Three lecture hours a week for one semester.

Component technologies for precision machines based on dynamic modeling and motion programming: cams, linkages, planar manipulators.

Design of reprogrammable multiple-degree-of-freedom architectures. The course addresses various mechanical configurations and stresses the integrated design approach to sensing/actuation/control architecture and control software. Includes design project.

Treatment in depth of the dynamics of robotic systems. Discussion of modeling, analysis, and control of conventional serial robots, in-parallel manipulators, dual arms, and legged locomotion systems.

Advanced topics in theoretical kinematics geometry: applications of screw system theory to the study of motion and force fields in spatial mechanisms and robotic systems; analytical and numerical schemes associated with kinematics geometry.

Design of planar mechanisms for applications that require rigid body guidance, function generation, and path generation. Graphical and analytical techniques. Computer-aided design projects.

Examine computational models of brain control of human movement. Explore the roles of sensors, actuators, and neural circuits for biological movement control from an engineering perspective. Study current approaches to robotic and mechatronic devices that support and enhance human movements. Develop and test prototypes for robot modules that interact with the human body while studying the latest literature in neuromuscular controls, neuromotor recovery, and design and control of rehabilitation robots. Mechanical Engineering 384R (Topic 7) and 397 (Topic: Brain, Body, and Robotics) may not both be counted. Three lecture hours a week for one semester.

Use advanced mathematical concepts in linear algebra and optimization to develop applied algorithms for robotic systems utilizing various imaging modalities and sensors. Explore all phases of kinematics/dynamics modeling, preparation, motion planning, and execution. Examine examples of such algorithms in various areas including, but not limited to, robotic surgery, mobile robotics, manipulation, and human-machine interaction systems. Mechanical Engineering 384R (Topic 8) and 397 (Topic: Algrthms Snsr-Based Robotcs) may not both be counted.

Examine theory, analysis, and application of a variety of haptic and teleoperated systems, particularly in robotics and consumer electronics. Mechanical Engineering 384R (Topic 9) and 397 (Topic: Haptic and Teleoperated Sys) may not both be counted.