Courses with Gaps

Computer vision and image processing are important and fast evolving areas of Mechatronics and Robotics. Student will get familiar with both established and emergent methods, algorithms and architectures. The course will enable students to apply computer vision and image processing techniques to solving various real-world mechatronics and robotics problems, and develop skills for research in the fields. Image formation, image filtering, edge detection and segmentation, morphological processing, registration, object recognition, object detection and tracking 3D vision. The topics may include but are not limited to: 1. Image formation and perception, image representation. 2. Image filtering: space- and frequency- domain filtering, linear and non-linear filters. 3. Morphological image processing. 4. Image geometric transformations, image registration. 5. Edge detection, image segmentation, active contours, and level set methods. 6. Object recognition, template matching, and classification. 7. Object detection and tracking: background modeling, kernel-based tracking, particle filters. 8. Camera models, stereo vision.

Introduction to control system: Concept of feedback and Automatic control, Effects of feedback, Objectives of control system, Definition of linear and nonlinear systems, Elementary concepts of sensitivity and robustness. Types of control systems, Servomechanisms and regulators, examples of feedback control systems. Transfer function concept. Pole and Zeroes of a transfer function. Properties of Transfer function. Mathematical modelling of dynamic systems: Translational systems, Rotational systems, Mechanical coupling, Liquid level systems, Electrical analogy of Spring– MassDashpot system. Block diagram representation of control systems. Block diagram algebra. Signal flow graph. Mason’s gain formula. Control system components: Potentiometer, Synchros, Resolvers, Position encoders. DC and AC tachogenerators. Actuators. Block diagram level description of feedback control systems for position control, speed control of DC motors, temperature control, liquid level control, voltage control of an Alternator. Time domain analysis: Time domain analysis of a standard second order closed loop system. Concept of undamped natural frequency, damping, overshoot, rise time and settling time. Dependence of time domain performance parameters on natural frequency and damping ratio. Step and Impulse response of first and second order systems. Effects of Pole and Zeros on transient response. Stability by pole location. Routh Hurwitz criteria and applications. Error Analysis: Steady state errors in control systems due to step, ramp and parabolic inputs. Concepts of system types and error constants. Stability Analysis: Root locus techniques, construction of Root Loci for simple systems. Effects of gain on the movement of Pole and Zeros. Frequency domain analysis of linear system: Bode plots, Polar plots, Nichol’s chart, Concept of resonance frequency of peak magnification. Nyquist criteria, measure of relative stability, phase and gain margin. Determination of margins in Bode plot. Nichol’s chart. circle and Contours in Nichols chart. Control System performance measures: Improvement of system performance through compensation. Lead, Lag and Lea lag compensation, PI, PD and PID control.

This is essentially the practical implementation of the content of MCE 321, with students working independently and in focus groups. See content of MCE 321 for more details.

pSpice simulation; Design of BJT-based amplifier systems; Design of FET-based amplifier systems; Current-series feedback design; Current-series feedback design; Voltage-shunt feedback design; Differential amplifier; Op-amp IC applications; Positive feedback and oscillator circuits; Advanced electronic laboratory skills (design, analysis, construction, and measurement of advanced analog electronic circuits using discrete devices (diodes, bipolar junction transistors, MOSFETs).

Energy and civilization, fossil fuels: availability and depletion, Nuclear Energy, Global Warming, Green and Renewable Energy Sources. Estimates of energy costs, components of electric grid, electric energy outlook in Nigeria. Distribution and generation technologies and economics. Fundamentals of Solar Power Systems Photovoltaic Power Conversion, Photovoltaic Material, Modelling of Photovoltaic Systems, Design of Photovoltaic Systems, Concentrated Solar Power. Fundamentals of wind power systems wind power conversion, modelling of wind power systems, design of wind systems. hydrogen energy, energy storage and other renewable energy sources. Integration of distribution and generation into the grid dc/ac inverters, analysis of dc/ ac inverter dc/dc converters, design of converters for grid operation. Impact of distribution and generation on power system operation, voltage variations circuit, overloading system protection, ride through and fault mitigation, power quality disturbances.

Review of single-stage transistor amplifiers using BJT and FET equivalent circuits and calculation of current gain, voltage gain, power gain, input and output impedance. Operational amplifiers: description, parameters and applications. Feedback, broadband and narrowband amplifies. Power amplifiers. Voltage and current stabilizing circuits. Voltage amplifiers, multi storage amplifiers using BJTs and FETs.

Fundamental concepts: Electric fields, charges, magnetic fields. current, B-H curves Kirchhoff’s laws, superposition. Thevenin, Norton theorems, Reciprocity, RL, RC, RLC circuits. DC, AC bridges, Resistance, Capacitance, Inductance measurement, Transducers, Single phase circuits, Complex j - notation, AC circuits, impedance, admittance, susceptance.

Fundamental concepts: Electric fields, charges, magnetic fields. current, B-H curves Kirchhoff’s laws, superposition. Thevenin, Norton theorems, Reciprocity, RL, RC, RLC circuits. DC, AC bridges, Resistance, Capacitance, Inductance measurement, Transducers, Single phase circuits, Complex j - notation, AC circuits, impedance, admittance, susceptance.

Fundamental concepts: Electric fields, charges, magnetic fields. current, B-H curves Kirchhoff’s laws, superposition. Thevenin Norton theorems, Reciprocity, RL, RC, RLC circuits. DC, AC bridges, Resistance, Capacitance, Inductance measurement, Transducers, Single phase circuits, Complex j - notation, AC circuits, impedance, admittance, and susceptance.

Forces, moments, couples. Equilibrium of simple structures and machine parts. Friction. First and second moments of area; centroids. Kinematics of particles and rigid bodies in plane motion. Newton's laws of motion. Kinetic energy and momentum analyse.