m. tech. - suresh gyan vihar university. tech. (is & r).pdf · easy access to a robot's...

SYLLABUS OF

M. TECH.

INTELLIGENT SYSTEM & ROBOTICS

GYAN VIHAR SCHOOL OF

ENGINEERING AND TECHNOLOGY

ENGG. CLUSTER ‘C’

EDITION 2012

GYAN VIHAR SCHOOL OF ENGINEERING & TECHNOLOGY

M. TECH. (INTELLIGENT SYSTEMS AND ROBOTICS)

Course Overview

This branch of M. Tech. (Intelligent Systems and Robotics) is specifically working on the ‘Robots and Embedded Systems’

related research and development in SGVU Jaipur.

The word "robot" originates from the Czech word for forced labor, or serf. It was introduced by playwright Karel Capek, whose fictional robotic inventions were much like Dr. Frankenstein's monster -- creatures created by chemical and

biological, rather than mechanical, methods. But the current mechanical robots of popular culture are not much different

from these fictional biological creations. Basically a robot consists of:

A mechanical device, such as a wheeled platform, arm, or other construction, capable of interacting with its environment

Sensors on or around the device that are able to sense the environment and give useful feedback to the device

Systems that process sensory input in the context of the device's current situation and instruct the device to perform actions

in response to the situation In the manufacturing field, robot development has focused on engineering robotic arms that

perform manufacturing processes.

In the space industry, robotics focuses on highly specialized, one-of-kind planetary rovers. Unlike a highly automated

manufacturing plant, a planetary rover operating on the dark side of the moon -- without radio communication -- might run

into unexpected situations. At a minimum, a planetary rover must have some source of sensory input, some way of interpreting that input, and a way of modifying its actions to respond to a changing world. Furthermore, the need to sense

and adapt to a partially unknown environment requires intelligence (in other words, artificial intelligence).

Course Objective

Our mission is to create international standards in the area of ‘Intelligent Systems and Robotics’, to produce highly

professional, competent engineers contributing to nation building and a brand name for SGVU, Jaipur as a temple of

learning.

This course aims to nurture minds towards creativity and excellence, their talents towards high quality research in the

adventurous area of ‘Intelligent Systems and Robotics’. We have our state of the art facility to learn complex concepts of

Artificial intelligence and advanced electronics, both essential for developing high quality robotic projects.

Program Highlights

During this 4 semester course, Apart from the technologies included in curriculum, student will be working with highly

sophisticated software and hardware packages such as:

PLC- Programmable Logic Controller

A programmable logic controller (PLC) or programmable controller is a digital computer used for automation of

electromechanical processes, such as control of machinery on factory assembly lines, amusement rides, or lighting fixtures.

PLCs are used in many industries and machines.

MANIPULATOR ARM

A Robotic arm having 4 DOF so that students can apply and analyze the forward and inverse kinematics principles.

WEBOTS

Webots is a professional robot simulator widely used for educational purposes.. Allows creation of 3D virtual worlds

populated with multiple simulated robots. Supports customized wheeled, legged or flying robots.

Microsoft Robotics Studio

Microsoft Robotics Developer Studio (Microsoft RDS, MRDS) is a Windows-based environment for robot control and

simulation. Features include: a visual programming tool, Microsoft Visual Programming Language for creating and

debugging robot applications, web-based and windows-based interfaces, 3D simulation (including hardware acceleration),

easy access to a robot's sensors and actuators and support for a number of languages including C# and Visual Basic .NET,

JScript and IronPython.

Career Opportunities After completing the degree course the candidate can find job in top MNCs. Some of those are listed below.

ABB Robotics

Robosoft/Yindusoft

Freescale Semiconductors

PARI Robotics etc.

GYAN VIHAR SCHOOL OF ENGINEERING AND TECHNOLOGY

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

Teaching and Examination Scheme for M. Tech. FULL-TIME (Core) (INTELLIGENT SYSTEM AND ROBOTICS)

Edition 2012

Year I Semester – I

S.

No.

Course

Code

Course Name Credits Contact

Hrs/Wk.

Exam

Hrs.

Weightage

(in%)

L T/S P CE ESE

A. Theory Papers

1 ME – 529 Robot Motion Planning 3 3 0 0 3 30 70

2 EC - 601 Embedded System Design 3 3 0 0 3 30 70

3 CP – 527 Fundamentals of AI & Robotics 3 3 0 0 3 30 70

4 Elective I (any one of the following) 3 3 0 0 3 30 70

EC - 525 Digital Circuit Design - - - - - - -

CP - 421 Remote Sensing - - - - - - -

EC - 308 Control Systems - - - - - - -

HS 501 Soft Skills - I - - - - - - -

B. Practical & Sessional:

5 EC – 557 Embedded System Design Lab 2 0 0 3 2 60 40

C. Discipline and Extra Curricular Activities

6 DE 501 Discipline and Extra Curricular Activities - I 2 100

Total 16 12 0 3

Total Teaching Load 15

Year I Semester – II

S.

No.

Course

Code


Hrs/Wk.

Exam

Hrs.

Weightage

(in%)

L T/S P CE ESE

A. Theory Papers

1 EC - 515 Mobile and Cellular Communication 3 3 0 0 3 30 70

2 ME - 530 Robot Manipulators 3 3 0 0 3 30 70

3 EC - 506 Advanced Digital Signal Processing 3 3 0 0 3 30 70

4 Elective II (any one of the following) 3 3 0 0 3 30 70

CP - 528 Artificial Vision System - - - - - - -

EC 410 Image Processing and Pattern Recognization - - - - - - -

CP 318 Information Protection & security - - - - - - -

HS 502 Soft Skills - II - - - - - - -

B. Practical & Sessional:

5 EC556 Modeling and Simulation Lab 2 0 0 3 2 60 40


6 DE 502 Discipline and Extra Curricular Activities - II 2 100

Total 16 12 0 3


L = Lecture T = Tutorial CE = Continuous Evaluation

S = Seminar P = Practical ESE = End Semester Examination


DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

Teaching and Examination Scheme for M. Tech. FULL-TIME (Core) (INTELLIGENT SYSTEM AND ROBOTICS)

Edition 2012

Year II Semester – III

S.

No.

Course

Code


Hrs/Wk.

Exam

Hrs.

Weightage

(in%)

L T/S P CE ESE

A. Theory Papers

1 EC – 621 Intelligent System Design and Robotics 3 3 0 0 3 30 70’

2 EC – 623 Robust Control System 3 3 0 0 3 30 70

3 Elective III (any one of the following) 3 3 0 0 3 30 70

EC - 625 Advanced Microprocessor - - - - - - -

EC - 519 Design of MICs and MMICs - - - - - - -

EC - 521 Advanced Computer Communication - - - - - - -

HS 601 Soft Skills - III - - - - - - -

Practical & Sessional:

4 EC - 651 M Tech Seminar 5 0 0 9 3 60 40

5 EC – 657 Robotics lab 2 - - 3 2 60 40


6 DE 601 Discipline and Extra Curricular Activities - III 2 100

Total 18 9 0 12


Year II Semester – IV

S.

No.

Course

Code


Hrs/Wk.

Exam

Hrs.

Weightage

(in%)

L T/S P CE ESE

A. Practical & Sessional:

1 DI602 M. Tech. Dissertation / Thesis 16 0 0 0 60 40


2 DE 602 Discipline and Extra Curricular Activities - IV 2 100

Total 18 0 0 0





ENGG CLUSTER ‘C’

LIST OF COURSES OF M. TECH. I.S. & R.

Course Code Course Name Credits Contact Hrs/Wk. Exam

Hrs.

Weightage (in%)

L T/S P CE ESE

CP 318 Information Protection & security - - - - - - -

CP 421 Remote Sensing - - - - - - -

CP 527 Fundamentals of AI & Robotics

3 3 0 0 3 30 70

CP 528 Artificial Vision System - - - - - - -

EC 308 Control Systems

- - - - - - -

EC 410 Image Processing and Pattern Reorganization - - - - - - -

EC 506 Advanced Digital Signal Processing 3 3 0 0 3 30 70

EC 515 Mobile and Cellular Communication

3 3 0 0 3 30 70

EC 519 Design of MICs and MMICs - - - - - - -

EC 521 Advanced Computer Communication - - - - - - -

EC 525 Digital Circuit Design - - - - - - -

EC 556 Modeling and Simulation Lab 2 0 0 3 2 60 40

EC 557 Embedded System Design Lab 2 0 0 3 2 60 40

EC 601 Embedded System Design 3 3 0 0 3 30 70

EC 621 Intelligent System Design and Robotics 3 3 0 0 3 30 70’

EC 623 Robust Control System

3 3 0 0 3 30 70

EC 625 Advanced Microprocessor - - - - - - -

EC 651 M Tech Seminar 5 0 0 9 3 60 40

EC 657 Robotics lab 2 - - 3 2 60 40

ME 529 Robot Motion Planning 3 3 0 0 3 30 70

ME 530 Robot Manipulators 3 3 0 0 3 30 70

HS 501 Soft Skills - I - - - - - - -

HS 502 Soft Skills - II - - - - - - -

HS 601 Soft Skills - III - - - - - - -

DI 602 M. Tech. Dissertation / Thesis 16 0 0 0 60 40

DE 501 Discipline and Extra Curricular Activities - I 2 100

DE 502 Discipline and Extra Curricular Activities - II 2 100

DE 601 Discipline and Extra Curricular Activities - III 2 100

DE 602 Discipline and Extra Curricular Activities - IV 2 100



CP – 527 FUNADAMENTALS OF AI AND ROBOTICS C(L,T,P) =3(3,0,0)

Unit Course Contents Hours

1 INTRODUCTION TO AI KNOWLEDGE- Importance of AI, Knowledge Base System Knowledge organization & manipulation, Conceptual Introduction to LISP and other AI programming Languages.

7

II KNOWLEDGE REPRESENTATION- Syntax Semantics, Inference Rules, Non-deductive Inference methods, and representations using rules, forward chaining and backward chaining. Fuzzy Logic & Natural languages computations. Probabilistic Reasoning. Object Oriented Representations.

7

III KNOWLEDGE ORGANIZATION & MANIPULATION- Search & control strategies, matching techniques, knowledge organization & management, Genetic Algorithms based search techniques.

7

IV Types of Robots. Spatial transformation and kinematics of open chain linkages. 7

V Mobile robots, Actuators, sensors, programming and control. Applications -motion planning, grasping and

industrial automation.

7

35

Recommended Books: 1.AI & ES- Dan W.Patterson, Prentice Hall of India. 2.Luger- Artificial Intelligence, Pearson Education. 3.Jockson- Introduction Expert Systems, Pearson Education Rich & Knigh- Artifical Intelligence, Tata Mc-Graw Hill.

CP - 528 ARTIFICIAL VISION SYSTEM C(L,T,P) =3(3,0,0)


1 Introduction to image processing, computer vision. Digitized images: basic concepts, image digitization, sampling, and quantization, digital image properties. Data structures for image analysis: traditional data structures and

hierarchical data structures.

7

II Image pre-processing: pixel brightness transformation, geometrical transformation, local preprocessing, image smoothing, edge detection, scaling, parametric edge models, multi-spectral images,adaptive neighborhood pre-processing, image restoration.

7

III Image Segmentation: Thresholding, threshold detection methods, optimal thresholding, Edge based segmentation, edge image thresholding, edge relaxation, border tracing and detection, Hough transforms, region-based segmentation and matching.

7

IV Shape: Region identification, contour-based shape representation and description, region-based shape representation and description, shape classes. Object recognition: knowledge representation, statistical pattern recognition, syntactic pattern recognition.

7

V Linear discrete image transforms: Fourier, Hadamard, Discrete Cosine and Wavelets. Applications of these transforms. Image data compression: predictive methods, vector quantization, Hierarchical, progressive compression. JPEG & MPEG image compression.

7

35

Recommended Books: 1. Gonzalez and Woods, “Digital Image Processing” (2/e) Pearson Education. 2. Forsyth, “Computer Vision” Pearson Education. 3. Chanda and Majumdar, “Digital Image Processing and Analysis” PHI. 4. Horn B K P, “Robot Vision” MIT Press, Cambridge, MA 5. Sonka M, Hlavac H, Boyle R, “Image Processing, Analysis, and Machine Vision”, (2/e) Brooks/Cole Thomson Learning.

EC 308 CONTROL SYSTEMS C(L,T,P) =4(3,1,0)


1 CONTROL SYSTEMS ANALYSIS AND COMPONENTS: Examples and application of open loop and close loop systems. Brief idea of multivariable control system, Brief idea of Z-transform and digital control systems.

Differential equations. Determination of transfer function by block diagram reduction technique & signal flow graph method.

7

II TIME RESPONSE ANALYSIS OF FIRST ORDER & SECOND ORDER SYSTEMS: Transient response analysis. Steady state error & error constants. Dynamic error and dynamic error coefficient, Performance Indices.

7

III FREQUENCY DOMAIN METHODS: Bode plot, Design specification in frequency domain and their co-relation with time domain.

7

IV STABILITY OF THE SYSTEM: Absolute stability and relative stability. Routh’s stability criterion, Hurwitz criterion. Root locus method of analysis. Polar plots, Nyquist stability criterion. M and N loci, Nicholas charts.

7

V STATE VARIABLE ANALYSIS: Concepts of state, state variable and state model. State models for linear continuous time systems. Brief idea of state variable analysis in discrete time domain. Transfer functions, Solution of state equation. Concepts of controllability & observability.

7

Total 35

Reference Books: I J Nagrath and M Gopal: Control Systems Engineering, New Age Publication. K Atsuhiko Ogata: Modern Control Engineering, Prentice Hall of India. M. gopal: Control Systems, Tata Mc-Graw Hill. B.C.Kuo: Automatic Control Systems, Prentice Hall of India. Bekn: Digital contorl mpten R.T. stef: Design of F.B. conrol myoter.

EC 410 IMAGE PROCESSING AND PATTERN RECOGNITION C(L,T,P) =3(3,0,0)


1 INTRODUCTION: Imaging in ultraviolet and visible band. Fundamental steps in image processing. Components in image processing. Image perception in eye, light and electromagnetic spectrum, Image sensing and acquisition using sensor array.

7

II DIGITAL IMAGE FUNDAMENTALS: Image sampling and quantization, Representing digital images, Spatial and gray-level resolution, Aliasing and Moiré patterns, Zooming and Shrinking digital images.

7

III IMAGE RESTORATION: Image restoration model, Noise Models, Spatial and frequency properties of noise, noise probability density functions, Noise - only spatial filter, Mean filter Statistic filter and adaptive filter,

Frequency domain filters - Band reject filter, Band pass filter and Notch filter.

7

IV IMAGE COMPRESSION: Compression Fundamentals - Coding Redundancy, Interpixel redundancy, Psycho visual redundancy and Fidelity criteria. Image Compression models, Source encoder and decoder, Channel encoder and decoder, Lossy compression and compression standards. color space formats, scaling methodologies (like horizontal, vertical up/down scaling). Display format (VGA, NTSC, PAL).

7

V EXPERT SYSTEM AND PATTERN RECOGNITION: Use of computers in problem solving, information representation, searching, theorem proving, and pattern matching with substitution. Methods for knowledge

representation, searching, spatial, temporal and common sense reasoning, and logic and probabilistic inferencing. Applications in expert systems and robotics

7

Total 35

Reference Books: Rafael C. Gonzalez-Digital Image Processing, Pearson Edcation Asia. Kenneth R. Castleman-Digital Image Processing, Pearson Education Asia. Nick Effard-Digital Image Processing, Pearson Education Asia.

Jain A.K.-Digital Image Processing, Prentice hall of India. Sonka, Hlavac & Boyle-Image Processing. analysis and machine Vision, Thomas Learning.

EC506 ADVANCED DIGITAL SIGNAL PROCESSING C(L,T,P) =3(3,0,0)


1 DFT & ITS PROPERTIES. Decimation in time and decimation in frequency FFT algorithms, discrete cosine

transform.

7

II IIR FILTER DESIGN: Butterworth design, bilinear transformation. Low Pass, High Pass, Band Pass and Band, Stop digital filters. Spectral transformation of IIR filters.

7

III FIR FILTERS DESIGN: Symmetric and ant symmetric linear phase. FIR filter by rectangular, triangular and Blackman window functions.

7

IV FINITE WORD LENGTH EFFECTS IN FIR AND IIR DIGITAL FILTERS: Quantization, round off errors and

overflow errors.

7

V MULTI RATE DIGITAL SIGNAL PROCESSING: Concepts, design of practical sampling rate converters, Decimators, interpolators. Polyphase decompositions.

7

Total 35 Reference Books:

1. Schafer, Buck-Discrete Time signal Processing, Pearson Education Asia.

2. Prokis & Monolakis-Digital Signal Processing: Principles, Algorithms & Application, Prentice hall of India.

3. S.K. Mitra-Digital Signal Processing. Tata Mc-Graw Hill.

4. Rabiner & Gold-Theory & Applications of Digital Signal Processing, Prentice Hall of India.

5. Lathi-Signal Processing & Linear System, Oxford Univ Pren

HS 501 SOFT SKILLS TRAININIG I C (L, T, P) = 3 (3,0,0)


I Spoken English – PICTURE (p=pronunciation, I=inflection, C=Clarity & courtesy, T=Tone,

U=Understanding and feedback, R=Rate of speech and Repeatition, E=Emphasis), Body Language

Training, Active Listening

8

II Introduction to business terms, Economic Times Reading, Communication skills 8

III Johari Window Training, Firo-B Training, Relationship Management 10

IV Role Plays, Conflict Management 7

V I’m OK U’r OK Training, Time Management Training 6

Total 39

HS 502 SOFT SKILLS TRAININIG I I C (L, T, P) = 3 (3,0,0)


I Making impact making business presentations 6

II Team Management and Collaborative Work Culture 8

III Training in Anchoring and Public Speaking 6

IV Emotional Intelligence Training 7

V Business Games, Business Etiquettes 10

Total 37

HS601 SOFT SKILLS TRAININIG III C (L, T, P) = 3 (3,0,0)


I Group Discussion Training 6

II Interview Training 8

III Public Relations Management, Press Relations Management 10

IV Conference and Seminar Management, Event management 7

V Persuasion and Negotiation Skills 6

Total 37

EC 515 MOBILE AND CELLULAR COMMUNICATION C(L,T,P) =3 (3,0,0)


1 Introduction: Components of Mobile Communication systems, Operation of cellular system, Trunking Efficiency, Concept of Frequency reuse, Multipath propagation, Short term and Long term fading, Frequency selective fading, Signal Propagation Models.

7

II Co-Channel Interference, Techniques for reducing Co-Channel Interference, Diversity Techniques, Other Interferences-Adjacent Channel Interference, Near End Far End Interference, Cross talk, Interference between systems, Hand off Techniques, Antennas for Base Station and Mobile Units

7

III Analog cellular Mobile System: Channel structures, RF power level, Modulation, Spectrum & channel Designation, Network control activity, System operation , Principal functions, Mobile scanning, registration, Call origination, Call receipt, Handoff, call termination, security & Identification, Supervisory Audio Tone (SAT) Signalling Tone (ST), Signalling Format.

7

IV Digital Cellular Mobile Systems: Digital v/s Analog cellular systems, Modulation, ARQ Technique, Digital Speech coding, Digital Mobile Telephony, channel Equalization, Multiple Access Schemes- FDMA, TDMA, CDMA.

7

V Introduction to Analog & Digial MARR, WLL system, 3-G Systems, Mobile Computing. Example systems: AMPS, MATS-D, CD-900, GSM,

7

Toatl 35

Reference Books: Mobile & Cellular Telecommunication by W.C.Y Lee. McGrawhill Wireless Communications by T. S Rappaport, IEEE Press Wireless & Mobile Communication Systems by D.P Agarwal & Qing Anzen, Thomson Press

EC 519 DESIGN OF MICS & MMICS C(L,T,P) =3 (3,0,0)

UNIT Course Contents Hours

1 Review of fundamentals of electronic conduction in compound semiconductors. Study of semiconductors like GaAs, InP. Fundamentals of band gap engineering. New materials and their growth techniques.

7

II Dielectric material and their properties, thick film and thin film techniques, loss tangent, effective dielectric constant. Effect of dielectric height, metal thickness, width and freq. on dielectric constant.

7

III Two and three terminal devices for MIC and MMIC applications. Study of MESFET and HEMT performance analysis and biasing arrangements. Review of planar transmission lines, their applications as distributed components. Device and circuit integration techniques, multi-layered structures, probing and coupling techniques,

bonding techniques.

7

IV Methods of measurements and testing of MIC and MMIC. Intr. to scalar and network measurements, full nonlinear, harmonic and noise characterization

7

V Applications of MIC and MMIC as, passive components, switches, mixers, oscillators, amplifiers. Intro. to Quasi-optical systems.

7

Total 35

Reference Books: 1. Microwave Material and fabrication techniques by Laverghetta, Artech House 2. Microstrip Line and Slot Lines, KC Gupta, R garg, I Bahl, P Bhartia, Artech House 3. The RF and Microwave Circuit design Cookbook, SA Mass, Artech House 4. Computer Aided Analysis of Nonlinear Microwave Circuits, Paulo JC Rodrigues, Artech Hous

EC 521 ADVANCED COMPUTER COMMUNICATION C(L,T,P) =3 (3,0,0)

Units Contents of the Subject Hours

1 Introduction to Reference Models: Introduction to data communication. Concept of analog and digital signals. Bandwidth. Network architecture. Basics of OSI and TCP/IP reference models. Example architecture of other reference models.

6

2

Transmission media: Wired and wireless connectivity. FDM, TDM and CDMA. Circuit and packet switching.

Frame relay and ATM switching. ISDN. Local area network protocols. IEEE standards for LAN. Fibre optic networks. Satellite networks. Data link layer design issues: its functions and protocols.

8

3

Protocol and Packet format: Internet protocol. Routing algorithms. Congestion control algorithms. IP addressing schemes. Internetworking and sub-netting. Transport and application layer design issues. Connection management. Transport protocol on top of X.25. File transfer and access management.

7

4

Quality of Services: In ATM, IETF integrated services model, Differentiated services Model. Flow identification, Packet Classifiers and Filters, Scheduling. Factors affecting QOS parameters and service categories. QOS classes.

8

5

Network Management: Network Management protocol; SNMP, CMIP, Issues in the management of large networks. Multicast: IGMP, PIM, DVMRP. Concept of Traffic and service. Traffic and service characteristics of voice and video data. ATM Traffic descriptors and QOS parameters. Elements of ATM Traffic management-Traffic contracting, policing and shaping.

6

Total 35

Reference Books: 1. Charle Kaufman, Radia Perlman, Mike Specines, Uyless Black "Computer Networks: Protocols Standards and Interfaces " PHI.

2. K.C. Mansfield,J.L. Antonakos " An introduction to computer networking" PHI. 3. Network Systems Design using Network Processor, Douglas Comer, Pearson Education, ISBN 81-7808-994-4 IXP 1200

programming, Erik J. Johnson and Aaron Kunze, Intel Press. 5. Stallings: Data communication & Networking

EC - 525 DIGITAL CIRCUIT DESIGN C(L,T,P) =3(3,0,0)


1 Combinational circuit design; implementation using programmable logic devices & field programmable gate arrays. 7

II Synchronous & asynchronous sequential circuits. Micro-programming and use of AMD 2909 micro-sequencer in sequential circuits.

7

III Issues related to fault detection, fault tolerance, and reliable design.IEEE 488.2, serial interfacing - RS 232C, RS 422, RS 423, RS 485, CAMAC,VXI, SCXI, PXI,.

7

IV Sensors and transducers; Interfacing signal conditioning, Signal analysis techniques, 7

V Networking methods and their applications in instrumentation. 7

35

Recommended Books:

1.A.P. Malvino & D.P. Leach-Digital Principles & Applications, Tat aMc-graw Hill, Delhi.

2.Morris Mano-Digital Circuit & Logic Design; Prentice Hll of India.

3.Tocci-Digital Systems, Pearson Education

4.Gree-Digital electronics, Pearson Education

5.Msno-Digital Desigh, Pearson Education

6.Bartee-Digital Computer Fundamentals, Tata mcGraw Hill

EC 556 MODELING & SIMULATION LAB C(L,T,P) =2(0,0,3)

UNIT CONTENTS OF THE SUBJECT

EXPERIMENTS USING TMS320C6XXX DSP KITS

1. FIR Digital Filter Design

2. IIR Digital Filter Design

3. FFT of a given signal

4. Plot PSD/Power Spectrum of a signal

5. Discrete Cosine Transform

6. Adaptive Filter Design using Standard LMS Algorithm

7. Speech analysis using L.P.C.

EC – 557 EMBEDDED SYSTEM DESIGN LAB C(L,T,P) =2(0,0,3)

1 Blink an LED which is connected to your microcontroller using the built-intimer in the microcontroller.

2 If your microcontroller kit has an LCD interface, write a program to display acharacter string on the LCD. Assume that the string is stored at a location

3 Modern microcontrollers usually have an in-built Digital-to-Analog and Analogto-Digital converter. Use the built-in DAC to generate voltage waveforms suchas (a) pulse train (b) triangular waveform (c) sinusoidal waveform. Observe these waveforms on an oscilloscope.

4 Your microcontroller may have a built-in ADC. Build a voltmeter that can measure stable voltages in a certain range. The measured value must be displayed on the LCD display. Measure the same voltage using a multimeter and record the error in measurement. Tabulate the error for several values of

the voltage. 5 Build a simple security device based on the microcontroller kit. Interface an external motion sensor to the microcontroller. An

alarm must be generated if motion is sensed in a specified region. There must be a provision to record the time at which the intrusion was detected. Similarly, there must be a

provision to turn the alarm off by pressing a key. 6 A voltage waveform v(t) is available as an input to the microcontroller. We must continuously check the waveform and record

the maximum value of the waveform and display the maximum value on the LCD display. Test the program by using a DC supply to generate v(t) and varying the DC value.

EC 601 EMBEDDED SYSTEM DESIGN C(L,T,P) =3(3,0,0)

Unit Course Contents Hour

1 EMBEDDED COMPUTING- Microprocessors, embedded design process, system description formalisms. Instruction sets- CISC and RISC; CPU fundamentals- programming I/Os, co-processors, supervisor mode, exceptions, memory management units and address translation, pipelining, super scalar execution, caching, CPU power consumption.

7

II EMBEDDED COMPUTING PLATFORM- CPU bus, memory devices, I/O devices, interfacing, designing with microprocessors, debugging techniques. Program design and analysis- models of program, assembly and linking, compilation techniques, analysis and optimization of execution time, energy, power and size.

7

III PROCESSES AND OPERATING SYSTEMS- multiple tasks and multiple processes, context switching, scheduling policies, inter-process communication mechanisms.

7

IV HARDWARE ACCELERATORS- CPUs and accelerators, accelerator system design., Networks- distributed embedded architectures, networks for embedded systems, network-based design, Internet-enabled systems.

7

V SYSTEM DESIGN TECHNIQUES- design methodologies, requirements analysis, system analysis and architecture design, quality assurance.

7

Total 35 Reference Books:

1. Wolf, W. Computers as components- Principles of embedded computing system design. Academic Press (Indian edition available from

Harcourt India Pvt. Ltd., 27M Block market, Greater Kailash II, New Delhi-110 048.)

EC - 621 INTELLIGENT SYSTEM DESIGN AND ROBOTICS C(L,T,P) =3(3,0,0)


1 Intelligent Systems Concepts - An Overview of Intelligent Systems , .Intelligent Systems Defined 7

II Intelligent Systems Development - Design Issues for Intelligent Systems ,Intelligent System Development Tools AND System Generation

7

III Models for Intelligent Systems Design - Expert System-Based Intelligent Systems with Hypermedia Support ,Hypermedia-Based Intelligent Systems with Expert System Support ,Integrating Intelligent Systems with Existing

Data Bases and Information Sources

7

IV Intelligent System Development Tools - . PC-Based Intelligent System Tools ,Macintosh-Based Intelligent System Tools

7

V Methods for knowledge representation, searching, spatial, temporal and common sense reasoning, and logic and probabilistic inferencing. Applications in expert systems and robotics

7

35

Recommended Books: 1. Pattern Recognition - A Statistical Approach - P.A. Devijver and J. Kittler 2. Chanda and Majumdar, “Digital Image Processing and Analysis” PHI. 3. Horn B K P, “Robot Vision” MIT Press, Cambridge, MA

EC - 623 ROBUST CONTROL SYSTEM C(L,T,P) =3(3,0,0)


1 Linear Quadratic Regulators: return ratio & difference, sensitivity function. 7

II Kalman’s optimality condition. Gain/phase margins, robustness to time delay and nonlinearity. 7

III Characterization of sensitivity. Kharitonov theorem robustness. 7

IV Singular values - properties, application in stability, robustness and sensitivity. Robustness of discrete time LQR systems.

7

V Basic mathematical concepts. Conditions for optimality, variational calculus approach, Pontryagin’s maximum principle and Hamilton Jacobi-Bellman theory.

7

35

Recommended Books: 1 .I J Nagrath and M Gopal: Control Systems Engineering, New Age Publication. 2 .K Atsuhiko Ogata: Modern Control Engineering, Prentice Hall of India. 3. M. gopal: Control Systems, Tata Mc-Graw Hill.

EC - 657 ROBOTICS LAB C(L,T,P) =2(0,0,3)

Design a personal social robot Design a Portable assistive robot Design a Man friendly mobile manipulator

ME - 529 ROBOT MOTION PLANNING C(L,T,P) =3(3,0,0)


1 Configuration spaces of mobile vehicles and manipulators, 7

II Geometric modeling and sensor based map building 7

III Path planning and obstacle avoidance. Object manipulation and grasping. 7

IV Design of user interfaces and simulation. 7

V Algorithms for assembly and biological aspects of motion and intelligence. 7

35

Recommended Books: 1. Introduction to Robotics by John J. Craig,Pearson Education 2. Robotics by K.S.Fu,R.C.Gonzalez and C.S.G.Lee,McGraw-Hill

3. Robotic Engineering by Richard D.Klafter,Thomas A.Chmielewski and Michel Negin 4. Production Engineering by R.K.Jain Principles of Robot Motion by Howie, Kevin M.Lynch,Seth 5. Hutchinson, George Kantor,Wolfram Burgard,Lydia E.Kavraki,and Sebastian Thrun, MIT Press.

ME - 530 ROBOT MANIPULATORS C(L,T,P) =3(3,0,0)


1 Review of robot manipulators. 7

II Manipulator kinematics, dynamics and control 7

III Singularity and workspace analysis. 7

IV Introduction to manipulator design. 7

V Industrial automation and robotics. Practical applications of mechatronics, design issues and industrial techniques currently in use..

7

35

Recommended Books: 1.Introduction to Robotics by John J. Craig,Pearson Education 2.Robotics by K.S.Fu,R.C.Gonzalez and C.S.G.Lee,McGraw-Hill 3.Robotic Engineering by Richard D.Klafter,Thomas A.Chmielewski and Michel Negin

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