Teaching

MECENG C206/ELENG C206A: Introduction to Robotics

Semester: Fall

Offered: 2024

This course is an introduction to the field of robotics. It covers the fundamentals of kinematics, dynamics, control of robot manipulators, robotic vision, sensing, forward & inverse kinematics of serial chain manipulators, the manipulator Jacobian, force relations, dynamics, & control. We will present techniques for geometric motion planning & obstacle avoidance. Open problems in trajectory generation with dynamic constraints will also be discussed. The course also presents the use of the same analytical techniques as manipulation for the analysis of images & computer vision. Low-level vision, structure from motion, & an introduction to vision & learning will be covered. The course concludes with current applications of robotics.

MECENG C232/ELENG C220A: Advanced Control Systems I

Semester: Fall

Offered: 2023

Input-output and state space representation of linear continuous and discrete time dynamic systems. Controllability, observability, and stability. Modeling and identification. Design and analysis of single and multi-variable feedback control systems in transform and time domain. State observer. Feedforward/preview control. Application to engineering systems.

MECENG 233: Advanced Control Systems II

Semester: Spring

Offered: 2022, 2025

Linear Quadratic Optimal Control, Stochastic State Estimation, Linear Quadratic Gaussian Problem, Loop Transfer Recovery, Adaptive Control and Model Reference Adaptive Systems, Self Tuning Regulators, Repetitive Control, Application to engineering systems.

MECENG 132: Dynamic Systems and Feedback

Semester: Fall

Offered: 2022

Physical understanding of dynamics and feedback. Linear feedback control of dynamic systems. Mathematical tools for analysis and design. Stability. Modeling systems with differential equations. Linearization. Solution to linear, time-invariant differential equations.

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