MTR 501- Advanced Mechatronics Systems Design
Critical thinking about mechatronic products with case studies. The mechatronic design philosophy applied to real product design cycle. Identification of the need and its types. Transducers, Sensors, and Sensor Fusion, Actuators, and Mechanical Drives, Smart actuators, Motion Control, Modeling and Control of Mechatronic Systems, Comparison between computing devices for mechatronic systems. Designing and building intelligent machines as team projects with open end solutions with emphasis on final group project and building critical thinking skills.
MTR 502- Optimal Control
An in-depth understanding of the problems in optimal control theory and their applications. Calculus of variations, Pontryagin‘s maximum principle, linear quadratic regulator design, dynamic programming, time-optimal, and output feedback regulating and tracking optimal control techniques for continuous-time systems. Theory of sufficient conditions and the Hamilton-Jacobi-Bellman equations. Discrete-time techniques for calculus of variations, linear quadratic tracking, output feedback optimal control, and time-optimal control. Optimal observers and Kalman filtering.
MTR 503 – Advanced Control Systems
Stability of linear control systems. PID controller design and tuning. State space modeling. Controllability and Observability. State feedback controller and observer design. Least squares system identification. Introduction to nonlinear systems. The Describing function method. The Phase plane method. Introduction to Lyapunov stability theory. Case studies applied to Inverted Pendulum and Magnetic levitation using Matlab and Labview.
MTR 504 –Micro Electromechanical Systems (MEMS)
Micro fabrication: Fabrication technologies for MEMS (surface, bulk micromachining, and LIGA). MEMS Material. structural mechanics. Basic sensing and actuation principles. MEMS packaging, assembly and testing. MEMS markets and applications. Design: MEMS Initial design considerations. Fabrication process design. Mechanical design. Design of micro fluidic network systems with a case study. Computer-aided design in MEMS and Microsystems. Introduction to Coventor Ware for micro device design, fabrication and analysis.
MTR 505 – Mobile Robots and Vision Systems
Mobile Robots, Kinematic models, Trajectory planning, Navigation Techniques, Simultaneous Localization and Mapping, Behavior Based control structure. Structure of vision systems, Hardware and Software. Camera design, Image formation, Basic Image processing, Stereo Vision, 3D reconstruction methods.
MTR 506- Advanced Topics in Mechanical Systems Design
Modeling of Electro-Mechanical Systems. Electro-Magnetic Bearing Design and Modeling, Nonlinear –Friction, stick-Slip Friction modeling, Mechanical Power transmission systems, Vehicles – Road Dynamics, Parallel Mechanisms, Case studies using ADAMS software.
MTR 507- Intelligent Robots
Design and development of intelligent machines with emphasis on sensor-based control of mobile robots- mechanics, kinematics, and components- sensor characterization, sensory perception- motor sizing, motor control, and simple reactive behaviors-Combining multiple sensory inputs and multiple behaviors-Robot control, perception, localization, planning, mapping, navigation, and learning approaches- Control architectures for cooperative robots- Project.
MTR 508- Robot Kinematics, Dynamics and Control
Analysis and design of robotic systems including arms and vehicles. Kinematics, Inverse Kinematics, and Dynamics of robots. Trajectory planning, motion control and force control of robot. Case studies for solving real problems.
MTR 601- Intelligent Control Systems
Fuzzy control systems, PID + Fuzzy control, Learning and Neural network. Adaptive Neuro-Fuzzy inference system ANFIS. Genetic and evolutionary algorithms for optimization, Case studies for application of intelligent approaches on control systems design.
MTR 602- Advanced Robotics
(Prerequisite: MTR 508) Static force and compliance, robot dynamics redundancy, trajectory planning, robot control, robot sensing. Sensing systems for grippers including tactile and force sensing. Environmental perception applying sensors and computer vision.
MTR 603- Advanced Bio-Engineering Systems
Bioprocess engineering, Computational bio-systems, Cell and tissue engineering, Nano-biotechnology and biomaterials, Biomedical devices and technologies, Drug development practices and neuroscience.
MTR 604- Bio-Mechatronics Systems
Bio-mechatronics, Bio Interfaces for diagnostics and control. Active and passive prosthetic limbs and joints. Bio electrical signal processing. Haptic Devices. Robot-based surgery. Medical Imaging. Rehabilitation and assistive devices.
MTR 605- Smart Sensors and Actuators
Classification of smart materials: electrostrictive, piezoelectric ceramics, shape memory alloys. Magnetostrictive materials, and electrorheological fluids. Characteristics of smart sensors and actuators. The applied driving forces: electrical, thermal, and magnetic fields – Working principles of the different smart materials.
MTR 606- Nonlinear Control Systems
Mathematical models of nonlinear systems, differences between the behavior of linear and nonlinear systems. Equilibrium points, limit cycles and general invariant sets. Phase plane analysis, Lyapunov stability, Input-to-state stability, Input-Output stability, Passivity analysis the Describing Function Method. Nonlinear control design, including Lyapunov-based control, Energy-based control, Cascaded control, Passivity-based control, Input-Output linearization, Variable structure control systems and sliding mode control. Case studies with Matlab and LabView.
MTR 607- Learning Algorithms and Neural Networks
Introduction to Neural Networks, artificial and human neurons, an engineering approach, a simple network layers, perceptrons, the learning process, transfer functions, teaching process, back propagation algorithm for training, recurrent networks, associative memory, applications to speech, vision and control problems. Supervised and unsupervised networks, reinforcement learning.
MTR 608- Advance Micro Electromechanical Systems (MEMS)
MEMS Initial design considerations. Mechanical design, including using the finite element method, Computer-aided design in MEMS and Microsystems (Introduction to Coventor Ware for micro device design). MEMS assembly, packaging, and testing. Design of Passive Micromachined Mechanical Structures. Design of Sensors and Analysis Systems: case study (Pressure Sensors- Acceleration Sensors – Angular Rate Sensors and Gyroscopes – Micromachined Valves and Micropumps).
MTR 609- Fundamental of Microfluidics and Its Applications
Advantages of Microfluidics. The physics and advantages of miniaturization, diffusion, mixing, and separation. The basics electrodynamics of microsystem (the electric-double layer (EDL)). Electro-osmotic flow. Pressure driven and secondary flows in microchannels. Introduce droplet actuation mechanisms. And calculations of electrodynamic forces on a sessile droplet. Microfabrication, materials, soft lithography techniques for microfluidics and digital microfluidic devices. Applications of Lab-on-a-chip, point-of-care, microreactors, and particle and cell manipulation. Digital microfluidics. Future trends in microfluidics. Simulation of electro-osmotic and pressure driven flows in microchannels using CoventorWare™ CAD.
MTR 701- Project Based Learning in Mechatronics
Students will attend laboratory to do a set of predefined experiments exposingmechatronics devices that will be met during his research work. Students will be grouped into teams to tackle real world projects to solve open ended problems, carefully selected, in which they design the system, select the suitable controller, implement it and evaluate the performance. Students have to present concepts and competitive solutions through the team work spirit and innovative solutions to the assigned projects.
MTR 702- Seminar on Advanced Mechatronics and Robotics
Students will attend lectures given by distinguished professors and study in depth new published papers.
MTR 703- Seminar on Mechatronics and Robotics Recent Topics
Students will read recent papers, present and discuss it with faculty and colleagues recent topics.