• Biomedical Engineering, Semester 2, position 4
• Production Engineering, Semester 2, position 4
• Inženjerska grafika i mehatronika, Semester 2, position 4

The goal of the course in mechatronic systems is to provide a focused interdisciplinary theoretical knowledge and practical experience for students that encompass fundamental elements from traditional courses in mechanical engineering, production engineering, electronics and computer control engineering.

After successfully completing the course, student is capable to: 1. Analyze project task referring to production processes and define concept of mechatronic system using multi-disciplinary approach; 2. Configure hardware and input-output channels and other system resources of an integrated microprocessor system and create application software for systems with digital input-output signals; 3. Configure hardware and input-output channels and other system resources of an integrated microprocessor system and create application software for systems with analog and mixed input-output signals; 4. Configure hardware and input-output channels and other system resources of an integrated microprocessor system, create application software for serial communication with the digital environment, including serial communication with a personal computer;

Theoretical teaching is organized in four teaching units: 1. Importance and role of mechatronics in modern manufacturing systems design; 2. Microcontrollers: microcontroller architecture (based on 8-bit PIC and 32-bit ARM (Cortex-M3)), microcontroller components: digital I/O, Timers, ADCs, DACs, PWMs, serial interfaces (USART, SPI, I2C, CAN); microcontroller programming: from C to assembler, interrupts, interrupt service routine; 3. Sensors: absolute and incremental encoders (rotary and linear), strain gauges, force measurement, displacement measurement (LVDT, laser interferometers), accelerometers, gyroscopes, inertial measurement units, thermocouples, RFID, vision systems; 4. Digital signal processing basics: sampling theorem, Fourier transform, Discrete Time Fourier transform, Short Time Fourier transform, signal filtering, FIR filters design, convolution; 5. Electrical servo drives and motion control – stepper and DC motor fundamentals, servo drivers and numerically controlled servo axis, motion control and interpolation, CNC system architecture; 6. Industrial internet reference architecture; Industrial networks: wired networks overview, IEEE 802.11 (Wi-Fi) and IEEE 802.15.4 based wireless networks; OPC Unified Architecture;

1. Laboratory exercises: PL1 Microcontroller programming basics: Digital I/O, ADC; PL2: Microcontroller programming: DAC; PL3: Microcontroller programming: serial interfaces; PL4: Microcontroller programming: PWM and interrupts; PL5: Digital signal processing basics; FIR filter design; Microcontroller programming: FIR filter implementation; PL6: Servo drives and motion control – servomotor, servo driver architecture and technical details, induction motor motion control, step motor control. Project: mechatronic system design using microcontrollers, microprocessor based sensory signal conditioning and processing, and servocontrolled actuators. The project is focused on specific problem closely related to real industrial scenarios.

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1. Jakovljevic, Z., Mecharonic Systems, lecture handouts; 2. ARM Cortex-M3-based NXP LPC1768 microcontrollers; 3. Breadboards and electronic components; 4. MRF24J40MA 2.4 GHz IEEE Std. 802.15.4 RF Transceiver Modules; 5. Keil \mu Vision software; 6. Accelerometers, encoders, LVDT sensors, custom made strain gauge force sensor, 2-axis piezoelectric dynamometer, binary sensors; 7. Servo motors, induction motors with frequency regulators, step motors; 8. Personal computers.

Total assigned hours: 75

New material: 20
Elaboration and examples (recapitulation): 10

Auditory exercises: 0
Laboratory exercises: 15
Calculation tasks: 0
Seminar paper: 0
Project: 15
Consultations: 0
Discussion/workshop: 0
Research study work: 0

Review and grading of calculation tasks: 0
Review and grading of lab reports: 1
Review and grading of seminar papers: 0
Review and grading of the project: 3
Test: 6
Test: 0
Final exam: 5

Activity during lectures: 5
Test/test: 24
Laboratory practice: 16
Calculation tasks: 0
Seminar paper: 0
Project: 25
Final exam: 30
Requirement for taking the exam (required number of points): 30

Pilipović M, Jakovljević Ž, Manufacturing Automation, Faculty of Mechanical Engineering, Belgrade, 2017 /In Serbian/; Rob Toulson and Tim Wilmshurst, Fast and effective embedded systems design: applying the ARM mbed, Newnes, 2016.; Edward A. Lee and Sanjit A. Seshia, Introduction to Embedded Systems ‐ A Cyber--‐Physical Systems Approach, Second Edition, 2015. Available online at http://LeeSeshia.org; W. Bolton, Mechatronics – Electronic control systems in mechanical and electrical engineering, Prentice Hall, 2003.; Robert H. Bishop, MECHATRONICS - AN INTRODUCTION. Published in 2006 by CRC Press, Taylor & Francis Group, ISBN 0-8493-6358-6.