The following courses are offered at the Robert Bosch Centre for Cyber Physical Systems for August-December 2020 semester.
CP 312 : Foundations of Robotics
Instructor : Prof. Shishir N. Y. Kolathaya
Background: This graduate course will serve as an introductory robotics course for students with little/no background in mechanical systems. The course will first build the necessary mathematical framework in which to understand topics such as center of gravity and moment of inertia, friction, statics of rigid bodies, principle of virtual work, kinematics of particles and rigid bodies, impacts, Newtonian and Lagrangian mechanics, rigid body transformations, forward and inverse kinematics, forward and inverse dynamics, state space representations. Towards the end of the course advanced topics such as rigid body collisions, and hybrid dynamical systems will also be covered.
Prerequisites: Students must be well versed with basic mathematical concepts like linear algebra and classical analysis. Suggested courses are MA 219 and MA 221.
Credit Hours: This will be a 3:1 credit course.
Syllabus: Kinematics of particles and rigid bodies, statics and dynamics of rigid bodies, moment of inertia, principal of virtual work, conservation of energy and momentum, collisions, configuration space, task space, rotation groups, rigid transformations, forward and inverse kinematics, forward and inverse dynamics, holonomic and nonholonomic constraints, hybrid systems, hybrid modeling.
Ruina, Andy and Pratap, Rudra, Introduction to Statics and Dynamics, Oxford University Press, 2011.
Murray, Li and Sastry, A Mathematical Introduction to Robot Manipulation, CRC Press, 1994.
A. Ghosal, Robotics: Fundamental Concepts and Analysis, Oxford, 2006.
CP 212 : Design of Cyber-Physical Systems
Instructors: Dr. Ashish Joglekar / Darshak Vasavada
Background: This is an interdisciplinary course on the design of cyber-physical systems, inviting students from all the departments. It provides an in-depth exposure to various elements of a CPS: the microprocessor, interfacing physical devices (analog and digital) and control systems basics.
Prerequisites: Students must be familiar with any microprocessor and analog/digital circuits, C programming.
Credit Hours: This will be a 2:1 credit course.
- Microprocessor system –
- Computer organization: memory, IO ports, clock and power management. Flash & security.
- Microprocessor architecture: overview of Cortex A, R and M series. Cortex v7m architecture.
- Software architecture: OSless systems, startup code, main code.
2. Interfacing physical devices –
- Structure of a device driver
- Write device drivers: GPIO and timers
- Use device driver APIs: GPIO, timers, UART, ADC
3. Control system basics – We will cover basics of on-off (hysteretic) and PID control, analysis of system stability and tuning of feedback parameters.
4. EMI/EMC considerations – Design for EM compliance is important for a product to work without failure in its intended EM environment. We will cover the EMI Noise Path Model, Modes of coupling and EMI/EMC regulations with experiments on EM susceptibility and mitigation.
5. Network connectivity – We will cover wireless communication protocols and visualize the sensor data via a cloud based middleware.
Embedded Systems: a CPS approach: Lee and Seshia (https://ptolemy.berkeley.edu/books/leeseshia/)
Embedded Systems – Shape the World: Valvano and Yerraballi ( http://users.ece.utexas.edu/~valvano/Volume1/E-Book/)
Basics of Microprocessor Programming: Darshak Vasavada and S K Sinha ( http://bompbook.org)
CP 311 : Dynamics and Control of Smart Materials
Instructor : Josephine Selvarani Ruth D
Background : Introduction to smart/intelligent materials, artificial intelligence vs embedded inherent intelligence smart systems, definitions and implications, components of smart systems, role of smart materials in developing active intelligent systems.
Prerequisites: Basic undergraduate engineering Courses
Credit Hours: This will be a 2:1 credit course.
Syllabus: Dynamics of high bandwidth low strain smart systems (piezoelectrics, magnetostrictive), types of piezoelectric materials, generator and motor principle, constitutive relationship, unimorph and bimorph actuators, design of sensing and actuating smart systems, application examples.
Dynamics of high strain low bandwidth systems (shape memory alloys, electro-active polymers, magnetostrictive, electrostricitve), phase transformations, characteristics of SMA control, modelling approach, Design of actuators –damper, compliant, variable impedance actuator, self-sensing actuator, application examples.
Design and control of hybrid smart systems (System identification, controller, MATLAB Simulink), Intelligent system design, factors to be considered in selection of smart materials to develop a smart systems, optimal placement, dynamics of smart hybrid system, modelling features, concepts of sensor –actuator integration, amalgamation of smart materials and control system. Shared sensing and actuation, self-sensing actuation, techniques of dual functionality, developing a smart device in a networking dual control loop systems.
Reference textbooks :
- Culshaw B., Smart structures and Materials, Artech house, 1996
- Leo, D.J. Engineering Analysis of Smart Material Systems, Wiley, (2007).
- Gauenzi, P., Smart Structures Physical Behaviour, Mathematical Modelling and Applications, Wiley, 2009
- Srinivasan A.V., Michael McFarland D., Smart Structure analysis and design, Cambridge University Press, 2001