Lecture 1 MENG 4779 Mechatronics and Digital Systems - Spring 2016

AUC_MENG 4779 Spring 2016
Mechatronics
and
Digital Systems
Maki K. Habib
Mechanical Engineering Department
School of Sciences and Engineering
The American University in Cairo
maki@ieee.org
Prof. Dr. Maki K. Habib
The technical term, Mechatronics,

is the concept created in 1969 by
Mr. Tetsuro Mori, CEO / President, Seibu
Electric and Machinery Co. Ltd.,
when he worked for Yaskawa Electric
Corporation in Kitakyushu/Japan
He proposed the new technology to produce new
machine tools to unite
mechanism and electronics supported by
semiconductor power devices and
CPUs which is necessary to develop intelligent
products and manufacturing systems.
The circumstances that lead to the growth

of Mechatronics Products are,
1. Cheap mass produced integrated circuits have enabled the
situation of mechanical functions by electronics,
2. The advent of Microprocessor has made it possible to introduce
intelligence in the control functions of mechanical processes,
3. The advent of sensor technology has made it possible to
integrate mechanic and electronic technologies, and
4. The reliability of electronic components and circuits has
become high enough to withstand the hostile conditions of
mechanical environment.
The birth of
Mechatronics
rd
inte
p
isci
lin
ne
ipli
isc
g, d
nin
r
a
e
n, l
t io
ova
Mechatronics as
inn
,
n
engineering
t io
uca
d
e
,
science discipline
ary
Nanotechnology, Processor
speeds, High memory capacity
biotechnology, Consumer
electronics, Intelligent systems,
Information and communication
,
technologies, Biomimetic,
gy
o
l
Rapid prototyping, Optoo
n
HAFM
h
electronics, Embedded
Tec
Mechatronics as
systems, Micro-technology
Durability, multi-functionality,
engineering and
and MEMs, Human
flexibility,, recycle and
quality of technology
environmental considerations.
computer interaction,
Mechatronics education has
Electronic and Advanced
Mechatronics
gained international recognition
Numerically controlled manufacturing, Knowledge
witnessed by the growing number
systems, Semiconductor based systems, Automation,
as technology
of universities offering under and
technology boom,
Informatics and networking
and practices
postgraduate Mechatronics
Automotive industry,
degree courses due to its role as a
(team based)
unifying interdisciplinary and
Consumer electronics
Uniqueness of Mechatronics as a
llig
nte
s, i
ice
t
c
pr a
Servo technology,
Microprocessors
System Engineering
The increase in variety and

complexity of product design,
and the wide range of growing
industries initiated the demand
Technology developed
for engineers with
individually and independently.
Mechatronics thinking
Interactions between software,
knowledge and actions.
mechanical and electronics
elements.
1969
e,
e nc
Mechatronics as
interdisciplinary
education and
research identity
significant design trend. Interactive

design process with consideration
on: innovation, human factors, life
cycle factors, quality, reliability,
functionality, smartness, portability,
compactness, low cost, etc.
Mechatronics has gained attention
and its importance was widely
recognized
1980
1990
2000
Fig. 1. The evolution of Mechatronics.
intelligent engineering science

paradigm.
Time line
2010
Mechatronics
fuses, permeates (to be diffuse/penetrate through), and
comprehends (understand the nature, perceive) modern
engineering science and technologies.
Mechatronics
regarded as a philosophy that supports
new ways of thinking,
innovations,
design methodologies (synthesis and analysis), and
practices
in the design of new intelligent products and engineering
systems.
Mechatronics
is a concurrent, and interdisciplinary engineering science
discipline that concentrates on achieving optimum
functional synergy from the earliest conceptual stages of
the design process.
The main goals of Mechatronics are to

bring out novel possibilities of synergizing and fusing
different disciplines and to
develop
products,
processes, and
systems
that exhibit quality performance in terms of
Reliability,
Precision,
Smartness (thinking and decision making capabilities),
Flexibility,
Adaptability,
Robustness,
Compactness, and
Economical
features.
The General Knowledge Space
Other topics of
interest
New topics
New topics
of interest
Biotechnology
Mechatronics
Knowledge Space
High Voltage
MEMs, VLSI,
Other new topics Power Systems
Microsystems Medical imaging &
of interest
Instrumentation
Smart
Mechatronics Foundational
Structures
and Core knowledge, such as
Computational
Mathematics, Physics, Electrical, Electronics,
Intelligence
Automotive
Electrical machines, Mechanics, System dynamics
Engineering
Precision
Engineering
and modeling, Control, Sensors and Perception,

Algorithms, Mechatronics design-analysis, Machine
design, Fluid power, Smart materials and MEMs,
Computer network,, Programming and IT,
Microcontrollers, Embedded and real-time systems,
Robotics and Automation, AI, Simulation and
interactive virtual modeling, Manufacturing
processes and production systems, Projects,
Engineering management, Professional
practices, and electives.
Intelligent Control,
Real-time Systems
Biomimetics
Seeking knowledge
relevant to new
projects and area
of research
Team based
experience through
projects
Wireless Sensor
Human Adaptive Networks and Ambient
/Friendly
Intelligence
Mechatronics
Continuous
Self learning
AUC_MENG 4779 Spring 2016Fig.2. Mechatronics
Knowledge Space paradigm.
Other new topics

of interest
New topics
New
professional
skills
Note:
The selection/overlapping of specialized topics
(beyond the foundational and core knowledge),
and their details depend on the interest of each
individual and the professional needs of the
relevant carrier.
Final design for

production with full
documentation
Synergetic and interactive

development environment
for Mechatronics design
and development process.
Project coordinator
Schedule, milestones,
resources, constrains, work
assignment, documentation
Finance and
Sales personnel
Others personnel
as necessary
Estimate
manufacturing cost, and
assess production
feasibility
Design review, evaluation,
enhancement, life cycle
design factors, and human
factors considerations.
Plan, schedule, roles and
responsibilities, design
details, simulate, test, build
prototype, evaluate, optimize.
Short list, assess, shapeup
solutions, and select solution. Set
target functional requirements
and details specifications.
Brainstorming for new ideas and
solutions development. List
potential solutions, scenarios, logic
flow, priorities.
Design team
Technical and
Production personnel
Manufacturing
personnel
Explore and analyze relevant existing

systems, and patents. Establish technical
feasibility and list functional requirements.
Understand and define the nature of the
problem/target, and identify the needs. Set
goals and constraints.
Interaction with environment

Stage 1
and other personnel for
Define market segments,
information, discussion,
Identify lead users,
presentation, etc. and as
Identify competitive
necessary
products,
Fig. 3. Synergetic and interactive development environment for Mechatronics design and
Prof.
Dr.
Maki
K.
Habib
development process with its interactive stages.
In general Smart Mechatronics Products/

processes and systems constitute various
technology
that include
Wide range of sensors,

Actuators, and intelligent mechanisms,
Microcontrollers,
Decision making (Intelligence)
Control strategies, artificial perception
Smart materials, Micro- and Nano-technology
Information and communication technologies,
etc.
Examples of Mechatronics applications

There are many Mechatronical applications,
some of them listed as follows,
Robots (all its shapes and purposes),

Automation,
Cars,
Automatic guided vehicles,
Computer controlled machine tools,
Planes and space technology,
Medical equipment,
Cash dispenser,
Type-writer,
Fax machine,
Computer Disk Drives
Video Camera,
Video recorder,
CD Rom Players,
Walk-man,
Auto-camera,
Cell phone,
Watches,
Microwave,
Washing machine,
Sewing machines,
Air-condition,
etc.
Digital Logic Design

Number Systems, Logic Gates and
Design
Maki K. Habib
Mechanical Engineering Department
School of Sciences and Engineering
American University in Cairo
maki@ieee.org
In DIGITAL electronics, current & voltage can assume only discrete values
(usually two).
e.g. V
In ANALOG systems, current & voltage levels are continuous & may
assume any value.
Real
World
Digital Electronics
The advantage of digital electronics are,
Greater accuracy & reliability

Versatile, cheaper and low-power,
Comprehensive theory and algorithms
Availability of CAD tools
Optimized device processes
Digital circuits used in:
Digital Computers Data Processing

Electronic Calculators Instrumentation
Control Devices etc.
Communication Equipment
Telephone Networks, Cell Phones,
CD Players, Medical Equipment,
Modern TV sets, Modern Radios, etc.
Disadvantages of digital electronics

1. Signal precision is limited by the number
of bits used to encode each sample,
2. Analogue-to-digital converters and
digital-to-analogue converters are
required to interface a digital,
3. system with real-world analogue signals
Analogue Systems
Most physical phenomena of interest are analogue
Transducers are simple
Potentially high precision
Disadvantages of analogue systems

Behaviour of analogue components is subject to
drift distortion, noise, offsets, etc.,
Errors in analogue signals accumulate during
processing, transmission, and storage,
Only relatively simple signal processing is
practical for most applications.
Number Systems
Numbers play an important part in our lives.
There are many number systems, such as decimal number
system. Each number constitutes at least one digit.
Digit
A digit is a symbol or numeral given to an element of a number
system.
Radix
The radix, or base of a counting system is defined as the number of
unique digits (It is the total number of digits allowed) in a given
number system.
Example, for the decimal number system:

Radix, r = 10, Digits allowed = 0,1, 2, 3, 4, 5, 6, 7, 8, 9
10
Conversion from decimal to binary
Octal(base 8)
Decimal(base 10)
Binary(base 2)
Conversion from binary to decimal
Hexadecimal
(base16)
Number systems and codes

Examples
Decimal numbers(base 10)

36.210
9810
Hexadecimal number(base 16)

3F216
Binary number(base 2)
10112
11
Positional system
Each digit carries a certain weight based on its
position.
346.17463.71 Position matters
Weight vs Position
Decimal Positional System

(Base 10 or radix 10)
decimal point
104 103 102 101 100 .
10-1 10-2
tenths position
ones position
tens position
hundredth position
hundreds position
12
Binary Positional System

(Base 2 or radix 2)
binary point
24
23
22
21
20
2-1 2-2
halves position
ones position
twos position
quarters position
fours position
Examples
Decimal Example
346.1710 (3 10 2 ) (4 101 ) (6 100 ) (110 1 ) (7 10 2 )
300
40
0.1
0.07
Binary Example
1101.012 1 23 1 2 2 0 21 1 20 0 2 1 1 2 2
8 4
13.2510
.25
13
Binary to Decimal Conversion

What is 1101012 in decimal?
1101012 1 25 1 2 4 0 23 1 2 2 0 21 1 20
32 16
5310
n
0
1
2n
20=1
21=1
n
8
9
2n
28=256
29=512
22=4
23=8
10
210=1024
24=16
11
211=2048
25=32
12
212=4096
26=64
20
220=1M
27=128
30
230=1G
14
Decimal-To-Binary Conversions(method 1)
The decimal number is simply expressed as a sum of
powers of 2, and then 1s and 0s are written in the
appropriate bit positions.
34610 256 90
5010 32 18
32 16 2
1 25 1 2 4 1 21
5010 110010 2
256 64 26
256 64 16 10
256 64 16 8 2
1 28 1 26 1 2 4 1 23 1 21
34610 101011010 2
(Method 2)Flowchart for Repeated Division
15
Example for Repeated Division

Quotient
Remainder
50/2 =
25
25/2 =
12
12/2 =
6/2 =
3/2 =
1/2
LSB
MSB
5010=1100102
Example for Repeated Division

Quotient
Remainder
346/2
173
173/2
86
86/2
43
43/2
21
21/2
10
10/2
5/2
2/2
1/2
34610=1010110102
16
Examples
How many different values can be represented with N
binary digits? Decimal digits? Octal digits? Radix Z
digits?
Decimal:
1 digit
..
Binary:
0-9
10 different values
2 digits
10X10=100 different values
6 digits
106=1,000,000 different values
1 digit
2 digits
0,1
00,01,10,11
4 different values=22
2n different values
n digits
Zn different values(0 thru. Zn-1)
Radix Z digits: n digits
2 different values=21
Octal-to-Decimal Conversion
Octal-to-Decimal Conversion
372 3 (82 ) 7 (81) 2 (80 )
8
3 64 7 8 2 1
250
10
24.6 2 (81) 4 (80 ) 6 (8 1)
8
20.75
10
17
Decimal-to-Octal Conversion
Convert 26610 to Octal
Quotient
Remainder
266/8 =
33
33/8 =
4/8
LSB
MSB
26610=4128
Octal-to-Binary Conversion
Convert 4728 to binary
4
7
2
100 111 010
Convert 54318 to binary

5
4
3
1
101 100 011 001

18
Binary-to-Octal Conversion
Convert 1001110102 to octal
1 0 0 1 1 1 0 1 0
28
Convert 110101102 to octal

0 1 1 0 1 0 1 1 0

68
Octal-to-Hex Conversion
Convert B2F16 to octal
B2F16
=1011 0010 1111 {convert to binary}

=101 100 101 111
{group into three-bit groupings}
=5
78
{Convert to octal}
19
BCD Code
If each digit of a decimal number is represented by
its binary equivalent, the result is a code called
binary-code-decimal (BCD).
8
1000 0111 0100
(decimal)
(BCD)
3 (decimal)
1001 0100 0011 (BCD)

Examples
Convert 0110100000111001(BCD) to its decimal
equivalent.
Convert the BCD number 011111000001 to its decimal
equivalent.
20
Comparison of BCD and Binary

A straight binary code takes the complete
decimal number and represents it in binary.
A BCD code converts each decimal digit to
binary individually.
(binary)
13710=100010012
13710=0001 0011 0111 (BCD)
BCD uses more bits, easier to convert to and
from decimal.
Review Questions
Represent the decimal value 178 by its straight
binary equivalent. Then encode the same
decimal number using BCD.
How many bits are required to represent an
eight-digit decimal number in BCD?
What is an advantage of encoding a decimal
number in BCD as compared with straight
binary? What is a disadvantage?
21
Putting it ALL together
The Nibble and Byte
A string of 4 bits is called a nibble

A string of 8 bits is called a byte.
How many bytes are in a 32-bit string?
What is the largest decimal value that can be
represented in binary using two bytes?
How many bytes are needed to represent the
decimal value 846,569 in BCD?
22
Review Questions
How many bytes are needed to represent 23510
in binary?
What is the largest decimal value that can be
represented in BCD using two bytes?
Alphanumeric Codes
Codes representing letters of the alphabet,
punctuation marks, and other special characters as
well as numbers are called alphanumeric codes.
The most widely used alphanumeric code is the
American Standard Code for Information
Interchange (ASCII).
The ASCII(pronounced askee) code is a sevenbit code.
23
Logic Gates and Boolean

Algebra
Boolean Constants and Variables

Boolean constants and variables are allowed to have only two
possible values, 0 or 1.
Boolean 0 and 1 do not represent actual numbers but instead
represent the state of a voltage variable, or what is called its
logic level.
0/1 and Low/High are used most of the time.
Three Logic operations: AND, OR, NOT
Logic Gates
Digital circuits constructed from diodes, transistors, and
resistors whose output is the result of a basic logic
operation(OR, AND, NOT) performed on the inputs.
24
Truth Tables
How a logic circuits output depends on the logic
levels present at the inputs.
Signals, Logic Operators, and Gates
Basic elements of digital logic circuits

25
OR Operation with OR gates

Truth Table and circuit symbol
Symbol and truth table for a three-input

OR gate
26
Summary of OR operation
Produce a result of 1 whenever any input is 1.
Otherwise 0,
An OR gate is a logic circuit that performs an
OR operation on the circuit's input,
The expression X = A + B is read as
X equals A OR B
Example of the use of an OR gate in an

Alarm system
27
Example
Example3
28
Review Questions
What is the only set of input conditions that will
produce a LOW output for any OR gate?
Write the Boolean expression for a six-input OR
gate
If the A input in previous example is
permanently kept at the 1 level, what will the
resultant output waveform be?
AND Operation with AND Gates

Truth Table and Gate symbol
29
Truth Table and Symbol for a threeinput AND gate
Summary of the AND operation

The AND operation is performed the same as
ordinary multiplication of 1s and 0s.
An AND gate is a logic circuit that performs the
AND operation on the circuits inputs.
An AND gate output will be 1 only for the case
when all inputs are 1; for all other cases the
output will be 0.
The expression X = AB is read as
X equals A AND B.
30
Review Questions
What is the only input combination that will
produce a HIGH at the output of a five-input
AND gate?
What logic level should be applied to the second
input of a two-input AND gate if the logic signal
at the first input is to be inhibited(prevented) from
reaching the output?
True or false: An AND gate output will always
differ from an OR gate output for the same input
conditions.
NOT operation
Truth table, Symbol, Sample waveform
31
Summary of Boolean Operations

OR
0+0=0
0+1=1
1+0=1
1+1=1
01=0
10=0
11=1
AND
00=0
NOT
1=0
0=1 (NOTE THE SYMBOL USED FOR
NOT!)
Describing logic circuits algebraically

Any logic circuit, no matter how complex, can be
completely described using the three basic Boolean
operations: OR, AND, NOT.
Example: logic circuit with its Boolean expression
32
Parentheses
(Often needed to establish precedence;
sometimes used optionally for clarity)
How to interpret AB+C?
Is it AB ORed with C ?
Is it A ANDed with B+C ?
Order of precedence for Boolean algebra: AND before OR.
Parentheses make the expression clearer, but they are not
needed for the case on the preceding slide.
Note that parentheses are needed here :

Circuits Contains INVERTERs

Whenever an INVERTER is present in a logic-circuit
diagram, its output expression is simply equal to the
input expression with a bar over it.
33
More Examples
Precedence
First, perform all inversions of single terms,
Perform all operations with parentheses,
Perform an AND operation before an OR,
operation unless parentheses indicate otherwise,
If an expression has a bar over it, perform the
operations inside the expression first and then invert
the result
34
Determining output level from a

diagram
Determine the output for the
condition where all inputs are LOW.
Implementing Circuits From Boolean

Expressions
When the operation of a circuit is defined by a
Boolean expression, we can draw a logic-circuit
diagram directly from that expression.
35
Example
Draw the circuit diagram to implement the expression
x ( A B )( B C )
Review Question
Draw the circuit diagram that implements the
expression
x ABC ( A D)
Using gates having no more than three inputs.
36
NOR GATES AND NAND GATES

NOR Symbol, Equivalent Circuit, Truth Table
Example
37
Example
Determine the Boolean expression for a three-input
NOR gate followed by an INVERTER
NAND Gate
Symbol, Equivalent circuit, truth table
38
Example
Example
Implement the logic circuit that has the expression
x AB C D
using only NOR and NAND gates
39
Example
Determine the output level in last example for
A=B=C=1 and D=0
Review Questions
What is the only set of input conditions that will
produce a HIGH output from a three-input NOR
gate?
Determine the output level in last example for
A=B=1, C=D=0,
Change the NOR gate at last example to a NAND
gate, and change the NAND to a NOR. What is the
new expression for x?
40
Boolean Theorems (single-variable)
Multivariable Theorems
x+y = y+x
xy = yx
commutativity
(x+y) + z = x + (y + z)
(xy)z = x(yz)
associativity
x(y+z) = xy + xz
x + yz = (x+y) (x+z) distributivity
x + xy = x
pf:
x+xy = x1 + xy = x(1+y) = x1 = x
41
Examples
Simplify the expression
Simplify z A B A B
Simplify x ACD ABCD
y ABD AB D
Review Questions
Simplify
Simplify
Simplify
y AC ABC
y A BC D ABC D
y AD ABD
42
Demorgans Theorems
x y x y
x y x y
Example
Simplify the expression z A C B D to one having
only single variables inverted.
43
Implications of DeMorgans Theorems(I)
Implications of DeMorgans
Theorems(II)
44
Example
Determine the output expression for the below circuit
and simplify it using DeMorgans Theorem
Review Questions
Using DeMorgans Theorems to convert the
expressions to one that has only single-variable
inversions.
z A B C
z ABC
y R ST Q
Use only a NOR gate and an INVERTER to

implement a circuit having output expression:
y A B CD
Use DeMorgans theorems to convert below

expression to an expression containg only singlevariable inversions.
45
Universality of NAND and NOR gates
Universality of NOR gate
46
Example
Example
47
Alternate Logic-Gate Representations

Standard and alternate symbols for various logic
gates and inverter.
How to obtain the alternative symbol

from standard ones
Invert each input and output of the standard symbol,
This is done by adding bubbles(small circles) on
input and output lines that do not have bubbles and by
removing bubbles that are already there.
Change the operation symbol from AND to OR, or
from OR to AND.(In the special case of the
INVERTER, the operation symbol is not changed)
48
Points of Consideration
The equivalences can be extended to gates with any number
of inputs.
None of the standard symbols have bubbles on their inputs,
and all the alternate symbols do.
The standard and alternate symbols for each gate represent
the same physical circuit; there is no difference in the
circuits represented by the two symbols.
NAND and NOR gates are inverting gates, and so both the
standard and the alternate symbols for each will have a
bubble on either the input or the output, AND and OR gates
are non-inverting gates, and so the alternate symbols for
each will have bubbles on both inputs and output.
Logic-symbol interpretation
Active High/Low
When an input or output line on a logic circuit
symbol has no bubble on it, that line is said to be
active-High, otherwise it is active-Low.
49
Interpretation of the two NAND gate

symbols
Interpretation of the two OR gate

symbols
50
Review Questions
Write the interpretation of the operation performed by
the below gate symbols,
Standard NOR gate symbol

Alternate NOR gate symbol
Alternate AND gate symbol
Standard AND gate symbol
XOR Gate
The XOR gate is an exclusive OR gate.
It will output a logic 1 if there is an exclusive logic 1 at input A or B.
Exclusive means: Only one input can be high at one time.
XOR
Input A
Output X
Input B
The Boolean Equation

for XOR:
X AB
51
XNOR
The XNOR gate is an exclusive OR gate with an NOT gate at the output. It
will output a logic 0 if there is an exclusive logic 1 at input A or B.
XNOR
Input A
Output X
Input B
The Boolean Equation

for XNOR:
X AB
Truth Tables
Another way (in addition to logic equations) to define certain
functionality
Problem: their sizes grow exponentially with number of
inputs.
inputs
x1
x2
x3
y1
y2
outputs
What are logic equations

corresponding to this table?
y1 = x1 + x2 + x3
y2 = x1 * x2 * x3
Design corresponding circuit.
52
Minterms and Maxterms for Three Binary Variables

Input
Minterms
Maxterms
Terms Designation
Terms
Designation
P0
S0
P1
S1
P2
S2
P3
S3
P4
S4
P5
S5
P6
S6
P7
S7
What is the significance of Minterms and Maxterms?

In short, minterms and maxterms may be used to define the two standard forms for logic
expressions, namely the sum of products (SOP), or sum of minterms, and the product of
sums (POS), or product of maxterms. These standard forms of expression aid the logic
circuit designer by simplifying the derivation of the function to be implemented.
Example
Row
Input
SOP
Output
1
Number
X = P3 + P5 + P6
3
0
POS
X = S0S1S2S4S7
53
Logic Equations in Sum of Products Form
Systematic way to obtain logic equations from a given truth table.

inputs
outputs
x1
x2
x3
y1
y2
A product term is included for

each row where yi has value 1
A product term includes all input
variables.
At the end, all product terms are
ORed
y1 = x1*x2*x3
+ x1*x2*x3 + x1*x2*x3 + x1*x2*x3
y2 = x1*x2*x3
+ x1*x2*x3 + x1*x2*x3 + x1*x2*x3 + x1*x2*x3

Minimization Applying Boolean Laws

Consider one of previous logic equations:
y1 = x1*x2*x3
+ x1*x2*x3 + x1*x2*x3 + x1*x2*x3
= x1*x2*(x3 + x3) + x2*x3*(x1 + x1)

= x1*x2 + x2*x3
But if we start grouping in some other way we may not

end up with the minimal equation.
54
Note:
1. Boolean functions expressed as a sum
of products (SOP) or a product
of sums (POS) are said to be in
canonical form.
1. Note the POS is not the complement
of the SOP expression.
Minimization Using Karnough Maps (1/5)

Provides more formal way to minimization
1. A Karnaugh Map is a grid-like representation of a truth table.
2. It is just another way of presenting a truth table, but the mode of
presentation gives more insight.
3. A Karnaugh map has zero and one entries at different positions. Each
position in a grid corresponds to a truth table entry.
A B C V
0 0 0 0
The
Truth Table
0 0
0 0
0 0 0
0
1
In the case of the Karnaugh Map the

advantage is that the Karnaugh Map is
designed to present the information in
a way that allows easy grouping of
terms that can be combined.
55

It includes 3 steps
1. Form Karnough maps from the given truth table.
There is one Karnough map for each output variable.
2. Group all 1s into as few groups as possible with groups as large as
possible.
3. Each group makes one term of a minimal logic equation for the
given output variable.
Forming Karnough maps
The key idea in the forming the map is that

horizontally and vertically adjacent squares correspond to input
variables that differ in one variable only.
Thus, a value for the first column (or row) can be arbitrary, but
labeling of adjacent columns (or rows) should be such that those
values differ in the value of only one variable.

Grouping (This step is critical)
When two adjacent squares contain 1s,
They indicate the possibility of an algebraic simplification and they may be
combined in one group of two.
Similarly, two adjacent pairs of 1s may be combined to form a group of four,
Then, two adjacent groups of four can be combined to form a group of eight,
and so on.
In general, the number of squares in any valid group must be equal to 2k.
Note that one 1 can be a member of more than one group and keep in mind
that you should end up with as few as possible groups which are as
large as possible.
Finding Product Terms

The product term that corresponds to a given group is the product of
variables whose values are constant in the group.
If the value of input variable xi is 0 for the group, then xi is entered in the
product, while if xi has value 1 for the group, then xi is entered in the product.
56

Example 1: Given truth table, find minimal circuit
x1
x2
x3
x1 x2
00 01 11 10
x3
0
y = x1*x2 + x2*x3

Example 2:
x1 x2
y = x1*x3 + x2
Example 4:
00 01
11
10
00
01
11
10
10
00
01
11
10
11
y = x1*x2*x3 + x1*x2*x4 + x2*x3*x4
x1x2
x3x4
00 01
x3x4
00 01 11 10
x3
x1x2
Example 3:
y = x1*x4 + x2*x3*x4 + x1*x2*x3*x4
57
Gates as Control Elements
An AND gate and a tristate buffer act as controlled switches

or valves.
Wired OR and Bus Connections
Wired OR allows tying together of several

controlled signals.
58
Decoders/ Demultiplexers
A decoder allows the selection of one of 2 a options using

an a- bit address as input. A demultiplexer (demux) is a decoder that
only selects an output if its enable signal is asserted.
A 74155 can also be used as demultiplexer. It can function like a rotary

switch to demultiplex a single input to four different output lines.
1 to 4 Line Demux
59
Encoders
A 2a -to- a encoder outputs an a-bit binary number

equal to the index of the single 1 among its 2a inputs.
Multiplexers
Multiplexer (mux), or selector, allows one of several inputs to be selected and

routed to output depending on the binary value of a set of selection or address
signals provided to it.
60
Inputs
Outputs
x
y
c
s
---------------0
0
0
0
0
1
0
1
1
0
0
1
1
1
1
0
Design Example
HA
s
Half-adder (HA): Truth table and block diagram

Inputs
Outputs
x
y
cin
cout s
---------------------0
0
0
0
0
0
0
1
0
1
0
1
0
0
1
0
1
1
1
0
1
0
0
0
1
1
0
1
1
0
1
1
0
1
0
1
1
1
1
1
cout
FA
cin
Full-adder (FA): Truth table and block diagram

Half-Adder Implementations
x
y
_
x
_
y
x
y
x
y
s
(a) AND/XOR half-adder.
_
c
(b) NOR-gate half-adder.

x
s
y
(c) NAND-gate half-adder with complemented carry.
Three implementations of a half-adder.

61
Full-Adder Implementations
y x
y x
cout
HA
cout
HA
cin
cin
s
(a) Built of half-adders.
y
Mux
cout
0
1
2
3
0
1
s
0
1
2
3
cin
(c) Suitable for CMOS realization.

(b) Built as an AND-OR circuit.
Possible designs for a full-adder in

terms of half-adders, logic gates, and
Multiplexers
62

Lecture 1 MENG 4779 Mechatronics and Digital Systems - Spring 2016

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AUC_MENG 4779 Spring 2016

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Prof. Dr. Maki K. Habib

The technical term, Mechatronics,

Prof. Dr. Maki K. Habib

Prof. Dr. Maki K. Habib

AUC_MENG 4779 Spring 2016

The circumstances that lead to the growth

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The increase in variety and

AUC_MENG 4779 Spring 2016

Prof. Dr. Maki K. Habib

significant design trend. Interactive

intelligent engineering science

Prof. Dr. Maki K. Habib

AUC_MENG 4779 Spring 2016

AUC_MENG 4779 Spring 2016

Prof. Dr. Maki K. Habib

AUC_MENG 4779 Spring 2016

Prof. Dr. Maki K. Habib

Prof. Dr. Maki K. Habib

AUC_MENG 4779 Spring 2016

The main goals of Mechatronics are to

AUC_MENG 4779 Spring 2016

The General Knowledge Space

and modeling, Control, Sensors and Perception,

Prof. Dr. Maki K. Habib

Other new topics

AUC_MENG 4779 Spring 2016

AUC_MENG 4779 Spring 2016

Prof. Dr. Maki K. Habib

AUC_MENG 4779 Spring 2016

Prof. Dr. Maki K. Habib

Prof. Dr. Maki K. Habib

AUC_MENG 4779 Spring 2016

Final design for

Synergetic and interactive

Explore and analyze relevant existing

Interaction with environment

In general Smart Mechatronics Products/

Wide range of sensors,

AUC_MENG 4779 Spring 2016

Prof. Dr. Maki K. Habib

Prof. Dr. Maki K. Habib

AUC_MENG 4779 Spring 2016

Examples of Mechatronics applications

Robots (all its shapes and purposes),

AUC_MENG 4779 Spring 2016

Prof. Dr. Maki K. Habib

Prof. Dr. Maki K. Habib

Prof. Dr. Maki K. Habib

AUC_MENG 4779 Spring 2016

Digital Logic Design

Prof. Dr. Maki K. Habib

AUC_MENG 4779 Spring 2016

Prof. Dr. Maki K. Habib

Prof. Dr. Maki K. Habib

AUC_MENG 4779 Spring 2016

Greater accuracy & reliability

Digital circuits used in:

Digital Computers Data Processing

AUC_MENG 4779 Spring 2016

Prof. Dr. Maki K. Habib