UNIVERSITY OF GONDARATSE FASIL CAMPUS

SCHOOL OF TECHNOLOGYELECTRICAL AND COMPUTER ENGINEERING DEPARTMENT

ECEg5234: Introduction to Robotics Credits-3 (Five contact hours (2, 1), Laboratory Hours (2))

Focus Area Lecture Tutorial Laboratory

Industrial Control Engineering

Thursday (2:00 to 5.45)

Contact DetailsMr. G. Saravanakumar,

Lecturer/Electrical and Computer Engineering DepartmentEmail: saravana.control@gmail.com

Consult Hours:Friday to Saturday after the class; request of consulting by the students will be encouraged.

Course Objectiveso To understand the concepts of advanced industrial process controlo To design and simulate typical industrial process control o To understand and develop state space models

Pre - RequisitesIntroduction to Instrumentation

Course Content

1. Introduction to Process control7.1 Introduction7.2 Classification of process control strategy7.3 Hierarchy of process control activities7.4 An overview of control system design

2. Mathematical modeling of process2.1 The rationale of dynamic process model2.2 General modeling principles2.3 Degrees of freedom analysis2.4 Dynamic model of representative process2.5 Modeling from input output data using Matlab2.6 Transfer function and state space models

3. Feedback controllers3.1 Basic control modes3.2 ON/OFF controller3.3 Proportional, Integral and Derivative controller and Features of PID control3.4 Typical responses of feedback control system3.5 Digital version of PID controller

4. PID controller design, Tuning and Troubleshooting 7.1 Performance criteria for closed loop system7.2 Model based design methods7.3 Controller tuning relations7.4 Online controller tuning

5. Feedforward and Ratio control5.1 Introduction to feedforward control5.2 Ratio control5.3 Configuration for feedforward-feedback control5.4 Tuning feedforward controller

The following tentative outline may have a slight change as the course progresses!

6. Enhanced single loop control strategies6.1 Cascade control6.2 Dead time compensation6.3 Inferential control6.4 Selective control and override system6.5 Nonlinear control system6.6 Adaptive control system

7. Multiloop and multivariable control 7.1 Process interaction and control Loop interactions7.2 Pairing of control and manipulated variable7.3 Singular value analysis7.4 Tuning of multiloop PID control system7.5 Decoupling and multivariable control strategies

8. Fuzzy logic Controller 6.1 Fuzzy system6.2 Structure of fuzzy controller6.3 Examples

9. Distributed control system7.1 Basic functions7.2 Evolution of DCS7.3 Architecture of DCS7.4 Local control Unit

References

Seborg D, Edgar F, Mellichamp D, Process dynamics and control, Wiley New York, 2nd Edition, 2003. Curtis D Johnson, Process Control Instrumentation Technology, Prentice Hall, 8th Edition, 2006 George stephanopolous, Chemical process control: An Introduction to theory and Practice, Prentice

hall, 2nd Edition. D.R. Coughanowr, Process Systems Analysis and Control, McGraw-Hill, 2nd Edition,1991

Teaching & Learning Methods

Lecture supported by Tutorial, Assignment and Laboratory exercise.

Assessment/Evaluation & Grading System

Assignments and Quiz (20 %), Lab(15%), Mid-semester Exam (25%), Final exam (40%).

Requirements according to Course policy75% Lecture and 100% Laboratory attendance, Academic honesty, punctuality (late comers more than 5

minutes will not be allowed to enter), Active participation through interaction and discussion is essential in the class; Cell phones MUST be turned off before entering the class.

Department of Electrical and computer engineering

University of Gondar Faculty of Technology

Course Number ECEg 5234

Course Title Introduction to Robotics

Degree Program BSc in Electrical and computer engineering

Module Embedded System Module

Module Coordinator N.N.

Lecturer Service course by ECE department

ECTS Credits 5

Contact Hours (per week) Cr. lecture tutorial lab Home study

3 1 3 - 5

Course Objectives & Competences to be Acquired

Understand the elements of an industrial robot Understand modeling and control techniques of robots Use their mathematical knowledge to design trajectories and end

effectors Program robotic manipulators Acquaintance with artificial intelligence applications in robotics

Course Description/Course Contents

Robotic Fundamentals

Introduction, Robot kinematics; Rigid Transformations; Robot Anatomy; Kinematics

Robot mechanisms

Actuation, sensing, detection, control;

Modeling and Control of Manipulators

Newton’s equations; Euler Lagrange method; motion control; manipulator

control; trajectory generation; computer control

Robot Applications and Programming in robotics

Artificial intelligence, Pick and place; spot and arc welding; surface

coating; assembly

Pre-requisites Introduction to Control Engineering

Semester 5th year 2nd semester

Status of Course Compulsory

Teaching & Learning Methods

Lecture supported by tutorial, assignment

Assessment/Evaluation Assignment 20%, Mid semester 30%, Final Exam 50%

Attendance Requirements 75 % Lecture attendance

Literature Basic texts :

1. Introductory Robotics ,J. M. Selig, Department of Electrical and

Electronic Engineering, South Bank Polytechnic ,Prentice Hall New York

London Toronto Sydney Tokyo Singapore.

2. John J.Craig: Introduction to Robotics, Mechanics and Control,

Prentice-Hall; Auflage: 3rd edition July 27,2004

3. Von Mark W. Spong, Seth Hutchinson, Mathukumalli Vidyasagar:

Robot Modeling and Control, Wiley & Sons; Auflage: 1st edition Nov

30, 2005).

References:

1. 1. P.J. McKerrow, Addison-Wesley, 1991: Introduction to Robotics.

2. 2. Murray, R., Li, Z. and Sastry, S. CRC Press, 1994: A mathematical

introduction to robotic