2011 Quanser Inc., All rights reserved.

Quanser Inc.
119 Spy Court
Markham, Ontario
L3R 5H6
Canada
[email protected]
Phone: 1-905-940-3575
Fax: 1-905-940-3576

Printed in Markham, Ontario.

For more information on the solutions Quanser Inc. offers, please visit the web site at:
http://www.quanser.com
This document and the software described in it are provided subject to a license agreement. Neither the software nor this document may be
used or copied except as specified under the terms of that license agreement. All rights are reserved and no part may be reproduced, stored in
a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior
written permission of Quanser Inc.

Acknowledgements
Quanser, Inc. would like to thank the following contributors:
Dr. Hakan Gurocak, Washington State University Vancouver, USA, for his help to include embedded outcomes assessment, and
Dr. K. J. strm, Lund University, Lund, Sweden for his immense contributions to the curriculum content.

QNET MECHKIT Workbook - Student Version

Contents
1

Introduction

Sensor Properties
2.1
Resolution
2.2
Range
2.3
Absolute and Incremental
2.4
Analog Sensor Measurement

7
7
7
7
7

Strain Gage with Flexible Link

3.1
Background
3.2
Strain Virtual Instrument
3.3
Lab 1: Collect Data
3.4
Lab 2: Calibrate Sensor
3.5
Lab 3: Natural Frequency
3.6
Results

9
9
10
12
13
13
13

Pressure Sensor
4.1
Background
4.2
Pressure Virtual Instrument
4.3
Lab 1: Collect Data
4.4
Lab 2: Calibrate Sensor
4.5
Results

14
14
15
16
17
17

Piezo Sensor
5.1
Background
5.2
Lab 1: Data Analysis
5.3
Lab 2: Natural Frequency

18
18
18
18

Potentiometer
6.1
Background
6.2
Potentiometer Virtual Instrument
6.3
Lab 1: Collect Data
6.4
Lab 2: Calibrate Sensor
6.5
Results

19
19
20
21
22
22

Infrared
7.1
7.2
7.3
7.4
7.5

Background
Potentiometer Virtual Instrument
Lab 1: Collect Data
Lab 2: Calibrate Sensor
Results

23
23
24
25
26
26

Sonar
8.1
8.2
8.3
8.4
8.5

Background
Sonar Virtual Instrument
Lab 1: Collect Data
Lab 2: Calibrate Sensor
Results

27
27
28
29
30
30

Optical Position
9.1
Background
9.2
Optical Virtual Instrument
9.3
Lab 1: Collect Data
9.4
Lab 2: Calibrate Sensor
9.5
Results

QNET MECHKIT Workbook - Student Version

31
31
32
33
34
34

v 1.0

10

Magnetic Field
10.1
Background
10.2
Magnetic Field Virtual Instrument
10.3
Lab 1: Collect Data
10.4
Lab 2: Calibrate Sensor
10.5
Results

35
35
36
37
38
38

11

Encoder
11.1
11.2
11.3
11.4
11.5

39
39
41
41
42
42

Background
Encoder Virtual Instrument
Lab 1: Analysis of A, B, and I Signals
Lab 2: Encoder Calibration
Results

12

Temperature Sensor
12.1
Background
12.2
Temperature Virtual Instrument
12.3
Lab 1: Collect Data
12.4
Lab 2: Calibrate Sensor
12.5
Results

43
43
45
46
47
47

13

Switches and LEDs

13.1
Background
13.2
Switches and LEDs Virtual Instrument
13.3
Lab 1: Optical Switch
13.4
Lab 2: Micro Switch
13.5
Lab 3: Push Button
13.6
Lab 4: LEDs
13.7
Results

48
48
50
53
54
54
54
55

14

Switch Debounce
Analysis
14.1
Background
14.2
Switches and LEDs Virtual Instrument
14.3
Lab 1: Running the Oscilloscope
14.4
Lab 2: Micro Switch
14.5
Lab 3: Push Button
14.6
Results

56
56
57
58
59
59
60

15

System Requirements
15.1
Overview of Files
15.2
Strain Gage with Flexible Link VI
15.3
Pressure Laboratory VI
15.4
Piezo VI
15.5
Potetiometer VI
15.6
Infrared Sensor Laboratory VI
15.7
Sonar Sensor VI
15.8
Optical Position Laboratory VI
15.9
Magnetic Field Laboratory VI
15.10
Encoder Laboratory VI
15.11
Temperature Laboratory VI
15.12
Switches and LEDs Laboratory VI
15.13
Switch Debounce Laboratory VI

61
61
62
64
66
68
70
72
74
76
78
80
81
84

16

Lab Report
16.1
Template for Content
(Strain Gage with Flexible Link)

85
86

QNET MECHKIT Workbook - Student Version

16.2
16.3
16.4
16.5
16.6
16.7
16.8
16.9
16.10
16.11
16.12
16.13

Template for Content

(Pressure Sensor)
Template for Content
(Piezo Film Sensor)
Template for Content
(Potentiometer)
Template for Content
(Infrared Sensor)
Template for Content
(Sonar Sensor)
Template for Content
(Optical Sensor)
Template for Content
(Magnetic Field Sensor)
Template for Content
(Encoder)
Template for Content
(Temperature Sensor)
Template for Content
(Switches and LEDs)
Template for Content
(Switch Debounce Analysis)
Tips for Report Format

QNET MECHKIT Workbook - Student Version

87
88
89
90
91
92
93
94
95
96
97
98

v 1.0

INTRODUCTION

Mechatronics engineering is a cross-disciplinary field that combines mechanical and electronic design in control
systems architecture though the application of computer programming. One of the most useful topics that can be
covered in an introductory mechatronics course is the understanding and application of sensors. Various sensors
are used in all types of industries. For example, in the automotive industry magnetic field transducers are used for
throttle, pedal, suspension, and valve position sensing. In assembly line and machine automation, optical sensors
are used for non-contact position sensing and safety. Piezo film sensors are installed in packages to log vibration
history of a shipment.
The QNET mechatronics sensors (MECHKIT) trainer is shown in Figure 1.1. It has ten types of sensors, two types
of switches, a push button, and two LEDS. This QNET module can be used to teach the physical properties of most
sensors used today, and the techniques and limitations of their application.

Figure 1.1: QNET Mechatronic Sensors Trainer (MECHKIT)

There are 12 experiments: strain gage with flexible link, pressure sensor, piezo sensor, potentiometer, infrared,
sonar, optical position, magnetic field, encoder, temperature sensor, switches and LEDs, and switch debounce
analysis. The experiments can be performed independently.
Topics Covered
Strain gauge to measure deflection
Piezo film sensor to measure vibration
Rotary potentiometer to measure position
Pressure and thermistor sensors
Long range sensors: sonar and infrared
Short range sensors: magnetic field and optical
Micro switch, push button, and optical switch
Light emitting diodes (LEDs)
Encoders
Switch debouncing
Prerequisites
In order to successfully carry out this laboratory, the user should be familiar with the following:
Using LabVIEWr to run VIs.

QNET MECHKIT Workbook - Student Version

SENSOR PROPERTIES

This section discusses various sensor properties that are often found in technical specifications.

2.1 Resolution
The resolution of a sensor is the minimum change that can be detected in the quantity that is being measured. For
instance a sensor that measures angular position of a motor shaft may only be able to detect a 1 degree change.
Thus if the motor moves 0.5 degrees, it will not be detected by the sensor. Depending on the precision needed for
the application, this may be adequate.

2.2 Range
Range sensors can only take measurements of a target within a certain operating range. The operating range
specifies a maximum, and sometimes also a minimum, distance where the target can be from the sensor in order to
obtain an accurate measurement. Sensors with a small range are the magnetic field and optical position sensors.
Sensor with a relatively larger range are infrared and sonar.

2.3 Absolute and Incremental

Absolute sensors detect a unique position. Incremental sensors measure a relative position that depends on a prior
position or last power on/off. For example, if an incremental rotary encoder is used to measure the position of wheel,
the encoder will measure zero every time its power is reset. If an absolute sensor such as a rotary potentiometer is
used, then it will detect the same angle regardless if it has just been powered.

2.4 Analog Sensor Measurement

Analog sensors output a signal that correlates to the quantity it is measuring. The relationship between the output
signal of the sensor and the actual measurement varies depending on the type of sensor. For example, the voltage
measured by a potentiometer is directly proportional to the angle it is measuring. However, the resistance of a
thermistor decreases exponentially as the temperature increases.
Some of the different ways to characterize analog sensors is illustrated in Figure 2.1.

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 2.1: Different sensor responses

Linear sensors can be modeled using the equation

(2.1)

y = ax + b

where a is the rate of change and b is the offset. Variable x is the sensor output signal and y is the measurement,
e.g. for the potentiometer x would be the voltage measured by the sensor and y would be the angular measurement
(in either degrees or radians). Other types of sensors need to be characterized by more complex relationship such
as polynomial
y = ax2 + bx + c

(2.2)

y = aebx

(2.3)

or exponential

QNET MECHKIT Workbook - Student Version

STRAIN GAGE WITH FLEXIBLE

LINK

3.1 Background
A strain gage measures strain, or deflection, of an object. As shown in Figure 3.1, in the QNET mechatronic sensors
trainer a strain gage is used to measure the deflection of a flexible link. As the link bends, the resistance of the strain
gage changes.

Figure 3.1: Strain gage measuring deflection of flexible link on QNET mechatronic sensors trainer
deflection of flexible link on QNET mechatronic sensors trainer.

QNET MECHKIT Workbook - Student Version

v 1.0

3.2 Strain Virtual Instrument

The virtual instrument used to collect data using the strain gage is shown in Figure 3.2. The virtual instrument used
to calibrate strain data is shown in Figure 3.3. The virtual instrument used to determine the natural frequency of the
flexible link is shown in Figure 3.4.

Figure 3.2: Collecting flexgage data

QNET MECHKIT Workbook - Student Version

10

Figure 3.3: Calibrating the strain gage sensor

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 3.4: Finding natural frequency of flexible link

3.3 Lab 1: Collect Data

1. Ensure J7 is set to Strain Gage.
2. Open and configure the QNET MECHKIT Flexgage VI as described in Section 15.2. Make sure the correct
Device is chosen.
3. Run QNET_MECHKIT_Flexgage.vi
4. Move the flexible link to -1 cm.
5. Enter the strain gage voltage reading in the Sensor Measurement (V) array (indicated in Figure 3.2).
6. Repeat for -0.5 cm, 0 cm, 0.5 cm, and 1.0 cm. A linear curve is automatically fitted to the data being entered
and its slope and intercept are generated.
7. Enter the measured voltages and capture the Sensor Readings scope.

QNET MECHKIT Workbook - Student Version

12

Parameter
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Gain
Offset

Value
at -1.0 cm
at -0.5 cm
at 0 cm
at 0.5 cm
at 1.0 cm

Units
V
V
V
V
V
cm/V
cm

Notes

Table 3.1: Strain gage results

8. Click on Stop button to stop the VI.

3.4 Lab 2: Calibrate Sensor

1. Run the QNET_MECHKIT_Flexgage.vi
2. Select the Calibrate Sensor tab and enter the slope and intercept obtained in Section 3.3 into the Calibration
Gain and Offset controls shown in Figure 3.3, below. When the link is moved, the slider indicator in the VI
should match up with the actual location of the flexible link on the QNET module.
3. Enter the gain and offset obtained.
4. Click on Stop button to stop the VI.

3.5 Lab 3: Natural Frequency

1. Run the QNET_MECHKIT_Flexgage.vi
2. Select the Natural Frequency tab.
3. Manually perturb the flexible link and stop the VI when it stops resonating (after about 5 seconds). The spectrum
should then load in the chart, as shown in Figure 3.4 (the value shown is incorrect).
4. Enter natural frequency found and capture the resulting power spectrum response. Hint: You can use the
cursor to take measurements off the graph.
5. Click on Stop button to stop the VI.

3.6 Results
Parameter
Gain
Offset
Natural Frequency

Value

Units
cm/V
cm
Hz

Notes

Table 3.2: Strain gage results summary

QNET MECHKIT Workbook - Student Version

v 1.0

PRESSURE SENSOR

4.1 Background
A pressure sensor is attached to the plunger on the QNET mechatronic board shown in Figure 4.1. This is a gage
pressure sensor and its measurements are relative to the atmospheric pressure. The voltage signal generated is
proportional to the amount of pressure in the vessel of the plunger. So as the plunger is pushed further, the air inside
the vessel becomes more compressed and the reading increases.

Figure 4.1: Pressure sensor on QNET mechatronic sensors trainer

Pressure sensors can also be used to indirectly measure other values. For example, in the QNET mechatronics
board the position of the plunger head is measured. It can also be used to measure the amount of volume in a
reservoir or the altitude of an aerial vehicle.

QNET MECHKIT Workbook - Student Version

14

4.2 Pressure Virtual Instrument

The virtual instrument used to collect data using the strain gage is shown in Figure 3.2. The virtual instrument used
to calibrate strain data is shown in Figure 3.3. The virtual instrument used to determine the natural frequency of the
flexible link is shown in Figure 3.4.

Figure 4.2: Collecting pressure data

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 4.3: Calibrating the pressure sensor

4.3 Lab 1: Collect Data

1. Ensure J9 is set to Pressure.
2. Open and configure the QNET MECHKIT Pressure VI as described in Section 15.3. Make sure the correct
Device is chosen.
 Important: Completely remove the plunger from the tube and re-insert it. This will ensure the chamber is
pressurized enough.
3. Run QNET_MECHKIT_Pressure_Sensor.vi
4. Push the plunger up to the 6 cm marked on the MECHKIT board and measure the resulting voltage using the
Pressure (V) scope (or the digital display).
5. Enter the result in the Sensor Measurement (V) array, as indicated in Figure 4.2.
6. Repeat for when the plunger is at 5.0 cm, 4.0 cm, 3.0 cm, 2.0 cm, 1.0 cm, and 0 cm. The pressure sensor is
quadratic. The coefficients for the second-order polynomial are generated and the fitted curve is automatically
plotted.
7. Enter collected results and capture the Sensor Readings scope.

QNET MECHKIT Workbook - Student Version

16

Parameter
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:

Value
at 6.0 cm
at 5.0 cm
at 4.0 cm
at 3.0 cm
at 2.0 cm
at 1.0 cm
at 0.0 cm

Units
V
V
V
V
V
V
V

Notes

Table 4.1: Pressure sensor results

8. Click on Stop button to stop the VI.

4.4 Lab 2: Calibrate Sensor

1. Run the QNET_MECHKIT_Pressure_Sensor.vi
2. In the Calibrate Sensor tab, enter the polynomial coefficients, as illustrated in Figure 4.3, to measure correct
position of the plunger. Verify that the sensor is reading properly, e.g. display should read 0.5 cm when plunger
is placed at 0.5 cm.
3. Enter the a, b, and c, parameters used.
4. Click on Stop button to stop the VI.

4.5 Results
Parameter
a
b
c

Value

Units
cm/V2
cm/V
cm

Notes

Table 4.2: Pressure sensor results summary

QNET MECHKIT Workbook - Student Version

v 1.0

PIEZO SENSOR

5.1 Background
Piezo sensors measure vibration. The piezo sensor on the QNET-MECHKIT trainer, shown in Figure 5.1, is connected to a plastic band that has a brass disc weight at the end.

Figure 5.1: Piezo sensor on the QNET mechatronic sensors trainer

5.2 Lab 1: Data Analysis

1. Ensure J8 is set to Piezo.
2. Open and configure the QNET MECHKIT Piezo VI as described in Section 15.4. Make sure the correct
Device is chosen.
3. Run QNET_MECHKIT_Piezo.vi
4. Manually perturb the plastic band that is attached to the piezo sensor by flicking it and examine the response
in the Piezo (V) scope.
5. Grab the end of the plastic band and move it slowly up and down. Examine the response.
6. Based on these two tests, what does the Piezo sensor measure? How is this different then a strain gage
measurement? Capture a sample Piezo (V) scope response after it has been perturbed (by flicking it).
7. Click on Stop button to stop the VI.

5.3 Lab 2: Natural Frequency

1. Run the QNET_MECHKIT_Piezo.vi
2. Manually perturb the piezo sensor.
3. Capture the resulting power spectrum response and give the measured natural frequency. Hint: You can use
the cursor to take measurements off the graph.
4. Click on Stop button to stop the VI.

QNET MECHKIT Workbook - Student Version

18

POTENTIOMETER

6.1 Background
Rotary potentiometers are absolute analog sensors used to measure angular position, such as a load shaft of a
motor. They are great to obtain a unique position measurement. However, caution must be used as their signal is
discontinuous. That is, after a few revolutions potentiometers will reset their signal back to zero. The potentiometer
on the QNET MECHKIT board is shown in Figure 6.1.

Figure 6.1: Potentiometer knob on QNET mechatronic sensors trainer

QNET MECHKIT Workbook - Student Version

v 1.0

6.2 Potentiometer Virtual Instrument

The virtual instrument used to collect data using the potentiometer is shown in Figure 6.2. The virtual instrument
used to calibrate potentiometer data is shown in Figure 6.3.

Figure 6.2: Collecting potentiometer data

QNET MECHKIT Workbook - Student Version

20

Figure 6.3: Calibrating the potentiometer

6.3 Lab 1: Collect Data

1. Ensure J10 is set to POT.
2. Open and configure the QNET MECHKIT Potentiometer VI as described in Section 15.5. Make sure the correct Device is chosen.
3. Run QNET_MECHKIT_Potentiometer.vi
4. Rotate the arrowhead of the potentiometer to a certain position, e.g. 45 degrees.
5. Enter the position in the Pot Angle (deg) array, as indicated in Figure 6.2.
6. Enter corresponding measured sensor voltage in Sensor Measurement (V) array (shown in Figure 6.2).
7. Fill out table with an appropriate amount of data points. Notice that as the measured potentiometer readings
are entered, a curve is automatically generated to fit the data. The slope and intercept of this line is generated
as well.
8. Enter the collected data and capture the Sensor Reading chart.

QNET MECHKIT Workbook - Student Version

v 1.0

Parameter
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Gain
Offset

Value
at 0 deg
at 45 deg
at 90 deg
at 135 deg
at 180 deg

Units
V
V
V
V
V
deg/V
deg

Notes

Table 6.1: Potentiometer sensor results

9. Click on Stop button to stop the VI.

6.4 Lab 2: Calibrate Sensor

1. Run QNET_MECHKIT_Potentiometer.vi
2. In the Calibrate Sensor tab, set the Gain and Offset controls, as indicated in Figure 6.3, to values such that
the potentiometer measures the correct angle. Verify that the sensor is reading properly, e.g. when pot arrow
is turned to 45.0 deg, the Display: Potentiometer (deg) knob indicator should read 45.0 degrees.
3. Enter Gain and Offset values used.
4. Click on Stop button to stop the VI.

6.5 Results
Parameter
Gain
Offset

Value

Units
deg/V
deg

Notes

Table 6.2: Potentiometer sensor results summary

QNET MECHKIT Workbook - Student Version

22

INFRARED

7.1 Background
Infrared (IR) sensors are widely used in robots, automotive systems, and various other applications that require
an accurate, medium-range non-contact position measurement. An IR sensor is typically composed of an infrared
emitting diode (IRED), a position sensing detector (PSD), and a signal processing circuit. It outputs a voltage the
correlates to the distance of the remote target. The infrared distance measuring sensor on the QNET MECHKIT
board is shown in Figure 7.1.

Figure 7.1: IR sensor on QNET mechatronic sensors trainer

Infrared-based distance sensors typically have a smaller maximum range than sonar but the resolution is better.

QNET MECHKIT Workbook - Student Version

v 1.0

7.2 Potentiometer Virtual Instrument

The virtual instrument used to collect data using the IR sensor is shown in Figure 7.2. The virtual instrument used
to calibrate IR range data is shown in Figure 7.3.

Figure 7.2: Collecting IR data

QNET MECHKIT Workbook - Student Version

24

Figure 7.3: Calibrating the IR sensor

7.3 Lab 1: Collect Data

1. Ensure J10 is set to Infrared.
2. Open and configure the QNET MECHKIT Infrared VI as described in Section 15.6. Make sure the correct
Device is chosen.
3. Run QNET_MECHKIT_Infrared.vi
4. Turn ON the IR switch to enable the Infrared sensor. The IR ON LED should be lit bright red.  Important:
Make sure you turn OFF the IR switch when the experiment is over. When active, the infrared sensor tends to
generate noise in other sensor measurements.
5. Get a target, such as a sturdy piece of cardboard, that is at least 10 by 10 cm2 with a reflective colour like white
or yellow.
6. Begin with the target close to the IR sensor and slowly move it away.
7. Once its range of operation is found, enter the distance between the target and the IR sensor in the Target
Range (cm) array, as shown in Figure 7.2.
8. Enter the corresponding measured voltage from the IR sensor in the Sensor Measurement (V) array, as shown
in Figure 7.2.
QNET MECHKIT Workbook - Student Version

v 1.0

9. Repeat for different target positions. The IR sensor is quadratic. As the measurements are entered, the
coefficients for the second-order polynomial are generated and the fitted curve is automatically plotted.
10. Record your distance and voltage observations and capture the corresponding Sensor Readings scope.
Parameter
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:

Value
at 17cm
at 22 cm
at 27 cm
at 32 cm
at 37 cm
at 42 cm
at 47 cm
at 52 cm
at 57 cm

Units
V
V
V
V
V
V
V
V
V

Notes

Table 7.1: IR sensor results

11. What did you notice when the target is close to the IR sensor? That is, did the behaviour of the sensor change
when the target was in close proximity as opposed to being further away?
12. Click on Stop button to stop the VI.

7.4 Lab 2: Calibrate Sensor

1. Run QNET_MECHKIT_Infrared.vi
2. In the Calibrate Sensor tab, enter the polynomial coefficients to correctly measure the distance of the target.
Check that it is measuring correctly, e.g. when target is 25.0 cm away, the display should read 25.0 cm.
3. Enter the a, b and c values used in Table 7.2.
4. Click on Stop button to stop the VI.

7.5 Results
Parameter
a
b
c

Value

Units
cm/V2
cm/V
cm

Notes

Table 7.2: IR sensor results summary

QNET MECHKIT Workbook - Student Version

26

SONAR

8.1 Background
Often used in mobile robotics, sonar sensors are fitted with an emitter that generates ultrasonic waves and a receiver
that captures them after hitting a target. A timer calculates how long it takes for the signal to return and, given the
speed of sound in air, the distance of the remote target is measured. The sonar ranger on the mechatronic trainer
is pictured in Figure 8.1.

Figure 8.1: Sonar sensor on QNET mechatronic sensors trainer

Sonar sensors are great for long-distance measurements. For example, the one mounted on mechatronic board
can go up to 21 feet. However, in general, these devices do not have good close-range measurements and their
resolution can be relatively coarse.

QNET MECHKIT Workbook - Student Version

v 1.0

8.2 Sonar Virtual Instrument

The virtual instrument used to collect data using the sonar sensor is shown in Figure 8.2. The virtual instrument
used to calibrate sonar range data is shown in Figure 8.3.

Figure 8.2: Collecting sonar data

QNET MECHKIT Workbook - Student Version

28

Figure 8.3: Calibrating the sonar sensor

8.3 Lab 1: Collect Data

1. Ensure J9 is set to Sonar.
2. Open and configure the QNET MECHKIT Sonar VI as described in Section 15.7. Make sure the correct
Device is chosen.
3. Run QNET_MECHKIT_Sonar.vi
4. Get a target, such as a sturdy piece of cardboard, that is at least 10 by 10 cm2 with a reflective colour like white
or yellow.
5. Begin with the target close to the sonar sensor and slowly move it upwards.
6. Once its range of operation is found, enter the distance between the target and the sonar sensor in the Target
Range (cm) array, as shown in Figure 8.2.
7. Enter the corresponding measured voltage from the sonar sensor in the Sensor Measurement (V) array, as
shown in Figure 8.2.
8. Repeat for different target positions. The sonar sensor is linear. The slope and intercept are generated and
the fitted curve is automatically plotted.

QNET MECHKIT Workbook - Student Version

v 1.0

9. Enter your collected target distances and voltages. Capture the Sensor Readings scope as well.
Parameter
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:

Value
at 7 cm
at 8 cm
at 9 cm
at 10 cm
at 11 cm

Units
V
V
V
V
V

Notes

Table 8.1: Sonar sensor results

10. What is the resolution and operating range of the sonar sensor? How does the resolution and range compare
with the IR sensor?
11. Click on Stop button to stop the VI.

8.4 Lab 2: Calibrate Sensor

1. Run QNET_MECHKIT_Sonar.vi
2. Select the Calibrate Sensor tab and enter Gain and Offset coefficients to correctly measure the distance of the
target. Make sure the coefficients are correct, e.g. when the target is 10.0 inches away then the Sonar (inch)
display should read 10.0 inches.
3. Enter Gain and Offset values used in Table 8.2.
4. Click on Stop button to stop the VI.

8.5 Results
Parameter
Range
Resolution
Gain
Offset

Value

Units
cm
cm
cm/V
cm

Notes

Table 8.2: Sonar sensor results summary

QNET MECHKIT Workbook - Student Version

30

OPTICAL POSITION

9.1 Background
Optical position sensors are used in applications such as assembly lines, machine automation, and even edge
detection in robots. The optical position sensor on the QNET mechatronic sensors board is the black plastic housing
located at the bottom of Figure 9.1. An infrared emitting diode and an NPN silicon phototransistor are mounted
side-by-side and are used to measure the position of a target. This sensor has a range of 0.25 inches.

Figure 9.1: Optical position sensor (bottom) and target position knob (top) on QNET mechatronic sensors trainer

QNET MECHKIT Workbook - Student Version

v 1.0

9.2 Optical Virtual Instrument

The virtual instrument used to collect data using the optical position sensor is shown in Figure 9.2. The virtual
instrument used to calibrate optical position data is shown in Figure 9.3.

Figure 9.2: Collecting optical position data

QNET MECHKIT Workbook - Student Version

32

Figure 9.3: Calibrating the optical position sensor

9.3 Lab 1: Collect Data

1. Ensure J7 is set to Optical Position.
2. Open and configure the QNET MECHKIT Optical Position VI as described in Section 15.8. Make sure the
correct Device is chosen.
3. Run QNET_MECHKIT_Optical.vi
4. Gently turn the knob of the optical position sensor clockwise until the flat metal surface gently rests on top of
the tube. Then, rotate the knob slightly counter-clockwise so the 0 mark on the knob faces up. At this point,
the reflective target is very close to the optical sensor and will be the reference 0 inch position. Enter the 0
position in the first element of the Target Range (inch) array, shown in Figure 9.2.
5. Enter the voltage measured by the optical position sensor, when the target is 0 inches away, in the Sensor
Measurement (V) array, as indicated in Figure 9.2.
6. Turn the knob counter-clockwise one rotation to move the target further from the sensor. The target moves
1-inch for every 20 turns. Enter the position the target has moved from the reference in the Target Range (inch)
array, which is shown in Figure 9.2.
7. Record the measured sensor voltage in the Sensor Measurement (V) array.
QNET MECHKIT Workbook - Student Version

v 1.0

8. Take samples for the entire range of the target (i.e. until the knob cannot be rotated CCW anymore). Remark
that the optical position sensor is exponential. As data is being entered, the exponential parameters are
generated and the fitted curve is automatically plotted.
9. Enter the measured sensor data and capture the Sensor Readings response.
Parameter
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:

Value
at 0 in.
at 0.025 in.
at 0.050 in.
at 0.075 in.
at 0.100 in.
at 0.125 in.
at 0.150 in.
at 0.175 in.
at 0.200 in.
at 0.225 in.
at 0.250 in.
at 0.28 in.

Units
V
V
V
V
V
V
V
V
V
V
V
V

Notes

Table 9.1: Optical position sensor results

10. Click on Stop button to stop the VI.

9.4 Lab 2: Calibrate Sensor

1. Run QNET_MECHKIT_Optical.vi
2. Select the Calibrate Sensor tab, enter values for the Gain and Damping exponential function parameters, as
shown in Figure 9.3, to correctly measure the distance of the target, e.g. when target is 0.10 inches away then
display should read 0.10 inches.
3. Enter the Gain and Damping parameters used into Table 9.2.
4. Click on Stop button to stop the VI.

9.5 Results
Parameter
Gain
Damping

Value

Units
in

Notes

Table 9.2: Optical position sensor results

QNET MECHKIT Workbook - Student Version

34

10 MAGNETIC FIELD
10.1

Background

A magnetic field transducer outputs a voltage proportional to the magnetic field that is applied to the target. The
magnetic field sensor is the chip located on the bottom of Figure 10.1. It applies a magnetic field perpendicular to
the flat screw head. The position of the screw head is changed by rotating the knob. This magnetic field transducer
has a similar range to the optical position sensor.

Figure 10.1: Magnetic field transducer on QNET mechatronic sensors trainer

QNET MECHKIT Workbook - Student Version

v 1.0

10.2

Magnetic Field Virtual Instrument

The virtual instrument used to collect data using the magnetic field transducer is shown in Figure 10.2. The virtual
instrument used to calibrate magnetic field data is shown in Figure 10.3.

Figure 10.2: Collecting magnetic field data

QNET MECHKIT Workbook - Student Version

36

Figure 10.3: Calibrating the magnetic field transducer

10.3

Lab 1: Collect Data

1. Ensure J8 is set to Magnetic Field.

2. Open and configure the QNET MECHKIT Magnetic Field VI as described in Section 15.9. Make sure the
correct Device is chosen.
3. Run QNET_MECHKIT_Magnetic_Field.vi
4. Gently turn the knob of the magnetic field sensor clockwise until it is at its limit. Then, rotate the knob slightly
counter-clockwise so the 0 mark on the knob faces up. This will be reference 0 cm target position. Enter this
in the Target Range (cm) array, shown in Figure 10.2.
5. Enter the voltage measured from the magnetic field position sensor for the reference 0 cm position in the
Sensor Measurement (V) array. The array is indicated in Figure 10.2.
6. Turn the knob counter-clockwise one rotation to move the target further from the sensor. The target moves
1-inch for every 20 turns. Enter the position the target has moved from the reference in the Target Range (cm)
array.
7. Record the measured sensor voltage in the Sensor Measurement (V) array.

QNET MECHKIT Workbook - Student Version

v 1.0

8. Take samples for the entire range of the target (i.e. until the knob cannot be rotated CCW anymore). The
magnetic field sensor is exponential. The parameters of the exponential function are outputted and the fitted
curve is automatically plotted as data is entered.
9. Enter the range and measured sensor voltages and capture the Sensor Readings scope.
Parameter
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:
Sensor Measurement:

Value
at 0 in.
at 0.025 in.
at 0.050 in.
at 0.075 in.
at 0.100 in.
at 0.125 in.
at 0.150 in.
at 0.175 in.
at 0.200 in.

Units
V
V
V
V
V
V
V
V
V

Notes

Table 10.1: Magnetic field transducer results

10. Click on Stop button to stop the VI.

10.4

Lab 2: Calibrate Sensor

1. Run QNET_MECHKIT_Magnetic_Field.vi
2. Enter Gain and Damping exponential function parameters to correctly measure the distance of the target. For
instance, when target is at 0.10 inches from the reference, then the display should read 0.10 inches.
3. Record Gain and Damping parameters used for correct measurement.
4. Click on Stop button to stop the VI.

10.5

Results

Parameter
Gain
Damping

Value

Units
in/V

Notes

Table 10.2: Magnetic field transducer results summary

QNET MECHKIT Workbook - Student Version

38

11 ENCODER
11.1

Background

Similar to rotary potentiometers, encoders can also be used to measure angular position. There are many types
of encoders but one of the most common is the rotary incremental optical encoder, shown in Figure 11.1. Unlike
potentiometers, encoders are relative. The angle they measure depends on the last position and when it was last
powered. It should be noted, however, that absolute encoders are available.

Figure 11.1: US Digital incremental rotary optical shaft encoder

The encoder has a coded disk that is marked with a radial pattern. As the disk rotates (with the shaft), the light
from an LED shines through the pattern and is picked up by a photo sensor. This effectively generates the A and B
signals shown in Figure 11.2. An index pulse is triggered once for every full rotation of the disk, which can be used
for calibration or homing a system.

Figure 11.2: Optical incremental encoder signals

The A and B signals that are generated as the shaft rotates are used in a decoder algorithm to generate a count. The
resolution of the encoder depends on the coding of the disk and the decoder. For example, an encoder with 1024
lines on the disk can generate a total of 1024 counts for every rotation of the encoder shaft. However, in a quadrature
decoder the number of counts quadruples, therefore the encoder would generate 4098 counts per revolution.
The encoder knob on the QNET mechatronic sensors trainer is pictured in Figure 11.3 and the corresponding A, B,
QNET MECHKIT Workbook - Student Version

v 1.0

and Index signals are displayed on the LEDs shown in Figure 11.4.

Figure 11.3: Encoder wheel on QNET mechatronic sensor

trainer

Figure 11.4: Encoder LEDs on QNET mechatronic sensor

trainer

QNET MECHKIT Workbook - Student Version

40

11.2

Encoder Virtual Instrument

The virtual instrument used to collect and calibrate encoder data is shown in Figure 11.5.

Figure 11.5: Running the encoder VI

11.3

Lab 1: Analysis of A, B, and I Signals

1. Ensure J7 is set to Enc A, J8 is set to Enc B, and J10 is set to Enc I.

2. Open and configure the QNET MECHKIT Encoder VI as described in Section 15.10. Make sure the correct
Device is chosen.
3. Run QNET_MECHKIT_Encoder.vi
4. Turn the encoder knob clockwise and examine the response of the A and B signals. Note that the signals
are offset by 2.5 V for display purposes. Similarly, turn the encoder knob counter-clockwise and enter your
observation.
5. When is the index pulse triggered? What can this be used for?
6. Click on Stop button to stop the VI.

QNET MECHKIT Workbook - Student Version

v 1.0

11.4

Lab 2: Encoder Calibration

1. Run QNET_MECHKIT_Encoder.vi
2. Using the 16-bit Position (counts) indicator on the VI, as shown in Figure 11.5, rotate the knob and determine
how how many counts there are per revolution. Enter your result in the Counts per rev box in the VI. Rotate
the knob and confirm that the Angle (deg) indicator is displaying an accurate angle.
3. Turn the knob such that the 0 is in the upward position and reset the counter by clicking on the Reset button.
4. Enable the index by clicking on the Enable Index button.
5. Rotate the knob a full CW turn until the index is triggered. Keep turning the knob until the 0 mark on the knob is
pointing upwards. What do you notice about the 16-bit Position (counts) and the Angle (deg) indicator values?
6. Adjust the Reload Value such that Angle (deg) measures 0 degrees when the 0 mark of the knob is pointing
up. Confirm this by moving the knob CW.
7. Enter the Count per rev and the Reload Value values used for a calibrated measurement.
8. Position the knob such that its 0 label is pointing upwards again. The Counts per rev and Angle (deg) should
both be reading 0. Rotate the knob in the CCW fashion one full rotation. Is Angle (deg) reading 0 degrees?
Discuss why or why not.
9. Click on Stop button to stop the VI.

11.5

Results
Encoder Knob Rotation
Clockwise
Counter-clockwise

A or B Signal Leads?

Table 11.1: A and B signals and encoder rotation

Parameter
Counts per rev
Reload Value

Value

Units
counts/rev
counts

Notes

Table 11.2: Encoder calibration

QNET MECHKIT Workbook - Student Version

42

12 TEMPERATURE SENSOR
12.1

Background

As described in [3], there are several different types of transducers available to measure temperature: the thermocouple, the resistance temperature detector (RTD), the thermistor, and the integrated circuit (IC). Each have their
own advantages and disadvantages. The Thermocouple has a wide temperature range and is easy to use but is the
least stable and sensitive. The RTD, on the other hand, is most stable and accurate of the sensors but is slow and
relatively more expensive. The IC is the only linear transducer, has the highest output, but is slow. The thermistor
responds very quickly but has a limited temperature range. The thermistor on the mechatronic sensors board is
shown in Figure 12.1.

Figure 12.1: Temperature sensor on QNET mechatronic sensors trainer

The thermistor is a resistor that changes value according to the temperature. As given in [4], the relationship between
the resistance of the thermistor and the temperature, T , can be described using the B-parameter equation
(
B

R = R0 e

1 1

T T0

(12.1)

The resistance is R0 when the temperature is at T0 . For the thermistor on the mechatronic sensors trainer, the
sensor resistance is
R0 = 47000

(12.2)

T0 = 298.15 K

(12.3)

when the temperature is at 25 degrees Celsius, or

Thermistors are typically part of a circuit. In the QNET mechatronic sensors trainer, the thermistor is in the circuit
shown in Figure 12.2 and labeled by R.
QNET MECHKIT Workbook - Student Version

v 1.0

Figure 12.2: Thermistor circuit on QNET mechatronic sensors module

Using the voltage divider rule, the voltage entering the negative terminal of the second operation amplifier, i.e. the
offset op amp, is

vi =

30(R + 10000)
15
67000 + R

(12.4)

The output voltage of the circuit is

vo = Av (voff vi )

(12.5)

where vo f f is the voltage adjusted using the Offset potentiometer and Av is the amplifier gain that can be changed
externally using the Gain potentiometer. The Gain and Offset potentiometers are on the QNET mechatronic sensor
trainer and shown in Figure 12.3.

Figure 12.3: Thermistor Gain and Offset potentiometers on QNET mechatronic sensors trainer

QNET MECHKIT Workbook - Student Version

44

12.2

Temperature Virtual Instrument

The virtual instrument used to collect temperature data is shown in Figure 12.4. The virtual instrument used to
calibrate temperature data is shown in Figure 12.5.

Figure 12.4: Collecting temperature sensor data

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 12.5: Calibrating the temperature sensor

12.3

Lab 1: Collect Data

1. Ensure J9 is set to Temperature.

2. Open and configure the QNET MECHKIT Temperature VI as described in Section 15.11. Make sure the correct Device is chosen.
3. Run QNET_MECHKIT_Temperature.vi
4. As discussed in Section 12.1, the thermistor is part of a circuit and the output voltage can be varied using
the Gain and Offset potentiometers on the QNET mechatronic sensors board. Rotate the Gain knob on the
counter-clockwise until it hits its limit.
5. Adjust the Offset knob such that the Temperature Sensor (V) scope reads 0 V. This is the voltage measured at
room temperature, T0 = 298 K. Note: For this step, assume your room is at 25.0 degrees Celsius ( C) even
though it's probably warmer or cooler.
6. Gently place your fingertip on the temperature sensor and examine the response in the Temperature Sensor
(V) scope. The surface temperature of the fingertip is approximately 32.0 C. Enter the voltage read at room
temperature and with the fingertip.
Note: The thermistor is very sensitive. Do not press down too hard on the sensor with your finger when taking

QNET MECHKIT Workbook - Student Version

46

measurements. Otherwise, the measurement will not be consistent.

Note: After releasing the sensor it takes a a while for the temperature reading to settle back to 0 V. You can
bring the temperature down faster by gently blowing on the sensor.
7. Click on Stop button to stop the VI.

12.4

Lab 2: Calibrate Sensor

12.4.1 Pre-Lab Exercises

1. The voltage being measured on the QNET MECHKIT is the output voltage, vo , of the circuit discussed Section 12.1. Using the circuit and its corresponding equations, derive the formula that can be used to find the
thermistor resistance from the output voltage of the circuit, R.
2. Find the thermistor resistance at room temperature, R0 , and at the fingertip, R.
3. Derive the equation to find the exponential parameter, B, and compute it based on the obtained results.

12.4.2 In-Lab Experiment

1. Run the QNET_MECHKIT_Temperature.vi
2. Enter the B parameter that was found in Section 12.4.1 in the Temperature Sensor VI, as shown in Figure
12.5. Place your fingertip on the sensor and capture the obtained response in Temperature Sensor (deg C)
scope.
3. Based on the measured response in Step 2, is the temperature sensor reading correctly?
4. Click on Stop button to stop the VI.

12.5

Results

Temperature ( C)
25
32

Temperature (K)
298
305

Measured Voltage (V)

Units
V
V

Notes
Voltage at room temp, T0
Voltage with finger, T

Table 12.1: Measured thermistor readings summary

Temperature ( C)
25
32

Temperature (K)
298
305

Measured Resistance ()

Units

Notes
Resistance at room temp, R0
Resistance with finger, R

Table 12.2: Measured thermistor resistances summary

QNET MECHKIT Workbook - Student Version

v 1.0

13 SWITCHES AND LEDS

13.1

Background

13.1.1 Switches
Different applications call for different types of switches. For example, a micro switch may be used to detect mobile
robot hitting a wall whereas an optical switch could be used to detect an edge. The push button is the most common
type of switch mechanism. A switch that is active high means the output is high, e.g. 5.0 V, when the switch is
triggered (e.g. pressed down). Active low means the signal is high, e.g. 5.0 V, when the switch is not engaged (e.g.
not pressed down).
The different switches on the QNET mechatronic sensors trainer are introduced in this section followed by a discussion about debouncing.
Micro Switch
The micro switch is an active low device and is shown in Figure 13.1.

Figure 13.1: Micro switch on QNET mechatronic sensors

Push Button
The push button on the QNET MECHKIT is pictured in Figure 13.2 and is active high.

QNET MECHKIT Workbook - Student Version

48

Figure 13.2: Push button on QNET mechatronic sensors trainer

Optical Switch
The optical switch, shown in Figure 13.3, is a photo-microsensor that includes transmissive and reflective components. As opposed to the push button and micro switch, this is a non-contact triggering solution. It is triggered when
the reflective sensor does not detect any light, i.e. when an object is placed between the components. It goes low
when no object is detected.

Figure 13.3: Optical switch on QNET mechatronic sensors trainer

Light Emitting Diodes (LEDs)

A light-emitting diode, or LED, is a low-energy and robust indicator that is used in many applications. The LEDs on
the mechatronic sensors trainer, labeled LED7 and LED8, are pictured in Figure 13.4. They are connected to digital
output lines from which they can be turned on and off. As with switches, LEDs can be wired to be active high or
active low.

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 13.4: LEDs on QNET mechatronic sensors trainer

13.2

Switches and LEDs Virtual Instrument

The virtual instrument used to collect optical switch data is shown in Figure 13.5. The virtual instruments used to
calibrate the micro switch, and push button are shown in Figure 13.6, and Figure 13.7 respectively. The virtual
instrument used to control the LEDs is shown in Figure 13.8.

Figure 13.5: Optical switch VI

QNET MECHKIT Workbook - Student Version

50

Figure 13.6: Calibrating micro switch

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 13.7: Calibrating the push button

QNET MECHKIT Workbook - Student Version

52

Figure 13.8: Setting the digital outputs

13.3

Lab 1: Optical Switch

1. Ensure J7 is set to Opto Switch.

2. Open and configure the QNET MECHKIT Switches and LEDs VI as described in Section 15.12. Make sure
the correct Device is chosen.
3. Run QNET_MECHKIT_Switches_and_LEDs.vi
4. Select the Opto Switch tab.
5. Take piece of paper and slide it up and down into the optical switch. Examine the raw responses in the Optical
Switch scope.
6. Adjust threshold, indicated in Figure 13.5, to obtain an on/off or 0/1 digital measurement in the Optical Switch
- Digital scope.
7. Record threshold used to get on/off measurement and paste the response of the Optical Switch and Optical
Switch - Digital scopes.
8. Click on Stop button to stop the VI.

QNET MECHKIT Workbook - Student Version

v 1.0

13.4

Lab 2: Micro Switch

1. Ensure J8 is set to Micro Switch.

2. Run QNET_MECHKIT_Switches_and_LEDs.vi
3. Select the Micro Switch tab.
4. Press on the micro switch and examine its raw response in Micro Switch scope.
5. Adjust the Gain and Offset, shown in Figure 13.6, such that this the signal goes from 0 to 1 in the Micro Switch
Digital scope when the micro switch is pressed.
6. Record the Gain and Offset used and capture representative Micro Switch and Micro Switch - Digital responses.
7. Click on Stop button to stop the VI.

13.5

Lab 3: Push Button

1. Ensure J9 is set to Push Button.

2. Run QNET_MECHKIT_Switches_and_LEDs.vi
3. Select the Push Button tab.
4. Press on the push button and examine its raw response in the Push Button scope.
5. Adjust the Gain and Offset, indicated in Figure 13.7, such that this signal goes from 0 to 1 in the Push Button
Digital scope when the push button is pressed.
6. Record the Gain and Offset parameters used and capture representative Push Button and Push Button - Digital
responses.
7. Explain how the micro switch and push button behave differently.
8. Click on Stop button to stop the VI.

13.6

Lab 4: LEDs

1. Run QNET_MECHKIT_Switches_and_LEDs.vi
2. Select the Digital Outputs tab.
3. As shown in Figure 13.8, switch DO 1 and DO 0 between the up/down positions and examine its effect on the
on-board LEDs.
4. Record what position, i.e. up or down, the DO 1 and DO 0 switches have to be in such that the DO 1 and DO
0 LEDs are lit.
5. Click on Stop button to stop the VI.

QNET MECHKIT Workbook - Student Version

54

13.7

Results

Parameter
Gain
Offset
Gain
Offset
DO 1 Switch position for DO 1 LED ON
DO 1 Switch position for DO 1 LED
OFF

Value

Units

Notes

Table 13.1: Switch and LED results summary

QNET MECHKIT Workbook - Student Version

v 1.0

14 SWITCH DEBOUNCE
ANALYSIS
14.1

Background

14.1.1 Switch Debouncing

When implemented digitally, debounce is a type of signal conditioning algorithm that ensures the switch, button, or
sensor does not trigger anything due to unexpected conditions.
For example, consider a high-powered cart that is mounted on a track. Proximity sensors are installed that detect
when the cart goes beyond a safety limit, in which case the amplifier is deactivated. However due to the highfrequency switching in the motor leads, the proximity switches are sometimes unexpectedly triggered even when
the cart is in the safe zone. The raw signal from the proximity sensor is shown in the top plot of Figure 14.1. To
avoid this, the output signal from the sensor is passed though a debounce switch and the resulting signal is shown
in the bottom plot of Figure 14.1.

Figure 14.1: Sample debounce response

Note: This laboratory is for the ELVIS II only. The ELVIS I does not have the functionality to perform this experiment

QNET MECHKIT Workbook - Student Version

56

14.2

Switches and LEDs Virtual Instrument

The NI ELVISmx Oscilloscope is shown in Figure 14.2. The virtual instrument used to analyze and debounce the
micro switch, and push button is shown in Figure 14.3.

Figure 14.2: NI ELVISmx Oscilloscope instrument when pressing micro switch

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 14.3: VI used to analyze debounce of micro switch and push button

14.3

Lab 1: Running the Oscilloscope

1. Ensure J8 is set to Micro Switch and J9 to Push Button.

2. Run the Oscilloscope NI ELVISmx instrument. By default, this is located under Start \All Programs \National
Instruments \NI ELVISmx \Instruments.
3. Click on the green start arrow to run the Oscilloscope.
4. To read the micro switch, set the Source control in Channel 0 Settings to AI 1 (i.e. analog input channel #1).
The response obtained should be similar as shown in Figure 14.2.
5. Press on the micro switch and ensure you are getting the expected signal. Since the Acquisition Mode is set
to continuous, the instrument keeps on running and the signal can be observed in real-time.
6. To examine the behaviour of the micro switch when it is engaged, configure the Trigger section to stop. Note:
If preferred, you can change the Acquisition Mode to Run Once so the oscilloscope stops when the trigger is
engaged.
7. If the trigger has been setup correctly, then the oscilloscope screen should capture a closeup view of the micro
switch signal as it goes from 5 V to 0 V.

QNET MECHKIT Workbook - Student Version

58

8. Try to setup the oscilloscope for the Push Button. This is on analog input channel #2 and you can choose to
configure it on the Channel 1 of the oscilloscope (if you do, make sure you enable the channel). Note: To
increase the sampling rate and obtain a more closeup view of the signal, decrease the Time/Div knob control.
9. When you are done, stop and close down the Oscilloscope instrument.
 Caution: Make sure any ELVISmx instrument, e.g. the oscilloscope, is closed before running any ELVIS II
based VIs. Otherwise the VI will not be able to run.

14.4

Lab 2: Micro Switch

1. Ensure J8 is set to Micro Switch.

2. The QNET MECHKIT Debounce VI, which is shown in Figure 14.3, has the same functionality as the Oscilloscope tool used in Section 14.3. It is already setup with a trigger and does not run continuously as the
oscilloscope instrument does. The Debounce VI is described in more detail in Section 15.13.
3. Run QNET_MECHKIT_Debounce.vi
4. Setup the Trigger for the Micro Switch (Ch #0).
5. Press the micro switch. The VI should stop and a response displayed on both graphs.
6. Capture the Micro Switch scope. What do you notice about the output signal from the micro switch?
7. Click on Stop button to stop the VI.

14.5

Lab 3: Push Button

1. Ensure J9 is set to Push Button.

2. Run QNET_MECHKIT_Debounce.vi
3. Setup the Trigger for the Push Button (CH #1) and enter the settings in Table 14.1.
4. Press the push button. The VI should stop and a response displayed on both graphs.
5. Capture the Push Button scope. What do you notice about the push button signal?
6. Which control would require debounce more micro switch or push button? Explain.
7. When triggering on one channel, notice that there is a signal on the other channel (e.g. when pressing the
micro switch observe the Ch1 scope). Capture representative plots and explain why this occurs.
8. Click on Stop button to stop the VI.

QNET MECHKIT Workbook - Student Version

v 1.0

14.6

Results

Trigger Parameters
Micro Switch
Type
Slope
Source
Level
Push Button
Type
Slope
Source
Level

Value

Units

Notes

V
Table 14.1: Debouncing trigger parameters summary

QNET MECHKIT Workbook - Student Version

60

15 SYSTEM REQUIREMENTS
Required Hardware
NI ELVIS II (or NI ELVIS I)
Quanser QNET Mechatronic Sensors Trainer. See QNET MECHKIT User Manual ([2]).
Required Software
NI LabVIEWr 2010 or later
NI DAQmx
NI LabVIEW Control Design and Simulation Module
ELVIS II Users: ELVISmx installed from ELVIS II CD.
ELVIS I Users: ELVIS CD 3.0.1 or later installed.
 Caution: If these are not all installed then the VI will not be able to run! Please make sure all the software
and hardware components are installed. If an issue arises, then see the troubleshooting section in the QNET VTOL
User Manual ([2]).

15.1

Overview of Files

File Name
QNET MECHKIT User Manual.pdf

QNET MECHKIT Lab Manual (Student).pdf

QNET_MECHKIT_Flexgage.vi
QNET_MECHKIT_Pressure Sensor.vi
QNET_MECHKIT_Piezo.vi
QNET_MECHKIT_Potentiometer.vi
QNET_MECHKIT_Infrared.vi
QNET_MECHKIT_Sonar.vi
QNET_MECHKIT_Optical.vi
QNET_MECHKIT_Magnetic_Field.vi
QNET_MECHKIT_Encoder.vi
QNET_MECHKIT_Temperature.vi
QNET_MECHKIT_Switches_and_LEDs.vi
QNET_MECHKIT_Switch_Debounce.vi

Description
This manual describes the hardware of the QNET Mechatronic Sensors trainer and how to setup the system on the
ELVIS.
This laboratory guide contains pre-lab questions and lab
experiments demonstrating how to calibrate and use sensors on the QNET MECHKIT trainer LabVIEWr .
Control the current in the propeller motor
Validate transfer function model and identify system parameters
Control the pitch of the VTOL device using PID
Calibrate potentiometer to get correct angle
Calibrate infrared sensor to measure target distance
Implement sonar sensor to measure target range
Calibrate optical sensor to measure the position of the flat
screw head, which can be adjusted using the knob
Implement magnetic field sensor to measure position of the
screw head, which can be adjusted using its knob
Used to teach the fundamentals of a rotary optical encoder
Calibrate thermistor to measure correct temperature
Change the on/off behaviour of the micro switch, push button, and optical switch and drive on-board LEDs
High-frequency analysis of micro switch and push button

Table 15.1: Files supplied with the QNET MECHKIT Laboratory.

QNET MECHKIT Workbook - Student Version

v 1.0

15.2

Strain Gage with Flexible Link VI

This VI can be used to view the strain gage measurements when moving the flexible link on the QNET mechatronic
sensors trainer. Table 15.2 lists and describes the main elements of the QNET Flexgage VI and every element is
uniquely identified by an ID number in Figure 15.1, Figure 15.2, and Figure 15.3.

Figure 15.1: QNET-MECHKIT Flexgage VI: Collect Data tab selected

QNET MECHKIT Workbook - Student Version

62

Figure 15.2: QNET-MECHKIT Flexgage VI: Calibrate tab

Figure 15.3: QNET MECHKIT Flexgage VI: Natural Frequency tab

QNET MECHKIT Workbook - Student Version

v 1.0

ID #
1
2
3
4
5
6
7
8
9
10
11
12

Label
Scope: Flexgage (V)
Link Position (cm)
Sensor Measurement (V)
Sensor Readings
Slope
Intercept
Gain (cm/V)
Offset (cm)
Slider: Flexgage (cm)
Scope: Flexgage (cm)
Graph: Power Spectrum
Cursor

13
14
15

Device
Sampling Rate
Stop

Description
Scope showing raw voltage measured by strain gage
Position of flexible link along printed graduated ruler on QNET board
Recorded strain gage measurement for each link position
Graph showing measured and curve fitted data
Slope computed by curve fitting algorithm
Intercept computed by curve fitting algorithm
Sensor calibration gain (slope)
Sensor calibration offset (intercept)
Displays position of flexible link using Gain and Offset parameter
Displays position of flexible link using Gain and Offset parameter
Graph showing power spectrum of flexible link (after being perturbed)
Displays numerically the location of the cursor on the Power Spectrum graph
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Unit
V
cm
V
cm/V
cm
cm/V
cm
cm
cm

Hz

Table 15.2: Nomenclature of QNET-MECHKIT Flexgage VI

15.3

Pressure Laboratory VI

This VI can be used to view the pressure sensor measurements as the plunger is moved at different locations within
the syringe on the QNET mechatronic sensors trainer. Table 15.3 lists and describes the main components of the
QNET Pressure Sensor VI and they are uniquely identified by an ID number in Figure 15.4 and Figure 15.5.

QNET MECHKIT Workbook - Student Version

64

Figure 15.4: QNET MECHKIT Pressure Sensor: Collect Data tab

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 15.5: QNET MECHKIT Pressure Sensor VI: Calibration tab

ID #
1
2

Label
Scope: Pressure Sensor (V)
Plunger Position (cm)

Sensor Measurement (V)

4
5
6
7
8
9
10
11
12

Graph: Sensor Readings

c (Collect Data tab)
b (Collect Data tab)
a (Collect Data tab)
a (Calibrate Sensor tab)
b (Calibrate Sensor tab)
c (Calibrate Sensor tab)
Scope: Pressure Sensor (cm)
Pressure (cm)

13
14
15

Device
Sampling Rate
Stop

Description
Scope showing raw voltage measured by pressure sensor
Position of syringe along printed graduated ruler on QNET
board
Recorded pressure sensor measurement for each plunger position
Graph showing measured and curve fitted data
Intercept computed by curve fitting algorithm
Slope computed by curve fitting algorithm
Rate of slope computed by curve fitting algorithm
Rate of slope computed by curve fitting algorithm
Slope computed by curve fitting algorithm
Intercept computed by curve fitting algorithm
Chart displays position of target using a, b, and c parameters
Slide indicator displays position of target using a, b, and c parameters
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Unit
V
cm
V

cm
cm/V
cm/V2
cm/V2
cm/V
cm
cm
cm

Hz

Table 15.3: Nomenclature of QNET-MECHKIT Pressure Sensor VI

15.4

Piezo VI

The QNET Piezo VI is used to view the piezo sensor readings as the plastic strip on the QNET MECHKIT is perturbed.
The components of the VI are listed in Table 15.4, and identified in Figure 15.6 and Figure 15.7.

QNET MECHKIT Workbook - Student Version

66

Figure 15.6: QNET MECHKIT Piezo Sensor VI: Collect Data tab

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 15.7: QNET MECHKIT Piezo Sensor VI: Natural Frequency tab

ID #
1
2
3

Label
Scope: Piezo (V)
Graph: Power Spectrum
Cursor

4
5
6

Device
Sampling Rate
Stop

Description
Scope showing raw voltage measured by piezo film sensor
Graph showing power spectrum of film (after being perturbed)
Displays numerically the location of the cursor on the Power Spectrum graph
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Unit
V

Hz

Table 15.4: Nomenclature of QNET-MECHKIT Piezo VI

15.5

Potetiometer VI

This VI can be used to view the potentiometer measurements when moving the potentiometer knob on the QNET
mechatronic sensors trainer. Table 15.5 lists and describes the main elements of the QNET Potentiometer VI and
every element is uniquely identified by an ID number in Figure 15.8 and Figure 15.9.

QNET MECHKIT Workbook - Student Version

68

Figure 15.8: QNET MECHKIT Potentiometer VI: Collect Data tab

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 15.9: QNET MECHKIT Potentiometer VI: Calibration tab

ID #
1
2
3
4
5
6
7
8
9

Label
Scope: Potentiometer (V)
Pot Angle (deg)
Sensor Measurement (V)
Sensor Readings
Slope
Intercept
Gain (deg/V)
Offset (deg)
Scope: Potentiometer (deg)

10

Knob: Potentiometer (deg)

11
12
13

Device
Sampling Rate
Stop

Description
Scope showing raw voltage measured by potentiometer
Angle of top arrow on the potentiometer knob
Recorded potentiometer measurement for each angle
Graph showing measured and curve fitted data
Slope computed by curve fitting algorithm
Intercept computed by curve fitting algorithm
Sensor calibration gain (slope)
Sensor calibration offset (intercept)
Displays angular position of potentiometer according to the Gain
and Offset parameters
Displays position of potentiometer according to the Gain and Offset parameters
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Unit
V
deg
V
deg/V
deg
deg/V
deg
deg
deg

Hz

Table 15.5: Nomenclature of QNET-MECHKIT Potentiometer VI

15.6

Infrared Sensor Laboratory VI

Use the QNET Infrared VI to view and calibrate the readings of the infrared sensor on the MECHKIT as the target
distance is changed. The components of the VI are listed in Table 15.6 and identified in Figure 15.10 and Figure
15.11.

QNET MECHKIT Workbook - Student Version

70

Figure 15.10: QNET MECHKIT Infrared Sensor VI: Collect Data tab

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 15.11: QNET MECHKIT Infrared Sensor VI: Calibration tab

ID #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

Label
Scope: Infrared Sensor (V)
Target Range (cm)
Sensor Measurement (V)
Graph: Sensor Readings
c (Collect Data tab)
b (Collect Data tab)
a (Collect Data tab)
a (Calibrate Sensor tab)
b (Calibrate Sensor tab)
c (Calibrate Sensor tab)
IR Sensor (cm)
IR (cm)
Device
Sampling Rate
Stop

Description
Scope showing raw voltage measured by infrared sensor
Distance between the target and IR sensor
Recorded IR measurement for each target position
Graph showing measured and curve fitted data
Intercept computed by curve fitting algorithm
Slope computed by curve fitting algorithm
Rate of slope computed by curve fitting algorithm
Rate of slope computed by curve fitting algorithm
Slope computed by curve fitting algorithm
Intercept computed by curve fitting algorithm
Displays target distance using a, b, and c parameters
Knob displays position of target using a, b, and c parameters
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Unit
V
cm
V
cm
cm/V
cm/V2
cm/V2
cm/V
cm
cm
cm
Hz

Table 15.6: Nomenclature of QNET-MECHKIT Infrared VI

15.7

Sonar Sensor VI

Use this VI to view the sonar measurements as a target is moved at different distances away from the sensor. Table
15.7 lists and describes the main components of the QNET Sonar VI and they are uniquely identified by an ID number
in Figure 15.12 and Figure 15.13.

QNET MECHKIT Workbook - Student Version

72

Figure 15.12: QNET MECHKIT Sonar VI: Collect Data tab

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 15.13: QNET MECHKIT Sonar VI: Calibration tab

ID #
1
2
3
4
5
6
7
8
9
10
11
12
13

Label
Scope: Sonar (V)
Target Range (in)
Sensor Measurement (V)
Sensor Readings
Slope
Intercept
Gain (deg/V)
Offset (deg)
Scope: Sonar (in)
Meter: Sonar (in)
Device
Sampling Rate
Stop

Description
Scope showing raw voltage measured by sonar
Distance between target and sonar sensor
Recorded sonar measurement for each target position
Graph showing measured and curve fitted data
Slope computed by curve fitting algorithm
Intercept computed by curve fitting algorithm
Sensor calibration gain (slope)
Sensor calibration offset (intercept)
Displays target position according to the Gain and Offset parameters
Displays target position according to the Gain and Offset parameters
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Unit
V
in
V
in/V
in
in/V
in
in
in
Hz

Table 15.7: Nomenclature of QNET-MECHKIT Sonar Sensor VI

15.8

Optical Position Laboratory VI

The QNET-MECHKIT Optical VI is used to view the measurements of the optical position sensor as the target is
moved at different locations using the knob. The components of the VI are described in Table 15.8 and identified in
Figure 15.14 and Figure 15.15.

QNET MECHKIT Workbook - Student Version

74

Figure 15.14: QNET MECHKIT Optical VI: Collect Data tab

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 15.15: QNET MECHKIT Optical VI: Calibration tab

ID #
1

Label
Scope: Optical Position Sensor (V)

2
3

Target Range (in)

Sensor Measurement (V)

4
5

Graph: Sensor Readings

a

7
8
9

Amplitude
Damping
Scope: Optical Position (in)

10

Display: Optical Position (in)

11
12
13

Device
Sampling Rate
Stop

Description
Scope showing raw voltage measured by optical position
sensor
Distance between the target and optical sensor
Recorded optical sensor measurement for each target position
Graph showing measured and curve fitted data
Exponential function amplitude parameter computed by
curve fitting algorithm
Exponential function decay/growth parameter computed
by curve fitting algorithm
Gain of exponential function
Exponential decay/growth factor of exponential function
Scope that shows position of target based on entered Amplitude and Damping parameters
Slider indicator displays position of target based on entered
Amplitude and Damping parameters
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Unit
V
in
V

in
in

Hz

Table 15.8: Nomenclature of QNET-MECHKIT Optical VI

15.9

Magnetic Field Laboratory VI

Using this VI, the magnetic field measurements can be read as the target is moved at different locations using the
knob on the QNET mechatronic sensors trainer. The components of the QNET Magnetic Field VI are summarized

QNET MECHKIT Workbook - Student Version

76

in Table 15.9 and identified in Figure 15.16 and Figure 15.17.

Figure 15.16: QNET MECHKIT Magnetic Field VI: Collect Data tab

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 15.17: QNET MECHKIT Magnetic Field VI: Calibration tab

ID #
1

Label
Scope: Magnetic Field Sensor (V)

2
3
4
5

Target Range (in)

Sensor Measurement (V)
Graph: Sensor Readings
a

7
8
9

Amplitude
Damping
Scope: Magnetic Field (in)

10

Display: Magnetic Field (in)

11
12
13

Device
Sampling Rate
Stop

Description
Scope showing raw voltage measured by magnetic field
sensor
Distance between the target and magnetic field sensor
Recorded sensor measurement for each target position
Graph showing measured and curve fitted data
Exponential function amplitude parameter computed by
curve fitting algorithm
Exponential function decay/growth parameter computed
by curve fitting algorithm
Gain of exponential function
Exponential decay/growth factor of exponential function
Scope that shows position of target based on entered Amplitude and Damping parameters
Slider indicator displays position of target based on entered
Amplitude and Damping parameters
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Unit
V
in
V

in
in

Hz

Table 15.9: Nomenclature of QNET-MECHKIT Magnetic Field VI

15.10

Encoder Laboratory VI

This VI shows the A, B, and Index signals generated by the rotary optical encoder on the QNET mechatronic sensors
trainer as the knob is rotated. The components of the QNET Encoder VI are described in Table 15.10 and identified
in Figure 15.18.

QNET MECHKIT Workbook - Student Version

78

Figure 15.18: QNET MECHKIT Encoder VI

ID #
1

Label
Scope: Encoder A and B (V)

2
3
4
5
6
7
8

Scope: Encoder Index (V)

Reset
Enable Index
16-bit Position (counts)
Counts per rev
Reload Value (counts)
Angle (deg)

9
10
11

Device
Sampling Rate
Stop

Description
Scope showing encoder A (blue) and B (red) voltage signals. Signals are offset by 2.5 V for viewing purposes
Scope displays the index trigger
Resets the encoder count
When enabled, the encoder count is reset on an index pulse
Count generated by decoder
Number of counts for every full rotation
Resets the count to this value
Angle measured by encoder according to the Counter per rev parameter
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Unit
V
V

Hz

Table 15.10: Nomenclature of QNET-MECHKIT Encoder VI

QNET MECHKIT Workbook - Student Version

v 1.0

15.11

Temperature Laboratory VI

The measured voltage output from the thermistor circuit is displayed on this VI as well as the calibrated temperature
reading. The QNET MECHKIT Temperature VI components are given in Table 15.11 and identified in Figure 15.19.

Figure 15.19: QNET MECHKIT Temperature VI

ID #
1
2
3
4
5

Label
R0
T0
B
Scope: Temperature Sensor (V)
Scope: Temperature Sensor (deg C)

Temperature (deg C)

7
8
9

Device
Sampling Rate
Stop

Description
Resistance of thermistor at temperature specified in T0
Room temperature in Kelvin
Thermistor equation exponential parameter
Scope shows the output voltage of the thermistor circuit
Scope displays the measured temperature based on
the T0 and B parameters entered
Thermometer displays the measured temperature
based on the T0 and B parameters entered
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Table 15.11: Nomenclature of QNET-MECHKIT Temperature VI

QNET MECHKIT Workbook - Student Version

80

Unit

Hz

15.12

Switches and LEDs Laboratory VI

The QNET MECHKIT Switches and LEDs VI allows users to view the output of the optical switch, micro switch,
and push button and calibrate them to obtain a desired on/off behaviour. This VI can also be used to drive the
digital output lines #0 and #1 that are connected to the LEDs on the QNET mechatronics sensors trainer. The VI
components are listed in Table 15.12 and identified in figures Figure 15.20, Figure 15.21, Figure 15.22, and Figure
15.23.

Figure 15.20: QNET MECHKIT Switches and LEDs VI: Opto Switch tab

QNET MECHKIT Workbook - Student Version

v 1.0

Figure 15.21: QNET MECHKIT Switches and LEDs VI: Micro Switch tab

Figure 15.22: QNET MECHKIT Switches and LEDs VI: Push Button tab

QNET MECHKIT Workbook - Student Version

82

Figure 15.23: QNET MECHKIT Switches and LEDs VI: Digital Outputs tab

ID #
1
2

Label
Scope: Optical Switch
Scope: Optical Switch - Digital

Threshold

4
5

Scope: Micro Switch

Scope: Micro Switch - Digital

6
7
8
9

Gain
Offset
Scope: Push Button
Scope: Push Button - Digital

10
11
12

Gain
Offset
DO 1

13

DO 0

14
15
16

Device
Sampling Rate
Stop

Description
Scope shows the optical switch output voltage
Scope displays readout of optical switch when passed through
Threshold switch
Adjusts the threshold of the optical switch that determines
when it is ON or OFF
Scope shows the micro switch output voltage
Scope displays calibrated micro switch output based on Gain
and Offset parameters.
Micro switch calibration gain
Micro switch calibration offset
Scope shows the push button output voltage
Scope displays calibrated push button output based on Gain
and Offset parameters.
Push button calibration gain
Push button calibration offset
Digital output to channel #1 - connected to LED7 on QNET
MECHKIT trainer
Digital output to channel #0 - connected to LED8 on QNET
MECHKIT trainer
Selects the NI DAQ device
Sets the sampling rate of the VI
Stops the LabVIEW VI from running

Unit
V

V
V

Hz

Table 15.12: Nomenclature of QNET-MECHKIT Switches and LEDs VIs

QNET MECHKIT Workbook - Student Version

v 1.0

15.13

Switch Debounce Laboratory VI

In this VI, the triggered output of the Micro Switch and the Push Button can be viewed. The ELVISmx Oscilloscope
VI is setup to monitor either the Micro Switch or Push Button analog input lines at a sample rate 100 kHz. Once the
signal is triggered, the VI automatically stops and outputs a 1k sample of the voltage output. In effect, this gives a a
10 ms sample of the signal. See Table 15.13 for a listing of the VI components that are shown in Figure 15.24.

Figure 15.24: QNET MECHKIT Debounce VI

ID #
1
2
3

Label
Type
Source
Slope

6
4
5
7

Level (V)
Graph: Micro Switch/ELVIS Ch0
Graph: Push Button/ELVIS Ch1
Device

Description
Type of signal trigger
Select which ELVIS channel (0 or 1) to trigger
Select whether the trigger is to occur when the edge is rising
(positive) or decreasing (negative)
Threshold of the trigger
Graph displays the triggered micro switch output
Graph displays the triggered push button output
Selects the NI DAQ device

Table 15.13: Nomenclature of QNET-MECHKIT Debouncing VI

QNET MECHKIT Workbook - Student Version

84

Unit

16 LAB REPORT
This laboratory contains twelve groups of experiments, namely,
1. Flexgage,
2. Pressure Sensor,
3. Piezo Film Sensor,
4. Potentiometer,
5. Infrared Sensor,
6. Sonar Sensor,
7. Optical Position,
8. Magnetic Field,
9. Encoder,
10. Temperature,
11. Switches and LEDs, and
12. Switch Debouncing.
For each experiment, follow the outline corresponding to that experiment to build the content of your report. Also,
in Section 16.13 you can find some basic tips for the format of your report.

QNET MECHKIT Workbook - Student Version

v 1.0

16.1

Template for Content

(Strain Gage with Flexible Link)

I. PROCEDURE
1. Collect Data
Briefly describe the main goal of the experiment.
Briefly describe the experimental procedure in Step 7 in Section 3.3.
2. Calibrate Sensor
Briefly describe the main goal of the experiment.
Briefly describe the experimental procedure in Step 3 in Section 3.4.
3. Natural Frequency
Briefly describe the main goal of the experiment.
Briefly describe the experimental procedure in Step 4 in Section 3.5.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Sensor readings plot from Step 7 in Section 3.3.
2. Power spectrum response from Step 4 in Section 3.5.
3. Provide applicable data collected in this laboratory from Table 3.2.
III. ANALYSIS
Provide details of your calculations (methods used) for analysis for each of the following:
1. Natural frequency measurement in Step 4 of Section 3.5.

QNET MECHKIT Workbook - Student Version

86

16.2

Template for Content

(Pressure Sensor)

I. PROCEDURE
1. Collect Data
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 7 in Section 4.3.
2. Calibrate Sensor
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 3 in Section 4.4.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Sensor readings from Step 7 in Section 4.3.
2. Provide applicable data collected in this laboratory from Table 4.2.

QNET MECHKIT Workbook - Student Version

v 1.0

16.3

Template for Content

(Piezo Film Sensor)

I. PROCEDURE
1. Data Analysis
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 6 in Section 5.2.
2. Natural Frequency
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 3 in Section 5.3.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Sensor response from Step 6 in Section 5.2.
2. Power spectrum response from Step 3 in Section 5.3.
III. ANALYSIS
Provide details of your calculations (methods used) for analysis for each of the following:
1. Piezo sensor analysis in Step 6 in Section 5.2.
2. Natural frequency measurement from Step 3 in Section 5.3.

QNET MECHKIT Workbook - Student Version

88

16.4

Template for Content

(Potentiometer)

I. PROCEDURE
1. Collect Data
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 8 in Section 6.3.
2. Calibrate Sensor
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 3 in Section 6.4.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Sensor response from Step 8 in Section 6.3.
2. Provide applicable data collected in this laboratory from Table 6.2.

QNET MECHKIT Workbook - Student Version

v 1.0

16.5

Template for Content

(Infrared Sensor)

I. PROCEDURE
1. Collect Data
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 10 in Section 7.3.
2. Calibrate Sensor
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 3 in Section 7.4.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Sensor response from Step 10 in Section 7.3.
2. Provide applicable data collected in this laboratory from Table 7.2.
III. ANALYSIS
Provide details of your calculations (methods used) for analysis for each of the following:
1. Observations in Step 11 in Section 7.3.

QNET MECHKIT Workbook - Student Version

90

16.6

Template for Content

(Sonar Sensor)

I. PROCEDURE
1. Collect Data
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 9 in Section 8.3.
2. Calibrate Sensor
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 3 in Section 8.4.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Sensor response from Step 9 in Section 8.3.
2. Provide applicable data collected in this laboratory from Table 8.2.
III. ANALYSIS
Provide details of your calculations (methods used) for analysis for each of the following:
1. Sonar sensor analysis in Step 10 of Section 8.3.

QNET MECHKIT Workbook - Student Version

v 1.0

16.7

Template for Content

(Optical Sensor)

I. PROCEDURE
1. Collect Data
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 9 in Section 9.3.
2. Calibrate Sensor
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 3 in Section 9.4.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Sensor response from Step 9 in Section 9.3.
2. Provide applicable data collected in this laboratory from Table 9.2.

QNET MECHKIT Workbook - Student Version

92

16.8

Template for Content

(Magnetic Field Sensor)

I. PROCEDURE
1. Collect Data
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 9 in Section 10.3.
2. Calibrate Sensor
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 3 in Section 10.4.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Sensor response from Step 9 in Section 10.3.
2. Provide applicable data collected in this laboratory from Table 10.2.

QNET MECHKIT Workbook - Student Version

v 1.0

16.9

Template for Content

(Encoder)

I. PROCEDURE
1. Analysis of A, B, and I Signals
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 4 in Section 11.3.
2. Encoder Calibration
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 7 in Section 11.4.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Provide applicable data collected in this laboratory from Table 11.1 and Table 11.2.
III. ANALYSIS
Provide details of your calculations (methods used) for analysis for each of the following:
1. Enocder signal observations from Step 4 in Section 11.3.
2. Identifying the transfer function in Step 5 in Section 11.3.
3. Index pulse analysis in Step 8 in Section 11.4.

QNET MECHKIT Workbook - Student Version

94

16.10

Template for Content

(Temperature Sensor)

I. PROCEDURE
1. Collect Data
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 6 in Section 12.3.
2. Calibrate Sensor
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 2 in Section 12.4.2.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Sensor response from Step 2 in Section 12.4.2.
2. Provide applicable data collected in this laboratory from Table 12.1.
IV. CONCLUSIONS
Interpret your results to arrive at logical conclusions for the following:
1. Sensor response from Step 3 in Section 12.4.2.

QNET MECHKIT Workbook - Student Version

v 1.0

16.11

Template for Content

(Switches and LEDs)

I. PROCEDURE
1. Optical Switch
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 7 in Section 13.3.
2. Micro Switch
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 6 in Section 13.4.
3. Push Button
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 6 in Section 13.5.
4. LEDs
Briefly describe the main goal of the experiment.
Briefly describe the experiment procedure in Step 4 in Section 13.6.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Provide applicable data collected in this laboratory from Table 13.1.
III. ANALYSIS
Provide details of your calculations (methods used) for analysis for each of the following:
1. Optical switch response from Step 7 in Section 13.3.
2. Micro switch and digital response from Step 6 in Section 13.4.
3. Push button and digital response from Step 6 in Section 13.5.
4. Comparitive analysis in Step 7 in Section 13.5.
5. Observations in Step 4 in Section 13.6.

QNET MECHKIT Workbook - Student Version

96

16.12

Template for Content

(Switch Debounce Analysis)

I. PROCEDURE
1. Running the Oscilloscope
Briefly describe the main goal of the experiment.
2. Micro Switch
Briefly describe the main goal of the experiment.
Briefly describe the experimental procedure in Step 4 in Section 14.4.
3. Push Button
Briefly describe the main goal of the experiment.
Briefly describe the experimental setup in Step 3 in Section 14.5.
II. RESULTS
Do not interpret or analyze the data in this section. Just provide the results.
1. Optical switch response from Step 6 in Section 14.4.
2. Micro switch and digital response from Step 5 in Section 14.5.
3. Cross channel response from Step 7 in Section 14.5.
III. ANALYSIS
Provide details of your calculations (methods used) for analysis for each of the following:
1. Trigger settings in Step 4 in Section 14.4.
2. Trigger settings in Step 3 in Section 14.5.
3. Micro switch observations in Step 6 in Section 14.4.
4. Push button observations in Step 5 in Section 14.5.
5. Comparitive analysis in Step 6 in Section 14.5.
6. Cross talk analysis in Step 7 in Section 14.5.

QNET MECHKIT Workbook - Student Version

v 1.0

16.13

Tips for Report Format

PROFESSIONAL APPEARANCE
Has cover page with all necessary details (title, course, student name(s), etc.)
Each of the required sections is completed (Procedure, Results, Analysis and Conclusions).
Typed.
All grammar/spelling correct.
Report layout is neat.
Does not exceed specified maximum page limit, if any.
Pages are numbered.
Equations are consecutively numbered.
Figures are numbered, axes have labels, each figure has a descriptive caption.
Tables are numbered, they include labels, each table has a descriptive caption.
Data are presented in a useful format (graphs, numerical, table, charts, diagrams).
No hand drawn sketches/diagrams.
References are cited using correct format.

QNET MECHKIT Workbook - Student Version

98

REFERENCES
[1] Quanser Inc. QNET Mechatronic Sensors Trainer User Manual, 2011.
[2] Agilent Technologies. Practical Temperature Measurements (Application Note 290), 2008.
[3] Wikipedia. Thermistor. http://en.wikipedia.org/wiki/Thermistor.

QNET MECHKIT Workbook - Student Version

v 1.0