COLLEGE OF ENGINEERING PUNE

(An Autonomous Institute of Govt. of Maharashtra)

CURRICULUM STRUCTURE

M.Tech. (Robotics and Artificial Intelligence)

(Effective From AY 2021-2022)

 COLLEGE OF ENGINEERING PUNE
(An Autonomous Institute of Govt. of Maharashtra)

Programme: MTech [ Robotics and Artificial Intelligence ]

Program Educational Objectives (PEO's)
PEO1. Core Competence: Fundamental and technical knowledge with skills in Artificial
Intelligence & Robotics area to enable and empower to solve problems of the
modern industrial world.
PEO2. Depth (Research culture): Imbibing a scientific perspective to make a decision of
Robotic systems and Artificial Intelligence using Mathematical, Engineering,
Computational & Simulation tools.
PEO3. Professionalism: Make acquaint with technical, managerial and human skills and
familiarize with professional issues like ethics and morality, Intellectual property
Rights, Constitution of India and Environmental responsibility.
PEO4, Learning Environment: Motivation for entrepreneurship and inculcating a spirit of
continuous lifelong learning for a successful professional career.

Programme: MTech [Robotics and Artificial Intelligence]

Program Outcomes (PO's)

PO1 An ability to independently carry out research /investigation and development work to
solve practical problems in the field of Robotics & Artificial Intelligence
PO2 An ability to write and present a substantial technical report/document
PO3 An ability to demonstrate a degree of mastery in the area of Artificial Intelligence &
Robotics
PO4 They will develop capacity to understand multidisciplinary engineering areas and
display skills for Robotic system design, Artificial Intelligence programming tools, Control
systems and Machine learning.
PO5 The graduates will exhibit effective communication skills with equal expertise to
communicate with engineers and with the community at large.
PO6 The graduates will have a sound foundation of business ethics, professional integrity
and social responsibility along with introspection skills and positive outlook for taking
corrective measures based on external feedback.
 M. Tech. ( Robotics and Artificial Intelligence )
Curriculum Structure
(w. e. f. 2021-2022)

List of Abbreviations

Abbreviation Title No of Credits %of

courses credits
PSMC Program Specific Mathematics 1 3 4.4
Course
PSBC Program Specific Bridge Course 1 3 4.4
DEC Department Elective Course 3 9 13.2
MLC Mandatory Learning Course 2 0 0
PCC Program Core Course 7 18 26.47
LC Laboratory Course 7 7 10.3
IOC Interdisciplinary Open Course 1 3 4.4
LLC Liberal Learning Course 1 1 1.4
SLC Self Learning Course 2 6 8.8
SBC Skill Based Course 2 18 26.47
 Semester I
Sr. Course Course Teaching Scheme
Course Name Credits
No. Type Code L T P
1. PSMC MA-20007 Fundamentals of Mathematics 3 -- -- 3
Program specific Bridge Course 2 1 -- 3
MFG-20002 i)Principles of Electronics
2. PSBC
MFG-20001 ii)Principles of Design of Machine
Elements
3. DEC Department Elective Course - I 3 -- -- 3
Knowledge Engineering and Expert
4. PCC RAI-21001
System 2 - - 2
5. PCC RAI-21002 Fundamentals of Robotics 2 2
RAI-21003 Artificial Intelligence and Neural
6. PCC
Networks 2 1 - 3
7 PCC RAI-21004 Sensors and Actuators in Robotics 2 2
8 LC RAI-21005 Robot Programming Laboratory - - 2 1
Microcontroller Programming
9 LC RAI-21006
Laboratory - - 2 1
10 LC RAI-21007 Robotic Systems Laboratory - - 2 1
11 LC RAI-21008 AI based Programming Tools Lab - - 2 1
Total Credits 16 2 8 22

Sr. Course Course

Department Elective Course -I
No. Code Specialization
1 RAI(DE)-21001 Robotics Mobile and Micro-robotics
2 RAI(DE)-21002 AI Data Science
3 RAI(DE)-21003 Mechatronics Intelligent Manufacturing
4 RAI(DE)-21004 Controls Microcontrollers Architecture and Programming
 Semester II
Sr. Course Teaching Scheme
Course Code Course Name Credits
No. Type L T P
1. IOC IOC-19XXX Interdisciplinary Open Course 3 -- -- 3
2. DEC RAI(DE)-20XXX Department Elective Course - II 3 -- -- 3
3. DEC RAI(DE)-20XXX Department Elective Course - III 3 -- -- 3
Research Methodology and
MLC ML-19011
4. Intellectual Property Rights 2 -- -- --
5. MLC ML-19011 Effective Technical Communication 1 -- -- --
6. LLC LL-19XXX Liberal Learning Course -- 1 -- 1
PCC
Machine Learning and Big Data 2 1 -- 3
7. RAI-21009
Analytics
8. PCC RAI-21010 Embedded Control Systems 3 -- -- 3
9. PCC RAI-21011 Robot Kinematics and Dynamics 2 1 -- 3
10 LC RAI-21012 Robot Simulation Laboratory -- -- 2 1
Software Laboratory for ROS & -- -- 2 1
LC RAI-21013
11 SLAM
Embedded Control Systems -- -- 2 1
LC RAI-21014
12 Laboratory
Total Credits 19 3 6 22

Sr. Course Course

Department Elective Course -II
No. Code Code
1 RAI(DE)-21005 Robotics Autonomous Robotics and Telecherics
2 RAI(DE)-21006 AI Advanced Artificial Intelligence
3 RAI(DE)-21007 Mechatronics Mechatronics System Design
4 RAI(DE)-21008 Controls Control of Robotic Systems

Sr. Course Course

Department Elective Course -III
No. Code Code
1 RAI(DE)-21009 Robotics Advanced Robotics Programming
2 RAI(DE)-21010 AI Deep learning
3 RAI(DE)-21011 Mechatronics Micro Electro Mechanical Systems
4 RAI(DE)-21012 Controls Advanced Control System
 Semester-III

Sr. Course Course Teaching Scheme

Course Name Credits
No. Type Code L T P
1. SBC RAI-22001 Dissertation Phase – I -- -- 18 9
2. SLC RAI-220XX Massive Open Online Course-I 3 -- -- 3
Total Credits 12

Semester-IV
Sr. Course Course Teaching Scheme
Course Name Credits
No. Type Code L T P
1. SBC RAI-22002 Dissertation Phase – II -- -- 18 9

2. SLC RAI-220XX Massive Open Online Course–II 3 -- -- 3

Total Credits 12
 SEMESTER I
(PSMC) Fundamentals of Mathematics
Teaching Scheme Examination Scheme
Lectures: 3 hrs/week T1, T2 – 20 marks each,
End-Sem Exam - 60
Course Outcomes:
At the end of course students will be able to
1. Understand and apply basic concepts of linear algebra and matrix theory.
2. Define various concepts in multivariable calculus and solve problems.
3. Apply various techniques of optimization.
4. Use probability theory in problem solving.
5. Understand support vector machines and error minimization

Syllabus Contents:
Linear Algebra Basics : Vector spaces and subspaces, basis and dimensions, linear
transformation, four fundamental subspaces.
Matrix Theory : Norms and spaces, eigenvalues and eigenvectors, Special Matrices and
their properties, least squared and minimum normed solutions.
Matrix Decomposition Algorithms-SVD : Properties and applications, low rank
approximations, Gram Schmidt process, polar decomposition.
Dimensions Reduction Algorithms and JCF : Principal component analysis, linear
discriminant analysis, minimal polynomial and Jordan canonical form.
Calculus : Basic concepts of calculus : Partial derivatives, gradient, directional derivatives,
Jacobian, hessian, convex sets, convex functions and its properties.
Optimization : Unconstrained and Constrained optimization, Numerical optimization
techniques for constrained and unconstrained optimization : Newton’s method, Steepest
descent method, Penalty function method.
Probability : Basic concepts of probability : Conditional probability, Bayes’ theorem,
independence, theorem of total probability, expectation and variance, few discrete and
continuous distributions, joint distributions and covariance.
Support Vector Machines : Introduction to SVM, Error minimizing LPP, concepts of duality,
hard and soft margin classifiers.

Reference Books :
1. W. Cheney, Analysis for Applied Mathematics. New York : Springer Science +
Business Medias, 2001.
2. S. Axler, Linear Algebra Done Right (Third Edition). Springer International
Publishing, 2015.
3. J. Nocedal and S.J. Wright, Numerical Optimization. New York : Springer Science +
Business Media, 2006.
4. J.S. Rosenthal, A First Look at Rigorous Probability Theory (Second Edition).
Singapore : World Scientific Publishing, 2006.
5. Marc Perter Deisenroth, A. Aldo Faijal, Cheng Soon Ong, Mathematics for Machine
Learning, Cambridge University Press, 2020.
6. Erwin Kreyszig, Advanced Engineering Mathematics, Wiley Publication , 2001.
 Program Specific Bridge Course (PSBC)

(* For UG in ETC/ Electrical/ Comp/Instru.)

Principles of Design of Machine Elements

Teaching Scheme Examination Scheme

Lectures : 2 hrs/week T1/T2/ Assignments/ Quiz – 40
Tutorial: 1 hr/week End-Sem Exam- 60 marks
Course Outcomes:
At the end of course students will be able to
1. Design simple machine parts and components.
2. apply basic procedure for the selection of machine components
3. Design & analyze various shafts, springs, gears , bearings .

Syllabus Contents:
Simple stresses and strains: Concept of stress and strain linear, lateral, shear and
volumetric, Hook’s law. Elastic constants and their relationship. Thermal stresses,
deflections Shear force and bending moment diagrams:, UDL, uniformly varying loads and
couples. Relation between SF, BM and intensity of loading, construction of SF, and BM
diagrams for cantilevers, and simple beams.

Stresses due to bending and torsion : Theory of simple bending, Bending stress
distribution diagram. Moment of resistance and section modulus calculations. Theory of
torsion, torsional stresses and torsional deflections.

Loads and stress in machine elements :Types of loads, static, shock, impact and
fluctuating loads, types of stresses, tensile, compressive, direct and torsional shear,
bending stresses. Combined effect of direct, bending and torsional stresses.

Design concepts, material and process selection design process, factor of safety & design
codes, materials. Design of shafts and different types of levers based on torsional and
lateral rigidity, combined loadings. Design of keys, keyways and splines. Standard
threads, stresses in threads, preloaded fasteners in tension, joint stiffness factor, power
screws.

Design of springs: Spring configurations, materials, design of helical compression,

extension and torsion springs. Design of composite springs in parallel, series, concentric,
Belleville spring, washers.

Spur Gears: Law of Gearing, Effect of Pressure angle and Centre Distance, Path of Contact,
Arc of Contact, Contact Ratio, Interference and Undercutting, Minimum number of teeth
to avoid interference, Design of Spur Gears, Selection of Type of Gears, Force Analysis,
Gear tooth Failures, Selection of Materials, Beam Strength, Wear Strength, Effective Load
Calculation, Dynamic Load, Gear Design for Maximum Power Transmitting Capacity.
Force Analysis, of helical gears, bevel gears and Worm Gears.

Mechanical Vibrations: Importance of the Study of Vibrations, Elements of a Vibratory

System, Degrees of freedom, Types of Vibrations, Free Vibrations of linear and torsional
systems Free Undamped Vibrations: Methods to determine the Equation of Motion,
Vibration Analysis Procedure, Determination of Natural Frequency of Free Transverse
Vibrations:, Determination of Natural Frequency of Free Torsional Vibrations:- Equivalent
Stiffness of Spring Combinations.

Bearings: Types, Static and Dynamic load Capacity, Stribeck’s Equation, Concept of
equivalent load, Load life Relationship, Lubrication and Mounting of bearing.

Reference Books :
1. Ramamrutham S.: Strength of Materials, Dhanpat Rai & Sons, 1991.
2. V. B. Bhandari, “Design of Machine Elements”, Tata McGraw Hill Publishing
Company Ltd., 2nd Edition, 2007
3. Beer and Johnston: Strength of Materials- CSB Publisher.
4. Rao, J.S. & Dukkipati, R.V.: Mechanism & Machine Theory, New Age International
Pvt.Ltd. Publishers.
5. Ramamurthy, V.: Mechanics of Machines, Narosa Publishing House.
6. Manufacturing Technology, P.N. Rao, Tata McGraw-Hill Publishing Limited, II
Edition, 2002.
7. S. S. Rattan, “Theory of Machines”, Tata McGraw Hill Publishing Company Ltd.,
2007

Program Specific Bridge Course (* For UG in Mechanical/Production)

Principles of Electronics
Teaching Scheme Examination Scheme
Lectures : 2 hrs/week T1/T2/ Assignments/ Quiz - 40
Tutorial: 1 hr/week End-Sem Exam- 60 marks

Course Outcomes:
1. Learn how to develop and employ circuit models for elementary electronic
components, e.g., resistors, sources, inductors, capacitors, diodes and transistors;
2. Become adept at using various methods of circuit analysis.
3. Use basic techniques for analyzing analogue and digital electronic circuits

Syllabus Contents:
Role of various Engineering disciplines in Mechatronics, Mechatronics Design elements,
Scope and Applications of Mechatronics, Analog electronic components and devices,
Oscillators as signal generators, Power supplies and voltage regulators, Power Electronics-
Devices, Industrial electronic circuits, Digital Electronics- Arithmetic circuits,
Multiplexers/Demultiplexers, Registers, Counters, Memories, Few examples of
transducers, Signal conditioning Circuits using Operational amplifiers, Noise Problems,
Grounding and shielding, Data acquisition systems,-Single channel and multichannel, Data
loggers, Control Systems Components, Classification of Control Systems, Transfer
functions, Time and Frequency response Analysis tools.
 Reference Books :

1. Allen Mottershed, “Electronic Devices and Circuits”, Prentice Hall International, Third
Edition
2. M. D. Singh and J. G. Joshi, “Mechatronics – Principles and Applications”, Prentice
Hall India publication-EEE.

Department Elective Course-I

(DEC-I) Mobile and Micro-robotics
Teaching Scheme Examination Scheme
Lectures : 3 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to

1. Identify and design a suitable manufacturing process for micro robots

2. Understand the importance of visual perception and recognition for cybernetic view
3. Program a robot for wandering and teleoperation

Introduction to Mobile Robots - Tasks of mobile robots, robot_s manufacturers, type of obstacles
and challenges, tele-robotics, philosophy of robotics, service robotics, types of environment
representation. Ground Robots: Wheeled and Legged Robots, Aerial Robots, Underwater Robots
and Surface Robots. Kinematics and Dynamics of Wheeled Mobile Robots (two, three, four -
wheeled robots, omni-directional and macanum wheeled robots). Sensors for localization:
magnetic and optic position sensor, gyroscope, accelerometer, magnetic compass, inclinometer,
GNSS and Sensors for navigation: tactile and proximity sensors, ultrasound rangefinder, laser
scanner, infrared rangefinder, visual system, Kinect. Localization and Mapping in mobile robotics.
Motion Control of Mobile Robots (Model and Motion based Controllers): Lyapunov-based
Motion Control Designs and Case Studies. Understand the current application and limitations of
Mobile Robots. Introduction to Mobile Manipulators and Cooperative Mobile Robots.
Microrobotics: Introduction, Task specific definition of micro-robots - Size and Fabrication
Technology based definition of microrobots - Mobility and Functional-based definition of micro-
robots - Applications for MEMS based micro-robots. Implementation Of Microrobots: Arrayed
actuator principles for micro-robotic applications – Micro-robotic actuators - Design of
locomotive micro-robot devices based on arrayed actuators. Micro-robotics devices: Micro-
grippers and other micro-tools - Micro-conveyors - Walking MEMS Micro-robots – Multi-robot
system: Micro-robot powering, Micro-robot communication. Microfabrication And
Microassembly: Micro-fabrication principles - Design selection criteria for micromachining -
Packaging and Integration aspects – Micro-assembly platforms and manipulators.

Reference Books :
1. R Siegwart, IR Nourbakhsh, D Scaramuzza, Introduction to Autonomous Mobile
Robots, The MIT Press, USA , 2011,
2. SG Tzafestas, Introduction to Mobile Robot Control, Elsevier, USA, 2014,
3. A Kelly, Mobile Robotics, Mathematics, Models, and Methods, Cambridge University
Press, USA, 2013,
 4. G Dudek, M Jenkin, Computational Principles of Mobile Robotics, Cambridge
University Press, USA,
5. Mohamed Gad-el-Hak, ―The MEMS Handbook‖, CRC Press, New York, 2002.
6. Yves Bellouard, ―Microrobotics Methods and Applications, CRC Press,
Massachusetts, 2011.
7. Patnaik, Srikanta, "Robot Cognition and Navigation An Experiment with Mobile
Robots", Springer-Verlag Berlin and Heidelberg, 2007.
8. Howie Choset, Kevin LynchSeth Hutchinson, George Kantor, Wolfram Burgard, Lydia
Kavraki, and Sebastian Thrun, ―Principles of Robot Motion-Theory, Algorithms, and
Implementation, MIT Press, Cambridge, 2005.
9. Margaret E. Jefferies and Wai-Kiang Yeap, "Robotics and Cognitive Approaches to
Spatial Mapping", Springer-Verlag Berlin Heidelberg 2008.

Department Elective Course-I

(DEC-I) Data Science

Teaching Scheme Examination Scheme

Lectures : 3 hrs/week T1/T2/ Assignments/ Quiz -40
End-Sem Exam- 60 marks
Course Outcomes
1. Describe a flow process for data science problems (Remembering)
2. Classify data science problems into standard typology (Comprehension)
3. Correlate results to the solution approach followed (Analysis)
4. Assess the solution approach (Evaluation)
5. Construct use cases to interpret, and validate the approach using popular
data science tools (Application)
Introduction
Data Science, Examples, Challenges, Applications, Comparative Study of data science with
databases, scientific computing, computational science
The Data Scientist’s Toolbox: R, RStudio, version control, markdown, git, GitHub
Linear algebra and statistics for data science
Algebraic view: vectors, matrices, product of matrix & vector, rank, null space, solution of
over-determined set of equations and pseudo-inverse)
Geometric view: vectors, distance, projections, eigenvalue decomposition
Statistical view: Inferential Statistics, Probability distributions, univariate and multivariate
normal distributions, hypothesis testing, confidence interval for estimates, ANOVA,
Correlation and Regression
Data Modeling
Kinds of data: structured, unstructured, semi-structured and corresponding representation
techniques and examples,
Data representation: relational, NoSQL
Data type: Text, audio, images, videos
Input Data Representation: Concepts, instances and attributes
Output Data Representation: Decision tables, Decision trees, Decision rules, Rules involving
relations, Instance-based representation.
Data gathering and preprocessing
Reading the data, data preprocessing, data cleaning, data integration and transformation,
data reduction, data discretization and concept hierarchy generation

Exploratory Data Analysis

Exploratory techniques for summarizing data: Descriptive and inferential Statistics, 5
number summary of data, box and whisker plot analysis
Data Visualization: Libraries for visualizing one dimensional and multidimensional data
(matplotlib and seaborn), Scatter plot, Line plot, Bar plot, Histogram, Box plot, Pair plot,
overview of t-SNE technique
Basic ML algorithms and Use cases
Regression: Simple linear regression, Multivariate linear regression, & use case examples
Classification: Logistic regression, classification using k-means clustering, & use examples
Optimization, Diagnostic and Model Evaluation
Optimization: Minimizing or maximizing the cost functions, gradient descent, regularization
Diagnostic: Debugging a learning algorithm, evaluating a hypothesis, procedures for
training, validation and testing, diagnosing bias versus variance and vice versa, learning
curves, handling the overfitting of the model using regularization techniques
Accuracy and Error measures: classifier accuracy measures, predictor error measure,
evaluating the accuracy of a classifier or predictor, Confusion metric, precision, recall, trade
off between both, accuracy, Analysis of Receiver Operating Characteristic Curve
Textbooks:
1. Anil Maheshwari, “Data Analytics made accessible,” Amazon Digital Publication,
2014.
2. Song, Peter X. K, “Correlated Data Analysis: Modeling, Analytics, and Applications”,
Springer-Verlag New York 2007.
3. Tom Mitchell, Machine Learning, McGraw-Hill, 1997
4. Jiawei Han Micheline Kamber, Data Mining Concepts and Techniques, 3 rd Edition
Reference Books :
1. Glenn J. Myatt, Wayne P. Johnson, “Making Sense of Data I: A Practical Guide to
Exploratory Data Analysis and Data Mining”, Wiley 2009.
2. Rachel Schutt, Cathy O’Neil, “Doing Data Science”, O’REILLY, 2006.
3. Ethem Alpaydin, Introduction to Machine Learning, PHI, 2005
4. Peter Bruce, Andrew Bruce, “Practical Statistics for Data Scientists”, O’Reilly
5. David Spiegelhalter, “The Art of Statistics: Learning from Data”, Pelican Books
6. Derek Rowntree, “Statistics without Tears: An Introduction for Non-
Mathematicians”, Penguin Publications
7. Gareth James, Daniela Witten, Trevor Hastie, Robert Tibshirani, “An Introduction to
Statistical Learning: with Applications in R”, Springer Texts in Statistics
8. William Feller, “An Introduction to Probability Theory and Its Applications” Wiley
Series in Probability and Statistics
9. Hadley Wickham, Garrett Grolemund, “R for data science: Import, Tidy, Transform,
Visualize, And Model Data” O’Reilly
 Department Elective Course-I
(DEC-I) Intelligent Manufacturing

Teaching Scheme Examination Scheme

Lectures : 3 hrs/week T1/T2/ Assignments/ Quiz -40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to

1. Summarize the concepts of computer integrated manufacturing systems and

manufacturing communication systems
2. Identify various components of knowledge based systems
3. Demonstrate the concepts of artificial intelligence and automated process planning
4. Select the manufacturing equipment using knowledge based system for equipment
selection
5. Apply various methods to solve group technology problems and demonstrate the
structure for knowledge based system for group technology

Syllabus Contents:
Computer Integrated Manufacturing Systems Structure and functional areas of CIM system, -
CAD, CAPP, CAM, CAQC, ASRS. Advantages of CIM. Manufacturing Communication Systems -
MAP/TOP, OSI Model, Data Redundancy, Top- down and Bottom-up Approach, Volume of
Information. Intelligent Manufacturing System Components, System Architecture and Data
Flow, System Operation.
Basic Components of Knowledge Based Systems, Knowledge Representation, Comparison of
Knowledge Representation Schemes, Interference Engine, Knowledge Acquisition.
Automated Process Planning - Variant Approach, Generative Approach, Expert Systems for
Process Planning, Feature Recognition, Phases of Process planning. Knowledge Based System
for Equipment Selection (KBSES) - Manufacturing system design. Equipment Selection Problem,
Modeling the Manufacturing Equipment Selection Problem, Problem Solving approach in
KBSES, Structure of the KRSES.
Group Technology: Models and Algorithms Visual Method, Coding Method, Cluster Analysis
Method, Matrix Formation - Similarity Coefficient Method, Sorting-based Algorithms, Bond
Energy Algorithm, Cost Based method, Cluster Identification Method, Extended CI Method.
Knowledge Based Group Technology - Group Technology in Automated Manufacturing System.
Structure of Knowledge based system for group technology (KBSCIT) — Data Base, Knowledge
Base, Clustering Algorithm.

Reference Books :

1. Andrew Kusiak, Intelligent Manufacturing Systems, Prentice Hall, 1990

2. H. R. Parsaei, Mohammad Jamshidi, Design and Implementation of Intelligent
Manufacturing Systems: From Expert Systems, Neural Networks, to Fuzzy Logic,
Prentice Hall PTR, 1995
3. Kesheng Wang, Applied Computational Intelligence in Intelligent Manufacturing
Systems, Advanced Knowledge International, 2005
 Department Elective Course-I
(DEC-I) Microcontroller Architecture and Programming

Teaching Scheme Examination Scheme

Lectures : 3 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to

1. Understand the basic principles of Microcontroller based design and development.

2. design real world applications using Microcontroller
3. understand interfacing technologies and its applications.
4. Identify problem and strategy for designing the solution using appropriate
Microcontrollers.

Syllabus Contents:

Introduction to Microprocessors: Registers - File registers - Memory Organization - Tristate

logic – Buses - Memory Address register – Read/Write operations. ROM, RAM, PROM,
EPROM, E2PROM. Introduction to elementary processor – Organization - Data Transfer Unit
(DTU)operation - Enhanced Data Transfer Unit (EDTU) – opcode - machine language -
assembly language - pipeline and system clock. Architecture of 8085 – Addressing modes -
Data transfer, data processing and program flow control instructions - Simple assembly
language programs.

Introduction to Microcontrollers: PIC16F877 Architecture - Program and Data memory

organization - Special Function Registers - Addressing modes, Instruction set. MPLAB
Integrated Development Environment – Introduction to Assembly language and Embedded
C programming – Stack – Subroutines - Interrupt structure – Peripherals – Input/Output
Ports.

PIC Peripherals: Timers/Counters - Watchdog Timer – Capture/Compare/PWM (CCP) -

Analog to Digital Converter(ADC) – EEPROM - Serial Communication – USART -
Development of Application Programs and interfacing - LED, LCD, Keyboard, DC and Stepper
motor interface. Introduction to 8051 Microcontroller: Architecture – Ports - Timers.

References

1. Kenneth J. Ayala, “The 8051 Microcontroller Architecture, Programming &

Applications”, Penram International.
2. Raj Kamal, “Embedded Systems: Architecture, Programming and Design”, Tata
McGraw-Hill Education, 2008.
 (PCC) Knowledge Engineering and Expert System

Teaching Scheme Examination Scheme

Lectures : 2 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1.Explain and describe the concepts central to the creation of knowledge bases and expert
systems.
2. use the tools and the processes for the creation of an expert system.
3. conduct an in-depth examination of an existing expert system with an emphasis on
basic methods of creating a knowledge base
4. examine properties of existing systems in a case-study manner, comparing differing
Approaches
5. Demonstrate proficiency developing applications in expert system shell

Course Contents:

Introduction, The history of knowledge-based expert systems, Characteristics of current

expert systems, Basic concepts for building expert systems.
Building and Expert System, The architecture of expert systems, Constructing an expert
system, including computer inference and knowledge acquisition; knowledge
representation schemes; conceptual date analysis; plausible reasoning techniques, Tools
for building expert systems .
Evaluating an Expert System, Reasoning about reasoning, validation and measurement
methods; production-rule programming, Issues and case studies
Language and Tools for Knowledge Engineering, A Case Study in Knowledge Engineering

Reference Books :
1 Buchanan, B. B. & Shortliffe, E. H. Building Expert Systems with Production Rules:
The Mycin Experiments. Addison-Wesley Publishing Company
2. Davis, R. & Lenat, D. B. Knowledge-Based Systems in Artificial Intelligence.
McGraw-Hill International Book Company
3. Hayes-Roth, F., Waterman, D. A. & Lenat, D. B. (eds) Building Expert Systems.
Addison-Wesley Publishing Company, Inc.
4. Torsun, I. S. Expert Systems: State of the Art , Addison-Wesley Publishing Company

(PCC) Fundamentals of Robotics

Teaching Scheme Examination Scheme
Lectures : 2 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Understand the basic components of robots.
2. Differentiate types of robots and robot grippers.
3. Model forward and inverse kinematics of robot manipulators.
4. Analyze forces in links and joints of a robot.
5. Programme a robot to perform tasks in industrial applications.
 6. Design intelligent robots using sensors.

Robotics-Introduction-classification with respect to geometrical configuration (Anatomy),

Industrial robots specifications. Selection based on the Application. Controlled system & chain
type: Serial manipulator & Parallel Manipulator. Components of Industrial robotics-precession of
movement-resolution, accuracy & repeatability-Dynamic characteristics- speed of motion, load
carrying capacity & speed of response.
Sensors – Characteristics of sensing devices, Criterion for selections of sensors, Classification, &
applications of sensors. Internal sensors: Position sensors, & Velocity sensors, External sensors:
Proximity sensors, Tactile Sensors, & Force or Torque sensors.
Drives – Basic types of drives. Advantages and Disadvantages of each type. Selection / suitability
of drives for Robotic application.
Controllers :- Types of Controller and introduction to Close loop controller
Grippers – Mechanical Gripper-Grasping force--mechanisms for actuation, Magnetic gripper
vacuum cup gripper-considerations in gripper selection & design.
Kinematics-Manipulators Kinematics, Rotation Matrix, Homogenous Transformation Matrix, D-H
transformation matrix, D-H method of assignment of frames. Direct and Inverse Kinematics for
industrial robots. Differential Kinematics for planar serial robots
Robot Applications: Material transfer and machine loading/unloading, processing operations
assembly and inspection. Concepts of safety in robotics, social factors in use of robots, economics
of robots.
Programming and Languages :- Methods of robot programming, Introduction to various
languages such as RAIL and VAL II …etc, Features of each type and development of languages for
recent robot systems.
Introduction to AI, relevance of AI with robotics.

Reference Books :
1. John J. Craig, Introduction to Robotics, Pearson Education Inc., Asia, 3rd Edition, 2005
2. S. K. Saha, Introduction to Robotics 2e, TATA McGraw Hills Education (2014)
3. Asitava Ghoshal, Robotics: Fundamental concepts and analysis, Oxford University Press
(2006)
4. Dilip Kumar Pratihar, Fundamentals of Robotics, Narosa Publishing House, (2019)
5. R. K. Mittal, I. J. Nagrath, Robotics and Control, TATA McGraw Hill Publishing Co Ltd, New
Delhi (2003)
6. S. B. Nikku, Introduction to Robotics – Analysis, Control, Applications, 3rd edition, John Wiley
& Sons Ltd., (2020)
7. Mikell Groover, Mitchell Weiss, Roger N. Nagel, Nicholas Odrey, Ashish Dutta, Industrial
Robotics 2nd edition, SIE , McGraw Hill Education (India) Pvt Ltd (2012)
8. R. D. Klafter, Thomas A. Chmielewski, and Michael Negin, Robotic Engineering – An
Integrated Approach, EEE, Prentice Hall India, Pearson Education Inc. (2009)
 (PCC) Artificial Intelligence and Neural Networks

Teaching Scheme Examination Scheme

Lectures : 3 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Use different machine learning techniques
2. Apply basic principles of AI in solutions that require problem solving, inference, perception,
knowledge representation and learning
3. Demonstrate awareness and a fundamental understanding of AI techniques in intelligent
agents, artificial neural networks
4. Demonstrate proficiency developing applications in AI and Machine Learning.
5. Demonstrate an ability to share in discussions of AI, its current scope and limitations, and
societal implications.

Course Contents:

Overview: foundations, scope, problems, and approaches of AI. Intelligent agents: reactive,
deliberative, goal-driven, utility-driven, and learning agents, Artificial Intelligence
programming techniques.

Problem-solving through Search: forward and backward, state-space, blind, heuristic,

problem reduction, alpha-beta pruning, minimax, constraint propagation, neural,
stochastic, and evolutionary search algorithms, sample applications.

Knowledge Representation and Reasoning: ontologies, foundations of knowledge

representation and reasoning, representing and reasoning about objects, relations, events,
actions, time, and space; predicate logic, situation calculus, description logics, reasoning
with defaults, reasoning about knowledge, sample applications.

Planning: planning as search, partial order planning, construction and use of planning
graphs. Representing and Reasoning with Uncertain, Applications of AI(vision/robotics etc.)

Introduction to Machine Learning & Predictive Modeling Types of AI-ML problems -

Mapping of Techniques - Regression vs. classification vs. segmentation vs. Forecasting,
Major Classes of Learning Algorithms -Supervised vs Unsupervised Learning

Neural Network: Basic neuron models: McCulloch-Pitts model and the generalized one,
distance or similarity based neuron model, radial basis function model, Basic neural
network models: multilayer perceptron, distance or similarity based neural networks,
associative memory and self-organizing feature map, radial basis function based multilayer
perceptron, neural network decision trees, etc.

Basic learning algorithms: the delta learning rule, the back propagation algorithm, self-
organization learning, the r4-rule, Applications: pattern recognition, function
approximation, information visualization.
 Reference Books :
1. Russell, Stuart and Norvig, Peter, Artificial Intelligence: A Modern Approach" Prentice
Hall, 2003.
2. Aleksander, Igor and Burnett, Piers ,Thinking Machines Oxford, 1987.
3. Bench-Capon, T. J. M., Knowledge Representation: An approach to artificial
intelligence Academic Press, 1990.
4. Genesereth, Michael R. and Nilsson, Nils J, Logical Foundations of Artificial
Intelligence Morgan Kaufmann,1987.
5. Michael Negnevitsky, Artificial Intelligence: A Guide to Intelligent Systems (3rd
Edition)
6. Vinod Chandra S.S., Anand Hareendran S, " Artificial Intelligence And Machine
Learning"
7. Luger " Artificial Intelligence", Edition 5, Pearson, 2008
8. Jacek M. Zurada, Introduction to Artificial Neural Systems, PWS Publishing Company,
1995.
9. Simon Haykin, Neural Networks: A Comprehensive Foundation, Macmillan College
Publishing Company, 1994.
10.Mohamad H. Hassoun, Fundamentals of Artificial Neural Networks, The MIT Press,
1995.

(PCC) Sensor and Actuators in Robotics

Teaching Scheme Examination Scheme

Lectures : 2 hrs/week T1/T2/ Assignments/ Quiz -40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Analyze sensory systems in robotics.
2. Select the sensor for robotic application and design the system.
3. Analyze actuators and configuring the parameters of Actuators

Syllabus Contents
Anatomy of Robotic system,
Types of sensors: Pressure/contact. Resistive position. Infrared. Light. Position Sensors,
optical encoders, proximity sensors, Range sensors Ultrasonic sensors, Touch and Slip
sensors. sensors for motion and position, Force , torque and tactile sensors, Flow sensors,
Temperature sensing devices,
Vision Sensors :- Vision System Devices, Image acquisition, Masking, Sampling and
quantisation, Image Processing Techniques , Noise reduction methods, Edge detection,
Segmentation.
Advanced Sensor Technology - Smart sensors, MEMS based sensors, Innovations in sensor
technology

Actuators and its selection while designing a robot system. Types of transmission systems,
Electric Actuators - Direct current motor, Permanent magnet stepper motor, Servo Control
DC motors, Linear and latching linear actuators, Rotatory actuators, Piezo electric actuators,
Actuator parameters and characteristics, Stepper motors, Specifications and characteristics
of Stepper motors Servomotors.
 Pneumatic & Hydraulic actuators - Hydraulic and pneumatic power actuation devices
Hydraulic Actuators, selection of linear actuating cylinders, Hydraulic Motors, Pneumatic
actuators , design considerations and selection, pneumatic cylinders , pneumatic drive
system, Linear & rotary actuators.
Advanced actuators – Piezoelectric actuators, elastomer actuators, soft actuators, shape
memory alloy based actuators, underactuated robotic hand

Reference Books :
1. Mc Comb, G. Robot builder's bonanza. 5th ed. New York: McGraw-Hill, 2019. ISBN
9781260135015.
2. Braünl, T. Embedded robotics: mobile robot design and applications with embedded
systems. 3rd ed. Berlin ; Heidelberg: Springer, 2008. ISBN 9783540705338.
3. Martin, F.G. Robotic explorations: a hands-on introduction to engineering. Upper
Saddle River, N.J.: Prentice-Hall, 2001. ISBN 0130895687.
4. D. Patranabis, Sensors and Transducers, PHI, 2nd Ed 2013
5. Jon S. Wilson, Sensor Technology Handbook, Elsevier, 2005
6. Andrzej M. Pawlak, Sensors and Actuators in mechatronics, Taylor & Francis Group,
2007
7. S. R. Ruocco, Robot Sensors & Transducers, Springer, 2013
8. Gerard C., M. Meijer, Smart Sensors System, Wiley, 2008

(LC) Robot Programming

Teaching Scheme Examination Scheme
Practicals : 2 hrs/week Term work : 100

Course Outcomes: The students will be able to

1. use fundamental and technical knowledge of robot Programming

2. learn Robot Programming using teach Pendant for various applications
3. use RAPID Language and AML
4. Program using Robot studio software

Contents
1. Robot Programming using Flex Pendant- Lead through programming including
Coordinate systems of Robot,
2. Wrist Mechanism-Interpolation-Interlock commands
3. VAL language commands motion control, hand control, program control, pick
and place applications,
4. Palletizing applications using VAL,
5. Object detection and Sorting
5. Robot welding application using VAL program-
6. RAPID Language and AML
7. Programming using Robot studio software
 (LC) AI Based Programming Tools Laboratory

Teaching Scheme Examination Scheme

Practicals : 2 hrs/week Term work : 100

Course Outcomes: The students will be able to

1. use python editors and IDE's
2. understand Jupiter notebook & Spyder
3. use Modules for Machine Learning
4. use AI based Programming tools and ANN experiments

Assignments based on :
1. Python Editors &IDE's (Pycharm, Jupyter, Spyder etc…) ·
2. Understand Jupyter notebook &Spyder and Installing & loading Packages & Name Spaces·
3. Introduction to strings, Tuples, Lists, Dictionaries. List, Set and Dictionary Comprehensions
4. Modules for Machine Learning (scikit-learn library, scipy, nltk)
5. AI based programming tools like Classical AI - LISP, Prolog, TensorFlow
6. H20.AI ,Cortana and IBM WATSON
7. ANN virtual lab experiments : http://cse22-iiith.vlabs.ac.in/

(LC) Robotic Systems Laboratory

Teaching Scheme Examination Scheme
Practicals : 2 hrs/week Term work : 100

Course Outcomes: The students will be able to

1. design a gripper for different applications using design considerations

2. learn working of touch sensors and their interfacing and feedback
3. perform kinematic analysis
4. perform trajectory planning
5. detect the object and path tracing using vision sensor

1. Robot Gripper design and considerations

2. Touch Sensors interfacing and feedback system
3. Manipulator kinematics analysis
4. Use of object detection and Image processing using Vision sensors in Robot
system
5. Trajectory planning and analysis
6. Pick and place / path tracking using robot
7. Virtual lab experiments on Robot kinematics for Movemaster, PUMA 560
and KGP 50: http://vlabs.iitkgp.ernet.in/mr/#
 (LC) Microcontroller Programming Laboratory

Teaching Scheme Examination Scheme

Practicals : 2 hrs/week Term work : 100

Course Outcomes: The students will be able to

1. Program the Arduino Microcontroller for various applications

2. Interface basic sensors with Arduino
3. Use GSM & Bluetooth module on Arduino
4. Use Raspberry Pi for different applications
5. Program the microcontroller using C and Python

Contents

1. Arduino microcontroller I/O and interfacing

2. Basic sensors interfacing with Arduino
3. Networking with Arduino: GSM and Bluetooth
4. GPS and data logging with Arduino
5. Raspberry Pi microcomputer I/O and interfacing
6. Microcontroller programming using C+ & Python
 Semester II

Department Elective Course-II

(DEC-II) Autonomous Robots and Telecherics

Teaching Scheme Examination Scheme

Lectures : 3 hrs/week T1/T2/ Assignments/ Quiz -40

Course outcomes: The students will be able to

1. learn principles of working of autonomous robots

2. demonstrate the sensing, perception, and cognition of autonomous robots
3. understand anatomy of autonomous robots
4. Understand operation of Humanoid robot
5. Understand principles of operation of telecheric robots

Introduction to the fundamentals of mobile robotics, basic principles of locomotion, Kinematics

and Mobility, Classification of mobile robots, AI for Robot Navigation.
Introduction to modern mobile robots: Swarm robots, cooperative and collaborative robots,
mobile manipulators, Current challenges in mobile robotics.

Autonomous Mobile Robots – need and applications, sensing, localisation, mapping, navigation
and control.
The Basics of Autonomy (Motion, Vision and PID), Programming Complex Behaviours (reactive,
deliberative, FSM), Robot Navigation (path planning), Robot Navigation (localization), Robot
Navigation (mapping), Embedded electronics, kinematics, sensing, perception, and cognition,

Telecheric robots – Concepts of teleoperations, Need and applications of Telecheric robots,

Humanoid Robots, Swarm Robotics, Robot Applications and Ethics.

Reference Books :

1. Designing Autonomous Mobile Robots, John M Holland, Elsevier, 2004

2. Morgan Quigley , Brian Gerkey, Programming Robots with ROS, Quigley et al, O'Rielly
Publishers, Murphy 2000.
3. Autonomous Mobile Robots, Edited by Shuzhi Sam Ge, Frank L Lewis, Taylor and Francis,
2006
4. Roland Siegwart, Illah Reza Nourbakhsh, Davide Scaramuzza, Introduction to Autonomous
Mobile Robots”, MIT Press, 2nd Edition, 2011.
5. Peter Corke, Robotics Vision and Control, Springer 2011.
 Department Elective Course-II
(DEC-II) Advanced Artificial Intelligence

Teaching Scheme Examination Scheme

Lectures : 3 hrs/week T1/T2/ Assignments/ Quiz -40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to

1. Explain in detail how the techniques in the perceive-inference-action loop work

2. Choose, compare, and apply suitable basic learning algorithms to simple applications
3. Ability to explain how deep neural networks are constructed and trained, and apply
deep neural networks to work with large scale datasets
4. Understand and develop deep reinforcement learning algorithms for suitable
applications

Syllabus Contents

Overview of Probability Theory, Bayes Networks, Independence, I-Maps, Undirected

Graphical Models, Bayes Networks and Markov Networks, Local Models, Template
Based Representations, Exact Inference: Variable Elimination; Clique Trees, Belief
Propagation Tree Construction,

Intro to Optimization, Approximate Inference: Sampling, Markov Chains, MAP

Inference, Inference in Temporal Models, Learning Graphical Models : Intro
Parameter Estimation, Bayesian Networks and Shared Parameters, Structure
Learning, Structure Search Partially Observed Data, Gradient Descent, EM, Hidden
Variables, Undirected Models, Undirected Structure Learning, Causality, Utility
Functions, Decision Problems, Expected Utility, Value of Information, Decision-
Making: basics of utility theory, decision theory, sequential decision problems,
elementary game theory, sample application

Reference Books :

1. Daphne Koller and Nir Friedman Probabilistic Graphical Models, MIT Press, 2009.
2. S. Russell and P. Norvig, Artificial Intelligence: A Modern Approach by, 3rd Edition.
3. Christopher Bishop, Pattern Recognition and Machine Learning, Springer-Verlag
New York, 2006.
4. Ian Goodfellow, Yoshua Bengio, and Aaron Courville, Deep Learning. MIT Press.
2017
5. Sebastian Raschka, Python Machine Learning. Packt Publishing. 2016.
 Department Elective Course-II
(DEC-II) Mechatronics System Design
Teaching Scheme Examination Scheme
Lectures : 3 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Demonstrate how mechatronics integrates knowledge from different disciplines in order
to realize engineering and consumer products that are useful in everyday life.
2. Apply theoretical knowledge: understanding selection of suitable sensors and actuators;
designing electro-mechanical systems.
3. Work with mechanical systems that include digital and analogue electronics as a data
acquisition model.

Course Contents:

Mechanical Systems and Design - Mechatronics approach - Control program control,

adaptive control and distributed systems - Design process - Types of Design - Integrated
product design - Mechanisms, load conditions, design and flexibility Structures, load
conditions, flexibility and environmental isolation – Man machine interface, industrial
design and ergonomics, information transfer from machine from machine to man and man
to machine, safety.
Real time interfacing - Introduction Elements of data acquisition and control Overview of
I/O process-Installation of I/O card & software - Installation of application software - Over
framing.
Microcontrollers: Introduction to use of open source hardware (Arduino & Raspberry Pi);
shields/modules for GPS, GPRS/GSM, Bluetooth, RFID, and Xbee, integration with wireless
networks, databases and web pages; web and mobile phone apps.
Case studies on Data Acquisition - Transducer calibration system for Automotive
applications Strain Gauge weighing system - Solenoid force - Displacement calibration
system - Rotary optical encoder - Inverted pendulum control - Controlling temperature of a
hot/cold reservoir -Pick and place robot - Carpark barriers.
Case studies on Data Acquisition and Control - Thermal cycle fatigue of a ceramic plate - pH
control system - De-Icing Temperature Control System - Skip control of a CD Player -
Autofocus Camera, exposure control.
Case studies on design of Mechatronics products - Motion control using D.C. Motor, A.C.
Motor & Solenoids - Car engine management - Barcode reader.

Reference Books :

1. W. Bolton, Mechatronics - Electronic Control systems in Mechanical and Electrical

Engineering-, 2nd Edition, Addison Wesley Longman Ltd., 1999.
2. Devdas Shetty, Richard A. Kolk, Mechatronics System Design, PWS Publishing
company, 1997
3. Bradley, D. Dawson, N.C. Burd and A.J. Loader, Mechatronics: Electronics in Products
4. and Processes, Chapman and Hall, London, 1991.
5. Brian Morris, Automated Manufacturing Systems - Actuators, Controls, Sensors and
Robotics, Mc Graw Hill International Edition, 1995.
6. Gopal, Sensors- A comprehensive Survey Vol I & Vol VIII, BCH Publisher.
 Department Elective Course-II
(DEC-II) Advanced Control System
Teaching Scheme Examination Scheme
Lectures :3 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Demonstrate non-linear system behavior by phase plane and describing function
methods
2. Perform the stability analysis nonlinear systems by Lyapunov method
3. Develop design skills in optimal control problems
4. Derive discrete-time mathematical models in both time domain (difference equations,
state equations) and z domain (transfer function using z-transform).
5. Predict and analyze transient and steady-state responses and stability and sensitivity
of both open-loop and closed-loop linear, time-invariant, discrete-time control
systems.
6. Acquire knowledge of state space and state feedback in modern control systems, pole
placement, design of state observers and output feedback controllers

Syllabus Contents
State space Analysis State Space Representation, Solution Of State Equation, State
Transition Matrix, Canonical Forms – Controllable Canonical Form, Observable Canonical
Form, Jordan Canonical Form. Tests For Controllability And Observability For Continuous
Time Systems – Time Varying Case, Minimum Energy Control, Time Invariant Case, Principle
Of Duality, Controllability And Observability Form Jordan Canonical Form And Other
Canonical Forms. Describing Function Analysis -Introduction To Nonlinear Systems, Types Of
Nonlinearities, Describing Functions, Describing Function Analysis Of Nonlinear Control
Systems. Phase-Plane Analysis Introduction To Phase-Plane Analysis, Method Of Isoclines
For Constructing Trajectories, Singular Points, Phase-Plane Analysis Of Nonlinear Control
Systems. Stability Analysis Stability In The Sense Of Lyapunov., Lyapunov’s Stability And
Lypanov’s Instability Theorems. Direct Method Of Lypanov For The Linear And Nonlinear
Continuous Time Autonomous Systems. Modal Control Effect Of State Feedback On
Controllability And Observability, Design Of State Feedback Control Through Pole
Placement. Full Order Observer And Reduced Order Observer. Calculus Of Variations
Minimization Of Functionals Of Single Function, Constrained Minimization. Minimum
Principle. Control Variable Inequality Constraints. Control And State Variable Inequality
Constraints. Euler Lagrangine Equation. Optimal Control Formulation Of Optimal Control
Problem. Minimum Time, Minimum Energy, Minimum Fuel Problems. State Regulator
Problem. Output Regulator Problem. Tracking Problem, Continuous-Time Linear Regulators.

Reference Books :
1. K. Ogata, Modern Control Engineering, Prentice Hall of India, 3rd edition, 1998
2. I.J. Nagrath and M. Gopal, Control Systems Engineering, New Age International (P) Ltd.
3. M. Gopal, Digital Control and State Variable Methods, Tata Mc Graw-Hill Companies,
1997.
4. Stainslaw H. Zak, Systems and Control, Oxford Press, 2003.
5. M. Gopal Modern Control System Theory, New Age International Publishers, 2nd
edition, 1996
 Department Elective Course-III
(DEC-III) Advanced Robotics Programming
Teaching Scheme Examination Scheme
Lectures : 3 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Understand the basic principles of Robotics programming and development.
2. Design real world applications using available software.
3. Understand integration technologies and its applications.
4. Identify problems in integrating the system / simulations / programming.

Prerequisites: Knowledge of i) ROS1, 2) C/C++ 3) Python and 4) Robot fundamentals

Syllabus Contents :

Introduction to ROS2 :- Architectural overview of the Robot Operating System, Framework

and setup with ROS2 environment, ROS2 workspace structure, essential command line
utilities. ROS2 nodes, topics, services, parameters, actions and launch files. Programming
nodes, topics, services, actions with C/C++/Python. Real time programming with ROS2.
Robot Simulation Engines - Physics simulations of Robots with Gazebo, Mujoco and
Pybullet C++/Python APIs.
Path Planning :- Intro to Path Planning and Navigation, Classic Path Planning, Number of
classic path planning approaches that can be applied to low-dimensional robotic systems.
Coding the BFS and algorithms in C++. Sample-Based and Probabilistic Path Planning and
improvement using the classic approach. Programming in Moveit framework.
Motion Planning, Mapping and SLAM :- Use of EKF ROS package to a robot to estimate its
pose. Monte Carlo Localization :- The Monte Carlo Localization algorithm which uses
particle filters to estimate a robot's pose. Build MCL in C++ :- Coding the Monte Carlo
Localization algorithm in C++. Simultaneous Localization and Mapping (SLAM)
implementation with ROS2 packages and C++. Combining mapping algorithms with the
localization concepts.
Introduction to the Mapping and SLAM concepts and algorithms. Occupancy Grid Mapping
:- Mapping an environment with the Occupancy Grid Mapping algorithm.
Grid-based FastSLAM:- Simultaneous mapping an environment and localize a robot relative
to the map with the Grid-based FastSLAM algorithm.
Introduction to Microros :- Concepts of microros, Client library, features of microros, real
time operating systems (RTOS- Free RTOS, Zephyr), implementation of microros on
ARM/ESP32 based microcontrollers.

List of Assignments / Practical :

1. Nodes, topics in ROS2 5. Simulation of 6-dof manipulator in ROS2

2. Services, actions in ROS2 6. Simulation of autonomous vehicle in ROS2
3. Mujoco and Gazebo Simulations 7. Microros implementation on ESP32
 4. Motion planning with Moveit2 8. Microros implementation on STM32L4
Discovery kit IoT

Reference Books :
1. Learning ROS for Robotics Programming, Aaron Martinez, Enrique Fernandez,
PACKT publishing, 2013
2. Programming Robots with ROS, Morgan Quigley, Brian Gerkey, & William D Smart,
SPD Shroff Publishers and Distributors Pvt Ltd., 2016
3. Mastering ROS for Robotics Programming: Design, build, and simulate complex
robots using the Robot Operating System, Lentin Joseph, PACKT publishing, 2015

Department Elective Course-III

(DEC-III) Deep Learning

Teaching Scheme Examination Scheme

Lectures : 3 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes:
Student will be able to
1. Understand the fundamentals of neural networks.
2. Design feed forward networks with backpropagation.
3. Analyze neural networks for performance.
4. Apply attention mechanism to the neural network.

Biological Neuron, Idea of computational units, McCulloch–Pitts unit and Thresholding

logic, Linear Perceptron, Perceptron Learning Algorithm, Linear separability. Convergence
theorem for Perceptron Learning Algorithm.
Introduction to neural network and multilayer perceptrons (MLPs) , representation power
of MLPs, sigmoid neurons, gradient descent, feedforward neural networks
representation, Backpropagation.
Gradient Descent, Batch Optimization, Momentum Based GD, Nesterov Accelerated GD,
Stochastic GD, AdaGrad, RMSProp, Adam, Saddle point problem in neural networks,
Regularization methods (dropout, drop connect, batch normalization).
Autoencoders, Regularization in autoencoders, Denoising autoencoders, Sparse
autoencoders, Contractive autoencoders, Regularization: Bias Variance Tradeoff, L2
regularization, Early stopping, Dataset augmentation, Parameter sharing and tying,
Injecting noise at input, Ensemble methods, Dropout, Greedy Layerwise Pre-training, Better
activation functions, Better weight initialization methods, Batch Normalization.
Introduction to CNN, Building blocks of CNN, Transfer Learning, LeNet, AlexNet, ZF-Net,
VGGNet, GoogLeNet, ResNet, Visualizing CNNs, Guided Backpropagation, Fooling
Convolutional Neural Networks.
Introduction to RCNN, Backpropagation through time (BPTT), Vanishing and Exploding
Gradients, Truncated BPTT, Long Short Term Memory, Gated Recurrent Units, Bidirectional
LSTMs, Bidirectional RNNs, Encoder Decoder Models, Attention Mechanism.

Text Books:

1. Deep Learning- Ian Goodfelllow, Yoshua Benjio, Aaron Courville, The MIT Press

Reference Books :

1. Neural Networks: A Systematic Introduction, Raúl Rojas, 1996

2. Pattern Recognition and Machine Learning, Christopher Bishop, 2007

Department Elective Course-III

(DEC III) Micro Electro Mechanical Systems

Teaching Scheme Examination Scheme

Lectures: 3 hrs/week 100 marks: Continuous evaluation-
Assignments /Quiz/T1/T2 - 40Marks,
End Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Understand the scope, importance, and application of miniaturized products
2. Analyse and Demonstrate design skills of MEMS devices and products
3. Select a relevant microfabrication/ micromachining technique
4. Select an appropriate microsensor and microactuator in a given application.
5. Recommend a suitable packaging technique or method for a MEMS product.

Syllabus Contents:
Introduction
Overview of MEMS & Microsystems: Evolution of microsensors, MEMS & microfabrication
– typical MEMS and Microsystems and miniaturization – applications of Microsystems.
Materials demand for Extreme conditions of operation, material property mapping,
Processing, strengthening methods, treatment and properties
MEMS materials: Overview of Smart Materials, Structures and Products Technologies
Smart Materials (Physical Properties) Piezoelectric Materials, Electrostrictive Materials,
Magnetostrictive Materials, Magneto electric Materials, Magneto rheological Fluids
Electro rheological Fluids, Shape Memory Materials, Bio-Materials, metal matrix
composites (MMC), their applications in aerospace and automobiles, Super-plastic
materials
Micro manufacturing/Micro fabrication
Preparation of the substrate, Physical Vapour Deposition, Chemical Vapour Deposition, Ion
Implantation, Coatings for high temperature performance, Electrochemical and spark
discharge and Plasma coating methods, electron beam and laser surface processing,
Organic and Powder coatings, Thermal barrier coating, LIGA process
 Micro sensors
Smart Sensor, Actuator and Transducer Technologies, Smart Sensors: Accelerometers;
Force Sensors; Load Cells; Torque Sensors; Pressure Sensors; Microphones; Sensor Arrays
Micro actuators
Smart Actuators: Displacement Actuators; Force Actuators; Power Actuators; Vibration
Dampers; Shakers; micro Fluidic Pumps; micro Motors Smart Transducers: Ultrasonic
Transducers; Sonic Transducers

Reference Books :
1. Tai Ran Hsu, MEMS and Microsystems: Design and Manufacture, , Tata McGraw Hill,
2002.
2. M.V. Gandhi and B.S. Thompson, Smart Materials and Structures, Chapman & Hall,
London; New York, 1992 (ISBN: 0412370107).
3. Westbrook J.H & Fleischer R.L., Micro sensors, MEMS and smart Devices, Julian W.
Gardner & Vijay K. Varadan, John Wiley & Sons, 2001.
4. A.V. Srinivasan, Smart Structures: Analysis and Design, , Cambridge University Press,
Cambridge; New York, 2001 (ISBN: 0521650267).
5. B. Culshaw, Smart Structures and Materials, , Artech House, Boston, 1996 (ISBN:

Department Elective Course-III

(DEC-II) Control of Robotic Systems

Teaching Scheme Examination Scheme

Lectures :3 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Demonstrate non-linear system behavior by phase plane and describing function
methods
2. Perform the stability analysis nonlinear systems by Lyapunov method
3. Derive discrete-time mathematical models in both time domain (difference equations,
state equations) and z domain (transfer function using z-transform).
4. Predict and analyze transient and steady-state responses and stability and sensitivity of
both open-loop and closed-loop linear, time-invariant, discrete-time control systems.
5. Acquire knowledge of state space and state feedback in modern control systems, pole
placement, design of state observers and output feedback controllers

Syllabus Contents:
Basics of robotic system’s kinematics and dynamics : Forward and inverse dynamics.
Properties of the dynamic model and case studies. Introduction to nonlinear systems and
control schemes. Symbolic Modelling of Robots for Direct Kinematic Model and inverse
kinematics.
System Stability and Types of Stability Lyapunov stability analysis, both direct and indirect
methods. Lemmas and theorems related to stability analysis.
 Joint Space and Task Space Control Schemes Position control, velocity control, trajectory
control and force control. Description of Force Control tasks, Force Control Strategies,
Hybrid Position / Force Control, Impedance Force / Torque Control.
Nonlinear Control Schemes Proportional and derivative control with gravity compensation,
computed torque control, sliding mode control, adaptive control, observer based control
and robust control.
Optimal Control: Introduction - Time varying optimal control – LQR steady state optimal
control – Solution of Ricatti’s equation – Application examples.
Nonlinear Observer Schemes: Design based on acceleration, velocity and position feedback.
Numerical simulations using software packages.

Reference Books :

1. R K Mittal, I J Nagrath, Robotics and Control, TMGH Publishing Co Lmt, 2003.

2. R Kelly, D. Santibanez, LP Victor and Julio Antonio, “Control of Robot Manipulators
in Joint Space”, Springer, 2005.
3. A Sabanovic and K Ohnishi, “Motion Control Systems”, John Wiley & Sons (Asia),
2011.
4. R M Murray, Z. Li and SS Sastry, “A Mathematical Introduction to Robotic
Manipulation”, CRC Press, 1994.
5. J J Craig, “Introduction to Robotics: Mechanics and Control”, Prentice Hall, 2004. 3.
J J E Slotine and W Li, “Applied Nonlinear Control”, Prentice Hall, 1991.
6. Sebastian Thrun, Wolfram Burgard, Dieter Fox, “Probabilistic Robotics”, MIT
7. Carlos, Bruno, Georges Bastin, “Theory of Robot Control”, Springer, 2012.

MLC
Research Methodology and Intellectual Property Rights

Teaching Scheme Examination Scheme

Lectures : 2 hr/week Assignments/Presentation/Quiz/Test

Course Outcomes:
At the end of the course, students will demonstrate the ability to:
1. Understand research problem formulation and approaches of investigation of
solutions for research problems
2. Learn ethical practices to be followed in research
3. Apply research methodology in case studies
4. Acquire skills required for presentation of research outcomes (report and technical
paper writing, presentation etc.)
5. Discover how IPR is regarded as a source of national wealth and mark of an economic
leadership in context of global market scenario
 6. Study the national & International IP system

Research Methodology
Meaning of research problem, Sources of research problem, Criteria Characteristics of
a good research problem, Errors in selecting a research problem, Scope and objectives
of research problem.
Approaches of investigation of solutions for research problem, data collection, analysis,
interpretation, Necessary instrumentations
Effective literature studies approaches, analysis
Plagiarism , Research ethics
Effective technical writing, how to write report, Paper
Developing a Research Proposal, Format of research proposal, a presentation and
assessment by a review committee.

Intellectual Property Rights

Introduction to the concepts Property and Intellectual Property, Nature and Importance
of Intellectual Property Rights, Objectives and Importance of understanding Intellectual
Property Rights
Understanding the types of Intellectual Property Rights: -Patents-Indian Patent Office
and its Administration, Administration of Patent System – Patenting under Indian Patent
Act , Patent Rights and its Scope, Licensing and transfer of technology, Patent
information and database. Provisional and Non Provisional Patent Application and
Specification, Plant Patenting, Idea Patenting,
Integrated Circuits, Industrial Designs, Trademarks (Registered and unregistered
trademarks), Copyrights, Traditional Knowledge, Geographical Indications, Trade
Secrets, Case Studies
New Developments in IPR, Process of Patenting and Development: technological
research, innovation, patenting, development,
International Scenario: WIPO, TRIPs, Patenting under PCT

Reference Books :

1. Aswani Kumar Bansal : Law of Trademarks in India

2. B L Wadehra : Law Relating to Patents, Trademarks, Copyright, Designs and
Geographical Indications.
3. G.V.G Krishnamurthy : The Law of Trademarks, Copyright, Patents and Design.
4. Satyawrat Ponkse: The Management of Intellectual Property.
5. S K Roy Chaudhary & H K Saharay : The Law of Trademarks, Copyright, Patents
6. Intellectual Property Rights under WTO by T. Ramappa, S. Chand.
7. Manual of Patent Office Practice and Procedure
8. WIPO : WIPO Guide To Using Patent Information
9. Resisting Intellectual Property by Halbert ,Taylor & Francis
10. Industrial Design by Mayall, Mc Graw Hill
11. Product Design by Niebel, Mc Graw Hill
12. Introduction to Design by Asimov, Prentice Hall
13. Intellectual Property in New Technological Age by Robert P. Merges, Peter S.
Menell, Mark A. Lemley
 MLC
(ML-19012) Effective Technical Communication

Teaching Scheme Examination Scheme

Lectures : 1 hr/week 100M: 4 Assignments (25M each)

Course Outcomes:

At the end of the course, students will demonstrate the ability to:
1. Produce effective dialogue for business related situations
2. Use listening, speaking, reading and writing skills for communication purposes and
attempt tasks by using functional grammar and vocabulary effectively
3. Analyze critically different concepts / principles of communication skills
4. Demonstrate productive skills and have a knack for structured conversations
5. Appreciate, analyze, evaluate business reports and research papers

Contents

Fundamentals of Communication,7 Cs of communication, common errors in English,

enriching vocabulary, styles and registers

Aural-Oral Communication, The art of listening, stress and intonation, group discussion,
oral presentation skills

Reading and Writing

Types of reading, effective writing, business correspondence, interpretation of
technical reports and research papers

Reference Books :
1. Raman Sharma, “Technical Communication”, Oxford University Press.
2. Raymond Murphy “Essential English Grammar” (Elementary & Intermediate) Cambridge
University Press.
3. Mark Hancock “English Pronunciation in Use” Cambridge University Press.
4. Shirley Taylor, “Model Business Letters, Emails and Other Business Documents” (seventh
edition), Prentice Hall
5. Thomas Huckin, Leslie Olsen “Technical writing and Professional Communications for
Non-native speakers of English”, McGraw Hill.
 (PCC) Machine Learning and Big Data Analytics
Teaching Scheme Examination Scheme
Lectures : 2 hrs/week T1/T2/ Assignments/ Quiz -40
Tutorial:1 Hr End-Sem Exam- 60. marks
Course Outcomes: The students will be able to
1. Apply concepts and techniques of Machine Learning.
2. Develop the skills in using recent machine learning software for solving practical problems.
3. Apply a set of well-known supervised, semi-supervised and unsupervised learning algorithms
4. Learn big data platforms and use analytic Processes
5. Sample the Data in a Stream
Syllabus Contents

Introduction- overview of machine learning- Different forms of learning- Generative learning-

Gaussian parameter estimation- maximum likelihood estimation- MAP estimation- Bayesian
estimation- bias and variance of estimators- missing and noisy features- nonparametric density
estimation- applications- software tools. Classification Methods-Nearest neighbour- Decision
trees- Linear Discriminant Analysis - Logistic regression-Perceptions- large margin classification-
Kernel methods- Support Vector Machines. Classification and Regression Trees. Graphical and
sequential models- Bayesian networks- conditional independence Markov random fields-
inference in graphical models- Belief propagation- Markov models- Hidden Markov models-
decoding states from observations- learning HMM parameters. Clustering Methods-Partitioned
based Clustering - K-means- K-medoids; Hierarchical Clustering - Agglomerative- Divisive- Distance
measures; Density based Clustering - DBScan; Spectral clustering.
MapReduce – Hadoop, Hive, MapR – Sharding – NoSQL Databases - S3 - Hadoop Distributed File
Systems – Visualization.
Introduction to big data : Introduction to Big Data Platform – Challenges of Conventional Systems
- Intelligent data analysis – Nature of Data - Analytic Processes and Tools - Analysis vs Reporting.
Mining data streams : Introduction to Streams Concepts – Stream Data Model and Architecture -
Stream Computing - Sampling Data in a Stream – Filtering Streams – Counting Distinct Elements in
a Stream – Estimating Moments – Counting Oneness in a Window – Decaying Window - Real time
Analytics Platform(RTAP) Applications - Case Studies - Real Time Sentiment Analysis

Reference Books :
1. T. Hastie, R. Tibshirani and J. Friedman, “Elements of Statistical Learning”, Springer, 2009.
2. E. Alpaydin, “Machine Learning”, MIT Press, 2010.
3. K. Murphy, “Machine Learning: A Probabilistic Perspective”, MIT Press, 2012.
4. C. Bishop, “Pattern Recognition and Machine Learning, Springer”, 2006.
5. Shai Shalev-Shwartz, Shai Ben-David, “Understanding Machine Learning: From Theory to
Algorithms”, Cambridge University Press, 2014.
6. John Mueller & Luca Massaron, “Machine Learning For Dummies“, John Wiley & Sons, 2016
7. Arshdeep Bahga, V. Madisetti, Big Data Science & Analytics: A Hands On Approach,VPT, 2016
8. Bart Baesens “Analytics in a Big Data World: The Essential Guide to Data Science and its
Applications (WILEY Big Data Series)”, John Wiley & Sons,2014
 (PCC) Embedded Control System

Teaching Scheme Examination Scheme

Lectures : 2 hrs/week T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks

Course Outcomes: The students will be able to

1. Understand Concepts of Embedded system

2. Design and Selection of a Real Time operating system.
3. Use of Development tools and Programming

Contents

Introduction to Embedded Systems, Its Architecture and system Model, Introduction to the
HCS12/S12X series Microcontrollers, Embedded Hardware Building Block. HCS12 System
Description and Programming: The HCS12 Hardware System ,Modes of Operation, The B32
Memory System , The HCS12 DP256 Memory System, Exception Processing–Resets and Interrupts,
Clock Functions, TIM, RTI, Serial Communications, SPI-Serial Peripheral Interface, I2C, HCS12
Analog-to-Digital Conversion System.

Basic Input /Output Interfacing Concepts: Input Devices, Output Devices and their Programming,
Switch Debouncing, Interfacing to Motor, LCDs, Transducer, The RS-232 Interface and their
Examples.

Development tools and Programming: Hardware and Software development tools, C language
programming, Codewarior tools- Project IDE, Compiler, Assembler and Debugger, JTAG and
Hardware Debuggers, Interfacing Real Time Clock and Temperature Sensors with I2C and SPI bus.

Real-time Operating Systems (RTOS): Basic concepts of RTOS and its types, Concurrency, Re-
entrancy, Intertask communication, Implementation of RTOS with some case studies..

Reference Books :

1. Barrett, S.F. and Pack, J.D., Embedded Systems, Pearson Education (2008).
2. Haung, H.W., The HCS12 / 9S12: An Introduction to Software and Hardware Interfacing,
Delmar Learning (2007).
3. Fredrick, M.C., Assembly and C programming for HCS12 Microcontrollers, Oxford University
Press (2005).
4. Ray, A.K., Advance Microprocessors and Peripherals – Architecture, Programming and
Interfacing, Tata Hill (2007).−McGraw
 (PCC) Robot Kinematics and Dynamics

Teaching Scheme Examination Scheme

Lectures : 2 hrs/week T1/T2/ Assignments/ Quiz -40
Tutorial:1 Hr End-Sem Exam- 60 marks

Syllabus Contents

Basic concepts of linear algebra and feedback control, Rigid bodies and homogeneous
transformations, Robot modelling,
ROBOT KINEMATICS :- Direct kinematics, Inverse kinematics problem, Dot and cross
products, Co-ordinate frames, Rotations, Homogeneous Coordinates, Link coordinates, D-
H Representation, Arm equation -Two axis, three axis, four axis, five axis and six axis robots.
Inverse Kinematic problem, General properties of solutions, Tool configuration, Inverse
Kinematics of Two axis Three axis, Four axis and Five axis robots.
Trajectory planning, Geometric Jacobian / Analytical Jacobian, Singularities and
redundancy, Inverse kinematics algorithms, Statics and manipulability, Kinematic solutions
and trajectory planning,
ROBOT DYNAMICS: Forward Dynamics and Inverse Dynamics – Importance – Spatial
description and transformations – Different types of dynamic formulation schemes –
Lagrangian formulation for equation of motion for robots and manipulators. Properties of
the dynamic model, Dynamic model of simple manipulator structures, Dynamic parameters
identification, Operational space dynamics model, Differential kinematics.
DYNAMIC MODELING AND SIMULATION: Modeling of motion of robots and manipulators
using Newton – Euler equations – State space representation of equation of motion and
system properties – Importance of Simulation and its types – Numeric Integration solvers
and their role in numeric simulation - Numeric simulation of robots and manipulators using
MATLAB / Simulink module.
INTRODUCTION TO ROBOT CONTROL: Introduction – Need and types of control schemes
for robots – joint space control schemes with an example – task space control schemes with
an example.

Reference Books :

1. Siciliano, Bruno. Robotics : modelling, planning and control [on line]. London: Springer,
2009.
2. Corke, Peter I. Robotics, vision and control : fundamental algorithms in Matlab. 1st ed.
New York: Springer, 2011. ISBN 978- 3-642-20143-1.
3. Kelly R, Santibanez V and Loria A, ―Conrol of Robot Manipulators in Joint Space‖,
Springer, 2005.
4. Devendra K Chaturvedi, ―Modeling and Simulation of Systems using MATLAB and
Simulink , CRC press, 2010
5. J. J. Craig, “Introduction to Robotics: Mechanics and Control”, 3rd edition, Addison-
Wesley (2003).
6. S. K. Saha, Introduction to Robotics 2e, TATA McGraw Hills Education (2014).
7. Dilip Kumar Pratihar, Fundamentals of Robotics, Narosa Publishing House, (2019).
8. Asitava Ghoshal, Robotics : Fundamental concepts and analysis, Oxford University Press
(2006).
9. M. Spong, M. Vidyasagar, S. Hutchinson, Robot Modeling and Control, Wiley & Sons,
(2005).
10. Siciliano, Bruno. Robotics : Modelling, Planning and Control. London: Springer, 2009.
11. Corke, Peter I. Robotics, vision and control : fundamental algorithms in Matlab. 1st ed.
New York: Springer, 2011. ISBN 978- 3-642-20143-1.
12. Kelly R, Santibanez V and Loria A, ―Conrol of Robot Manipulators in Joint Space‖,
Springer, 2005.
13. Devendra K Chaturvedi, ―Modeling and Simulation of Systems using MATLAB and
Simulink , CRC press, 2010

(LC) Robot Simulation Laboratory

Teaching Scheme Examination Scheme

Practicals : 2 hrs/week Term work : 100

Laboratory Experiments:
1. Dynamic model development and simulation of simple mechanical systems using
Matlab and Mathematica.
2. Numerical simulation of simple mechanical systems.
3. Stability analysis of simple mechanical systems using linear system theory namely
root locus and Bode plot.
4. State space model development and dynamic simulation using Simulink.

(LC) Software Laboratory for ROS and SLAM

Teaching Scheme Examination Scheme

Practicals : 2 hrs/week Term work : 100

Course Outcomes: The students will be able to

1. Learn fundamentals, including key ROS concepts, tools, and patterns

2. Program robots that perform an increasingly complex set of behaviors, using
the powerful packages in ROS
3. See how to easily add perception and navigation abilities to your robots
4. Integrate your own sensors, actuators, software libraries, and even a whole
robot into the ROS ecosystem
 5. Learn tips and tricks for using ROS tools and community resources, debugging
robot behavior using C++ in ROS

Laboratory Experiments:
1. Endowing mobile autonomous robots with planning, perception, and decision-
making capabilities
2. Trajectory optimization
3. Robot motion planning and perception
4. Robot, localization, and simultaneous localization and mapping
5. Robot Operating System (ROS) for demonstrations and hands-on activities

(LC) Embedded Control System laboratory

Teaching Scheme Examination Scheme

Practicals : 2 hrs/week Term work : 100

1. Programming of HCS12 with Code warrior for Interrupts, Clock Functions,

2. TIM, RTI, SPI, LCD interfacing,
3. Use of JTAG and Hardware Debuggers, Interfacing Keypad,
4. ADC, DAC, LCD, Real Time Clock
5. Temperature Sensors with I2C and SPI bus
6. Interface 7 segment LED to 8051 to generate flashing action
7. Interface Analog to Digital converter to 8051 and display the result on LCD display
8. Interface Digital to Analog converter to 8051 and view the output on CRO Interface
stepper motor to 8051 it through given number of steps
9. Perform serial communication using 8051
10. Descentralized motion control and Centralized motion control
11. Feed-forward compensation,
12. Force control,
13. Visual servoing
14. Stepper motor control (Single motor and two motor).
15. Linear controller (P,PI,PD and PID) design for simple position control of mechanical
systems.
 Semester-III

Sr. Course Teaching Scheme

Course Name Credits
No. Code L T P
1. SBC Dissertation Phase – I -- -- 18 9
Massive Open Online Course –I
2. SLC Internet of Things (IoT), Industry 4.0 and 3 -- -- 3
Industrial Internet of Things (IIoT)
Total Credits Max 12

Semester III

Dissertation Phase – I

Teaching Scheme Examination Scheme

Practical work 18 hr/week Term Work & Oral Exam: -- 100 Marks

Course Outcomes:
Students will demonstrate the ability to:

1. Identify the case study for a practical problem from industry or research problem.
2. Carry out An extensive literature review will help them in understanding the latest
happenings in the field.
3. understand and analyze the problem.

Project should be Industry requirements involving detail analysis or development of the

industrial case studies related to Robotics & artificial Intelligence as per the common
instructions for all branches of M.Tech

* Massive Open Online Course –I

-MOOC courses available during the academic year through SWAYAM or NPTEL
-Earlier MOOC courses available on various portals
 Massive Open Online Course –I - Data Analytics with Python
Teaching Scheme Examination Scheme
Self learning T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Understand the Data Analytics concepts.
2. Students will be getting hands-on experience creating analytics models.
3. Understand examples of analytics in a wide variety of industries.

Syllabus Contents:

Introduction to data analytics and Python fundamentals, Introduction to probability, Sampling

and sampling distributions, Hypothesis testing, Two sample testing and introduction to ANOVA,
Two way ANOVA and linear regression, Linear regression and multiple regression, Concepts of
MLE and Logistic regression, ROC and Regression Analysis Model Building, c2 Test and
introduction to cluster analysis, Clustering analysis, Classification and Regression Trees (CART)

Reference Books :
1. McKinney, W. (2012). Python for data analysis: Data wrangling with Pandas, NumPy, and
IPython. " O'Reilly Media, Inc.".
2. Swaroop, C. H. (2003). A Byte of Python. Python Tutorial.
3. Ken Black, sixth Editing. Business Statistics for Contemporary Decision Making. “John Wiley
& Sons, Inc”.
4. Anderson Sweeney Williams (2011). Statistics for Business and Economics. “Cengage
Learning”.
5. Douglas C. Montgomery, George C. Runger (2002). Applied Statistics & Probability for
Engineering. “John Wiley & Sons, Inc”
6. Jay L. Devore (2011). Probability and Statistics for Engineering and the Sciences. “Cengage
Learning”.
7. David W. Hosmer, Stanley Lemeshow (2000). Applied logistic regression (Wiley Series in
probability and statistics). “Wiley-Interscience Publication”.
8. Jiawei Han and Micheline Kamber (2006). Data Mining: Concepts & Techniques“
9. Leonard Kaufman, Peter J. Rousseeuw (1990). Finding Groups in Data: An Introduction to
Cluster Analysis. “John Wiley & Sons, Inc”.

Link - https://onlinecourses.nptel.ac.in/noc21_cs45/preview -- Data Analytics with Python

By Prof. A Ramesh, IIT Roorkee

Massive Open Online Course –I - Reinforcement Learning

Teaching Scheme Examination Scheme

Self learning T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
 Course Outcomes:
The students will be able to
1. Understand the to model the trial-and-error learning process that is needed in many
problem situations where explicit instructive signals are not available
2. Students will understand the basic mathematical foundations of reinforcement learning.

Syllabus Contents:

Introduction to Reinforcement Learning, Bandit algorithms – UCB, PAC, Bandit algorithms –

Median Elimination, Policy Gradient, Full RL & MDPs, Bellman Optimality, Dynamic
Programming & TD Methods Eligibility Traces Function Approximation, Least Squares
Methods, Fitted Q, DQN & Policy Gradient for Full RL, Hierarchical RL, POMDPs

Reference Books :
1. R. S. Sutton and A. G. Barto. Reinforcement Learning - An Introduction. MIT Press. 1998.

Link- https://onlinecourses.nptel.ac.in/noc21_cs71/preview -- Reinforcement Learning By

Prof. Balaraman Ravindran, IIT Madras

Massive Open Online Course –I - Internet of Things (IoT), Industry 4.0 and Industrial
Internet of Things (IIoT)
Teaching Scheme Examination Scheme
Self learning T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
3. Understand the drivers and enablers of Industry 4.0
4. Appreciate the smartness in Smart Factories, Smart cities, smart products and smart
services
5. Able to outline the various systems used in a manufacturing plant and their role in an
Industry 4.0 world
6. Appreciate the power of Cloud Computing in a networked economy
7. Understand the opportunities, challenges brought about by Industry 4.0 and how
organisations and individuals should prepare to reap the benefits

Syllabus Contents:
Introduction to IoT, Sensing, Actuation, Basics of Networking, Communication Protocols,
Sensor Networks, Machine-to-Machine Communications, Interoperability in IoT, Introduction to
Arduino Programming, Integration of Sensors and Actuators with Arduino, Introduction to
Python programming, Introduction to Raspberry Pi, Implementation of IoT with Raspberry Pi,
Introduction to SDN, SDN for IoT, Data Handling and Analytics, Cloud Computing, Sensor-Cloud,
Fog Computing, Examples of IoT based Systems: Smart Cities and Smart Homes, Connected
Vehicles, Smart Grid, Industrial IoT, Case Study: Agriculture, Healthcare, Activity Monitoring
Introduction to Industry 4.0/Smart Factories, Cyber Physical Systems and Next Generation
Sensors, Collaborative Platform and Product Lifecycle Management, Cybersecurity in Industry
4.0,
Basics of Industrial IoT, Industrial Sensing & Actuation, Industrial Internet Systems. IIoT-
Introduction, IIoT Business Model and Reference Architecture, Industrial IoT- Layers: IIoT
Sensing, IIoT Processing, IIoT Communication, IIoT Networking, Big Data Analytics and Software
Defined Networks, IIoT Analytics - Introduction, Introduction to Machine Learning and Data
Science, Introduction to R and Julia Programming, Data Management with Hadoop. SDN in IIoT,
Data Center Networks, Security and Fog Computing, Cloud Computing in IIoT, Industrial IoT-
Application Domains: Factories and Assembly Line, Food Industry, Healthcare, Power Plants,
Inventory Management & Quality Control, Plant Safety and Security (Including AR and VR safety
applications), Facility Management, Oil, chemical and pharmaceutical industry, Applications of
UAVs in Industries, IIoT Case studies Self

Reference Books :
1. Pethuru Raj and Anupama C. Raman, The Internet of Things: Enabling Technologies,
Platforms, and Use Cases", (CRC Press)
2. Arshdeep Bahga and Vijay Madisetti Internet of Things: A Hands-on Approach", (Universities
Press
 Semester-IV

Sr. Course Teaching Scheme

Course Name Credits
No. Code L T P
1. SBC Dissertation Phase – II -- -- 18 9
Massive Open Online Course –II
2. SLC Design for IoT and Advanced IoT 3 -- -- 3
Applications
Total Credits Max 12

Semester IV
Dissertation Phase – II
Teaching Scheme Examination Scheme
Practical work 18 hr/week Term Work & Oral Exam: -- 100 Marks

Course Outcomes:
1. Students will be able to apply the techniques learned during the course.
2. Student will be able to provide solution to the problem
3. Student will be in a position to publish their work in conference and Journals.

Project should be research oriented experimental work, involving detail analysis or development
of the industrial case studies related to Robotics & Artificial Intelligence as per the common
instructions for all branches of M.Tech.

* Massive Open Online Course –II

-MOOC courses available during the academic year through SWAYAM or NPTEL
-Earlier MOOC courses available on various portals

Massive Open Online Course –II - Deep Learning for Visual Computing
Teaching Scheme Examination Scheme
Self learning T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Understand the concepts of Deep Learning for Visual Computing
2. To solve tasks by learning abstraction in data following a stratified description paradigm
using non-linear transformation architectures
 3. Provide you insights to theory and coding practice of deep learning for visual computing
through curated exercises with Python and PyTorch on current developments

PREREQUISITES : Digital Image Processing, Machine Learning

Syllabus Contents

Introduction to Visual Computing and Neural Networks, Multilayer Perceptron to Deep Neural
Networks with Autoencoders, Autoencoders for Representation Learning and MLP Initialization,
Stacked, Sparse, Denoising Autoencoders and Ladder Training, Cost functions, Learning Rate
Dynamics and Optimization, Introduction to Convolutional Neural Networks (CNN) and LeNet,
Convolutional Autoencoders and Deep CNN (AlexNet, VGGNet), Very Deep CNN for
Classification (GoogLeNet, ResNet, DenseNet), Computational Complexity and Transfer Learning
of a Network, Object Localization (RCNN) and Semantic Segmentation, Generative Models with
Adversarial Learning, Recurrent Neural Networks (RNN) for Video Classification

Reference Books :
1. Goodfellow, Y, Bengio, A. Courville, “Deep Learning”, MIT Press, 2016. S. Haykin, “Neural
Networks and Learning Machines”,3e,Pearson, 2008-

Link -- https://onlinecourses.nptel.ac.in/noc22_ee54/preview -- Deep Learning for Visual

Computing By Prof. Debdoot Sheet, IIT Kharagpur

Massive Open Online Course –II - Robotics: Basics and Selected Advanced Concepts
Teaching Scheme Examination Scheme
Self learning T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Understand the concepts of unified treatment for the modelling and analysis of serial,
parallel, and hybrid manipulators using the key concept of Denavit-Hartenberg
parameters,
2. Get solution of the direct and inverse kinematics of serial and parallel robots and the
associated concepts of workspace and mobility To solve tasks by learning abstraction in
data following a stratified description paradigm using non-linear transformation
architectures
3. Become aware of advanced topics in robotics such as modelling and analysis of wheeled
mobile robots, deployable structures and cable driven and pneumatically actuated
small/micro robots.

PREREQUISITES : UG level mathematics and programming knowledge

Syllabus Contents

Introduction, Elements of a robot, Mathematical preliminaries, D-H convention, Examples,

Direct and Inverse kinematics of serial robots, Workspace, Analytical and numerical solutions,
Parallel robots – direct and inverse kinematics, Mobility, Stewart-Gough platform, Applications
of parallel robots in sun tracking, vibration isolation, Velocity analysis, Singularities in serial and
parallel robots, Statics, Redundancy and resolution of redundancy in robots, Dynamic equations
of motion, derivation & simulation using Matlab, Motion planning, Introduction to linear
control, simulations & experiments, Nonlinear position and force control of robots, Simulation,
Wheeled mobile robots, modeling and simulations, Over-constrained and deployable
structures, Cable driven & pneumatically actuated flexible robots.

Reference Books :
1. Ghosal, Ashitava, Robotics: Fundamental Concepts and Analysis, Oxford
University Press, 2006

Link -- https://onlinecourses.nptel.ac.in/noc22_me39/preview -- Robotics: Basics and

Selected Advanced Concepts By Prof. Ashitava Ghosal, IISc Bangalore

Massive Open Online Course –II - Design for IoT and Advanced IoT Applications
Teaching Scheme Examination Scheme
Self learning T1/T2/ Assignments/ Quiz - 40
End-Sem Exam- 60 marks
Course Outcomes: The students will be able to
1. Understand the challenges of energy power, data explosion
2. Carry out calculations of battery life and other components
3. Select and recommend sensors and protocols for next generation automobiles
4. Provide design solutions in various areas such as cargo monitoring etc.

Syllabus Contents

Introduction to IOTs, Improving Quality of Life, Challenges to solve in IOTs, Energy Power, Data
Explosion, System design of an IOT System, Power supply, Processor, Memory Sensor Interface,
Wireless Interfaces, LAN - BLE, Wi-Fi, RFID WAN - LORA, LTE-M, Sigfox, NB-IOT,
Power supply design, LDOs, Switching regulators, BuckBoost Converters, Energy Measurements
Energy harvesting and battery life calculation, PV, RF , Kinetic Energy, TEGs, aeroelastic flutter,
Harvesting ICs in silicon, Protocols, IoT MAC, REST based COAP, Publish subscribe-- MQTT ,
AMQP, MDNS, Building an IOT System - Case Studies - Joule Jotter, Chhaya

Advanced IoT Applications

First responder IoT networks, Sensors and protocols for next generation automobiles,
Automotive IoT, Speech to text processing, Air quality monitoring, Localization in IoT, Smart,
energy monitoring, Cargo monitoring

Reference Books :

1. Arshdeep Bahga, Vijay Madiseti, Internet of Things

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