ADV TPC:ROBOTICS/MECH SYNTHES

ADVANCED TOPICS IN ROBOTICS

Recommended: MECE E3401 or instructor’s permission. Kinematic modeling methods for serial, parallel, redundant, wire-actuated robots and multifingered hands with discussion of open research problems. Introduction to screw theory and line geometry tools for kinematics. Applications of homotopy continuation methods and symbolic-numerical methods for direct kinematics of parallel robots and synthesis of mechanisms. Course uses textbook materials as well as a collection of recent research papers.

• T 4:10 p.m.-6:40 p.m.
• Instructor: Sunil Agrawal
  Wikipedia h-index: 65 Info
• 3 points

ROBOT LEARNING

Robots using machine learning to achieve high performance in unscripted situations. Dimensionality reduction, classification, and regression problems in robotics. Deep Learning: Convolutional Neural Networks for robot vision, Recurrent Neural Networks, and sensorimotor robot control using neural networks. Model Predictive Control using learned dynamics models for legged robots and manipulators. Reinforcement Learning in robotics: model-based and model-free methods, deep reinforcement learning, sensorimotor control using reinforcement learning.

• TR 1:10 p.m.-2:25 p.m.
• Instructor: Matei T Ciocarlie
  Info
• 3 points

ADVNCD CONTINUUM BIOMECHANICS

The essentials of finite deformation theory of solids and fluids needed to describe mechanical behavior of biological tissue: kinematics of finite deformations, balance laws, principle of material objectivity, theory of constitutive equations, concept of simple solids and simple fluids, approximate constitutive equations, some boundary-value problems. Topics include one- and two-point tensor components with respect to generalized coordinates; finite deformation tensors, such as right and left Cauchy-Green tensors; rate of deformation tensors, such as Rivlin-Ericksen tensors; various forms of objective time derivatives, such as corotational and convected derivatives of tensors; viscometric flows of simple fluids; examples of rate and integral type of constitutive equations.

• T 1:10 p.m.-3:40 p.m.
• Instructor: Kristin Myers
  CULPA: 3 h-index: 25 Info
• 3 points

GRADUATE RESEARCH AND STUDY II

Theoretical or experimental study or research in graduate areas in mechanical engineering and engineering science.

• Instructor: Gerard H Ateshian
  CULPA: 3 Info
• Instructor: Arvind Narayanaswamy
  CULPA: 9 h-index: 26 Info
• Instructor: Yevgeniy Yesilevskiy
  h-index: 7 Info
• Instructor: James Hone
  CULPA: 11 h-index: 124 Info
• Instructor: Kristin Myers
  CULPA: 3 h-index: 25 Info
• Instructor: Richard W Longman
  CULPA: 6 h-index: 45 Info
• Instructor: Jeffrey W Kysar
  CULPA: 9 h-index: 37 Info
• Instructor: Vijay Modi
  CULPA: 3 h-index: 40 Info
• Instructor: Michael Burke
  h-index: 22 Info
• Instructor: Y. Lawrence Yao
  CULPA: 3 h-index: 95 Info
• Instructor: Qiao Lin
  h-index: 41 Info
• Instructor: Matei T Ciocarlie
  Info
• Instructor: Michael J Massimino
  Wikipedia Info
• Instructor: Vijay Vedula
  h-index: 17 Info
• Instructor: Sunil Agrawal
  Wikipedia h-index: 65 Info
• Instructor: Sinisa Vukelic
  CULPA: 2 h-index: 11 Info
• Instructor: Hod Lipson
  Wikipedia h-index: 79 Info
• Instructor: Peter J. Schuck
  Info
• Instructor: Karen Kasza
  h-index: 17 Info
• 1-6 points

GRADUATE SEMINAR

All doctoral students are required to complete successfully four semesters of the mechanical engineering seminar MECE E9500.

• Instructor: Peter J. Schuck
  Info
• 0 points

DOCTORAL RESEARCH INSTRUCTION

A candidate for the Eng.Sc.D. degree in mechanical engineering must register for 12 points of doctoral research instruction. Registration in MECE E9800 may not be used to satisfy the minimum residence requirement for the degree.

• Instructor: Richard W Longman
  CULPA: 6 h-index: 45 Info
• 3-12 points