Laboratories

Design and Analysis of Dynamic Systems
ME 530.343

Laboratories

Labs will be held in room 140 of the Wyman Park Building (located at the south end of campus) approximately every other week, starting in Week 2.

These labs are meant to provide you with a strong intuition about dynamic systems. Each lab is expected to take about two hours (we schedule for 3 hours just in case, but most labs will take less than 2 hours).

Lab experiments will be performed in groups of 3, but lab questions will be answered individually. You can form groups at the first lab session. A signup sheet will be passed around in class for students to sign up for one of the following biweekly lab sessions:
Session 1: Approximately every other Thursday 9 am - 12 pm
Session 2: Approximately every other Friday 1 pm - 4 pm
(See the table below for exact dates)

Below is a description of the labs:

Week Laboratory Assignment Dates Session 1
Session 2
Topic

2
Lab 1 - Motor Test out: W 2/8
due: F 2/17
Th 2/9
Fr 2/10
This lab will explore a simple first order dynamic system: a spinning motor. We will record position information as a motor spins down, and extract system information such as damping and time constant.

5
Lab 2 - System Components
out: W 3/1
due: F 3/10 Th 3/2 Fr 3/3
In this lab, we will begin to analyze the system components of the "Haptic Paddle," a one degree-of-freedom force-feedback interface designed specifically for this course. We will measure basic system properties, such as the speed and torque constants of the motor and the inertia of the sector pulley.

8
Lab 3 - Equivalent Systems
out: W 3/29
due: F 4/7 Th 3/30
Fr 3/31
In this lab you will assemble the components of the Haptic Paddle into a single dynamic system and calibrate the position sensor. You will develop the equations describing the equivalent system in terms of the properties of the system components. You will analyze the response of this system without any control feedback.

10
Lab 4 - Feedback Control
out: W 4/12
due: F 4/21 Th 4/13
Fr 4/14
We will now hook up the Haptic Paddle to a computer and program that provides feedback control. By changing the parameters of the feedback, you will be able to influence the dynamic repsonse of the device. Because this paddle is designed as a haptic interface, you will be able feel the changes in system parameters.

12
Lab 5 - Multibody Dynamic Systems
out: W 4/26
due: F 5/5
Th 4/27
Fr 4/28
Virtual environments can be used to simulate complex dynamic systems. You will use your haptic paddle to interact with multiple degree-of-freedom-systems and feel their response based on your input and the system parameters.

aokamura@jhu.edu

Week	Laboratory	Assignment Dates	Session 1	Session 2	Topic
2	Lab 1 - Motor Test	out: W 2/8 due: F 2/17	Th 2/9	Fr 2/10	This lab will explore a simple first order dynamic system: a spinning motor. We will record position information as a motor spins down, and extract system information such as damping and time constant.
5	Lab 2 - System Components	out: W 3/1 due: F 3/10	Th 3/2	Fr 3/3	In this lab, we will begin to analyze the system components of the "Haptic Paddle," a one degree-of-freedom force-feedback interface designed specifically for this course. We will measure basic system properties, such as the speed and torque constants of the motor and the inertia of the sector pulley.
8	Lab 3 - Equivalent Systems	out: W 3/29 due: F 4/7	Th 3/30	Fr 3/31	In this lab you will assemble the components of the Haptic Paddle into a single dynamic system and calibrate the position sensor. You will develop the equations describing the equivalent system in terms of the properties of the system components. You will analyze the response of this system without any control feedback.
10	Lab 4 - Feedback Control	out: W 4/12 due: F 4/21	Th 4/13	Fr 4/14	We will now hook up the Haptic Paddle to a computer and program that provides feedback control. By changing the parameters of the feedback, you will be able to influence the dynamic repsonse of the device. Because this paddle is designed as a haptic interface, you will be able feel the changes in system parameters.
12	Lab 5 - Multibody Dynamic Systems	out: W 4/26 due: F 5/5	Th 4/27	Fr 4/28	Virtual environments can be used to simulate complex dynamic systems. You will use your haptic paddle to interact with multiple degree-of-freedom-systems and feel their response based on your input and the system parameters.