Review of Basic Systems Theory, Classical and State Space Approach, Time-Domain Response by Analytical Methods and Numeric Simulation, Frequency Response Analysis, Impedance Concepts and Applications, Modeling and Analysis of Electromechanical System, Control of Dynamical Systems.
FRA 631
Foundation of Robotics
3(3-0-9)
Basics of Robot Modeling and Control, Mathematical Modeling of Articulated Robotic Arms, Forward and Inverse Kinematics Model, Jacobian Matrix, Newton-Euler and Lagrangian Dynamic Model, Trajectory Planning, Kinematics Redundancy, Position and Force Control of Robot Manipulators.
FRA 640
Fundamental Mathematics for Robotics
3(3-0-9)
Review of Elementary Matrix Theory, Finite Dimensional Spaces, Diagonalization, Jordan Form, Ordinary Differential Equations (ODE), Applications of Fourier and Laplace Transforms, Introduction to Calculus of Variation, Introduction to Complex Variable Functions, Numerical Methods.
FRA 641
Computer Programming for Robotics
3(3-0-9)
Flowchart, Structure of Programming, Data Types and Variables, Arithmetic/Logic Operations, Decision Making, Control Structures, Input/Output, Data File System, Object-Oriented Programming, Programming with I/O Device.
FRA 660
Seminar and Research Methodology
3(0-6-9)
Presentation and Discussion of the Selected Topics in Robotics and Automation by Graduate Students and Specialists, Introduction to Research and Communication, Definitions and Classifications of Research, Research Problems Identification, Literature Review, Citation, Research Proposal Writing, Research Procedure, Abstract Writing, Statistical Data Analysis, Data Interpretation, Research Presentation, Technical Writing for Publication, Thesis Writing, Research Ethics.
Elective Courses
Special Topics
FRA 500
Special Topic I
3(3-0-9)
FRA 501
Special Topic II
3(3-0-9)
FRA 502
Special Topic III
3(3-0-9)
FRA 503
Special Topic IV
3(3-0-9)
Special Topics of Current Interest in Robotics and Automation. Class Project may be included.
FRA 600
Special Project related to Robotics and Automation I
3(0-6-12)
FRA 601
Special Project related to Robotics and Automation II
3(0-6-12)
Under the supervision and approval of the committee who consists of the faculty members and experts, the students will work on special projects related to robotics and automation to gain better understanding and develop practical knowledge for the related industry. Students are supposed to give oral presentation of proposal, progress, final presentation of the projects as well as submit the final reports.
Cognition
FRA 610
Intelligent System
3(3-0-9)
Introduction to Intelligent Systems, Fundamentals of Fuzzy Systems, Fuzzy Control Systems, Fuzzy System: Case Studies, Fundamentals of Neural Networks, Applications of Neural Networks, Neural Network: Case Studies, Neuro-Fuzzy Systems.
Basic of Digital Image Processing, Image Representation and Standards, Visual Perception and Color Spaces, Spatial Domain Image Filtering and Enhancement, Image Restoration, Image Transforms, Image Enhancement in Frequency Domain, Image and Video Coding, Image and Camera Modeling, Overview of Computer Vision, Relationship between Image Processing and Artificial Intelligence, Image Formation, Boundary and Region Representation, Matching, Current Researches in Vision Systems.
FRA 621
Robot Vision
3(3-0-9)
Binary Machine Vision, Thresholding and Segmentation Region Analysis, Photometric Stereo, Shape from Shading, Motion Field and Optical Flow, Photogrammetry and Stereo, Pattern Classification, Statistical Pattern Recognition, Polyhedral Objects, Extended Gaussian Images, Mathematical Morphology, Passive Navigation from Motion.
FRA 622
Sensors and Actuators for Robots
3(3-0-9)
DC Servomotors, Stepper Motor, Hydraulic and Pneumatic Actuators, Accelerometers, Potentiometers, Encoders and Resolvers, Proximity Sensors, Light Sensors, Touch Sensors, Force Transducers, Piezoceramic Materials, Gyroscopes, Pressure Sensor, Experimental Determination of Component Models and Model Parameters.
FRA 624
Speech Processing and Synthesis
3(3-0-9)
Fundamentals of Speech Science, Modeling Speech Production, Speech Coding and Synthesis, Speech Enhancement, Linear Predictive Analysis, Speech Recognition, Dynamic Time Warping, Hidden Markov Model, Language Modeling.
FRA 625
Human-Computer Interface
3(3-0-9)
Introduction to Human-Computer Interaction, Human Factors, Virtual Reality, Input Interface Technology, Output Interface Technology, Foundations of Computer Interface Programming, Foundations of Computer Graphics and Algorithm, Physical-based Simulation.
Manipulation
FRA 632
Mechanics of Manipulation
3(3-0-9)
Manipulation Kinematics, Kinematic Representation, Dynamics of Rigid Body, Friction, Multiple Contact, Quasi-static Manipulation, Squeezing and Pushing, Orthogonal Compliance, Screw Theory.
FRA 633
Advanced Robot Dynamics and Control
3(3-0-9)
Review of Kinematics of Robot Manipulators, Calculus of Variation, Application of Euler-Lagrange Equation in Robot Manipulators, Solving Linear and Nonlinear Differential Equations, Robot Control, Classical and Modern Control of Linear Systems, Digital Control of Robot Manipulators, System Identification of Robotic Systems.
FRA 636
Modeling and Design of Robot Manipulators
3(3-0-9)
Manipulator Specification, Design Procedure, Mechanism of Transmissions and Joints, Mechanism, Configuration and Motion of Gripper, Principles for Dynamic Analysis of Manipulator, Motion Planning, Computer-Aided Design and Build Prototype Robot Manipulator.
FRA 638
Mobile Robotics
3(3-0-9)
Designing and Constructing Mobile Robot Platform, Basic System Design and Program of Mobile Robots, Sensors and Actuators for Mobile Robots, Mobile Robot Programming, Path Planning, Obstacle Avoidance, Behavior-based Algorithm, Practical Mobile Robot Applications.
FRA 639
BioRobotics
3(3-0-9)
Introduction to Biologically-inspired Robots, Various Types of Robot Movement Derived from Human and Animal Motion, Principle of Legged Locomotion, Rigid Body Dynamics, Dynamics of Multi-link Systems, Control of Multi-joint Movement, Gait Generation, Control of Balance, Mechanical Design of Legged Robots.
Computation
FRA 643
System Interface Design
3(3-0-9)
Introduction to System Interface, Microcontroller Architecture, Instruction Set, Microcontroller Programming, Interfacing Ports, Interfacing LED and Switch, Interfacing Analog Circuits, Interfacing Motors, Interfacing LCD, Serial Communication.
FRA 644
Digital Signal Processing
3(3-0-9)
Digital Representation of Analog Signals, Frequency Domain and Z-transforms of Digital Signals, Digital System Design, IIR and FIR Filter Design Techniques, Fourier and Fast Fourier Transform, Sources of Error in Digital Systems, Analysis of Noise in Digital Systems.
Automation
FRA 650
Computer-Aided Design Theory
3(3-0-9)
Recent Hardware and Software in CAD, User Interface, System Effectiveness, CAD System Selection and Usage, Representation of Curves, Surfaces and Solids, Geometric Transformations, Mapping, Projection, Computer Animation Techniques.
FRA 651
Computer-Aided Manufacturing
3(3-0-9)
Architecture of CAD/CAM Systems, CAD/CAM Database, CAD/CAM Data Exchange, Geometrical and Mass Property Calculations, Finite Element Model and Analysis, Mesh Generation.
FRA 652
CIM for Engineering
3(3-0-9)
Computer Integrated Manufacturing (CIM) Subsystems, Concepts of Database Design, Selection of Machines, Tools and Fixtures, Group Technology, Scheduling, Shop Floor Control, Process Planning in Automation System.
FRA 653
Automation and Production Systems
3(3-0-9)
Design and Analysis of Automated Flow Lines, Assembly Systems, Line Balancing, Automated Materials Handling and Storage Systems, Concepts of Computer Numerical Control (CNC) Production Systems, CNC Machines, CNC Programming, Current Trend in CNC Systems.
FRA 655
Flexible Manufacturing System
3(3-0-9)
Introduction to Modern Manufacturing, Manufacturing Processes, Manufacturing and Assembly Systems Design Procedures, Integration of Transfer Line and Flexible Manufacturing Systems, Calculation of Performance in Manufacturing Process , Real Time Process Control Scheduling, FMS Proposal Writing, Acquisition and Equipment Commission of FMS, Effect of Machine Failure, Set-ups and Disruption on System Performance.
Thesis and Independent Study
FRA 661
Thesis
12(0-24-48)
Students, who take theses, are required to work on design, research, and development of project by themselves under supervision of advisors and thesis committee.
FRA 662
Independent Study
6(0-12-24)
Students, who take independent studies, are required to analyze and solve problems related to robotics or automation by themselves under supervision of advisors and technical committee.
LNG
Overview : English Language Support Programme
LNG 550
Remedial English Course for Post Graduate Students
2 (1-2-3)
This course aims to instill the background language and skills necessary for undertaking LNG 600 and to raise the students’ confidence in using English. There will be no predetermined focus of the course, but instead it will concentrate on those areas where the students are weakest and need most improvement. The classroom teaching and learning will be supported by self-directed learning to allow the students to improve their language and skills autonomously.
LNG 600
Insessional English Course for Post Graduate Students
3 (2-2-9)
This course aims to develop English language skills relevant to mature students in Graduate Degree Programmes in Engineering, Science and Technology. It will be based on practical skills, but will not be yet another grammar course. Rather its focus will be on the real language demands, particularly in reading and writing, faced by students in the course of their studies. It is project-focussed and simulates the stages in preparing and presenting research, from finding references to writing a final draft. The course will equip students with language learning strategies to facilitate ongoing autonomous learning and will emphasise language use not usage, real communication not classroom practic
Legacy of FIBO
