Basic definitions, introduction to kinematic analysis of mechanisms; Rotation matrices, position analysis of spherical linkages; Homogeneous transformation matrices, Denavit-Hartenberg convention, position analysis of spatial serial chains; Position analysis of parallel manipulators; Lie groups, Lie algebras, screw algebra; Velocity and acceleration analysis with screws; Complex numbers, quaternions, Clifford algebras; Planar kinematic mapping, position analysis of planar parallel manipulators; Spatial kinematic mapping, position analysis of spatial parallel manipulators.

  • Introduction. Basic Concepts
  • Mobility analysis
  • Number synthesis
  • Type synthesis pf parallel mechanisms
  • Structural synthesis of paradoxical linkages

The objective of this course is to provide students fundamental knowledge of essential kinetics and phase transformations of various material systems. 

This class is intended to provide the graduate students with the necessary knowledge of basic statistics, experimental design and planning as well as analysis of experimental results. We will dwell into statistics in the first 9 weeks before beginning the project part of the class which will cover 5 weeks of intensive work on project plan preparation, use of software with mock data to analyze results, actually running the experiments, and a presentation of the measured and analyzed data.


Introduction

Scissor mechanisms

Polygonal and polyhedral linkages

Polyhedral linkages with planar link groups

Overconstrained linkages

Purely spatial deployable structures (PSDSs) composed of single dof loops

Purely spatial deployable structures (PSDSs) composed of multi dof loops

Jitterbug like linkages

The course objective is to introduce the students to the principles of robotics. In particular, the course will cover spatial kinematics, forward and inverse kinematics analyses of industrial robots.

- Spatial Kinematics 

- Kinematic Modeling Using the Denavit-Hartenberg Approach 

- Position, Velocity, and Acceleration Forward and Inverse Analyses 

- Singularity Analysis

- Performance Metrics


ME524 Experimental Design (Spring 2017)

Introduction to Wind Energy

This course covers the field of haptics as it relates to creating touch feedback in simulated virtual environments and in teleoperation systems. It provides an introduction to bilateral teleoperation systems and haptic interfaces. Topics include haptic device design, classification of teleoperation systems, applications of teleoperation, master-slave telemanipulators, human-computer interaction, and parallel position/force and teleoperation controllers.

- Introduction to haptics

- Haptics device design

- Performance metrics of haptic devices

- Virtual reality in haptics

- Classification of teleoperation systems

- Fault tolerance concept in teleoperation

- Parallel position/force controllers

- Teleoperation controllers


The course will be concentrated on internal combustion engines, in-cylinder measurements and analysis. After a fundamental review of internal combustion engines, students will learn the new technologies associated to engines and the techniques (experimental and
numerical) used in engines research.