University of Tabuk

College of Engineering
Mechanical Engineering Department
Mechatronics 1
ME 444

Pre-requisite ME 243 + ME 316

Prepared by : Dr. Abderraouf GHERISSI

Fall 2024-Spring 2025
Course number and name

ME 444: Mechatronics 1

Credits and contact hours

Credit hours: 5, Contact hours: 6

Instructor’s or course coordinator’s name

Dr. Abderraouf GHERISSI

Text book, title, author, and year

Alciatore, D. G. and Histand, M. B., Introduction to Mechatronics and Measurement Systems, McGraw Hill, 2003.

other supplemental materials

Handouts: Prepared by the instructor

Shetty and Kolk, Mechatronics System Design, Second Edition, 2010

Specific course information

brief description of the content of the course (catalog description)

This course introduces the basic principles of mechatronics systems design . It also gives introdution to AC circuits, Introduction to
semiconductor, Introduction to ideal diodes, introduction to NPN and FET transistors, D/A and A/D convertors, Introduction to
Digital Circuits, Introduction to electrical motors, introduction to robotics.

prerequisites or co-requisites

Prerequisites: ME 243- ME 316

indicate whether a required, elective, or selected elective (as per Table 5-1) course in the program

Required course for Mechanical Engineering.

Specific goals for the
course specific outcomes

Upon completion of this course, students will successfully:

- Identify AC circuits, semiconductor, ideal diodes, NPN and FET transistors

- Explain the design process of mechatronics systems
- Determine the proper characteristics of mechatronics components such as motors and sensors
- Identify system control and signal systems for D/A and A/D convertors
- Identify the basics for robotics

Explicitly indicate which of the student outcomes listed in Criterion 3 or any other
outcomes are addressed by the course.

SO(1) An ability to identify, formulate, and solve complex engineering problems by applying
principles of Mechanical engineering, science, and mathematics.
SO(8) An ability to demonstrate knowledge of concepts of Mechanical engineering and science.

Brief list of topics to be covered

Basics AC circuits, semiconductor, ideal diodes, NPN and FET
transistors Basic design process of mechatronic systems
Characteristics of mechatronics
components Basic D/A and A/D
convertors
Basic Signal systems and digital circuits
Basics of robotics
 Grading

Midterm Exam 1 20%

Midterm Exam 2 20%
Assignment 10%
Quizzes 10%
Final Exam 40%

Notes:
. Any student who misses an exam must provide an excuse from an authorized entity to justify their absence within
seven days of the exam.
. All reports must be submitted in Word format on Blackboard within one week of the practice session.
. All reports will be checked for integrity using SafeAssign on Blackboard.
. Any report submitted after the deadline or containing more than 30% plagiarism will receive a score of zero (0)
 University of Tabuk
College of Engineering
Mechanical Engineering Department

Mechatronics 1
ME 444
Chapter 1
Basics for Mechatronics
Basics AC circuits, semiconductor, ideal
diodes, NPN and FET transistors

Prepared by : Dr. Abderraouf GHERISSI

Fall 2024
 Voltage:
• Potential refers to the the possibility of doing work.

• The symbol for potential difference is E (for electromotive

force)

• The practical unit of potential difference is the volt (V)

• 1 volt is a measure of the amount of work required to move

1C of charge
 Current:
• When a charge is forced to move because of a potential
difference (voltage) current is produced.

• In conductors - free electrons can be forced to move with

relative ease, since they require little work to be moved.

• So current is charge in motion.

• The more electrons in motion the greater the current.

 Amperes:
• Current indicates the intensity of the electricity in
motion. The symbol for current is I (for intensity) and is
measured in amperes.

• The definition of current is: I = Q/T

• Where I is current in amperes, Q is charge in coulombs,

and T is time in seconds.
Closed Circuits:
• In applications requiring the use of current, electrical
components are arranged in the form of a circuit.

• A circuit is defined as a path for current flow.

Open circuit :

current can only exist when

there is conduvtive path. In
the circuit I= 0, since there is
no conductor between points
a and b. we reffered to this as
an open circuit.
Direction of Electron Flow
• The direction of electron flow in our circuit is from the
negative side of the battery, through the load resistance, back to
the positive side of the battery.

Direction of conventional current

• The direction of conventional current in our circuit is from the
positive side of the battery, through the load resistance, back to the
negative side of the battery.
Direct Current:
• Circuits that are powered by battery sources are termed
direct current circuits.

• It is the flow of charges in just one direction

Alternating Current:
• An alternating voltage source periodically alternates or
reverses in polarity.

• The resulting current, therefore, periodically reverses in

direction.
 Resistance:
• Opposition to the flow of current is termed
resistance.
• The fact that a wire can become hot from the flow
of current is evidence of resistance.
• Conductors have very little resistance.
• Insulators have large amounts of resistance.
Resistors
A resistor impedes the flow of electricity through a circuit.
Resistors have a set value.
Since voltage, current and resistance are related through Ohm’s
law, resistors are a good way to control voltage and current in
your circuit.

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More on resistors
Resistor color codes

1stband = 1stnumber
2nd band = 2nd number
3rdband = # of zeros / multiplier
4th band = tolerance

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Color code

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Variable resistor / Potentiometer
A potentiometer is avariable resistor. As you manually
turn a dial, the resistance changes.

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Units
Knowing your units is important!
Kilo and Mega are common in resistors
Milli, micro, nano and pico can be used in other
components

K(kilo) =1,000
M (mega) =1,000,000
M (milli) =1/1,000
u (micro) =1/1,000,000
n(nano) = 1/1,000,000,000 (one trillionth)
p (pico) = 1/ 1,000,000,000,000 (one quadrillionth)
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Ohm’s Law
• The amount of current in a circuit is dependent on its
resistance and the applied voltage. Specifically I = V/R

• If you know any two of the factors V, I, and R you can

calculate the third.

• Current I = V/R
• Voltage V = I*R
• Resistance R = V/I
 Power:
• The unit of electrical power is the watt.

• Power is how much work is done over time.

• One watt of power is equal to the work done in one

second by one volt moving one coulomb of charge.
Since one coulomb a second is an ampere:

• Power in watts = volts x amperes

• P=VxI
• P = I² x R
• P = V² / R
Capacitors
A capacitor (originally known as a condenser) is a passive two-terminal electrical component used to
store energy electrostatically in an electric field. The forms of practical capacitors vary widely, but all
contain at least two electrical conductors (plates) separated by a dielectric (i.e., insulator).

A capacitor stores electrical energy.

Capacitance is measured in Farads. The small capacitors usually used in
electronics are often measured in microfarads and nanofarads.

Some capacitors are polarized.

Standard Units of Capacitance Note the different length terminals on
•Microfarad (μF) 1μF = 1/1,000,000 = 0.000001 = 10-6 F
•Nanofarad (nF) 1nF = 1/1,000,000,000 = 0.000000001 = 10-9 F
one of the capacitors.
•Picofarad (pF) 1pF = 1/1,000,000,000,000 = 0.000000000001 = 10-12 F
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 Exercise
A capacitor is constructed from two conductive metal plates 30cm x 50cm which are spaced
6mm apart from each other, and uses dry air as its only dielectric material. Calculate the
capacitance of the capacitor.

Then the value of the capacitor consisting of two plates separated by air is calculated as 0.221nF, or 221pF.
Diode
A diode is a one way valve (or gate) for electricity. It is a component with an
asymmetrical transfer characteristic.
A diode has low (ideally zero) resistance in one direction, and high (ideally
infinite) resistance in the other direction.

Diodes will protect your electronics.

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Diode circuit protection
In an electronic circuit, if the polarity is wrong, you can fry
your components.

Diodes have abar

on the cathode
(negative) side.

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Light emitting diode(LED)
A light emitting diode (LED) is a semiconductor light source.
When electricity is passing through the diode, it emits light.

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forward bias
current
1. Calculate the forward bias current of a Si diode when forward bias voltage of 0.4V is applied, the reverse
saturation current is 1.17×10-9A and the thermal voltage is 25.2mV.
a) 9.156mA
b) 8.23mA
c) 1.256mA
d) 5.689mA

Answer

I=Is×(e(VD/ηVT)-1) where:
Is = reverse saturation current
η = non-ideality factor
VT = thermal voltage
VD = applied voltage
Since in this question ideality factor is not mentioned it can be taken as one.
Is = 1.17 x 10-9A, VT = 0.0252V, η = 1, V = 0.4V

Therefore, I = 1.17×10-9xe0.4/0.025 -1 = 9.156mA.

2. Calculate the thermal voltage when the temperature is 25°C.
a) 0V
b) 0.0257V
c) 0.0269V
d) 0.248V

Answer

Explanation: Thermal voltage VT is given by k T/q

Where k is the boltzman constant and q is the charge of electron.
T= 298.15 K = q=
This can be reduced to

VT = TK/11600

Therefore, VT = 298.15/11600 = 0.0257V.

 Inductor
An inductor, also called a coil, choke, or reactor, is a passive two-terminal
electrical component that stores energy in a magnetic field when electric
current flows through it. An inductor typically consists of an insulated wire
wound into a coil.

(μ0 =1.25663706 × 10-6 m kg s-2 A-2)

=B*A
Exercise

(H =A/m)

(T = N × A-1 × m-1 = kg × s-2 × A-1)

1T= Wb/m2
where: H = henry, kg = kilogram, m = metre, s = second, A = ampere, N = newton, C = coulomb, J = joule, T = tesla, Wb = weber, V
= volt, F = farad, Ω = ohm, Hz = hertz

Exercise
 Exercise

An electric circuit is illustrated below.

What is the equivalent resistance of this circuit?

R2 + R3 = Req
6 + 6 = 12 W
1/Rp = 1/R1 + 1/Req
1/Rp = 1/4+ 1/12
Rp = 3 W
Rt = 3 + 6 = 9 W

Exercise

An electric circuit is illustrated below.

Find ID
Transistors
A transistor is a semiconductor device used to
amplify and switch electronic signals and electrical power.

This is our electronic switch!

The Bipolar Transistor basic construction consists of two PN-junctions producing three connecting terminals with each terminal
being given a name to identify it from the other two. These three terminals are known and labelled as the Emitter ( E ), the Base
( B ) and the Collector ( C ) respectively.

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How a transistor works
A voltage or current applied to one pair of the
transistor’s terminals changes the current through
another pair of terminals.
A transistor is composed of semiconductor material
with at smallest three terminals for connection to an
external circuit.
Transistors have 3pins.
For these transistors:
Collector
Emitter
Base

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A transistor consists of two PN diodes connected back to back. It has three terminals namely emitter, base and
collector. The basic idea behind a transistor is that it lets you control the flow of current through one channel by
varying the intensity of a much smaller current that's flowing through a second channel.

The NPN transistor is designed to pass electrons from the

emitter to the collector (so conventional current flows from
collector to emitter). The emitter "emits" electrons into the base,
which controls the number of electrons the emitter emits

In a PNP transistor, the base current which enters into the collector is
amplified. The flow of current is typically controlled by the base.
Current flows in the opposite direction in the base. In a PNP transistor,
the emitter emits “holes”, and these holes are collected by the collector.
Both NPN and PNP are bipolar junction transistors (BJTs). BJTs are current-controlled transistors that
allow for current amplification.
Electrons are the predominant current carriers in NPN transistors, while holes are the minor ones. In a
PNP transistor, holes carry the majority of the current, while electrons play a minor role.

Characteristics NPN PNP

N-P-N (Emitter-Base- P-N-P (Emitter-Base-

Layer Arrangement
Collector) Collector)

Current Carriers Electrons (majority carriers) Holes (majority carriers)

The Electron flow from the Hole flow from the emitter
Current Direction
emitter to collector to collector

The Current amplification is The Current amplification is

Amplification Direction
positive negative
DC current gain = β = Output current/Input current

Current gain = α = Collector current/ Emitter current

Calculate the values of VCE in the circuit shown in Fig
Calculate the values of three currents in the circuit shown
in Fig, where VBE=0V.

Solution :
Applying Kirchhoff ‘s voltage law to the base side and taking resistances in kΩ and currents in mA, we have,
NPN Transistor
A bipolar NPN transistor has a DC current gain, (Beta) value of 200.
Calculate the base current IB required to switch a resistive load of 4mA?
➔ Ic= 4 mA

NPN Transistor
An NPN Transistor has a DC base bias voltage, VB of 10v and an input base resistor, RB of 100kΩ.
Where VBE = 0.7 V

What will be the value of the base current into the transistor?
For a transistor, β = 45 and voltage drop across 1kΩ
which is connected in the collector circuit is 1 volt.
Find the base current for common emitter connection.

The voltage drop across RC (= 1 kΩ) is 1 volt.

A transistor is connected in common emitter (CE)
configuration in which collector supply is 8 V and the
voltage drop across resistance RC connected in the
collector circuit is 0.5 V. The value of RC = 800 Ω.
If α = 0.96, determine :
(i) collector-emitter voltage
(ii) base current.

I
Determine VCB in the transistor circuit shown in Fig. The
transistor has β = 150.
PNP transistor
 The circuit connection of PNP
transistor with supply voltages
is given below. Here the base
terminal has negative bias with
respect to emitter and the
emitter terminal has positive
bias voltage with respect to
both base and collector
because of PNP transistor.

Example:
Consider a PNP transistor, which is connected in the circuit with the supply voltages VB = 1.5V, VE = 2V,
+VCC = 10V and –VCC = -10V. And also this circuit connected with the resistors of RB = 200kΩ and RE = RC (or
RL) = 5kΩ. Now calculate the current gain values (α, β) of the PNP transistor.
 Field-Effect Transistors
(FETs) are a class of transistors used in electronic circuits to control current flow.
They operate using an electric field to modulate the conductivity of a
semiconductor channel, making them critical components in amplifiers, switches,
and digital circuits.

JFET (Junction Field-Effect Transistor): MOSFET (Metal-Oxide-Semiconductor Field-Effect

•Controlled by a reverse-biased PN junction. Transistor):
•Has Gate (G), Source (S), and Drain (D) •Most widely used FET type.
terminals. •Controlled by a voltage applied to a gate insulated from
•Features: the channel by a thin oxide layer.
• Simple structure. •Comes in two forms:
• High input impedance. • Enhancement Mode: Channel forms when a
• Used in low-noise amplifiers. voltage is applied to the gate.
• Depletion Mode: Channel exists naturally and
can be pinched off with gate voltage.
•Features:
• Very high input impedance.
• Used in digital circuits, power devices, and
amplifiers.
•MESFET: Metal-Semiconductor FET used in high-frequency applications.

•HEMT: High-Electron Mobility Transistor for microwave and

RF applications

Applications:

Analog Circuits: Amplifiers (low noise, high gain stages).

Digital Circuits: Logic gates, switches.

RF Circuits: High-frequency amplifiers, oscillators. (Cell phones, Satellite

communication and Radar systems)

Power Electronics: Motor drivers, power converters.

FETs dominate modern electronics due to their efficiency, scalability, and

suitability for integration into large-scale ICs (e.g., CMOS technology in
microprocessors).
Integrated circuit
An integrated circuit (IC) is a set of transistors that is the controller or ‘brain’of
an electronic circuit.
An input is received, an output is sent out.

Modern microprocessor ICs can have billions of transistors per square

inch!
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 Printed Circuit Board
Components are attached to a printed
circuit board.
The ‘front’side of the board will have
printed component information, such
as resistor # and resistance, diode type
and polarity,etc.
Holes go all the way through the board
from one side to the other. Through-
hole soldering is needed to connect
components to the board.

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Any Questions?