ROBOTICS & AUTOMATION

SEMESTER VI
 ROBOTICS & AUTOMATION

CATEGORY L T P CREDIT
RAT302 DESIGN OF MACHINE ELEMENTS
PCC 3 1 0 4

Preamble: This course helps students to apply the concepts of stress analysis, theories of
failure and material science to analyse and design commonly used machine components. The
course also provides an in-depth understanding on the design of different types of joints, gear
drives, belt drives and bearings which are critical components of automation.

Prerequisite: NIL

Course Outcomes: After the completion of the course the student will be able to

CO 1 To review concepts of statics and strength of materials.

CO 2 To introduce fundamental approaches to failure prevention of components.
CO 3 To provide knowledge in the design of common machine elements such as fasteners,
shafts, springs and couplings.
CO 4 To provide knowledge in the design of welded joints and fillet joints in tension,
torsion and bending.
CO 5 To provide basic design methods for gear drives, belt drives and bearings

Mapping of course outcomes with program outcomes

PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7 PO 8 PO 9 PO PO PO
10 11 12
CO 2 1 3
1
CO 2 1 3
2
CO 2 1 3
3
CO 3 2 2 3
4
CO 3 2 2 3
5

Assessment Pattern

Bloom’s Category Continuous Assessment Tests End Semester Examination

1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
 ROBOTICS & AUTOMATION

Mark distribution

Total CIE ESE ESE Duration

Marks

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A
contain 10 questions with 2 questions from each module, having 3 marks for each question.
Students should answer all questions. Part B contains 2 questions from each module of which
student should answer any one. Each question can have maximum 2 sub-divisions and carry
14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. What is factor of safety? What are the factors to be considered in selection of factor of
safety(FoS)?
2. What are the factors affecting the endurance strength
3. A load of 9kN is applied to the steel rod of 50mm diameter as shown in figure. If a
torsional moment of 100 N-m is applied on it, Determine the maximum tensile stress
and maximum shear stress.

Course Outcome 2 (CO2):

1. Explain the stresses acting on a screw fastener.

2. A cylinder head is fastened to the cylinder of a compressor using 6 bolts of M20 size.
Bolt material is C20 steel. The Maximum fluid pressure is 3.5MPa, and the cylinder
 diameter is 75mm. A soft gasket is used. AssumeROBOTICS & required
the initial tension AUTOMATION
in each
bolt as 40kN.Determine the factor of safety.

Course Outcome 3 (CO3):

1. What is surging in springs?

2. Differentiate between torsional rigidity and lateral rigidity of shaft
3. Compare and Contrast rigid and flexible couplings List out any two application areas
of rigid and flexible couplings

Course Outcome 4 (CO4):

1. Explain the stresses acting in Fillet and Butt Welds

2. Why do we design the weld joints based on throat area?
3. Determine the size of the weld for a bracket loaded as shown in the figure. The
allowable stress in the weld is 60MPa.

Course Outcome 5 (CO5):

1. State and explain law of gearing with a neat sketch

2. Elaborate on the different modes of failure of gear tooth
3. Explain the advantages and limitations of V-Belt drive

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY
SIXTH SEMESTER B.TECH. DEGREE EXAMINATION
Course Code: RAT 302
Course Name: DESIGN OF MACHINE ELEMENTS
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries 3 marks. Marks

1 Distinguish between standards and codes (3)

2 Explain the procedure to determine the endurance limit of a material (3)
3 What is the role of washer in a bolted joint (3)
4 What are the demerits of welded joints (3)
5 Distinguish between rigid and flexible couplingsROBOTICS & AUTOMATION(3)
6 Explain shock and fatigue factor (3)
7 Explain why dynamic factors need to be considered in the design of gears. (3)
8 Enumerate the various types of flat belt drives. (3)
9 Explain the mechanism of fluid film lubrication (3)
10 Define equivalent bearing load (3)
PART B
Answer any one full question from each module, each carries14 marks.
MODULE1
11 a) Explain the steps involved in the design process. (4 )
b) A carbon steel rod of circular cross section is subjected to a bending moment (10 )
which varies from 300 Nm to 500 Nm and an axial load which varies from 6 kN
to 9 kN.Determine the diameter of the rod for a factor of safety of 3.Take σu=
600 MPa, σy=400 MPa
12 a) Explain impact factor. (2)
b) A 50 mm diameter steel shaft with a 20 mm transverse hole is simultaneously (12)
subjected to a bending stress which varies from + 100 MPa to – 70 MPa and a
torsional stress which varies from + 80 MPa to -50 MPa. Find the factor of safety
for infinite life assuming the following properties. Ultimate strength in tension
800MPa, Yield strength 550MPa. Surface correction factor = 0.85, size factor
=0.85 and Notch sensitivity factor = 0.9. Use maximum distortion energytheory.
MODULE II
13 a) What is meant by pre-tension in bolts? What is its significance? (4 )
b) The cylinder head is fastened to the cylinder of a compressor using 6 bolts (steel (10)
C 20) of M20 size. The maximum fluid pressure is 3.2 MPa, cylinder diameter is
70 mm. A soft copper gasket is used. Assume the initial tension required in each
bolt as 40kN, Determine the factor of safety?

14 a) What is weld reinforcement? Why is it done? (2)

b) An eccentrically loaded bracket is welded to a support as shown in figure. The (12)
permissible shear stress for the weld material is 80 MPa. Determine the size of
the weld.

MODULE III
15 A railway wagon weighing 3 tons is moving with a velocity of 3 m/s. It is (14)
brought to rest by two buffer springs of diameter 200 mm. The maximum
deflection allowed is 160 mm. The allowable shear stress in spring material is600
MPa. Take G=84 GPa. Design the spring.
16 Design a shaft to transmit power from an electric motor to a lathe head stock (14)
through a pulley by means of a belt drive. The pulley weighs 200 N and is
located at 300 mm from the centre of the bearing. The diameter of the pulley is
 200 mm and the maximum power transmitted is ROBOTICS & AUTOMATION
1 kW at 120 rpm. The angle of
0
lap of the belt is 180 and the coefficient of friction between the belt and pulley is
0.3. The shock and fatigue factors for bending and twisting are 1.5 and 2.0.The
allowable shear stress in the shaft may be taken as 35 MPa.
MODULE IV
17 A motor shaft rotating at 1440 rpm has to transmit 15 kW power to a low speed (14)
shaft running at 500 {pm. A 200 pressure angle full depth involute system of
geartooth is used. The pinion has 25 teeth. Both gear and pinion are made of cast
ironhaving allowable static strength of 55 MPa. Design a suitable spur gear drive
andcheck the design for dynamic load and wear.
18 It is required to select a V-belt drive to connect a 15 kW, 2880 rpm normaltorque (14)
A.C. motor to a centrifugal pump, runningat approximately 2400 rpm, for a
service of 18hours per day. The centre distance should beapproximately 400 mm.
Assume that the pitchdiameter of the driving pulley is 125 mm.
MODULE V
19 a) What is Sommerfeld number? (2)
b) Design a journal bearing to support a load of 6 kN at 750 rpm, using hardened (12)
steel journal and bronze backed babbit bearing. The oil has a specific gravity of
0.9 at 15.5°C and a viscosity of 9 centistokes at 82°C which may be taken as
limiting temperature for oil. Assume clearance of 0.003mm/mm diameter.
20 a) Define static and dynamic load carrying capacity of ball bearing. (2)
b) A single row deep groove ball bearing has a dynamic load capacity of 40210 N (12)
and operates on the work cycle consists of radial load of 2000 N at 1000 rpm for
25 % of the time, radial load of 5000 N at 1500 rpm for 50 % of time, and radial
load of 3000 N at 700 rpm for the remaining 25 % of time. Calculate theexpected
life of the bearing in hours.
****

Syllabus

Module I (10 Hours)

Introduction to Design- Definition, steps in design process, preferred numbers, standards and
codes in design.
Shock and impact loads, fatigue loading, endurance limit stress, factors affecting endurance
limit, factor of safety

Module II (8 Hours)
Threaded Joints- Terminology, thread standards, Selection of threaded joints. Bolted joints-
effect of initial tension, eccentric loading, design of bolts for static and fatigue loading,
gasketed joints, power screws.
Design of welded joints- welding symbols, stresses in fillet and butt welds, Butt joint in
tension, fillet weld in tension, fillet joint under torsion, fillet weld under bending,
eccentrically loaded welds.

Module III (8 Hours)

Springs- classification, spring materials, stresses and deflection of helical springs, Selection
of springs, concentric springs, end constructions
Design of shafts and couplings-Shafting- material, design ROBOTICS
considerations,&causes
AUTOMATION
of failure in
shafts, design based on strength, rigidity and critical speed, design for static and fatigue loads,
repeated loading, reversed bending; Design of Coupling- selection, classification, rigid and
flexible coupling, design of keys and pins

Module IV (10 Hours)

Gears- classification, Gear nomenclature, Tooth profiles, Materials of gears, virtual or
formative number of teeth, gear tooth failures, Lewis equation, Buckingham’s equation for
dynamic load, wear load, endurance strength of tooth, surface durability, heat dissipation –
lubrication of gears, Merits and demerits of each type of gears. Design of spur gear.
Basic idea of flat belt- materials for belts
Selection of V-belt drives, Advantages and limitations of V-belt drive

Module V (9 Hours)
Rolling contact bearing- Types, Selection of a bearing type, bearing life, static and dynamic
load capacity, axial and radial loads, equivalent bearing load, selection of bearing life
Sliding contact bearing- modes of lubrication, lubricants, viscosity, Petroff’s equation,
Journal bearings, hydrodynamic theory, Sommerfeld number, friction guideways and LM
guideways selection

Text Books

1. J. E. Shigley, Mechanical Engineering Design, McGraw Hill,2003

2.Jalaludeen , Machine Dsign, Anuradha Publications, 2016

3.V.B.Bhandari, Design of Machine elements, McGraw Hill, 2016

4. R. L. Norton, Machine Design – An Integrated Approach, Pearson Education, 2001

Data books permitted for reference in the final examination

1. K. Mahadevan, K.Balaveera Reddy, Design Data Hand Book, CBS Publishers &
Distributors, 2013

2. NarayanaIyengar B.R &Lingaiah K, Machine Design Data Handbook, Tata McGraw

Hill/Suma Publications, 1984

3. PSG Design Data, DPV Printers, Coimbatore, 2012

References Books

1. Juvinall R.C &Marshek K.M., Fundamentals of Machine Component Design, John Wiley,
2011

2. M. F. Spotts, T. E. Shoup, Design of Machine Elements, Pearson Education, 2006

3. RajendraKarwa, Machine Design , Laxmi Publications (P) LTD, New Delhi, 2006

4. Siegel, Maleev& Hartman, Mechanical Design of Machines, International Book Company,

1983
 ROBOTICS & AUTOMATION
Course Contents and Lecture Schedule

Module Contents Hrs

1 Introduction to Design- Definition, steps in design process, preferred 4
numbers, standards and codes in design.
Shock and impact loads, fatigue loading, endurance limit stress, 6
factors affecting endurance limit, factor of safety
2 Threaded Joints- Terminology, thread standards, Selection of 4
threaded joints. Bolted joints- effect of initial tension, eccentric
loading, design of bolts for static and fatigue loading, gasketed joints,
power screws.
Design of welded joints- welding symbols, stresses in fillet and butt 4
welds, Butt joint in tension, fillet weld in tension, fillet joint under
torsion, fillet wed under bending, eccentrically loaded welds.
3 Springs- classification, spring materials, stresses and deflection of 4
helical springs, Selection of springs, concentric springs, end
constructions

Design of shafts and couplings-Shafting- material, design 4

considerations, causes of failure in shafts, design based on strength,
rigidity and critical speed, design for static and fatigue loads,
repeated loading, reversed bending; Design of Coupling- selection,
classification, rigid and flexible coupling, design of keys andpins
4 Gears- classification, Gear nomenclature, Tooth profiles, Materials of 3
gears, virtual or formative number of teeth, gear tooth failures, Lewis
equation, Buckingham’s equation for dynamic load, wear load,
endurance strength of tooth, surface durability, heat dissipation –
lubrication of gears – Merits and demerits of each type of gears.
Design of spur gear 3
Basic idea of flat belt- materials for belts 1
Selection of V-belt drives, Advantages and limitations of V-belt drive 3
5 Rolling contact bearing- Types, Selection of a bearing type, bearing 2
life, static and dynamic load capacity, axial and radial loads,
equivalent bearing load, selection of bearing life
Design of Ball Bearings 2
Sliding contact bearing- modes of lubrication, lubricants, viscosity, 2
hydrodynamic theory, Petroff’s equation, Journal bearings,
Sommerfeld number
Design of Journal bearings, Friction guideways and LM guideways 3
selection
 ROBOTICS & AUTOMATION
ELECTRIC DRIVES AND CATEGORY L T P CREDIT
RAT304
CONTROL PCC 3 1 0 4

Preamble: Robotics application span from very small mobile remote data collection
equipment to large powerful robotic arms that can be used in production lines of huge
manufacturing plants. Hence the design of motors and their associated drive mechanism used
for the development of such robotsare quite challenging. This course provides sufficient
exposure to students on the different types of robots and various drives that are used for the
development of a robot.

Prerequisite: Nil

Course Outcomes: After the completion of the course the student will be able to

CO 1 Explain the working of different types of motors commonly used in robotics and the
need for Electric drives
CO 2 Recognize the different power semiconductor device and their working principles
CO3 Describe the working of SCR and the various techniques used for triggering SCR
CO4 Demonstrate design of various speed control techniques of DC motors
CO5 Explain the working of single phase and Three phase inverters
CO6 Explain the working of Position control and speed control of different types of
motors

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2 1 2
CO 2 3 2 2
CO 3 3 3 2 2
CO4 3 3 3 2
CO5 3 2 1 2
CO6 3 2 1 2

Assessment Pattern

Bloom’s Category Continuous Assessment End Semester Examination

Tests
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
 ROBOTICS & AUTOMATION
Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A
contain 10 questions with 2 questions from each module, having 3 marks for each question.
Students should answer all questions. Part B contains 2 questions from each module of which
student should answer any one. Each question can have maximum 2 sub-divisions and carry
14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. Explain the principle and working of a Stepper Motor

2. Explain the working of a BLDC motor. How is it different from a normal DC motor
and what are its advantages.
3. What are the different starting methods of DC motors
4. What are the factors that need to be considered in identifying a motor that meets the
requirements of the load?
5. Why do we need Electric drives? With a block diagram, explain the important
components and their roles of an electric drive

Course Outcome 2 (CO2):

1. Explain the working principle of IGBT. Discuss about an application where IGBT is
used and state why IGBT is preferred over other power devices for that application
2. What is the need of isolation in electronic systems? Explain two commonly used
isolation mechanisms used in electronic system design

Course Outcome 3 (CO3):

1. Draw the structure of an SCR and explain its working. Also discuss about the
switching characteristics of an ACR.
2. Explain the different types of triggering circuits that can be used to trigger an SCR

Course Outcome 4 (CO4):

1. Explain the operation of a single phase fully controlled bridge rectifier in conduction
modes
 ROBOTICS & AUTOMATION
2. Explain how speed control of a DC motor can be achieved with the help of a chopper
controlled DC drive
3. Explain the operation of a two quadrant speed control mechanism
4. What is a closed loop torque control? How do you choose between speed control and
torque control during a system design

Course Outcome 5 (CO5):

1. Explain the operation of a 3-phase bridge inverter with a resistive load

2. Explain the different voltage control techniques used in single phase inverters
3. What is the impact of harmonics in an inverter? What are the ways in which
harmonics can be removed from an inverter

Course Outcome 6 (CO6):

1. Differentiate between open loop and closed loop position control techniques of
stepper motor
2. How is converter circuits used in speed control achieved in a BLDC motor. List out
the different modes of operation of the same.
3. What is the principle behind sensorless control of motor speed ?
4. What is a self-controlled motor? How is self-control achieved in synchronous motors?

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY
SIXTH SEMESTER B.TECH. DEGREE EXAMINATION
Course Code: RAT 304
Course Name: ELECTRIC DRIVES AND CONTROL
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries 3 marks. Mark
s
1 Compare and contrast the starting methods of DC motors. (3)

2 Discuss the advantages of BLDC motors over conventional DC motors (3)

3 Differentiate between latching current and holding current (3)
4 Explain the role of opto-couplers in power drives with an example (3)
5 Explain the condition where power may flow from load to source in chopper (3)
circuits.
6 Design a dc-dc converter with 15 V input and 200 V output at up to 50W. The (3)
ripple in the output voltage and input current should not exceed ±5% and ±20%
respectively. Choose an appropriate switching device and frequency.
7 Compare methods to control output voltage of inverter. (3)

8 What is the advantage of using DC Motor speed control using VFDs. (3)
9 Sensorless control in BLDC used for high speed applications. Substantiate the (3)
 ROBOTICS & AUTOMATION
statement.
10 Write down the components of a servo system (3)
PART B
Answer any one full question from each module, each carries14 marks.
MODULE1
11 a) Investigate the torque-speed of the drive system during dynamic conditions (6)
b) Explain about the speed-torque characteristics of a DC Shunt Motor with (8 )
suitable graph and equations
12 a) Explain the selection of different power rating for different loading conditions (7)
b) Suitably compare conventional motors and stepper motors. Calculate the (7)
stepping angle of a three phase, 32 teeth,variable reluctance stepper motor.
MODULE II
13 a) With schematics explain switching characteristics of power BJT and Explain (10)
any one drive circuit for power BJT
b) Describe the V-I characteristics of IGBT (4)
14 a) Compare Thyristor, Power MOSFET and IGBT on the basis of following (5)
parameters: i) Switching frequency ii) Voltage and current ratings iii)
Applications (at least two)
b) Explain two quadrant and four quadrant choppers with its applications. (9)
MODULE III
15 a) Design an R-triggering circuit for a half wave controlled rectifier circuit for 24 (10)
V ac supply. The SCR to be used has the following data. Igmin = 0.1 mA,
Igmax = 12 mA, Vgmin = 0.6V, Vgmax = 1.5 V
b) Discuss regenerative breaking and its advantages (4)

16 Graphically explain the three phase fully controlled bridge converter circuit (14)
with R Load and firing angleα = 600. For what firing angle,α, the current
through the load becomes discontinuous.
MODULE IV
17 a) With necessary diagrams and equations explain 3-phase bridge inverter with R (12)
load and 1200 conduction mode.
b) Note down the advantages of single phase voltage source inverter. (2)
18 a) Briefly explain sinusoidal PWM. (4)
b) What is the effect of blanking time in invert output? Suggest suitable methods (10)
to eliminate the effects of harmonics.
MODULE V
19 a) Compare the full step and half step motor drive with applications. Also compare (14)
open loop and closed loop configurations
b
20 a) Explain how position control is achieved in servo control system. (4)
b) Explain how Hall sensors are used to achieve speed control in BLDC motors (10)
****
 ROBOTICS & AUTOMATION
SYLLABUS
Module I (9 Hrs)

Introduction to electric motors used for robotic applications.

DC Motor -Construction– principle of operation –Back emf–Torque - characteristics of

shunt, series and compound motors - necessity of starters- starting methods of dc motors
Introduction to Special Electrical Machines- DC servo motor,AC servo motors, stepper
motor- variable reluctance - permanent magnet- hybrid , BLDC, PMSM- Construction ,
working and principle of operation
Electric drives- Introduction – Block diagram – advantages of electric drives -Dynamics of
motor load system, fundamental equations, and types of load – classification of load torque-
matching motor and load- Selection of motors for typical applications based on speed torque
characteristics.

Module II (8Hrs)

Introduction to Power semiconductor devices-Power diode, BJT, MOSFET, IGBT -static

and dynamic characteristics

SCR – structure- working- V-I and switching characteristics- Turn on methods of SCR- Gate
triggering circuits – R and RC triggering circuits, line synchronised triggering – natural and
forced commutation (concept only). Protection of SCR. Requirements of isolation and
synchronisation in gate drive circuits- Opto and pulse transformer based isolation.

Module III (10Hrs)

Controlled Rectifiers –single phase fully controlled bridge rectifier with R, RL and RLE
loads (continuous & discontinuous conduction) – output voltage equation. Three phase fully
controlled converter with RLE load

DC-DC converters – step down and step up choppers – control methods- two-quadrant &
four quadrant chopper.

DC Motor drives- Solid state speed control of DC motors-Armature control and field
control, Single phase fully controlled converter drives ( Rectifier and inverter mode).
Chopper controlled DC drives-Regenerative braking control- Four quadrant chopper drives.
Closed loop speed and torque control.

Module IV (9 Hrs)

Inverters –– 1-phase full bridge voltage source inverters inverter with R & RL loads- 3-
phase bridge inverter with R load – 120° & 180° conduction mode. Voltage control in
inverters– Pulse Width Modulation – single pulse width, multiple pulse width & sine PWM-
elimination of harmonics- Variable Voltage Variable Frequency Drive ( Block diagram only).
 ROBOTICS & AUTOMATION
Module V (9 Hrs)

Control of servomotors-Components of typical servo system-with DC and brushless DC

servo motor, Feedback system -Sizing of servomotors

Position control of Stepper motor- Drive circuit – modes of excitation- open loop and
closed loop control of Stepper Motor- applications
Permanent Magnet Motor drives- Speed control of BLDC motor- converter circuits,
modes of operation - applications. Speed control of PMSM-Self control- Sensorless Control
– Microcontroller based permanent magnet synchronous motor drives (schematic only)-
applications

Text Books:
1. Ned Mohan, Tore m Undeland, William P Robbins, “Power electronics converters
applications and design”, John Wiley and Sons.

2.Dubey G. K. “Power semiconductor control drives” Prentice Hall, Englewood Cliffs, New
Jersey, 1989

3. E. G. Janardhanan, ‘Special Electrical Machines’ PHI Learning Private Limited.

4. NAGARATH.I.J& KOTHARI .D.P,”Electrical machines”, Tata McGraw-Hill.1998

References:
1. VEDAM SUBRAMANIAM “Electric drives (concepts and applications)”, Tata
McGraw-Hill.2001

2. R. Krishnan, ‘Permanent magnet synchronous and Brushless DC motor Drives’,

CRC Press.
3. Bimal K. Bose “Modern power electronics and AC drives” Pearson Education, Asia
2003
4. Irvin L. Kosow.’Electrical Machinery and Transformers’, Oxford Science
Publications.
5. T. J. E. Miller, ‘Brushless PM and Reluctance Motor Drives’.C.Larendon Press,
Oxford.
6. Dr. P. S. Bimbra “Power electronics”, Khanna publishers
7. VedamSubrahmanyam, “Electric Drives”, MC Graw Hill Education, New Delhi
8. Pillai S. K. “A first course on electric drives”, Wieley Eastern Ltd, New Delhi

9. Theodore Wildi, ‘Electric Machines, Drives and Power Systems’, Prentice Hall India
Ltd.
10. M.D. SINGH, K.B.KHANCHANDANI,”Power electronics,” Tata McGraw-
Hill.1998
11. N. K. De, P. K. Sen “Electric drives” Prentice Hall of India 2002
 ROBOTICS & AUTOMATION
Course Contents and Lecture Schedule
No. Topic No. of
Lectures
1 Electric Drives (9 hours)
Introduction to electric motors used for robotic applications.
1.1 1
DC Motor -Construction– principle of operation –Back emf

Torque – electrical and mechanical characteristics of shunt, series and

1.2 1
compound motors
1.3 necessity of starters- starting methods of dc motors- three point starter 1
Introduction to Special Electrical Machine - DC servo motor,AC servo
1.4 motors- Construction , working and principle of operation 1

stepper motor- different types -variable reluctance - permanent magnet-

1.5 2
hybrid- Construction , working and principle of operation
1.6 BLDC, PMSM- Construction , working and principle of operation 1
Electric drives- Introduction – Block diagram – advantages of electric
1.7 drives -Dynamics of motor load system, fundamental equations, 1

types of load – classification of load torque-matching motor and load-

1.8 Selection of motors for typical applications based on speed torque 1
characteristics.

2 Introduction to Power semiconductor devices- (8 hours)

2.1 Power diode, BJT, MOSFET, IGBT -static and dynamic characteristics 2
SCR – structure- working- V-I and switching characteristics- Turn on
2.2 2
methods of SCR
Gate triggering circuits – R and RC triggering circuits, line synchronised
2.3 2
triggering –
2.4 natural and forced commutation (concept only), Protection of SCR. 1
Requirements of isolation and synchronisation in gate drive circuits- Opto
2.5 and pulse transformer based isolation. 1

3 DC Motor Drives(11 Hours)

Controlled Rectifiers –single phase fully controlled bridge rectifier with
3.1 R, RL and RLE loads (continuous & discontinuous conduction) – output 2
voltage equation.

3.2 Three phase fully controlled converter with RLE load 1

3.3 DC-DC converters – step down and step up choppers – control methods- 1

3.4 two-quadrant & four quadrant chopper- output voltage waveforms 2

3.5 DC Motor drives- Solid state speed control of DC motors-Armature 1
 ROBOTICS & AUTOMATION
control and field control
Single phase fully controlled converter drives ( Rectifier and inverter
3.6 1
mode )
Chopper controlled DC drives-Regenerative braking control- Four
3.7 2
quadrant chopper drives.
3.8 Closed loop speed and torque control. 1
4 Inverters (8 Hours)

4.1 1-phase full bridge voltage source inverters inverter with R & RL loads 1
3-phase bridge inverter with R load – 120° & 180° conduction mode –
4.2 output line voltage and phase voltage waveforms 3

Voltage control in inverters– Pulse Width Modulation – single pulse

4.3 2
width, multiple pulse width & sine PWM
4.4 Elimination of harmonics using PWM 1
Variable Voltage Variable Frequency Drive ( Block diagram only).
4.5 1

5 Control of servomotors - (9 Hours)

Control of servomotors- Components of typical servo system-with DC
5.1 and brushless DC servo motor, Feedback system -Sizing of servomotors 2

Position control of Stepper motor- Drive circuit – modes of excitation-

5.2 2
full step mode and half step mode-
5.3 open loop and closed loop control of Stepper Motor- applications 1
Permanent Magnet Motor drives- Speed control of BLDC motor- 2
5.4
converter circuits, modes of operation - applications.
Speed control of PMSM-Self control- Sensorless Control –
Microcontroller based permanent magnet synchronous motor drives 2
5.5
(schematic only)- applications
 ROBOTICS & AUTOMATION
CATEGORY L T P CREDIT
RAT306 SIGNALS AND SYSTEMS
PCC 3 1 0 4

Preamble: Starting with the understanding of what a signal is and the different types of
signals available in the real world, this course provides the student with deep insights into the
representation of signals in various domains and the need for such representations. The
course also helps students to gain knowledge on transforming a signal from one domain to
another domain. The course also discusses about the use of filters in signal processing and
use of DFT for the same.

Prerequisite: Nil

Course Outcomes: After the completion of the course the student will be able to

CO 1 Familiarise with types of signals and systems

CO 2 Obtain the frequency domain representation of continuous signals
CO 3 Obtain frequency domain representation of discrete time signals
CO 4 Develop filtering methods based on DFT
CO 5 Computation of DFT

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 2 1 3
1
CO 2 1 3
2
CO 2 1 2 3
3
CO 3 2 2 3
4
CO 3 2 2 3
5
Assessment Pattern

Bloom’s Category Continuous

Assessment Tests End Semester Examination
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
 ROBOTICS & AUTOMATION

Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A
contain 10 questions with 2 questions from each module, having 3 marks for each question.
Students should answer all questions. Part B contains 2 questions from each module of which
student should answer any one. Each question can have maximum 2 sub-divisions and carry
14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):
1. Compare and Contrast between a Continuous Time domain Signal and Discrete Time
Domain Signal
2. How do you classify different systems in to CT and DT systems
3. Explain with an Example, how you will represent a discrete time system using difference
equations

Course Outcome 2 (CO2):

1. With suitable examples, explain the properties of Continuous Fourier Series
2. State Sampling theorem and explain a mechanism to avoid aliasing
3. What do you mean by a response of a system? Explain the different types used in system
design

Course Outcome 3 (CO3):

1. Find CTFS of the given signal x(t)

2. Derive the relationship between Fourier and Laplace transform

3. Determine the z-transform of x(n)=(0.5)n u(n)

Course Outcome 4 (CO4):

1. Use linear convolution and find y(n)=x(n)*h(n),
2. ROBOTICS & AUTOMATION
where x(n)={0.5,2,-1.5,-,0,0.75,3,2,1.5,1,-.75,2} h(n)={1,2,-1}.
3. Solve it using the following two procedures a) Overlap-save method, (b) Overlap-add
4. How can we obtain Linear convolution using circular convolution
5. Explain Linear Filtering methods based on the DFT

Course Outcome 5 (CO5):

6. Find the 4-point DFT of x(n)={1,2,1,2}
7. Draw the basic butterfly diagram for DIT algorithm
8. Find the 8-point DFT of the sequence x(n)= {1,2,2,1,1,2,2,1} using DIF-FFT algorithm.

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

SIXTH SEMESTER B.TECH. DEGREE EXAMINATION

Course Code: RAT306

Course Name: Signals and Systems
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries 3 marks. Marks
1 Find the period of signal x(n)=ej6πn. (3 )
2 Check the system is static or dynamic y(n)=x(2n) (3 )
3 What is Nyquist rate in sampling? (3 )
4 What is differentiation in Fourier Domain? (3)
5 State the initial value theorem in z-transform ( 3)
6 Determine the z-transform of x(n)=(0.5)n u(n) ( 3)
7 Find the 4-point DFT of x(n)={1,2,1,2} (3)
8 What is time reversal property of DFT? (3)
9 What is the basic operation in DIF algorithm? (3)
10 What is signal flow diagram? (3)
PART B
Answer any one full question from each module, each carries 14 marks.
MODULE1
11 a) Test if the following systems are causal or not (5 )
(i)y(n)=x(n)+x2(n-1)
(ii)y(n)=x(2n)
b) Determine power and energy of the following signals. Find whether the signals (9 )
are power, energy or neither energy nor power signals
(i) x(n)=e2nu(n)
(ii) x(n)=sin(π/4.n)
(iii)x(n)=(1/3)nu(n)
12 a) Determine the impulse response h(n) for the system described by difference ( 8)
equation
y(n)+y(n-1)-2y(n-2)=x(n-1)+2x(n-2).
b) Compute convolution of the signals x(n)={3,2,1,2} and h(n)={1,2,1,2}. (6 )
 MODULE II ROBOTICS & AUTOMATION
13 a) State and Prove Parseval’s theorem (4 )

b) Find CTFS of the given signal x(t)

(10)

14 a) What is sampling theorem? How can we avoid aliasing? (8)

b) Derive the relationship between Fourier and Laplace transform (6)
MODULE III
15 a) Determine the z-transform of the following (10)
(i) x(n)= n2u(n)
(ii) x(n)=(-1)ncos(π/3 . n) u(n)
b) List out four properties of z-transform (4)
16 a) Consider an LTI-system critically at rest described by the difference equation (10)
y(n)=0.25 y(n-2)+x(n). Determine the impulse response of the system

b) List out four properties of DTFS (4)

17 a) Use linear convolution find y(n)=x(n)*h(n), where (14)

x(n)={0.5,2,-1.5,-,0,0.75,3,2,1.5,1,-0.75,2}
h(n)={1,2,-1}.
Solve it using the following two procedures
(a) Overlap-save method, (b) Overlap-add method

18 a) Find the circular convolution (6)

x(n)={1,0,-1,0} h(n)={1,1,1}

b) Use the overlap-add method to find the step response of a filter with h(n)=2- (8)
n
[u(n)-u(n-3)] and L=3.
MODULE V
19 a) Find the 8-point DFT of the sequence x(n)= {1,2,2,1,1,2,2,1} using DIF-FFT (10)
algorithm.
b) What is the speed improvement factor in calculating 64-point DFT of a sequence (4)
using direct computation and FFT computation
20 a) Draw the basic butterfly diagram for DIT algorithm (4)
b) Consider a causal linear time-invariant system whose system function is (10)
H(z) = (1-0.5z-1)/(1-0.5z-1+0.33z-2)(1+0.25z-1)
****
 Syllabus ROBOTICS & AUTOMATION

Module I (7 Hours)

Elementary Signals, Classification and representation of continuous time and discrete time
signals, Signal operations. Continuous time and discrete time systems – Classification.
Representation of systems: Differential equation representation of continuous time systems.
Difference equation representation of discrete systems.

Module II (11 Hours)

Frequency domain representation of continuous time signals- continuous time Fourier series
and its properties. Continuous time Fourier transform and its properties. Relation between
Fourier and Laplace transforms. Analysis of LTI systems using Laplace and Fourier
transforms. Concept of transfer function, Frequency response, Magnitude and phase response
Sampling of continuous time signals, Sampling theorem for low pass signals, aliasing

Module III (8 Hours)

Z transform, ROC, Inverse transform, properties, Unilateral transform. Frequency domain

representation of discrete time signals, Discrete time Fourier series and its properties.
Discrete time Fourier transform (DTFT) and its properties

Module IV (9 Hours)

The Discrete Fourier Transform-IDFT-Properties of DFT-Circular convolution - Linear

Filtering methods based on the DFT- linear convolution using circular convolution, overlap
save and overlap add methods

Module V (10 Hours)

Computation of DFT: Radix-2 Decimation in Time and Decimation in Frequency FFT -

Algorithms - IDFT computation using Radix-2 FFT Algorithms.
FIR and IIR Filters.- FIR Filter Structures: Direct Form, Cascade Form
IIR Filter Structures: Direct Form, Transposed Form, Cascade Form and Parallel Form
(Design is not required)

Text Books

1. Alan V. Oppenheim and Alan Willsky, Signals and Systems, PHI, 2/e, 2009
2. Simon Haykin, Signals & Systems, John Wiley, 2/e, 2003R K Mittal and I J Nagrath,
“Robotics and Control”, Tata McGraw Hill, New Delhi,2003.
3. B P. Lathi, Priciples of Signal Processing & Linear systems, Oxford University
PressAshitava Ghosal, “Robotics-Fundamental concepts and analysis”, Oxford
University press.
4. Oppenheim A. V., Schafer R. W. and Buck J. R., Discrete Time Signal Processing,
3/e, Prentice Hall, 2007.
5. Proakis J. G. and Manolakis D. G., Digital Signal Processing, 4/e, Pearson Education,
2007.
 ROBOTICS & AUTOMATION

Reference Books

1. A.Papoulis, “Circuits and Systems: A Modern Approach”, HW series in Electrical and

Computer Engineering
2. Mahmood Nahvi, Signals and System, Mc Graw Hill (India),2015
3. H P Hsu, Signals And Systems, Schaum’s Series – 3rd Edition
4. A Nagoor Kani, Signals and Systems, McGraw Hill Education.

Course Contents and Lecture Schedule

No Topic No. of
Lectures
1
1.1 Classification and representation of 1
continuous time signals
1.2 Classification and representation of 1
discrete time signals;
1.3 Signal operations 2

1.4 Continuous time and discrete time systems – Classification. 1

1.5 Differential equation representation of continuous time systems. 1
1.6 Difference equation representation of discrete systems. 1
2
2.1 Frequency domain representation of continuous time signals- 1
2.2 Continuous time Fourier series and its properties 2

2.3 Continuous time Fourier transform and its properties 2

2.4 Relation between Fourier and Laplace transforms 2
2.5 Analysis of LTI systems using Laplace and Fourier transforms. Concept 2
of transfer function, Frequency response, Magnitude and phase response
2.6 Sampling of continuous time signals, Sampling theorem for lowpass 2
signals, aliasing
3

3.1 Z transform, ROC, Inverse transform, 2

3.2 Properties, Unilateral transform. 2
3.3 Frequency domain representation of discrete time signals, 1
3.4 Discrete time Fourier series and its properties. 1.5
3.5 Discrete time Fourier transform (DTFT) and its properties 1.5
4
4.1 The Discrete Fourier Transform-IDFT 1
4.2 Properties of DFT 2
4.3 Circular convolution -Linear Filtering methods based on the DFT 2
4.4 linear convolution using circular convolution, 2
4.5 Overlap save and overlap add methods 2
5 ROBOTICS & AUTOMATION
5.1 Computation of DFT: Radix-2 Decimation in Time FFT Algorithm 3
IDFT computation using Radix-2 FFT Algorithms.
5.2 FIR and IIR Filters. 1
5.3 FIR Filter Structures: Direct Form, Cascade Form 3

5.4 IIR Filter Structures: Direct Form, Transposed Form, Cascade Form and 3
Parallel Form (Design is not required)
 ROBOTICS & AUTOMATION

Year of
COMPREHENSIVE COURSE Category L T P Credit
RAT308 Introduction
WORK
PCC 1 0 0 1 2019

Preamble:The course is designed to ensure that the students have firmly grasped the fundamental
knowledge in Robotics & Automation Engineering familiar enough with the technological concepts. It
provides an opportunity for the students to demonstrate their knowledge in various Robotics &
Automation subjects.

Pre-requisite:Nil

Course outcomes:After the course, the student will able to:

CO1 Learn to prepare for a competitive examination

Comprehend the questions in Robotics & AutomationEngineering field and answer them
CO2 with confidence
CO3 Communicate effectively with faculty in scholarly environments
Analyze the comprehensive knowledge gained in basic courses in the field of Robotics &
CO4 AutomationEngineering

P P P P P P P P P PO PO PO PS PS PS PS
O1 O2 O3 O4 O5 O6 O7 O8 O9 10 11 12 O1 O2 O3 O4

CO1 3 1 1 2
CO2 3 1 2 3 1 1 1 1
CO3 3 1 1 2 3
CO4 3 3 1 2 1 1 1 1

Assessment pattern

Bloom’s End Semester Examination

Category (Marks)
Remember 25
Understand 15
Apply 5
Analyze 5
Evaluate
Create
 ROBOTICS & AUTOMATION

End Semester Examination Pattern:

A written examination will be conducted by the University at the end of the sixth
semester.The written examination will be of objective type similar to the GATE
examination.Syllabus for the comprehensive examination is based on the following five
Robotics & Automation Engineering core courses.

RAT 202- Kinematics And Dynamics Of Mechanisms

RAT206- Microcontrollers and Embedded Systems

RAT307- Control Systems

RAT 301- Introduction to Robotics

RAT 305–Industrial Automation

The written test will be of 50 marks with 50 multiple choice questions (10 questions from
each module) with 4 choices of 1 mark each covering all the five core courses. There will
be no negative marking. The pass minimum for this course is 25. The course should be
mapped with a faculty and classes shall be arranged for practicing questions based on the core
courses listed above.

Written examination : 50marks

Total : 50 marks

Course Level Assessment and Sample Questions:

1) Which of the following conditions can be used to minimize undercutting in cam and
follower mechanism?
a. By using larger roller diameter
b. By using internal cams
c. By decreasing the size of the cam
d. All of the above
2) A point is moving at the end of the link rotating with constant angular velocity ω, what
will be the value of radial component of acceleration?
a) 0
b) ω2R
c) Infinite
d) ω2R/2

3) D’ Alembert’s principle is used for______________________?

a) reducing the problem of kinetics to equivalent statics problem
 ROBOTICS & AUTOMATION

b) determining stresses in the truss

c) stability of floating bodies
d) designing safe structures
e) solving kinematic problems

4) When the microcontroller executes some arithmetic operations, then the flag bits of which
register are affected?.
a) PSW
b) SP
c) DPTR
d) PC
5) What is the width of the 8051 address bus?
a. 16-bit address bus
b. 8-bit address bus
c. 32-bit address bus
d. None of the above
6) Single-bit indicators that may be set or cleared to show the results of logical or arithmetic
operations are the
a. Flags
b. Monitors
c. Registers
d. Decisions
7) What will be the nature of time response if the roots of the characteristic equation are located
on the s-plane imaginary axis?
a) Oscillations
b) Damped oscillations
c) No oscillations
d) Under damped oscilaations
8) Consider a system with transfer function G(s) = s+6/Ks 2+s+6. Its damping ratio will be 0.5
when the values of k is:
a) 2/6
b) 3
c) 1/6
d) 6
9) The unit step response of a second order system is = 1-e -5t-5te-5t . Consider the following
statements:
1. The under damped natural frequency is 5 rad/s.
2. The damping ratio is 1.
3. The impulse response is 25te-5t.
Which of the statements given above are correct?
a) Only 1 and 2
b) Only 2 and 3
 ROBOTICS & AUTOMATION

c) Only 1 and 3
d) 1,2 and 3
10) 9-Industrial Robots are generally designed to carry which of the following coordinate
system(s).
(A) Cartesian coordinate systems
(B) Polar coordinate systems
(C) Cylindrical coordinate system
(D) All of the above

11) Which of the following work is done by General purpose robot?

(A) Part picking
(B) Welding
(C) Spray painting
(D) All of the above

12) Inverse kinematics problem of series manipulator with 6 DOF has

(a) a unique solution
(b) 2 solutions only
(c) 3 solutions only
(4) More than 6 solutions

13) In a PLC, the scan time refers to the amount of time in which
(A) the technician enters the program
(B) timers and counters are indexed by
(C) one “rung” of ladder logic takes to complete
(D) the entire program takes to execute
(E) transmitted data communications must finish

14) An OR function implemented in ladder logic uses

(A) Normally-closed contacts in series
(B) Normally-open contacts in series
(C) A single normally-closed contact
(D) Normally-open contacts in parallel
(E) Normally-closed contacts in parallel

15) LVDT windings are wound on

a) Steel sheets
b) Aluminium
c) Ferrite
d) Copper
 ROBOTICS & AUTOMATION

Course Code: ICT 308

Comprehensive Course Work

MODULE I: Kinematics And Dynamics Of Mechanisms

Basics of mechanisms: Links, kinematic pairs, kinematic chain, mechanism and machine,
common mechanisms like linkages, camsfollowermechanisms, gear trains, belt and chain, and
multi-degrees of planar mechanisms in machines like earth moving machinery and planar
versions of manipulators, mobility /degrees of freedom (DoF), Kutzbach’s formula,
determination of DoF of planar linkages and mechanisms with cam-follower pairs.position
analysis, loop closure equations, fourbar, slider-crank,and multi DoF closed and open loop
mechanisms, , exposure to graphical approach, inverse pose problem of an open loop 3R planar
manipulator, and derivation of solution.Velocity analysis: forward and inverse velocity analysis
of open loop 3R mechanism.Acceleration analysis: angular acceleration of a rigid link and
relative acceleration of points,Corioli’s acceleration.Static force analysis:nature of joint reaction
forces, static force analysis,Euler’s equation for rigid body rotation: moments of inertia, principal
moments and principal axes, representation of relative orientation of reference frames using
rotation matrices,properties of rotation matrices, transformation of moments of inertia matrices
from one reference frame to another,

MODULE II: Microcontrollers & Embedded Systems

8051 microcontrollers-pin diagram; Architecture, I/O Port structure, Register organization -

special function registers,-Memory organization- 8051 microcontrollers: Instruction set,
Addressing modes - Simple Assembly language programs: Arithmetic (Addition, Subtraction,
Multiplication & Division), -. Timers/Counters- Serial Communication, Interrupt structure-
programming - Interfacing of peripherals – LED (ALP and embedded C programming). LCD,
ADC, DAC, sensors, simple Switch and key board interfacing, 7 segment LED. Embedded
System Architecture: HW - Processor, Controller, SoC, Memory, Peripherals; SW - Application,
Middleware, OS, Device Drivers, Tool chain- Assembler, Interpreter, Compiler, Linker, Loader,
Debugger Introduction to RTOS: Real time tasks and Systems, RTOS basics, Comparison of
General Purpose OS and Real Time OS. Communication Protocols: RS232, I2C, SPI and USB
 ROBOTICS & AUTOMATION

MODULE III: Control Systems

Feedback principles, signal flow graphs, transient response, time domain analysis of first and
second order systems,step response of first and second order systems - steady-state-errors, static
and dynamic error coefficients – Concept of stability – stability of feedback systems -,
Routhstability criterion , root loci stability from root loci - ,effect of additional poles and zeros -
Bode plot, log magnitude vs.phase plot phase and gain margins - Need of lead, lag and lead-lag
compensators, state-space representation of systems; relationship between state equations and
transfer functions - time-delay systems

MODULE IV: Introduction to Robotics

Types of Robots- Manipulators, Mobile Robots-wheeled & Legged Robots, Aerial Robots;
Anatomy of a robotic manipulator-links, joints, actuators, sensors, controller; open kinematic vs
closed kinematic chain; degrees of freedom; Robot configurations-PPP, RPP, RRP, RRR;
features of SCARA, PUMA Robots; Classification of robots based on motion control methods
and drive technologies; 3R concurrent wrist; Classification of End effectors - mechanical
grippers, special tools, Magnetic grippers, Vacuum grippers, adhesive grippers, Active and
passive grippers, selection and design considerations of grippers in robot.Direct Kinematics-
Rotations-Fundamental and composite Rotations, Homogeneous co-ordinates, Translations and
rotations, Composite homogeneous transformations, Screw transformations, Kinematic
parameters, The Denavit-Hartenberg (D-H) representation, The arm equation, direct kinematics
problems (upto 3DOF)Inverse kinematics- general properties of solutions, Problems (upto
3DOF) Inverse kinematics of 3DOF manipulator with concurrent wrist (demo/assignment
only)Tool configuration Jacobian, relation between joint and end effector velocities.Joint space
trajectory planning- cubic polynomial, linear trajectory with parabolic blends, trajectory planning
with via points; Cartesian space planning, Point to point vs continuous path planning. Obstacle
avoidance methods.

MODULE V:Industrial Automation

Classification of position, proximity and motion sensors, inductive type, electromechanical

switches, rotary position sensors – resolver, encoders, integrated motion systems, fundamental
sensor methodologies, LVDT, RVDT, photo electric, thermo electric, capacitive, magnetic
detectors, impedance type gauging transducers, linear potentiometer, strain gauges. Practical
examples on design, selection and implementation of sensor systems, calibration of sensors.
Electrical, Hydraulic and pneumatic actuators and their comparison, Examples - use of
Electrical, Hydraulic and pneumatic actuators in industrial automation.Sensor systems for
automated inspection- online inspection systems., laser interferometer, non-contact inspection
methods. Automatic gauging and size control systems, thickness measurement, machine vision
systems. Elements of CNC systems-Material Handling and Identification Technologies.
Pneumatic/Hydraulic Automation: control valves – direction, pressure and flow,
sequential control of single /multiple actuator systems, cascade and Karnaugh Veitch map
 ROBOTICS & AUTOMATION

methods, step-counter systems. Electro pneumatic/electro hydraulic automation- Sequence

control and programmable controllers – logic control and sequencing elements, ladder diagram,
PLC, programming of PLC- analog and digital I/Os, timers, counters, function blocksMotion
controllers-VFD, MLD, external relays and contactors
 ROBOTICS & AUTOMATION

CODE COURSE NAME CATEGORY L T P CREDIT

RAL332 ROBOTICS LAB PCC 0 0 3 2

Preamble: Robotics lab provides students with exposure to the common Robotic manipulators
with atleast 3DOF and mobile robots. Students are also made to do experiments with sensors and
feedback controls as well as object detection and tracking.

Course Outcomes: After the completion of the course the student will be able to

CO 1 Test forward, inverse kinematic modelling and path planning of robotic

manipulators
CO 2 Test basic control algorithms in mobile robots to move to a point, to follow a line, to
follow a path and for obstacle avoidance.
CO 3 Familiarise about localisation of mobile robots
CO 4 Calibrate sensors used in robots
CO 5 Design and develop sensor-based systems in robots

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 3 2 2 2 2 2 2 3
1
CO 3 2 2 2 2 2 2 3
2
CO 3 2 2 2 2 2 2 3
3
CO 3 2 2 2 2 2 2 3
4
CO 3 2 2 2 2 2 2 3
5

Assessment Pattern

Mark distribution

Total CIE ESE ESE

Marks Duration

150 75 75 2.5 hours

 ROBOTICS & AUTOMATION

Continuous Internal Evaluation Pattern:

Attendance : 15 marks
Continuous Assessment : 30 marks
Internal Test (Immediately before the second series test) : 30 marks

End Semester Examination Pattern: The following guidelines should be followed regarding
award of marks
(a) Preliminary work : 15 Marks
(b) Implementing the work/Conducting the experiment : 10 Marks
(c) Performance, result and inference (usage of equipments and trouble shooting) : 25 Marks
(d) Viva voce : 20 Marks
(e) Record : 5 Marks

General instructions: Practical examination to be conducted immediately after the second series
test covering entire syllabus given below. Evaluation is a serious process that is to be conducted
under the equal responsibility of both the internal and external examiners. The number of
candidates evaluated per day should not exceed 20. Students shall be allowed for the University
examination only on submitting the duly certified record. The external examiner shall endorse
the record.

LIST OF EXPERIMENTS

All experiments from Part A, Part B and Part C are mandatory

Part A: Robotic Manipulators (3 DOF or greater) (All experiments mandatory)
1. Joint space and Cartesian space trajectory planning for a pick and place task
2. Obtain forward and inverse kinematic models (check end effector and joint positions with
theoretical and actual values)
3. Point to point control and continuous path control

Part B: Mobile Robots

1. Control of mobile robot for moving to a point(xg, yg) , following a line (ax+by+c=0),
moving to a specific target orientation (θg) (Closed loop control considering kinematic
models)
2. Obstacle avoidance of a mobile robot while moving to a point.
3. Localization of a mobile robot using LIDAR

PART C: Sensor based experiments

1. Calibration of sensors-sonar, IR sensors and obtain the calibration curve
2. Object detection using any one standard algorithm
3. Object tracking and visual servoing
4. Following a moving target/ Object tracking from a moving vehicle
 ROBOTICS & AUTOMATION

PART D: Mini Project (any one –compulsory)

1. Design and develop a servo controlled robotic manipulator (1 DOF) with visual feedback
for pick and place task
2. Design and develop a mobile robot capable of obstacle avoidance and localisation
3. Assemble a quadcopter drone kit and make it hover.

Reference Books
1. Introduction to Robotics ( Mechanics and control), John. J. Craig, Pearson Education
Asia 2002.
2. Introduction to Robotics by S K Saha, Mc Graw Hill Education
3. R K Mittal and I J Nagrath, “Robotics and Control”, Tata McGraw Hill, New Delhi,2003.
4. Ashitava Ghosal, “Robotics-Fundamental concepts and analysis”, Oxford University
press.
5. Robotics Technology and Flexible Automation, Second Edition, S. R. Deb
6. Introduction to Autonomous Mobile Robots, Siegwart, Roland, Cambridge, Mass. : MIT
Press, 2nd ed.
7. Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Peter Corke,
Springer
 ROBOTICS & AUTOMATION

CODE COURSE NAME CATEGORY L T P CREDIT

MINIPROJECT/
RAD334 PWS 0 0 3 2
CORE LAB

Preamble: This course is designed for enabling the students to apply the knowledge to
address the real-world situations/problems and find solutions. The course is also intended to
estimate the ability of the students in transforming theoretical knowledge studied as part of
the curriculum so far in to a working model. The students are expected to design and develop
a software/hardware project to innovatively solve a real-world problem.
Prerequisites: Subjects studied up to sixth semester.
Course Outcomes: After the completion of the course the student will be able to

CO Course Outcome (CO) Bloom's

No. Category Level
Make use of acquired knowledge within the selected area of
CO 1 Level 3: Apply
technology for project development.
Identify, discuss and justify the technical aspects and design
CO 2 Level 3: Apply
aspects of the project with a systematic approach.
Interpret, improve and refine technical aspects for
CO 3 Level 3: Apply
engineering projects.
To exercise their creative and innovative qualities in a group
CO 4 Level 3: Apply
project environment
Level 2:
CO 5 Report effectively the project related activities and findings.
Understand

Mapping of course outcomes with program outcomes

POs PO PO PO PO PO PO PO PO PO PO PO PO
COs 1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3 3 3 3 3 3 3 - - - 3
CO 2 3 3 3 3 3 - 2 3 - 3 2 3
CO 3 3 3 3 3 3 2 3 3 - 2 3 3
CO 4 3 3 2 2 - - - 3 3 3 3 3
CO 5 3 - - - 2 - - 3 2 3 2 3

Assessment Pattern
The End Semester Evaluation (ESE) will be conducted as an internal evaluation based on the
product/project, the report and a viva- voce examination, conducted by a 3-member
committee appointed by Head of the Department comprising HoD or a senior faculty
member, academic coordinator for that program and project guide/coordinator. The
 ROBOTICS & AUTOMATION

Committee will be evaluating the level of completion and demonstration of

functionality/specifications, presentation, oral examination, working knowledge and
involvement.

The Continuous Internal Evaluation (CIE) is conducted by evaluating the progress of the
miniproject through minimum of TWO reviews. At the time of the 1st review, students are
supposed to propose a new system/design/idea, after a thorough literature study of the
existing systems under the chosen area. In the 2nd review students are expected to highlight
the implementation details of the proposed solution. The review committee should assess the
extent to which the implementation reflects the proposed design. The final CIE mark is the
average of 1st and 2nd review marks.
A zeroth review may be conducted before the beginning of the project to give a chance for
the students to present their area of interest or problem domain or conduct open brain
storming sessions for innovative ideas. Zeroth review will not be apart of the CIE evaluation
process.

In the final review students are expected to demonstrate the product with its full specification
along with a final report. A well coded, assembled and completely functional product is the
expected output during the end of the semester.

Marks Distribution

Total Marks CIE ESE

150 75 75

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Marks awarded by Guide : 15 marks
Project Report: 10 marks
Evaluation by the Committee : 40 Marks

End Semester Examination Pattern: The following guidelines should be followed

regarding award of marks.
(a) Demonstration : 50 Marks
(b) Project report: 10 Marks
(d) Viva voce : 15marks

Course Plan
In this course, each group consisting of three/four members is expected to design and develop
a moderately complex software/hardware system with practical applications. This should be a
working model. The basic concept of product design may be taken into consideration.
 ROBOTICS & AUTOMATION

Students should identify a topic of interest in consultation with Faculty-in-charge of

miniproject/Advisor. Review the literature and gather information pertaining to the chosen
topic. State the objectives and develop a methodology to achieve the objectives. Carryout the
design/fabrication or develop codes/programs to achieve the objectives. Demonstrate the
novelty of the project through the results and outputs. The progress of the mini project is
evaluated based on a minimum of two reviews.

The review committee may be constituted by the Head of the Department. A project report is
required at the end of the semester. The product has to be demonstrated for its full design
specifications. Innovative design concepts, reliability considerations, aesthetics/ergonomic
aspects taken care of in the project shall be given due weight.
 ROBOTICS & AUTOMATION

SEMESTER VI
PROGRAM ELECTIVE I
 ROBOTICS & AUTOMATION
CODE COURSE NAME CATEGORY L T P CREDIT
RAT312 SENSORS AND TRANDUCERS PEC 2 1 0 3

Preamble:It is through the various sensors and transducers that a robot interacts with the
physical world. A thorough understanding of the working principle of these sensors and
transducer are therefore necessary for a budding engineer to select appropriate components
for the application. This course provide an exposure for the student to learn about various
sensors, transducers and how they are selected by explaining the underlying theory followed
by appropriate case studies.

Course Outcomes: After the completion of the course the student will be able to

CO 1 Analyze and select the most appropriate sensors and transducers for a robotic
application
CO 2 Explain fundamental principle of working of sensors and transducers for robots
CO 3 Interpret typical manufacturer’s data sheet of sensors and transducers and use them
for selection in typical applications

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 3 2 2 3
1
CO 3 2 2 3
2
CO 3 2 2 3
3

Assessment Pattern

Bloom’s Category Continuous Assessment End Semester Examination

Tests
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
 ROBOTICS & AUTOMATION
Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A
contain 10 questions with 2 questions from each module, having 3 marks for each question.
Students should answer all questions. Part B contains 2 questions from each module of which
student should answer any one. Each question can have maximum 2 sub-divisions and carry
14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. List out the different sensor characteristics and their defintions
2. What is a LVDT? What is it used for?
3. What are the different types of Force sensors available? Under what condition will you
chose a piezo electric based sensor over a strain gauge.
4. With example, explain the use of one Proprioceptive and exteroceptive sensor in a robotic
application.

Course Outcome 2 (CO2):

1. Explain the working principle of real time differential GPS
2. Explain the working principle of Doppler based motion sensors. Discuss on the possible
application of such sensors
3. Explain the various steps involved in an visual object detection process

Course Outcome 3 (CO3):

1. Discuss the important characteristics that need to be looked into while selecting a
proximity sensor for obstacle avoidance application
2. List out the important properties to be looked into while selecting a CCD camera for
object identifcation systems
3. Discuss the transducer performance characteristics based on the static and dynamic
properties
 ROBOTICS & AUTOMATION
MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

SIXTH SEMESTER B.TECH. DEGREE EXAMINATION

Course Code: RAT 312

Course Name: SENSORS AND TRANSDUCERS
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries 3 marks. Marks
1 How proprioceptive sensors differ from exteroceptive sensors? (3 )
2 Mention the applications of force sensors. (3 )
3 A robot is moving in an environment amidst obstacles which are black in colour. (3 )
Which sensor is preferred in this scenario for range measurement and obstacle
avoidance? Justify your answer.

4 Explain the uses of tactile sensors. ( 3)

5 Can we compute depth of an object using camera? Justify your answer. ( 3)
6 What is visual servoing? ( 3)
7 What’s a force transducer? (3)
8 Explain the performance characteristics of transducers. (3)
9 Explain any two types of temperature transducer (3)
10 How will you choose transducer for different robotic applications; (3)

PART B
(Answer any one full question from each module, each carries 14 marks.)

MODULE1
11 a) What is LVDT? What are the parameters that can be measured by this? Describe (10 )
with a neat diagram the principle of operation and output characteristics of the
same.
b) A robot’scontrol memory has 8 bit storage capacity; it has two rotational joints (4 )
and one linear joint. The linear link can varyits length from as short as 0.2 meters
to as long as 1.2 meters. Compute the control resolution for encoder of each
joint.
12 a) What is Gyroscope? Enumerate various sources of errors in Gyroscopes? How ( 10)
will you rectify them while gyroscopes are used in robotic applications?
b) Can we use GPS sensors in indoor environments? Justify your answer. (4 )
MODULE II
13 a) Which are the sensors used to detect closeness of objects? And how will you (10 )
compute the same?
b) How range is measured using optical triangulation method? (4)
14 Consider a scenario where a surveillance vehicle chases a car which violated (14)
traffic rules. Which all sensors are to be used in the surveillance vehicle to
compute the position and relative velocity of the target vehicle (car)? Explain the
working of the sensors being used.
 ROBOTICS & AUTOMATION
MODULE III
15 a) Which are the elements of a vision sensor? How will you extract features using (6)
vision sensor?
b) What are the advantages of CMOS cameras? (8)
16 Explain the criteria for selection of sensors for different applications (14)
MODULE IV
17 a) 1. What are transducers ? What are it’s classifications? (6)
b) Linear Resistance potentiometer is 50mm long & is uniformly wound with a (8)
wire having a resistance of 10,000Ω. Under normal conditions, the slider is at the
center of the potentiometer. Find the linear displacement when the resistancesof
the potentiometer as measured by Wheatstone bridge for two
cases are (1)3850Ω (2)7560Ω. Are the two displacements in same direction. If it
is possible to measure a minimum value of 10Ω resistancewith the
bovearrangement, find the resolution
18 a) With neat diagrams explain the following transducers (i) Position transducer (ii) (6)
Velocity transducer (iii)Force Transducer
b) What are the two basic materials used for resistive strain gages? Which of these (8)
is most sensitive? Describe in your words what “sensitive” means. What is a
disadvantage of the more sensitive strain gage material?
MODULE V
19 a) With neat diagrams explain the following transducers (i) Temperature transducer (8)
(ii) Pressure transducer (iii)Flow Transducer
b) What is the difference between a sensor and transducer ? Give some industrial (6)
applications of transducer.
20 a) A pressure transducer uses a diaphragm as a pressure summing device. In (7)
application the diaphragm and fluid behave as a second-order, single-degree
system. The static displacement is proportional to the applied force (pressure). If
the natural undamped frequency of the system is 3600 Hz and the total viscous
damping is 75% of critical, determine the frequency range(s) over which the
ratio of dynamic amplitude to static amplitude (inherent error) deviates from
unity by an amount no greater than 6%...
b) Consider the pressure transducer from the previous problem to be damaged such (7)
that its viscous damping ratio becomes changed to some unknown value. If the
transducer is subjected to a harmonic input of 2400 Hz, the phase angle between
output and input is measured as 45 degrees. With this in mind, determine the
inherent error (attenuation) of the transducer when used to measure a harmonic
pressure signal of 1800 Hz. What will be the phase angle between the output and
input at this frequency?
****
 ROBOTICS & AUTOMATION
Syllabus

Module I (8 Hours)

Requirement of sensors in robots used in industry, agriculture, medical field, transportation,

military, space and undersea exploration, human-robot interactions, robot control, robot
navigation, tele-operational robot etc. Sensor Characteristics: Sensitivity, Linearity,
Measurement/Dynamic range, Response Time, Accuracy, Repeatability & Precision,
Resolution & Threshold, Bandwidth.

Proprioceptive or Internal sensors Position sensors- encoders- linear, rotary, incremental

linear encoder, absolute linear encoder, Incremental rotary encoder, absolute rotary encoder;
potentiometers; LVDTs; velocity sensors-optical encoders, tacho generator, Hall effect
sensor, , acceleration sensors, Heading sensors- Compass, Gyroscope sensor, IMU, GPS, real
time differential GPS; Force sensors-strain gauge based and Piezo electric based, Torque
sensors; Block schematic representations; Interpreting typical manufacturer’s data sheet of
internal sensors;

CaseStudy: Choosing the best internal sensors for autonomous navigation of a mobile
robot

Module II (7 Hours)

Exteroceptive or External sensors-contact type, noncontact type;Tactile, proximity-

detection of physical contact or closeness, contact switches, bumpers , inductive proximity,
capacitive proximity; semiconductor displacement sensor; Range sensors- IR, sonar, laser
range finder, optical triangulation (1D), structured light(2D), performance comparison range
sensors; motion/ speed sensors-speed relative to fixed or moving objects, Doppler radar,
Doppler sound; Block schematic representations; Numerical problems ;Block schematic
representations; Interpreting typical manufacturer’s data sheet of external sensors;Examples -
use of Exteroceptive sensors in robots.

Case Study : Obstacle avoidance robot using IR sensor;

Module III (7 Hours)

Vision based sensors- Elements of vision sensor, image acquisition, image processing, edge
detection, feature extraction, object recognition, pose estimation and visual servoing,
hierarchy of a vision system, CCD and CMOS Cameras, Monochrome, stereovision, night
vision cameras, still vs video cameras, kinect sensor; Block schematic representations.

Choosing sensor for different robotic applications and application of sensors in flexible
manufacturing

Case Study : Object Tracking robot using vision sensor

Module IV (7 Hours)

Introduction to transducers; Requirement of transducers in robots, medicine etc;

Differences between Sensors and transducers; Transducer performance characteristics based
on static and dynamic properties; Classification of transducers based on physical effect,
 ROBOTICS & AUTOMATION
physical quantity and source of energy- Active vs Passive, Principle of transduction, Analog
and Digital transducer, Primary and Secondary transducer;Transducer and Inverse
Transducer.

Position transducers, Displacement transducer – LVDT’s,Captive Armatures, Unguided

Armatures, Force-Extended Armatures; Velocity Transducers - LVT; Accelerometer- using
potentiometer, Strain gage, Piezoelectric;Light transducers;, Force transducers; Piezoelectric
transducer;

Block schematic representations; Advantages and Disadvantages; choosing transducer for

different robotic applications; Numeric problems; Interpreting typical manufacturer’s data
sheet;

Case Study : Learn to calculate end effectors position of a robot using position transducer

Module V (6 Hours)

Temperature transducer – thermocouple, RTD- common errors, Thermistor, Integrated

circuit; Pressure transducer - Bourdon tube, diaphragm, Capacitive Pressure transducer;
Oscillator transducer; Flow transducer – Orifice Plate, venture, Defective type flow sensor,
spin type flow sensor, Electromagnetic flow sensor; Level Transducer- Discrete Level, Level
measurement by pressure sensor, differential pressure sensor, force sensor, capacitive level
sensor; Inductive transducer; Ultrasonic transducer; LIDAR

Block schematic representations; Advantages and Disadvantages; choosing transducer for

different robotic applications; Numeric problems; Interpreting typical manufacturer’s data
sheet.

Text Book

1. Robotics Engineering: An Integrated Approach, by Richard D. Klafter, Prentice Hall

Inc.
2. D. Patranabis, “Sensors and Transducers”, PHI Learning Private Limited.

References

3. Clarence W. de Silva, Sensors and Actuators: Control System Instrumentation, CRC

Press 2007, ISBN-13: 978-1420044836
4. Introduction to Robotics, S K Saha, Mc Graw Hill Eduaction
5. W. Bolton, “Mechatronics”, Pearson Education Limited.
6. Automation, Production Systems and Computer Integrated Manufacturing, Groover
M.P, Prentice – Hall Ltd., 1997.
7. Pillai S. K. “A first course on electric drives”, Wieley Eastern Ltd, New Delhi
8. Journal of sensors, Special issue- Sensors for Robotics, Aiguo Song , Guangming
Song, Daniela Constantinescu, Lei Wang, and Quanjun Song, Volume 2013
9. Mechatronics: Integrated mechanical electronic systems By K.P. Ramachandran, G.K.
Vijayaraghavan, Wiley India
10. Linear Electric Actuators by I. Boldea
11. Piezoelectric Actuators (Electrical Engineering Developments), 2012, by Joshua E.
Segel
 ROBOTICS & AUTOMATION
12. Morecki, Adam and Knapczyk, “Sensors and Transducers Used in Robots”, Basics of
Robotics, Springer 1999, pp 275—304
13. Ruocco, S, “Robot sensors and transducers”, Springer Science \& Business Media,
2013.
14. Instrumentation, Measurement and Analysis, 2016, By Nakra & Chaudhary.
15. “HANDBOOK OF FORCE TRANSDUCERS” by Hardcover and Stefanescu
16. “Transducers and Instrumentation” by D V S Murthy

Course Contents and Lecture Schedule

No Topic No. of
Lectures
1 Proprioceptive or Internal sensors
Requirement of sensors in robots used in industry, agriculture, medical 2.5
field, transportation, military, space and undersea exploration, human-
robot interactions, robot control, robot navigation, tele-operational robot
etc.Sensor Characteristics: Sensitivity, Linearity,
Measurement/Dynamic range, Response Time, Accuracy, Repeatability
& Precision, Resolution & Threshold, Bandwidth.
1.2 Position sensors- encoders- linear, rotary, incremental linear encoder, 2
absolute linear encoder, Incremental rotary encoder, absolute rotary
encoder; potentiometers; LVDTs.
1.3 velocity sensors-optical encoders, tacho generator, Hall effect sensor, 2
acceleration, Heading sensors- Compass, Gyroscope sensor, IMU, GPS,
real time differential GPS
1.4 Force sensors-strain gauge based and Piezo electric based, Torque 1.5
sensors
Note- Block schematic representations, Interpretation of typical
manufacturer’s data sheet and Numerical problems of the main
sensors are to be covered.
2 Exteroceptive or External sensors
2.1 contact type, noncontact type; Tactile, proximity- detection of physical 3
contact or closeness, contact switches, bumpers , inductive proximity,
capacitive proximity; semiconductor displacement sensor;
2.2 Range sensors- IR, sonar, laser range finder, optical triangulation (1D), 2
structured light(2D), performance comparison range sensors;
2.3 Motion/ speed sensors-speed relative to fixed or moving objects, 2
Doppler radar, Doppler sound; Numerical problems
Note- Block schematic representations, Interpretation of typical
manufacturer’s data sheet and Numerical problems of the main
sensors are to be covered.
3 Vision based sensors-

3.1 Vision based sensors - Elements of vision sensor, image acquisition, 3

image processing, edge detection, feature extraction, object recognition,
pose estimation and visual servoing, hierarchy of a vision system
 ROBOTICS & AUTOMATION
3.2 CCD and CMOS Cameras, Monochrome, stereovision, night vision 3
cameras, still vs video cameras, kinect sensor.

3.3 Choosing sensor for different robotic applications and application of 1

sensors in flexible manufacturing

4 Introduction to transducers;
4.1 Introduction to transducers; Requirement of transducers in robots, 4
medicine etc; Differences between Sensors and transducers; Transducer
performance characteristics based on static and dynamic properties;
Classification of transducers based on physical effect, physical quantity
and source of energy- Active vs Passive, Principle of transduction,
Analog and Digital transducer, Primary and Secondary
transducer;Transducer and Inverse Transducer.

4.2 Position transducers, Displacement transducer – LVDT’s,Captive 3

Armatures, Unguided Armatures, Force-Extended Armatures; Velocity
Transducers - LVT; Accelerometer- using potentiometer, Strain gage,
Piezoelectric;Light transducers;, Force transducers;Piezoelectric
transducer;

5.1 Temperature transducer – thermocouple, RTD- common errors, 3

Thermistor, Integrated circuit; Pressure transducer - Bourdon tube,
diaphragm, Capacitive Pressure transducer; Oscillator transducer; Flow
transducer – Orifice Plate, venture, Defective type flow sensor, spin type
flow sensor,
5.2 Electromagnetic flow sensor; Level Transducer- Discrete Level, Level 3
measurement by pressure sensor, differential pressure sensor, force
sensor, capacitive level sensor; Inductive transducer; Ultrasonic
transducer; LIDAR
 ROBOTICS & AUTOMATION

CATEGORY L T P CREDIT
RAT322 ROBOTIC CONTROL SYSTEMS
PEC 2 1 0 3

Preamble: Control mechanisms are a crucial elements of any autonomous systems. This
course provides the students an introduction to the various control mechanisms that can be
used in the development of a robot.

Prerequisite: Basic course in Control Systems

Course Outcomes: After the completion of the course the student will be able to

CO 1 Design linear controllers for robotic manipulators

CO 2 Familiarise about various nonlinear control schemes for robotic manipulators
CO 3 Acquaint with force control schemes of manipulators
CO 4 Familiarise about controllers for mobile robots
CO 5 Familiarise about vision-based control schemes for robots

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 3 2 2 1 2 3
1
CO 3 2 2 1 2 1 2
2
CO 3 2 2 2 2 1 3
3
CO 3 2 2 2 1 1 2
4
CO 3 3 2 2 2 1 2
5

Assessment Pattern

Bloom’s Category Continuous Assessment End Semester Examination

Tests

1 2

Remember 10 10 20
Understand 25 25 50
Apply 15 15 30
Analyse
Evaluate
Create
 ROBOTICS & AUTOMATION

Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A
contain 10 questions with 2 questions from each module, having 3 marks for each question.
Students should answer all questions. Part B contains 2 questions from each module of which
student should answer any one. Each question can have maximum 2 sub-divisions and carry
14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):
1. With block diagrams, explain the closed loop and feed forward Robotic Control
Systems
2. With an example, explain a trajectory following control used for robots.
3. Explain PID control of a single link manipulator

Course Outcome 2 (CO2):

1. What is an adaptive Control mechanism? How can it be used in robotic controls?
2. Explain one non-linear control scheme of robotic manipulator

Course Outcome 3 (CO3):

1. Discuss the response of a mass-Spring system with a driving force
2. Elaborate on the hybrid position –force problem and its control scheme

Course Outcome 4 (CO4):

1. Differentiate between a steered robot and a differentially driven mobile robot. Explain
the kinematic model of any one of them
2. How is a line follower different from a mechanism designed to follow a path

Course Outcome 5 (CO5):

 ROBOTICS & AUTOMATION

1. What is stereo vision and how is it useful?

2. Explain the working of an image based visual servo mechanism

3. Explain the import factors to be considered for camera calibration in a visual based
control scheme?

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY
SIXTH SEMESTER B.TECH. DEGREE EXAMINATION
Course Code: RAT 322
Course Name: ROBOTIC CONTROL SYSTEMS
Max. Marks: 100 Duration: 3 Hours

PART A

Answer all questions, each carries 3 marks. Marks

1 Typically robotic systems are linear or non-linear? Can we implement linear (3 )

controllers for robots? Justify your answer.

2 Draw the block schematic for feedback control of robotic manipulator. Which is (3 )
the commonly used sensor in the feedback loop for the position control of a
manipulator?

3 Explain PD gravity control of a robotic manipulator. (3 )

4 Explain resolved motion rate control of robots. ( 3)

5 What are the applications of industrial robots where force control may be ( 3)
needed?

6 What do you mean by natural and artificial constraints for tasks in partially ( 3)
constrained environments?

7 What is a differentially driven mobile robot? How it is different from steered (3)
robot?

8 If a controller is to be designed to move a differentially driven mobile robot to (3)

point, which all sensors may be needed? Explain with the help of block
schematic.
9 What is visual servoing? (3)

10 What is the necessity of camera calibration for visual servoing applications? (3)

PART B
 ROBOTICS & AUTOMATION

Answer any one full question, each carries14 marks.

MODULE I

11 a) Differentiate between closed loop and feed forward control, with the help of (7)
block diagrams

b) Explain PID control of a single link manipulator (7)

12 a) What do you mean by control law partitioning? (6)

b) A researcher has proposed the following control scheme for a serial manipulator, (8)
where [kp] and [Kv] are positive definite gain matrices

Draw the block schematic of the proposed controller and explain. What are the
possible advantages of the scheme?

MODULE II

13 a) Explain any one non-linear control scheme of robotic manipulator. (7)

b) What the advantages and disadvantages of computed torque control? (7)

14 a) Explain about task space control schematic of robots (8)

b) Explain adaptive control of robotic manipulators (6)

MODULE III

15 a) Explain the assembly sequences used to put a round peg into a round hole (7)

b) Figure shows a manipulator tightening a screw. What are the natural and (7)
artificial constraints for this task?

16 a) Explain the force control of a typical mass spring dashpot system (8)

b) Explain typical hybrid position/force control scheme with the help of block (6)
diagram
 ROBOTICS & AUTOMATION

MODULE IV

17 a) Obtain the kinematic model of a differentially driven mobile robot. (7)

b) With the help of block schematic explain how a differentially driven mobile (7)
robot is controlled to follow a line.

18 With the help of block schematic explain how a quadcopter can be controlled to (14)
track a trajectory?

MODULE V

19 a) Explain the configuration of a vision system in a visual servoing scenario (7)

b) How pose is estimated in a typical vision based control system? (7)

20 Explain in detail position based visual servoing and Image based visual servoing (14)

****

Syllabus
Module I (8 Hours)
Review of dynamic modelling of robots: Introduction to robot control- Necessity of
Controllers for Robots, typical block schematic closed loop and feed forward control.
Linear control of manipulators - closed-loop control, second-order linear systems, control of
second-order systems, control-law partitioning, trajectory-following control, Feedback
control of single link manipulator
Case study- Matlab simulation-PID Control of single link manipulator and planar 2R
manipulator , closed loop control of wall following robot- block schematic- sensor selection
etc

Module II (7 Hours)
Nonlinear Control of manipulators- PD Gravity Control, Computed Torque Control,
adaptive control
Task Space Control Schemes – resolved motion rate control and resolved motion
acceleration control
Case study- resolved motion rate control of 2R manipulator

Module III (6 Hours)

Force control of manipulators- introduction, application of industrial robots to assembly
tasks, force control of a mass—spring system, the hybrid position/force control problem, the
hybrid position/force control scheme
Case study- force control of peg in hole assembly task, natural and artificial constraints
 ROBOTICS & AUTOMATION

Module IV (7 Hours)
Kinematic model of steered robot and differentially driven mobile robot , Control of a mobile
robot to move to a point, to follow a line, following a path, moving to a pose, Dynamic model
of quadcopter, Controller design to track any desired trajectory.

Module V (8 Hours)
Vision based Control- configuration of a vision system, image segmentation, image
interpretation, Pose estimation, Stereo vision, Camera Calibration, Position based visual
servoing, Image based visual servoing, Hybrid visual servoing.

Text Books:
1. Introduction to Robotics Mechanics and Control, John J. Craig, 3e, Pearson
2. Robotics: Fundamental Concepts and Analysis, Ashitava Ghosal, Oxford
3. Robotics- Modelling planning and control- Bruno Siciliano , Lorenzo Sciavicco Luigi
Villani, Giuseppe Oriolo, Springer-Verlag London
4. Peter Corke, “Robotics, Vision and Control-Fundamental Algorithms in MATLAB”,
Springer Tracts in Advanced Robotics, volume 73.
5. The Robotics Primer-Maja J Matari´c, The MIT Press

References:
1. Probabilistic Robotics: Sebastian Thrun, Wolfram Burgard, Dieter Fox, MIT Press
2. Modern Robotics Mechanics, Planning and Control, Kevin M.Lynch, Frank C. Park,
Cambridge University Press, 2017

Course Contents and Lecture Schedule

No Topic No. of
Lectures

1 MODULE I

1.1 Review of dynamic modelling of robots.

Introduction to robot control- Necessity of Controllers for Robots,
typical block schematic closed loop and feed forward control.
Linear control of manipulators- closed-loop control, second-order 7
linear systems, control of second-order systems, control-law
partitioning, trajectory-following control, Feedback control of single
link manipulator (Ref 1 and 2)
1.2 Case study- Matlab simulation-PID Control of single link
0.5
manipulator and planar 2R manipulator (Ref2)
 ROBOTICS & AUTOMATION

closed loop control of wall following robot- block schematic- sensor

0.5
selection etc (Ref 5)
2 MODULE II

2.1 Nonlinear Control of manipulators- PD Gravity Control,

3
Computed Torque Control, adaptive control (Ref1)
2.2 Task Space Control Schemes – resolved motion rate control and
3
resolved motion acceleration control (Ref1)
2.3 Case study- resolved motion rate control of 2R manipulator (Ref 1 ) 1
3 MODULE III

3.1 Force control of manipulators- introduction, application of industrial

robots to assembly tasks, force control of a mass—spring system, the
5
hybrid position/force control problem, the hybrid position/force
control scheme (Ref 1 and 2)
3.2 Case study- force control of peg in hole assembly task, natural and
1
artificial constraints (Ref 2)
4 MODULE IV

4.1 Kinematic model of steered robot and differentially driven mobile

2
robot (Ref 4)
4.2 Control of a mobile robot to move to a point, to follow a line,
3
following a path, moving to a pose (Ref 4)
4.3 Dynamic model of quadcopter, Controller design to track any desired
2
trajectory(Ref 4)

5 MODULE V

5.1 Vision based Control- configuration of a vision system, image

segmentation, image interpretation, Pose estimation, Stereo vision, 3.5
Camera Calibration (Ref 4)
5.2 Position based visual servoing, Image based visual servoing, Hybrid
3.5
visual servoing (Ref 4)
 ROBOTICS & AUTOMATION

CODE COURSE NAME CATEGORY L T P CREDIT

RAT332 FLUID POWER AUTOMATION PEC 2 1 0 3

Preamble: Fluid power systems can transmit equivalent power within a much smaller space than
mechanical or electrical drives can, especially when extremely high force or torque is required
and hence plays an important role in automation applications in large industries. This course
provides an understanding of the different pneumatic and hydraulic systems for various
applications in automation.

Course Outcomes: After the completion of the course the student will be able to

CO 1 Understand the basic concepts of different types of drives and their comparison.
CO 2 Understand the working principle and applications of different types of pumps and
motors
CO 3 Study proportional and servo valves.
CO 4 Develop different pneumatic and hydraulic circuits based on their applications.
CO 5 Develop multi actuator circuits using different methods.
CO 6 Develop different electro pneumatic and electro hydraulic circuits based on their
applications.
CO 7 Familiarize the basic concepts of interfacing hydraulic and pneumatic circuits with
PLC.

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2 2 1 2 3
CO 2 3 2 2 1 2 1 2
CO 3 3 2 2 2 2 1 3
CO 4 3 2 2 2 1 1 2
CO 5 3 3 2 2 2 1 2
CO 6 3 3 2 2 2 2
CO 7 3 3 2 2 2 2 2
 ROBOTICS & AUTOMATION

Assessment Pattern

Bloom’s Category Continuous Assessment End Semester Examination

Tests
1 2
Remember 10 10 10
Understand 25 25 30
Apply 15 15 60
Analyse
Evaluate
Create

Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A contain
10 questions with 2 questions from each module, having 3 marks for each question. Students
should answer all questions. Part B contains 2 questions from each module of which student
should answer any one. Each question can have maximum 2 sub-divisions and carry 14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):
1. Compare and contrast between pneumatic and electric drives
2. Discuss in detail the different components of a hydraulic system
3. Discuss the important criteria to be looked in to while choosing hydraulic drive for a
automation system

Course Outcome 2 (CO2):

1. Explain in detail the working of a Vane motor
2. Explain the working of different types of piston pumps
 ROBOTICS & AUTOMATION

3. What are the advantages of a pneumatic automation over hydraulic automation?

Course Outcome 3 (CO3):

1. Explain the working of a 4/3 tandem centre valve
2. What is the role of pressure relief valve in a hydraulic circuit
3. Explain the different types of direction control valves used in automation

Course Outcome 4 (CO4), Course Outcome 5 (CO5), Course Outcome 6 (CO6):

1. What is a regenerative type hydraulic circuit? Explain with an example
2. Design and draw hydraulic circuit for A1B1B0A0 sequencing operation using cascade method
3. Discuss the design steps involved in arriving at a hydraulic circuit for sequencing operation
using Karnaugh-Veith method
4. Draw the displacement time diagram for the sequence A1B1B0A0
5. Explain the use of cylinder cushion
6. Explain the working of proportional solenoid operated flow control valve

Course Outcome 7 (CO7):

1. Differentiate between on timer delay and off timer delay with the help of a timing diagram
2. State the advantages of PLC systems over other conventional systems
3. State any one mechanism of interfacing a hydraulic circuit with PLC

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY
SIXTH SEMESTER B.TECH. DEGREE EXAMINATION
Course Code: RAT 332
Course Name: FLUID POWER AUTOMATION
Max. Marks: 100 Duration: 3 Hours

PART A

Answer all questions, each carries 3 marks. Marks

1 Draw the ISO symbol for pilot controlled 5/2 direction control valve. (3 )

2 What are the advantages and disadvantages of pneumatic automation over (3 )

hydraulic automation?

3 Distinguish between 4/3 tandem centre valve and closed centre valve. (3 )
 ROBOTICS & AUTOMATION

4 Name four different types of hydraulic cylinder mountings. ( 3)

5 What is the purpose of a cylinder cushion? ( 3)

6 Describe proportional solenoid operated flow control valve. ( 3)

7 Draw the displacement time diagram for the sequence A1B1A0B0. (3)

8 With suitable diagram explain meter in type speed control in a hydraulic circuit. (3)

9 What are the basic electrical devices used in electro hydraulics. (3)

10 With a neat sketch explain the use of a pressure switch in an electro pneumatic (3)
circuit.

PART B

Answer any one full question, each carries14 marks.

MODULE I

11 a) Explain in detail the basic components of a hydraulic system. (7)

b) With neat sketch explain the working of (7)

i) Swash plate axial piston pump
ii) Vane Motor
12 a) Briefly explain different types of piston pump. (6)

b) Find the offset angle for an axial piston pump that delivers 0.0019m3/s at (8)
3000rpm. The pump has nine 16mm diameter pistons arranged on a 127mm
piston circle diameter. The volumetric efficiency is 95%.

MODULE II

13 a) Describe the working of three basic types of hydraulic accumulators. (6)

b) With a neat sketch explain the use of pressure relief valve in a hydraulic circuit. (4)

c) Explain in detail different types of flow control valves. (4)

14 a) Explain in detail different types of direction control valves. (8)

b) Briefly explain different types of pressure control valves. (6)

MODULE III

15 a) Explain the differences between an ordinary DCV solenoid and a proportional (6)
 ROBOTICS & AUTOMATION

valve solenoid.

b) With a neat sketch explain the working of single stage (Flapper nozzle type) (8)
servo valve.
16 a) Write short note on electro hydraulic servo valve and explain the components of (8)
closed loop electro hydraulic servo system.

b) Explain the design considerations of proportional control valve. (6)

MODULE IV

17 a) Explain in detail a regenerative type hydraulic circuit with a practical (8)

application.
b) With suitable diagram explain different types of speed control in a hydraulic (6)
circuit.
18 a) Design and draw hydraulic circuit for A1B1B0A0 sequencing operation using (8)
cascade method.

b) Design and draw hydraulic circuit for A1A0B1B0 sequencing operation using (6)
Karnaugh-Veitch method.

MODULE V

19 a) Components are to be stamped using stamping machine. A double acting (8)

cylinder is used to push the die attached down to a fixture when a push button is
pressed. The die is to return to the initial position upon reaching sufficient
stamping pressure as sensed by a pressure switch and one second delay. Develop
an electro pneumatic control circuit to implement the control task for the
stamping operation

b) Differentiate between on timer delay and off timer delay with the help of a (6)
timing diagram.

20 a) What are the advantages of PLC over electromechanical relay control? (6)

b) Double acting cylinder is used to perform to and fro operation. Cylinder has to (8)
move forward when PB1 button is pressed and continue to and fro motion till 10
cycles of operations is performed. Draw the pneumatic circuit, PLC wiring
diagram and ladder diagram to implement this task.
 ROBOTICS & AUTOMATION

SYLLABUS

Module I (7Hours)
Classification of drives-hydraulic, pneumatic and electric –comparison ISO symbols for their
elements, Selection Criteria
Generating Elements- Hydraulic pumps and motor gears, vane, piston pumps, motors-selection
and specification

Module II (7Hours)
Drive characteristics – Utilizing Elements-- Linear actuator – Types, mounting details,
cushioning, power packs, accumulators
Control and regulation Elements—Direction, flow and pressure control Valves, Methods of
actuation, types, sizing of ports. spool valves-operating characteristics

Module III (7Hours)

Proportional control of hydraulic systems, Electro hydraulic servo valves-Different types-
characteristics and performance

Module IV (7Hours)
Typical Design methods of hydraulic and pneumatic circuits– sequencing circuits design
combinational logic circuit design- cascade method-Karnaugh Veitch map method.

Module V (7Hours)
Electrical control of pneumatic and hydraulic circuits- use of relays, timers and counters.
Interfacing hydraulic and pneumatic circuits with PLCs .

Text Books:
1. Antony Esposito, Fluid Power Systems and control Prentice-Hall, 1988
2. Peter Rohner, Fluid Power logic circuit design. The Macmillan Press Ltd.,London, 1979

References:
1. E.C.Fitch and J.B.Suryaatmadyn. Introduction to fluid logic, McGraw Hill, 1978
2. Herbert R. Merritt, Hydraulic control systems, John Wiley & Sons, Newyork, 1967
3. Dudbey. A. Peace, Basic Fluid Power, Prentice Hall Inc, 1967.
 ROBOTICS & AUTOMATION

Course Contents and Lecture Schedule

No Topic No. of
Lectures

1 MODULE 1

1.1 Classification of drives-hydraulic, pneumatic and electric –

3
comparison ISO symbols for their elements, Selection Criteria
1.2 Generating Elements- Hydraulic pumps and motor, gear, vane, piston
4
pumps, motors- selection and specification.
2 MODULE 2

2.1 Drive characteristics – Utilizing elements-- Linear actuator – Types,

3
mounting details, cushioning – power packs –accumulators
2.2 Control and regulation Elements— Direction, flow and pressure
controlvalves-Methods of actuation, types, sizing of ports. spool 4
valves-operating characteristics
3 MODULE 3

3.1 Proportional control of hydraulic systems 3

3.2 Electro hydraulic servo valves-Different types-characteristics and
4
performance.
4 MODULE 4

4.1 Typical Design methods of hydraulic and pneumatic circuits-

3
sequencing circuits design.
4.2 combinational logic circuit design, cascade method, Karnaugh veitch
4
map method
5 MODULE 5

5.1 Electrical control of pneumatic and hydraulic circuits- use of relays,

4
timers and counters
5.2 Interfacing hydraulic and pneumatic circuits with PLCs
3
 ROBOTICS & AUTOMATION

CODE COURSE NAME CATEGORY L T P CREDIT

MECHANICAL MEASUREMENTS
RAT 342 PEC 2 1 0 3
AND METROLOGY

Preamble: Measurements and Measuring devices are key to any engineering design. This course
introduces to the student on the various tools and methods for measuring different physical
parameters. The course also given the basic concepts of metrology and use of standards for
measurements

Course Outcomes: After the completion of the course the student will be able to

CO 1 Describe basic concepts of mechanical measurement and errors in measurements.

CO 2 Select linear, angular and taper measurement devices for measurement of various
components
CO 3 Describe methods of measurement for various quantities like force, torque, power,
displacement, velocity and acceleration
CO 4 Select appropriate temperature measuring device for various applications
CO 5 Describe basic concepts of Metrology. Discriminate between various screws by
measuring their dimensions.
CO 6 Select suitable comparators and choose the method of surface roughness
measurement.

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 2 1 3
1
CO 2 1 3
2
CO 2 1 3
3
CO 3 2 2 3
4
CO 3 2 2 3
5
CO 3 2 2 3
6
 ROBOTICS & AUTOMATION

Assessment Pattern

Bloom’s Category Continuous Assessment End Semester Examination

Tests
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create

Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A contain
10 questions with 2 questions from each module, having 3 marks for each question. Students
should answer all questions. Part B contains 2 questions from each module of which student
should answer any one. Each question can have maximum 2 sub-divisions and carry 14 marks.
.

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. What are slip gauges? Explain their usage

2. What are the types of errors that can occur in measurements?

3. Explain any three angular measurement techniques

 ROBOTICS & AUTOMATION

Course Outcome 2 (CO2):

1. What advantages does a Vernier calliper provide while taking linear measurements

2. Explain the working of clinometers

3. Discuss on the various static performance characteristics in measurement systems

Course Outcome 3 (CO3):

1. Explain the working of differential transformers to measure force

2. Explain the different techniques available to measure torque

3. Explain the bridge arrangement for strain measurement using strain gauges

Course Outcome 4 (CO4):

1. Explain the working of thermocouples to measure temperature

2. Explain the advantages and disadvantages of Electrical and Photoelectric Tachometers

3. What is a Seismic Accelerometer? Explain its working

Course Outcome 5 (CO5):

1. Explain the need of Inspection, Accuracy and Precision in modern day engineering

2. List out the various gear tooth terminologies used in industry

3. Explain the sources of Errors in the manufacturing of gears

4. What is the working principle of AutoCollimators and how are they useful in interferometry

Course Outcome 6 (CO6):

1. Explain the stylus system of measurement for surface roughness

2. Explain the working of Optical Comparator

3. Using pneumatic method, explain how surface roughness can be measured.

 ROBOTICS & AUTOMATION

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

SIXTH SEMESTER B.TECH. DEGREE EXAMINATION

Course Code: RAT 342

Course Name: MECHANICAL MEASUREMENTS AND METROLOGY
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries 3 marks. Marks
1 Give the need of Mechanical measurement. (3 )
2 What are the characteristics of slip gauges? (3 )
3 Explain the working of load cells. (3 )
4 Explain the features of absorption dynamometer. ( 3)
5 Explain the working of accelerometer. ( 3)
6 Compare RTD and thermocouple. ( 3)
7 Differentiate between accuracy and precision (3)
8 Explain the principle of interferometry. (3)
9 Define the terms surface texture, waviness and RMS value. (3)
10 Give the functional requirements of comparators.. (3)

PART B
Answer any one full question from each module, each carries 14 marks.
MODULE1
11 a) Explain the static performance characteristics of measuring instruments . (8 )
b) Illustrate the use of slip gauges. (6 )
12 a) Explain in detail the errors and types of errors in measurement ( 10)
b) Give the significance of sine bar in angle measurement. (4 )
MODULE II
13 a) Describe any one method for torque measurement. (8 )
b) Using electrical strain gauges how do we measure strain? explain (6)
14 a) Discuss the strain gauge materials. (10)
b) What is temperature compensation?. (4)
MODULE III
15 Explain the working of photoelectric tachometer. Also give the field of (14)
application.
16 List the type of thermocouples. Also explain the principle and working of any (14)
one type of thermocouple.
MODULE IV
17 Illustrate the use of gear tooth vernier to measure tooth thickness. (14)
 ROBOTICS & AUTOMATION

18 a) Explain the three wire method of measuring effective diameter of screw thread. (11)

b) Give the principle of working of optical flat. (3)

MODULE V
19 a) Describe the stylus system of measurement for surface roughness. (8)
b) Explain the working of an electronic comparator. (6)
20 a) Explain the characteristics of CMM. Also list the types (8)
b) Illustrate the working of Optical comparator (6)
****

Syllabus

Module I (7 Hours)

Mechanical Measurement: Need of mechanical measurement, Basic definitions: Hysteresis,

Linearity, Resolution of measuring instruments, Threshold, Drift, Zero stability, loading effect
and system response. Measurement methods, Generalized Measurement system, Static
performance characteristics, Errors and their classification. Linear Measurement Instruments,
Vernier calliper, Micrometer, Interval measurements: Slip gauges, Checking of slip gauges for
surface quality .Angular measurements using bevel protractors, spirit levels, clinometers, sine
bar, angle gauges and optical dividing head.

Module II (7 Hours)

Measurement of Force, Torque and Strain: Force measurement: load cells, cantilever beams,
differential transformers. Measurement of torque: Torsion bar dynamometer, servo controlled
dynamometer, absorption dynamometers. Power Measurements. Measurement of strain:
Mechanical strain gauges, electrical strain gauges, strain gauge: materials, gauge factors, theory
of strain gauges and method of measurement, bridge arrangement, temperature compensation.

Module III (7 Hours)

Displacement, Velocity/Speed, and Acceleration, Measurement: Working principal of Resistive

Potentiometer, Linear variable differential transducers, Mechanical, Electrical and Photoelectric
Tachometers, Piezoelectric Accelerometer, Seismic Accelerometer. Temperature measurement:
Temperature Measuring Devices: Thermocouples, Resistance Temperature Detectors(RTD),
Thermistor, Pyrometer, Bimetallic strip.
 ROBOTICS & AUTOMATION

Module IV (7 Hours)

Metrology: Basics of Metrology, Need for Inspection, Accuracy and Precision, Objectives,
Standards of measurements. Metrology of Gears and screw threads: Gear tooth terminology,
Sources of errors in manufacturing of gears, Measurement of major elements of screw threads
and gears, gear tooth vernier caliper. Optical measuring instruments: Tool maker’s microscope,
Principle of interferometry-optical flat-Interferometers-Autocollimators.

Module V (7 Hours)

Metrology of Surface finish: Surface Metrology Concepts and terminology, Specification of

surface Texture characteristics, and Method of measuring surface finish: Stylus system of
measurement, other methods for measuring surface roughness: Pneumatic method, Light
Interference microscopes. Comparators: Functional Requirements, Classification, Mechanical,
optical, Pneumatic, Electrical and Electronic Comparators, Introduction to Coordinate measuring
machine ( CMM).

Text Book
1. Engineering Metrology and Measurement, N V Raghavendra and Krishnamurthy, Oxford
University Press,
2. Engineering Metrology and Measurements, Bentley,

Reference Books:
3. A Text book of Engineering Metrology, I C Gupta, Dhanpat Rai Publications
4. A course in Mechanical Measurements and Instrumentation, A K Sawhney, Dhanpat Rai
Publications
5. Mechanical Measurements and Instrumentations, Er. R K Rajput, Kataria
Publication(KATSON)
6. Mechanical Measurement and Metrology by R K Jain, Khanna publishers.

Course Contents and Lecture Schedule

No Topic No. of
Lectures
1 Mechanical Measurement
1.1 Need of mechanical measurement, Basic definitions: Hysteresis, 2
Linearity, Resolution of measuring instruments, Threshold, Drift, Zero
stability, loading effect and system response
1.2 Measurement methods, Generalized Measurement system, Static 1
performance characteristics, Errors and their classification.
 ROBOTICS & AUTOMATION

1.3 Linear Measurement Instruments, Vernier calliper, Micrometer, Interval 4

measurements: Slip gauges, Checking of slip gauges for surface quality
.Angular measurements using bevel protractors, spirit levels,
clinometers, sine bar, angle gauges and optical dividing head.

2 Measurement of Force, Torque and Strain

2.1 Force measurement: load cells, cantilever beams, differential 1
transformers
2.2 Measurement of torque: Torsion bar dynamometer, servo controlled 2
dynamometer, absorption dynamometers. Power Measurements
2.3 Measurement of strain: Mechanical strain gauges, electrical strain 4
gauges, strain gauge: materials, gauge factors, theory of strain gauges
and method of measurement, bridge arrangement, temperature
compensation.
3

3.1 Displacement, Velocity/Speed, and Acceleration, Measurement: 4

Working principal of Resistive Potentiometer, Linear variable
differential transducers, Mechanical, Electrical and Photoelectric
Tachometers, Piezoelectric Accelerometer, Seismic Accelerometer.
3.2 Temperature measurement: Temperature Measuring Devices: 3
Thermocouples, Resistance Temperature Detectors(RTD), Thermistor,
Pyrometer, Bimetallic strip.
4
4.1 Metrology: Basics of Metrology, Need for Inspection, Accuracy and 2
Precision, Objectives, Standards of measurements
4.2 Metrology of Gears and screw threads: Gear tooth terminology, Sources 3
of errors in manufacturing of gears, Measurement of major elements of
screw threads and gears, gear tooth vernier caliper
4.3 Optical measuring instruments: Tool maker’s microscope, Principle of 2
interferometry-optical flat-Interferometers-Autocollimators.
5
5.1 Metrology of Surface finish: Surface Metrology Concepts and 2
terminology, Specification of surface Texture characteristics, and
Method of measuring surface finish: Stylus system of measurement
5.2 other methods for measuring surface roughness: Pneumatic method, 1
Light Interference microscopes
5.3 Comparators: Functional Requirements, Classification, Mechanical, 4
optical, Pneumatic, Electrical and Electronic Comparators, Introduction
to Coordinate measuring machine ( CMM).
 ROBOTICS & AUTOMATION

CATEGORY L T P CREDIT
RAT352 ENGINEERING OPTIMIZATION
PEC 2 1 0 3

Preamble: Finding optimum solution for a given problem has a huge impact in any field of
engineering. This paper introduces the student to the classical optimization techniques and
various numerical methods of optimization. The course also provide the student with a basic
knowledge in different evolutionary algorithms

Prerequisite: Nil

Course Outcomes: After the completion of the course the student will be able to

CO 1 Formulate constrained and unconstrained optimisation problems

CO 2 Solve different Linear programming problems
CO 3 Solve nonlinear optimisation problems
CO 4 Choose the suitable method for the solution of the typical constrained or
unconstrained optimisation problem

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 2 1 3
1
CO 2 1 3
2
CO 2 1 3
3
CO 3 2 2 3
4

Assessment Pattern

Bloom’s Category Continuous Assessment End Semester Examination

Tests
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
 ROBOTICS & AUTOMATION
Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A
contain 10 questions with 2 questions from each module, having 3 marks for each question.
Students should answer all questions. Part B contains 2 questions from each module of which
student should answer any one. Each question can have maximum 2 sub-divisions and carry
14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. A farmer has a choice of planting barley, oats, rice, or wheat on his 200-acre farm.
The labor, water, and fertilizer requirements, yields per acre, and selling prices are
given in the following table:

The farmer can also give part or all of the land for lease, in which case he gets $200
per acre. The cost of water is $0.02/m3 and the cost of the fertilizer is $2/lb. Assume
that the farmer has no money to start with and can get a maximum loan of $50 000
from the land mortgage bank at an interest of 8%. He can repay the loan after six
months. The irrigation canal cannot supply more than 4 × 105 m3 of water. Formulate
the problem of finding the planting schedule for maximizing the expected returns of
the farmer.

Two copper-based alloys (brasses), A and B, are mixed to produce a new alloy, C.
The composition of alloys A and B and the requirements of alloy C are given in the
following table:
 ROBOTICS & AUTOMATION

If alloy B costs twice as much as alloy A, formulate the problem of determining the
amounts of A and B to be mixed to produce alloy C at a minimum cost.

Course Outcome 2 (CO2):

1. A real estate company wants to construct a multistory apartment building on a 500 ×

500-ft lot. It has been decided to have a total floor space of 8 × 105 ft2. The height of
each story is required to be 12 ft, the maximum height of the building is to be
restricted to 75 ft, and the parking area is required to be at least 10% of the total floor
area according to the city zoning rules. If the cost of the building is estimated at
$(500,000h+2000F+500P), where h is the height in feet, F is the floor area in square
feet, and P is the parking area in square feet. Find the minimum cost design of the
building.

2. A manufacturer produces small refrigerators at a cost of $60 per unit and sells them to
a retailer in a lot consisting of a minimum of 100 units. The selling price is set at $80
per unit if the retailer buys 100 units at a time. If the retailer buys more than 100 units
at a time, the manufacturer agrees to reduce the price of all refrigerators by 10 cents
for each unit bought over 100 units. Determine the number of units to be sold to the
retailer to maximize the profit of the manufacturer.

Course Outcome 3 (CO3):

1. Solve the following nonlinear programming problem using Kuhn-Tucker conditions:

Maximize Z = −x12 − x22 − x32 + 4x1 + 6x2
subject to the constraints
x1 + x2 ≤ 4
2x1 + 3x2 ≤ 12
x1, x2 ≥ 0

2. Using Quadratic Programming, Minimize f = -4X1 + X12 – 2X1X2 + 2X22

subject to :

Course Outcome 4 (CO4):

 ROBOTICS & AUTOMATION
1. Explain how Genetic algorithm can be used to optimize trajectories of robot
2. How can Particle Swarm Optimization be used for robotic path planning
3. Discuss the different optimization algorithms that can be used for robotic trajectory
optimization..

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

SIXTH SEMESTER B.TECH. DEGREE EXAMINATION

Course Code: RAT 352

Course Name: Engineering Optimization
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries 3 marks. Marks
1 What is Degenerate solution in LPP? (3 )
2 Write the standard form of LPP maximize Z = 2x1 + 10x2 + x3 subject to (3 )
5x1 + 2x2 + x3 ≥ −15
2x1 + x2 + 7x3 ≤ 20
x1 + 3x2 + 2x3 ≤ 25

x1 ≥ 0, x2 ≥ 0, x3 ≥ 0
3 Find the dual of following LPP (3 )
maximize Z = 6x1 + 14x2 + 13x3 subject to
x1 + 4x2 + 2x3 ≤ 48
x1 + 2x2 + 4x3 ≤ 60
x1 ≥ 0, x2 ≥ 0, x3 ≥ 0
4 Give an example for 0 − 1 programming problem ( 3)
5 Write the Lagrangian function for maximize Z = f(x1, x2) subject to g(x1, x2) = c x1 ≥ ( 3)
0, x2 ≥ 0
6 What is integer linear programming problem ( 3)
7 Explain the basic steps involved in solving a constrained optimization problem using (3)
Random Search Method?
8 Differentiate between local minima and global minima in search optimization (3)
problems. How are these related in the case of a convex programming problem
 ROBOTICS & AUTOMATION
9 (3)

10 Explain the Roulette Wheel Selection Process (3)

PART B
Answer any one full question from each module, each carries 14 marks.
MODULE1
11 a) Solve graphically, Minimize Z = 2x + 4y Subject to (5 )
x + 3y ≥ 8
x+y≥4
and x ≥ 0, y ≥ 0.
b) Suppose Z = cx + 4y. Find all values of c, such that the optimal solution of LPP (9 )
remains same.
12 a) Solve the following LPP by Big-M method: ( 14)
Minimize Z = −3x1 − 3x2 + x3 subject to the constraints
x1 + 3x2 − 2x3 ≥ 5
−3x1 − 2x2 + x3 ≤ 4
where x1, x=, x3 ≥ 0
MODULE II
13 a) Solve the LPP by dual simplex method: (14 )
Minimize Z = 5x1 + 3x2 + x3 subject to the constraints
−x1 + x2 + x3 ≥ 1
3x1 + x2 − x3 ≥ 2
where x1, x2, x3 ≥ 0
14 a) Solve by branch and bound method: (14)
Maximize Z = 500x1 + 400x2 subject to constraints
8x1 + 5x2 ≤ 42
3x1 + 16x2 ≤ 60
x1, x2 ≥ 0, x1, x2 are integers
MODULE III
15 a) Solve the following nonlinear programming problem using Kuhn-Tucker conditions: (14)
Maximize Z = −x12 − x22 − x32 + 4x1 + 6x2
subject to the constraints
 ROBOTICS & AUTOMATION
x1 + x2 ≤ 4
2x1 + 3x2 ≤ 12
x1, x2 ≥ 0
16 Solve the following quadratic programming problem: (14)
Minimize Z = x12 − 2x1x2 + 2x22 − 4x1
subject to the constraints
2x1 + x2 ≤ 6
x1 − 4x2 ≤ 0
x1, x2 ≥ 0

17 a) Explain the algorithm of Sequential Linear Programming method for solving a non- (14)
linear programming problem. Discuss its advantages
18 a) Explain the algorithm of gradient projection method for solving non-linear (9)
programming problems.

b) (5)

MODULE V
19 a) Explain the steps involved in finding the optimum solution using Genetic Algorithm . (14)
Describe in detail the role of Genetic operators involved in the process
20 a) (14)

Note: A maximum of 3 iterations is sufficient, if the solution doesn’t converge

****
 ROBOTICS & AUTOMATION

Syllabus

Module I (8 Hours)

Definition- Optimisation problem, Formulation of optimisation problems- examples

Linear programming: Statement and classification of optimization problems, standard form of

linear programming problems- Convex set and Linear Programming Problem – Mathematical
Formulation of LPP, Graphical solution of LPP, Basic feasible solutions, Degenerate
solution, Slack variables and Surplus variables, Standard form of LPP, Simplex Method,
Artificial variables in LPP, Big-M method

Module II (8 Hours)

Unbounded solutions of LPP, Two-phase method, Revised simplex method, Dual Simplex
Method.
Integer linear programming- Gomory‘s Cutting plane method, Branch and Bound method ,
zero-one programming

Module III (6 Hours)

Constrained non-linear Optimization- examples-method of Lagrange multiplier, Necessary
and sufficient conditions-Equality and inequality constraints, Kuhn Tucker conditions,
Quadratic programming.

Module IV (7 Hours)
Direct search methods-Random search-pattern search -Descent Methods-Steepest descent,
conjugate gradient.
Case studies- Finding the connected components of collision-free paths for a robot using
random search, motion planning problems- optimising path length, execution time etc

Module V (6 Hours)
Recent developments in optimization techniques: Genetic Algorithm, Particle Swarm
Optimization, Ant colony Optimization, Bees Algorithm, Tabu search and Simulated
Annealing

Case studies- Genetic algorithm for optimizing robot trajectories, PSO based path planning of
robots.

Text Books

1. Frederick S Hillier, Gerald J. Lieberman, Introduction to Operations Research,

Seventh Edition, Tata McGraw-Hill, 2001
2. Singiresu S Rao, Engineering Optimization Theory and Practice,5/e, John
Wiley&Sons 2020.
Reference Books

1. Ravindran, Philips, Solberg, Operations Research: Principles and Practice, Wiley

student Edition,2/e, 2007
2. Kanti Swarup, P. K. Gupta, Man Mohan , Operations Research, Sultan chand & Sons
3. Pierre, D.A. ‘Optimisation Theory with Applications’ John Wiley & Sons, 1969
 ROBOTICS & AUTOMATION
4. Fox, R.L., ‘Optimisation method for Engineering Design’, Addition Welsey,1971.
5. Hadely,G., ‘Linear Programming’, Addition Wesley, 1962.
6. D.E. Goldberg, Genetic Algorithm in Search, Optimization, and Machine Learning.
Reading, MA: Addison-Wesly, 1989.
7. Marco Dorigo, Vittorio Miniezza and Alberto Colorni “Ant System: Optimization by
a colony of Cooperation Agents” IEEE transaction on system man and Cybernetics-
Part B: cybernetics, Volume 26, No 1, pp. 29-41,1996.
8. Shi, Y. Eberhart, R.C., “A Modified Particle Swarm Optimizer”, Proceedings of the
IEEE International conference on Evolutionary Computation, Anchorage, AK, pp.
69-73, May 1998

Course Contents and Lecture Schedule

Total 35 Hours
No. of
No Topic
Lectures
1
1.1 Definition- Optimisation problem, Formulation of optimisation 2
problems- examples

1.2 Linear programming: Statement and classification of optimization 3

problems, standard form of linear programming problems- Convex set
and Linear Programming Problem – Mathematical Formulation of LPP
1.3 Graphical solution of LPP, Basic feasible solutions, Degenerate solution, 3
Slack variables and Surplus variables, Standard form of LPP, Simplex
Method, Artificial variables in LPP

2
2.1 Unbounded solutions of LPP, Two-phase method 2
2.2 Revised simplex method, Dual Simplex Method. 3

2.3 Integer linear programming- Gomory‘s Cutting plane method, Branch 3

and Bound method , zero-one programming
3

3.1 Constrained non-linear Optimization- examples-method of Lagrange 4

multiplier, Necessary and sufficient conditions-Equality and inequality
constraints, Kuhn Tucker conditions
3.2 Quadratic programming 2
4
4.1 Direct search methods-Random search-pattern search -Descent 4
Methods-Steepest descent, conjugate gradient.
4.2 Case studies- Finding the connected components of collision-free paths 3
for a robot using random search, motion planning problems- optimising
path length, execution time etc
5
5.1 Recent developments in optimization techniques: Genetic Algorithm, 4
Particle Swarm Optimization, Ant colony Optimization, Bees
Algorithm, Tabu search and Simulated Annealing

5.2 Case studies- Genetic algorithm for optimizing robot trajectories, PSO 2
based path planning of robots
 ROBOTICS & AUTOMATION
CATEGORY L T P CREDIT
RAT362 COMMUNICATIONS NETWORKS
PEC 2 1 0 3

Preamble: Communication plays an important role in remote data acquisition as well as

mobile robotics. This course gives the student a basic knowledge of communication elements
and the processes involved between a sender and a receiver. Few common industry specific
protocols popular among mobile robotics and remote data capture are discussed as part of the
course

Prerequisite: NIL

Course Outcomes: After the completion of the course the student will be able to

CO 1 Understand the basic concepts of wireless communication and techniques used for
enhancing bandwidth
CO 2 Understand the process involved in the data transfer across a computer network and
the different standards applicable
CO 3 Understand the various mechanisms used to address the different challenges in
wireless networks
CO 4 Understand the working of two popular PAN protocols
CO 5 Understand the working of two popular low power PAN protocols

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 3 2 1 2
1
CO 3 2 1 2
2
CO 3 2 2 2
3
CO 3 2 2 2
4
CO 3 2 1 2
5

Assessment Pattern

Bloom’s Category Continuous Assessment End Semester Examination

Tests
1 2
Remember 20 20 30
Understand 30 30 70
Apply
Analyse
Evaluate
Create
 ROBOTICS & AUTOMATION
Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A
contain 10 questions with 2 questions from each module, having 3 marks for each question.
Students should answer all questions. Part B contains 2 questions from each module of which
student should answer any one. Each question can have maximum 2 sub-divisions and carry
14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. State the advantages and disadvantages of wireless communication compared to wired
communication.
2. Discuss the different Multiple Access Schemes used in communication
3. Explain the process involved in converting an analog signal to a digital signal

Course Outcome 2 (CO2):

1. What is the need of a protocol in data exchange between 2 devices
2. Explain the role of the lower 3 layers of ISO/OSI reference model
3. Explain the following media access protocols used in IEEE802 standards
a. ALOHA b.) CSMA/CD

Course Outcome 3 (CO3):

1. What is CSMA/CA and how is it useful in wireless communication compared to
CSMA/CD
2. What is an Adhoc wireless network? Explain the advantages and disadvantages of such a
scheme
3. Discuss the issues involved in the design of a routing protocol for a Adhoc Wireless
network

Course Outcome 4 (CO4):

1. Discuss the architecture of Bluetooth protocol
2. Using the state diagram, explain the working of Bluetooth protocol as the device goes
through various stages
3. Discuss the architecture of Zigbee protocol stack in detail
 ROBOTICS & AUTOMATION

Course Outcome 5 (CO5):

1. Discuss the features of 6LoWPAN and how it is useful for remote data collection
2. Explain the architecture of CoAP with diagram
3. How is GPS free positioning achieved in LoRaWAN.

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

SIXTH SEMESTER B.TECH. DEGREE EXAMINATION

Course Code: RAT 362

Course Name: Communications Networks
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries 3 marks. Marks
1 Why do we need modulation in a communication system? Is modulation of any (3 )
use in wired communication? Justify your answer.
2 What are the characteristics of a wireless channel? (3 )
3 Why do we need layering in network protocols? (3 )
4 How is CSMA/CD better compared to CSMA? ( 3)
5 What are the issues faced in an IEEE802.11 network compared to IEEE802.3 ( 3)
w.r.to media access?
6 How is an ad-hoc network different from a convention wireless lan? ( 3)
7 What are the different states that a node can be in a Bluetooth network and (3)
explain the need for each state.
8 Compared to Bluetooth, How is zigbee useful in Robotics applications? (3)
9 What is a LoPAN ? Why do we need LoPANS? (3)
10 Explain the basic architecture of a LoRaWaN network? (3)
PART B
Answer any one full question from each module, each carries 14 marks.
MODULE1
11 a) Explain in detail the different digital modulation techniques used in (7 )
communication networks
b) What are the different Multiple access techniques used in communication (7 )
systems?
12 a) What is the need of sampling and encoding in digital communication system? ( 8)
Explain with an example
b) Is digital communication better than analog communication? Justify your answer (6 )
with appropriate reasons
 ROBOTICS & AUTOMATION
MODULE II
13 a) Discuss in detail the roles of different layers of OSI architecture. (8 )
b) Mention a scheme to solve the hidden terminal and exposed terminal problems in (6)
wireless networks.
14 a) Explain in detail on the physical and data link layer of IEEE802.3 standard. (8)
b) Discuss any two media access mechanisms that can be used in a wired network (6)
MODULE III
15 a) Discuss in detail the different design challenges of MAC layer in an Ad-hoc (9)
wireless network. Explain any one technique that can address these challenges

b) How is CSMA/CA different from CSMA/CD (5)

16 Explain the challenges and design goals that need to be addressed while (14)
designing a routing protocol for an ad-hoc wireless network.
MODULE IV
17 a) With appropriate diagram, Explain the different layers of Bluetooth protocol (14)
stack
18 a) With appropriate diagram, Explain the different layers and functions of zigbee (14)
protocol stack
MODULE V
19 a) Explain the architecture of CoAP with appropriate diagram (8)
b) What is compression and Fragmentation in 6LowPAN (6)
20 a) Explain how adaptive Data rate and GPS free positioning implemented in (14)
LoRaWAN

****
 ROBOTICS & AUTOMATION
Syllabus

Module I (7 Hours)

Communication Systems: Components of a communication system(Block diagram level) –

Introduction to wireless communication - Radio propagation – Characteristics of the wireless
channel – Analog Modulation – Digital Modulation – Multiple Access Techniques – FDMA,
TDMA, CDMA, SDMA – Sampling - Encoding – Error Control

Module II (7 Hours)

Computer Network Architecture: The OSI Reference model The TCP/IP reference Model
– The ATM reference Model – comparison

IEEE 802 Networking Standards – Physical layer – Data link Layer – LLC – MAC –
ALOHA – CSMA – CSMA/CD – IEEE802.3 Standard – Physical Layer – Data Link Layer

Module III (7 Hours)

Wireless LAN: Design Considerations – Network Architecture - IEEE 802.11 Standard –
Physical Layer – MAC layer mechanisms – CSMA/CA – Additional MAC layer Functions

Ad-hoc wireless networks – Applications and issues of ad-hoc wireless networks – MAC
protocols for AD-HOC wireless networks – Design issues of MAC – Design Goals - Routing
protocols for Ad-HOC Wireless Networks – issues in designing routing protocols –
classification

Module IV (7 Hours)
WPAN: IEEE802.15 - Bluetooth – User scenarios – Architecture – Networking - Protocol
Stack – Radio Layer – Baseband Layer – Link Manager protocol – L2CAP – Security –
Service Discovery Protocol – Bluetooth Profiles - Transport Protocol Group – Middleware
protocol Group

Zigbee – Protocol Stack – Network layer – Application layer – Reduced Function Device-
Full Function Device – Network Coordinator – Frame Formats – Channel Access Mechanism
– Types of Data transfer- Network formation roles of Network Coordinator – Parent device –
Child device

Module V (7 Hours)
Low Power Communication Protocols: 6LoWPAN – IPV6 – IP over IEEE 802.15.4 –
Compression – Fragmentation – Reassembly – Routing – Constrained Application
Protocol(CoAP) (Architecture only) – RPL Routing Protocol

LoRaWAN – Architecture – MAC Layer – LoRaWAN Classes – Physical Message Format –

MAC message format – Channel Access – Adaptive Data Rate – GPS free positioning

Text Books

1. Ad-Hoc Wireless Networks Architectures and Protocols, C Siva Ram Murthy,

B.S.Manoj, Prentice Hall
2. Wireless Networking and Mobile Data Management, R.K.Gosh, Springer
 ROBOTICS & AUTOMATION
3. Mobile Communications Jochen Schiller, Pearson Education
4. Data Communication and Networking, Behrouz.A.Forouzan, Sophia Chung
Fegan,McGraw Hill
Reference Books

1. Wireless Communication Networks and Systems, Cory Beard & William Stallings,
Pearson
2. Beginning LoRa Radio Networks with Arduino: Build Long Range, Low Power
Wireless IoT Networks, Pradeeka Seneviratne, Apress
3. Future Internet – open access journal published by mdpi -
https://www.mdpi.com/1999-5903/11/10/216/htm

Course Contents and Lecture Schedule

No. of
No Topic
Lectures
1 Communication Systems
1.1 Components of a communication system, Introduction to wireless 1
communication
1.2 Radio propagation, Characteristics of the wireless channel, Analog & 2
Digital Modulation
1.3 Multiple Access Techniques – FDMA, TDMA, CDMA, SDMA 2

1.4 Sampling - Encoding – Error Control 2

2 Computer Network Architecture
2.1 The OSI Reference model 1
2.2 The TCP/IP reference Model – IP Addressing, IP4 2

2.3 The ATM reference Model – Comparison, 1

2.4 IEEE 802 Networking Standards – Physical layer – Data link Layer - 1
LLC – MAC – ALOHA
2.5 CSMA – CSMA/CD - IEEE802.3 Standard – Physical Layer – Data 2
Link Layer
3 Wireless LAN

3.1 Design Considerations – Network Architecture - IEEE 802.11 Standard 1

3.2 Physical Layer – MAC layer mechanisms – CSMA/CA 1
3.3 Additional MAC layer Functions 1
3.4 Ad-hoc wireless networks – Applications and issues of ad-hoc wireless 1
networks
3.5 MAC protocols for AD-HOC wireless networks – Design issues of 2
MAC – Design Goals
3.6 Routing protocols for Ad-HOC Wireless Networks – issues in designing 1
routing protocols – classification
4 WPAN
4.1 IEEE802.15 - Bluetooth – User scenarios – Architecture 1
4.2 Networking - Protocol Stack – Radio Layer – Baseband Layer – Link 1
 ROBOTICS & AUTOMATION
Manager protocol
4.3 Security – Service Discovery Protocol – Bluetooth Profiles 2
4.4 Zigbee – Protocol Stack – Network layer – Application layer – Reduced 1
Function Device-Full Function Device – Network Coordinator
4.5 Frame Formats – Channel Access Mechanism – Types of Data transfer- 2
Network formation roles of Network Coordinator – Parent device –
Child device
5 Low Power Communication Protocols
5.1 6LoWPAN – IPV6 – IP over IEEE 802.15.4 – Compression – 2
Fragmentation – Reassembly – Routing
5.2 Constrained Application Protocol(CoAP) (Architecture only) – RPL 2
Routing Protocol
5.3 LoRaWAN – Architecture – MAC Layer – LoRaWAN Classes – 2
Physical Message Format – MAC message format
5.4 Channel Access – Adaptive Data Rate – GPS free positioning 1
 ROBOTICS & AUTOMATION

CODE COURSE NAME CATEGORY L T P CREDIT

RAT 372 SOFT COMPUTING TECHNIQUES PEC 2 1 0 3

Preamble: Soft computing techniques are gaining popularity in all domains of engineering
application. This paper introduces the student to the basic mechanisms of finding solution to
problems through the different soft computing techniques. This course explain in detail the 3
basic soft computing techniques namely - Neural networks, Fuzzy systems and Genetic
Algorithms and how they can be applied to mimic the human mind

Course Outcomes: After the completion of the course the student will be able to

CO 1 Understand and design basic neural networks

CO 2 Develop the concepts of supervised/unsupervised learning
CO 3 Understand fuzzy based systems
CO 4 Apply Fuzzy logic for developing systems
CO 5 Understand the optimization techniques using Genetic Algorithm

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 2 2 1 2
1
CO 3 2 2 2
2
CO 2 2 1 2
3
CO 3 2 2 2
4
CO 2 2 1 2
5

Assessment Pattern

Bloom’s Category Continuous Assessment End Semester Examination

Tests

1 2

Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
 ROBOTICS & AUTOMATION

Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A contain
10 questions with 2 questions from each module, having 3 marks for each question. Students
should answer all questions. Part B contains 2 questions from each module of which student
should answer any one. Each question can have maximum 2 sub-divisions and carry 14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. Differentiate between soft computing and Hard computing techniques
2. Explain the different types of learning techniques used in Neural networks
3. Describe the architecture of Back propagation networks

Course Outcome 2 (CO2):

1. What is an activation function in a neural network? What is its significance?
2. Explain the generalized Hebbian learning algorithm
3. Discuss on Self-organizing computation maps and its uses

Course Outcome 3 (CO3):

1. Differentiate between Crisp set and fuzzy set
2. Explain what is a Tolerance relation and Equivalence relation.
3. Explain the steps involved in developing a fuzzy rule based systems

Course Outcome 4 (CO4):

1. Explain the working of a fuzzy inference system using Mamdani approach
2. Explain the different defuzzification methods
3. Explain what is a Neuro-fuzzy systems

Course Outcome 5 (CO5):

1. What is the significance of Genetic algorithms in artificial intelligence
2. Explain the different stages of a GA implementation
3. What do you mean by convergence of a GA.
 ROBOTICS & AUTOMATION

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

SIXTH SEMESTER B.TECH. DEGREE EXAMINATION

Course Code: RAT 372

Course Name: SOFT COMPUTING TECHNIQUES
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries 3 marks. Mark
s
1 Enumerate the difference between soft computing and hard computing. (3 )
2 Explain hypermeter tuning (3 )
3 What is Self Organizing maps (3 )
4 Write short notes on supervised and unsupervised learning methods. ( 3)
5 Consider two fuzzy sets ( 3)
 0.2 0.2 1 0.1 0.5 
A= , , , , 
 0 1 2 3 4 
 0.1 0.25 0.9 0.7 0.3 
B= , , , , 
 0 1 2 3 4 
Find a. Algebraic Sum b. Bounded sum c. Bounded difference

6 What is tolerance and equivalence relations ( 3)

7 Enlist the characteristics of Fuzzy Control Systems (3)
8 Give the life cycle of a Genetic Algorithm (3)
9 Compare Mamdani and Sugeno approaches (3)
10 Explain fitness function in GA (3)
PART B
Answer any one full question from each module, each carries 14 marks.
MODULE1
11 a) Explain the architecture and training algorithm of back propagation network. (8 )
b) compare different activation functions (6 )
12 a) With suitable examples explain supervised, unsupervised and reinforcement ( 8)
learning.
b) What is meant by local minima problem? How it can be avoided (6 )
MODULE II
13 a) Design a hebb network to realize AND gate (8 )
b) Explain a neural network as associative memory (6)
 ROBOTICS & AUTOMATION

14 a) Give the architecture of Boltzmann Machines (8)

b) With a neat functional diagram explain the Kohonen Self Organizing Maps. (6)
MODULE III
15 a) Compare and contrast between different Fuzzy decision making functions. (8)
b) Explain Fuzzy rule based systems (6)

16 a) Three elements of a medicinal search are given by (8)

 0.1 0.3 0.7 0.4 0.2 
A=  + + + + 
 2 4 6 8 10 
 0.1 0.3 0.3 0.4 0.5 0.2 
B=  + + + + + 
 0.1 0.2 0.3 0.4 0.5 0.6 
 0.1 0.7 0.3 
C=  + + 
 0 0.5 1 
Find R= A X B, S = B x C,
=M R  S (max − min composition)
=N R  S (max − productcomposition)
b) (6)

MODULE IV
17 a) Develop a Fuzzy inference System for controlling the temperature using air (8)
conditioner.
b) Develop an ANFIS model with suitable example. (6)
18 a) Explain Mamdani and Sugeno approach with suitable examples (10)

b) Discuss the architecture and Operation of a Fuzzy logic Control system (4)
MODULE V
19 a) Illustrate the general architecture of Genetic Algorithm approach. (8)
b) State and explain theRoulette Wheel selection method (6)
20 a) How the cross over operation takes place for creating the operating. Explain the (8)
types of cross over in GA
b) Write short notes on evolutionary algorithm (6)
****

.
 ROBOTICS & AUTOMATION

Syllabus

Module I (7 Hours)

Introduction to soft computing- soft computing Vs hard computing – applications of soft

computing.

Neural Networks: Evolution- definition of neuron- artificial and biological neurons-supervised,

unsupervised, reinforcement learning- examples- activation functions- McCulloch-Pits model-
Single layer Perceptron-Multilayer Perceptron-Back Propagation networks-Architecture of
Backpropagation(BP) Networks- Backpropagation Learning -variational back propagation–
hyper parameters – learning rate – momentum factor- Radial basis function.

Module II (8 Hours)

Neural Networks as Associative Memories – architecture- Hopfield Networks, Bidirectional

Associative Memory -activation functions. Unsupervised Learning: Hebbian Learning,
Generalized Hebbian learning algorithm, Competitive learning, Self- Organizing Computational
Maps: Kohonen Network. Introduction to Boltzmann Machines

Module III (7 Hours)

Fuzzy Systems: Fuzzy Set theory, Fuzzy versus Crisp set, operations on fuzzy sets-Fuzzy
Relation- Min-Max Composition,- features of membership functions-Tolerance and equivalence
function-Fuzzification, Fuzzy Logic, Fuzzy Rule based systems, Fuzzy Decision Making- types

Module IV (7 Hours)

Fuzzy Inference systems – Mamdani approach and Sugeno approach- Defuzzification Methods -
Fuzzy Control Systems – characteristics- Fuzzy Classification.

Hybrid systems- Neuro-fuzzy systems- case studies- ANFIS model- case studies
Applications of Neural Networks and Fuzzy Systems.

Module V (6 Hours)

Evolutionary algorithms -Genetic algorithms: basic concepts, encoding, reproduction-Roulette

wheel, tournament, rank, and steady state selections, cross over, mutation, fitness function,
Convergence of GA, Applications of GA case studies. Introduction to genetic programming-
basic concepts.

Text Books

1. R. Rajasekaran and G. A and Vijayalakshmi Pai, “Neural Networks, Fuzzy Logic, and
Genetic Algorithms: Synthesis and Applications,” Prentice Hall of India
2. S.N Sivandam and S.N Deepa, “ Principles of Soft Computing,” Wiley Publications.
 ROBOTICS & AUTOMATION

3. D. E. Goldberg, Genetic Algorithms in Search, Optimisation, and Machine Learning,

Addison-Wesley
4. Timothy J Ross, “Fuzzy Logic with Engineering Applications”, McGraw Hill, 1997.
5. Eiben A. E. and Smith J. E., “Introduction to Evolutionary Computing”, Second Edition,
Springer, Natural Computing Series, 2007.
6.
References

1. N. K. Sinha and M. M. Gupta, Soft Computing & Intelligent Systems: Theory &
Applications-Academic Press /Elsevier. 2009.
2. Simon Haykin, Neural Network- A Comprehensive Foundation- Prentice Hall
International, Inc.
3. R. Eberhart and Y. Shi, Computational Intelligence: Concepts to Implementation,
Morgan Kaufman/Elsevier, 2007.
4. Ross T.J. , Fuzzy Logic with Engineering Applications- McGraw Hill.
5. Driankov D., Hellendoorn H. and Reinfrank M., An Introduction to Fuzzy Control-
Narosa Pub.
6. Bart Kosko, Neural Network and Fuzzy Systems- Prentice Hall, Inc., Englewood Cliffs

Course Contents and Lecture Schedule

No Topic No. of
Lectures
1 Introduction
1.1 Introduction to soft computing- soft computing Vs hard computing- 1
applications of soft computing.
1.2 Neural Networks: Evolution- artificial and biological neurons- 1
supervised, unsupervised, reinforcement learning- examples
1.3 McCulloch-Pits model-Single layer Perceptron- Multilayer Perceptron 1

1.4 Back Propagation networks-Architecture of Backpropagation(BP) 2

Networks
1.5 variational back propagation– hyper parameters – learning rate 2
1.6 Momentum factor- radial basis function 1
2 Neural Networks
2.1 Neural Networks as Associative Memories – architecture- Hopfield 1
Networks
2.2 Bidirectional Associative Memory -activation functions 1

2.3 Unsupervised Learning: Hebbian Learning, Generalized Hebbian 1

learning algorithm
2.4 Competitive learning, Self- Organizing Computational Maps 2
2.5 Kohonen Network. 1
2.6 Introduction to Boltzmann Machines 1
 ROBOTICS & AUTOMATION

3 Fuzzy Systems:

3.1 Fuzzy Set theory, Fuzzy versus Crisp set theory, operations on Fuzzy 3
sets, Fuzzy Relation, Min-Max Composition -
3.2 Tolerance and equivalence , Fuzzification, 2
3.3 Fuzzy Logic, Fuzzy Rule based systems 1
3.4 Fuzzy Decision Making- types 1
4
4.1 Fuzzy Inference systems – Mamdani approach and Sugeno approach- 2
Defuzzification Methods
4.2 Fuzzy Control Systems - Fuzzy Classification 1
4.3 Hybrid systems- Neuro-fuzzy systems- case studies- ANFIS model- case 2
studies
4.4 Applications of Neural networks and Fuzzy systems 2
5 Genetic Algorithms
5.1 Evolutionary algorithms. 1

5.2 Genetic algorithms: basic concepts, encoding, fitness function, 2

reproduction-Roulette wheel, Boltzmann, tournament, rank, and steady
state selections
5.3 Convergence of GA 1
5.4 Applications of GA case studies. Introduction to genetic programming- 2
basic concepts.-
 ROBOTICS & AUTOMATION

SEMESTER VI
MINOR
 ROBOTICS & AUTOMATION
INTRODUCTION TO MOBILE CATEGORY L T P CREDIT
RAT 382
ROBOTICS VAC 3 1 0 4

Preamble: Robotics has been widely used in industrial automation for quite some time.
Interest on mobile robots are growing off-late as it enables human beings to physically reach
places that were inaccessible earlier – be it a disaster site or a remote intelligence or distant
planets. This course provides the basic knowledge on the various aspects of design, motion
planning and control systems for intelligent mobile robots.

Prerequisite: Nil

Course Outcomes: After the completion of the course the student will be able to

CO 1 Familiarise types of locomotion for mobile Robots

CO 2 Derive the kinematic and dynamic model of a mobile robot
CO 3 Choose appropriate Sensors for mobile robots
CO 4 Perform path planning for mobile robot
CO 5 Control the mobile robots to follow different paths
CO 6 Understand the various practical applications of mobile robot
Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 2 3
CO 2 2 2 3
CO 3 2 2 2 3
CO 4 3 2 2 3
CO 5 3 2 2 3
CO 6 3 2 2 3

Assessment Pattern

Bloom’s Category Continuous Assessment End Semester Examination

Tests
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
 ROBOTICS & AUTOMATION
Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A
contain 10 questions with 2 questions from each module, having 3 marks for each question.
Students should answer all questions. Part B contains 2 questions from each module of which
student should answer any one. Each question can have maximum 2 sub-divisions and carry
14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. What are the key design challenges for a mobile robot?
2. Compare and Contrast between Wheeled Robots and Legged Robots
3. Explain few applications of underwater robots

Course Outcome 2 (CO2):

1. Explain the concept of Degree of Freedom and manoeuvrability
2. Explain the kinematic model for a differential drive WMR
3. Explain the dynamic modelling of differential drive WMR using Newton-Euler method

Course Outcome 3 (CO3):

1. How are the sensors classified in mobile robotics
2. Explain the working of ground based beacon sensors
3. Explain the working of vision based sensors and their applications

Course Outcome 4 (CO4):

1. What are the challenges faced in localization during the design of a robot?
2. Explain the Kalman method of map based localization
3. Explain the Dijkstra’s algorithm for path planning

Course Outcome 5 (CO5):

1. Explain the Bug algorithm used for obstacle avoidance in mobile robots
2. What is the dynamic window approach used for obstacle avoidance in mobile robots
3. Using the kinematic model, Explain any one method of control of a differential drive
robot
 ROBOTICS & AUTOMATION

Course Outcome 6 (CO6):

1. Explain the design considerations for the development of a differential drive robot
moving to a specific point following a line
2. What are cooperative and collaborative robots
3. Write a brief note on mobile manipulators

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY
SIXTH SEMESTER B.TECH. DEGREE EXAMINATION

Course Code: RAT 382

Course Name:
INTRODUCTION TO MOBILE ROBOTICS

Max. Marks: 100 Duration: 3 Hours

PART A
Answer all questions, each carries 3 marks. Marks
1 What are the key issues related to locomotion? (3)
2 List three applications where mobile robots can be used? (3)
3 What is degree of steerability for a mobile robot? (3)
4 Briefly explain about different wheel configurations. (3)
5 Which are the typical sensor characteristics? (3)
6 What is the use of IMU in mobile robot? (3)
8 What is SLAM? (3)
8 Compare local and global path planning. (3)
9 What are the applications of collaborative robots? (3)
10 Briefly explain the Vector field histogram. (3)
PART B
Answer any one full question from each module, each carries 14 marks.
MODULE1
11 a) Explain the different factors affecting the choice of wheel for wheeled (10)
locomotion.
b) Which are the four basic wheel types? (4)
12 a) In general, adding degrees of freedom to a robot leg increases the (10)
maneuverability of the robot. Explain with the help of examples
b) Explain how leg configuration affect stability (4)
MODULE II
13 a) Derive the Kinematic model of a differential drive mobile robot. (9)
b) Explain the terms degree of freedom and manoeuvrability (5)
14 a) Derive the dynamic modelling differential drive WMR using Newton-Euler (10)
method
b) It is desired to construct a mecanum wheel with n rollers of angle α. Determine (4)
the roller length Dr and the thickness d of the wheel
MODULE III
 ROBOTICS & AUTOMATION
15 a) Explain in detail various steps involved in robotic vision. (14)
16 a) Briefly explain various sensors used for finding robots orientation and (9)
inclination
b) Explain various classification of sensors (5)
MODULE IV
17 a) Explain the Kalman filter based localization of mobile robots (8)
b) Explain various challenges in localization of mobile robots (6)
18 Explain in detail about different Map based path planning (14)

MODULE V
19 a) Explain the control of steered robot based on its kinematic model (14)
20 a) Implement a differential drive robot capable of moving to a point (10)
b) Discuss the dynamic window approach for obstacle avoidance in mobile robot (4)
***
Syllabus

Module I (9 Hours)

Introduction, key issues for locomotion, Wheeled Mobile Robots, Wheeled locomotion: The
design space, Wheeled locomotion: Case studies. Legged Mobile Robots- Leg configurations
and stability, Examples of legged robot locomotion, aerial robots, underwater robots and
surface water robots.

Module 2 (9 Hours)

Basic understanding of Differential-Drive WMR, Car-Like WMR, Three-Wheel

Omnidirectional Mobile Robot, Four Mecanum-Wheel Omnidirectional Robot

Kinematic model of a differential drive and a steered mobile robot, degree of freedom and
manoeuvrability, Degree of steerability, different wheel configurations, holonomic and non-
holonomic robots. Omnidirectional Wheeled Mobile Robots.
Dynamic modelling of differential drive WMR: Lagrange and Newton-Euler methods

Module 3 (9 Hours)
Sensors for mobile robot navigation: Sensor classification, Characterizing sensor
performance, Wheel /motor sensors, Heading sensors, Accelerometers, IMUs, Ground-based
beacons, Active ranging, Motion/speed sensors, Vision-based sensors.

Robot Vision: Sensing, Preprocessing, Segmentation, Description, Recognition,

Interpretation, feature extraction

Module 4 (9 Hours)
How to find answers to Where am I? Where am I going? How do I get there? by a mobile
robot.

Basics of reactive navigation; Robot Localization, Challenges in localization, An error model

for odometric position estimation, Probabilistic map based localization (only Kalman
method), Autonomous map building, Simultaneous localization and mapping (SLAM).
 ROBOTICS & AUTOMATION
Path Planning- local vs global path planning, Graph search, Potential field based path
planning; Map based path planning- Dijkstra’ s algorithm, A*, D* algorithms

Module 5 (9 Hours)
Obstacle avoidance- Bug algorithm, Vector field histogram, Dynamic window approach

Control of mobile robots- Control of differential drive robot and steered robot based on its
kinematic model, Case study- design and implementation of a differential drive robot
capable of moving to a point, following a line and following a path.

Basics of Swarm robots, cooperative and collaborative robots, mobile manipulators.

Text Books

1. Introduction to Autonomous Mobile Robots , R Siegwart, IR Nourbakhsh, D

Scaramuzza, , MIT Press, USA, 2011.
2. Introduction to Mobile Robot Control, Spyros G. Tzafestas , Elsevier, USA, 2014.
3. Sensors for mobile robot ,HR Everett, CRC Press

Reference Books

1. Mobile Robotics: Mathematics, Models and methods, A Kelly, Cambridge University

Press, USA,2013
2. Computational Principles of Mobile Robotics, G Dudek, M Jenkin, Cambridge
University Press, USA,2010
3. Principles of Robot Motion, Theory, Algorithms, and Implementation, Howie Choset,
Kevin M. Lynch, Seth Hutchinson, George A Kantor, Wolfarm Burgard, Lydia E.
Kavraki, Sebastian Thrun, MIT Press

Course Contents and Lecture Schedule

No Topic No. of
Lectures
1 Mobile robot locomotion
1.1 Introduction, key issues for locomotion 1
1.2 Wheeled Mobile Robots, Wheeled locomotion: The design space 2
1.3 Wheeled locomotion: Case studies. 2
1.4 Legged Mobile Robots- Leg configurations and stability, Examples of 2
legged robot locomotion
1.5 aerial robots, underwater robots and surface water robots. 2
2 Modelling of WMR
2.1 3
Basic understanding of Differential-Drive WMR, Car-Like WMR,
Three-Wheel Omnidirectional Mobile Robot, Four Mecanum-Wheel
Omnidirectional Robot
2.2 2
Kinematic model of a differential drive and a steered mobile robot
 ROBOTICS & AUTOMATION
2.3 1
Degree of freedom and manoeuvrability, Degree of steerability, different
wheel configurations
2.4 1
Holonomic and non-holonomic robots. Omnidirectional Wheeled
Mobile Robots.

2.5 Dynamic modelling of differential drive WMR: Lagrange and Newton- 2

Euler methods

3 Sensors and robot vision

3.1 Sensors for mobile robot navigation: Sensor classification, 3

Characterizing sensor performance.
3.2 Wheel /motor sensors, Heading sensors, Accelerometers, IMUs, 3
Ground-based beacons, Active ranging, Motion/speed sensors, Vision-
based sensors.
3.3 Robot Vision: Sensing, Preprocessing, Segmentation, Description, 3
Recognition, Interpretation, feature extraction

4 Navigation and Motion Planning

4.1 How to find answers to Where am I? Where am I going? How do I get 1
there? by a mobile robot.
4.2 Basics of reactive navigation; Robot Localization, Challenges in 2
localization
4.3 An error model for odometric position estimation, Probabilistic map 3
based localization (only Kalman method), Autonomous map building,
Simultaneous localization and mapping (SLAM).
4.4 Path Planning- local vs global path planning, Graph search, Potential 3
field based path planning; Map based path planning- Dijkstra’ s
algorithm, A*, D* algorithms

5 Obstacle avoidance and Control of mobile Robots

5.1 Obstacle avoidance- Bug algorithm, Vector field histogram, Dynamic 3
window approach

5.2 Control of mobile robots- Control of differential drive robot and steered 2
robot based on its kinematic model.
5.3 Case study- design and implementation of a differential drive robot 2
capable of moving to a point, following a line and following a path.
5.4 Basics of Swarm robots, cooperative and collaborative robots, mobile 2
manipulators.
 ROBOTICS & AUTOMATION

SEMESTER VI
HONOURS
 ROBOTICS & AUTOMATION

ADVANCED CONTROL FOR CATEGORY L T P CREDIT

RAT394
ROBOTICS VAC 3 1 0 4

Preamble: Control mechanisms plays a vital role in the design of robotic systems. With the
application area of robots being very vast and divergent, design of appropriate control
mechanisms is quite challenging. This course provides the students an introduction to the
different control mechanisms that are specifically applicable to robot design.

Prerequisite: Basic course in Control Systems

Course Outcomes: After the completion of the course the student will be able to

CO 1 Design linear controllers for robotic manipulators

CO 2 Interpret about various nonlinear control schemes for robotic manipulators
CO 3 Illustrate force control schemes of manipulators
CO 4 Design controllers for mobile robots
CO 5 Familiarise about vision-based control schemes for robots

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 3 2 2 1 2 3
1
CO 3 2 2 1 2 1 2
2
CO 3 2 2 2 2 1 3
3
CO 3 2 2 2 1 1 2
4
CO 3 3 2 2 2 1 2
5

Assessment Pattern

Bloom’s Category Continuous Assessment End Semester Examination

Tests
1 2
Remember 10 10 20
Understand 25 25 40
Apply 15 15 40
Analyse
Evaluate
Create
 ROBOTICS & AUTOMATION

Mark distribution

Total CIE ESE ESE

Marks Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A
contain 10 questions with 2 questions from each module, having 3 marks for each question.
Students should answer all questions. Part B contains 2 questions from each module of which
student should answer any one. Each question can have maximum 2 sub-divisions and carry
14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):
1. With block diagrams, explain the closed loop and feed forward Robotic Contorl
Systems
2. With an example, explain a trajectory following control used for robots.
3. Explain the architecture of an industrial-robot controller with suitable diagrams

Course Outcome 2 (CO2):

1. What is a model-based manipulator control design approach? What are the different
models used in the above design process?
2. Explain one non-linear control scheme of robotic manipulator

Course Outcome 3 (CO3):

1. Explain the role of industrial robots in assembly lines in a
2. Discuss the response of a mass-Spring system with a driving force

Course Outcome 4 (CO4):

1. State and derive the expression for Lya punov stability criterion
2. Explain the use of a computed torque control in robotic design
 ROBOTICS & AUTOMATION

Course Outcome 5 (CO5):

1. What is Image Segmentation? Explain the role of segmentation in Image processing
applications
2. What is stereo vision and how is it useful?

3. Discuss the working of a image based visual servo mechanism that can be used in
robotic application

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY
SIXTH SEMESTER B.TECH. DEGREE EXAMINATION
Course Code: RAT 394
Course Name: ADVANCED CONTROL FOR ROBOTICS
Max. Marks: 100 Duration: 3 Hours

PART A

Answer all questions, each carries 3 marks. Marks

1 What is the necessity of controllers in a robotic system? (3 )

2 (3 )

If m = 1, b = 1, and k = 1, find gains Kp and Kv for a position-regulation control

law that results in the system's being critically damped with a closed-loop
stiffness of 16.0.

3 Explain PD gravity control of a robotic manipulator. (3 )

4 Explain resolved motion rate control of robots. ( 3)

5 What are the applications of industrial robots force control may be needed? ( 3)

6 What do you mean by natural and artificial constraints for tasks in partially ( 3)
constrained environments?

7 A typical mobile robot is a linear or nonlinear system? Justify your answer. (3)

8 Briefly explain Lyapunov Stability-Based Control Design of mobile robots. (3)

 ROBOTICS & AUTOMATION

9 What is visual servoing? (3)

10 How pose is estimated using camera? (3)

PART B

Answer any one full question, each carries14 marks.

MODULE I

11 a) Explain control law partitioning with the help of an example. (7)

b) Explain PID control of a single link manipulator (7)

12 a) Differentiate between continuous and discrete control (6)

b) A researcher has proposed the following control scheme for a serial manipulator, (8)
where [kp] and [Kv] are positive definite gain matrices

Draw the block schematic of the proposed controller and explain. What are the
possible advantages of the scheme?

MODULE II

13 a) Explain any one non-linear control scheme of robotic manipulator. (7)

b) How will you design a Lyapunov based controller for a robotic system? (7)

14 a) Explain about task space control schematic of robots (8)

b) Explain adaptive control of robotic manipulators (6)

MODULE III

15 a) Explain the assembly sequences used to put a round peg into a round hole (7)

b) Figure shows a manipulator tightening a screw. What are the natural and (7)
artificial constraints for this task?
 ROBOTICS & AUTOMATION

16 a) Explain the force control of a typical mass spring dashpot system (8)

b) A cartesian manipulator with 3 DOF is in touch with a contact surface. Explain (6)
the block schematic for a hybrid controller for a 3-DOF Cartesian arm
MODULE IV

17 a) Obtain the kinematic model of a differentially driven mobile robot. (8)

b) Check the stability of the following system using the Lyapunov method: (6)

18 a) Explain state feedback control of robotic manipulators (8)

b) Explain about computed torque control of mobile robots? (6)

MODULE V

19 a) Explain the configuration of a vision system in a visual servoing scenario (7)

b) Explain position-based Visual Servoing using PD Control with Gravity (7)

Compensation

20 a) Explain Image-based Visual Servoing using Resolved-velocity Control (8)

b) Explain any two applications where visual servoing is employed. (6)

****

SYLLABUS

Module I (9 Hours)

Review of dynamic modelling of robots.

Introduction to robot control- Necessity of Controllers for Robots, typical block schematic
closed loop and feed forward control.
Linear control of manipulators- closed-loop control, second-order linear systems, control of
second-order systems, control-law partitioning, trajectory-following control, disturbance
rejection, continuous vs. discrete time control, Feedback control of single link manipulator,
architecture of an industrial-robot controller

Case study- Matlab simulation-PID Control of single link manipulator and planar 2R
manipulator, closed loop control of wall following robot- block schematic- sensor selection
etc
 ROBOTICS & AUTOMATION

Module II (9 Hours)

Nonlinear Control of manipulators- the control problem for manipulators- model-based

manipulator control system -computed torque control, practical considerations, current
industrial-robot control systems, PD Gravity control, Lyapunov stability analysis, adaptive
control.
Task Space Control Schemes – resolved motion rate control and resolved motion acceleration
control.
Case study- resolved motion rate control of 2R manipulator

Module III (9 Hours)

Force control of manipulators- introduction, application of industrial robots to assembly

tasks, a framework for control in partially constrained tasks, the hybrid position/force control
problem, force control of a mass—spring system, the hybrid position/force control scheme,
current industrial-robot control schemes
Case study- force control of peg in hole assembly task, natural and artificial constraints

Module IV (9 Hours)
Mobile Robot Control : State space modelling- Lyapunov Stability, state feedback control,
Proportional plus derivative control, Lyapunov function based control, Computed torque
control, Resolved motion rate control , Resolved motion acceleration control

Module V (9 Hours)

Visual Servoing - Vision for Control -Configuration of the Visual System; Image
Processing- Image Segmentation, Image Interpretation; Pose Estimation; Stereo Vision-
Epipolar Geometry, Triangulation -Position-based Visual Servoing- PD Control with Gravity
Compensation. Resolved-velocity Control; Image-based Visual Servoing, PD Control with
Gravity Compensation, Resolved-velocity Control

Text Books:

1. Introduction to Robotics Mechanics and Control, John J. Craig, 3e, Pearson

2. Robotics: Fundamental Concepts and Analysis, Ashitava Ghosal, Oxford
3. Robotics- Modelling planning and control- Bruno Siciliano , Lorenzo Sciavicco Luigi
Villani, Giuseppe Oriolo, Springer-Verlag London
4. Introduction to Mobile Robot Control - S.G. Tzafestas, 2014, Elsevier
5. The Robotics Primer-Maja J Matari´c, The MIT Press
 ROBOTICS & AUTOMATION

Course Contents and Lecture Schedule

No Topic No. of
Lectures

1 MODULE 1

1.1 Review of dynamic modelling of robots 1

1.2 Introduction to robot control-Necessity of Controllers for Robots,
1
typical block schematic closed loop and feed forward control.
Linear control of manipulators- closed-loop control, second-order
linear systems, control of second-order systems, control-law
3
partitioning, trajectory-following control, disturbance rejection,
continuous vs. discrete time control
Feedback control of single link manipulator, architecture of an
2
industrial-robot controller
Case study- Matlab simulation-PID Control of single link
manipulator and planar 2R manipulator (Ref2), closed loop control of 2
wall following robot- block schematic- sensor selection etc (Ref 5)
Main reference books- Ref 1 and 2
2 MODULE 2

2.1 Nonlinear Control of manipulators-the control problem for

1
manipulators
2.2 model-based manipulator control system -computed torque control,
practical considerations, current industrial-robot control systems, PD 3
Gravity control (ref1)
2.3 Lyapunov stability analysis, adaptive control (ref1) 3
2.4 Task Space Control Schemes – resolved motion rate control and
1
resolved motion acceleration control (ref1)
2.5 Case study- resolved motion rate control of 2R manipulator (ref1) 1

3 MODULE 3

3.1 Force control of manipulators- introduction, application of industrial

robots to assembly tasks, a framework for control in partially
constrained tasks, the hybrid position/force control problem, force 7
control of a mass—spring system, the hybrid position/force control
scheme, current industrial-robot control schemes (Ref 1 and 2)
3.2 Case study- force control of peg in hole assembly task, natural and
2
artificial constraints (Ref 2)
4 MODULE 4

4.1 Mobile Robot Control: State space modelling- Lyapunov Stability,

9
state feedback control, Proportional plus derivative control,
 ROBOTICS & AUTOMATION

Lyapunov function based control, Computed torque control, Resolved

motion rate control , Resolved motion acceleration control
5 MODULE 5

5.1 Visual Servoing - Vision for Control -Configuration of the Visual

System; Image Processing- Image Segmentation, Image
Interpretation; Pose Estimation; Stereo Vision- Epipolar Geometry,
Triangulation -Position-based Visual Servoing- PD Control with 9
Gravity Compensation. Resolved-velocity Control; Image-based
Visual Servoing, PD Control with Gravity Compensation, Resolved-
velocity Control (Ref 3)