Course Information

The following courses are in the robotics core areas of: Mechanics, Control, Perception, Artificial Intelligence, and Autonomy. They are used to select three foundation courses and three targeted elective courses. Foundation courses are marked by an asterisk (*).

Mechanics

AE 6210: Advanced Dynamics I * - Kinematics of particles and rigid bodies, angular velocity, inertia properties, holonomic and nonholonomic constraints, generalized forces. Prerequisite: AE 2220. (3 semester hours)

AE 6211: Advanced Dynamics II - A continuation of AE 6210. Equations of motion, Newtonian frames, consistent linearization, energy and momentum integrals, collisions, mathematical representation of finite rotation. Prerequisite: AE 6210. (3 semester hours)

AE 6230: Structural Dynamics - Dynamic response of single-degree-of-freedom systems, Lagrange's equations; modal decoupling; vibration of Euler-Bernoulli and Timoshenko beams, membranes and plates. Prerequisites: AE 3120, AE 3515. (3 semester hours)

AE 6263: Flexible Multi-Body Dynamics - Nonlinear, flexible multi-body dynamic systems, parameterization of finite rotations, strategies for enforcement of holonomic and non holonomic constraints, formulation of geometrically nonlinear structural elements, time-integration techniques. Prerequisites: AE 6211, AE 6230. (3 semester hours)

AE 6270: Nonlinear Dynamics - Nonlinear vibration methods through averaging and multiple scales, bifurcation, periodic and quasi-periodic systems, transition to chaos, characterization of chaotic vibrations, thermodynamics of chaos, chaos control. Prerequisite: AE 6230. (3 semester hours)

ME 6405: Introduction to Mechatronics - Modeling and control of actuators and electro-mechanical systems. Performance and application of microprocessors and analog electronics to modern mechatronic systems. Prerequisites ME 3015 or equivalent, or with the consent of the instructor. (3 semester hours)

ME 6407: Robotics * - Analysis and design of robotic systems including arms and vehicles. Kinematics and dynamics. Algorithms for describing, planning, commanding and controlling motion force. Prerequisites ME 3015 or ECE 3085. (3 semester hours)

ME 6441: Dynamics of Mechanical Systems * - Motion analysis and dynamics modeling of systems of particles and rigid bodies in three-dimensional motion. Prerequisites: ME 3015 or equivalent, or with the consent of the instructor. (3 semester hours)

ME 6442: Vibration of Mechanical Systems - Introduction to modeling and oscillatory response analysis for discrete and continuous mechanical and structural systems. Prerequisites: ME 3015 and ME 3201. (3 semester hours)

ME 7442: Vibration of Continuous Systems - Equations of motion and oscillatory response of dynamic systems modeled as continuous media. Prerequisites: ME 6442 or equivalent, or with the consent of the instructor. (3 semester hours)

Controls

AE 6252: Smart Structure Control - Modeling smart sensors and actuators, development of closed loop models, design of controllers, validation of controllers, application to vibration control, noise control, and shape control. Prerequisite: AE 6230. (3 semester hours)

AE 6504: Modern Methods of Flight Control - Linear quadratic regulator design. Model following control. Stochastic control. Fixed structure controller design. Applications to aircraft flight control. Prerequisite: AE 3521. (3 semester hours)

AE 6505: Kalman Filtering - Probability and random variables and processes; correlation; shaping filters; simulation of sensor errors; Wiener filter; random vectors; covariance propagation; recursive least-squares; Kalman filter; extensions. Prerequisite: AE 3515. (3 semester hours)

AE 6506: Guidance and Navigation - Earth's shape and gravity. Introduction to inertial navigation. GPS aiding. Error analysis. Guidance systems. Analysis of the guidance loop. Estimation of guidance variables. Adjoint analysis. Prerequisite: AE 3521. (3 semester hours)

AE 6511: Optimal Guidance and Control - Euler-Lagrange formulation; Hamilton-Jacobi approach; Pontryagin's minimum principle; Systems with quadratic performance index; Second variation and neighboring extremals; Singular solutions; numerical solution techniques. Prerequisite: AE 3515. (3 semester hours)

AE 6531: Robust Control I - Robustness issues in controller analysis and design. LQ analysis, H2 norm, LQR, LQG, uncertainty modeling, small gain theorem, H-infinity performance, and the mixed-norm H2/H-infinity problem. Prerequisite: ECE 6550. (3 semester hours)

AE 6532: Robust Control II - Advanced treatment of robustness issues. Controller analysis and design for linear and nonlinear systems with structured and non-structured uncertainty. Reduced-order control, stability, multipliers, and mixed-mu. Prerequisite: ECE 6531. (3 semester hours)

AE 6534: Control of AE Structures - Advanced treatment of control of flexible structures. Topics include stability of multi-degree-of-freedom systems, passive and active absorbers and isolation, positive real models, and robust control for flexible structures. Prerequisite: ECE 6230, ECE 6531. (3 semester hours)

AE 6580: Nonlinear Control - Advanced treatment of nonlinear robust control. Lyapunov stability theory, absolute stability, dissipativity, feedback linearization, Hamilton-Jacobi-Bellman theory, nonlinear H-infinity, backstepping control, and control Lyapunov functions. Prerequisite: ECE 6550. (3 semester hours)

ECE 6550: Linear Systems and Controls * - Introduction to linear system theory and feedback control. Topics include state space representations, controllability and observability, linear feedback control. Prerequisite: Graduate Standing. (3 semester hours)

ECE 6551: Digital Controls - Techniques for analysis and synthesis of computer-based control systems. Design projects provide an understanding of the application of digital control to physical systems. Prerequisites: ECE 6550 Minimum Grade of D. (3 semester hours)

ECE 6552: Nonlinear Systems and Control - Classical analysis techniques and stability theory for nonlinear systems. Control design for nonlinear systems, including robotic systems. Includes design projects. Prerequisites: ECE 6550 Minimum Grade of D. (3 semester hours)

ECE 6553: Optimal Control and Optimization - Optimal control of dynamic systems, numerical optimization, techniques and their applications in solving optical-trajectory problems. Prerequisites: ECE 6550 Minimum Grade of D. (3 semester hours)

ECE 6554: Adaptive Control - Methods of parameter estimation and adaptive control for systems with constant or slowly varying unknown parameters. Includes MATLAB design projects emphasizing applications to physical systems. Prerequisites: ECE 6550 Minimum Grade of D. (3 semester hours)

ECE 6555: Optimal Estimation - Techniques for signal and state estimation in the presence of measurement and process noise with the emphasis on Wiener and Kalman filtering. Prerequisites: ECE 6550 Minimum Grade of D. (3 semester hours)

ECE 6559: Advanced Linear Systems - Study of multivariable linear system theory and robust control design methodologies. Prerequisites: ECE 6550 Minimum Grade of D. (3 semester hours)

ME 6401: Linear Control Systems * - Theory and applications of linear systems, state space, stability, feedback controls, observers, LQR, LQG, Kalman Filters. Prerequisite: ME 3015 or equivalent, or with the consent of the instructor. (3 semester hours)

ME 6402: Nonlinear Control Systems - Analysis of nonlinear systems, geometric control, variable structure control, adaptive control, optimal control, applications. Prerequisite: ME 6401 or equivalent, or with the consent of the instructor. (3 semester hours)

ME 6403: Digital Control Systems - Comprehensive treatment of the representation, analysis, and design of discrete-time systems. Techniques include Z- and W- transforms, direct method, control design, and digital tracking. Prerequisite: ME 3015 or equivalent, or with the consent of the instructor. (3 semester hours)

ME 6404: Advanced Control System Design and Implementation - Analysis, synthesis and implementation techniques of continuous-time and real-time control systems using classical and state-space methods. Prerequisite: ME 6403 or equivalent, or with the consent of the instructor. (3 semester hours)

Perception

CS 7495: Computer Vision * - An introduction to computer vision and machine perception. An intensive study of the process of generating a symbolic description of the scene by interpretation of images(s). (3 semester hours)

CS 7636: Computational Perception - Study of statistical and algorithmic methods for sensing people using video and audio. Topics include face detection and recognition, figure tracking, and audio-visual sensing. Prerequisites: CS 4641 and (CS 4495 or CS 7495) (3 semester hours)

CS 8803: 3D Reconstruction and Mapping - Course focuses on multi-robot/multi-camera mapping and reconstruction. Topics range from SLAM, graphical model inferences, and understanding the practical issues regarding multi-platform reconstruction.

CS 8803: BHI Behavioral Imaging - Theory and methods for measuring, recognizing, and quantifying social and communicative behavior using video, audio, and wearable sensor data.

ECE 6255: Digital Processing of Speech Signals - The application of digital signal processing to problems in speech communication. Includes a laboratory project. Prerequisites: ECE 4270 Minimum Grade of D. (3 semester hours)

ECE 6258: Digital Image Processing - An introduction to the theory of multidimensional signal processing and digital image processing, including key applications in multimedia products and services, and telecommunications. Prerequisites: ECE 4270 Minimum Grade of D. (3 semester hours)

ECE 6273: Pattern Recognition - Theory and application of pattern recognition with a special application section for automatic speech recognition and related signal processing. Prerequisites: ECE 4270 Minimum Grade of D. (3 semester hours)

ECE 6560: PDEs in Image Processing and Computer Vision - Mathematical foundations and numerical aspects of partial-differential equation techniques used in computer vision. Topics include image smoothing and enhancement, edge detection, morphology, and image reconstruction. Prerequisites: ECE 6550 Minimum Grade of D. (3 semester hours)

ME 6406: Machine Vision - Design of algorithms for vision systems for manufacturing, farming, construction, and the service industries. Image processing, optics, illumination, feature representation. Prerequisite: Graduate Standing in engineering or related discipline. (3 semester hours)

Artificial Intelligence

CS 3600: Introduction to Artificial Intelligence - An introduction to artificial intelligence and machine learning. Topics include intelligent system design methodologies, search and problem solving, supervised and reinforced learning. Prerequisites: CS 1332

CS 6601: Artificial Intelligence * - Basic concepts and methods of artificial intelligence including both symbolic/conceptual and numerical/probabilistic techniques. Prerequisites: CS 2600

CS 7612: AI Planning - Symbolic numerical techniques that allow intelligent systems to decide how they should act in order to achieve their goals, including action and plan representation, plan synthesis and reasoning, analysis of planning algorithms, plan execution and monitoring, plan reuse and learning, and applications. Prerequisites: CS 6601

CS 7640: Learning in Autonomous Agents - An in-depth look at agents that learn, including intelligent systems, robots, and humans. Design and implementation of computer models of learning and adaptation in autonomous intelligent agents. Prerequisites: CS 3600 or CS 4641

CS 7641: Machine Learning - Machine learning techniques and applications. Topics include foundational issues; inductive, analytical, numerical, and theoretical approaches; and real-world applications. Prerequisites: CS 6601

CS 8803: Mobile Manipulation - The objective of the course is to gain knowledge of methods for design of mobile manipulation systems. The course covers all aspects of the problem from navigation and localization over kinematics and control to visual and force based perception.

CS 8803: Robot Intelligence: Planning in Action - Course covers methods for planning with symbolic, numerical, geometric and physical constraints. Topics will range from classical and stochastic planning to continuous robot domains and hybrid control of dynamic systems.

ECE 6556: Intelligent Control - Principles of intelligent systems and their utility in modeling, identification, and control of complex systems; neuro-fuzzy tools applied to supervisory control; hands-on laboratory experience. Prerequisites: ECE 6550 Minimum Grade of D. (3 semester hours)

Autonomy

CS 7630: Autonomous Robotics - The principles and practice of autonomous robotics including behavior-based design and architectures, adaptive learning and team behavior, and the role of perception within robotic systems. Prerequisites: CS 3600

CS 7631: Multi-Robot Systems - In-depth examination of the current research on multi-robot systems. Students develop and critically analyze a multi-robot system. Prerequisites: CS 3630 or CS 7630

ECE 8843a: Implementation and Control of Robotic Systems * - Introduction to some of the fundamental issues associated with robot control, from a biological perspective that forms the basis of many current developments in robotics. Topics include understanding current state-of-the-art robotic techniques that have arisen to address problems in mobility, human-robot interaction, and networked systems, to name a few. (3 semester hours)

Human-Interaction

AE 6551: Cognitive Engineering * - Cognitive engineering addresses a range of technologies and work environments that will support human cognitive performance, including information systems, decision support, automation, and intelligent systems. (3 semester hours)

CS 8803: Human-Robot Interaction * - Survey of the state of the art in HRI research, introduction to statistical methods for HRI research, research project studio. A petition has been filed for this to be added to the permanent CS curriculum and have permanent course number. (3 semester hours)

Electives

APPH 6203: Biomechanics/Kinesiology in Prosthetics and Orthotics - Specific to prosthetics and orthotics information related to the use of skeletal muscle as a resource to the nervous system are presented. Muscle synergies, limb-based dynamics, total body mechanics and local and central neural control systems and logic are discussed. (2 semester hours)

CS 6455: User Interface Design and Evaluation - Qualitative empirical methods for understanding human-technology interaction. (3 semester hours)

CS 6750: Human-Computer Interaction - Describes the characteristics of interaction between humans and computers and demonstrates techniques for the evaluation of user-centered systems. (3 semester hours)

ISYE 6215: Human-Machine Systems - The development and use of mathematical models of human behavior are considered. Approaches from estimation theory, control theory, queuing theory, and fuzzy set theory are considered. (3 semester hours)

ISYE 6224: Human-Integrated Systems - State-of-the-art research directions including supervisory control models of human command control tasks; human-computer interface in scheduling and supervision of flexible manufacturing systems. (3 semester hours)

PSYC 6011: Cognitive Psychology - Survey course on human cognition including pattern recognition, attention, memory, categorization, problem solving, consciousness, decision making, intention, and the relation between mind and brain.

PSYC 6014: Sensation & Perception - This course examines how sensations and perceptions of the outside world are processed by humans, including physiological, psychophysical, ecological, and computational perspectives. (3 semester hours)

PSYC 6017: Human Abilities - Theory, methods, and applications of research on human abilities, including intelligence, aptitude, achievement, learning, aptitude treatment interactions, information processing correlates, and measurement issues. (3 semester hours)

PSYC 7101: Engineering Psych I - Basic methods used to study human-machine systems including both system analysis and human performance evaluation techniques. These methods will be applied to specific systems. (3 semester hours)

PSYC 7104: Psychomotor & Cog Skill - Human capabilities and limitations for learning and performing psychomotor and cognitive skills are studied. (3 semester hours)

* - indicates foundation course