Robot components and types, and their mathematical modeling. Spatial description of position and orientation. Types and modeling of robotic joints. Differential rotation and translations. Forward and inverse kinematics. Homogeneous transformation. Denavit-Hartenberg kinematic convention. Jacobian and mapping. Manipulator statics and dynamics. Robot mechanism design. Power train and transmission. Motion planning and control. Kinematic/kinetic redundancy and optimization. Locomotion and balancing. Biomimetics and humanoids.

Prerequisites: Graduate standing, ME-UY 3223, and ME-UY 3413 or advisor approval

This course will consider wheeled mobile robots. It will cover forward and inverse kinematics, mechanisms, sensors, actuators, and controllers for wheeled mobile robots. In addition, it will consider various control architectures for such robots. Topics related to navigation, localization, and mapping as applicable to wheeled mobile robots will also be covered. The course will address various applications of such robots in real-world. Finally alternative mechanisms for robot mobility will be considered (e.g., legged locomotion).

Prerequisites: Graduate standing and ME-GY 5913 or advisor approval

This course focuses on electrical measurement and devices. It covers the following topics: instrument systems and components, analog to digital conversion, signal processing, filtering, readout devices, static and dynamic measurements, sensors and actuators, calibration, digital logic, and computer interfacing. In addition, it exposes students to the study of measurement systems via computer simulations. Students perform numerous computer-aided, real-time data acquisition exercises for real-world electrical, robotic, mechanical, and fluid systems.

This course provides a balanced introduction to the theory, simulation, hardware, and software elements of mechatronics. Planned project activities enable students to integrate measurement, control, computer hardware, and software components to develop prototype mechatronics systems.

The student who completes this course will gain an advanced understanding of the principles underlying simulation of dynamical systems, with particular reference to mechatronics and robotic systems. He/she will be able to use modern tools for simulation of mechatronics and robotic systems. Moreover, he/she will be able to design and implement control algorithms and assess their performance on the simulated systems.

Prerequisite: Graduate standing or advisor approval

This course equips students with essential tools frequently used to impart intelligence to a variety of systems. After reviewing examples of smart systems found in consumer/industrial products, the course provides introduction to theoretical/algorithmic tools of smart systems. Applications of these tools in the design and development of smart systems are illustrated. Students are expected to gain expertise in at least one aspect of smart systems. Simulation and hardware projects enable students to develop prototype smart products.

This course presents the fundamentals of fabrication, modeling, analysis, and design of smart materials and structures. Students will be exposed to the state of the art of smart materials and systems, spanning piezoelectrics, shape memory alloys, electroactive polymers, mechanochromic materials, and fiber optics. They will explore the application of such materials in structural systems from the aeronautic, automotive, biomedical, and nautical industry. They will gain familiarity with multiphysics phenomena taking place within smart materials. Such knowledge will, in turn, inform the use of commercial software to simulate smart materials and structures for application in sensing and actuation.

Prerequisite: Graduate standing or advisor approval

This course presents the fundamentals of fabrication, modeling, analysis, and design of micro/nano sensors and actuators. Students will be exposed to the state of the art of micro/nano fabrication. They will gain familiarity with multiphysics phenomena at the micro/nano scale toward an improved understanding of fundamental sensing and actuation principles. Such knowledge will, in turn, inform the use of commercial software to design and simulate micro/nano devices for real world application.

Prerequisite: Graduate standing or advisor approval