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ME 352 System Analysis and Control


Credit: ( 4 + 0 ) 4

ECTS Credit: 5

Language of Instruction
English
Level of Course Unit
First Cycle
Type of Course Unit
Compulsory
Objectives of the Course
At the end of this course, the student will able to •model a physical system with its internal dynamics and input-output relationships by means of block diagrams and transfer functions, •generate and use the basic feedback controllers (P,PD,PI,PID), •determine relationships between the parameters of a control system and its stability, accuracy, transient behavior, tracking and disturbance-rejection ability, and parameter sensitivity, •determine the control parameters under the time response for requirements of accuracy, relative stability, and response speed, •determine the frequency response of a control system for evaluating/adjusting the relative stability, response speed, tracking accuracy, and noise rejection ability of the system.
Course Content
Modeling physical systems. Control system components. Transient response. Stability. Steady state response and error. Basic control actions and controllers. Frequency response.

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ME 460 - Introduction to Robot Technology


Credit: ( 3 + 0 ) 3

ECTS Credit: 5



Language of Instruction
English
Level of Course Unit
First Cycle
Type of Course Unit
Technical Elective
Objectives of the Course
This course aims to provide an overview of robot mechanisms, dynamics, and robot controls. Planar robotic manipulators are investigated for their workspaces, velocity and acceleration profiles, static force analysis, dynamic properties, and controls. The topics to be covered in order to perform such investigations are planar kinematics, motion planning, mechanism design for manipulators, multi-rigid-body dynamics, and control design.
Course Content
- Forward and inverse robot kinematics analysis - Velocity and acceleration analyses of robots - Singularity analysis - Static force analysis of robots - Introduction to dynamic modelling of robots - Fundamentals of controller design

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ME 462 - Dynamic Modelling and Control of Robots

Credit: ( 3 + 0 ) 3

ECTS Credit: 5



Language of Instruction
English
Level of Course Unit
First Cycle
Type of Course Unit
Technical Elective
Objectives of the Course
This course is a robotics course where the main focus is on dynamic modelling of robots and controller design using computer-aided engineering tools. This course aims to make use of the theoretical dynamic modelling and controller design information in task-oriented custom simulation development. Thus, provide the application knowledge of these theoires in a simulation environment.
Course Content
• Mechanism construction in CAD software • Dynamic modelling of robots • Task-oriented simulation of the robot • Creating the virtual reality representation of the robot • Controller design and tests in simulation environment

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ME 469 - Control System Design

Credit: ( 3 + 0 ) 3

ECTS Credit: 5



Language of Instruction
English
Level of Course Unit
First Cycle
Type of Course Unit
Technical Elective
Objectives of the Course
The aim of this course is to teach the students the basic design methods of feedback control systems using root locus and frequency response techniques.
Course Content
- Root Locus: - Basic Definition and Properties - Design in Feedback Control Systems Using Root Locus Technique Frequency Response: - Basic Definition, Properties - Bode Diagram - Nyquist Diagram and Nichols chart - Stability in Frequency domain - Design in Feedback Control Systems Using Frequency Response Technique

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ME 567 - Robotics Research


Credit: ( 3 + 0 ) 3

ECTS Credit: 8



Language of Instruction
English
Level of Course Unit
Second Cycle
Type of Course Unit
Elective
Objectives of the Course
The objective of the course is to introduce students to research in robotics through execution of a small research project that involves all the aspect of a research project. • Generation of a project specification • Conduct a literature survey to understand prior work in the area • Design a test / evaluation protocol for the problem • Conduct the research • Document the project in a conference style paper • Present the research to other students and faculty
Course Content
Review of robotics: mathematical modeling, components, control and programming. Introduction to robotics research and research tools. Writing a scientific article on robotics.

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ME 574 Principles of Robotics I


Credit: ( 3 + 0 ) 3

ECTS Credit: 8



Language of Instruction
English
Level of Course Unit
Second Cycle
Type of Course Unit
Elective
Objectives of the Course
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.
Course Content
- Spatial Kinematics - Kinematic Modeling Using the Denavit-Hartenberg Approach - Position, Velocity, and Acceleration Forward and Inverse Analyses - Singularity Analyses

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ME 579 - Principles of Robotics II


Credit: ( 3 + 0 ) 3

ECTS Credit: 8



Language of Instruction
English
Level of Course Unit
Second Cycle
Type of Course Unit
Elective
Objectives of the Course
At the end of this course, the student will be able to; - Carry out the quasi-static force/torque analysis of a serial or parallel industrial robot; - Accomplish the forward and inverse dynamic analyses of a serial or parallel industrial robot. - Design free position controller of robot manipulators and position controller of robot manipulators with surface-contact
Course Content
- Overview of Vectors and Fundamentals of Kinematics - Quasi-Static Force/Torque Analysis using Virtual Work Method - Forward and Inverse Dynamic Analyses using the Newton- Euler and Lagrange's Equations - Dynamic Analysis of Serial and Parallel Industrial Robots - Free Position Control of Robot Manipulators - Position Control of Robot Manipulators with Surface Contact

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ME 580 - Haptics and Teleoperation


Credit: ( 3 + 0 ) 3

ECTS Credit: 8



Language of Instruction
English
Level of Course Unit
Second Cycle
Type of Course Unit
Elective
Objectives of the Course
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.
Course Content
- Introduction to haptics - Haptics device design - Virtual Reality in haptics - Classification of teleoperation systems - Fault tolerance concept in teleoperation - Parallel position/force controllers - Teleoperation controllers

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ME 588 - Advanced Dynamics


Credit: ( 3 + 0 ) 3

ECTS Credit: 8



Language of Instruction
English
Level of Course Unit
Second Cycle
Type of Course Unit
Elective
Objectives of the Course
The goal of this course is to teach the students the spatial dynamics through the spatial kinematics, review of Netwonian dynamics, rigid body dynamics and dynamic modelling via work and energy principles.
Course Content
- Spatial Kinematics - Newtonian Dynamics - Dynamics of Rigid Bodies - Dynamics via Work and Energy Principles

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ME 589 - Modern Control


Credit: ( 3 + 0 ) 3

ECTS Credit: 8



Language of Instruction
English
Level of Course Unit
Second Cycle
Type of Course Unit
Elective
Objectives of the Course
The main objective of this course is to introduce the students the fundamentals of modern control systems and to provide them with a background on the state variable approach.
Course Content
- State Space Representation - Solution of State Equations - Controllability and Observability - Lyapunov Stability - Controller Design with State Feedback - Observer Design

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