delays and Timers. 4.7.3 Watchdog Timer. 4.7.4 Reset Operations. 4.8 Chapter Summary. Questions, Problems, and Laboratory/Programming Exercises. 5. Data Acquisition and Microcontroller/PC Interfacing. 5.1 Introduction. 5.2 Sampling. 5.2.1 Sampling Theory. 5.2.2 Signal Reconstruction. 5.3 Analog-to-Digital Converter. 5.3.1 A/D Characteristics. 5.3.2 A/D Operation. 5.3.3 A/D Input Signal Configuration. 5.4 Digital-to-Analog Converter. 5.4.1 D/A Characteristics. 5.4.2 D/A Operation. 5.5 Data Acquisition. 5.5.1 Data Acquisition Boards. 5.5.2 MATLAB/Simulink Data Acquisition. 5.6 Serial Communication. 5.7 Serial Peripheral Interface. 5.8 Inter-Integrated Circuit Interface. 5.9 Chapter Summary. Questions, Problems, and Laboratory/Programming Exercises. 6. Control Software. 6.1 Introduction. 6.2 Time and Timers. 6.3 Timing Functions. 6.3.1 Timer Implementation in MATLAB. 6.3.2 Timing in AVR Microcontrollers. 6.4 Events and Event-Driven Programming. 6.5 Task/State Control Software Structure. 6.5.1 Discrete Event Control Tasks. 6.5.2 Feedback Control Tasks. 6.5.3 State Transition Diagrams for Integrated Case Studies. 6.6 Task and State Structure in Code. 6.6.1 Details of States in a Task. 6.6.2 Cooperative Control Mode. 6.6.3 Cooperative Control Mode Implementation. 6.7 Examples of Control Tasks Implementation in Software. 6.7.1 Implementation in MATLAB. 6.7.2 Implementation in an AVR Microcontroller. 6.8 Chapter Summary. Questions, Problems, and Laboratory/Programming Exercises. 7. System Response. 7.1 Introduction. 7.2 Time Response of First-Order Systems. 7.3 Time Response of Second-Order Systems. 7.4 Transfer Functions. 7.5 Frequency Response. 7.5.1 Frequency Response Plots. 7.5.2 Resonance. 7.5.3 Bandwidth. 7.6 Filtering. 7.7 MATLAB Simulation of Dynamic
