start system integration

2aa98b92 · Neil Gershenfeld · 0079281e · 2aa98b92
Commit 2aa98b92 authored May 13, 2024 by Neil Gershenfeld
--- a/system_integration/index.html
+++ b/system_integration/index.html
+<html>
+<head>
+<meta http-equiv="content-type" content="text/html; charset=ISO-8859-1">
+</head>
+<body link="black" vlink="black" alink="black">
+<font face="bitstream vera sans,arial,helvetica,sans-serif">
+<center>
+<div style="font-size: 125%;">
+<b><i>System Integration</i></b>
+</div>
+</center>
+<div style="font-size: 120%; margin-left: 2.5%;">
+<pre><font face="bitstream vera sans,arial,helvetica,sans-serif">
+<b>System disintegration</b>
+<b>Failure modes</b>
+   <i>fail fast</i>
+      SpaceX tests
+      feed-forward vs feedback development
+   <i>manufacturing</i>
+      supply chains
+      pandemic car factories
+      capacity
+   <i>mechanical</i>
+      elastic limit
+      cracking at stress concentration, fillets
+      fasteners loosening, vibration, thread locks
+      stripped threads
+      misalignment, binding, flexures
+      dynamic
+      Tacome narrows
+   <i>wiring</i>
+      ripping up traces
+      pulling out of connectors
+      strain relief
+      crimping connectors
+      polarized connectors
+      insulation abrasion, breakdown
+      A380
+   <i>power</i>
+      low-power, batteries, lifetime
+      budget, supply compliance
+      48v to 24V
+      transient noise, processor faults
+      wiring resistance, inductance
+      bypass
+      ground loops, mecca
+   <i>components</i>
+      MOSFET over-voltage, current, temperature
+      inductive flyback, reverse protection diodes
+      regulator reverse polarity
+      processor over-voltage, current limiting
+      EMI shielding
+   <i>software</i>
+      memory leaks
+      buffer overruns
+      variable scope
+      race conditions
+      objects, modules
+   <i>scaling</i>
+      O(?)
+      phase transitions in complexity
+   <i>collaboration</i>
+      measurements (Airbus)
+      units (Mars)
+      dependencies (heartbleed)
+<b>Packaging</b>
+   PCB mounting
+      fasteners, standoffs, flexures
+   wire routing, cable management, flex interconnect
+   surface finish
+<b>Design</b>
+   PCs vs Macs
+      beyond rectangular boxes
+   <i>DFM (Design for Manufacturing)</i>
+      vendors
+      BOM
+      budget
+      component selection
+      (near) net shape
+      flexures vs fasteners, adhesives
+      self-aligning features
+      minimize parts
+      process selection, scaling
+   <i>UX, user experience</i>
+      Jan Borchers
+   <i>documentation</i>
+      construction
+      production
+      operation
+<b>Testing</b>
+   QA/QC
+   burn-in
+   cycling
+   environmental
+   fuzzing
+<b>Lifecycle</b>
+   repair
+   disassembly, reuse, recycling
+   EU rules
+<b>Assignment</b>
+   Design and document the system integration for your final project
+<b><a href=https://www.esfi.org>electrical safety</a></b>
+   ~1 mA: OK
+   ~10 mA: shock, contraction
+   ~100 mA: fibrillation
+   body: M ohm external, k ohm internal
+   dielectric breakdown: ~kV/mm
+   supply capacitors
+   inductive flyback
+   <a href=https://www.monolithicpower.com/designing-a-reverse-polarity-protection-circuit-part-i>polarity protection diode, MOSFET</a>
+   <a href=https://www.digikey.com/en/blog/logic-level-shifting-basics>level shift MOSFET</a>
+   connector polarization, orientation
+   <a href=https://www.digikey.com/en/products/category/circuit-protection/9>circuit protection</a>
+<b>power</b>
+   <a href=https://www.renesas.com/us/en/support/engineer-school/usb-power-delivery-02-fast-role-swap-programmable-power-supply>USB</a>
+   <a href=https://www.mpja.com/power-supplies.asp>supplies</a>
+      switching, linear, regulated
+   <a href=https://www.digikey.com/en/products/detail/tecate-group/TPLC-3R8-10MR8X14/12417602>supercapacitor</a>
+   batteries
+      <a href=https://www.amazon.com/s?k=lipo+battery>LiPo</a> <a href=https://www.amazon.com/Makerfocus-Charging-Lithium-Battery-Protection/dp/B071RG4YWM>charge controller</a> <a href=https://www.amazon.com/s?k=lipo+storage>storage</a>
+   <a href=https://science.sciencemag.org/content/317/5834/83.full>wireless</a>
+<b><a href=https://artofelectronics.net/>current measurement</a></b>
+   supply regulation
+   sense resistor
+   magnetic field
+   inductance
+<b><a href=https://www.digikey.com/en/products/detail/lumex-opto-components-inc/SML-LX1206IC-TR/229140>LED</a></b>
+   current limiting
+   <a href=../embedded_programming/ESP32-C3/hello.button-blink.C3>hello.button-blink.C3</a> <a href=../embedded_programming/ESP32-C3/hello.button-blink.C3.png>board</a> <a href=../embedded_programming/ESP32-C3/hello.button-blink.C3.jpg>components</a> <a href=../embedded_programming/ESP32-C3/hello.button-blink.C3.top.png>traces</a> <a href=../embedded_programming/ESP32-C3/hello.button-blink.C3.interior.png>interior</a>
+      <a href=../embedded_programming/ESP32-C3/hello.button-blink.C3.ino>hello.button-blink.C3.ino</a> <a href=../embedded_programming/ESP32-C3/hello.button-blink.C3.py>hello.button-blink.C3.py</a> <a href=../embedded_programming/ESP32-C3/hello.button-blink.C3.mp4>video</a>
+   <a href=speaker/PWM.jpg>PWM</a>
+      <a href=fade/hello.fade.C3.py>hello.fade.C3.py</a> <a href=fade/hello.fade.C3.mp4>video</a>
+   <a href=array/Charlieplexing.pdf>Charlieplexing</a>
+      <A href=array/hello.array.44>hello.array.44</A> <A href=array/hello.array.44.png>board</A> <A href=array/hello.array.44.jpg>components</A> <a href=array/hello.array.44.traces.png>traces</a> <a href=array/hello.array.44.traces_exterior.png>traces+exterior</a> <a href=array/hello.array.44.interior.png>interior</a> <A href=array/hello.array.44.c>C</A> <A href=array/hello.array.44.make>makefile</A> <A href=array/hello.array.44.mp4>video</A>
+      <A href=array/hello.array.44.2>hello.array.44.2</A> <A href=array/hello.array.44.2.png>board</A> <A href=array/hello.array.44.2.jpg>components</A> <A href=array/hello.array.44.2.bottom.png>bottom</A> <A href=array/hello.array.44.2.vias.png>vias</A> <a href=array/hello.array.44.2.top.png>top</a> <a href=array/hello.array.44.2.top_exterior.png>top+exterior</a> <a href=array/hello.array.44.2.interior.png>interior</a> <A href=array/hello.array.44.2.c>C</A> <A href=array/hello.array.44.2.make>makefile</A> <A href=array/hello.array.44.2.mp4>video</A>
+<b><a href=https://www.digikey.com/product-detail/en/cree-inc/CLV1A-FKB-CK1VW1DE1BB7C3C3/CLV1A-FKB-CK1VW1DE1BB7C3C3CT-ND>RGB</a> LED</b>
+   <a href=https://learn.adafruit.com/adafruit-dotstar-leds/overview>pixels</a> <a href=https://www.superbrightleds.com>lights</a> <a href=https://www.amazon.com/s/keywords=electroluminescent>wires</a>
+      <a href=RGB/hello.RP2040-XIAO.blink-echo.ino>blink-echo.ino</a> <a href=RGB/hello.RP2040-XIAO.blink-echo.py>blink-echo.py</a> <a href=RGB/ws2812.py>ws2812.py</a> <a href=RGB/hello.RP2040-XIAO.blink-echo.mp4>video</a>
+   <A href=RGB/hello.RGB.45>hello.RGB.45</A> <A href=RGB/hello.RGB.45.png>board</A> <A href=RGB/hello.RGB.45.jpg>components</A> <a href=RGB/hello.RGB.45.traces.png>traces</a> <a href=RGB/hello.RGB.45.traces_exterior.png>traces+exterior</a> <a href=RGB/hello.RGB.45.interior.png>interior</a> <A href=RGB/hello.RGB.45.c>C</A> <A href=RGB/hello.RGB.45.make>makefile</A> <A href=RGB/hello.RGB.45.mp4>video</A>
+<b><a href=https://www.digikey.com/en/products/detail/luminus-devices-inc/MP-3014-1100-50-80/6109331>LEDs</a></b>
+   diode drop, series-parallel
+   MOSFET
+      <a href=https://www.digikey.com/en/products/detail/vishay-siliconix/SI2336DS-T1-GE3/3748946>N</a>, <a href=https://www.digikey.com/en/products/detail/vishay-siliconix/SQ2351ES-T1-BE3/12396602>P</a>, <a href=https://www.digikey.com/en/products/detail/vishay-siliconix/SUD50N03-06AP-E3/2623051>N</a>
+      floating gates
+      gate resistors
+      BJT, BiCMOS, IGBT
+   <a href=LEDs/hello.LEDs.t412>hello.LEDs.t412</a> <a href=LEDs/hello.LEDs.t412.png>board</a> <a href=LEDs/hello.LEDs.t412.jpg>components</a> <a href=LEDs/hello.LEDs.t412.traces.png>traces</a> <a href=LEDs/hello.LEDs.t412.traces_exterior.png>traces+exterior</a> <a href=LEDs/hello.LEDs.t412.interior.png>interior</a>
+      <a href=LEDs/hello.LEDs.t412.ino>hello.LEDs.t412.ino</a> <a href=LEDs/hello.LEDs.t412.mp4>video</a>
+      thermal runaway
+      eye safety
+<b>displays</b>
+   <a href=http://search.digikey.com/scripts/DkSearch/dksus.dll?WT.z_header=search_go&lang=en&site=us&keywords=67-1781-ND&x=0&y=0>LCD</a>
+      <a href=44780.pdf>HD44780</a> <a href=https://www.arduino.cc/en/Reference/LiquidCrystal>library</a>
+         <A href=LCD/hello.LCD.44>hello.LCD.44</A> <A href=LCD/hello.LCD.44.png>board</A> <A href=LCD/hello.LCD.44.jpg>components</A> <a href=LCD/hello.LCD.44.traces.png>traces</a> <a href=LCD/hello.LCD.44.traces_exterior.png>traces+exterior</a> <a href=LCD/hello.LCD.44.interior.png>interior</a> <A href=LCD/hello.LCD.44.c>C</A> <A href=LCD/hello.LCD.44.make>makefile</A> <A href=LCD/hello.LCD.44.mp4>video</A>
+      <a href=https://www.amazon.com/s?k=i2c+lcd>I2C</a> <a href=https://www.nxp.com/docs/en/data-sheet/PCF8574_PCF8574A.pdf>PCF8574</a> <a href=https://github.com/mathertel/LiquidCrystal_PCF8574>library</a>
+         <a href=../networking_communications/index.html#hello.I2C.t1614>hello.I2C.t1614</a> <a href=LCD/hello.LCD.I2C.ino>hello.LCD.I2C.ino</a> <a href=LCD/hello.LCD.I2C.mp4>video</a>
+   <a href=https://www.amazon.com/Self-Luminous-Display-Compatible-Arduino-Raspberry/dp/B09JWN8K99/>OLED</a>
+      <a href=OLED/SSD1306.pdf>SSD1306</a>
+      <a href=OLED/hello.SSD1306.RP2040>hello.SSD1306.RP2040</a> <a href=OLED/hello.SSD1306.RP2040.png>board</a> <a href=OLED/hello.SSD1306.RP2040.jpg>components</a> <a href=OLED/hello.SSD1306.RP2040.top.png>top</a> <a href=OLED/hello.SSD1306.RP2040.holes.png>holes</a> <a href=OLED/hello.SSD1306.RP2040.interior.png>interior</a>
+         <a href=OLED/hello.SSD1306.RP2040.py>hello.SSD1306.RP2040.py</a> <a href=OLED/ssd1306.py>ssd1306.py</a> <a href=OLED/hello.SSD1306.RP2040.mp4>video</a>
+      <a href=https://github.com/olikraus/u8g2/>library</a> <a href=OLED/scripts.html>scripts</a>
+         <a href=OLED/hello.SSD1306.45>hello.SSD1306.45</a> <a href=OLED/hello.SSD1306.45.png>board</a> <a href=OLED/hello.SSD1306.45.jpg>components</a> <a href=OLED/hello.SSD1306.45.traces.png>traces</a> <a href=OLED/hello.SSD1306.45.traces_exterior.png>traces+exterior</a> <a href=OLED/hello.SSD1306.45.interior.png>interior</a> <a href=OLED/hello.SSD1306.45.c>C</a> <a href=OLED/hello.SSD1306.45.make>makefile</a> <a href=OLED/hello.SSD1306.45.mp4>video</a>
+   <a href=https://www.amazon.com/Display-Screen-Module-ILI9341-320X240/dp/B0BZGY9P9H>TFT</a>
+      <a href=TFT/ILI9341.pdf>ILI9341</a> <a href=https://github.com/olikraus/ucglib>library</a>
+         <a href=TFT/hello.ILI9341.SW.D21E>hello.ILI9341.SW.D21E</a> <a href=TFT/hello.ILI9341.SW.D21E.png>board</a> <a href=TFT/hello.ILI9341.SW.D21E.jpg>components</a> <a href=TFT/hello.ILI9341.SW.D21E.traces.png>traces</a> <a href=TFT/hello.ILI9341.SW.D21E.traces_exterior.png>traces+exterior</a> <a href=TFT/hello.ILI9341.SW.D21E.interior.png>interior</a> <a href=TFT/hello.ILI9341.SW.D21E.mp4>video</a>
+         <a href=TFT/hello.ILI9341.HW.D21E>hello.ILI9341.HW.D21E</a> <a href=TFT/hello.ILI9341.HW.D21E.png>board</a> <a href=TFT/hello.ILI9341.HW.D21E.jpg>components</a> <a href=TFT/hello.ILI9341.HW.D21E.top.png>top</a> <a href=TFT/hello.ILI9341.HW.D21E.top_exterior.png>top+exterior</a> <a href=TFT/hello.ILI9341.HW.D21E.bottom.png>bottom</a> <a href=TFT/hello.ILI9341.HW.D21E.holes.png>holes</a> <a href=TFT/hello.ILI9341.HW.D21E.interior.png>interior</a> <a href=TFT/hello.ILI9341.HW.D21E.mp4>video</a>
+      <a href=TFT/ST7735.pdf>ST7735</a> <a href=TFT/hello.ST7735.HW.mp4>video</a>
+   <a href=https://www.eink.com>E Ink</a> <a href=https://www.amazon.com/s?k=e+ink+module>modules</a>
+<b>video</b>
+   <a href=RS-170.jpg>RS170</a>, NTSC, PAL, SECAM, VGA
+   75 ohm impedance
+   <A href=video/hello.video.44>hello.video.44</A> <A href=video/hello.video.44.png>board</A> <A href=video/hello.video.44.jpg>components</A> <a href=video/hello.video.44.traces.png>traces</a> <a href=video/hello.video.44.traces_exterior.png>traces+exterior</a> <a href=video/hello.video.44.interior.png>interior</a> <A href=video/hello.video.44.c>C</A> <A href=video/hello.video.44.make>makefile</A> <A href=video/hello.video.44.mp4>video</A>
+   <a href=http://fabacademy.org/archives/2014/students/fletcher.james/week12.html>SPI</a> <a href=https://code.google.com/p/arduino-tvout/>TVout</a> <a href=https://github.com/davidcranor/Thinner-Client/blob/master/Pictures/photo%201.JPG>thinner client</a> <a href=https://www.google.com/search?q=xmega+color+video>color</a>
+<b>DC motor</b>
+   H-bridge
+      <a href=https://www.digikey.com/en/products/detail/toshiba-semiconductor-and-storage/TB67H451AFNG-EL/16572546>TB67H451AFNG,EL</a>
+         <a href=H-bridge/hello.TB67H451.RP2040>hello.TB67H451.RP2040</a> <a href=H-bridge/hello.TB67H451.RP2040.png>board</a> <a href=H-bridge/hello.TB67H451.RP2040.jpg>components</a> <a href=H-bridge/hello.TB67H451.RP2040.top.png>top</a> <a href=H-bridge/hello.TB67H451.RP2040.interior.png>interior</a>
+            <a href=H-bridge/hello.TB67H451.RP2040.ino>hello.TB67H451.RP2040.ino</a> <a href=H-bridge/hello.TB67H451.RP2040.py>hello.TB67H451.RP2040.py</a> <a href=H-bridge/boot.py>boot.py</a> <a href=H-bridge/hello.TB67H451.RP2040.mp4>video</a>
+         <a href=H-bridge/hello.H-bridge.D11C>hello.H-bridge.D11C</a> <a href=H-bridge/hello.H-bridge.D11C.png>board</a> <a href=H-bridge/hello.H-bridge.D11C.jpg>components</a> <a href=H-bridge/hello.H-bridge.D11C.traces.png>traces</a> <a href=H-bridge/hello.H-bridge.D11C.traces_exterior.png>traces+exterior</a> <a href=H-bridge/hello.H-bridge.D11C.interior.png>interior</a>
+            <a href=H-bridge/hello.H-bridge.D11C.ino>hello.H-bridge.D11C.ino</a> <a href=H-bridge/hello.H-bridge.D11C.mp4>video</a>
+      <a href=http://www.digikey.com/product-detail/en/allegro-microsystems-llc/A4950ELJTR-T/620-1400-1-ND>A4950</a>
+         <A href=H-bridge/hello.H-bridge.44>hello.H-bridge.44</A> <A href=H-bridge/hello.H-bridge.44.png>board</A> <A href=H-bridge/hello.H-bridge.44.jpg>components</A> <a href=H-bridge/hello.H-bridge.44.traces.png>traces</a> <a href=H-bridge/hello.H-bridge.44.traces_exterior.png>traces+exterior</a> <a href=H-bridge/hello.H-bridge.44.interior.png>interior</a> <A href=DC/hello.H-bridge.44.DC.c>C</A> <A href=DC/hello.H-bridge.44.DC.make>makefile</A> <A href=DC/hello.H-bridge.44.DC.mp4>video</A>
+   Dual H-bridge
+      <a href=https://www.digikey.com/en/products/detail/texas-instruments/DRV8847PWPR/9954204>DRV8847</a>
+   torque, power, efficiency, gearing
+   <a href=https://www.amazon.com/s?k=vibration+motor>vibration</a>
+   <a href=https://www.digikey.com/en/products/filter/thermal-heat-sinks/219>heat</a>
+<b><a href=https://www.digikey.com/product-detail/en/mallory-sonalert-products-inc/PSR-57N08A01-AQ/458-1136-ND>speaker</a></b>
+   PWM class D, <a href=https://arduino-pico.readthedocs.io/en/latest/pwm.html>library</a>
+   <a href=H-bridge/hello.TB67H451.RP2040.audio.ino>hello.TB67H451.RP2040.audio.ino</a> <a href=H-bridge/hello.TB67H451.RP2040.audio.py>hello.TB67H451.RP2040.audio.py</a> <a href=H-bridge/boot.py>boot.py</a> <a href=H-bridge/hello.TB67H451.RP2040.audio.mp4>video</a>
+      <a href=H-bridge/hello.TB67H451.RP2040.wave.py>hello.TB67H451.RP2040.wave.py</a> <a href=H-bridge/hello.TB67H451.RP2040.sample.py>sample.py</a> <a href=H-bridge/hello.py>hello.py</a> <a href=H-bridge/convert_byterray.py>convert_byterray.py</a> <a href=H-bridge/hello.TB67H451.RP2040.py.mp4>video</a>
+      <a href=H-bridge/hello.TB67H451.RP2040.wave.ino>hello.TB67H451.RP2040.wave.ino</a> <a href=H-bridge/hello.TB67H451.RP2040.sample.ino>sample.ino</a> <a href=H-bridge/hello.TB67H451.RP2040.sample.main.ino>sample.main.ino</a> <a href=H-bridge/convert.py>convert.py</a> <a href=H-bridge/hello.TB67H451.RP2040.sample.mp4>video</a>
+   <a href=speaker/hello.speaker.D11C>hello.speaker.D11C</a> <a href=speaker/hello.speaker.D11C.png>board</a> <a href=speaker/hello.speaker.D11C.jpg>components</a> <a href=speaker/hello.speaker.D11C.traces.png>traces</a> <a href=speaker/hello.speaker.D11C.traces_exterior.png>traces+exterior</a> <a href=speaker/hello.speaker.D11C.interior.png>interior</a>
+      <a href=speaker/hello.speaker.D11C.ino>hello.speaker.D11C.ino</a> <a href=speaker/hello.speaker-registers.D11C.ino>hello.speaker-registers.D11C.ino</a> <a href=speaker/hello.speaker.D11C.mp4>video</a>
+   <A href=speaker/hello.speaker.45>hello.speaker.45</A> <A href=speaker/hello.speaker.45.png>board</A> <A href=speaker/hello.speaker.45.jpg>components</A> <a href=speaker/hello.speaker.45.traces.png>traces</a> <a href=speaker/hello.speaker.45.traces_exterior.png>traces+exterior</a> <a href=speaker/hello.speaker.45.interior.png>interior</a> <A href=speaker/hello.speaker.45.c>C</A> <A href=speaker/hello.speaker.45.make>makefile</A> <A href=speaker/hello.speaker.45.mp4>video</A>
+   <a href=http://fab.cba.mit.edu/classes/863.10/people/brian.mayton/10.html>wavetable</a> <a href=http://fab.cba.mit.edu/classes/863.10/people/brian.mayton/06/avr_fm_recording.mp3>audio</a>
+   MP3 <a href=https://learn.adafruit.com/mp3-playback-rp2040/pico-mp3>library</a> <a href=https://www.dfrobot.com/product-1121.html>module</a>
+<a href=http://www.nerdkits.com/videos/robotic_xylophone><b>solenoid</b></a>
+<b><a href=https://ng.cba.mit.edu/neil/23.02.CT/video/servo.mp4>servo motor</a></b>
+   <a href=servo/PWM.jpg>50 Hz ~1-2 ms PWM</a>
+   (dis)continuous rotation
+   ATtiny412
+      <a href=servo/hello.servo.t412>hello.servo.t412</a> <a href=servo/hello.servo.t412.png>board</a> <a href=servo/hello.servo.t412.jpg>components</a> <a href=servo/hello.servo.t412.traces.png>traces</a> <a href=servo/hello.servo.t412.traces_exterior.png>traces+exterior</a> <a href=servo/hello.servo.t412.interior.png>interior</a>
+         <a href=servo/hello.servo.t412.ino>hello.servo.t412.ino</a> <a href=servo/hello.servo-registers.t412.ino>hello.servo-registers.t412.ino</a> <a href=servo/hello.servo.t412.mp4>video</a>
+   ATSAMD11C
+      <a href=servo/hello.servo-D11C>hello.servo-D11C</a> <a href=servo/hello.servo-D11C.png>board</a> <a href=servo/hello.servo-D11C.jpg>components</a> <a href=servo/hello.servo-D11C.traces.png>traces</a> <a href=servo/hello.servo-D11C.traces_exterior.png>traces+exterior</a> <a href=servo/hello.servo-D11C.interior.png>interior</a>
+         <a href=servo/hello.servo-registers.D11C.ino>hello.servo-registers.D11C.ino</a> <a href=servo/hello.servo-D11C.mp4>video</a>
+         <a href=servo/hello.servo-D11C.gbr.png>Gerber</a> <a href=servo/hello.servo-D11C.traces.png-fill.gbr>top copper</a> <a href=servo/hello.servo-D11C.mask.png-fill.gbr>solder mask</a> <a href=servo/hello.servo-D11C.silk.png-fill.gbr>silkscreen</a> <a href=servo/hello.servo-D11C.mech.png-outline.gbr>outline</a>
+   ATtiny44
+      <a href=servo/hello.servo.44>hello.servo.44</a> <a href=servo/hello.servo.44.png>board</a> <a href=servo/hello.servo.44.jpg>components</a> <a href=servo/hello.servo.44.traces.png>traces</a> <a href=servo/hello.servo.44.traces_exterior.png>traces+exterior</a> <a href=servo/hello.servo.44.interior.png>interior</a>
+         <a href=https://www.diodes.com/assets/Datasheets/ZLDO1117.pdf>ZLDO1117</a>
+      <a href=servo/hello.servo.44.1>hello.servo.44.1</a> <a href=servo/hello.servo.44.1.png>board</a> <a href=servo/hello.servo.44.1.jpg>components</a> <a href=servo/hello.servo.44.1.traces.png>traces</a> <a href=servo/hello.servo.44.1.traces_exterior.png>traces+exterior</a> <a href=servo/hello.servo.44.1.interior.png>interior</a>
+         <a href=http://www.ti.com/lit/ds/symlink/lm2940c.pdf>LM2940</a>
+      <a href=servo/hello.servo.44.c>C (hardware PWM)</a> <a href=servo/hello.servo.44.make>makefile</a> <a href=servo/hello.servo.44.2.c>C (two-channel, software PWM)</a> <a href=servo/hello.servo.44.2.make>makefile</a> <a href=servo/hello.servo.44.mp4>video</a>
+<b>brushless DC motor (BLDC)</b>
+   efficiency, density, reliability, noise
+   <a href=https://hobbyking.com/en_us/electric-motors-1.html>inrunner, outrunner, pancake, fan, gimbal</a>
+   Kv (RPM/V)
+   ~1,10,100,1000 A,$
+   triple half-bridge
+      <a href=https://www.digikey.com/en/products/detail/texas-instruments/DRV11873PWPR/3903327>DRV11873</a>
+   drive waveform
+   open-loop, closed-loop control
+   back EMF (BEMF) sensing
+   <a href=https://www.amazon.com/s?k=esc+electronic+speed+controller>electronic speed controller (ESC)</a>
+      <a href=ESC/hello.ESC.44>hello.ESC.44</a> <a href=ESC/hello.ESC.44.png>board</a> <a href=ESC/hello.ESC.44.jpg>components</a> <a href=ESC/hello.ESC.44.traces.png>traces</a> <a href=ESC/hello.ESC.44.traces_exterior.png>traces+exterior</a> <a href=ESC/hello.ESC.44.interior.png>interior</a> <a href=ESC/hello.ESC.44.c>C</a> <a href=ESC/hello.ESC.44.make>makefile</a> <a href=ESC/hello.ESC.44.mp4>video</a>
+      <a href=https://github.com/sim-/tgy>firmware</a>
+      servo PWM
+      power input, output
+      initialization, calibration
+<b>stepper motor</b>
+   <a href=https://www.motioncontrolproducts.com/applications/stepper-motor-how-does-it-work/>types</a>
+   wire identification
+   step PWM, duration
+   microstepping
+   step and direction
+      <a href=https://www.digikey.com/en/products/detail/texas-instruments/DRV8428PWPR/13563046>DRV8428</a>
+         <a href=DRV8428/hello.DRV8428-D11C>hello.DRV8428-D11C</a> <a href=DRV8428/hello.DRV8428-D11C.png>board</a> <a href=DRV8428/hello.DRV8428-D11C.jpg>components</a> <a href=DRV8428/hello.DRV8428-D11C.traces.png>traces</a> <a href=DRV8428/hello.DRV8428-D11C.traces_exterior.png>traces+exterior</a> <a href=DRV8428/hello.DRV8428-D11C.holes.png>holes</a> <a href=DRV8428/hello.DRV8428-D11C.interior.png>interior</a>
+            <a href=DRV8428/hello.DRV8428-D11C.ino>hello.DRV8428-D11C.ino</a> <a href=DRV8428/hello.DRV8428-D11C.mp4>video</a>
+         <a href=DRV8428/hello.DRV8428-D11C-NEMA17>hello.DRV8428-D11C-NEMA17</a> <a href=DRV8428/hello.DRV8428-D11C-NEMA17.png>board</a> <a href=DRV8428/hello.DRV8428-D11C-NEMA17.jpg>components</a> <a href=DRV8428/hello.DRV8428-D11C-NEMA17.traces.png>traces</a> <a href=DRV8428/hello.DRV8428-D11C-NEMA17.traces_exterior.png>traces+exterior</a> <a href=DRV8428/hello.DRV8428-D11C-NEMA17.holes.png>holes</a> <a href=DRV8428/hello.DRV8428-D11C-NEMA17.interior.png>interior</a>
+            <a href=https://gitlab.cba.mit.edu/neilg/urumbu/-/tree/master/serialstep>code video</a>
+            <a href=DRV8428/hello.DRV8428-D11C-NEMA17.gbr.png>Gerber</a> <a href=DRV8428/hello.DRV8428-D11C-NEMA17.traces.png-fill.gbr>top copper</a> <a href=DRV8428/hello.DRV8428-D11C-NEMA17.mask.png-fill.gbr>solder mask</a> <a href=DRV8428/hello.DRV8428-D11C-NEMA17.silk.png-fill.gbr>silkscreen</a> <a href=DRV8428/hello.DRV8428-D11C-NEMA17.mech.png-outline.gbr>outline</a>
+      <a href=https://gitlab.cba.mit.edu/neilg/urumbu/-/tree/master/serialstep/serialstep-DRV8428P>DVR8428P</a> <a href=https://gitlab.cba.mit.edu/zfredin/drv8436_breakout>DRV8436</a>
+   bipolar H-bridge
+      <a href=stepper/hello.stepper.bipolar.D11C>hello.stepper.bipolar.D11C</a> <a href=stepper/hello.stepper.bipolar.D11C.png>board</a> <a href=stepper/hello.stepper.bipolar.D11C.jpg>components</a> <a href=stepper/hello.stepper.bipolar.D11C.top.png>top</a> <a href=stepper/hello.stepper.bipolar.D11C.top_exterior.png>top+exterior</a> <a href=stepper/hello.stepper.bipolar.D11C.bottom.png>bottom</a> <a href=stepper/hello.stepper.bipolar.D11C.holes.png>holes</a> <a href=stepper/hello.stepper.bipolar.D11C.interior.png>interior</a>
+         <a href=stepper/hello.stepper.bipolar.D11C.ino>hello.stepper.bipolar.D11C.ino</a> <a href=stepper/hello.stepper.bipolar.D11C.mp4>video</a>
+      <A href=stepper/hello.stepper.bipolar.44>hello.stepper.bipolar.44</A> <A href=stepper/hello.stepper.bipolar.44.png>board</A> <A href=stepper/hello.stepper.bipolar.44.jpg>components</A> <a href=stepper/hello.stepper.bipolar.44.traces.png>traces</a> <a href=stepper/hello.stepper.bipolar.44.traces_exterior.png>traces+exterior</a> <a href=stepper/hello.stepper.bipolar.44.interior.png>interior</a>
+         <A href=stepper/hello.stepper.bipolar.44.full.c>full</A> <A href=stepper/hello.stepper.bipolar.44.full.make>makefile</A> <A href=stepper/hello.stepper.bipolar.44.mp4>video</A>
+   unipolar NMOSFET
+      <A href=stepper/hello.stepper.44>hello.stepper.44</A> <A href=stepper/hello.stepper.44.png>board</A> <A href=stepper/hello.stepper.44.jpg>components</A> <a href=stepper/hello.stepper.44.traces.png>traces</a> <a href=stepper/hello.stepper.44.traces_exterior.png>traces+exterior</a> <a href=stepper/hello.stepper.44.interior.png>interior</a>
+      <A href=stepper/hello.stepper.44.wave.c>wave</A> <A href=stepper/hello.stepper.44.wave.make>makefile</A> <A href=stepper/hello.stepper.44.full.c>full</A> <A href=stepper/hello.stepper.44.full.make>makefile</A> <A href=stepper/hello.stepper.44.half.c>half</A> <A href=stepper/hello.stepper.44.half.make>makefile</A> <A href=stepper/hello.stepper.44.mp4>video</A>
+   <a href=http://cba.mit.edu/docs/papers/12.10.IROS.pdf>electro-permanent</a>
+<b>motor control</b>
+   <a href=https://www.allegromicro.com/en/Products/Motor-Driver-And-Interface-ICs.aspx>Allegro</a>
+   <a href=http://www.ti.com/motor-drivers/overview.html>TI</a>
+   <a href=https://www.trinamic.com/products>Trinamic</a>
+   <a href=https://www.pololu.com/category/9/motion-control-modules>Pololu</a>
+   <a href=../machine_design/index.html>motion control</a>
+<b>solid state relay</b>
+   AC vs DC
+   <a href=http://www.digikey.com/product-detail/en/ixys-integrated-circuits-division/CPC1964B/CLA413-ND>IC</a>
+   <a href=https://www.amazon.com/Uxcell-BEM-14840DA-24-480V-3-32VDC-Rectangle/dp/B00E1LC1VK>hockey puck</a>
+   <a href=SSR/SSR.jpg>wiring</a>
+      voltage drop: ~V
+      safety: switch hot side
+      US: black (red,blue) = hot, white = neutral, green(-yellow) = ground
+      EU: brown (black,gray) = hot, blue = neutral, green-yellow = ground
+   <a href=https://www.amazon.com/Iot-Relay-Enclosed-High-Power-Raspberry/dp/B00WV7GMA2>switched outlet</a>
+<a href=http://fab.cba.mit.edu/classes/863.10/people/jie.qi/jieweek10.html><b>shape memory</b></a>
+<a href=http://www.pi-usa.us/products/PiezoActuators/index.php><b>piezo</b></a> <a href=https://link.springer.com/article/10.1007/s42558-019-0005-1><b>polymer</b></a>
+<b><a href=https://science.sciencemag.org/content/343/6173/868>artificial muscle</a> <a href=https://www.instructables.com/Fabricating-Fishing-Line-Artificial-Muscle-at-Home>fishing line</a> <a href=https://www.jameco.com/z/200121235364HCB-Jameco-Valuepro-Conductive-Sewing-Thread-Size-92-235x36-4-Ply-Hobby-Cone_2144489.html>conducting thread</a> <a href=http://fab.cba.mit.edu/classes/863.19/CBA/people/jack/week-02.html>actuator</a> <a href=https://news.mit.edu/2023/shape-shifting-fiber-can-produce-morphing-fabrics-1026>LCE</a></b>
+<b><a href=https://gmwgroup.harvard.edu/soft-robotics>soft</a> <a href=https://www.youtube.com/watch?v=SjJkt0zypkw>inflatable</a></b>
+<b><a href=https://www.softrobotics.io>pneumatics</a> <a href=http://www.moog.com/content/sites/global/en/products/actuators-servoactuators/actuation-technologies/electrohydraulic.html>hydraulics</a></b>
+<b><a href=https://fab.cba.mit.edu/classes/863.21/CBA/people/lingdong/site/16-output-device.html>assignment</a></b>
+   <i>individual assignment:</i>
+      add an output device to a microcontroller board you've designed,
+         and program it to do something
+   <i>group assignment:</i>
+      measure the power consumption of an output device