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.

Integrated design process of mechatronics systems; components of mechatronics systems, sensors and actuators, fundamental principal of operation for components, strengths and weaknesses, and operational characteristics. The design process; integrated iterative design, sub-systems, component selection and sizing, design considerations, state-of-the-arts and challenges. Design exercises with increasing degrees of complexity. Others are mechatronics design concepts: integrative design, concepts analogies between electrical and mechanical systems, appreciation of components of mechatronics systems, formulation of design requirements, design exercise and justifications, optimal division into sub systems component, selection and sizing prototype development, appraisal of benefit and cost evolution of mechatronics design and challenges. case studies.