INTRODUCTION TO ROBOTICS

ME 376

Fundamentals of DC and AC circuit analysis and design, stressing tools needed to understand circuits typically used in instrumentation and control of physical systems (sensors/actuators); an introduction to the design of active and passive linear circuits for buffering and filtering signals; an introduction to digital circuits, Boolean logic, programming, especially as needed for computer interface operations in mechanical engineering applications (example: embedded microcontrollers). Laboratory exercises.

ME 468

Introduction to the Robot Operating System (ROS). Concepts of vehicle dynamics modeling and simulation, with focus on tire, suspension, steering system, and powertrain modeling. Simulation of sensors (camera, lidar, radar, GPS, IMU). Terramechanics modeling for mobility on deformable terrains. Introduction to the autonomy stack (sensing, perception, planning, and control). Elements of artificial intelligence in autonomy. Elements of verification and validation.

ME 738

Rigid body models of robots, constraints and contact, motion planning methods including sampling based, trajectory optimizations, state estimation algorithms including linear observers and filters, Kalman filters, optimization-based filters, feedback control methods including linear controls, Impedance Control, optimization-based controllers, Differential Dynamic Programming, Lyapunov Analysis and Design, and Underactuations. Knowledge of robotic systems [such asE C E/​M E  439andE C E/​M E  441] is strongly recommended.

ECE/ME 441

Robotics analysis and design, focusing on the analytical fundamentals specific to robotic manipulators. Serial chain robotic manipulator forward and inverse kinematics, differential kinematics, dynamics, trajectory generation, and controls. Builds on knowledge of high-level computational programming language such as Matlab.

ME 445

Fundamentals of electromechanical control systems with a focus on subsystem design and their impacts at the system level. Integration of microcontrollers into products for control and/or instrumentation. Creation of intelligent interfaces between motors and sensors. C programming. Control computer system architecture Software and hardware principles for computer control.