Vel Tech Dr.RR & Dr.SR Technical University

Avadi, Chennai - 600 062

M.TECH - AUTOMOTIVE MECHATRONICSG-ARC, NATRiP

INDUSTRY STREAM PROGRAMMECURRICULUM - I TO IV SEMESTERSSEMESTER-1

SNOCODESUBJECTLTPC

Theory

1P1MAIB19Applied Mathematics and Numerical Methods3104

2P1MSIB01Automotive Technology3003

3P1MSIB02Automobile Electrical and Electronics Systems3104

4P1MSIB03Microcontroller for Automobiles3003

5P1MSIB04Automotive sensor systems and instrumentation3104

Practical

1P1MSIB05Vehicle Systems Lab0042

2P1MSIB06Microcontroller & Instrumentation Lab0042

Total Credits22

SEMESTER-2

SNOCODESUBJECTLTPC

Theory

1P2MSIB07Automotive engine operations and vehicle dynamics3104

2P2MSIB08Analog circuits and its automotive applications3104

3P2MSIB09Automotive Virtual Instrumentation3104

4******Elective-I3003

5******Elective-II3003

Practical

1P2MSIB10Automotive Mechatronics Lab0042

2P2MSIB11Automotive Virtual Instrumentation lab0042

Total Credits22

SEMESTER-3

SNOCODESUBJECTLTPC

Theory

1P3MSIB12Automotive safety systems(Active, passive, crash)3104

2P3MSIB13Automotive Infotronics (Power Train Control, EMI & EMC)3104

Practical

1P3MSIB14Vehicle Component and Emission Testing Lab0042

2P3MSIB15Automotive Infotronics lab0042

3P3MSIB16Project Work- Phase-I00126

Total Credits18

SEMESTER-4

SNOCODESUBJECTLTPC

1P4MSIB17Project Work- Phase-II003216

Total Credits16

Overall Credits78

ELECTIVES

SNOCODESUBJECTLTPC

Elective -I

1PEMSIB18Automotive Fuel And Emission3003

2PEMSIB19Finite Element Analysis3003

3PEMSIB20Smart Materials for Automotive Applications3003

Elective -II

4PEMSIB21Micro Electro-Mechanical Systems3003

5PEMSIB22Electric and Hybrid Vehicles3003

6PEMSIB23Automotive and Real Time Embedded System 3003

7PEMSIB24Robotics and Industrial Automation3003

L - Lecture; T - Tutorial; P - Practical; C - CreditP1MAIB19 - APPLIED MATHEMATICS AND NUMERICAL METHODS

L T P C

3 1 0 4

OBJECTIVES

After the advent of high speed computers, it is now being made possible that before going into the production of a component or an equipment, a careful designing and evaluating performance of the component or the equipment can be undertaken just with a computer programme making use of a systematic mathematical formulation of the process involved in the functioning of the equipment. Accordingly, the objective of the present course is to introduce the mathematical tools such as differential equations, numerical methods which are indispensable for modeling and analysis of the problems of automotive engineering.

UNIT I

NUMERICAL LINEAR ALGEBRA

12

Gauss elimination- Gauss-Jordan elimination- LR decomposition QR decomposition - III-conditioned systems- condition number- singular value decomposition- Tikhonov regularization- Jacobi iteration- Gauss-Seidel iteration- Relaxation methods- two grid methods- Defective matrices- generalized eigen values and eigenvectors- Sturm sequence- Jacobi- Givens and Householder transformations- Jordon canonical form of matrices- pseudo - inverse of a matrix - least - square solutions of over determined linear systems- the method of normal equations.

UNIT II NON LINEAR SYSTEMS

12

Solutions of system of nonlinear equations : Newtons method Quasi - Newton methods - Secant - like methods - Fixed point methods. Unconstrained optimization : Direct search methods - Descent methods - Line search methods. Constrained optimization: Kuhn - Tucker necessary condition for nonlinear programming - The penalty method - The method of Lagrange multipliers.

UNIT III LEAST-SQUARE PROBLEMS

12

Introduction- Least-square solutions of over-determined linear systems- the method of normal equations- QR factorization method- Householder algorithm- Givens Rotations.

Nonlinear Least Square Problems: Introduction- Gauss-Newton-type methods- Newton-type methods- Quasi-Newton methods.

UNIT IV NUMERICAL SOLUTIONS OF ORDINARY DIFFERENTIAL EQUATIONS

12

Basics- One-step methods- Multistep methods- Stability- Stiff equations- Boundary value problems- Differential-algebraic equations.

UNIT V NUMERICAL SOLUTIONS OF PARTIAL DIFFERENTIAL EQUATIONS

12

Classification of partial differential equations- initial and boundary conditions- initial and boundary value problems- Finite difference method- uniform and non-uniform grids- method of weighted residuals- pseudo-spectral methods.

TOTAL: 45+15 (Tutorial) = 60 periods

REFERENCES

1. Allaire, G. and Kaber, S. M.: Numerical Linear Algebra, Springer, 2008.

2. Hairer,E., Norsett, S. P., and Wanner, G.: Solving Ordinary Differential Equations I: Nonstiff Problems, Springer, 1993.

3. Hairer,E., and Wanner, G.: Solving Ordinary Differential Equations II: Stiff and Differential-Algebraic Problems, Springer, 1996.

4. Huebner, K. H., Dewhirst, D. L., Smith, D. E., and Byrom, T. G.: The Finite Element Method for Engineers, Fourth Edition, John Wiley & Sons, 2001.

5. Lawson, C.L. and Hanson, R. J.: Solving Least-Square Problems, SIAM, 1995.

6. Quateroni, A., Sacco, R. and Saleri, F.: Numerical Mathematics, Springer, 2007.

7. Stanoyevitch, A.: Introduction to Numerical Ordinary and Partial Differential Equations Using MATLAB, John Wiley & Sons, 2005.

8. Smith, G. D.: Numerical Solution of Partial Differential Equations: Finite Difference Methods, Third Edition, Oxford University Press, 1985.

P1MSIB01 - AUTOMOTIVE TECHNOLOGY

L T P C

3 0 0 3

OBJECTIVE

To understand the basic automobile systems such as Chassis and power trains and also petrol and diesel engine management systems. It will be helpful for students from different disciplines.

UNIT I

BASICS OF ENGINE TECHNOLOGY

09

IC engines operation-Petrol and Diesel, IC engine as a propulsion source for automobiles, need for engine controls and management, fuel efficiency control objectives, emission regulations , effect of engine performance on emissions, types of electronic engine controls.

UNIT IITRANSMISSION

09

Clutches-functions-types-single and multiple diaphragm Clutch-automatic transmission devices-fluid coupling torque converter. Gear box-manual-sliding, constant, synchromesh, automatic-epicyclic and hydromatic transmission-continuously variable transmission, types of automatic transmissions, universal joint propeller shaft, hotch kiss drive, rear axle assembly-types, differential-need of differential.

UNIT IIICHASSIS (STEERING, SUSPENSION, BRAKING)

09

Chassis body-types, Principle of Steering steering geometry, Types of steering mechanisms and wheel alignment-steering linkages-front axle, power steering, Active suspension system

Brakes-Types of brakes, power brake, types of suspension systems, torsion bar, shock absorbers, wheels and tires-construction-type wear and causes.

UNIT IVENGINE IGNITION, LUBRICATION, COOLING AND FUEL INJECTION SYSTEMS

09

Number of cylinders and arrangement, firing order, Ignition systems-types, electronic ignition systems, spark plug, distributor, ignition system components. Fuel injection systems-types, electronic fuel injection systems. Cooling systems- air cooling-water cooling, types of cooling systems, radiators, thermostats and anti freezing compounds Lubrication systems-types-oil pumps, filters.

UNIT V

CAR BODY, BODY MATERIALS, TRIM AND MECHANISMS

09

Saloon, convertibles, limousine, estate car, racing and sports car. Visibility: regulations, drivers visibility, tests for visibility, methods of improving visibility and space in cars. Steel sheet, timber, plastic, GRP, properties of materials; Corrosion, anticorrosion methods. Selection of paint and painting process. Body trim items. Body mechanisms.

TOTAL : 45 periodsTEXT BOOKS:

1. K. Newton, W.Steeds and T.K.Garret, The Motor Vehicle, 13th Edition, Butterworth Heinemann, India, 2004.

2. P.M.Heldt, Automotive Chassis, Chilton Co., New York, 1982.

3. W.Steed, Mechanics of Road Vehicles, Illiffe Books Ltd., London. 1992.

4. Heinz Heisler, Advanced Vehicle Technology, second edition, Butterworth Heinemann, New York, 2002.

REFERENCES:

1. Automotive Hand book/ Robert Bosch, SAE, 2003.

2. K.K. Ramalingam, Automobile Engineering , Scitech Publications (India) PVT

3. William Crouse,Automobile Engineering

4. Harban Singh Rayat, The Automobile, S. Chand & Co. Ltd, New Delhi, 2000.

5. G.J.Giles, Steering Suspension and Tyres, Illiffe Books Ltd., London, 1975.

6. Kirpal Singh, Automobile Engineering, Standard publishers, Distributors, Delhi, 1999.

7. G.B.S.Narang, Automobile Engineering, Khanna Publishers, Twelfth reprint New Delhi, 2005.

8. R.P.Sharma, Automobile Engineering, Dhanpat Rai & Sons, New Delhi, 2000.

9. Dr. N. K. Giri, Automobile Mechanics, Seventh reprint, Khanna Publishers, Delhi, 2005

P1MSIB02- AUTOMOBILE ELECTRICAL & ELECTRONICS SYSTEMS

L T P C

3 0 0 3OBJECTIVE

To understand the concept of electrical and electronics systems such as electrical wiring, artificial intelligence and Engine management system by microprocessor and its application. It will be helpful for students from different disciplines.UNIT I: INTRODUCTION TO AUTOMOTIVE ELECTRICAL SYSTEM

10Automotive component operation Electrical wiring terminals and switching Multiplexed wiring systems Circuit diagrams and symbols. Charging Systems and Starting Systems: Charging systems principles alternations and charging circuits new developments requirements of the starting system Basic starting circuit.

UNIT II TRAILER WIRING

10

Understand the kinds of problems associated with trailer wiring, understand the process of troubleshooting trailer wiring, and perform a basic wiring exercise including continuity and acceptance testing Recognize common malfunctions in trailer lighting systems. Car Audio Systems: Identify the components that make up a car audio system and describe their function, Identify various car audio system components that adjust certain properties of the sound, Identify the components that increase the sound level and convert the electrical signals to audible sound, Understand the proper way to wire the audio system

UNIT IIIAUTOMOBILE SECURITY AND AIR CONDITIONING SYSTEM

08

Air conditioning system, Automobile security system: Mounting System Module- Mounting Siren- Mounting Shock Sensor- High-Current Wire Connections- Passive Transponder Systems- HORN HONK DIAGRAMS- DOME LIGHT DIAGRAMSUNIT IV AUTOMOBILE CONTROL SYSTEM

07Anti-lock braking system (ABS), traction control system (TCS), Electronic control of Automatic Transmission: Introduction and description Control of gear shift and torque converter lockup Electric power steering Electronic clutch.

UNIT V ENGINE MANAGEMENT SYSTEMS

10

Combined ignition and fuel management systems Exhaust emission control Digital control techniques complete vehicle control systems Artificial intelligence and engine management Automotive Microprocessor uses. Lighting and Security Systems: Vehicles lighting Circuits Signaling Circuit Central locking and electric windows security systems Airbags and seat belt tensioners Miscellaneous safety and comfort systems

TOTAL: 45 periods

TEXT BOOKS

1. Automotive Electrical Equipment by Mr.P L Kohli, Tata McGraw-Hill Education 2. Automobile Electrical and Electronics Systems, by Mr. Tom Denton, Elsevier 3. Automobile Electrical Systems, by Mr. David Penn Moreton and Darwin S. Hatch, Newyork, U. P. C. Book Company, inc

REFERENCE BOOKS1. Auto Electronics and Auto Electrical Reference Manual, by Mr. Choco Munday , Graffiti Publications 2. Understanding Automotive Electronics, by Mr. William B. Ribbens, Norman P. Mansour, Elsevier 3. Automotive Wiring and Electrical Systems, by Mr. Tony Candela, CarTech P1MSIB03 - MICROCONTROLLER FOR AUTOMOBILESL T P C

3 0 0 3

OBJECTIVE

The objective of this subject is to teach students for design and interfacing of microcontroller-based embedded systems. High level languages are used to interface the microcontrollers to various applications.

UNIT I

FOUNDATION OF EMBEDDED SYSTEM

09Definition of Embedded System - -Examples Language used in Embedded System -Embedded Programming-Embedded Programming using C-Difference between C & Embedded C-Build Process Components -Assembler & Compiler, Microcontroller's Architecture-Introduction to PIC micro controllers -Advantage of PIC micro controllers Types and products of PIC.

UNIT IIOVERVIEW OF PIC MICROCONTROLLERS

09PIC microcontrollers- CCS C Compiler and PIC16F Development System, PIC Architecture & Programming, PIC I/O Port Programming-PIC Programming in C-PIC16 Hardware Connection and ROM loaders,

UNIT IIIMP LAB IDE TOOL

09Introduction- Edit Assemble files- Debugger Operation- MP Lab simulation watch wind operation- timer operation- stack operation- simulator window operation, PIC18 Timers Programming-PIC18 Serial Port Programming-Interrupt Programming

UNIT IVPIC INTERFACING AND SPECIAL FEATURES

09LCD and Keypad Interface, External EEPROM and I2C,USB and HID Class, ADC and DAC, Sensor and other Applications, CCP and ECCP Programming-Capture Mode Programming and Pulse Width Measurement, C# RS232 Interface Programming, C# GUI Plot Program,

UNIT V

APPLICATION

09Safety/Security- ABS Controller- Lighting Controller - Steering Angle Sensor Controller -Tire Pressure Monitoring, Comfort/Convenience- Air Flow Controls- Battery Monitoring Controls - Directional Controller -Door Locks/Mirror Controller -Passive Keyless Entry -Seat Positioning Controller -Window Lift Controller -Wiper Controller, Powertrain- Adaptive Cruise Controls-Electric Parking Brake Controls- Electronic Power Steering Controls - Electronic Stability Controls- Engine Control Module Co-Processor- Fuel Pump Controls- Gearbox Controls.

TOTAL: 45 periods

TEXTBOOK AND REFERENCES:(1) The PIC Microcontroller and Embedded systems Using Assembly and C for PIC16, Muhammad Ali Mazidi, Rolin D. McKinlay, and Danny Causey, Prentice Hall, 2007

(2) PIC microcontroller An introduction to software& Hardware interfacing Han-way Huang, 2005

(3) Design reference notes and data sheets of Microchips.

(4) design with PIC microcontroller John B Peatman , www.microchip.com

P1MSIB04 - AUTOMOTIVE SENSOR SYSTEMS AND INSTRUMENTATIONL T P C

3 0 0 3OBJECTIVE

The objective of this subject is to teach students design and interfacing of microcontroller-based embedded systems. High-level languages are used to interface the microcontrollers to various applications.

UNIT I

MEASURING INSTRUMENTS

09Functional elements of an instrument; active & passive transducers; analog & digital modes of operation ; null & deflection methods; I/O configuration of measuring instruments & instrument system methods of correction for interfering & modifying inputs. Static characteristics; Meaning of static calibration, accuracy, precision & bias. Combination of component errors in overall system-accuracy calculation. Addition, subtraction, division & multiplication. Static sensitivity, linearity, threshold, resolution, hysteresis and dead space. Scale readability. Span. Generalized static stiffness & input impedance. Computer aided calibration & measurement.

UNIT IIMEASUREMENT OF DISPLACEMENT, FORCE, TORQUE & SHAFT POWER 09

Principle of measurement of displacement. Resistive potentiometers, variable inductance & variable reluctance pickups, LVDT, capacitance pickup. Principle of measurement of Force, Torque, Shaft power standards & calibration; basic methods of force measurement; characteristics of elastic force transducer-Bonded strain gauge, differential transformer, piezo electric transducer, variable reluctance/FM-oscillator, digital systems. Loading effects; Torque measurement on rotating shafts, shaft power measurement (dynamometers).

UNIT IIITEMPERATURE MEASUREMENT

09Standards & calibration; thermal expansion methods- bimetallic thermometers, liquid-in-glass thermometers, pressure thermometers; thermoelectric sensor (thermocouple) common thermocouple, reference junction considerations, special materials, configuration & techniques; electrical resistance sensors conductive sensor (resistance thermometers), bulk semiconductor sensors (thermistors), bulk semiconductor sensors (thermistors); junction semiconductor sensors; digital thermometers. Radiation Methods radiation fundamentals, radiation detectors, unchopped (AC) broadband radiation thermometers. Chopped (AC) selective band (photon) radiation thermometers, automatic null balance radiation thermometers (optical pyrometers). Two color radiation thermometers., Black body-tipped fibre optic radiation thermometer, IR imaging systems. Fluoroptic temperature measurement.

UNIT IVPRESSURE MEASUREMENTAND LEVEL MEASUREMENT

09Standards & calibration; basic methods of pressure measurement; dead weight gauges & manometer, manometer dynamics; elastic transducers; high pressure measurement; low pressure (vaccum) measurement Mcleod gage, Knudsen gage, momentum-transfer (viscosity) gages, thermal conductivity gages, ionization gages, dual gage technique. Level measurement: Capacitance probe; conductivity probes; diaphragm level detector, deferential pressure level detector, radiation level sensors, RADAR level gauges, level transmitter, ultrasonic level detector.

UNIT V

FLOW MEASUREMENT AND DISPLAY DEVICES & SYSTEMS

09Local flow velocity, magnitude and direction. Flow visualization. Velocity magnitude from pilot static tube. Velocity direction from yaw tube, pivoted vane, servoed sphere, dynamic wind vector indicator. Hot wire and hot film anemometer. Hot-film shock-tube velocity sensor. Laser Doppler velocimeter; gross volume flow rate: calibration and standards. Constant-area, variable-pressure-drop meters (obstruction meters). Averaging pitot tubes. Constant pressure drop, variable area meters (rotameters), turbine meters, positive displacement meters. Metering pumps. Electromagnetic flow meters. Drag force flow meters. Ultrasonic flow meters, vortex shedding flow meters. DISPLAY DEVICES & SYSTEMS:Classification of displays- Storage CRTs, Flat CRTs, LEDs, LCD display, Gas discharge plasma displays, Incandescent display, Electrophoretic image displays(EPID), Liquid Vapor Display (LVD)

TOTAL: 45 periods

REFERENCES

1. Measurement systems application and design, ERNEST DOEBELIN, IV Edn. (Chapter 1, 2, 3, 4, 5).

2. Instrument Engineers Hand Book (process measurement), LIPTAK (Chapter 6).

3. Electronic Instrumentation by H S Kalsi TMH 2nd Ed 2004

P1MSIB05 - VEHICLE SYSTEMS LABL T P C

0 0 4 2

OBJECTIVE

The objective of this lab to understand and application of various components of different types of vehicle system.LIST OF EXPERIMENTS

A. AUTOMOTIVE CHASSIS COMPONENTS.

1. Study and measurement of the following chassis frames:

Heavy duty vehicle frame (Leyland, Tata etc),

Light duty vehicle frame (Ambassador, Maruti van etc),

2. Study, dismantling and assembling of

Front Axle,

Rear Axle,

Differential,

Steering systems along with any two types of steering gear box,

Braking systems hydraulic servo vacuum, compressed air power brakes,

Leaf spring, coil spring, torsion bar spring, Hydraulic shock absorber,

3. Study, dismantling and assembling of

Clutch assembly of different types,

Gear Box,

Transfer case.

B. AUTOMOTIVE ENGINES.

Dismantling and study of Multi-cylinder Petrol Engine,

Assembling of Multi-cylinder Petrol Engine,

Dismantling and study of Multi-cylinder Diesel Engine,

Assembling of Multi-cylinder Diesel Engine,

Study of petrol engine fuel system,

Study of diesel engine fuel system.

P1MSIB06 - MICROCONTROLLER & INSTRUMENTATION LABL T P C

0 0 4 2

OBJECTIVE

The objective of this subject is to teach students to understand about PIC micro controller and its application, basic micro controller programming, various interfaces like 8&12 bit, program for LED, LCD interfaces.LIST OF EXPERIMENTS

1. Write and verify the program for serial transmission and reception of data through RS 232 serial port with PIC micro controller.

2. Write and verify the program for on chip 8-bit ADC program for read the ADC value from on chip channel-o

3. Write and verify the program for PWH generation using PIC micro controller & LED interface with PIC micro controller.

4. Write and verify the program for switch interface & on-board key interface with PIC mico controller.

5. Steeper motor interface with PIC 16F877 micro controller and control the speed.

6. Write and verify the program for I2C serial EEPROM interface.

7. Write and verify a program for relay interface through I2C communication.

8. Write and verify the program for characters based LCD interface.

9. Write and verify the program for I2C based real time clock with PIC micro controller.

10. Write and verify the program for 12 BIT ADC interface (MAX1236)

11. Write and verify the program for I2C based 12BIT DAC interface (MAX5822)

a. Sine wave generation

b. Square ware generation

c. Ramp wave generation

d. Triangle wave generation

12. Write and verify the program for I@C based 8Bit ADC interface (PCF8591)

13. Write and verify the program for I2C based 8 BIT interface (Device address OX92)

14. Write and verify the program for graphical based LCD interface.

15. Write and verify the program for AD590 sensor interface.

16. Mini project.

REFERENCE

1. LAB manual - Universal Embedded trainer.(Model no : VPUT-01)

2. Tabak Daniel, Hintz Kenneth.J., Micro controllers: Architecture implementation and programming ., Tata McGraw Hill., 2087

P2MSIB07-AUTOMOTIVE ENGINE OPERATIONS & VEHICLE DYNAMICS

LTPC

3 1 0 4

OBJECTIVES

To achieve clear understanding of automobile engine components and its operations along with an understanding of different vehicle modeling, lateral, longitudinal dynamics of vehicle and its effects.UNIT I

INTRODUCTION

09

Transportation needs, energy pathway, emission, efficiency improvements, customer requirements, functional requirements, engine design process, overall engine system parameters, engine characteristics, engine layout & configuration, development strategies, design considerations, drives and challenges, benchmarking & targets specific power

trend, economy, specific power trend, duty cycles, downsizing, simulation, design for lower emission.

UNIT II ENGINE COMPONENTS & AUXILLARY SYSTEMS

09

Cylinder Head & Block-Intro, piston assembly, piston, piston rings, piston pin, connecting rod assembly, crankshaft. Valves, valve seats, valve guide, cotters, cam shaft, rockers, chain, sprocket, gears, belt, tensioner, intake and exhaust systems, fuel filters, unit injection, CRDI, injection pressure, multiple injections, cooling system, cooling circuits, jacket flow optimization, water pump, thermostats, engine bearings, oil filters, oil pan, engine friction.

UNIT III STABILITY OF VEHICLES.

09

Resistance, types of resistance, Load distribution, stability on a curved track slope and a banked road, calculation of tractive effort and reactions for different drives.

UNIT IV PERFORMANCE & HANDLING CHARACTERISTICS OF VEHICLES. 09

Equation of motion and maximum tractive effort, Aerodynamics forces and moments, Power plant and transmission characteristics. Prediction of vehicle performance. Braking performance. Steering geometry. Steady state handling characteristics. Steady state response to steering input. Transient response characteristics. Directional stability of

vehicle.

UNIT V DYNAMICS OF SUSPENSION SYSTEM

09

Full, half and quarter car suspension models, Requirements, sprung mass frequency, wheel hop, wheel wobble, wheel shimmy, choice of suspension spring rate, calculation of effective spring rate, vehicle suspension in fore and aft, roll

axis and vehicle under the action of side forces, tyre, dynamics, ride characteristics power consumed by a tyre. Over steer,

under steer, steady state cornering, effect of braking, driving torque on steering, effect of camber, transient effects in cornering.

TOTAL : 45+15(Tutorial) = 60 periods

TEXT BOOKS (VEHICLE DYNAMICS)

1) Rajesh Rajamani, Vehicle Dynamics and Control, springer, 2006.

2) John C. Dixon, "Tyres, Suspension and Handling," Cambridge University Press, 1991.

3) Giri N.K Automotive Mechanics, Khanna Publishers, 2002.

4) Rao J.S and Gupta. K Theory and Practice of Mechanical Vibrations, Wiley Eastern Ltd., New Delhi -2, 2002.

REFERENCE BOOKS

1) Gillespie T.D, Fundamentals of Vehicle Dynamics, SAE USA 1992.

2) Heldt.P.M -Automotive Chassis- Chilton Co., New York- 1992

3) Ellis.J.R - Vehicle Dynamics- Business Books Ltd., London- 1991

4) Giles.J.G.Steering - Suspension and Tyres, Illiffe Books Ltd., London- 19985) Hans B, Pacejka Tyre and Vehicle Dynamics - SAE Publication - 2002.P2MSIB08 - ANALOG CIRCUITS AND ITS AUTOMOTIVE APPLICATIONS

L T P C

3 1 0 4OBJECTIVES

To achieve clear understanding the basics analog circuits of automobile application, signal conditioning, data conversion, power management and controlling. UNIT I

SWICHING & LINEAR REGULATOR DESIGN

09

Step down switching regulators, monolithic switching regulator, FPGA based DC-DC module, diode turn on time induced failures in switching regulators, performance verification of low noise & low dropout regulator.

UNIT II POWER MANAGEMENT

09Ceramic input capacitors can cause overvoltage transients, minimizing switching regulator residue in linear regulator outputs, wire virtual remote sensing for voltage regulators.

UNIT III DATA CONVERSION & SIGNAL CONDITIONING

09

Techniques of direct digitization of transducer output, high performance of ADC, 20 bit DAC, delta sigma ADC bridge measurement techniques.

Switching capacitor, chopper stabilized Operational amplifier, micro power circuits for signal conditioning, high speed amplifier techniques, nano voltage noise measurement.

UNIT VI POWERING LASERS AND ILLUMINATION DEVICES

09Ultra compact LCD backlight inverters, thermoelectric cooler temperature controller for fiber optic laser, Current sources for fiber optic lasers.

UNIT V

AUTOMOTIVE APPLICATIONS IN ANALOG CIRCUITS

09Switching regulator design example, laser power handling for DMPS. Electric Parking Brake Controls - Electronic Power Steering Controls, Electronic Stability Controls, Engine Control Module and Co-Processor Fuel Pump Controls.TOTAL : 45+15(Tutorial) = 60 periods TEXT BOOK:

1. Analog Circuit a tutorial guide to applications and solutions, Edited by Bob Dobkin and Jim willams

REFERENCES1. Systems Application Guide, Chapter 1, pg. 21-55, Analog Devices, Incorporated,

2. Amplifier Applications Guide, Chapter XI, pg. 61, Analog Devices, Incorporated,Norwood, MA, 1992.

3. Linear Design Seminar, Section 1, pp. 19-22, Analog Devices, Incorporated, Norwood, MA,1994.

P2MSIB09 - AUTOMOTIVE VIRTUAL INSTRUMENTATIONL T P C

3 1 0 4OBJECTIVES

To achieve clear understanding the advanced instrumentation techniques, lab view programming and application of virtual instruments in automotive applications.UNIT I

VIRTUAL INSTRUMENTATION

10

Historical perspective, advantages, blocks diagram and architecture of a virtual instrument, data-flow techniques, graphical programming in data flow, comparison with conventional programming. Development of Virtual Instrument using GUI, Real-time systems, Embedded Controller, OPC, HMI / SCADA software, Active X programming.

UNIT IIPROGRAMMING TECHNIQUES

08

VIS and sub-VIS, loops and charts, arrays, clusters and graphs, case and sequence structures, formula nodes, local and global variables, string and file I/O, Instrument Drivers, Publishing measurement data in the web.

UNIT III DATA ACQUISITION BASICS

09

Introduction to data acquisition on PC, Sampling fundamentals, Input/Output techniques and buses. ADC, DAC, Digital I/O, counters and timers, DMA, Software and hardware installation, Calibration, Resolution, Data acquisition interface requirements.

UNIT VI CHASSIS REQUIREMENTS

09

Common Instrument Interfaces: Current loop, RS 232C/ RS485, GPIB. Bus Interfaces: USB, PCMCIA, VXI, SCSI, PCI, PXI, Fire wire. PXI system controllers, Ethernet control of PXI. Networking basics for office & Industrial applications, VISA and IVI.UNIT V

TOOL SETS

09

Distributed I/O modules. Application of Virtual Instrumentation: Instrument Control, Development of process database management system, Simulation of systems using VI, Development of Control system, Industrial Communication, Image acquisition and processing, Motion control.

TOTAL : 45+15(Tutorial) = 60 periodsTEXTBOOKS:

1. Gary Johnson, LabVIEW Graphical Programming, Second edition, McGraw Hill, Newyork, 1997.

2. Lisa K. wells & Jeffrey Travis, LabVIEW for everyone, Prentice Hall, New Jersey, 1997.

REFERENCES:

1. Kevin James, PC Interfacing and Data Acquisition: Techniques for Measurement, Instrumentation and Control, Newnes, 2000.

2. Dr. S.S Thipse, Alternative Fuels, Jaico Publications, 2010.3. Ganesan.V, Internal Combustion Engines, Tata McGraw Hill, 1994.4. Crouse.W.M, Anglin.A.L., Automotive Emission Control, McGraw Hill 1995.5. Springer.G.S, Patterson.D.J, Engine Emissions, pollutant formation, Plenum Press, 19866. Patterson, D.J, Henin.N.A, Emissions from Combustion engines and their Control, Anna Arbor Science, 1985. Linden.D, Handbook of Batteries and Fuel Cells, McGraw Hill, 1995.7. Maxwell et al, Alternative Fuel : Emission, Economic and Performance, SAE, 19958. Watson, E.B., Alternative fuels for the combustion engine, ASME, 19909. Bechtold, R., Alternative fuels guidebook, 1998.10. Joseph, N., Hydrogen fuel for structure transportation, SAE, 1996.11. Holt and Danniel, Fuel cell powered vehicles: Automotive technology for the future, SAE, 2001.12. Vora K C & Ghosh B, Monograph on Automotive Catalytic Converter, ARAI Publication, 1995.P2MSIB10 - AUTOMOTIVE MECHATRONICS LABL T P C

0 0 4 2

LIST OF EXPERIMENTS

1. Design and Simulation of Hydraulic, Pneumatic and Electric circuits using Automation studio software

2. PLC based control of a. DC motor,

b. Electro pneumatic systems,3. Lab view based data logging system to control process variables Pressure, Temperature and Flow rate

4. Programming of robot motions a. Pick and place operation b. Continuous motion and

c. Intermittent motion using a 6 DOF Robot.

5. Testing of starting motors, generators, regulators and batteries.

6. Fault diagnosis of ignition systems and study of automobile electrical wiring.

7. Measurement of two wheeler parameters such as speed, fuel ignition systems in real time using Lab view.

8. Implementation of CAN and LIN

P2MSIB11 - AUTOMOTIVE VIRTUAL INSTRUMENTATION LABL T P C

0 0 4 2

LIST OF EXPERIMENTS

1. Wheatstone Bridge 2. Signal Conditioning Circuit 3. Digital to Analog converter 4. Analog to Digital Converter 5. Lab view Programming a. Temperature Conversion

b. Debugging and Sub-VI creation

c. Loops and Waveform Charts

d. Case statements, Arrays and Clusters

e. Strings and File Input/output

6. Data Acquisition Systems and Lab view a. Strain measurement system

b. Temperature measurement system

c. Pressure measurement system

PEMSIB18 - AUTOMOTIVE FUELS AND EMISSIONS

L T P C

3 1 0 4

OBJECTIVES

To broaden the knowledge of alternate fuels, understand the manufacturing and performance characteristics of alternate fuels; broaden the understanding of performance of single and multi cylinder diesel and petrol engines and to introduce emission tests procedure.

UNIT I

INTRODUCTION

07

Sustainable mobility, emission scenario & norms, emission sources & effects, green house gases & control, petroleum reserves & refining, fuel properties & their effects on performance & emission.

UNIT II ALTERNATE FUELS & VEHICLE

12

Need for alternate fuels, availability and comparative properties of alternate fuels, classification of alternative fuels. Bio fuels - Biodiesel, Ethanol: Manufacturing process of alcohol, blending of methanol and ethanol, types of vegetable oils for engine application, etherification, properties, engine performance & emission characteristics. Hydrogen and Fuel cells - Production methods, properties, performance and emission characteristics, storage and handling, safety aspects, working principle, classification, description of fuel cell systems, fuel cell components.UNIT III EMISSIONS FROM SI ENGINES

10

Emission formation in S.I. engines, hydrocarbons, carbon monoxide, nitric oxide & lead, effects of design & operating variables on emission formation, controlling of emission formation in engines, thermal reactors, catalytic converters, charcoal canister control for evaporative emission, positive crank case ventilation system, nano particles.

UNIT IV EMISSIONS FROM CI ENGINES

09

Diesel combustion, stages, direct & indirect combustion, emission formation, particulate matter & smoke, effect of operating variables on emission formation, PM & NOx trade-off, controlling of emission formation in engines, Exhaust Gas Recirculation (EGR), air injection, cetane number effect, emission after-treatment devices like DOC, DPF, SCR & NOx Adsorber.

UNIT V EMISSION MEASUREMENT AND TEST PROCEDURE

07

Measurement & instrumentation for HC, CO, CO2, NOx & PM, smoke meters, calibration checks on emission equipments, dilution tunnel technique for particulate measurement, emission test procedures on engine & chassis dynamometers, constant volume sampling procedure, sampling probes & valves, quantifying emissions, chemical analysis of automotive emission.

TOTAL: 45+15(Tutorial) = 60 periods

REFERENCES1. Automotive Fuel and Emissions Control System (Halderman/Birch Automotive Series) [Paperback]

2. James D. Halderman (Author), James Linder (Author) Publication Date: June 13, 2005 | ISBN-10: 013110442X | ISBN-13: 978-0131104426

3. Dr. S.S Thipse, Alternative Fuels, Jaico Publications, 2010. 4. Ganesan.V, Internal Combustion Engines, Tata McGraw Hill, 1994. 5. Crouse.W.M, Anglin.A.L., Automotive Emission Control, McGraw Hill 1995. 6. Springer.G.S, Patterson.D.J, Engine Emissions, pollutant formation, Plenum Press, 1986 7. Patterson, D.J, Henin.N.A, Emissions from Combustion engines and their Control, Anna Arbor Science, 1985. Linden.D, Handbook of Batteries and Fuel Cells, McGraw Hill, 1995. 8. Maxwell et al, Alternative Fuel : Emission, Economic and Performance, SAE, 1995 9. Watson, E.B., Alternative fuels for the combustion engine, ASME, 1990 10. Bechtold, R., Alternative fuels guidebook, 1998. PEMSIB19 - FINITE ELEMENT ANALYSISL T P C

3 0 0 3OBJECTIVES

To understand the various principles and mathematical formulations.

To possess a good understanding of weighted residual, Galerkin and Finite Element Method.

To formulate mathematical modeling for various engineering applications and solving those equations

To familiarize into various types of elements and its applications

To understand the behaviors of nonlinear characteristics

Be able to use the commercial Finite Element package ANSYS

To build Finite Element models and solve a selected range of engineering problems using ANSYS

UNIT I

INTRODUCTON & ONE DIMENSON PROBLEM

10

Relevance of finite element analysis in design variation principle and methods weighted Integral statement Weak formulation Ritz method Method of weighted residuals Application of FEA Finite element modeling Co-ordinates and shape function Potential energy approach Galerkins approach One dimensional finite element model in Solid mechanics and heat transfer Finite element model for beams

UNIT IITWO DIMENSIONAL PROBLEMS

10

Poisson equation Laplace equation Weak form Element matrices for triangular and rectangle elements Evaluation of integrals Assembly Axi - symmetric problem - application Conduction and convection heat transfer tensional cylindrical member Transient analysis theory of elasticity Plane strain plan stress Axi symmetric problems Principle of virtual displacement.

UNIT IIIISOPARAMETRIC ELEMENTS

08

Introduction Bilinear quadrilateral elements Quadratic quadrilaterals Hexahedral elements Numerical integration Gauss quadrature Static condensation Load considerations Stress calculation Example of 2D and 3D applications

UNIT IV STRUCTURAL DYNAMICS APPLICATIONS

09

Dynamic equations Mass Damping matrices Natural frequencies and modes Reduction of number of DOF response history Model methods Riz vectors Compound mode synthesis Harmonic response Direct integration techniques Explicit and implicit methods Analysis by response spectra Example problems.

UNIT V

NON-LINEAR PROBLEMS & ERROR ESTIMATES

08

Introduction Material non-linearity Elasto plasticity Plasticity Visco Plasticity Geometric non-linearity Large displacement Error norms and convergence rates- refinement with adaptively adaptive refinement

Total: 45 Points

REFERENCES

1) The Finite Element Method: Linear Static and Dynamic Finite Element Analysis (Dover Civil and Mechanical Engineering)byThomas J. R. Hughes(Aug 16, 2000)2) Introduction to Finite Element Analysis and Designby Nam-Ho Kim and Bhavani V. Sankar(Oct 20, 2008)

3) Finite Element Analysis Theory and Application with ANSYS (3rd Edition)bySaeed Moaveni(Apr 6, 2007)

4) A First Course in the Finite Element MethodbyDaryl L. Logan(Jan 1, 2011)PEMSIB20 - SMART MATERIALS FOR AUTOMOTIVE APPLICATIONSL T P C

3 0 0 3

OBJECTIVES

The aim of this module is to prepare students to select materials and manufacturing processes to produce components for automotive engines. Mechanical behavior of materials, relation between structure and property of materials, manufacturing processes, matching manufacturing processes and materials, recent developments in materials and manufacturing technologies will be discussed. Students will be trained to use Cambridge Engineering Selector (CES) software to select materials and manufacturing processes for automotive applications.UNIT I MATERIALS

08

Selection types of Materials Ferrous Carbon and Low Alloy steels, High Alloy Steels, Cast Irons Non Ferrous Aluminum, Magnesium, Titanium, Copper and Nickel alloys.

UNIT II ENGINE COMPONENTS

12

Cylinder Block, Cylinder Head, Crankcase and Manifolds, Piston Assembly, Connecting Rod, Crankshaft, Camshaft And Valve Train - Production methods Casting, Forging, Powder Metallurgy Machining Testing Methods.

UNIT IIIENGINE AUXILIARIES

10

Carburetors, fuel injection system components, radiators, fans, coolant pumps and Ignition System.

UNIT IV COMPUTER INTEGRATED MANUFACTURING

10

Integration of CAD, CAM and CIM- Networking, CNC programming for machining of Engine Components.

UNIT V QUALITY AND TESTING

05

TS 16949, BIS codes for testing. Instrumentation, computer aided engine testing, metrology for manufacturing Engine Components.

TOTAL: 45 periodsREFERENCES 1. M. F. Ashby, H. Shercliff, D. Cubon, Materials Engineering Science, Processing and Design, Butterworth Publications, 2007

2. C. Brian, G. Patrick and J. Colin, Automotive Engineering: Light Weight, Functional and Novel Materials, Taylor & Francis, 2007

3. M. P. Groover, Fundamentals of Modern Manufacturing: Materials, Processes, and Systems, 2nd edition, John Wiley & Sons, 2005

4. W. D. Callister, Materials Science and Engineering an Introduction, 6th edition, John Wiley & Sons, 2005

5. H. Yamagata, The Science and Technology of Materials in Automotive Engines, Yamaha Motor Co. Ltd., Japan Woodhead Publishing Limited, 2005

6. G. Davies, Materials for Automobile Bodies, Butterworth-Heinemann Publications, 2003

7. S. Kalpakjian and S. R. Schmid, Manufacturing Engineering and Technology, Pearson Education, 2003

8. K. G. Budinski and M. K. Budinski, Engineering Materials Properties and Selection, 7th edition, Prentice-Hall of India, 2002

9. Richard, W., Heine Carl R. Loper Jr. and Philip, C., Rosenthal, Principles of Metal Casting, McGraw-Hill Book Co., 1980.

10. IS: 1602 1960 Code for testing of variable speed internal Combustion engines for Automobile Purposes, 1966.

11. SAE Handbook, 1994.

12. P.Radhakrishnan and S.Subramaniyan, CAD/CAM/CIM, New Age International (P) Limited, Publishers, 1997.

13. Mikett P.Groover, Automation, production Systems and Computer Integrated Manufacturing Printice Hall of India Private Limited, 1999. PEMSIB21 - MICRO-ELECTROMECHANICAL SYSTEMSL T P C

3 0 0 3

OBJECTIVES:

This course enables understanding the concept of MEMS and Microsystems. Helps to understand the diverse technological and functional approaches and applications and provides an insight of micro sensors, actuators and micro fluidics.

UNIT I FOUNDATION IN MICROSYSTEMS

09

Review of microelectronics manufacture and introduction to MEMS- Overview of micro systems technology, Laws of scaling- The multi disciplinary nature of MEMS- Survey of materials central to micro engineering- Applications of MEMS in various industries

UNIT II MICRO MANUFACTURING TECHNIQUES

09

Photolithography - Film deposition, Etching Processes - Bulk micro machining, silicon surface micro machining - LIGA process-Rapid micro product development.

UNIT III MICRO SENSORS

09

Introduction, Micro-sensor measurement principle, Micro-sensor fabrication techniques, modeling, Micro pressure sensors, Micro accelerometer, sensors, Micro thermal sensors, Micro floor sensors, Micro chemical sensors, Micro optical sensors, Micro sensor for humidity and displacement, application of micro sensors.

UNIT IV MICRO ACTUATORS

09

Introduction, classification of micro actuators, electro static, optical micro actuatorsEnergy conversion and force generation-Electromagnetic Actuators, Reluctance motors, piezoelectric actuators, bi-metal-actuator Friction and wear -Transducer principles

UNIT V INTRODUCTION TO MICRO/NANO FLUIDS

09

Fundamentals of micro fluidics- Micro pump introduction Types - Mechanical Micro pump Non mechanical micro pumps, Actuating Principles, Design rules for micro pump modeling and simulation, Verification and testing -Applications

TOTAL: 45 periodsREFERENCES1. Maluf, Nadim An introduction to Micro Electro-mechanical Systems Engineering AR Tech house, Boston 2000.

2. Mohamed Gad - el - Hak MEMS Handbook Edited CRC Press 2002

3. Sabrie solomon Sensors Handbook, Mc Graw Hill 1998.

4. Marc F madou Fundamentals of micro fabrication CRC Press 2002 2nd Edition.

5. Francis E.H Tay and W. O. Choong Micro fluidics and bio MEMS application IEEE Press New York 1997.

6. Trimmer William S Micromachanics and MEMS, IEEE Press New York 1997.

PEMSIB22 - ELECTRIC & HYBRID VEHICLESL T P C

3 0 0 3OBJECTIVE

This course is intended for learning the Fundamentals of Automobile Hybrid vehicles. This course is gives the brief ideas of Hybrid vehicles propulsion methods- Hybrid architecture- Hybrid power plant specifications- Fuel cell technology - and Non electric Hybrid propulsion systems.UNIT I

HYBRID VEHICLES AND PROPULSION METHODS

09

Hybrid Vehicles: Performance characteristics of road vehicles; calculation of road load- predicting fuel economy- grid connected hybrids.

Propulsion methods: DC motors series wound- shunt wound- compound wound and separately excited motors AC motors Induction- synchronous- brushless DC motor- switched reluctance motors.

UNIT II HYBRID ARCHITECTURE AND HYBRID POWER PLANT SPECIFICATIONS

09

Hybrid architecture: Series configuration locomotive drives- series parallel switching- load tracking architecture. Pre transmission parallel and combined configurations Mild hybrid- power assist- dual mode- power split- power split with shift- Continuously Variable transmission (CVT) - wheel motors.

Hybrid power plant specifications: Grade and cruise targets- launching and boosting- braking and energy recuperation- drive cycle implications- engine fraction engine downsizing and range and performance- usage requirements.

UNIT IIISIZING THE DRIVE SYSTEM AND ENERGY STORAGE TECHNOLOGY

09

Sizing the drive system, Matching electric drive and ICE, sizing the propulsion motor, sizing power electronics. Energy storage technology, Battery basics, leads acid battery, different types of batteries, battery parameters.

UNIT IV FUEL CELLS

09

Fuel cell characteristics- fuel cell types alkaline fuel cell- proton exchange Membrane; direct methanol fuel cell- phosphoric acid fuel cell- molten carbonate fuel cell- solid oxide fuel cell- hydrogen storage systems- reformers- fuel cell EV- super and ultra capacitors- flywheels.

UNIT V NONELECTRIC HYBRID PROPULSION SYSTEMS

09

Nonelectric Hybrid Propulsion Systems: Short Term Storage Systems Flywheel Accumulators. Continuously Variable Transmissions Hydraulic Accumulators HydraulicPumps/Motors- Pneumatic Hybrid Engine Systems Operation Modes

TOTAL: 45 periodsREFERENCES 1. Electric and Hybrid Vehiclesby Iqbal Husain(Jul 16, 2011)2. Hybrid Electric Vehicles: Principles and Applications with Practical PerspectivesbyChris Mi, M. Abul Masrur and David Wenzhong Gao(Jul 5, 2011)3. Hybrid and Alternative Fuel Vehicles (2nd Edition) (Professional Technician)byJames D. Haldermanand Tony Martin(Feb 7, 2010)4. How Your Car Works: Your Guide to the Components & Systems of Modern Cars, Including Hybrid & Electric Vehicles (Rac Handbook)byArvid Linde(Oct 15, 2011)PEMSIB23 - AUTOMOTIVE AND REAL TIME EMBEDDED SYSTEML T P C

3 0 0 3OBJECTIVES

To teach how to define embedded system, Describe Real time embedded system which helpful in automotive application. Understands the hardware of embedded system, Learn software techniques to embed codes in to the systems and Learn to develop automotive systems

UNIT I

INTRODUCTION

09

An embedded system- features of embedded system- components of embedded system -Embedded Design life cycle Product specification Hardware / Software partitioning detailed hardware and software design Integration Product testing Selection Processes Microprocessor Vs Microcontroller Performance tools Bench marking.

UNIT II REAL TIME DATABASES

09

Real time Databases Basic Definition Real time Vs General propose databases Main memory Databases Transaction priorities Transaction aborts Concurrency control issues Disk scheduling algorithms Two phase approach to improve predictability Maintaining serialization consistency Databases for hard real time systems.

UNIT III EVALUATION TECHNIQUES

09

Reliability evaluation techniques Obtaining parameter values Real ability models for Hardware redundancy software error models Clock synchronization clock. A non fault tolerant synchronization algorithm impact of faults Fault tolerant synchronization in hardware fault tolerant synchronization in software.

UNIT IV EMBEDDED SYSTEM HARDWARE AND DEVELOPMENT TOOLS INTERFACING

09

I/O devices (LCD- Keyboard- ADC- DAC- Stepper motor- PWM etc)- Data converters- DMA- UART- SPI- PWM- WDT- Memories- serial- parallel Asynchronous and synchronous communication. Communication Standards: RS 232- I2C- USB- SPI- CAN- PCMCIA- IrDA. Software Development Tools Editor- Assembler- linker- simulator- compiler Hardware development tools: programmer (EPROM programmer- Microcontroller programmer- universal programmer) - Logic analyzer- General purpose evaluation Boards. Hardware and Software combination Tools In circuit emulator - Debugger.

UNIT V

CASE STUDIES IN REAL TIME EMBEDDED INSTRUMENTS

09

Specific examples of time critical and safety critical embedded systems applications in automotives- aerospace- medicine and manufacturing.

TOTAL: 45 periods

REFERENCES1. Arnold S. Berger Embedded system Design CMP books- USA 2002.

2. Herma K. - Real Time Systems Design for distributed Embedded Applications- Kluwer Academic- 1997.

3. Gassle.J.- Art of Programming embedded systems- Academic Press- 1992.

4. Gajski- D.D. Vahid- F.- Narayan S.- Specification and Design of Embedded Systems- PTR Prentice Hall- 1994.

5. Intel manual on 16 bit embedded controllers- Santa Clara- 1991

6. C.M. Krishna- Kang G. Shin- Real Time systems- McGraw Hill 1997

7. Raymond J.A. Buhr- Donaid L- Balley: An Introduction to Real time Systems- Prentice Hall international- 1999.

8. Frank Vahid and Tony Gwargie Embedded System Design - John Wiley & Sons.

9. Embedded Systems Rajkamal

PEMSIB24 - ROBOTICS AND INDUSTRIAL AUTOMATIONL T P C

3 0 0 3OBJECTIVESA general explanation of how a robot operates and to give easily applicable theories that can form the basis of usable design methods for robot operations programming techniques for robot motion control.UNIT I

INTRODUCTION

09

Robot definition, Historical background, Laws of Robotics. Robotics systems and Robot anatomy, Specification of Robots. Robot geometrical configuration Cartesian, Cylindrical, Spherical, SCARA and its workspace.UNIT II ROBOT CO-ORDINATE FRAMES AND TRANSFORMATIONS

09

Co-ordinate frames, Euler angles and fixed angles representation, Mapping of Co-ordinate frames, Linear Transformations, Rigid-Body Rotations Homogeneous coordinate transformations, Relative transformations in the robot workspace. Description of manipulator joints, Assignment of coordinate systems to robot joint and derivation of transformation matrices.

UNIT III ROBOT KINEMATICS

09

Link description, Forward kinematics D-H convention for fixing Co-ordinate frames to links, D-H matrix, Forward kinematics two and three DOF manipulator Joint space, Cartesian space, Inverse kinematics algebraic and geometric solution, examples.

UNIT IV ROBOT ANALYSIS AND DYNAMICS

09

Linear and rotational velocity of rigid bodies, Velocity propagation, Static force analysis Jacobian, Singularities, example problems. Dynamics Newton-Euler, Lagrangian formulation, Closed form solutions, Dynamic model of two link Cartesian and articulated manipulator.

UNIT V ROBOT CONTROL

09

General aspects of robot control. Basic control techniques, Feedback and feed forward compensations, Lyapunov stability, and Joint space control, PD control with gravity compensation, Computed torque control, Inverse dynamic control, and de-centralized control.

TOTAL: 45 periods

TEXT BOOK1) John J. Craig, Introduction to Robotics Mechanics and Control, Second Edition, Addison Wesly Longman Inc. International Student edition, 1999.

2) F. L. Lewis, D. M. Dawson and C. T. Abdallah, Robot Manipulator Control Theory and Practice, Prentice-Hall, Second edition, 2006.

REFERENCES

1) M.W. Spong, S. Hutchinson and M. Vidyasagar, Robot modeling and control, John Wiley and Sons, First Edition, 2006.

2) Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics: Modelling, Planning and Control, springer 2010.

3) Mikell P. Grooyer, Mitchell weiss, Roger N. Nagel, Nicholas G. Odrey, Industrial Robotics, Technology programming and Applications, Mc Graw Hill International Edition, 1986.

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