ACADEMIC CURRICULA

UNDERGRADUATE/ INTEGRATED POST

GRADUATE DEGREE PROGRAMMES
( With exit opti on of Diploma)

( Ch oi ce Based Flexi ble C red it System)

Regulations 2 021

Volume – 18
( Syllabi for Mechatronics Engi neeri ng Program Courses)

SRM INSTITUTE OF SCIENCE AND TECHNOLOGY

( D e e m ed to b e U n i v e r s i t y u / s 3 o f U G C A c t , 1 9 5 6 )

Kattankul athu r, Chengal pattu District 603203 , Tamil Nadu,

India
 SRM INSTITUTE OF SCIENCE AND TECHNOLOGY
Kattankulathur, Chengalpattu District 603203, Tamil Nadu, India

Contents (Volume - 18)

Syllabi for Higher Semester (3 - 8) Mechatronics Courses

No Title Page No
1 Professional Core Courses……………………………………………………………………………………... 3
21MHC201T Electrical actuators and Drives…………………………………………………………… 4
21MHC202J Analog and Digital Electronics……………………………………………………………. 6
21MHC203J Fluid power system and Automation……………………………………………………... 8
21MHC204L Electrical Actuators and Drives Lab……………………………………………………… 10
21MHC205T Microcontroller and Embedded Systems………………………………………………… 12
21MHC206T Mechanics of Solids and Fluids…………………………………………………………… 14
21MHC207L Microcontroller and Embedded Systems Lab…………………………………………… 16
21MHC208L Mechanics of Solids and Fluids Lab……………………………………………………… 18
21MHC301T System Dynamics and Control……………………………………………………………. 20
21MHC302J Design and Analysis of Machine Elements……………………………………………… 22
21MHC303J Measurement, Sensors and Interfaces………………………………………………….. 24
21MHC304L Modelling and Control Lab………………………………………………………………… 26
21MHC305J Manufacturing Processes……………………………………………………………….... 28
21MHC306T Kinematic Analysis and Dynamics of Mechanisms…………………………………… 30
21MHC307P Model Based Systems Engineering……………………………………………………… 32

Volume-18A – Mechatronics Courses 34

1 Professional Elective Courses ………………………………………………………………………………… 35
21MHE401T Fundamentals of Robotics………………………………………………………………… 36
21MHE402L Visual Computing Laboratory…………………………………………………………….. 38
21MHE403T Industrial Electronics………………………………………………………………………. 40
21MHE404T Robot Kinematics and Dynamics………………………………………………………… 42
21MHE405L Neural Networks and Deep Learning Laboratory………………………………………. 44
21MHE406T Virtual Instrumentation……………………………………………………………………. 46
21MHE407T Autonomous Mobile Robotics……………………………………………………………. 48
21MHE408L Measurement and Data Acquisition Laboratory………………………………………... 50
21MHE409T Advanced Microcontrollers and Signal Processors…………………………………….. 52
21MHE410T Machine Vision and Image Processing…………………………………………………. 54
21MHE411T Applied Mechatronics Systems…………………………………………………………... 56
21MHE412T Real Time Embedded Systems………………………………………………………….. 58
21MHE413T Condition Monitoring Techniques………………………………………………………... 60
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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 21MHE414T Advanced Control Systems………………………………………………………………. 62
21MHE415T Micro Electro Mechanical Systems……………………………………………………… 64
21MHE416T Geometric Modelling………………………………………………………………………. 66
21MHE417T Industrial Automation……………………………………………………………………… 68
21MHE418L Robotics Laboratory……………………………………………………………………….. 70
21MHE419T Digital Manufacturing……………………………………………………………………… 72
21MHE420T Energy Harvesting methods and applications………………………………………….. 74
21MHE421T Ergonomic Design…………………………………………………………………………. 76

Volume-18B – Robotics Courses 78

1 Professional Elective Courses…………………………………………………………………………………. 79
21MHE451J Manipulator Robotics……………………………………………………………………... 80
21MHE452L Computational Thinking Laboratory……………………………………………………… 82
21MHE453J Mechanics of Manipulation……………………………………………………………….. 84
21MHE454J Ground mobile Robotics………………………………………………………………….. 86
21MHE455T Robot Control………………………………………………………………………………. 88
21MHE456J Vision Guided Robots……………………………………………………………………... 90
21MHE457L Robot Programming……………………………………………………………………….. 92
21MHE458T Model Based System Engineering for Robotics………………………………………… 94
21MHE459J Planning and Decision Making in Robotics……………………………………………... 96
21MHE460T Advanced Robotics………………………………………………………………………... 98
21MHE461J AI for Perception Planning and Control…………………………………………………. 100
21MHE462T Advanced Dynamical Systems…………………………………………………………… 102
21MHE463T Soft Robotics………………………………………………………………………………. 104
21MHE464T Introduction to Marine and Aerial Robotics………………..……………………………. 106

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 ACADEMIC CURRICULA

Professional Core Courses

Regulations 2 021

SRM INSTITUTE OF SCIENCE AND TECHNOLOGY

( D e e m ed to b e U n i v e r s i t y u / s 3 o f U G C A c t , 1 9 5 6 )

Kattankul athu r, Chengal pattu District 603203 , Tamil Nadu,

India

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC201T ELECTRICAL ACTUATORS AND DRIVES C PROFESSIONAL CORE
Code Name Category 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Outline the concepts DC and AC Electrical Machines 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Gain knowledge on Stepper, Servo, BLDC Motors and their applications

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Familiarize the different Power Electronic Devices and Converters

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Illustrate the working of different DC Electrical Drives

Environment &
Sustainability
CLR-5: Acquire the knowledge on AC Electrical Drives

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Examine the fundamentals of DC and AC Machines 1 3 3 - - - - - - - - - - - -
CO-2: Apply the Special Machines for different actuations 1 2 3 - - - - - - - - - - - -
CO-3: Describe the working principle of Rectifiers, Choppers and Inverters 1 2 1 - - - - - - - - - - - -
CO-4: Summarize the working of Electrical Drives 1 2 1 - - - - - - - - - - - -
CO-5: Disseminate the latest trends in applications of Electrical Drives 1 2 1 - - - - - - - - - - - -

Unit-1 - Applications of PN Junctions 9 Hour

Operation and VI Characteristics - Tunnel diode, Varactor diode, Photo diode, Light Emitting Diode and Laser diode, UJT.Diode Applications – clippers , clampers, Half wave rectifier, Full wave rectifier, rectifier with
capacitor filter (half and bridge rectifier with and without C)Transistor biasing – Overview (Concepts) of fixed bias, emitter bias with and without emitter resistance. Analysis of above circuits and their design, variation
of operating point and its stability.
Experiments:
1. Characteristics of half wave and full wave rectifier with and without filter. 2. Characteristics of UJT
Unit-2 - Feedback Amplifiers, Oscillators and Multivibrators 9 Hour
Feedback Amplifiers: Concepts of feedback – Classification of feedback amplifiers – General characteristics of Negative feedback amplifiers – Effect of Feedback on Amplifier characteristics – Voltage series, Voltage
shunt, Current series and Current shunt Feedback configurations – Simple problems.Oscillators: Barkhausen criterion for oscillation – Types of oscillators. Construction and working principle of RC and LC
oscillators.Multivibrators: Construction and working principle of astable, bistable and monostable multivibrator.
Experiments:
1. Design of Astable Multivibrator. 2. Design of RC Phase Shift Oscillator
Unit-3 - Operational Amplifier Applications 9 Hour
Basic information about op-amps – Ideal Operational Amplifier – General operational amplifier stages -and internal circuit diagrams of IC 741, DC and AC performance characteristics, slew rate, Open and closed
loop configurations, Inverting and non-inverting amplifier, Differential amplifier.Sign Changer, Scale Changer, Phase Shift Circuits, Voltage Follower, V-to-I and I-to-V converters, adder, subtractor, Integrator,
Differentiator, Logarithmic amplifier, Antilogarithmic amplifier, Comparators, Zero crossing detector, Schmitt trigger, Precision rectifier, peak detector, clipper and clamper.
Experiments:
1. Inverting and Non-Inverting Amplifiers using Op-Amp. 2. Study of half wave and full wave Precision Rectifier
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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-4 - Combinational Logic Circuits 9 Hour
Minimization of Boolean expressions using K – map, Minimization of Boolean expressions using karnaugh map with don’t care conditions. Design steps for combinational circuits, Design of adder and subtractor,
Design of Multiplexer, Design of De-Multiplexer, Design of Encoder, Design of Decoder, Logic Diagram of Parallel binary adder/Subtractor, Design of code converters, Design of magnitude comparator. Programmable
logic devices - PLA, PAL, Complex PLD.
Experiments:
1. Realization of logic circuits of Multiplexer and De-Multiplexer. 2. Realization of logic circuits of Encoder and Decoder. 3. Design of Code converters
Unit-5 - Sequential Logic Circuits 9 Hour
Introduction to Latches and Flip-Flop, Triggering of flip flops, Truth Table, Characteristic Table, Excitation table and equations for flip flops, Conversion of SR flip flop to any flip flop. Conversion of JK flip flop to any
flip flop. Conversion of D flip flop to any flip flop. Conversion of T flip flop to any flip flop, Master – Slave Flip-flop, Steps to design Sequential Circuits, Design of synchronous counter, Design of asynchronous
sequential circuits, Design of Asynchronous Up, Down counter, Concept and Types of Shift Registers (Serial In Serial Out, Serial In Parallel Out, Parallel In Serial Out and Parallel In Parallel Out shift registers.
Experiments:
1. Study of Flip flop – SR, JK, T and D. 2. Design of Shift registers using Flip-Flops. 3. Design of synchronous counter using JK Flip-Flops

1. Adel S. Sedra and Kenneth C. smith, Microelectronic Circuits theory and applications, sixth 5. M.Morris Mano and Michael D.Ciletti, Digital design, Pearson education, 2008.
edition, Oxford University Press, 2010. 6. Thomas L. Floyd, Digital Fundamentals, Tenth edition, Pearson education, 2011.
2. Robert L. Boylestad and Louis Nasheresky, Electronic devices and circuit theory, Tenth edition, 7. David A.Bell, Electronic Devices and Circuits, Fifth edition, Oxford University Press,
Learning Pearson, 2013. 2008.
Resources 3. D Roy Choudhury and Shail Bala Jain, Linear Integrated Circuits, Fifth edition, new age 8. Jacob Millman, Microelectronics, McGraw Hill, 2nd Edition, Reprinted, 2009.
International 2017.
4. Sergio Franco, Design with operational amplifiers and analog integrated circuits, Fourth edition,
McGraw Hill, 2017.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Subramani K.P,CTO, vTitan Corporation Pvt. Ltd. 1. Dr.R.Thiyagarajan, Indian Institute of Technology ,Tirupati, [email protected] 1. Dr.V.Krithika, SRMIST
2. T.S.Srikanth,Principal Chief Engineer, CREAT UNO Minda Group 2. Dr.Sreejith.S, National Institute of Technology, Silchar(NITS),Assam, [email protected] 2. Mr.S.Vasanth, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC202J ANALOG AND DIGITAL CIRCUITS Category C PROFESSIONAL CORE
Code Name 2 0 2 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Outline the concepts of various semiconductor devices 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2:

Individual & Team Work

Engineering Knowledge
Illustrate the working of amplifiers biasing and significance of amplifier for various wave shaping circuits

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Gain knowledge on operational amplifiers and its applications

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Familiarize the concept of digital circuits

Environment &
Sustainability
CLR-5: Acquire the knowledge on sequential circuits

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Analyze the characteristics of special semiconductor devices 3 2 3 - - - - - - - - - - - -
CO-2: Analyze different types of amplifiers, oscillators and multivibrator circuits 3 3 3 - - - - - - - - - - - -
CO-3: Design linear and non-linear applications of Op-amps 3 2 2 - - - - - - - - - - - -
CO-4: Design various combinational digital circuits using logic gates 3 3 3 - - - - - - - - - - - -
CO-5: Understand the concepts and applications of various sequential circuits 3 3 3 - - - - - - - - - - - -

Unit-1 - Applications of PN Junctions 12 Hour

Operation and Vi Characteristics - Tunnel Diode, Varactor Diode, Photo Diode, Light Emitting Diode and Laser Diode, Ujt.Diode Applications – Clippers , Clampers, Half Wave Rectifier, Full Wave Rectifier, Rectifier
With Capacitor Filter (Half And Bridge Rectifier With And Without C)Transistor Biasing – Overview (Concepts) Of Fixed Bias, Emitter Bias With and Without Emitter Resistance. Analysis of Above Circuits and Their
Design, Variation of Operating Point and Its Stability.
Experiments:
1. Characteristics of Half Wave and Full Wave Rectifier With and Without Filter. 2. Characteristics of Ujt
Unit-2 - Feedback Amplifiers, Oscillators and Multivibrators 12 Hour
Feedback Amplifiers: Concepts of Feedback – Classification of Feedback Amplifiers – General Characteristics Of Negative Feedback Amplifiers – Effect of Feedback On Amplifier Characteristics – Voltage Series,
Voltage Shunt, Current Series And Current Shunt Feedback Configurations – Simple Problems.Oscillators: Barkhausen Criterion For Oscillation – Types of Oscillators. Construction and Working Principle of Rc and
Lc Oscillators.Multivibrators: Construction and Working Principle of Astable, Bistable and Monostable Multivibrator.
Experiments:
1. Design of Astable Multivibrator. 2. Design of Rc Phase Shift Oscillator
Unit-3 - Operational Amplifier Applications 12 Hour
Basic Information About Op-Amps – Ideal Operational Amplifier – General Operational Amplifier Stages -And Internal Circuit Diagrams Of Ic 741, Dc and Ac Performance Characteristics, Slew Rate, Open and Closed
Loop Configurations, Inverting and Non-Inverting Amplifier, Differential Amplifier.Sign Changer, Scale Changer, Phase Shift Circuits, Voltage Follower, V-To-I And I-To-V Converters, Adder, Subtractor, Integrator,
Differentiator, Logarithmic Amplifier, Antilogarithmic Amplifier, Comparators, Zero Crossing Detector, Schmitt Trigger, Precision Rectifier, Peak Detector, Clipper And Clamper.
Experiments:
1. Inverting and Non-Inverting Amplifiers Using Op-Amp. 2. Study of Half Wave and Full Wave Precision Rectifier
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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-4 - Combinational Logic Circuits 12 Hour
Minimization of Boolean Expressions Using K – Map, Minimization of Boolean Expressions Using Karnaugh Map with Don’t Care Conditions. Design Steps For Combinational Circuits, Design of Adder and Subtractor,
Design of Multiplexer, Design of De-Multiplexer, Design of Encoder, Design of Decoder, Logic Diagram of Parallel Binary Adder/Subtractor, Design of Code Converters, Design of Magnitude Comparator.
Programmable Logic Devices - Pla, Pal, Complex Pld.
Experiments:
1. Realization of Logic Circuits of Multiplexer and De-Multiplexer. 2. Realization of Logic Circuits of Encoder and Decoder. 3. Design of Code Converters
Unit-5 - Sequential Logic Circuits 12 Hour
Introduction to Latches and Flip-Flop, Triggering of Flip Flops, Truth Table, Characteristic Table, Excitation Table and Equations For Flip Flops, Conversion of Sr Flip Flop To Any Flip Flop. Conversion of Jk Flip Flop
to Any Flip Flop. Conversion of D Flip Flop to Any Flip Flop. Conversion of T Flip Flop to Any Flip Flop, Master – Slave Flip-Flop, Steps to Design Sequential Circuits, Design of Synchronous Counter, Design of
Asynchronous Sequential Circuits, Design of Asynchronous Up, Down Counter, Concept and Types of Shift Registers (Serial In Serial Out, Serial In Parallel Out, Parallel In Serial Out and Parallel In Parallel Out Shift
Registers.
Experiments:
1. Study of Flip Flop – Sr, Jk, T And D. 2. Design of Shift Registers Using Flip-Flops. 3. Design of Synchronous Counter Using Jk Flip-Flops

1. Adel S. Sedra and Kenneth C. smith, Microelectronic Circuits theory and applications, sixth 5. M.Morris Mano and Michael D.Ciletti, Digital design, Pearson education, 2008.
edition, Oxford University Press, 2010. 6. Thomas L. Floyd, Digital Fundamentals, Tenth edition, Pearson education, 2011.
2. Robert L. Boylestad and Louis Nasheresky, Electronic devices and circuit theory, Tenth 7. David A.Bell, Electronic Devices and Circuits, Fifth edition, Oxford University Press,
Learning edition, Pearson, 2013. 2008.
Resources 3. D Roy Choudhury and Shail Bala Jain, Linear Integrated Circuits, Fifth edition, new age 8. Jacob Millman, Microelectronics, McGraw Hill, 2nd Edition, Reprinted, 2009.
International 2017.
4. Sergio Franco, Design with operational amplifiers and analog integrated circuits, Fourth
edition, McGraw Hill, 2017.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(45%) (15%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - - 15% 15% -
Level 2 Understand 25% - - 20% 25% -
Level 3 Apply 30% - - 25% 30% -
Level 4 Analyze 30% - - 25% 30% -
Level 5 Evaluate - - - 10% - -
Level 6 Create - - - 5% - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Subramani K.P,CTO, vTitan Corporation Pvt. Ltd. 1. Dr.R.Thiyagarajan, Indian Institute of Technology ,Tirupati, [email protected] 1. Dr.V.Krithika, SRMIST
2. T.S.Srikanth,Principal Chief Engineer, CREAT UNO Minda 2. Dr.Sreejith.S, National Institute of Technology, Silchar(NITS),Assam, 2. Mr.S.Vasanth, SRMIST
Group [email protected]

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC203J FLUID POWER SYSTEM AND AUTOMATION C PROFESSIONAL CORE
Code Name Category 2 0 2 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Get exposed to the fundamentals of fluid power principles and fluid power components. 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2:

Individual & Team Work

Engineering Knowledge
Explore various control valves and logics used in fluid power systems.

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Realize sequencing control of fluid power actuators for an application.

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Apply positioning control of fluid power actuators.

Environment &
Sustainability
CLR-5: Acquire knowledge on role of PLC in fluid power system automation.

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Select fluid power system sources and actuators for an application. 3 - - - - - - - - - - - - 3 -
CO-2: Demonstrate competency in choice of control valves and logics based on application. 3 1 - - - - - - - - - - - 3 -
CO-3: Design and implement any sequencing of actuations based on the application requirements. - 2 3 - 1 - - - - - - - - 1 2
CO-4: Implement positioning control of cylinders using servo valves - 2 3 - 1 - - - - - - - - 1 2
CO-5: Develop PLC ladder logic programming control for fluid power circuits. 2 - 3 - 1 - - - - - - - - 1 2

Unit-1 - Fluid Power Sources and Actuators 12 Hour

Introduction to fluid power system – Types, Advantages and Applications - Physics of fluid power - Pneumatic sources – Compressors and its types –Working principle, design and selection criteria - Hydraulic sources
– Pumps and its types – Working principle, design and selection criteria - Types of fluid power actuators - Special cylinders – Design and selection criteria.
1. Study experiment on pneumatic components and their symbolic representation, 2. Experiment on direct and indirect control of fluid power actuators
Unit-2 - Control Valves in Fluid Power Systems 12 Hour
Direction control valves – Types, actuation techniques and neutral positions - Continuous reciprocation of single-acting and double-acting cylinder - Flow control valves, their needs and types-Speed control circuits -
Pressure control valves, their needs and types - Logic valves – Actuator control with logic valves - Time delay valve, and Quick exhaust valve.
1. Experiment on continuous reciprocation of fluid power actuators, 2. Experiment on speed control circuits
Unit-3 - Design and Implementation of Fluid Power Circuits 12 Hour
Two-cylinder and three-cylinder sequencing – Pneumatic and electro-pneumatic implementation - Two-cylinder and three-cylinder sequencing with signal conflict – Pneumatic and electro-pneumatic cascading
implementation - Timer and counter-based control of fluid power actuators.
1. Experiment on pneumatic and electro-pneumatic implementation of multiple actuator sequencing control with and without signal conflict
2. Experiment on timer and counter-based control of pneumatic actuators
Unit-4 - Position Control of Fluid Power Actuators 12 Hour
Synchronization circuits - Accumulators and application circuits - Need for positioning control of fluid power actuators - Proportional valves – working, types and applications - Servo valves – working, types and
applications - Servo pneumatic/Servo hydraulic positioning system - Application case studies.
1. Experiment on synchronization circuits, 2. Experiment on servo pneumatic position control

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-5 - Applications of PLC in Fluid Power Systems 12 Hour
Introduction to programmable logic controllers - Architecture and advantages of PLC - Ladder logic programming – Logic gates, start/stop operation with latching - Timers and counters - Interlocking - Continuous
reciprocation circuit and sequential circuit implementation using PLC.
1. Experiment on basic ladder logic programming of PLC and continuous reciprocation of fluid power actuator using PLC
2. Experiment on multiple actuator sequencing control using PLC

1. Anthony Esposito, “Fluid Power with applications”, Prentice Hall International, 7th edition, 2014. 4. James L. Johnson, “Introduction to Fluid Power”, Prentice Hall, 2004.
Learning 2. Majumdar .S.R., “Oil Hydraulics: Principle and Maintenance”, Tata McGraw Hill Education, 5. Andrew Parr, “Hydraulics and Pneumatics”, Jaico Publishing House, 2003.
Resources 2012. 6. G. Dunning, “Introduction to Programmable Logic Controllers”, Cengage Learning.
3. Werner Deppert , Kurt Stoll, “Pneumatic Application”, Vogel verlag, 1986

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(45%) (15%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 5% - - 10% 5% -
Level 2 Understand 15% - - 10% 15% -
Level 3 Apply 15% - - 10% 15% -
Level 4 Analyze 15% - - 20% 15% -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. C. Elan Chezhian, Keyence Engineering, Chennai 1. Dr. D. Saravanakumar, VIT University, Chennai 1. Dr. T. Muthuramalingam, SRMIST
2. Mr. K. Elango, Sealed Air Company, Chennai 2. Dr. V. Mugendiran , MIT, Anna University, Chennai 2. Mrs. G. Madhumitha, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC204L ELECTRICAL ACTUATORS AND DRIVES LAB C PROFESSIONAL CORE
Code Name Category 0 0 2 1

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Apply the basic concepts 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Analyze the basic concepts

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Demonstrate their ability in selecting components for particular application

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Implement characteristics of semiconductor devices, amplifiers,

Environment &
Sustainability
CLR-5: Illustrate the basic concepts

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Implement the functionality of 3 2 2 - - - - - - - - - - - -
CO-2: Apply the knowledge on basic concepts in operating 3 2 2 - - - - - - - - - - - -
CO-3: Analyze the Performance Characteristics 3 2 2 - - - - - - - - - - - -
CO-4: Apply the knowledge in selecting components for 3 2 2 - - - - - - - - - - - -
CO-5: Illustrate characteristics of semiconductor devices 3 2 2 - - - - - - - - - - - -

Unit-1 - 6 Hour

Unit-2 - 6 Hour

Unit-3 - 6 Hour

Unit-4 - 6 Hour

Unit-5 - 6 Hour

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. Bhimbra. Dr.P.S. “Power Electronics”, Khanna Publishers, 2012. 3. Edward Hughes, John Hiley, Keith Brown, Ian McKenzie Smith, Hughes Electrical and Electronics
Learning
2. Dubey.G.K. “Fundamentals of Electrical Drives”, Narosa publishing house 2001. Technology, Pearson Education, 12th ed., 2016
Resources
4. Lab Manuals.

Learning Assessment
Continuous Learning Assessment (CLA)
CLA-1 Average of first cycle CLA-2 Average of second cycle Final Examination
Bloom’s Practical Examination
experiments experiments (0% weightage)
Level of Thinking (40% weightage)
(30%) (30%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - 15% - 15% - 15% - -
Level 2 Understand - 25% - 20% - 25% - -
Level 3 Apply - 30% - 25% - 30% - -
Level 4 Analyze - 30% - 25% - 30% - -
Level 5 Evaluate - - - 10% - - - -
Level 6 Create - - - 5% - - - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr.N.Gunavardhini, TANGEDCO, Salem, [email protected] 1. Dr.K.Sujatha,Dr.MGR Educational and Research Institute, 1. Dr.M.Santhosh Rani, ,SRMIST
[email protected]
2. Ms.Joyce Sumathi, MWSSB, [email protected]. 2. Dr.G.R.Kanagachidambaresan, Vel Tech, 2. Mr.A.Lakshmi Srinivas, ,SRMIST
[email protected]

11
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC205T MICROCONTROLLER AND EMBEDDED SYSTEMS C PROFESSIONAL CORE
Code Name Category 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Familiarize with the functionality of microprocessors and microcontrollers 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Acquire knowledge of microcontroller programming in Mechatronics systems

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Realize the fundamentals of embedded system design with real time systems

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Assimilate the way to create and optimize programs

Environment &
Sustainability
CLR-5: Incorporate the fundamentals of embedded systems design with real time system

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Evaluate and compare various embedded processors 3 - - - 1 - - - - - - - - 1 -
CO-2: Implement the concepts of microcontroller to Mechatronics systems 3 - 2 - 2 - - - - - - - - - 2
CO-3: Apply the fundamentals of embedded system design with real time systems 3 - - - 1 - - - - - - - - - 2
CO-4: Appreciate the way programs are created and optimized 3 - - - - - - - - - - - - 1 -
CO-5: Build simple embedded applications 3 - 1 - - - - - - - - - - - 2

Unit-1 - Microprocessor and Microcontrollers 9 Hour

8-bit and 16-bit microprocessor - architecture - instruction set- addressing mode, Instruction cycle, 8-bit microcontroller – architecture - special function registers - instruction set - addressing mode, - interrupt handling
Unit-2 - ARM Controller 9 Hour
ARM Controller - Architecture - Functional description - ARM state instruction - Thumb state instruction - Addressing modes - Operating modes,
Unit-3 - Introduction to Embedded System 9 Hour
Embedded System - Definition, Key Elements- Design Metric Challenges - Design technology - IC technology - Processor technology, Introduction to Arduino – Hardware interfacing - controlling embedded system
based devices using Arduino - Arduino IDE - Introduction to Raspberry pi
Unit-4 - Embedded System – Debugging & Development Environment 9 Hour
Debugging Techniques/ Challenges - Program Design and Analysis – Components for Embedded systems- Model of programs - DFG and CDFG - Assembly, linking and loading - Basic compilation techniques -
optimization, Interrupts - Interrupt Latency, Embedded software architectures
Unit-5 - RTOS based Embedded System Design 9 Hour
Introduction to basic concepts of RTOS, Task, process & threads - Task management and scheduling - Interrupt servicing - Multiprocessing and Multitasking - Inter task Communication and data exchange -
Synchronization between processes: Semaphores - Memory management - Issues in real-time system design - Design of Embedded Systems – Development of IoT Applications

12
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. Muhammed Ali Mazidi, Janice Gillispie Mazidi, Rolin D. McKinlay, “The 8051 Microcontroller 5. Andrew N Sloss, D. Symes, C. Wright, “Arm System Developers Guide”, Morgan
and Embedded Systems", Pearson Education, Second Edition, 2014. Kauffman/ Elsevier, 2006.
2. Douglas V Hall, "Microprocessors and Interfacing", McGraw Hill Education, 3rd Edition (SIE), 6. Michael McRoberts, " Beginning Arduino", Apress, Year: 2010
Learning 2017 7. Massimo Banzi, “Getting Started with Arduino: The Open Source”, Shroff Publishers
Resources 3. Frank Vahid and Tony Givargis, “Embedded system design: A unified hardware software & Distributors Pvt Ltd, 2014
approach”, Pearson Education Asia, 3rd edition, 2009 8. M. A. Mazidi, S. Naimi, S. Naimi, The AVR Microcontroller and Embedded Systems
4. Wayne Wolf, "Computers as Components: Principles of Embedded Computing System Design Using Assembly and C, Pearson, 2015
(The Morgan Kaufmann Series in Computer Architecture and Design)", 5th Edition, 2022

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 25% - 25% -
Level 3 Apply 30% - 30% - 30% -
Level 4 Analyze 30% - 30% - 30% -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.N.Ravi,L&T GeoStructure Private Limited, 1. Dr.BamaSrinivasan, Anna University, Guindy, Chennai,[email protected] 1. Mrs.T.S.Rajalakshmi, SRMIST
[email protected]
2. Mr. SathiyaMoorthi, Broadcom Inc, 2. Dr.Thiyagarajan, Indian Institute of Technology Tirupati, [email protected] 2. Mrs.M.Nandhini, SRMIST
[email protected]

13
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC206T MECHANICS OF SOLIDS AND FLUIDS C PROFESSIONAL CORE
Code Name Category 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Understand the behavior and properties of materials under external loading conditions, and Specific
CLR-1: 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
Analyze the behavior of fluids using the concepts and equations.
CLR-2: Analyze the beams and shafts under pure bending and torsion, Analyze the columns using the buckling effect.

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Identify types of beams and understand their deflection under different types of load

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Understand the applications of Bernoulli's equation

Environment &
Sustainability
CLR-5: Summarize the various losses in pipes

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Estimate the different types of stress induced in materials 3 3 3 - - - - - - - - - - - -
CO-2: Evaluate the bending stress and shear stress under pure bending and torsion 3 3 3 - - - - - - - - - - - -
CO-3: Calculate the maximum shear stress and bending moment at the critical section 3 3 3 - - - - - - - - - - - -
CO-4: Determine the coefficient of discharge of different devices 3 3 2 - - - - - - - - - - - -
CO-5: Estimate losses in pipes 3 3 2 - - - - - - - - - - - -

Unit-1 - Mechanics of Materials and Fluids 9 Hour

Introduction-Stress, Strain and Displacement, Fundamental equations deformable body mechanics, Equilibrium, Determination of Internal Resultant Forces by Method of Joints and Method of Sections, Stress-strain
relationship, Axially Loaded Bars, Elastic Constants, Poisson’s Ratio, Stress-strain diagrams- Tension Test, Compression test, Mechanical properties of materials. Introduction- Fluid Properties, Types of Fluids,
Types of Flow, Pressure and its measurement, Pressure measurement devices – Different types of manometers
Unit-2 - Pure Bending, Torsion and Columns 9 Hour
Pure Bending-Bending equation and its assumptions, Moment of Inertia for different cross sections, Bending Stress in beams- Torsion- Torsion Equation and its assumptions, Polar moment of inertia, Torsion in
stepped and composite shafts- Columns-Buckling of slender column, Critical load, critical stress and effective length for a Column with pinned end, Column Fixed at the Base and Free at the Top, Column with Both
Ends Fixed Against Rotation, Column Fixed at the Base and Pinned at the top.
Unit-3 - Beams and Shafts 9 Hour
Beams - Types of beams - cantilever, simply supported, fixed and continuous beams Types of loads, Sign conventions, Shear for and bending moment diagram – cantilever, simply supported and over hanging
beams. Shafts- Equivalent twisting moment-Shaft with pulley and gear.
Unit-4 - Kinematics and Dynamics of Fluids 9 Hour
Fluid flow, Stream line-streak line-path line - stream function - Continuity Equation and its application, Rate of flow, Derivation of Euler’s equation, Bernoulli’s equation from Euler's equation and its assumptions,
Application of Bernoulli’s equation – Venturi meter, Orifice meter
Unit-5 - Flow Through Pipes 9 Hour
Introduction to losses in pipes, Types of losses, Darcy – Weisbach’s equation, Friction factor, Analysis of Minor losses and Major losses in pipes- pipes in series and in parallel, Construction and working principle of
centrifugal pump and reciprocating pump, Performance of pumps

14
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. R.K.Bansal, “Strength of Materials”, 6th ed., Lakshmi Publications, 2022. 4. Bansal. R. K, "Fluid Mechanics and Hydraulic Machines", 11th ed., Laxmi publications (P)
2. Ramamurtham S and Narayanan R, "Strength of Materials", 20th ed., Dhanpat Rai Ltd., 2022.
Learning
Pvt. Ltd., 2022. 5. Kumar. K. L, "Engineering Fluid Mechanics", S Chand Publications, 2016.
Resources
3. Timoshenko. S. P., Gere .M. J, "Mechanics of Materials", 5th ed., Stanley Thornes 6. John.M.Cimbala Yunus A.Cengel, "Fluid Mechanics: Fundamentals and Applications”, 4th ed.
(PUB) Ltd, 1999. Mc Graw Hill Higher Education, 2019.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.G.Gopinath, R&D Manager, ZF, Chennai, Email ID: 1. Dr.D.Madesh, Professor, Dept of Mechanical Engineering, AMET University, 1. Mr.M.Chandrasekaran, SRMIST
[email protected] Chennai,Email ID:[email protected].
2. Mr. K.Maheshwaran, Assistant Manager , TAFE, Madurai,Email ID: 2. Dr.L.Ranganathan, Professor and Head, Dept. of Mechanical Engineering, Agni 2. Ms.D.Gayathiri, SRMIST
[email protected] College of Technology, Chennai, Email ID: [email protected]

15
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC207L MICROCONTROLLER AND EMBEDDED SYSTEMS LABORATORY Category C PROFESSIONAL CORE
Code Name 0 0 2 1

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Familiarize with the functionality of microprocessors and microcontrollers 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Gain knowledge of microcontroller programming and embedded system

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Assimilate the way programs are to be created and optimized

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Apply the concepts of IoT and programming using open-platform

Environment &
Sustainability
CLR-5: Incorporate the fundamentals of embedded systems design with real time system

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Evaluate and compare various embedded processors 3 2 2 - 2 - - - - - - - - 1 -
CO-2: Analyze applications of IoT using Arduino 3 2 2 - 2 - - - - - - - - - 2
CO-3: Appreciate the way programs are created and optimized 3 2 2 - 2 - - - - - - - - - -
CO-4: Design portable IoT using Raspberry Pi /open platform 3 - - - - - - - - - - - - - 2
CO-5: Design simple embedded applications 3 - 2 - - - - - 1 - - - - - 2

Unit-1 - Microprocessor and Microcontrollers 6 Hour

1. Microprocessor and Microcontroller programming for basic operations
2. Interfacing of motors of any type with Microprocessor and Microcontroller
Unit-2 - Arduino programming and Introduction to Embedded System 6 Hour
3.Basic Operations in Arduino Programming
4. Interfacing of motors and displays with Arduino
Unit-3 - Embedded System – Debugging & Development Environment 6 Hour
5. Interrupt-based programs in microprocessor and microcontroller
6. Sensor and actuator interfacing with arduino controller
Unit-4 - 6 Hour
7. Basic operations in ARM controller
8. Interfacing of motors with ARM controller
Unit-5 - RTOS based Embedded System Design 6 Hour
9. Programs to explore the internal features of ARM controller.
10. Interrupts handling in ARM controller

16
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. Muhammed Ali Mazidi, Janice Gillispie Mazidi, Rolin D. McKinlay, “The 8051 3. Andrew N Sloss, D. Symes, C. Wright, “Arm System Developers Guide”, Morgan
Learning Microcontroller and Embedded Systems", Pearson Education, Second Edition, 2014. Kauffman/ Elsevier, 2006.
Resources 2. Douglas V Hall, "Microprocessors and Interfacing", McGraw Hill Education, 3rd Edition 4. Laboratory Manuals
(SIE), 2017

Learning Assessment
Continuous Learning Assessment (CLA)
CLA-1 Average of first cycle CLA-2 Average of second cycle Final Examination
Bloom’s Practical Examination
experiments experiments (0% weightage)
Level of Thinking (40% weightage)
(30%) (30%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - 15% - 15% - 15% - -
Level 2 Understand - 25% - 25% - 25% - -
Level 3 Apply - 30% - 30% - 30% - -
Level 4 Analyze - 30% - 30% - 30% - -
Level 5 Evaluate - - - - - - - -
Level 6 Create - - - - - - - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. N.Ravi, L&T GeoStructure Private Limited, 1. Dr.BamaSrinivasan, Anna University, Guindy, Chennai,[email protected] 1. Dr.M.Mohamed Rabik, SRMIST
[email protected]
2. Mr. SathiyaMoorthi, Broadcom Inc, 2. Dr.Thiyagarajan, Indian Institute of Technology Tirupati, [email protected] 2. Dr.Cross T Asha Wise, SRMIST
[email protected]

17
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC208L MECHANICS OF SOLIDS AND FLUIDS LAB Category C PROFESSIONAL CORE
Code Name 0 0 2 1

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Understand the behavior and properties of materials under external loading conditions, and Analyze the Specific
CLR-1: 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
behavior of fluids using the concepts and equations
CLR-2: Analyze the beams and shafts under pure bending and torsion, Analyze the columns using the buckling effect.

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Identify types of beams and understand their deflection under different types of load

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Understand the applications of Bernoulli's equation

Environment &
Sustainability
CLR-5: Summarize the various losses in pipes

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Estimate the different types of stress induced in materials 3 3 3 - - - - - - - - - - - -
CO-2: Evaluate the bending stress and shear stress under pure bending and torsion 3 3 3 - - - - - - - - - - - -
CO-3: Calculate the maximum shear stress and bending moment at the critical section 3 3 2 - - - - - - - - - - - -
CO-4: Determine the coefficient of discharge of different devices 3 3 2 - - - - - - - - - - - -
CO-5: Estimate losses in pipes 3 2 2 - - - - - - - - - - - -

Unit-1 - Basics of Mechanics of Materials and Fluids 6 Hour

Tensile test of metallic materials
Deflection test on simply supported beam
Unit-2 - Pure Bending, Torsion and Columns 6 Hour
Charpy / Izod impact test on a steel specimen Torsional test on mild steel rod
Double Shear test on metallic materials
Unit-3 - Beams and Shafts 6 Hour
Fatigue test
Surface Hardness test on metallic materials
Determine the coefficient of discharge of the orifice meter
Unit-4 - Kinematics and Dynamics of Fluids 6 Hour
Verification of Bernoulli's theorem.
Determine the coefficient of discharge of venturi meter
Unit-5 - Flow Through Pipes 6 Hour
Determination of minor losses due to pipe fittings. Determination of pipe friction factor
Performance test on centrifugal pump

18
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Learning
Resources

Learning Assessment
Continuous Learning Assessment (CLA)
CLA-1 Average of first cycle CLA-2 Average of second cycle Final Examination
Bloom’s Practical Examination
experiments experiments (0% weightage)
Level of Thinking (40% weightage)
(30%) (30%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - -
Level 2 Understand - - - - -
Level 3 Apply - - - - -
Level 4 Analyze - - - - -
Level 5 Evaluate - - - - -
Level 6 Create - - - - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. G. Gopinath, R&D Manager, ZF, Chennai, 1. Dr.D.Madesh, Professor, AMET University, Chennai, 1. Mr.M.Chandrasekaran, SRMIST
[email protected] [email protected].
2. Mr. K.Maheshwaran, Assistant Manager , TAFE, Madurai, 2. Dr.L.Ranganathan, Professor and Head, Dept. Of Mechanical Engineering, 2. Mr.G.Balakumaran, SRMIST
Email ID: [email protected] Agni College of Technology, Chennai,Email ID: [email protected]

19
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC301T SYSTEM DYNAMICS AND CONTROL Category C PROFESSIONAL CORE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Model the electrical, mechanical, and electromechanical dynamic systems 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Analyze a dynamic system using procedural methods

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Construct the control systems in the time domain.

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Analyze a control systems in the frequency domain.

Environment &
Sustainability
CLR-5: Develop a state space model.

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Construct the basic dynamic systems 3 2 - - 2 - - - - - - - 3 - -
CO-2: Design a conventional controller for a dynamic system 3 2 - - 2 - - - - - - - 3 - -
CO-3: Analyze a controller based on time domain specification 3 2 3 - 2 - - - - - - - 3 - 2
CO-4: Apply the procedure of frequency response plot to design a compensator 3 2 3 - 2 - - - - - - - 3 - 2
CO-5: Develop a controller using state space approach 3 2 3 - 2 - - - - - - - 3 - 2

Unit-1 - Modeling of systems 9 Hour

Introduction to signals and their properties- Elementary Signals-Introduction to systems and properties- LTI system- Solving differential equation using Laplace transform -Transfer function/System function, poles
and zeros-Modeling of mechanical, electrical, and electromechanical dynamic systems, and numerical examples on modeling.
Unit-2 - Time Domain Specifications and controllers 9 Hour
Introduction to open loop and closed loop control system, -Block diagram and signal flow graph reduction techniques, Response of I and II order systems and their time domain specifications- Steady state error
constant of the system for type numbers and inputs-PID control-Analytical design for PD, PI, PID control systems- Design of PID controller using Model-based /Zeigler Nichols method
Unit-3 - Concept of stability and Design 9 Hour
Stability of system- Routh-Hurwitz stability criterion- Root locus method, steps in obtaining a root-locus-Design of controllers using root-locus-Introduction to compensator - Compensator design using root locus-
Cascade Lead, lag, and lag-lead compensation
Unit-4 - Frequency Response Analysis and Design 9 Hour
Closed loop frequency response-Performance specification in frequency domain-Frequency response of standard second order system- Construction of Bode Plots and Polar Plots - Compensator design using Bode
Plots -Cascade Lead, lag, and lag-lead compensation.
Unit-5 - State space analysis and Design 9 Hour
State variable representation-Conversion of state variable models to transfer functions-Conversion of transfer functions to state variable models-Solution of state equations-Concepts of Controllability and
Observability-Stability of linear systems-Full state feedback controller design-Full order observer design-Design examples.

20
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. B P Lathi, Principles of Linear Systems and Signals, 2nd edition, Oxford University Press, 2009. 3. Norman S Nise, Control Systems Engineering, 7th edition, Wiley, 2015.
Learning
2. J Nagrath, M Gopal, Control Systems Engineering, 5th Edition,New Age International, 2007. 4. Roland S. Burns, Advanced Control Engineering, Butterworth- Heinemann, First edition,
Resources
2001

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 25% - 25% -
Level 3 Apply 30% - 30% - 30% -
Level 4 Analyze 30% - 30% - 30% -
Level 5 Evaluate - - - - -
Level 6 Create - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr. K. Karthikeyan Ph.D.,R＆D Team Manager, Power 1. Dr.M.Mythili, Assistant Professor, Department of Electronics and Instrumentation 1. Dr.M.Mohamed Rabik, AP, SRMIST
Quality Products, Hitachi Energy, Bangalore Engineering, Anna University, Chennai - 600025.Email - [email protected]
2. Mr. Emmanuel Thangiah Director-Operations, E73 AI 2. Dr. P. Karthikeyan, Assistant Professor, Department of Production Technology, MIT 2. Ms.D.Sasikala , AP, SRMIST
Innovations Pvt Ltd Email – [email protected] Campus, Anna University, Chennai- 600044. Email id:[email protected]

21
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC302J DESIGN AND ANALYSIS OF MACHINE ELEMENTS Category C PROFESSIONAL CORE
Code Name 2 0 2 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Formulate, design, and identify torque elements. 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Estimate the life of sliding and rolling contact bearings.

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Analyze the gear failure modes, and evaluate forces and stresses within a gear system.

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Construct flexible drive systems and design for light, medium, and heavy-duty applications.

Environment &
Sustainability
CLR-5: Summarize the basics of finite element formulation.

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Design suitable shafts and coupling for particular engineering applications. 3 3 2 2 3 - - - - - - - 2 2 -
CO-2: Analyze and select bearings and lubricants for various engineering applications. 3 3 2 2 3 - - - - - - - 2 2 -
CO-3: Design and analyze various simple gear trains for various power transmission applications. 3 3 2 2 3 - - - - - - - 2 2 -
CO-4: Design and select suitable flexible drive systems for power transmission applications. 3 3 2 2 3 - - - - - - - 2 2 -
CO-5: Apply finite element formulations to solve one-dimensional and two-dimensional Problems. 3 3 2 2 3 - - - - - - - 2 2 -

Unit-1 - Design of Power Transmission and Energy Storing Elements 9 Hour

Introduction to the design process, factors influencing machine design, selection of materials based on mechanical properties, Preferred numbers, fits, and tolerances. Design of rigid and flexible couplings, Keys,
keyways, and splines, Various types of springs; design and optimization of helical springs; design of power screws.
Experiments:
Modeling of basic mechanical components using Solid Works Coupling and spring Modeling and Analysis (Solid works & Ansys)
Unit-2 - Design of Bearings 9 Hour
Design of Bearings (Ball Bearing, Roller Bearing & Sliding Contact Bearing) Sliding contact and rolling contact bearings – Hydrodynamic journal bearings, Sommerfeld Number, Raimondi and Boyd graphs, Selection
of Rolling Contact bearings.
Experiments:
screw jack Modeling Simulation and Analysis (Solid works & Ansys)
Plummer Block Modeling Simulation and Analysis (Solid works & Ansys)
Unit-3 - Design of Gears and Gear Trains 9 Hour
Types of Gears, Gear materials, Gear Nomenclature, Design of spur gear based on Lewis and Buckingham equations: Helical Gear Nomenclature, Design of helical gear based on modified Lewis equations: Bevel
Gear Nomenclature, Design of bevel gear based on Lewis and Buckingham equations. Gears and Gear trains, Design of Gears using Gear Life: Design of Gearbox.
Experiments:
Universal Coupling Modeling Simulation and Analysis (Solid works & Ansys)
Modeling, Simulation, and Analysis of Mechanisms (Four bar, Slider crank Mechanisms)

22
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-4 - Design of Flexible Drives 9 Hour
Types of Flexible Drives, Belt Materials and Constructions, Design of Flat Belt Drive & V- Belt Drive, Chain Drive: Types, Failures, Designation Selection of Chain Drive, Chain Lubrication Wire Rope - Types,
Construction, Lays of Wire Rope, Selection of Wire Rope, Stresses in Wire Rope, Design of a Wire Rope Drive.
Experiments:
Mode thermal analysis of Composite material Frequency analysis, Harmonic Analysis
Unit-5 - Finite Element Method 9 Hour
Finite element method: Introduction, types of elements, shape function, types of forces, elemental stiffness matrix, elemental force matrix, assembly, truss, introduction to 2-dimensional finite element method.
Experiments:
Modeling, Simulation, and Analysis of a robotic arm

1. Bhandari.V.B, “Design of Machine Elements”, 3rd ed., Tata McGraw- Hill, 2010. 4. Joseph Shigley and Charles Mischke, “Standard Handbook of Machine Design”, 3rd ed., Tata
2. Robert L. Norton, “Machine Design: An Integrated Approach”, 5th ed., Prentice McGraw Hill, 2004.
Learning Hall, 2013. 5. Richard G.Budynas, J.KeithNisbett, “Shigley’s Mechanical Engineering Design”, 10th ed., Tata
Resources 3. Merhyle Franklin Spotts, Terry E. Shoup and Hornberger.L.E, “Design of McGraw-Hill, 2015.
Machine Elements”, 8th ed.,, Prentice Hall,2003 6. PSG, “Design Data” [Data Book Of Engineers], KalaikathirAchagam, 2016.
7. CAD Laboratory Manual.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(45%) (15%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 10% - - 20% 15% -
Level 2 Understand 30% - - 20% 25% -
Level 3 Apply 30% - - 20% 30% -
Level 4 Analyze 30% - - 40% 30% -
Level 5 Evaluate - - - - -
Level 6 Create - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. R. Nirmal, Caterpillar India, Chennai 1. Dr. R Arvindraj, VIT vellore 1. Mr.G.Balakumaran ,SRMIST
2. Mr. R. DhineshBabu, Technofit, Malaysia 2. Dr. R. Senthilkumar, Mohamed Sathak A.J.College of Engineering 2. Mr.S.M. Vignesh SRMIST

23
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC303J MEASUREMENT, SENSORS AND INTERFACES Category C PROFESSIONAL CORE
Code Name 2 0 2 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Perceive the fundamental understanding of design, calibration, characterization and analysis of measuring Specific
CLR-1: 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
systems and data acquisition
CLR-2: Gain knowledge of the working principle of sensors used for force and displacement measurement

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Acquire the knowledge of the working principle of sensors for measurement of position, distance and
CLR-3:

Modern Tool Usage

acceleration

Life Long Learning

complex problems
Problem Analysis

Communication
CLR-4: Explore the basic principles of pressure, flow, and temperature sensors.

Environment &
Sustainability
CLR-5: Comprehend different interfacing standards for sensors and their physical applications.

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Implement the physical principles applied in measurement systems and data acquisition systems 3 2 - - - - - - - - - - 1 - -
CO-2: Analyze the sensors and their selection criteria for the measurement of force and displacement 3 - 2 - - - - - - - - - - - -
CO-3: Evaluate the sensors for the measurement of position, distance and acceleration based on selection criteria 3 - 2 - - - - - - - - - - - -
CO-4: Analyze the sensors and their selection criteria for the measurement of pressure, flow and temperature 3 - 2 - - - - - - - - - - - -
CO-5: Acquire knowledge about different sensor interfaces and their real time applications 3 2 - - - - - - - - - - - - -

Unit-1 - Sensor based Measurement Systems and Data Acquisition 12 Hour

Sensor Classification - Static and Dynamic Characteristics of Measurement Systems - Errors in Measurement - Statistical Evaluation of Measured Data - Standard and Calibration - Amplification and Signal
Conditioning - Digital Conversion - Elements of Data Acquisition Systems - Time Division and Space Division Channeling in Data Acquisition Systems
Experiments:
1. Design of instrumentation amplifiers. 2. Design of active filters
Unit-2 - Sensors for Force and Displacement Measurement 12 Hour
Potentiometric Sensors - Capacitive Sensors - Working Principle of Strain Gauges - Quarter Bridge, Half Bridge and Full Bridge Configuration of Load Cell - Magnetic and Inductive Proximity Sensors - Working
Principle and Applications of LVDT and RVDT - Tactile Sensors
Experiments:
1. Study of characteristics of load cell. 2. Study of characteristics of LVDT
Unit-3 - Sensors for Position, Distance and Acceleration Measurement 12 Hour
Working Principle of Eddy Current Sensors - Hall Effect Sensors - Distance Measurement using IR and Ultrasonic Sensors - SONAR, RADAR, Optical Sensors - LIDAR - Optical Encoders - IMU
Experiments:
1. Distance measurement using IR. 2. Distance measurement using optical encoder

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-4 - Sensors for Temperature, Pressure and Flow Measurement 12 Hour
Piezoresistive Sensors - Working Principle and Applications of Bourden Tube, Bellows and Diaphragm - Thermoresistive Sensors: Thermistor - RTD - Thermoelectric contact sensors: Thermocouple - Thermal
Transport Sensors: Hot wire Anemometer Experiments:
1. Study of characteristics of pressure sensors. 2. Study of characteristics of temperature sensors
Unit-5 - Sensor Interfacing 12 Hour
Smart Sensor Systems – Role of sensors in IOT - Multichannel Sensor Interfacing - Standards - Integrated Circuit Bus (I2C) - Serial Peripheral Interface (SPI) - Controller Area Network (CAN) Bus - Universal
Transducer Interface (UTI) - Case studies related to different Interfacing Standards Experiments:
1. Interfacing temperature sensor with data acquisition system. 2. Interfacing ultrasonic sensor with data acquisition system

1. Jacob Fraden, “Hand Book of Modern Sensors: physics, Designs and Applications”, 2015, 4. Ramon Pallas-Areny and John G Webster, Sensors and Signal Conditioning, 2012, 2nd ed.,
3rd edition, Springer, New York. Wiley India Pvt. Ltd.
Learning 2. John G Webster, “Measurement, Instrumentation and sensor Handbook”, 2014, 2nd edition, 5. John Park and Steve Mackay, Practical Data acquisition for Instrumentation and Control,
Resources CRC Press, Florida. 2011, 1st ed., Newness publishers, Oxford, UK.
3. Kirianaki N.V., Yurish S.Y., Shpak N.O., Deynega V.P., Data Acquisition and Signal 6. Paul P.L Regtien, “Sensors for Mechatronics”, Elsevier publications, 1st edition, 2012.
Processing for Smart Sensors, John Wiley & Sons, Chichester, UK, 2002.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(45%) (15%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - - 15% 15% -
Level 2 Understand 25% - - 25% 25% -
Level 3 Apply 30% - - 30% 30% -
Level 4 Analyze 30% - - 30% 30% -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr.S. Shaffath Hussain Shakir, Project lead,VIASAT 1. Dr.R.Thiyagarajan, Assistant Professor, Department of Mechanical 1. Dr. S.Fouziya Sulthana, SRMIST
Engineering, IIT,Tirupati.
2. Mr.T.Sathish, Lead Engineer-Systems Engineering 2. Dr K. Navin sam, Assistant Professor , Department of Electrical and 2. Mr. J.Thiyagarajan, SRMIST
GE Power conversion. Electronics Engineering, NIT, Puducherry

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC304L MODELLING AND CONTROL LAB Category C PROFESSIONAL CORE
Code Name 0 0 2 1

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Model the electrical, mechanical, and electromechanical dynamic systems 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Analyze a dynamic system using procedural methods

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Construct the control systems in the time domain.

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Analyze a control systems in the frequency domain.

Environment &
Sustainability
CLR-5: Develop a state space model.

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Construct the basic dynamic systems 2 2 3 - 2 - - - - - - - 3 - -
CO-2: Design a conventional controller for a dynamic system 2 2 3 - 2 - - - - - - - 3 - -
CO-3: Analyze a controller based on time domain specification 2 2 3 - 2 - - - - - - - 3 - 2
CO-4: Apply the procedure of frequency response plot to design a compensator 2 2 3 - 2 - - - - - - - 3 - 2
CO-5: Develop a controller using state space approach 2 2 3 - 2 - - - - - - - 3 - 2

Unit-1 - Modeling of systems 6 Hour

1. Modelling of electrical and mechanical dynamic systems and validation using simulation software.
2. Modelling of electromechanical systems and validation using simulation software.
Unit-2 - Time Domain Specifications and controllers 6 Hour
1. Determine the time domain specifications of I and II order systems.
2. Performance comparison of open loop system and closed loop system with a PID controller.
Unit-3 - Concept of stability and Design 6 Hour
1. Experimentation of root locus method, gain determination, and stability analysis.
2. Design of compensators using the root locus method.
Unit-4 - Frequency domain analysis and design 6 Hour
1. Experimentation on Bode plot method, calculation of gain, and phase margins with a suitable example.
2. Design of compensators using Bode plot method.
Unit-5 - State space analysis and design 6 Hour
1. Experiment on state space representation of a system, conversions between transfer function and state space approaches.
2. Design of full state feedback controllers with a suitable example using DC servo motor

26
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Learning 1. Roland S. Burns, Advanced Control Engineering, Butterworth- Heinemann, First edition, 2001 3. Laboratory Manuals for Matlab, Simulink, Qube servo, and compensation circuit kits.
Resources 2. J Nagrath, M Gopal, Control Systems Engineering, 5th Edition, New Age International, 2007.

Learning Assessment
Continuous Learning Assessment (CLA)
CLA-1 Average of first cycle CLA-2 Average of second cycle Final Examination
Bloom’s Practical Examination
experiments experiments (0% weightage)
Level of Thinking (40% weightage)
(30%) (30%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - - - - -
Level 2 Understand - - - - - - - -
Level 3 Apply - - - - - - - -
Level 4 Analyze - - - - - - - -
Level 5 Evaluate - - - - - - - -
Level 6 Create - - - - - - - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr. K. Karthikeyan Ph.D.,R＆D Team Manager, 1. Dr. M. Mythily Assistant Professor,Department of Electronics and Instrumentation 1. Dr.M.Mohamed Rabik, AP, SRMIST
Power Quality Products, Hitachi Energy, Bangalore Engineering, Email - [email protected]

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC305J MANUFACTURING PROCESSES Category C PROFESSIONAL CORE
Code Name 2 0 2 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Understand the principle and process of different metal forming and metal cutting process 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Impart knowledge on types and approaches of advanced manufacturing process

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Gain knowledge in concept of computerized machine tool for metal cutting process

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Understand the concept of automation in manufacturing process.

Environment &
Sustainability
CLR-5: Familiar in manufacturing metrology

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Explain the process of different metal forming and metal cutting processes. 3 2 - - - - - - - - - - - - -

CO-2: Distinguish the types and approaches of advanced manufacturing process 3 2 2 - - - - - - - - - - - -

CO-3: Implement the concept of computerized machine tool for metal cutting process 3 - - 1 - - 1 - - - - - - - -

CO-4: Understand the concept of automation in manufacturing process. 3 2 - 1 - - - - - - - - - - -

CO-5: Acquire knowledge on manufacturing metrology 3 2 2 1 - - 1 - - - - - - - -

Unit-1 - Conventional Manufacturing Process and Metal Cutting Theory 12 Hour

Introduction to casting process and mechanical working of metals- fundamentals of metal cutting process- types of cutting tools- Tool life- Prediction of tool life using tailors tool life equations- Cutting forces in
orthogonal cutting, merchant circle analysis- Calculation of various forces involved during orthogonal cutting- finishing process and superfinishing process.
Experiments
*Multiple turning with grooving and thread cutting by applying canned cycle using CNC turning centre. *Multiple turning with axial drilling operation by applying canned cycle using CNC turning centre.
Unit-2 - Advanced Manufacturing Process 12 Hour
Rapid Prototyping- Working Principles- Rapid tooling, Techniques of rapid manufacturing- Additive manufacturing: concept, types- Stereo Lithography, Laser Sintering, Fused Deposition Method, Applications and
Limitations - Methods of micromachining- Abrasive jet, Ultrasonic, Abrasive water jet micromachining, Micro turning, Micro drilling.
Experiments
1. Part Program for drilling and Peck drilling operation by applying canned cycle using CNC milling centre. 2. *Profile cutting using Wire cut Electrical Discharge Machine (WEDM)
Unit-3 - CNC Machines and Its Architecture 12 Hour
Introduction to CNC machine tools – Classifications and Constructional feature of CNC turning and milling centre – Open loop and closed loop CNC systems- CNC controllers- Structural members of CNC machines:
slide ways, linear motion - Automatic tool changer- fundamentals of part programming- Types of programming: manual part programming- Canned cycle and subroutines.
Experiments
1. CNC Part Program for Facing, Step turning, Tapper and Finish turning using ordinary cycle. 2. CNC Part Program for Facing, Step turning, Tapper and Finish turning using canned cycle.

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-4 - Automation in Manufacturing Process 12 Hour
Automation in Production systems- Components of a Manufacturing systems- Single Station Manned Workstations and Single Station Automated Cells- Manufacturing Operations- Cellular Manufacturing, Flexible
Manufacturing Systems: FMS Components, FMS Applications, and FMS Planning.
Experiments
1. Pocketing of Linear and Circular profile using CNC vertical machining centre. 2. Part Program for End milling and Drilling operation by applying canned cycle using CNC milling centre
Unit-5 - Advanced Inspection Technologies 12 Hour
Automated Inspection, Coordinate Measuring Machines Construction, operation & Programming, Software, Application & Benefits, Flexible Inspection System, Inspection Probes on Machine Tools, Machine Vision,
and Optical Inspection Techniques & Non-contact Non-optical Inspection Technologies.
Experiments
1. Profile cutting by applying Mirroring operation using CNC vertical machining centre

1. Sharma.P.C, “A textbook of Production Technology”, Vol I and II, S. Chand and Company 6. R. S. Khandpur“Printed Circuit Boards: Design, Fabrication, and Assembly” Tata McGraw
Ltd., New Delhi, 2007. Hill Publishing Co., New Delhi, 2010.
2. SeropeKalpakjian and Steven Schmid, “Manufacturing Engineering and Technology”, 7. S.K. HajraChoudry, S.K.Bose, A.K. HajraChoudry , “Elements of Workshop Technology Vol
Pearson Education, 7th edition, 2014. II: Machine tools”, Media promoters and Publishers Pvt Ltd, 2002.
Learning 3. Radhakrishnan.P, “CNC Machines”, New Central Book Agency, 2000. 8. Chapman.W.A.J, “Workshop Technology” Vol. I and II, Arnold Publisher, 1996.
Resources 4. Pandey and H.S.Shah, “Modern Machining Process”, Tata McGraw Hill Publishing Co., New 9. Elanchezhian.C, VijayaRamnath.B and Sunder Selwyn, T., Engineering Metrology, Eswar
Delhi, 2008. Press, Chennai, 2004.
5. Chua C.K., Leong K.F., and Lim C.S., “Rapid prototyping: Principles and applications”, 3rd 10. John A. Bosch, Giddings and Lewis Dayton, Co-ordinate Measuring Machines and
edition, World Scientific Publishers, 2010. Systems, Marcel Dekker, Inc, 1999
11. ZuechNello, Understanding and Applying Machine Vision, Marcel Dekker, Inc, 2000

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(45%) (15%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - - 15% 15% -
Level 2 Understand 25% - - 20% 25% -
Level 3 Apply 30% - - 25% 30% -
Level 4 Analyze 30% - - 25% 30% -
Level 5 Evaluate - - - 10% - -
Level 6 Create - - - 5% - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.K.Balaguru, Deputy Manager, Hindustan Aeronautics 1. Dr.V. Senthilkumar , NIT Tiruchirappalli, Production department, [email protected] 1. Mr.Arivarasan J, SRMIST
limited, Structural Design, [email protected].
2. .Mr.S.Hari bala manoj, Assistant Manager, Renault Nissan 2. Dr.C.Velmurugan, IIIT Tiruchirappalli, Mechanical Engineering Department, 2. Mr.K.Saravanan, SRMIST
Technology, [email protected] [email protected]

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC306T KINEMATICS AND DYNAMICS OF MECHANISMS C PROFESSIONAL CORE
Code Name Category 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Appraise the fundamental concepts Mechanisms, degrees of freedom and inversions of different mechanisms 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Analyze the forces of different machines under static and dynamic conditions

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Acquire the knowledge about the principles of CAM and Gyroscopes

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Explore the undesirable effects of balancing in different real time systems

Environment &
Sustainability
CLR-5: Estimate the frequency of torsional, transverse and torsional vibrations under different loading conditions

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Comprehend the basic concepts of mechanisms and its inversions 3 3 - - 1 - - - - - - - - - -
CO-2: Examine the forces and its impact on different machines under static and dynamic conditions 3 3 - - 1 - - - - - - - - - -
CO-3: Understand the knowledge of CAM and gyroscope 3 3 - - 1 - - - - - - - - - -
CO-4: Learn and implement the balancing techniques in different loading conditions 3 3 - - 1 - - - - - - - - - -
CO-5: Gain the knowledge of vibrations and to estimate the frequency of different vibrations 3 3 - - 1 - - - - - - - - - -

Unit-1 - Elements of mechanism 9 Hour

Machine, mechanism, links, pair, Degrees of freedom, determining DOF using Kutzbach criteria - Grashoff law – 4 bar chain mechanism – inversions of 4 bar chain mechanism – single slider mechanism – inversions
of single slider mechanism – position, displacement and velocity analysis – simulation of 4 bar chain mechanism
Unit-2 - Force analysis of Machines 9 Hour
Static force analysis: Constraint forces and applied forces – Free body diagrams – Conditions for equilibrium – Equilibrium for two, three and four force members – Centroid and Moment of inertia – D – Alembert’s
principle – Principle of super position – Turning of moment diagram of flywheel – Fluctuation of energy – dimensions of flywheel
Unit-3 - CAMS and Gyroscope 9 Hour
CAMS: Classifications of cam and follower- Construction of cam profile when the follower moves with uniform velocity and simple harmonic motion - Construction of cam profile when the follower moves with uniform
acceleration and retardation - Construction of cam profile when the follower moves in cycloidal motion- Gyroscope: Gyroscopic couple – Effect of gyroscopic couple on an aeroplane - Effect of gyroscopic couple on
naval ship during steering and pitching – stability of a two-wheel vehicle
Unit-4 - Balancing of rotating and reciprocating masses 9 Hour
Balancing of rotating masses: Static balancing – dynamic balancing – Balancing of several masses in single plane – balancing of several masses in different planes Balancing of reciprocating masses: Primary and
Secondary unbalanced forces of reciprocating masses – Partial balancing of locomotives – Tractive force – Hammer blow – Swaying couple
Unit-5 - Vibrations 9 Hour
Types of free vibration – Natural frequency of free transverse and longitudinal vibration - Natural frequency of free transverse vibration due to single and multiple point load over a simply supported shaft - Natural
frequency of free transverse vibration due to uniformly distributed load over a simply supported shaft – Critical speed of shaft – frequency of free damped vibration – frequency of underdamped forced vibration -
Frequency of free torsional vibration of a single, two and three rotor system – Torsionally equivalent shaft

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. Ratan.S.S, Theory of Machines, 5th ed., Tata McGraw Hill, 2019 4. Dechev, Nikolai. Cleghorn, William L. Mechanics of Machines. Oxford
Learning 2. R.L. Norton, Kinematics and Dynamics of Machinery, 1st ed., Tata McGraw Hill, 2017 University Press, 2nd edition, 2015.
Resources 3. Gordon R. Pennock & Shigley J.E John J Uicker, 4th ed., Theory of machines and 5. Dukkipati, Rao V. Mechanism and Machine Theory. India: New Age International (P)
mechanisms, Oxford university press, 2016 Limited, 2nd edition, 2007.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. N. Manojprabhakar.N, FLSmidth Private 1. Dr. V. Muralidharan, Associate Professor,BS Abdur Rahman Crescent Institute of Science 1. Dr.S.Senthilraja, SRMIST
Limited, [email protected] & Tech, [email protected]
2. Mr. P. Thangadurai, Aditya Auto Components, 2. Mr. P. Nantha Kumar, Associate Professor, Sri Sai Ram Institute of Technology, 2. Mr. M. Thirugnanam, SRMIST
[email protected] [email protected]

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHC307P MODEL BASED SYSTEMS ENGINEERING Category C PROFESSIONAL CORE
Code Name 1 2 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Introduce systems engineering concepts for solving the problems in developing complex engineering systems 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Familiarize the various modeling approaches and methodologies

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Analyze stakeholders’ expectations using stakeholders value network and capture systems requirements
CLR-3:

Modern Tool Usage

effectively

Life Long Learning

complex problems
Problem Analysis

Communication
CLR-4: Create systems architecture for new or improved complex systems

Environment &
Sustainability
CLR-5: Apply verification and validation techniques to evaluate the system design

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
Familiarize the systems engineering concepts for solving the problems in developing complex engineering
CO-1: 3 3 - 1 - 1 - - - 2 - - 2 2 2
systems
CO-2: Develop various models for systems using Sys ML 3 3 - 2 2 - - - - - - - 1 1 1
Analyze stakeholders’ expectations using stakeholders value network and capture systems requirements
CO-3: 3 3 3 1 1 2 - - 2 3 2 - 3 3 3
effectively
CO-4: Develop systems architecture for new or improved complex systems 3 3 3 3 2 3 - - 2 3 2 - 3 3 3
CO-5: Use verification and validation techniques to evaluate the system design 3 3 1 3 2 3 - - 2 2 2 - 1 3 3

Unit-1 - Introduction to Systems Engineering 9 Hour

Definitions and concepts of system-system science and systems engineering, life cycle stages, definitions of requirement, architecture, design. System analysis, interface management, system integration, system
verification, system transition, system validation, system operation, system maintenance, system disposal. Project planning, project management and control, decision management, risk management, configuration,
Case studies: Refrigerator and Washing Machine.
Unit-2 - Introduction to MBSE and SysML Overview 9 Hour
Introduction to MBSE-MBSE concepts- MBSE Ontology-Introduction to Object Process modelling OPM- Object process language-Overview of SysML-Block definition diagrams-Internal block diagrams-Use case
diagrams-Activity diagrams-Sequence diagrams-State machine diagrams-Parametric diagrams-Requirements diagram-package diagrams-Operational analysis modeling-functional analysis modeling-logical
architecture modeling-Physical architecture modeling-architecture frameworks.
Unit-3 - Stakeholder Analysis and Requirements Definition 9 Hour
Stakeholder’s identification, Concept of operations, Stakeholders value network analysis, Requirements: Purpose, Types, challenges, allocation and verification and validation and Volatility. Systems Requirements
Review (SRR).
Unit-4 - System Design and Architecture 9 Hour
Architecture definition, architecture viewpoints, concept analysis, models and views of architecture (functional/behavioral/data/performance etc.) – Structure and behavior- Evaluating candidate architectures-
System/subsystem analysis- tradeoff analysis- Architecture frameworks and standards-design progression-architecture domains (software/IT/ Manufacturing/social etc)-architecture heuristics- acquisition
management-tailoring processes-industrial design-design for manufacturability- robustness design

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-5 - Verification and Validation 9 Hour
System verification-System validation-various approaches to system validation and verification-inspection/testing/analysis/demonstration-Generation of Test cases using the Markov Chain model-Writing
verification/validation plans-introduction to formal methods-formal approaches to system validation/verification-focus on specialty areas (eg.. EMI/EMC)-test automation models (computation/timed automation)-
simulation-model checking verification-verification validation activities prescribed in standards for safety critical systems

List of Recommended Exercises in Tutorial

Assign a case study to every batch (Washing Machine, Refrigerator, or any other equivalent systems), and ask them to identify characteristics of complex engineering systems and familiarize with complexity level
Analyze stakeholders associated with the system using SVN
Based on Stakeholder’s analysis, develop requirements model for the system
Brainstorm and explore various possible concepts, choose the feasible concept for implementation based on trade-off study
Create an architecture based upon the chosen concept, mapping forms and functions.
Develop functional models for various functions and incorporate in the architecture
Perform model-based simulation by using various verification and validation strategies
Document the complete work carried out in this course

1. National Aeronautics and Space Administration, “NASA Systems Engineering Handbook”, 4. “SysML distilled: A brief guide to the Systems modeling language”. Lenny Deligatti-
(Rev 1, Dec 2007). Addison Wesley Professional, Ed 1, 2013
Learning 2. INCOSE, “Systems Engineering Handbook” 5. Rechtin, E., and M.W.Maier, “The art of Systems architecting”, Boca Raton, FL: CRC
Resources 3. Kossiakof, Alexander and William N. Sweet; “Systems Engineering: Principles and Practice” Press, 2000
Wiley, 2011 6. Engel, Avner, “Verification, Validation and Testing of Engineered Systems; John Wiley &
Sons, 2010.

Learning Assessment
Continuous Learning Assessment (CLA)
Formative Project Based Learning Report and Viva Voce Final Examination
Bloom’s CLA-1 Average of unit test CLA-2 (20%) (0% weightage)
Level of Thinking (20%) (60%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - - - - -
Level 2 Understand - - - - - - - -
Level 3 Apply - - - - - - - -
Level 4 Analyze - - - - - - - -
Level 5 Evaluate - - - - - - - -
Level 6 Create - - - - - - - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.Gaurav Dubey, Mathworks, India 1. Dr.P.Karthikeyan, MIT Campus, Anna University, [email protected] 1. Dr.K Sivanathan, SRMIST
2. Dr.Yogananda Jeppu, Honeywell, India 2. Dr.Thiyagarajan, Indian Institute of Technology Tirupati, [email protected] 2. Dr.T.Muthuramalingam , SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 ACADEMIC CURRICULA

UNDERGRADUATE/ INTEGRATED POST

GRADUATE DEGREE PROGRAMMES
( With exit opti on of Diploma)

( Ch oi ce Based Flexi ble C red it System)

Regulations 2 021

Volu me – 18 A
( Syllabi for Mechatronics Engi neeri ng Programme Courses)

SRM INSTITUTE OF SCIENCE AND TECHNOLOGY

( D e e m ed to b e U n i v e r s i t y u / s 3 o f U G C A c t , 1 9 5 6 )

Kattankul athu r, Chengal pattu District 603203 , Tamil Nadu,

India

34
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 ACADEMIC CURRICULA

Professional Elective Courses

Regulations 2 021

SRM INSTITUTE OF SCIENCE AND TECHNOLOGY

( D e e m ed to b e U n i v e r s i t y u / s 3 o f U G C A c t , 1 9 5 6 )

Kattankul athu r, Chengal pattu District 603203 , Tamil Nadu,

India

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE401T FUNDAMENTALS OF ROBOTICS E PROFESSIONAL ELECTIVE
Code Name Category 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil 21MHE404T
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Provide the fundamental concepts and terminologies used in industrial Robots 1 2 3 4 5 6 7 8 9 10 11 12 outcomes

The engineer and society

Conduct investigations of
CLR-2: Provide the concepts of spatial transformations associated with rigid bodies and their application in Robotics

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Gain knowledge on how to derive the forward kinematic model of a serial manipulator

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Introduce the various sensors and actuators used in the manipulator

Communication
Environment &
Sustainability
CLR-5: Introduce the concept of trajectory planning and industrial work cell

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Understand the fundamental components and basic terminologies used in robotics. 3 - - - - - - - - - - - 1 - -
CO-2: Apply vector transformations and coordinate transformations in robotics - 3 2 - - - - - - - - - - 2 -
CO-3: Compute the forward kinematics for various robot configurations. - 3 2 - - - - - - - - - - 2
CO-4: Gain knowledge on different sensors, actuators and vision systems used in robots. 3 - - - - - - - - - - - 3 - -
CO-5: Understand various work cell configurations and trajectory planning techniques. 3 2 - - - - - - - - - - - - 2

Unit-1 - Introduction to Robotics 9 Hour

Definition and Evolution of Robots , Laws of Robotics , Basic terminologies in robotics, Robot Anatomy – Types of Joints & Links, Degrees of Freedom , Joint space and Cartesian Space, Classification of robot based
on application and work volume, End-effector- types, Types of gripper, Choice of gripper, Industrial Manipulator datasheet interpretation and key specifications , Industrial Controller and Programming
Unit-2 - Transformations 9 Hour
Review of vectors and linear algebra, Description of point and objects in Space, Rotation of Vectors, Translation of Vectors, Homogeneous transformation- Combined rotation and translation of vectors, Operators
and mapping concept, Composite transformation and its application, Representing Rotations of bodies - Fixed angle, Euler angle, Equivalent axis representation, Simulation exercise (Transformations)
Unit-3 - Manipulator Kinematics 9 Hour
Introduction to Manipulator Kinematics, DH formulation (standard method), Forward kinematics of RR planar manipulator-geometric approach and using DH method, Forward kinematics of 3R spatial articulated arm-
using DH method, Forward kinematics of RPY wrist- using DH method, Forward kinematics of 4 DoF SCARA robot- using DH method, Computing DH parameters for 6 DoF industrial manipulator, Inverse kinematics-
concept and basics, Issues in inverse kinematics, Inverse kinematics of RR planar manipulator-geometric approach, Simulation exercise (Forward Kinematics)
Unit-4 - Sensors and Actuators in Robotics 9 Hour
Sensors in Robots, Proprioceptive Sensors and Exteroceptive Sensors-Absolute and Incremental Encoder, Force sensors, tactile sensors, slip sensors, Camera, Depth sensors and their uses, Sensor calibration
and interfacing concepts , Actuators-Electrical (DC Motors, Stepper motors, Induction motors), pneumatic and hydraulic, Concept of Actuator drives, Harmonic drives.
Unit-5 - Trajectory Planning and Robot Work Cell 9 Hour
Introduction to trajectory planning, Joint space trajectory planning - Cubic polynomial, Via points; Cartesian space planning, Point to point, continuous path planning, Robot work cell layout, work cell control, safety
monitoring.

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. Kevin M. Lynch and Frank C. Park, “Modern Robotics: Mechanics, Planning and 5. John J.Craig, “Introduction to Robotics: Mechanics and Control”, 3rd edition, Pearson
Control”, 1st edition, Cambridge University Press,2017. Education, 2009.
Learning 2. Bruno Siciliano and Oussama Khatib, “Handbook of Robotics”,Springer-Verlag, 2016. 6. Mittal R.K. and Nagrath I.J., “Robotics and Control”, 1st edition, TataMcGraw Hill, 2003.
Resources 3. Harry H. Poole, “Fundamentals of Robotics Engineering”, Springer,2012.
4. Saeed B. Niku, “Introduction to Robotics: Analysis, Control, Applications”, 2nd edition,
Wiley Publishers, 2010.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer, ZF commercial vehicle control systems Pvt.Ltd 1. Dr. G Nagamanikandan, IIIT Hyderabad 1. Dr. Ranjith Pillai R, SRMIST
2. Mr. Ganesh Ram, Tunga Systems 2. Dr. R Thiyagarajan, IIT Tirpuati 2. Dr. S Anitha Kumari, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE402L VISUAL COMPUTING LABORATORY E PROFESSIONAL ELECTIVE
Code Name Category 0 0 5 3

Pre-requisite Co- requisite Progressive

Nil Nil 21MHE410T
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Develop python programs for data visualization using object-oriented programming constructs. 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Explore various digital image processing algorithms.

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Impart knowledge of different algorithms used in computer vision and video processing.

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Incorporate computer graphics in computer vision applications.

Environment &
Sustainability
CLR-5: Construct the requirements for developing a VR/AR interface.

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Develop computer programs for data visualization in python. - 1 3 - 2 - - - - - - - 1 - -
CO-2: Apply various spatial and frequency domain algorithms for digital image processing. - 3 - - 2 - - - - - - - - 2 -
CO-3: Analyze different algorithms to extract features from digital image and video data. - 3 - - 2 - - - - - - - - 2 -
CO-4: Define the operations and algorithms used in generating computer graphics. - - 3 - 2 - - - - - - - 3 - -
CO-5: Develop VR/AR interface for an application. - - 3 - 2 - - - - - - - - - 2

Unit-1 - Review of Python and Data Visualization 15 Hour

Review of data types, operators, and data containers - Conditional statements - Iterative loops - Functions and scope of variables - Modules - File I/O - Error handling – Classes and objects - Object-oriented
programming concepts - Plots for presenting comparison - Plots for presenting relationship - Plots for presenting distribution - Plots for presenting composition - 2D animated plots for visualization - 3D animated
plots for visualization
Unit-2 - Digital Image Processing 15 Hour
Understanding sampling and quantization in digital images, types of digital images - Point operations - 2D convolution - Spatial smoothing of images using convolution - Image differentiation and edge detection -
Order statistical filtering of images - Morphological operations - Color image processing - Texture analysis - Image acquisition from cameras, multi-camera image acquisition- Working with specifications of a camera
- LIDAR data processing - Fusing LIDAR data with RGB images - Introduction to frequency domain image processing - Frequency domain smoothing and sharpening
Unit-3 - Computer Vision and Video Processing 15 Hour
Camera modeling - Camera calibration - Geometry of multiple images – Homographies - Key point descriptors - Key point matching - Region-based dense matching - Computational stereo vision for scene
reconstruction - Optical flow - LK method for optical flow estimation and visualization - Farneback method for optical flow estimation and visualization - Visual tracking - Visual odometry
Unit-4 - Computer Graphics 15 Hour
2D & 3D Scaling - Translation and rotation - Composite transformation - Window to viewpoint transformations - Orthographic and perspective projections - Algorithms for drawing primitive shapes - Working with
meshes - Shearing and reflection - Filling algorithms – Clipping - Basic rendering - Camera Movement - Optimization in Drawing - 3D Objects -Animations

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-5 - Virtual and Augmented Reality 15 Hour
Understanding scene graphs and 3D models - Working with parent-child relationships - Working with windows, viewpoints, color texture, visibility - Avatars and actions -Texture, lighting, and Shaders - Graphical user
interface - Animation paths and proximity sensing - Physics in VR - Tools and hardware connection - Linking, grabbing and merge linking - Flow control and tasks - 2D data code detection - Marker-based augmented
reality - Marker free augmented reality - Spatial mapping and pose tracking – Simple mixed reality applications.

1. Rafael C. Gonzales, Richard. E. Woods, “Digital Image Processing, 4th Edition, 4. WileyForsyth and Ponce, “Computer Vision: A Modern Approach”, 2ndEdition, Pearson,
Pearson Education”, 2018. 2015.
Learning
2. Emanuele Trucco, Alessandro Verri, “Introductory Techniques for 3D Computer 5. https://www.udemy.com/course/learn-opengl-with-python-for-graphics- and-games.
Resources
Vision”, 1st Edition, Prentice Hall, 1998. 6. WorldViz Vizard VR Software Documentation
3. Alexander Hornberg, “Handbook of Machine Vision”, 2ndEdition, Wiley, 2006.

Learning Assessment
Continuous Learning Assessment (CLA)
CLA-1 Average of first cycle CLA-2 Average of second cycle Final Examination
Bloom’s Practical Examination
experiments experiments (0% weightage)
Level of Thinking (40% weightage)
(30%) (30%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - - - - -
Level 2 Understand - - - - - - - -
Level 3 Apply - - - - - - - -
Level 4 Analyze - - - - - - - -
Level 5 Evaluate - - - - - - - -
Level 6 Create - - - - - - - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Shankar Bharathi, L&T Technology Services, 1. Dr. G. Nagamanikandan, IIIT Hyderabad 1. Dr. R. Senthilnathan, SRMIST
2. Mr. Mohammed Sagheer, WABCO Technology Center,India 2. Dr. R. Thiyagarajan, IIT Tirupati 2. Mrs. G. Madhumitha, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE403T INDUSTRIAL ELECTRONICS E PROFESSIONAL ELECTIVE
Code Name Category 3 0 0 3

Pre-requisite Co- requisite Progressive

21MHC201T Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Identify different Regulators and utilize them in different Regulated Power supply circuits 1 2 3 4 5 6 7 8 9 10 11 12 outcomes

The engineer and society

Conduct investigations of
CLR-2: Recognizes the concept of heating and welding

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Identify the industrial applications of power semiconductor devices.

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Apply Power semiconductor switching devices concept in industrial applications

Communication
Environment &
Sustainability
CLR-5: Acquire knowledge on Wireless Power Transfer circuits

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Analyze various regulators used in Power supplies 3 1 3 - - - - - - - - - 1 - -
CO-2: Interpret the working principle of heating and welding in order to apply the advanced controls 3 2 1 - - 1 - - - - - - - 2 -
CO-3: Analyze the functions of several industrial motor controls 3 1 1 - - - - - - - - - - 2
Operate various industrial appliances using Power semiconductor switching devices and servo system using
CO-4: 3 1 1 - - - - - - - - - 3 - -
Choppers
CO-5: Design Wireless power transfer circuits for various applications 3 3 2 - - 2 - - - - - - - - 2

Unit-1 - Introduction to Regulators and power supplies 9 Hour

Regulated power supply: Concept of regulation, line and load regulation, output ripple and transients. Series regulators with protection. Concepts of fold back limiting, short circuit and overload protection. Three
terminal voltage regulator ICs: Positive, negative and variable applications. Switched Mode Power Supply: Basic working principles and applications. Concept of floating and grounded power supplies: interconnections
to obtain multiple output supplies. Analysis of Switch Mode Power Supply: Fly back converter,
forward/buck converter, Boost converter and buck-boost converter
Unit-2 - Heating and Welding Control 9 Hour
Electronic control of heating: Introduction, types. Induction heating - principle of operation. Effects of supply frequency and source voltage, choice of frequency. Types and operation of High frequency induction
heating, operation of electronic heaters employed in induction heating. Thyristorised supplies used in induction furnaces. Dielectric heating: Working principle and applications. Simple problems related to dielectric
heating. Electronic control of welding, electric welding - types. Classification of resistance welding. Operation of control circuit for resistance welding, AC resistance heating
Unit-3 - Industrial Application of Power Switching Devices 9 Hour
PLL control of a dc motor control, Operation of different methods of Speed control of single phase induction motor, TRIAC as a starter for single phase induction motor, operation of universal series motor -Principle
of operation of automatic battery charger using SCR, trickle charging. Principle of operation of emergency light using SCR, time delay relay circuit. Principle of operation of battery operated inverter circuit using power
transistor. Principle of operation of Illumination control using SCR, using DIAC, TRIAC. Principle of operation of automatic temperature control circuit. Different methods of control circuit, electronic timers – types.
Industrial applications - Industrial timers – Classification, Types, Electronic timers – Classification, RC and digital timers, Time base generators.

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-4 - AC Power Conditioner 9 Hour
Power supply noise - different forms of noise. Servo system - fundamentals and working principle. Principle of buck - boost control of a servo controlled voltage stabilizer. Ferro resonant AC regulator - Synchro,
Constructional features and working principle. UPS - Principle of operation of online and offline UPS. Comparison of the types of UPS. Zero voltage switching circuit and working principle, have Synchronous tap
changer circuit, and AC power controlled of a lamp dimmer circuit- working principle. Applications of AC line voltage controller's circuit.
Unit-5 - Wireless Power Transfer and its Applications 9 Hour
Wireless Power Transfer: Introduction. Methods of Wireless power transfer. Inductive WPT system applications. Resonant Inductive WPT System Design - System Components,Operating Field Region, Efficiency
Equations. WPT Systems with Multiple Coils - Single Transmitter and Receiver with Multiple Coils in between, Multiple Transmitters and Single Receiver, Single Transmitter and Multiple Receivers. WPT Power
Source Converter - Class-D Inverter, Class-E Inverter. Efficient Magnetic Link Design. Energy harvesting methods.

1. S. Bhattacharya, S. Chatterjee, “Industrial Electronics and Control”, Tata McGrawHill, 2006. 6. M. H. Rashid, “Power Electronics Circuits, Devices and Application”, Prentice Hall of
2. Dubey, G.K., Doradia, S.R., Joshi, A. and Singh, R.M., “Thyristorised PowerControllers”, India, 3rd edition, 2004.
Wiley Eastern Limited, 2nd Edition, 2010. 7. Terry Baltelt, "Industrial electronics, devices, systems and applications", Delmar
Learning 3. Biswanath Paul, “Industrial Electronics and Control", Prentice Hall India Publisher, 3rd Edition, publishers, 2006.
Resources 2014. 8. Stephan L.Herman, Walter N.Alerich, "Industrial Motor Control", 4th edition, Delmar
4. Chitode .J.S, “Industrial Electronics”, Technical Publications, 2009. publishers, 2010.
5. G.K. Mithal and Maneesha Gupta, "Industrial and Power Electronics", KhannaPublishers, 19th 9. Mohammad .H.Rashid," Power Electronics Hand book", Butterworth-Heinemann 2017,
Ed., 2003. 4th Edition, 2018.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. J.Aran Glenn, Senior Engineer, EV Product Design 1. Dr.Sreejith.S, National Institute of Technology, Silchar 1. Dr. V. Krithika, SRMIST
2. Dr. K. Sridharan, Quest Engineering Services , Bangalore, 2. Dr.T.Sasilatha, AMET,Chennai 2. Dr. M. Belsam Jeba Ananth, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE404T ROBOT KINEMATICS AND DYNAMICS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

21MHE401T Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Learn the concept of inverse kinematics and its computation method for various configurations of Robot 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Familiarize the concepts of differential kinematics of serial manipulator and their application.

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Gain knowledge in the formulation of the dynamic model of serial robots.

Modern Tool Usage

Life Long Learning

complex problems
Gain knowledge in the design and architecture of popular position and force control schemes used in industrial

Problem Analysis
CLR-4:

Communication
robots.

Environment &
Sustainability
CLR-5: Understand the concept of parallel configuration of robots and its kinematics computation method.

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Understand the concept of inverse kinematics and its computation method. 3 3 3 - - - - - - - - - 1 - -
CO-2: Derive the Jacobian matrix for the serial manipulators and compute the singularity condition. 3 3 3 - - - - - - - - - - 2 -
CO-3: Derive the dynamic model of a planar arm manipulator. 3 3 3 - - - - - - - - - - 2
Understand the design and implementation of popular position and force control schemes used in industrial
CO-4: 3 1 - - - - - - - - - - 3 - -
manipulators.
CO-5: 3 2 2 - - - - - - - - - - - 2

Unit-1 - Forward and Inverse Kinematics 9 Hour

Forward kinematics of 6 DoF manipulators (examples of PUMA and Stanford arm), Concept of inverse kinematics, Solution methods – geometric, iterative and analytical, Workspace of the manipulator, Issues in
the solvability of inverse kinematics, Inverse kinematics of 2R planar arm using the geometric approach, Inverse kinematics computation using the analytical approach for 3R spatial arm, RPY wrist, RPPR arm.
Unit-2 - Differential Kinematics and Singularity 9 Hour
Description/Notation for time-varying position and orientation of rigid bodies, Study of Linear and angular velocity of rigid bodies, Velocity propagation along links, Concept of manipulator Jacobian and its uses,
Jacobian computation method, Jacobian computation (Linear and Angular velocity Jacobain) for RR, RPY and spatial 3R serial manipulators, Concept of singularity in manipulator and its consequences, Singularity
computation in serial manipulators, Concept of manipulability and dexterity in serial manipulators.
Unit-3 - Dynamics of manipulators 9 Hour
Introduction to Dynamics and its importance, General dynamic description, and terms like- Inertia, centrifugal, and Coriolis forces. Dynamic model computation method: Lagarangian Euler and Newton Euler formulation
(with an example of mass spring damper system). Dynamic model derivation for: 1 DoF rotary joint, planar 2R manipulator, planar RP manipulator. Dynamic model of the pendulum over a cart and its simulation.
Introduction to statics, Jacobian in statics, Computation of static forces for manipulators (with numerical examples).
Unit-4 - Position and Force Control 9 Hour
Introduction to control of serial manipulators, joint space and cartesian space control, Partition control scheme – Partition PD control applied to 1 DoF rotary joint,PID control scheme for 1 DoF rotary joint, Computed
torque control method for manipulators, Force control in manipulators, Description of force tasks natural and artificial constraints (with example of peg in hole assembly), Hybrid force/position control architecture.

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-5 - Parallel Manipulator 9 Hour
Introduction to parallel manipulators, Comparison of serial and parallel manipulators, various configurations of parallel manipulators and their degree of freedom computation, Inverse kinematics computation approach:
using vector loop equation, Inverse kinematics of 3 DoF spatial parallel manipulator and 3 DoF planar parallel manipulator, Concept of Jacobian and singularities in parallel manipulator.

1. John J. Craig, “Introduction to Robotics Mechanics and Control”, 3rd edition, Pearson, 2008. 5. Robert J. Schilling, “Fundamentals of Robotics Analysis and Control”, 5th edition,Prentice
2. Mark W. Spong and M. Vidyasagar, “Robot Dynamics and Control”, 2ndedition, Wiley India, Hall of India Learning, 2009.
2008. 6. Mittal R.K., and Nagrath I.J., “Robotics and Control”, 1st edition, Tata McGrawHill, 2007.
Learning
3. J.P. Merlet, “Parallel Robots”, 2nd edition, Springer, 2006. 7. Fu K., Gonzalez R., and Lee C. S. G., “Robotics: Control, Sensing, Vision and
Resources
4. Saeed B.Niku, “Introduction to Robotics Analysis, Systems andApplications”, 2nd edition, Intelligence”, 1st edition McGraw Hill, 2008.
Prentice Hall of India, 2009. 8. Tsuneo Yohikwa, “Foundations of Robotics Analysis and Control”, 2nd edition,MIT Press,
2003

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.Mohammed Sagheer, ZF commercial vehicle control systems Pvt. Ltd 1. Dr.G Nagamanikandan, IIIT Hyderabad 1. Dr.Ranjith Pillai R, SRMIST
2. Mr.Ganesh Ram, Tunga Systems 2. Dr.R Thiyagarajan, IIT Tirpuati 2. Dr.A Vimala Starbino , SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE405L NEURAL NETWORKS AND DEEP LEARNING LABORATORY Category E PROFESSIONAL ELECTIVE
Code Name 0 0 5 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Compile the concepts required to better understand the compilation process 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
Set up a machine learning problem with a neural network mindset

The engineer and society

Conduct investigations of
CLR-2:

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Build neural network model for classification and regression

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Implement on various aspects of hardware software speedup for machine learning,

Communication
Environment &
Sustainability
CLR-5: Develop and train deep neural networks for computer vision task

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Analyze with the basic concepts on Machine Learning 3 2 - - - - - - - - - - 1 - -
CO-2: Incorporate vectorization to speed up the models 3 2 - - - - - - - - - - - 2 -
CO-3: Implement the concepts of CNN and RNN 3 2 2 - - - - - - - - - - 2 -
CO-4: Analyze the capabilities, challenges, and consequences of deep learning 3 - - - 2 - - - - - - - 3 - -
CO-5: Demonstrate the key computations underlying deep learning 3 - 2 - - - - - 1 - - - - - 2

Unit-1 - Basics of Machine Learning API 15 Hour

Basic Tensor Arithmetic Operation in Tensorflow and Computational graph Visualization - Working with Tensor Shapes, Squeezing, Expanding, Transposing, Resizing - Scalars, Vectors, Matrices, Tensors and
Numpy Arrays - Real world types of data – Vector, Time series, sequential, image, video - Broadcasting, Casting, Creation and Math and Logic Operations - Aggregations, Scans, Mixing and Locating Elements -
Slicing and Joining, Indexing - Control Flow and Logging - Introduction to Datasets and Loader - Linear Regression
Unit-2 - Classical Neural Networks 15 Hour
Basics of neural network – single neuron learning - Foundation of gradient based optimization - Understanding derivative - Types of gradient descent - Chaining derivatives – Back propagation algorithm - Running
one training example from the scratch - Running one training example from the scratch - Multilayer perceptron – Learning Boolean functions - Activation functions - vanishing gradients - over-fitting and under-fitting
- Applying trained networks for prediction - Image classification with multi-layer perceptron - Neural network for regression with example
Unit-3 - CNN and RNN 15 Hour
Motivation for CNN - 1D, 2D and 3D convolutions - Convolutional neuron - Pooling layers and Initialization - Understanding Softmax Function - LeNet for hand- written digit classifications - Alexnet Implementation for
Imagenet Classification - CNN for Regression- Understanding the principle and Motivation for RNNs - Basic RNN for Forecasting application - Advanced usage of RNN - RNN for Image Classification - LSTM
Motivation and Principle Understanding - LSTM for sequential learning
Unit-4 - Training Strategies 15 Hour
Loss functions - Evaluation metrics for classifications tasks - Evaluation metrics for regression tasks - Batching, Shuffling, Regularization – Dropouts – Optimizers – Momentum, Nestrov, RMS Prop, AdaDelta, ADAM,
ADAGRAD - Hyperparameters Tuning - Batch Normalization - Understanding deep learning hardware for training and inference - Measuring deep learning hardware related parameters - Hardware training distribute
strategies - Complete training and benchmarking for an image classification task

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-5 - Advanced Architectures and Embedded Implementations 15 Hour
RESNET and INCEPTION - Key Aspects - Recent Image Calssifications Architectures – Key Aspects - Object Detection by RCNN and YOLO - Object Tracking by SORT- Sementic Segmentation DeepLab V3 Plus
- Instance Segmentation- Image Panoptic Segmentation - Video Panoptic Segmentation - Attention Network with application - Embedded GPU Implementation of a Image Classification Network - Embedded GPU
Implementation of an Object Detection Network with Live Camera Interfacing - FPGA Implementation of a Image Classification Network - FPGA Implementation of an Object Detection Network with Live Camera
Interfacing

1. Bharath Ramsundar, Reza Bosagh Zadeh, TensorFlow for Deep Learning, O'Reilly 3. Eli Stevens, Luca Antiga, Thomas Viehmann, Deep Learning with PyTorch,Manning, 2020
Learning Media, 2018 4. Ian Goodfellow, Yoshua Bengio, Aaron Courville, Deep Learning, MIT Press,2016
Resources 2. Antonio Gulli, Amita Kapoor, Sujit Pal, Deep Learning withTensorFlow 2 and Keras,
Packt Publishing, 2019

Learning Assessment
Continuous Learning Assessment (CLA)
Formative Formative Summative Final Examination
Bloom’s CLA-1 CLA-2 (40%) (0% weightage)
Level of Thinking (30%) (30%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - - - - -
Level 2 Understand - - - - - - - -
Level 3 Apply - - - - - - - -
Level 4 Analyze - - - - - - - -
Level 5 Evaluate - - - - - - - -
Level 6 Create - - - - - - - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer, Wabco Technology Center, 1. Dr. Thiyagarajan, Indian Institute of Technology Tirupati. 1. Dr. R. Senthilnathan, SRMIST
2. Mr. Shankar Bharathi, Larsen & Toubro Technology Services, 2. Dr. P. Karthikeyan, MIT Campus, Anna University, 2. Mrs.T.S.Rajalakshmi, SRMIST
[email protected] [email protected]

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE406T VIRTUAL INSTRUMENTATION Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Introduce virtual instrumentation and graphical programming. 1 2 3 4 5 6 7 8 9 10 11 12 outcomes

The engineer and society

Conduct investigations of
CLR-2: Discuss and compare various data acquisition techniques.

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Acquire knowledge of various instrumentation interfaces.

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Realize virtual instruments for signal generation, measurement, and analysis.

Communication
Environment &
Sustainability
CLR-5: Explore the applications of virtual instrumentation.

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Describe the concepts in virtual instrumentation and graphical programming. 3 - - - - - - - - - - - 1 - -
CO-2: Select and configure various data acquisition devices. 3 - - - - - - - - - - - - 2 -
CO-3: Articulate various instrumentation interfaces to connect external hardware to a computer. 3 - - - - - - - - - - - - 2 -
CO-4: Develop virtual instruments for signal generation, measurement, and analysis. - 2 3 - - - - - - - - - 3 - -
CO-5: Identify the applications of virtual instrumentation. - 2 3 - - - - - - - - - - - 2

Unit-1 - Introduction to Virtual Instrumentation and Graphical Programming 9 Hour

Concept and evolution of virtual instrumentation - Block diagram and architecture of virtual instrumentation - Graphical programming vs. conventional programming, pros, and cons - Front panel, block diagram, data-
flow, and data types - Loops - Case structure - Sequence - Charts - Graphs - Array - Cluster - Formula nodes - Scope of variables and sub-VIs - Strings and File I/O
Unit-2 - Data Acquisition Techniques 9 Hour
Analog and digital signals representation, sample and hold, quantization and encoding - Introduction to data acquisition systems and PC-based data acquisition - Effect of variation of different parameters on data acquisition
- I/O techniques - Selecting and configuring data acquisition devices - Analog data acquisition modules - Digital data acquisition modules - Universal data acquisition modules - Embedded reconfigurable I/O platforms -
Timers and Counters
Unit-3 - Instrumentation Interfaces 9 Hour
Introduction to interfaces and their importance - Overview of RS232, RS485, Ethernet, USB, and GPIB - Need, architecture, and features of PCI, PCIE, SCXI, VXI, LXI, and VISA - Bus protocols - HART, CAN, MOD,
Fieldbus, and Profibus - IoT
Unit-4 - Virtual Instrumentation for Signal Generation, Measurement, and Analysis 9 Hour
Signal/Function generator - Precision power supply - Multimeter - Mixed signal oscilloscope - Signal analysis – Max min, noise/jitter analysis, peak detection, zerocrossing, overshoot, and undershoot
Unit-5 - Applications of Virtual Instrumentation 9 Hour
Importance of virtual instrumentation in mechatronics - Industrial applications of ON/OFF control and PID control - Virtual instrumentation in process control with a case study - Virtual instrumentation in machine vision with
a case study - Healthcare, robotics, industrial applications of VI

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. Jeffery Travis and Lisa K Wells, "LabVIEW for EVERYONE",Prentice Hall, Edition 2, 2002. 4. Kevin James, "PC Interfacing and Data Acquisition", Elsevier, 2002.
Learning 2. S. Sumathi, P. Surekha, “LabVIEW based Advanced InstrumentationSystems”, Springer, 2007. 5. Lawrence M. Thompson and Tim Shaw, “Industrial Data Communications”, ISA
Resources 3. Mahesh L Chgani, Abhay R Samant and Michael Cerna, "LabVIEW signalprocessing", Pearson press, 5th Edition, 2015.
Education, 1998.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 25% - 25% -
Level 3 Apply 30% - 30% - 30% -
Level 4 Analyze 30% - 30% - 30% -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Ganesh Ram, Intel Labs, Bangalore, 1. Dr. N.Pappa, MIT, Anna University 1. Dr. V.Sujatha, SRMIST
2. Mr. Mohammed Sagheer, WABCO Technology Center,India 2. Dr.P.Karthikeyan, MIT, Anna University 2. Mrs. G.Madhumitha, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE407T AUTONOMOUS MOBILE ROBOTICS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Formulate the challenges in developing autonomous mobile robots 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Abstract kinematic control of wheeled mobile robots

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge
CLR-3: Understand the challenges involved in sensory perception for mobile robots

Design/development of

Project Mgt. & Finance

Modern Tool Usage
CLR-4: Understand the localization and path planning algorithms.

Life Long Learning

complex problems
Problem Analysis

Communication
Comprehend the challenges in implementing controllers. Comprehend the challenges in implementing

Environment &
Sustainability
CLR-5:
controllers

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Formulate the challenges in developing autonomous mobile robots 3 3 2 1 1 - - - 1 1 - 1 1 - -
CO-2: Abstract kinematic control of wheeled mobile robots 3 3 2 2 1 - - - 2 1 - 1 - 2 -
CO-3: Understand the challenges involved in sensory perception for mobile robots 3 2 1 2 1 - - - 2 1 - - - 2 -
CO-4: Develop localization and path planning algorithm for mobile robot navigation 3 2 2 2 2 - - - 2 1 - 1 3 - -
Comprehend the challenges in implementing controllers. Build the required foundation for developing
CO-5: 3 2 2 2 2 - - - 1 1 - 1 - - 2
autonomous mobile robots.

Unit-1 - Introduction 9 Hour

Mobile Robots vs. Manipulators - Introduction to autonomous mobile robots - Locomotion aspects of mobile robots - Introduction to wheeled mobile robots- wheel types - Wheeled Configurations - Maneuverability,
controllability, Stability of mobile robots - Wheeled Locomotion - Case studies - Degrees of freedom,differential degrees of freedom - Holonomic and non-holonomic systems- Kinematic constraints of a fixed
standard wheel- Kinematic constraints of a omni-directional wheels
Unit-2 - Kinematics and Dynamics of Mobile Robots 9 Hour
Forward kinematic models of three wheeled differential drive robot - Forward kinematics of a three wheeled omni-directional robot - Degree of Maneuverability- Mobility analysis of various wheeled configurations -
Workspace and trajectory considerations - Comparison of maneuverability and controllability- State space modelling of three wheeled differential drive robot- Multi-rotor aerial robot, Types and applications- Modelling of
Control of Quadrotor Aerial Vehicle-Introduction to Underwater vehicles- Modelling of dynamics of underwater vehicle
Unit-3 - Sensors for Mobile Robots 9 Hour
Sensors for mobile robots - Characteristics applicable to mobile robots - Relating the characteristics to performance attributes of mobile robot - Physical and computational attributes of sensors applicable to mobile
robots - sensor noise and sensor aliasing - GPS and heading sensors - Principles, challenges and interpretation Light and sound based ranging - Principles, challenges and interpretation -Wheel Odometry-
Implementation algorithm for wheel odometry- Wheel Odometry Critical Analysis- Wheel Odometry error reduction- Vision for mobile robots- Introduction to Visual Odometry and V-SLAM- Multi-sensor combinations-
Need and types
Unit-4 - Mobile Robot Control 9 Hour
Robot Motion - Smoothing Algorithm, Path Smoothing - Zero Data Weight- PID - Implementation aspects of proportional control, integral control, derivative control: Systematic Bias - PID Tuning for autonomous mobile
systems - Parameter Optimization: Go-goal Controller - Cruise Controller
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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-5 - Localization and Path Planning 9 Hour
- Introduction to localization, Localization challenges - Belief representations, Considerations in Belief representations & Map representations - Types, trade-offs -Introduction to Kalman filtering & Derivation of Kalman
gain - Kalman filter and Extended Kalman Filter for localization - Sensor fusion using Kalman filter -Particle Filter Based Localization - Object Detection and Sensor Data Fusion Introduction to path planning, D* Lite -
Bug algorithms - Vector field histogram Collision avoidance algorithms

1. Siegwart, Nourbakhsh, “Introduction to Autonomous Mobile Robots”, 2nd Edition, MIT 4. Klancar, Gregor, et al. “Wheeled mobile robotics: from fundamentals towardsautonomous
Learning Press, 2011. systes”. Butterworth-Heinemann, 2017.
Resources 2. Bruno Siciliano, Oussama Khatib, “Handbook of Robotics”, 2nd Edition,Springer, 2016. 5. Sebastian Thrun, et al, “Probabilistic Robotics”, MIT Press, 2006
3. Perter Corke, “Robotics, Vision and Control”, 2nd Edition, Springer, 2017

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr.Guna Surendra, Hitachi, Japan 1. Dr. P. Karthikeyan, MIT Campus, Anna University, 1. Dr. K.Sivanathan, SRMIST
2. Mr. Elayraj Jayaraj, Apple, USA 2. Dr. Thiyagarajan, Indian Institute of Technology Tirupati. 2. Mr. J.Thiyagarajan, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE408L MEASUREMENT AND DATA ACQUISITION LABORATORY Category E PROFESSIONAL ELECTIVE
Code Name 0 0 5 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Impart knowledge on various programmable Test and Measuring Instruments 1 2 3 4 5 6 7 8 9 10 11 12 outcomes

The engineer and society

Conduct investigations of
CLR-2: Acquire knowledge in understanding the concepts of simulation and apply for industrial automation

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Familiarize simulation using PLC for different industrial applications

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Incorporate knowledge on the real time controller for industrial automation

Communication
Environment &
Sustainability
CLR-5: Explore the significance of FPGA based SOM controller

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Comprehend the fundamentals of programmable Test and Measuring Instruments 3 - 2 - 3 - - - - - - 2 1 - -
CO-2: Interpret the significance of programming and simulation for industrial automation 3 - 2 - 3 - - - - - - 2 - 2 -
CO-3: Develop simulation using PLC for different industrial applications 3 - 3 - 3 - - - - - - 2 - 2 -
CO-4: Exposed to real time controller and its applications 3 - 3 - 3 - - - - - - 2 3 - -
CO-5: Build interfacing of FPGA based SOM controller for different industrial applications 3 - 3 - 3 - - - - - - 2 - - 2

Unit-1 - Programmable T&M Instruments 15 Hour

Sampling and Quantization and Oscilloscope Triggering Basics, Measurements, auto-masking and error finding techniques, Understanding Frequencies and filtering, Storage and Retrieval, trigger measurements,
eye plots, Special features of Digital Storage Oscilloscope, SMPS Testing with Oscilloscope, Working with arbitrary waveform generator, Working with digital signals and MSO features, Understanding ADC with
MSO, Working with bench-top DC power supplies, Characterizing power supply using oscilloscope, PC connectivity of programmable instruments using VISA, Data Logging with programmable instruments, Closed
loop system building with programmable instruments
Unit-2 - Industrial Automation Simulation 15 Hour
Getting started with GUI of 3D Industrial Automation Simulation Software, Basic PLC programming with MPS stations, Advanced PLC programming with MPS Transfer Systems,Robot aided pick and place, Robot
aided palletizing, Robot aided assembly station without PLC, Robot aided assembly station with PLC, Robot aided punching station with PLC, Robot aided punching station without PLC, Robot aided assembly and
punching station integration with PLC, Robot aided assembly and punching station integration without PLC,Micro FMS programming
Unit-3 - Programmable Logic Controllers 15 Hour
Introduction to PLC programming software and Hardware Connection , Transport parts from Location A to Location B with Set and Reset, Working with analog input and output signals, Closed loop pneumatics using
analog PID controller and Status Controller, Closed loop pneumatics using PLC, Filling tank with Timers, Basic Elevator, Advanced Elevator, Palletizer, Pick and place using XYZ Mechanism, Working with industrial
communication interfaces
Unit-4 - Industrial Real Time Controller 15 Hour
Introduction to FPGA programming using high-level programming language, Modes of Using Reconfigurable Hardware – RT, FPGA and Scan Engine, Programmatic launching of applications, Communication between real-time
microcontroller and FPGA – DMA FIFO, Communication between real-time microcontroller and FPGA – Interrupt Based, Time stamping in FPGA, Hardware Triggering for Image Acquisition, Socket Communication between
devices with Real-Time Microcontroller, SPI Communication, I2C Communication, RS232/RS422/RS485 Using VISA, RS232/RS422/RS485 in FPGA, CAN Interfacing, Hardware-in-loop Simulation with Real Time Controllers

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-5 - FPGA Based SOM Controller 15 Hour
Getting started with SOM and Basic Programming, Development methodologies, Rotary Encoder Decoding, Closed Motor Speed Control, TOF Sensor based DC Motor Control, RGB OLED Display and Key Pad
Interfacing, 9-axis IMU Interfacing, Two-axis Joystick based dual motor control, Wifi and Bluetooth Communication, Image Acquisition – Synchronous and Asynchronous Modes, R/C servo based Pan-tilt gimbal
control, Visual tracking using R/C servo based Pan-tilt gimbal, Creating custom overlay, Creating custom function accelerator, Deep learning inference using FPGA

1. Juan Jose Rodriguez Andina, Eduardo de la Torre, Maria Dolores Valdes, FPGAs 4. Clyde coombs, Electronic Instrument Handbook, McGraw-Hill Professional, 1999.
Fundamentals, Advanced Features, and Applications in IndustrialElectronics, CRC Press, 5. Chanchal Dey, Sunit Kumar Sen, Industrial Automation Technologies, CRC Press,2020.
2020 6. Bruno, Frank, FPGA programming for beginners, Packt Publishing, 2021.
Learning
2. Richard L. Shell and Ernest L. Hall, Handbook Of Industrial Automation,CRC Press, 2000
Resources
3. Peng Zhang, Advanced Industrial Control Technology, William AndrewPublishing, 2010.
4. Max Rabiee, Programmable Logic Controllers: Hardware and Programming,Goodheart-
Willcox, 2017

Learning Assessment
Continuous Learning Assessment (CLA)
CLA-1 Average of first cycle CLA-2 Average of second cycle Final Examination
Bloom’s Practical Examination
experiments experiments (0% weightage)
Level of Thinking (40% weightage)
(30%) (30%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - - - - -
Level 2 Understand - - - - - - - -
Level 3 Apply - - - - - - - -
Level 4 Analyze - - - - - - - -
Level 5 Evaluate - - - - - - - -
Level 6 Create - - - - - - - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Shankar Bharathi, L&T Technology Services, 1. Dr. R. Thiyagarajan, IIT Tirupati, [email protected] 1. Dr. R. Senthilnathan, SRMIST
2. Mr. Mohammed Sagheer, WABCO Technology Center, India 2. Dr. G. Nagamanikandan, IIIT Hyderabad 2. Mr. S.Vasanth, SRMIST

51
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE409T ADVANCED MICROCONTROLLERS AND SIGNAL PROCESSORS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Provide fundamental knowledge of digital signal controller 1 2 3 4 5 6 7 8 9 10 11 12 outcomes

The engineer and society

Conduct investigations of
CLR-2: Familiar with the architecture and basic programming of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Familiar with architecture and basic programming of Msp430

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Provide communication interfacing of Msp430

Communication
Environment &
Sustainability
CLR-5: Provide real-world applications of controller

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Describe the basic concepts of Digital signal controller 2 - - - - - - - - - - - 1 - -
CO-2: Program dsPIC30 2 - - - 1 - - - - - - - - - 3
CO-3: Program Msp430 2 - - - 1 - - - - - - - - - 3
CO-4: Apply the programming knowledge of the Msp430 to communication interface 2 - - - 1 - - - - - - - - - 2
CO-5: Apply the theory and programming of dspic30 and Msp430 to solve mechatronics related problems 2 - - - 1 - - - - - - - - 1 -

Unit-1 - Overview of Digital signal controllers 9 Hour

C2000 MCU, Piccolo MCU, Delfino based controllers, dsPIC 30F series DSC, MAC units, hardware divide support, floating point signal processing support.
Unit-2 - Introduction to dsPIC 30F 9 Hour
dsPIC 30F series – Introduction to 16 bit microcontrollers: dsPIC 30F – CPU, data memory, program Memory, instruction set. Programming using XC16 compiler and C-Interrupt Structure.Peripherals of dsPIC30F:
I/O Ports, timers, input capture, output compare, motor control PWM, 10 bit A/D converter, UART-,programming
Unit-3 - Introduction to MSP430 9 Hour
MSP430 Architecture, CPU Registers, Instruction Set, addressing modes, the MSP430 family viz. MSP430x2x, MSP430x4x, MSP430x5x. MSP430f2274 – MSP430X22X2 device pin out, DA Package, Functional
Block diagram description, Inputs, Outputs, Timers, ADC-programming
Unit-4 - Peripheral interface of MSP430 9 Hour
Serial and Parallel Communication, Synchronous and Asynchronous Interfaces, Implementing and Programming of: Uart, I2C and SPI Protocol. WirelessConnectivity: NFC, Zigbee, Bluetooth and Wifi. Msp430
Development Tools.
Unit-5 - Case studies 9 Hour
Applications using dsPIC30F: Generating SPWM, generating PWM’s for power converters, PID based control loops. Automatic Temperature Controller Applications of MSP 430 : Implementing Wifi Connectivity,
MSP430 based Supervisory & MPPT system

52
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Learning 1. John H. Davies, “MSP 430 Micro controller basics”, Elsevier, 2008. dsPIC 30F, Reference 2. Chris Nagy, “Embedded System Design using the TI MSP 430 Series”, FirstEdition, Newnes,
Resources Manual, Microchip 2003.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 40% - 20% - 30% -
Level 2 Understand 60% - 60% - 60% -
Level 3 Apply - - 20% - 20% -
Level 4 Analyze - - - - - -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr. K. Karthikeyan, Hitachi Energy, Bangalore 1. Dr.T.Balakumaram , Institute of Technology,Coimbatore 1. Dr.S.Vani,SRMIST
2. Mr. SathiyaMoorthi, Broadcom Inc, 2. Dr.S.Srinivasan, Saveetha University, Chennai 2. Dr.M.Mohamed Rabik, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE410T MACHINE VISION AND IMAGE PROCESSING Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Incorporate knowledge on the machine vision technology as a tool for industrial automation. 1 2 3 4 5 6 7 8 9 10 11 12 outcomes

The engineer and society

Conduct investigations of
CLR-2: Acquire knowledge in understanding the specification of vision hardware.

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Develop a comprehensive understanding of the fundamental algorithms and implement them.

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Develop proficiency in applying image processing algorithms to industrial problems.

Communication
Environment &
Sustainability
CLR-5: Acquire an introductory information related to 3D vision and deep learning techniques.

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Analyze the properties of light which defines the possibilities and limitation of a vision system. 3 2 - - - - - - - - - - 1 - -
Creates interpretation of various specification of an imaging system to select the right hardware based on the
CO-2: - 2 2 - - - - - - - - - - 2 -
understanding of scene constraints.
CO-3: Develop algorithm to enhance images. - 2 2 - 1 - - - - - - - - 2 -
CO-4: Develop algorithm that extract various types of attributes from digital images. - 2 - 2 1 - - - - - - - 3 - -
CO-5: Analyze the application of various 3D vision techniques and deep learning techniques. 2 - - - - - - - - - - - - - 2

Unit-1 - Fundamentals of lighting 9 Hour

Physics of light - Imaging modalities with light - Interactions of light - Reflection and Refraction - Related fields and Industries using vision - Introduction to machinevision system building - Task specification - Design
of the system - Cost calculation - Development, Testing and Commissioning - Human visual system – Comparison with a machine vision system - Scene Constraints - Light sources - Lighting Techniques, types and
selection.
Unit-2 - Imaging System 9 Hour
Machine vision lenses - Filters - Image sensor specifications, terminologies - Sensor types based on sensing element - selection criteria - Camera computer interfaces,types and section - Camera parameters
governing geometrical image formation - Camera modeling - Camera Calibration - Distortions.
Unit-3 - Image Processing 9 Hour
Machine vision software - selection criteria - Basics of digital image - Sampling and Quantization - Gray scale histogram - Thresholding - Contrast stretching – Image smoothening, sharpening, edge detection in
spatial domain - Derivative operators - 2D discrete Fourier transform - Frequency domain processing for image smoothening and sharpening - Low and high pass filters - Binary morphology - Basic morphological
operations - Non-linear filters - Color image processing.
Unit-4 - Image Analysis 9 Hour
Feature extraction - Region features - Template matching - Methods of template matching - Linear classification - Corner detection - Harris corner detection - Keypoint matching - Matching methods - Texture Analysis
- Approaches and methods - Co-occurrence Matrix - Properties of Co-occurrence matrix – Decision making considerations for various machine vision applications.

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-5 - 3D vision & Deep learning 9 Hour
Classification of 3D vision techniques - Active vision -LiDAR - Computational Stereo Vision - Steps in Stereo vision - Introduction to Neural networks - Types of neural networks - Back propagation learning - Numerical
problem - Concepts in Machine learning - Convolutional layer of neural network - Numerical - Convolutional neural network for image classification - Architecture details - Object detection using CNN - Single shot
learning for object detection.

1. Gonzalez, R. C., & Woods, R. E., "Digital Image Processing", 2018edition, Pearson. 4. Trucco, E., & Verri, A., "Introductory Techniques for 3D Computer Vision", 1998edition,
Learning
2. Hornberg, A., "Handbook of Machine Vision", 2015 edition, Wiley-VCH. Prentice Hall.
Resources
3. Hecht, E., "Optics", 2016 edition, Pearson. 5. Goodfellow, I., Bengio, Y., & Courville, A., "Deep Learning", 2016 edition, MITPress.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 25% - 25% -
Level 3 Apply 30% - 30% - 30% -
Level 4 Analyze 30% - 30% - 30% -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer, Wabco Technology Center, 1. Dr. R. Thiyagarajan, Indian Institute of Technology Tirupati, 1. Dr. R. Senthilnathan, SRMIST
2. Mr. Shankar Bharathi, Larsen & Toubro TechnologyServices, 2. Dr. P. Karthikeyan, MIT Campus, Anna University, 2. Mr. S. M. Vignesh, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE411T APPLIED MECHATRONICS SYSTEMS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Understand the design process and integrated design issues in mechatronics system 1 2 3 4 5 6 7 8 9 10 11 12 outcomes

The engineer and society

Conduct investigations of
CLR-2: Acquire the knowledge of Mechatronics in mobility

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Apply the concept of Mechatronics in manufacturing

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Acquire the knowledge of Mechatronics in medical and sports

Communication
Environment &
Sustainability
CLR-5: Apply the concept of Mechatronics in construction and bio mimics robot

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Analyze of Various simulation based on the applications 3 3 - - - - - - - - - - 1 - -
CO-2: Build a mechatronics system for mobility applications 3 - 3 - - - - - - - - - - 2 -
CO-3: Develop a mechatronics system for manufacturing applications - 2 3 - 3 - - - - - - - - 2 -
CO-4: Create a mechatronics system for medical and sports applications - 2 3 - 3 - - - - - - - 3 - -
CO-5: Develop a mechatronics system for construction and bio mimics robot applications - 2 3 - 3 - - - - - - - - - 2

Unit-1 - Introduction to Mechatronics 9 Hour

Definition of mechatronics - Evolution of mechatronics systems - Multidisciplinary nature of modern machines and their design challenges - Traditional vs mechatronics approaches - Mechatronics design process - Need
of design tools integration - Review of key elements of mechatronics systems from integration perspective - Role of mechatronics engineer - Various steps for design - Types of design (mechatronics approach) -
integrated product design - load conditions on mechanisms - Structure and systems - Man Machine Interface (MMI) - Mechatronics design concept and framework - overview of mechatronics key elements definition of
mechatronics: sequential integration and concurrent integration - integrated design issues in mechatronics - Introduction to real time interfacing elements of data acquisition and control system - transducer and signal
conditioning - devices for data conversion - data conversion process - HMI design process - designing human-automation interaction - human error, interaction and the development of safety critical systems
Unit-2 - Mechatronics in Mobility 9 Hour
Need of mechatronics in automobiles. modelling and simulation antilock braking system – power steering – adaptive cruise control – active suspension system – case studies in vehicle communication - Hybrid EV-
electronic ignition – engine control system – tyre pressure monitoring system - Ornithopter – Intelligent cockpit electronics – Digital flybywire systems- longitudinal and later control design – surveillance drone – Navigation
– Robotic arm in International Space station- Magnetic levitation system
Unit-3 - Mechatronics in Manufacturing 9 Hour
Computed aided metrology –– monitoring and control in manufacturing process - case studies in additive manufacturing - case studies in advanced machining-case studies in automated production line - AGV -
simultaneous mapping and localization -virtual manufacturing -internet controlled manufacturing - SMART FACTORY, ASRS, mobile manipulator
Unit-4 - Mechatronics in Medical and Sports 9 Hour
Surgical Robot - Skeletal muscles servo mechanism – Analysis of force in orthopedic implants – sensory assisted exoskeletons – lower and upper limb exoskeleton- Rehabilitation, wheelchairs for mobility assistance -
Haptics- online patience monitoring - Applications in sports and exercise .

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-5 - Mechatronics in others application 9 Hour
Intelligent safety elements in buildings - robotics in construction – IoT assisted home automation- Bio Mimics Robot - snake robot, fish robot, ornithopter - Inverted pendulum - Vending machines

1. Robort H Bishop, “Mechatronics an Introduction”, Taylor andFrancis, 2nd edition, 2003. 4. Devdasshetty, Richard A. Kolkm, “Mechatronics System Design”, PWS Publishing
2. Annalisa Melilla, Donato Di Paola and GraziaCicirelli, “MechatronicSystems, Applications”, InTech company, 2nd edition, 2010.
Learning
publisher, 2010. 5. M. D. Singh, J. G. Joshi, “Mechatronics”, Prentice Hall of India Private limited, 2006.
Resources
3. Bolton, “Mechatronics – Electronic Control Systems in Mechanical and Electrical Engineering”, 4th 6. William B. Ribbens, Norman P. Mansour, “Understanding Automotive Electronics”, 6th
edition, Addison Wesly Longman Ltd., edition, Elsevier Science, 2013.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 25% - 25% -
Level 3 Apply 30% - 30% - 30% -
Level 4 Analyze 30% - 30% - 30% -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. C. Elan Chezhian, Keyence Engineering, Chennai 1. Dr. D. Saravanakumar, VIT University, Chennai 1. Dr. T. Muthuramalingam, SRMIST
2. Dr. K.P. Srinivasan, Mahindra Research Valley,Chennai 2. Dr. P. Karthikeyan , MIT, Anna University, Chennai 2. Mr. A. Lakshmi Srinivas, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE412T REAL-TIME EMBEDDED SYSTEMS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

21MHC205J Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Think and evolve with the basic of Embedded System that can be converted to a system design 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Perceive the concept of interrupt, memory that can be evolved to real time environment

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Know the functions and scheduling of RTOS towards a system design

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Learn the different approaches and scheduling real time characteristics with specific algorithms

Communication
Environment &
Sustainability
CLR-5: Know different communication types and protocols for specific applications

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Translate the requirements of embedded system to a system design 1 3 3 - - - - - - - - - 1 - -
CO-2: Apply correctly the terminology to the real time environment 1 3 3 - - - - - - - - - - 2 -
CO-3: Explain the structure of real time operating system 1 3 3 - - - - - - - - - - 2 -
CO-4: Translate the approaches related to the real time characteristics application 1 3 3 - - - - - - - - - 3 - -
CO-5: Interface hardware with communication protocol 1 3 3 - - - - - - - - - - - 2

Unit-1 - Introduction to Embedded System 9 Hour

Introduction to the course and Discussion- Embedded computers, Characteristics of embedded computing, challenges in embedded computing system Design- Embedded System Design Process: Requirement,
Specifications-Architecture Design-Designing of software and hardware Components-System Integration- Formalism for System Design: Structural Description-Design Example: Data compressor, Alarm clock
Unit-2 - Interrupts in embedded system 9 Hour
Terminologies of an Embedded System-Gates and timing Diagram-Memory and its Types-Microprocessor Buses-Programming the input and output Devices- Direct Memory Access-Interrupts: Built Interrupts-
Supervise mode, Exceptions and Traps-Shared Data Problem-Disadvantage of interrupt Latency-Embedded system evolution Trends-Interrupt routines in an RTOS Environment-Real Time Clock-System Clock
Unit-3 - Overview of RTOS 9 Hour
Introduction -Multiple task and Multiple processes: Task and Processes, Multi-rate systems, Timing requirements on the process, CPU metrics-Process state and scheduling-some scheduling policies-Running
periodic process-RTOS task and task state-Pre-emptive Real-time operating systems- Multithread pre-emptive schedule-Priority based scheduling: Introduction and its types-Rate-Monotonic scheduling-Earliest
deadline First scheduling-Evaluation of operating systems performance-Design of Telephone answering machine
Unit-4 - Real-Time characteristics 9 Hour
Introduction to real-time Characteristics-Algorithm: Clock drive Approach-Weighted round robin Approach-Priority driven Approach-Example for priority-driven Approach-Dynamic versus static System-Effective
release times and deadline-optimality of the Earliest deadline first(EDF) Algorithm-Real time concepts of EDF-Challenges in validating timing constraints in priority-driven systems- Off-line versus online scheduling

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-5 - Communication Interfacing 9 Hour
Introduction to converters and their Types-Types of ADCs and DACs, working Principle-Introduction programmable interface with A/D and D/A-Introduction and working principle of control robot System-Introduction
and working principle of Pulse Width Modulation-Introduction and working principle of motor speed Controller-Serial and parallel Communication-Wireless Communication-Serial Protocols: I2C, CAN and USB-Parallel
Protocols: PCI and ARM Bus-Wireless Protocols: IrDA, Bluetooth and IEEE 802.11

1. Payne Golf, 'Computers as Components: Principles of EmbeddedComputing System Design”, Morgan 4. Raj Kamal,” Embedded Systems', Tata McGraw HiIl,2009
Kauffman Publishers,2011 5. NPTEL Engineering Mechanics Lectures by IIT Guwahati
Learning
2. Frank Vahid and Tony Givargis,” Embedded System Design: A Unified Hardware/Soft 'are ‘https://nptel.ac.in/courses/112103109/
Resources
Introduction’, John Wiley and Sons, 2002.
3. David Simon, “An Embedded Software Prime Pearson EducationAsia, 2001.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr. K. Karthikeyan, Hitachi Energy, Bangalore 1. Dr N V Uma Reddy, New Horizon College of Engineering, Bengaluru 1. Dr Mohamed Rabik, SRMIST
2. Ms. Mageshwari Dilip, Freshworks private Ltd, Chennai 2. Dr.K.Balasubadra, RMD Engineering College, Chennai. 2. Dr B.Priya Esther, SRMIST

59
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE413T CONDITION MONITORING TECHNIQUES E PROFESSIONAL ELECTIVE
Code Name Category 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Learn the fundamentals and need of condition monitoring 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Understand the monitoring various mechanical parameters

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Realize the monitoring in manufacturing

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Learn about the computational surface reconstruction

Communication
Environment &
Sustainability
CLR-5: Acquire the knowledge on AI for manufacturing

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Selection of suitable control and data acquisition 3 3 - - - - - - - - - - 1 - -
CO-2: Gaining the knowledge of various monitoring techniques 3 - 2 - - - - - - - - - - 2 -
CO-3: Obtaining the knowledge of surface defects - 3 2 - 3 - - - - - - - - 2 -
CO-4: Implementation of various surface reconstruction based on application - 3 - 2 3 - - - - - - - 3 - -
CO-5: Gaining the knowledge of AI fin manufacturing 3 3 - - 3 - - - - - - - - - 2

Unit-1 - Need of Condition monitoring 9 Hour

Importance and necessity of maintenance, different maintenance strategies - principles of condition monitoring - Concept and metrics of condition monitoring - Selection and scope of computerization – Basic
control systems - Computer process control - Fundamentals of data acquisition - Basic signal processing techniques - transducers for condition monitoring, NDT methods in condition monitoring
Unit-2 - Systems and temperature monitoring 9 Hour
Need of Fourier analysis, Hilbert Transform, Digital filtering, Deterministic / random signal separation , Wavelet Transform - Time-frequency analysis –- Simple temperature measurement techniques - Pyrometry and
infrared line scanners - Thermal imaging or thermo graphic systems - System Condition monitoring case studies-techniques -visual monitoring, temperature monitoring, vibration monitoring, crack monitoring, thickness
monitoring, noise and sound monitoring
Unit-3 - Condition monitoring in Manufacturing 9 Hour
Vibration Monitoring, vibration data collection, techniques, transducers, selection, measurement location, commonly witnessed machinery faults diagnosed by vibration analysis - Measurement of surface and
subsurface flaws –liquid penetrant inspection, eddy current inspection, radiographic inspection, ultrasonic inspection - AE based crack analysis – Adaptive control in CNC
Unit-4 - Computational Surface Reconstruction Techniques 9 Hour
Need of Camera Calibration – Methods and Procedure - Shape from Texture, Focus, Defocus– Geometry, parameters –correlation-based methods, feature based methods – Epipolar Geometry, eight-point algorithm–
Visual Motion – Motion field of rigid objects – Optical Flow – Estimation of motion field –Motion based Segmentation. Visual Tracking – Kalman Filtering – Significance of Advanced Visual Servoing
Unit-5 - Application of AI in Monitoring 9 Hour
Artificial Intelligence, Fuzzy Logic, Genetic Algorithms Neural Networks for Intelligent Process Monitoring and Control : Applications to CNC machining, Metal Forming - Intelligent Manufacturing Planning, Scheduling
and Control - Applications to web based CAD, CAPP, CNC, Assembly planning, and Rapid Prototyping

60
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. Dagli, C.H., “Intelligent systems in design and manufacturing”,ASME, 1994. 4. Rao J.S. “Vibratory Condition Monitoring of Machines” CRC Press. 2000
2. Boguslaw Cyganek, J. Paul Siebert, An Introduction To 3D Computer Vision Techniques 5. Davis A. “Handbook of Condition Monitoring Techniques and Methodology”Springer. 1998
Learning
and Algorithms, First Edition, 2009. 6. Don Nyman and Joel Levitt, Maintenance Planning, Scheduling andCoordination, Industrial
Resources
3. Juan Carlos Jauregui Correa, Alejandro Lozano Guzman, Mechanical Vibrations and Press Inc., New York, 2010
Condition Monitoring, 1st Edition, 2020

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. C. Elan Chezhian, Keyence Engineering, Chennai 1. Dr. G. Sakthivel, VIT University, Chennai 1. Dr. G. Murali, SRMIST
2. Dr. K.P. Srinivasan, Mahindra Research Valley,Chennai 2. Dr. P. Karthikeyan , MIT, Anna University, Chennai 2. Dr. T. Muthuramalingam, SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE414T ADVANCED CONTROL SYSTEMS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

21MHC301T Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Explicit the continuous domain control systems as digital domain systems 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Evaluate the inspect the stability of non-linear systems

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Estimate the concert of robust control system

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Construct an optimal control system

Environment &
Sustainability
CLR-5: Design of an optimal estimator

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Express a control system in discrete format 3 2 - - 2 - - - - - - - 3 - -
CO-2: Analyze and depict the stability of Non-linear system 3 2 - - 2 - - - - - - - 3 - -
CO-3: Design a Robust Controller 3 2 3 - 2 - - - - - - - 3 - -
CO-4: Accomplish an optimal controller 3 2 3 - 2 - - - - - - - 3 - 2
CO-5: Contemplate an optimal estimator 3 2 3 - 2 - - - - - - - 3 - 2

Unit-1 - Discrete Time Control System 9 Hour

Introduction to sample data systems, Sample and hold process, Zero and first order control systems, Transfer function of discrete time systems, Performance of sample-data second order system, Stability
Analysis of discrete -time systems-Jury's stability criteria, Digital control design, Mapping of s-plane and z-plane, Implementation of digital compensators by direct digital methods.
Unit-2 - Non-Linear Control 9 Hour
Non-Linear dynamics, Common Physical Nonlinearities Concept of phase plane Analysis, Phase Portraits, Singular Points, Symmetry in Phase plane portraits, Non-linear Systems, Equilibrium Points, Stability
Analysis, Lyapunov's Stability criterion for Linear and Non-Linear Systems, Construction of phase plane trajectories, Describing function of common Nonlinearities, stability analysis by describing function
Unit-3 - Robust Control 9 Hour
Robustness, sensitivity, Analysis of Robustness in System parameters, Robust control systems, Design of Robust control systems, Robust PID control system and its design, Internal Model control system and its
robustness, Pseudo-Quantitative Feedback Systems and its design, Model Predictive control overview
Unit-4 - Optimal control 9 Hour
Principle of optimality, Dynamic Programming, Hamilton-Jacobi-Bellman Equation, Calculus of Variations Pontryagin's Minimum Principle, Bang bang control, Linear Quadratic Regulator design, Continuous and
Discrete Riccati Equation Forms, H2 and H-Infinity Optimal Control, Basics of Convex Optimization, Receding Horizon Principle
Unit-5 - Optimal Estimation 9 Hour
Overview of Stochastic Processes, Probability and Random Variables, Spectral Analysis of stochastic Process Special cases: Mutivariate Normal distribution, Kalman filters-Continuous and discrete, Variants of
Kalman Filter, Extended Kalman Filter, Unscented Kalman Filter, Linear Quadratic Gaussian (LQG)
control Problem, LQG design and implementation

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. M.Gopal, Digital Control and State Variable Methods: Conventional and Intelligent Control 4. Roland S. Burns, Advanced Control Engineering, Butterworth-Heinemann, First edition,
System McGraw Hill 3rdEdition, 2008 2001
Learning
2. Richard C Dorf and Robert H Bishop, “Modern Control Systems", 13th edition, Pearson 5. Deseneni, Subbaram Naidu, "Optimal Control Systems", 1st edition, CRCPress, 2003.
Resources
Education, 2016. 6. Jean-Jacques E Slotine, Weiping Li, Applied Nonlinear Control", PrenticeHall of India-New
3. Norman S Nise, Control Systems Engineering, 7th edition, Wiley, 2015. Jersey, 1991

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 25% - 25% -
Level 3 Apply 30% - 30% - 30% -
Level 4 Analyze 30% - 30% - 30% -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr. K. Karthikeyan, Hitachi Energy, Bangalore 1. Dr.M.Mythili, Assistant Professor, Department of Electronics and 1. Dr.M.Mohamed Rabik, AP, SRMIST
Instrumentation Engineering, Anna University, Chennai – 600025.Email
– [email protected]
2. Mr. Emmanuel T, AI Innovations Pvt Ltd 2. Dr.P.Karthikeyan, Assistant Professor, Department pfProduction Technology, 2. Ms.D.Sasikala , AP, SRMIST
Anna University, Chennai- 600044. Email id:[email protected]

63
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE415T MICRO ELECTRO MECHANICAL SYSTEMS E PROFESSIONAL ELECTIVE
Code Name Category 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Impart knowledge of behavior of mechanical and electrical elements at micro level 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Identify the MEMS materials and their preparation

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Emphasis on electrical and Thermal actuation in microsystems

Modern Tool Usage

Life Long Learning

complex problems
CLR-4: Emphasis on Piezoelectric and Magnetic actuation in microsystems

Problem Analysis

Communication
Environment &
Expose on MEMS applications in Automotive sector and Introduce computer aided simulation of

Sustainability
CLR-5:
microsystems

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Analyze the behavior of MEMS systems 3 1 - 1 - - - - - - - - 1 - -
Understand the operation and manufacturing of microsystems and Solve problems in scaling laws
CO-2: 3 3 - 2 - - - - - - - - - 2 -
applicable to miniaturization.
CO-3: Design micro sensors and actuators actuated by electrical and Thermal actuation 3 3 - 3 - - - - - - - - - 2 -
CO-4: Design micro sensors and actuators actuated by Piezoelectric and Magnetic actuation 3 3 - 3 - - - - - - - - 3 - -
CO-5: Gain knowledge on different applications of MEMS devices and Simulate simple Microsystems 3 3 - 1 - - - - - - - - - - 2

Unit-1 - Mechanical and Electrical Conceptions 9 Hour

Elements of MEMS, Silicon as a MEMS material – mechanical properties of silicon, General scalar relationship between stress and strain, Study of Flexural beams bending under simple loading conditions,
Mechanical deformation of cantilever beam spring, Deformation of torsional bars, Discussing the Simple problems related to force constant, Origin of intrinsic stress, Methods for characterization, Damping &
Quality factor, Resonant Frequency, Active Tuning of spring constant and resonant frequency
Unit-2 - Microsystems Fabrication Processes 9 Hour
Scaling Law of Miniaturization, Materials for MEMS: Silicon, Silicon Compounds and Polymers, Microsystem Fabrication Processes: Photolithography, Ion Implantation,Diffusion, Oxidation, Chemical Vapor Deposition
(CVD), Physical Vapour Deposition (PVD), Surface micromachining, LIGA Process, Bulk micromachining; Dry etching, Wet etching, Plasma etching, DRIE, MEMS process integration strategies, Microsystem
Packaging, Design of micro-channel heat sink: Application of micro-channel heat sink
Unit-3 - Electrostatic, Capacitive, Thermal Sensing and Actuation 9 Hour
Electrostatic sensors and actuators, Parallel plate capacitors, Equilibrium position of parallel plate actuators, Pull-in effect of parallel plate actuators, Applications of Parallel plate capacitors, Inertia sensor, Pressure
sensors, Flow sensors, Tactile sensors, Parallel plate actuators, Interdigitated Finger capacitors, Comb drive accelerometer, Thermal Sensing and Actuation, Thermal resistance, Thermal bimorph principle, Thermal
bimorph actuator, Accelerometer based on thermal transfer, Thermal accelerometer with no moving mass, Flow sensors based on thermal transfer principle, Infrared sensor, Micro Sensors: Acoustic wave sensors,
Biomedical sensors and Biosensors

64
B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-4 - Piezoresistive, Piezoelectric, Magnetic Sensing and Actuation 9 Hour
Piezo resistivity gauge factor, Piezoresistive materials, Applications of piezoresistive sensor, Inertia sensors, pressure sensors based on piezo resistivity, Tactile sensor, Flow sensor,Piezoelectric sensing and
actuation, Piezoelectric materials, Piezoelectric Accelerometer, Magnetic actuation, Essential concepts and principle, Deposition of Magnetic materials, Fabrication of Magnetic coil, Magnetic motor, Magnetic beam
actuation, Micro grippers
Unit-5 - MEMS Case studies 9 Hour
MEMS inertial sensor in automobile airbag deployment, MEMS vibratory gyroscope, Optical MEMS, MEMS devices in space exploration, Micro power sources, Power MEMS,MEMS-based medical applications such
as drug delivery systems (DDS) and defibrillators, Capacitive accelerometer Exposure to commercial software, Model preparation using COMSOL Multiphysics, IntelliSuite, CoventorWare, MEMS Plus, and ANSYS,
modelling and simulation of mems actuator(piezoelectric) and mems sensor(accelerometer)

1. Tai- Ran Hsu, “MEMS and Microsystem Design and Manufacture” McGraw HillEducation (India) 5. Reza Ghodssi, Pinyen, “MEMS Materials and Processes Handbook”, Springer Science
Private Limited, New Delhi, 2002 Business Media, 2011.
2. Chang Liu, “Foundations of MEMS” 2nd edition, Dorling Kindersley India PvtLtd, 2012 6. Sergey Edward Lyshevski, “MEMS and NEMS: Systems, Devices and Structures” CRC
Learning 3. Rai-Choudhury.P., “MEMS and MOEMS Technology and Applications” PrenticeHall of Indian Press, 2002.
Resources Indian Learning Private Limited, 2009 7. Julian W.Gardner, Vijay.K.Varadhan, Osama.O.Awadelkarim, “Microsensors, MEMS
4. NadimMaluf, “An Introduction to Microelectromechanical Systems Engineering” 2nd Edition, and Smart Devices”, John Wiley & Sons, LTD,2013
Artech House, 2004 8. 8.G.K. Ananthasuresh, K. J. Vinoy, S. Gopalakrishnan, K.N. Bhat and V.K. Athrae, “Micro
and Smart System”, Wiley India Pvt Ltd, First edition, 2010

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. .Mr. Bruce Antonyappan,PROVIS,Qatar, 1. Dr.P.Sweety Jose,PSG College of Technology, Coimbatore 1. Dr.M.Belsam Jeba Ananth, SRMIST
2. Mr. Raju Samuel, Jurong Engg Limited, Singapore 2. Dr.N.Sudhakar ,VIT University, Chennai 2. Dr.S.Vani.SRMIST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE416T GEOMETRIC MODELLING Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Comprehend the fundamentals of Graphics and transformations 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Familiarize Knowledge in modelling of CAD system.

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Learn the various algorithm used in geometric modelling

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Understand the mathematical concept of Model assembly for a machine elements

Environment &
Sustainability
CLR-5: Learn computer graphics standards

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Gain knowledge in fundamentals of Graphics and transformations.
CO-2: Impart Knowledge in modelling of CAD system.
CO-3: Apply various algorithm used in geometric modelling
CO-4: Implement Model assembly for a machine elements
CO-5: Distinguish data exchange standards and common file types in CAD

Unit-1 - Introduction to CAD 9 Hour

Design as a process, sequential and concurrent engineering. Computer-Aided Design (CAD) and its architecture. Transformation types: Two and three- dimensional. Algorithms: Line, circle, Clipping algorithm.
Windowing and viewing.
Unit-2 - Curves, Surface, and Solids 9 Hour
Introduction to geometric modeling, Representation of synthetic curves, Surface and solid: Hermite curve,, B-spline curves Bezier curve
Unit-3 - Techniques of Geometric Modelling 9 Hour
Hidden line removal: Visibility of object views, Visibility of object techniques, Sorting & Coherence, Priority, and area orientation. Hidden surface removal: Back face, Scan line, Z-buffer, and Warnock’s Algorithm.
Hidden solid removal: Ray-tracing algorithm. Shading: Model, surface, Enhancement, solid. Coloring: Models,Types Animation: Conventional, Computer & Engineering Animation Types and Techniques, Morphing:
Types and mode
Unit-4 - Assembly Modelling 9 Hour
Assembly modeling: Introduction, Part modeling, Representation of Hierarchical relationship & Mating Condition, Types of Approach Interferences of positions Tolerance: Introduction, need& concept of conventional
Fits and Limits: MMC, LMC Modelling Worst-case and Manufacturing Tolerance analysis: Worst-case arithmetic and Worst- case statistical method, Monte Carlo simulation method Mass property calculations: First
and second Moment of inertia Geometrical property: Curve Length, Surface Area : Volume: & Cross section Area
Unit-5 - Computer Graphics Standards 9 Hour
Computer graphics: Introduction, software, and Database CAD Graphics Translator: Types of Software standards: Graphical Kernel System (GKS) Exchange Database: IGES, STEP Drawing Exchange Format &
ACIS Graphics Functions: Output Primitives Graphics Functions: Output Primitives Line attributes: types width, color Curve attributes: Color, table & Grayscale levels Area Fill Attributes: Style, pattern, soft Character
Attributes: Text, Marker Processors: Design and Implementation Processors: Error handling, testing, and verification, Open Graphics Library (OpenGL): Introduction, Types

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. Ibrahim Zeid, “Mastering CAD CAM”, Tata McGraw-Hill PublishingCo, 2007. 4. Donald Hearn and M. Pauline Baker, “Computer Graphics”, PrenticeHall, Inc, 1992.
2. Chris McMahon and Jimmie Browne, “CAD/CAM Principles”, Practice and 5. Foley, Wan Dam, Feiner and Hughes, “Computer Graphics Principles and Practice”,
Learning
Manufacturing Management 2nd edition, Pearson Education, 1999. Pearson Education, 2003.
Resources
3. William M Neumann and Robert F.Sproul, “Principles of Computer Graphics”, McGraw-
Hill Book Co. Singapore, 1989.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 20% - 15% - 15% -
Level 2 Understand 20% - 15% - 15% -
Level 3 Apply 20% - 20% - 20% -
Level 4 Analyze 20% - 20% - 20% -
Level 5 Evaluate 10% - 15% - 15% -
Level 6 Create 10% - 15% - 15% -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mrs.A.Priya ,Senior Principal Engg, Technip FMC,Chennai 1. Dr.S.Neelavathy Pari, Associate Professor,MIT,[email protected], Chennai. 1. Ms.D.Gayathiri, SRMIST
2. Mr.Ak.Lakshminaraimhan, Associate chief EngineerEngineer,Technip 2. Dr.R.Sarala, Associate Professor Alagappa Chettiarcollege of Engineering and 2. Mr.J.Arivaarasan , SRMIST
FMC AK, Chennai Technology, [email protected], karaikudi.

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 Course Course Course L T P C
21MHE417T INDUSTRIAL AUTOMATION Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Learn the need of Industrial Automation and characteristics of the Automation systems components 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Understand the construction, operation and installation of PLCs

Environment & Sustainability

The engineer and society
Conduct investigations of
Impart the knowledge on various elements in SCADA System and various communication Networks

Individual & Team Work

Engineering Knowledge
CLR-3:

Design/development of

Project Mgt. & Finance

systems

Modern Tool Usage

Life Long Learning

complex problems
CLR-4: Gain knowledge on operator and engineering interface in DCS

Problem Analysis

Communication
Acquire the knowledge on Modelling for Advanced Process control and Model Based System
CLR-5:
Engineering.

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
Understand the Benefits of Industrial Automation and characteristics of the Automation systems
CO-1: 3 2 - - - - - - - - - - 1 - -
components.
CO-2: Develop PLC programs using various functions and operations of PLCs for a given application. 3 - 2 - - - - - - - - - - 2 -
CO-3: Illustrate the remote terminal unit and master terminal unit in SCADA Systems - 2 2 - 3 - - - - - - - - 2 -
Apply the knowledge of DCS on Human machine interface and display interface systems for given
CO-4: - 2 - 3 3 - - - - - - - 3 - -
applications
Gaining the knowledge on Modelling for Advanced Process control and Model Based System
CO-5: 3 2 - - 3 - - - - - - - - - 2
Engineering.

Unit-1 - Industrial Automation in production systems 9 Hour

Introduction of industrial Automation, Need of Industrial Automation , Benefits , Basic components of Automation systems, History and Evolution of Industrial Automation, Levels of Automation ,Types and
Characteristics of Automation systems, Applications of industrial Automation- transfer mechanisms, Material handling systems, storage systems and Automated Guided Vehicles systems ,Advanced Automation systems
, Different systems for industrial Automation –PLC, HMI, SCADA,DCS,DRIVES
Unit-2 - PLC Architecture and Applications 9 Hour
Principles of PLC Operations, PLC Architectures and Specification – PLC Programming, Ladder diagram ,Converting simple relay ladder diagram into ladder diagram, simple instructions- types of operated switching
devices- Manual operated, Mechanical operated switching devices, Timer instructions, Data Manipulating, Math Instructions, Application of PLC, Hands on learning from industry or case studies
Unit-3 - SCADA System and Architecture 9 Hour
Data Acquisition systems , Evolution of SCADA, Communication Technologies, Monitoring and supervisory control functions, SCADA Applications in utility Automation ,SCADA System Components in Industries:
Schemes -Remote Terminal Unit (RTO), Intelligent Electronics Devices (IED), Communication Network, SCADA Server, SCADA/HMI System, Various SCADA Architectures ,advantages and disadvantages, Case
studies in SCADA Applications

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-4 - Distributed Control System and Computer based industrial control. 9 Hour
Benefits of Automatic Process control, Building blocks of Automations systems , Need of Distributed Control system, Features of DCS, Elements of DCS, DCS Configuration, Applications, Types of Interfacing
Systems , Operator interfaces - Low level and high level operator interfaces – Displays interface- Human machine Interface (HMI) - Engineering interfaces – Low level and high level engineering interfaces – Factors
to be considered in selecting DCS , Various Process Interfacing issues, Communication facilities , Case studies- Sugar industry , paper industry .
Unit-5 - Modelling for Advanced Process control and Model Based System Engineering. 9 Hour
Need for system Modelling, Types of Plant Automation, Cement Plant, Steel Plant, Model Based system Engineering, Implementation of modern based system Engineering, approaches in MBSE, Study of Advanced
Process Control, Fuzzy Logic Based Control, Neural Network based control, PID Control, Merits and demerits of Advanced process control, Case studies on Model Based System Engineering

1. P. Groover, "Automation, Production systems and Computer Integrated 5. Jose A. Romagnoli, Ahmet Palazoglu, “Introduction to Process control”, CRCTaylor and
Manufacturing", Pearson Education, 5th edition, 2009. Francisgroup, 2005.
2. Gary Dunning,“Introduction to Programmable Logic Controllers”,3rd India edition, 6. John Webb, “Programmable Logic Controllers: Principles and Applications”,5th
Learning Cengage Learning, 2007 edition Prentice Hall of India, 2012
Resources 3. Krishna Kant “Computer Based Process Control”, Prentice Hall ofIndia, 2004. 7. Richard Zurawski, “Industrial Communication Technology Handbook” 2ndedition, CRC
4. Gerardus Blokdyk, "Distributed Control System”, 5starcooks firstlatest Edition, 2020. Press, 2015.
8. Patrice Micouin, " Model Based System Engineering-Fundamentals", ISTE Ltd John
Wiley& Sons .Inc , First publication in Great Britain, 2014

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.D.Chandrasekar, Sohar Aluminium Pvt Ltd, Gulf 1. Dr.J.Prakash, MIT University, Chennai 1. Dr.G.Murali, SRMIST
2. Dr.K.Karthikeyan, Hitachi Energy, Bangalore 2. Dr.P.Karthikeyan, MIT University, Chennai 2. Mr.K.Saravanan, SRMIST

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 Course Course Course L T P C
21MHE418L ROBOTICS LABORATORY Category E PROFESSIONAL ELECTIVE
Code Name 0 0 5 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Learn the fundamentals of Linear Algebra and Spatial Transformations 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Understand the Manipulator Robot Kinematics Trajectory Planning and Control

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Assimilate the way programs are to be created and optimised for an Industrial Robot

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Learn the steps to simulate a mobile robot

Environment &
Sustainability
CLR-5: Understand the fundamentals of Robot Operating System

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Apply linear Algebra and spatial transformations concepts in real-time Robotics Challenges 3 3 - - 3 - - - - - - - 1 - -
CO-2: Plan and Control the trajectory of a Manipulator Robot 3 3 - - 3 - - - - - - - - 2 -
CO-3: Program an Industrial Robot 3 3 - - 3 - - - - - - - - 2
CO-4: Model and Simulate a Mobile Robot Simulation 3 3 - - 3 - - - - - - - 3 - -
CO-5: Implement and Visualize the operation of a Robot in Robot Operating System 3 3 - - 3 - - - - - - - - - 2

Unit-1 - Basics of Linear Algebra and Spatial Transformations 15 Hour

Vectors, matrix operations, matrix types and properties of matrices-Matrix and Array Operations-Eigen decomposition and application-Singular value decomposition-Pseudo inverse of a matrix-Solving system of
linear equations-2D Rotation and Translation-Understanding Rotation Matrix-Homogeneous transformation matrix-Fixed Angles. Euler Angles, Singularities and Gimbal Lock-Unit Quaternions and conversions-
Equivalent Angle-Axis Representation and conversion-Multi-dimensional and multi-segment trajectories-Interpolation of orientation in 3D-Time varying coordinate frames
Unit-2 - Manipulator Robot Kinematics Trajectory Planning and Control 15 Hour
Understanding D-H parameters, 2R manipulator simulations - Forward kinematics of a 2R manipulator - SCARA robot forward kinematics - 6R spatial robot forward kinematics - Inverse Kinematics of 2R planar robot
- 6R spatial robot inverse kinematics – closed form solution - 6R spatial robot inverse kinematics - numerical solution - Joint space trajectory planning - Cartesian space trajectory planning - Developing a simple
walking robot - Jacobian matrix and Singularities of 2R robot - Jacobian and singularities of a 6R robot - Manipulability and workspace visualization - Understanding static forces in manipulators - Resolved rate motion
control
Unit-3 - Industrial Robot Programming 15 Hour
Getting started with GUI of Robot programing software - Foundations of robot programing language - Foundations of robot programing language - Programming with Flexpendant / Virtual Flex Pendant - Create, Add,
Edit, Save and Run - Understanding Routines, Modules, Program Pointer and Motion Pointer - Creating a solution with station and a robot controller - Creating frames, solids, setting-up local origin - Creating work
object, target, empty path - Synchronize virtual controller with Robot controller to run a basics movement program - Modelling Functions and Measuring - Action Programming - Action Programming - Smart Component
Usage - Working with I/O signals

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
Unit-4 - Mobile Robot Simulation 15 Hour
Car-like mobile robot kinematics – Moving to a point - Car-like mobile robot kinematics – Following a line, path - Car-like mobile robot kinematics – Moving to apose - Modelling of quad-copter aerial vehicle - Simulation
of quad-copter aerial vehicle - Map building - LIDAR to grid map - Kalman Filter Basics - Extended Kalman Filter for Localization - Dijkstra algorithm for path planning - Dijkstra algorithm for path planning - D* Lite
path planning - Path tracking – Move to a Pose Control - Path tracking – Stanley Control
Unit-5 - Robot Operating System 15 Hour
Installation of ROS - Workspace and Package - Exploring ROS Filesystem IDE - ROS Node creation, Publisher and Subscriber - Understanding roslaunch, rosbag Understanding ROS Topics and rqt - Understanding
Services and Parameters - Understanding rcl, rclpy with Turtlesim - Implementing Topics, Service, Parameters - Visualization Tools: rviz and Gazebo - Spatial descriptions in ROS - Wandering robot - Follower Robot

1. Robotics, Vision and Control: Fundamental Algorithms inMATLAB - Book by Peter Corke 4. Self-Driving Cars with Duckietown - Edx.org
Learning 2. Introduction to Robotics: Mechanics and Control- John Craig 5. ABB Robotics - Technical reference manual RAPID Instructions,Functions and
Resources 3. Programming Robots with ROS: A Practical Introduction to theRobot Operating System by Data types.
Morgan Quigley, Brian Gerkey, et al.

Learning Assessment
Continuous Learning Assessment (CLA)
CLA-1 Average of first cycle CLA-2 Average of second cycle Final Examination
Bloom’s Practical Examination
experiments experiments (0% weightage)
Level of Thinking (40% weightage)
(30%) (30%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - 15% - 10% - 10% - -
Level 2 Understand - 15% - 10% - 10% - -
Level 3 Apply - 20% - 20% - 20% - -
Level 4 Analyze - 20% - 20% - 20% - -
Level 5 Evaluate - 15% - 20% - 20% - -
Level 6 Create - 15% - 20% - 20% - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.Mohammed Sagheer, Wabco Technology Center, 1. Dr.R.Thiyagarajan, Indian Institute of Technology Tirupati, 1. Dr.R.Ranjith Pillai, SRM IST
2. Mr.Shankar Bharathi, L&T Technology, Chennai 2. Dr.P.Karthikeyan, MIT Campus, Anna University, 2. Mr.A.Josin Hippolitus, SRM IST

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 Course Course Course L T P C
21MHE419T DIGITAL MANUFACTURING Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: To learn about CAE, PLM and numerical control machining integration technology 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: To be familiar in interfacing and Communication with industrial machinery.

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: To know to formulate manufacturing computational model

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: To gain knowledge about intelligent controls used in various machinery environment

Environment &
Sustainability
CLR-5: To know about future development in digital manufacturing.

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Gain knowledge in fundamentals of Digital Manufacturing 3 3 - 3 - - - - - - - - 1 - -
CO-2: Impart Knowledge in industrial machinery 3 3 3 - - - - - - - - - - 2 -
CO-3: Learn the information characteristics of manufacturing 3 3 3 3 - - - - - - - - - 2 -
CO-4: Understand the concept of intelligent control in digital manufacturing. 3 3 3 3 - - - - - - - - 3 - -
CO-5: To impart future development and application of digital manufacturing. 3 - - 3 - - - - - - - - - - 2

Unit-1 - Introduction to digital manufacturing 9 Hour

Introduction and Concepts of digital manufacturing – digital networked manufacturing and new generation intelligent manufacturing- Introduction to CIM - product life cycle management (PLM) - Applications of PLM
- product data management (PDM) - Applications of PDM - Virtual environment for digital manufacturing - Application of virtual environment (DM) - Operation mode and architecture of digital manufacturing system.
Unit-2 - Modelling in digital manufacturing 9 Hour
Manufacturing computational model - Modelling theory of digital manufacturing - basic concepts of computing manufacturing methodology - Application of C Space - Screw space - virtual prototyping - Basic theory
and applications of virtual prototyping- Basic theory and application of Reverse Engineering – Discrete model of manufacturing computing - Discrete model of controlled process in manufacturing.
Unit-3 - Manufacturing Information System 9 Hour
Information characteristics of manufacturing - Information activities - manufacturing informatics - Basic concept of measurement of manufacturing information- Mechanism of synthesizing manufacturing information
- Materialization of manufacturing information - integration and block diagram model for manufacturing information – introduction , principle and mechanism of sharing manufacturing resources.
Unit-4 - Intelligent control in manufacturing 9 Hour
Introduction to intelligent control in digital manufacturing – concept of intelligent multi information sensing - Application of sensor in processing - Intelligent multi information fusing - Elements of multi information fusing
- Mechanism of tool condition monitoring - Tool condition monitoring based on fuzzy theory and neural network.
Unit-5 - Future developments 9 Hour
Future development and application of digital manufacturing - Various digital technologies in product lifecycle - Digital equipment - digital processing technology - Basic concept and application of NEMS in Digital
manufacturing – micro nano-equipement systems - Extremalization of digital manufacturing – Digital manufacturing Technology in Micro Nano Manufacturing - bionic Machinery and its application of in digital
manufacturing.

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. Zudezhou, Shanexie, Dejunchen, “fundamentals of digital manufacturing science”. 4. Stark, J., “Product Lifecycle Management - 21st Century Paradigm forProduct Realisation”,
Springer, 2012. Springer, 2005.
Learning 2. Lihui, Wang, Andrew, Y C Nee, “Collaborative Design and Planning for Digital 5. Vukicajovanovic, Michealdebevee. “Applications of digital manufacturing in manufacturing
Resources Manufacturing”, springer, 2009. process support” proceedings of IAJC/ISAM, 2014.
3. Saaksvuori,Antti,Anselmi,Immonen,‘Product LifecycleManagement’, Springer New York
, 2008

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.K.Balaguru, Hindustan Aeronautics limited, 1. Dr.V. Senthilkumar , NIT Tiruchirappalli, 1. Mr. Arivarasan J, SRMIST
2. Mr.V.G. Balaji, Rotork control, India pvt limited, 2. Dr. C. Velmurugan, IIIT Tiruchirappalli, 2. Ms. D.Gayathri, SRMIST

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 Course Course Course L T P C
21MHE420T ENERGY HARVESTING METHODS AND APPLICATIONS Category E Professional Elective
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Be familiar with the solar energy harvesting methods and applications 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Understand the wind energy system and its Grid Interconnection Topologies.

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Get acquainted with ocean energy harvesting methods and their control

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Obtain knowledge of Piezoelectric Energy Harvesting techniques and their modeling

Environment &
Sustainability
CLR-5: Be familiar with modeling and analysis of Electromagnetic Energy Harvesting

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Analyze and apply the concepts of solar energy harvesting techniques 3 2 1 - - - - - - - - - 1 - -
CO-2: Analyze the electrical machines and power electronic circuits suitable for wind energy harvesting
3 2 1 - - - - - - - - - - 2 -
system
CO-3: Analyze the different methods of ocean energy harvesting and grid connection topologies 3 2 1 - - - - - - - - - - 2 -
Develop the model of a piezoelectric generator and analyze the material used for piezoelectric energy
CO-4: 3 2 1 - - - - - - - - - 3 - -
harvesting
CO-5: Develop the model of an Electromagnetic Energy Harvester 3 2 1 - - - - - - - - - - - 2

Unit-1 - Solar Energy Harvesting 9 Hour

Characteristics of Photovoltaic (PV) Systems, PV Models and Equivalent Circuits, Sun Tracking Systems, Maximum Power Point Tracking (MPPT) Techniques, Power Electronic Interfaces for PV Systems, Sizing
the PV Panel and Battery Pack in a Stand-alone PV Applications, Solar Thermal collectors.Solar Energy Applications: Residential, Electric Vehicle, Naval, and Space
Unit-2 - Wind Energy Harvesting 9 Hour
Fundamentals of Wind Energy, Wind Turbines and Different Electrical Machines in Wind Turbines, Power Electronic Interfaces, and Grid Interconnection Topologies.
Unit-3 - Ocean Energy Harvesting 9 Hour
Physical Principles of Tidal Energy, Tidal Turbines (Horizontal axis turbines and Vertical Axis Turbines) and grid connected systems, Principles of Energy available from Ocean Waves, Off-shore and Near-shore
Wave Energy Harvesting, Wave Power Absorbers, Wave power turbines, and grid connection topologies,Ocean Thermal Energy, Thermodynamic energy conversion principles, Closed-cycle and open-cycle OTEC
Systems, Components of OTEC Systems, Control of OTEC Power Plants, and Multipurpose Utilization of OTEC Systems
Unit-4 - Piezoelectric Energy Harvesting 9 Hour
Physics and Characteristics of Piezoelectric Effects, Materials, and Mathematical Description of Piezoelectricity Effect, Piezoelectric Parameters, Modeling of Piezoelectric Generators, 2 DOF piezoelectric energy
harvester, Power Electronic Interfaces for Piezoelectric Energy Harvesting, Piezoelectric Energy Harvesting Applications.
Unit-5 - Electromagnetic Energy Harvesting 9 Hour
Linear Generators, Physics, Mathematical Models, and Structures, 2 & 3 DOF electromagnetic energy harvester, Hybrid Piezoelectric-Electromagnetic Energy Harvesting, Recent Applications on Electromagnetic
Energy Harvesting.

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 1. Alireza Khaligh, Omer C. Onar,” Energy Harvesting, Solar, Wind,and Ocean 3. Sajid Rafique , “Piezoelectric Vibration Energy Harvesting Modeling &Experiments”, Springer
Learning
Energy Conversion Systems”, Taylor & Francis, 2017. International Publishing, 2017.
Resources
2. K. Bogus. “Solar Electricity”, Wiley,2000.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.Senthil Kumar S, Grundfos pumps India Pvt Ltd 1. Dr M.Bhaskaran, KSR college of Technology 1. Dr.R.Gangadevi, SRMIST
2. Mrs.Krithika, Grundfos Pumps India pvt ltd 2. Dr.P.Ravichandran, Kongu Engineering college 2. Dr.M.Santhosh Rani, SRMIST

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 Course Course Course L T P C
21MHE421T ERGONOMIC DESIGN Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Understand the basics of Ergonomic Design 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Comprehend the fundamentals of Anthropometry

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Acquire the knowledge of Human Comfort.

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Understand the Ergonomic Design principles

Environment &
Sustainability
CLR-5: Apprehend the basics of Virtual Ergonomics

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Understand the basics of Ergonomics 3 1 - - - - - - - - - - - - -
CO-2: Understand the fundamentals of Anthropometry 3 1 - - - - - - - - - - - - -
CO-3: Assess human comfort value 3 1 - - - - - - - - - - - - -
CO-4: Design ergonomically for any task 3 1 - 2 - - - - - - - - - - -
CO-5: Understand the basics of Virtual Ergonomics 3 1 - - 2 - - - - - - - - - -

Unit-1 - Ergonomics 9 Hour

Introduction to Ergonomics, Human Factors and Ergonomics. Brief History of Ergonomics. Application of Ergonomics. Ergonomics design methodology. Design process involving ergonomics check. Effectiveness
and Cost-Effectiveness of Ergonomics. Man-Machine-Environment interaction system. Horizontaland vertical work surface. Principles of Universal Design. A design perspective – human compatibility, comfort and
adaptability.
Unit-2 - Anthropometry 9 Hour
Introduction to Anthropometry, Myth of the Average Human. Human body structure basics of muscles, bones and joints, and their working principles. Anthropometric Measurements and standards associated.
Structural and Functional Anthropometry. Statistical treatment (Distribution and Diversity). 2D/3D anthropometry measurement and its principles.
Unit-3 - Human Comfort 9 Hour
Occupational Safety and Health Aspects. Work Related Musculoskeletal disorders. Types of WMSDs. Interface Pressure Measurement. Whole Body Vibration. SEAT value. Hand Arm Vibration. Thermal comfort.
Muscle Comfort. Cognitive aspects of user-system interaction. Comfort measuring instruments. Uncertainty and Calibration.
Unit-4 - Ergonomic Design and Analysis 9 Hour
Ergonomic Design of workstation and Work Task. Permissible Loads for Manual Material Handling. Rapid Upper Limb Assessment (RULA) Ergonomic Analysis. Limits for Lifting and Lowing. Lifting and Lowering
Ergonomic Analysis. Ergonomic Rules for Industrial Manual Handling Tasks. NIOSH 1981, NIOSH 1991 and Snook/Ciriello Guidelines. Pushing and Pulling Ergonomic Analysis and Carrying Analysis. Spinal Loads.
Unit-5 - Virtual Ergonomics 9 Hour
Virtual Ergonomics and its advantages. Digital Human Modeling and Simulation. Techniques of virtual ergonomics evaluation using DHMs. Application of digital human modeling and simulation in various industrial
sectors. Automotive Ergonomics – control, display, visibility, entry and exit by drivers and passenger

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 1. R S Bridger , “Introduction to Ergonomics”, , Routledge Taylor &Francis Group 4. Editor: Gavriel Salvend,Y “Handbook of Human factors andErgonomics”, John Wiley &
2. E.N. Corlett and T.S. Clark , “The Ergonomics of workspaces andMachines – A Design Sons INC 2012
Learning
Manual,” , Taylor and Francis 5. Mark Lehto, Steven J landry, “Introduction to Human factors and Ergonomics for
Resources
3. Pamela McCauley Bush , “Ergonomics Foundation Principles, Applications,and Engineers”, CRC Press, Taylor & FrancisGroup
Technologies,” , CRC Press

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.Sureshkumar S,Global virtual Process Engineering, Ford 1. Prof.Seung Nam Min, School of Smart Safety Systems, Dongyan 1. Dr.G.Murali, , SRMIST
Global Technology & Business centre, Chennai. University, South Korea, email:[email protected]
Email:[email protected]
2. Mr.Chandrasekar.N.,Global virtual Process Engineering, Ford 2. Prof. Kyung-Sun Lee, Division of Energy resources Engineering and 2. Dr.S.Murali, SRMIST
Global Technology & Business centre, Chennai. Industrial Engineering, Kangwon National University, South Korea,
Email:[email protected] email:[email protected]

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 ACADEMIC CURRICULA

UNDERGRADUATE/ INTEGRATED POST

GRADUATE DEGREE PROGRAMMES
( With exit opti on of Diploma)

( Ch oi ce Based Flexi ble C red it System)

Regulations 2 021

Volu me – 18B
(Syl labi for Mechatronics Engineering w/s in Robotic s
Programme Courses)

SRM INSTITUTE OF SCIENCE AND TECHNOLOGY

( D e e m ed to b e U n i v e r s i t y u / s 3 o f U G C A c t , 1 9 5 6 )

Kattankul athu r, Chengal pattu District 603203 , Tamil Nadu,

India

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B.Tech/M.Tech (Integrated) Programmes-Regulations-2021- Volume-18- Mechatronics–Higher Semester Syllabi-Control Copy
 ACADEMIC CURRICULA

Professional Elective Courses

Regulations 2 021

SRM INSTITUTE OF SCIENCE AND TECHNOLOGY

( D e e m ed to b e U n i v e r s i t y u / s 3 o f U G C A c t , 1 9 5 6 )

Kattankul athu r, Chengal pattu District 603203 , Tamil Nadu,

India

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 Course Course Course L T P C
21MHE451J MANIPULATOR ROBOTICS E PROFESSIONAL ELECTIVE
Code Name Category 2 0 2 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Introduce the students to the basics of rigid body motion related to industrial manipulator 1 2 3 4 5 6 7 8 9 10 11 12 outcomes

Environment & Sustainability

CLR-2: Impart a system level understanding of industrial manipulator

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Introduce how to derive forward and inverse kinematics of industrial manipulator

Modern Tool Usage

Life Long Learning

complex problems
CLR-4: Introduce trajectory planning and simulation of manipulator

Problem Analysis

Communication
CLR-5:

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Apply transformation matrices to describe general motion of a rigid body 2 - - - 3 - - - - - - - 3 - 2
CO-2: Interpret system-level description and requirements of a manipulator for a given application 2 - - - 3 - - - - - - - - 2 -
CO-3: Derive forward kinematics of serial link manipulators 2 - - - 2 - - - - - - - 3 - 2
CO-4: Derive inverse kinematics and singularity of serial link manipulators 3 - - - 2 - - - - - - - 3 - 2
CO-5: Produce paths & trajectories for motion planning 2 - - - 2 - - - - - - - 3 - 2

Unit-1 - Mathematics 12 Hour

Linear algebra, Matrix theory and Calculus – Review, General motion of a rigid body - Euler and Chasle theorems, Matrix representation of rigid body motion,Transformation matrix and composite rotation, Euler
angles and quaternion
Unit-2 - Industrial manipulator 12 Hour
Terms & definitions, types, Configurations and Workspace, SCARA, PUMA, STANFORD manipulators
Unit-3 - Forward kinematics 12 Hour
Geometric (or direct) approach, Denavit - Harternberg (DH), Forward kinematics of planar & spatial manipulators
Unit-4 - Inverse Kinematics 12 Hour
Inverse kinematics of planar & spatial manipulators, Jacobian matrix and singularity, Challenges in calculating Inverse kinematics
Unit-5 - Relating joint space and Cartesian space 12 Hour
Motion description, Trajectories – types, smoothness, kinematic profile, Point-To-Point (PTP) motion control, Continuous motion control, Resolved rate control, motion planning

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List of recommended practical experiments/exercises
1. Solving simultaneous linear equations and differential equations – symbolic 10. Workspace calculations and visualization of a SCARA manipulator – Applying forward kinematics
2. Solving simultaneous linear equations and differential equations – numerical 11. Workspace calculations and visualization of a PUMA manipulator – Applying forward kinematics
3. Modelling and simulation of motion of rigid body in 3D Cartesian coordinate system 12. Workspace calculations and visualization of a STANFORD manipulator – Applying forward kinematics
4. Modelling and simulation of motion of rigid body in 2D Polar coordinate system 13. Symbolic and numerical calculation for inverse kinematics of (i) two-link planar, (ii) SCARA, (iii) PUMA
5. Modelling and simulation of motion of rigid body in 3D Cylindrical space and (iv) STANFORD manipulators
6. Rotation and Transformations calculations and visualization 14. Deriving conditions for singularities
7. Modelling and simulation of motion of rigid body in space applying Euler’s angles 15. Joint trajectory generation using, (i) linear, (ii) parabolic and (iii) cubic polynomials
8. Computation of angle-axis for rigid body motion 16. Cartesian/Task space motion: (i) Point-to-Point control, Continuous and resolved rate controls
9. Workspace calculations and visualization of a two-link planar manipulator – Applying forward 17. Motion-planning: Pick-and-Place, Obstacle avoidance, robot painting, robot welding, robot spraying
kinematics

1. Craig John J., Introduction to Robotics: Mechanics and Control, Pearson Education; Fourth 4. Schilling, Fundamentals of Robotics: Analysis and Control, PearsonEducation India
edition (2022), ISBN-10 : 9356062196 (2015), ISBN-10: 9332555230.
Learning
2. Ashitava Ghosal, Fundamental Concepts and Analysis (2006), ISBN:9780195673913 5. William Bolton, Mechatronics: Electronic Control Systems in Mechanical and Electrical
Resources
3. SK Saha, Introduction to robotics, Tata McGraw-Hill Education(2008), ISBN-10: Engineering, Pearson Education; Sixth edition (2019),ISBN-10 : 9353065887s
0070140014.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(45%) (15%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - - -
Level 2 Understand - - - - - -
Level 3 Apply - - - - - -
Level 4 Analyze - - - - - -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer ,Wabco Technology Center ,India, 1. Dr Veera Ragavan Sampathkumar, Department of Robotics 1. Dr Madhavan Shanmugavel, SRMIST
[email protected] and Mechatronics engineering, Monash University (Malaysia
campus), Malaysia
2. Mr.Ganesh Ram, Intel Labs,Bangalore 2. Dr., P Karthikeyan, MIT, Anna University, 2. Dr Ranjith Pillai, SRMIST
[email protected] [email protected]

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 Course Course Course L T P C
21MHE452L COMPUTATIONAL THINKING LABORATORY Category E PROFESSIONAL ELECTIVE
Code Name 0 0 5 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Develop python programs for data visualization using object-oriented programming constructs 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Explore various applications of linear algebra and calculus in robotics

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Impart knowledge of different transforms and probability.

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: To get exposed to various basic algorithms in general computing

Communication
Environment &
Sustainability
CLR-5: To get awareness about computing principles through smart device application development practices

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Develop computer programs for data visualization in python 3 2 2 - 2 - - - - - - - - - -
CO-2: Apply various linear algebra and calculus methods in computing related to robotics 3 2 2 - 2 - - - - - - - 2 - -
CO-3: Analyze different transforms related to applications in robotics 3 2 2 - 2 - - - - - - - - - -
CO-4: Define the algorithms used in general computing 3 - - - - - - - - - - - 2 - -
CO-5: Develop applications for smart mobile devices to appreciate computing principles 3 - 2 - - - - - 1 - - - 2 - -

Unit-1 - Review of Python and Data Visualization 15 Hour

Review of Datatypes, Operators, Data Containers, Conditional Statements, Iterative Loops, Functions and Scope of variables, Modules, File I/O, Error Handling, Classes and objects, Object oriented programming
concepts, Plots for presenting comparison, Plots for presenting relationship, Plots for presenting distribution, Plots for presenting composition, 2D Animated Plots for Visualization, 3D Animated Plots for
Visualization
Unit-2 - Linear Algebra, Calculus and Interpolation 15 Hour
Vectors, matrix operations, matrix types and properties of matrices, Matrix and Array Operations, Eigen decomposition and application, Singular value decomposition and application, Pseudo inverse of a matrix,
Solving system of linear equations, Numerical Differentiation in single variable and multiple variables, Newton-Cotes integration formulae, Multi-step application of Trapezoidal rule, Introduction to ODEs; Implicit and
explicit Euler’s methods Second-Order and Higher Order Runge-Kutta Methods, Stiff ODEs and Solving stiff ODEs – Practical Example, Solving transient PDE using Method of Lines, Error propagation, Global and
local truncation errors, round-off errors, Linear least squares regression, Functional and nonlinear regression, Multi-variable regression, Interpolation using spline
Unit-3 - Transforms, Probability and Graph Theory 15 Hour
Fourier transform, Discrete Fourier transform, DFFT using DSO Data, 2-D Fourier transform, 2D Discrete Fourier transform, Image Smoothing in Frequency Domain, Image Sharpening in Frequency Domain,
Introduction to Laplace transforms, Laplace transforms of standard functions, Convolution theorem of Laplace transform, Initial and final value theorem of Laplace transform, Applications of Laplace transform, Z-
Transform, Basics of Probability, Exercise Markov Probability Problem, Foundations of graph theory, Problembased on Adjacency matrix

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Unit-4 - Algorithms 15 Hour
Peak Finding, Computation Models – Producer Consumer, Computation Models – Master-Slave, Computation Models – State-Machine, Stack, Queues Random Access, Pointer Models of Computation, Sorting –
Merge Sort, Sorting – Heap Sort, Binary Search, Finding maximum, minimum, value Introduction to Shortest Path problem, Dijkstra Method, Understanding Computational Complexity, Measuring algorithm’s
performance in time and accuracy
Unit-5 - Mobile Application Development and Cased Studies 15 Hour
Introduction to MIT App Inventor, Basics of Programming Environment, Programming Basics, Dialogs, Alarm Clock Application, Alarm Clock Application Audio Processing Application, Audio Processing Application,
Video Processing Application, Video Processing Application, Device Location based Application, Device Location based Application, Sensor Data Processing, Complete Application Study of Software Stack in a
Automation Application

1. Emanuele Trucco, Alessandro Verri, “Introductory Techniques for3D Computer Vision”, 3. Chapra S.C. and Canale R.P. Numerical Methods for Engineers, 5th Ed.,McGraw
Learning 1st Edition, Prentice Hall, 1998 Edition. Hill, 2006
Resources 2. WileyForsyth and Ponce, Computer Vision: A Modern Approach,2nd Edition, Pearson, 4. Erwin Kreyszig, Advanced Engineering Mathematics, Wiley, 10th Edition,2015.
2015. 5. MIT App Inventor Course Materials

Learning Assessment
Continuous Learning Assessment (CLA)
CLA-1 Average of first cycle CLA-2 Average of second cycle Final Examination
Bloom’s Practical Examination
experiments experiments (0% weightage)
Level of Thinking (40% weightage)
(30%) (30%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - - - - -
Level 2 Understand - - - - - - - -
Level 3 Apply - - - - - - - -
Level 4 Analyze - - - - - - - -
Level 5 Evaluate - - - - - - - -
Level 6 Create - - - - - - - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer, ZF Wabco TechnologyCenter, 1. Dr. P. Karthikeyan, MIT Campus, Anna University, 1. Dr. R. Senthilnathan, SRMIST
mohammedsagheer.musthafa@wabco- auto.com [email protected]
2. Mr. Shankar Bharathi, Larsen & Toubro TechnologyServices, 2. Dr. Thiyagarajan, Indian Institute of Technology Tirupati, 2. Dr. K. Sivanathan, SRMIST
[email protected] [email protected]

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 Course Course Course L T P C
21MHE453J MECHANICS OF MANIPULATION Category E PROFESSIONAL ELECTIVE
Code Name 2 0 2 3

Pre-requisite Co- requisite Progressive

21MHE451J Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Impart the concept of inverse kinematics and its computation method for various configurations of Specific
CLR-1: 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
Robot
CLR-2: Impart the concept of Jacobian and its computation

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Gain knowledge in statics and trajectory planning in manipulator robots.

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Gain knowledge in the derivation of dynamic model for serial manipulator

Communication
Environment &
Sustainability
CLR-5: Expose the students to various control strategies used in the manipulator

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Apply the learning to compute inverse kinematics of the manipulators. 3 3 3 - - - - - - - - - 2 - -
CO-2: Derive the Jacobian matrix for the serial manipulators and compute the singularity condition. 3 3 3 - - - - - - - - - 2 - -
CO-3: Apply the concept of statics in manipulators and trajectory planning in manipulators. 3 3 3 - - - - - - - - - 3 - -
CO-4: Derive the dynamic model of a planar arm manipulator. 3 1 - - - - - - - - - - 2 - -
Understand the design and implementation of popular position and force control schemes used in
CO-5: 3 2 2 - - - - - - - - - 2 - -
industrial manipulators.

Unit-1 - Inverse Kinematics 12 Hour

Review of Forward Kinematics, Forward kinematics of a 6 DoF Manipulator (using values from datasheet), Introduction to inverse kinematics, Complexity and Issues in inversekinematics computation, General
methods to solve inverse kinematics and conditions, Inverse kinematic solution for 2 R planar arm using geometric method, Inverse kinematics Computation- Closed loop solution, Inverse kinematics solution for
spherical wrist using closed form method, Inverse kinematics of 3 DoF arm using closed form method, Computation consideration for inverse kinematics, Example, Use of inverse kinematic model in manipulator
control
Unit-2 - Manipulator Jacobian 12 Hour
Description/Notation for time varying position and orientation, Linear velocity for rigid bodies, Angular velocity for rigid bodies ,Relationship between transformation matrix and angular velocity, Velocity propagation
along links: Linear velocity ,Velocity propagation along links: Angular velocity, Concept of Manipulator Jacobian, Importance of Jacobian matrix, Concept of linear and angular velocity Jacobian , Linear velocity
Jacobian of RR planar arm, r and angular velocity Jacobian computation for spherical wrist , Jacobian Computation for RRR spatial manipulator, Concept of Singularity in manipulator , different types of singularity ,
Singularity computation in manipulator and its consequences , Singularity condition for RPY spherical wrist , Physical interpretation of singularity condition , Singularity condition for RRR spatial manipulator , Physical
interpretation
Unit-3 - Statics and Trajectory Planning 12 Hour
Static forces in manipulators , Static analysis for single link, Jacobian in Force domain, Jacobian in statics, Static force computation of a planar RR manipulator, Static force computation of spatial RRR arm, Cartesian
transformation of velocities and static forces, Introduction to Trajectory Planning , Joint space and Cartesian space : Application in control, Joint space trajectory planning: Example of cubic polynomial , Joint space
trajectory planning via points , Cartesian space trajectory planning :Example, Problem in Cartesian space planning.

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Unit-4 - Manipulator Dynamics 12 Hour
Introduction to dynamics , Dynamic terms: Inertia tensor, centrifugal force, Coriolis force, gravitational forces , Understanding dynamics of a simple system- mass spring damper system, Concept and importance of
Inverse and forward dynamics , Lagrangian formulation for dynamic model , Steps in Lagrangian-Euler (LE) method , Dynamic model of a RR Planar manipulator using LE method , Newton-Euler Formulation: Steps
in Newton Euler method, Dynamic model of a RR Planar manipulator using NE method, Dynamic model of an RP planar arm, Computing dynamic model of the pendulum over a cart, Application of dynamic model
in analysis and control
Unit-5 - Introduction to Robot control 12 Hour
Review of Position control, PID control of one DoF link with DC motor , Jacobian in control: resolved rate control , Example: 1D resolved rate control Concept of partition control (Model based) : Example of PPID
control , Concept of computed torque control in manipulators :Example with a general dynamic model ,Simulation for computed torque control for 2R planar arm , Comparison with PID control, Introduction to force
control , Application of force control in manipulators with example of force control of mass spring system, Framework for force/position control , Concept of natural and artificial constraints: Solving for natural and
artificial constraints for various process, Hybrid force position control strategy : with example
List of Recommended Practical Exercises
1. Basics of Linear Algebra and transformations- Review. 6. Joint space and cartesian space trajectory planning, the effect of singularity in trajectory planning.
2. Manipulator Development and simulation. 7. Dynamic model and simulation: understanding the effect of gravity and other forces on the manipulator.
3. Forward kinematics exercise: simulated motion with the manipulator, workspace simulation. 8. Physical modeling of 1 DoF link.
4. Inverse Kinematics exercise: Simulation with an example of multiple solutions. 9. PID control of 1 DoF link.
5. Jacobian and singularity computation in manipulators. 10. Computed torque control of 1 DoF link.

1. John J. Craig, “Introduction to Robotics Mechanics and Control”, 3rd edition, 4. Robert J. Schilling, “Fundamentals of Robotics Analysis and Control”, 5thedition, Prentice Hall of
Pearson, 2008. India Learning, 2009.
Learning 2. Mark W. Spong and M. Vidyasagar, “Robot Dynamics andControl”, 2nd 5. Mittal R.K., and Nagrath I.J., “Robotics and Control”, 1st edition, TataMcGraw Hill, 2007.
Resources edition, Wiley India, 2008. 6. Fu K., Gonzalez R., and Lee C. S. G., “Robotics: Control, Sensing, Vision andIntelligence”, 1st
3. Saeed B.Niku, “Introduction to Robotics Analysis, Systems andApplications”, edition McGraw Hill, 2008.
2nd edition, Prentice Hall of India, 2009. 7. Tsuneo Yohikwa, “Foundations of Robotics Analysis and Control”, 2nd edition,MIT Press, 2003

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(45(%) (15%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - - - 15% -
Level 2 Understand 25% - - - 15% -
Level 3 Apply 15% - - 10% 10% -
Level 4 Analyze - - - 25% 10% -
Level 5 Evaluate - - - 15% - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer, ZF commercial vehicle control systems Pvt. Ltd 1. Dr. G Nagamanikandan, IIIT Hyderabad 1. Dr. Ranjith Pillai R, SRMIST
2. Mr. Shankar Bharathi, Larsen & Toubro Technology Services 2. Dr. R Thiyagarajan, IIT Tirpuati 2. Dr. A Vimala Starbino , SRMIST

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 Course Course Course L T P C
21MHE454J GROUND MOBILE ROBOTICS Category E PROFESSIONAL ELECTIVE
Code Name 2 0 2 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Articulate the locomotion aspects and mobility of various mobile robot configurations 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Derive the kinematic models for various robot configurations

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Develop algorithms of localization and mapping.

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Apply various path planning algorithms

Communication
Environment &
Sustainability
CLR-5: Create motion control algorithms for the safe navigation of mobile robots

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Understand the locomotion aspects and mobility of various mobile robot configurations 3 - 1 - - - - - - - - - 1 1 1
CO-2: Develop the kinematic models for various robot configurations 3 3 3 - - - - - - - - - 2 3 2
CO-3: Implement algorithms of localization and mapping. 3 3 3 - - - - - - - - - 2 3 2
CO-4: Apply various path planning algorithms 3 3 3 - - - - - - - - - 2 3 2
CO-5: Implement motion control algorithms for the safe navigation of mobile robots 3 3 3 - - - - - - - - - 2 3 2

Unit-1 - Introduction 12 Hour

Introduction, Mobile vs. Manipulator robots, Locomotion aspects, Controllability, stability and maneuverability, Types of wheels, Degrees of freedom, mobility, steerability and maneuverability, Derivation of wheel
kinematic constraints of standard and steerable standard wheel, Mobility analysis of differential drive and car-like robot, wheeled robot configurations, Mobility analysis of various configurations, DOF, DDOF, and
Holonomic vs. non-holonomic configuration comparison.
Unit-2 - Kinematics of mobile robots 12 Hour
Differential kinematics, Comparison between manipulator robot vs. mobile robot kinematics, Derivation of forward and inverse kinematics of differential drive robot based on wheel kinematics constraints, Interpretation
of the derived model through geometric observation, Derivation of forward and inverse kinematics of uni-cycle model based on wheel kinematics constraints, Interpretation of the derived model through geometric
observation, Derivation of forward and inverse kinematics of car-like robot based on wheel kinematics constraints, Interpretation of the derived model through geometric observation, Kinematic calibration of car-like
robot, Limitation of kinematics-only models Introduction to dynamic modelling of ground mobile robots.
Unit-3 - Localization and Mapping 12 Hour
Challenges in localization, Sensor noise, aliasing, approximations, Belief representation in maps, hidden state, Types of belief representation and comparison, Gaussian theory, Gaussian belief representation, Bayes
rule and Bayesian filter, Odometry model, Basics of optimal state estimation, Kalman Filter, Extended Kalman Filter (EKF), EKF based localization.
Unit-4 - Path Planning 12 Hour
Basics of maps, Types of maps, Challenges in path planning, Global vs. local path planning, Types of path planning algorithms, Heuristics based search algorithm for global planning, Local path planning algorithm,
and Trajectory generation.

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Unit-5 - Motion Control 12 Hour
Sampling concepts, Sensor update rates and variability, Trajectory smoothing requirements, Via points slicing and consideration, Longitudinal vs. lateral control PID model, PID control of longitudinal motion, PID
tuning and implementation details, Pure pursuit control for lateral movement, Stanley controller for lateral movement.
List of Recommended Practical Exercises
1. Basics of Linear Algebra and transformations- Review. 6. Joint space and cartesian space trajectory planning, the effect of singularity in trajectory planning.
2. Manipulator Development and simulation. 7. Dynamic model and simulation: understanding the effect of gravity and other forces on the manipulator.
3. Forward kinematics exercise: simulated motion with the manipulator, workspace simulation. 8. Physical modeling of 1 DoF link.
4. Inverse Kinematics exercise: Simulation with an example of multiple solutions. 9. PID control of 1 DoF link.
5. Jacobian and singularity computation in manipulators. 10. Computed torque control of 1 DoF link.

1. Siegwart, Nourbakhsh, “Introduction to Autonomous MobileRobots”, 2nd Edition, 4. Klancar, Gregor, et al. “Wheeled mobile robotics: from fundamentals towards
MIT Press, 2011. autonomous systes”. Butterworth-Heinemann, 2017.
Learning
2. Bruno Siciliano, Oussama Khatib, “Handbook of Robotics”, 2ndEdition, Springer, 5. Sebastian Thrun, et al, “Probabilistic Robotics”, MIT Press, 2006
Resources
2016.
3. Perter Corke, “Robotics, Vision and Control”, 2nd Edition,Springer, 2017.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(45(%) (15%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - - - 15% -
Level 2 Understand 25% - - - 15% -
Level 3 Apply 15% - - 10% 10% -
Level 4 Analyze - - - 25% 10% -
Level 5 Evaluate - - - 15% - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr.Guna Surendra, Hitachi, Japan 1. Dr. P. Karthikeyan, MIT Campus, Anna University,[email protected] 1. Dr. K Sivanathan, SRMIST
2. Mr. Elayraj Jayaraj, Apple, USA 2. Dr. Thiyagarajan, Indian Institute of Technology Tirupati,[email protected] 2. Dr. R Senthilnathan , SRMIST

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 Course Course Course L T P C
21MHE455T ROBOT CONTROL Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Explore the general industrial manipulator control problem 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Provide knowledge on various position control strategy used in the industrial manipulator

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Impart the concept and strategy of force control in manipulators

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Introduce various adaptive control strategy applied to industrial manipulators

Communication
Environment &
Sustainability
CLR-5: Introduce popular intelligent controllers applied to industrial manipulators

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Define the various control architecture used in industrial manipulator. 3 2 - - - - - - - - - - 1 - -
CO-2: Design and formulate various position control strategies applied for the manipulator. 3 2 - - - - - - - - - - 1 - -
CO-3: Design and formulate various force control strategies applied for the manipulator. 3 2 - - - - - - - - - - 1 - -
CO-4: Apply the concept and design of adaptive controllers applied to manipulator robots. 3 2 - - - - - - - - - - 2 - -
CO-5: Apply the concept and design of intelligent controllers applied to manipulator robots. 3 2 - - - - - - - - - - 2 - -

Unit-1 - Introduction to manipulator control problem 9 Hour

General manipulator control system architecture , Manipulator control problem , Joint space and task space control , Task space and joint space mapping, Open and closed loopcontrol : Advantages and disadvantages
in their application in Robots, Linear and nonlinear control, Linear control schemes , Second-order system and its characteristics, Position Regulation of second order system, SISO and MIMO systems , Continuous
and discrete time control, Sampling and sample rate, Industrial Robot control architecture: ABB IRC5controllers.
Unit-2 - Position control of Manipulators 9 Hour
General Dynamic model of the manipulator, Model of a 1 DoF joint along with an actuator (DC motor), PI, PD control of 1 DoF joint - Implementation and key considerations, PID control of 1 DoF joint - Implementation
and key considerations, Control law partitioning , Block diagram of partitioned control law Partitioned PD control scheme for 1 DoF rotary joint, Selection of PD gains in Partitioned PD control scheme, Effect of external
Disturbance, Disturbance rejection in trajectory following control, Computed torque control for the manipulator, Resolved Rate control: Discussion with example (2D).
Unit-3 - Force control of Manipulators 9 Hour
Force control of Robot manipulators, Framework for the force control scheme , Define- Artificial and natural constraints, Case study to define artificial and natural constraint , Description of force control task : Example-
Peg in-hole assembly , Force control of the mass-spring system, Practical implementation consideration for the force control, Introduction to hybrid force position control problem, Hybrid force/position control architecture,
Selection matrices, Case study for hybrid force position control scheme, Impedance force/torque control, Application of impedance control system for n DoF manipulator Example of impedance control along with the
position control in loop.

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Unit-4 - Adaptive Controllers 9 Hour
Introduction to adaptive controllers and advantages, Types: model reference, self-tuning, Linear perturbation adatptive control, Lyapunov stability theorem and its concept, Stability analysis: Example, Variable Structure
control - Example: Sliding mode control applied to manipulator robots, Adaptive Computed torque controller, Fuzzy tuning PID gains based controller, Estimator based disturbance rejection method –Robustness to
adaptive controller .
Unit-5 - Intelligent Controllers 9 Hour
Introduction to fuzzy control: Discussion- Elements of Fuzzy control, Example of application of Fuzzy based control for MIMO systems , Considerations for the Fuzzy based controller, Neural network control of Robots,
Neural Network background, Multilayer neural network, Neural Net feedback tracking controller , Neural net controller gains and architecture, Back propagation weight tuning.

1. John J. Craig, “Introduction to Robotics”, Addison Wesley, ISE2008. 3. Frank L Lewis, Darren Dawson, Chaouki Abdallah, “Robot Manipulator and control:
Learning
2. R.K Mittal and I J Nagrath, ”Robotics and control “T a t a McGraw Hill, 2014. Theory and Practice” Marcel Dekker, 2010.
Resources
4. Michael Negnevitsky,”Artificial intelligence”, 2nd edition, Addison Wesley.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer, ZF commercial vehicle control systems Pvt. Ltd 1. Dr. G Nagamanikandan, IIIT Hyderabad 1. Dr. Ranjith Pillai R, SRMIST
2. Mr. Shankar Bharathi, Larsen & Toubro Technology Services 2. Dr. R Thiyagarajan, IIT Tirpuati 2. Dr. K Sivanathan , SRMIST

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 Course Course Course L T P C
21MHE456J VISION GUIDED ROBOTS E PROFESSIONAL ELECTIVE
Code Name Category 2 0 2 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Understand the specifications of various vision hardware 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Experiential learning of various image processing and analysis algorithms

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Get introduced to passive and active methods of 3D scene reconstruction

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: To get exposed to visual odometry and V-SLAM methods

Communication
Environment &
Sustainability
CLR-5: To appreciate the various visual servoing architectures applied to robot manipulators

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Choose the various vision hardware for an application 3 2 2 - 2 - - - - - - - - - -
CO-2: Develop Image Processing and Analysis Algorithms 3 2 2 - 2 - - - - - - - 2 - -
CO-3: Implement 3D reconstruction techniques 3 2 2 - 2 - - - - - - - - - -
CO-4: Create odometry and SLAM algorithms 3 - - - - - - - - - - - 2 - -
CO-5: Compile various visual servoing techniques 3 - 2 - - - - - 1 - - - 2 - -

Unit-1 - Vision Hardware 12 Hour

Introduction to Vision, Comparison of biological and computer vision, Scene constraints, Light sources, Lighting techniques, Optical Filters, Lens specifications, Selection Image sensors and specifications, Advanced
sensor technologies, Camera computer interfaces, Computing considerations
Unit-2 - Image Processing and Analysis 12 Hour
Vision software basics and Types and selection, 2D Convolution, Image smoothing in spatial domain, Image sharpening and Edge detection in spatial domain Color image processing, Morphological Image Processing,
Region Features and Classification - types, Scale Invariant Feature Transform (SIFT) key point descriptor Scale space construction and difference of Gaussian, Matching Algorithms, Gray-level and correlation based
matching Descriptor based matching
Unit-3 - 3D Reconstruction 12 Hour
Geometric Camera Modelling, Camera Calibration, Derivation Geometry of a stereo vision system, Estimation of fundamental and essential matrix, Epipolar constraint, Epipolar rectification, Metric reconstruction,
Structured Light reconstruction, Principle, working and specifications , LIDAR, Principle, working and specifications
Unit-4 - Optical Flow, Visual Odometry and SLAM 12 Hour
Formulation of the motion analysis, Motion field of rigid objects, Optical flow and Motion field, Estimating motion field - differential techniques, Estimating motion field - feature based techniques, Monocular and Stereo
Visual Odometry, Review of Kalman Filter Basics, EKF basics , Visual Inertial Odometry using EKF, VSLAM, VSLAM approaches, VSLAM approaches
Unit-5 - Visual Servoing 12 Hour
Mathematical formulation of visual servo problem, Classification of visual servoing architectures, Image based visual servoing (IBVS), interaction matrix derivation, Geometrical interpretation of IBVS, stability analysis,
Position based visual servoing, Pose based motion, Calibration for visual servoing systems Calibration for visual servoing systems, Hybrid visual servoing, partitioned visual servoing, switching schemes in visual servoing

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List of Recommended Practical Exercises
1. Image Acquisition – Different Modes and Performance Analysis
2. Working with Specifications of Lenses and Imaging Sensors, Interface and bandwidth studies for cameras
3. Sampling, Quantization, Image I/O, Image Histogram, Thresholding, Contrast Stretching
4. Gaussian Image Smoothing, Edge Detection (Gradient, Laplacian and Canny) and Order statistical Filters
5. HIS Filtering, morphological Operations (Erosion, Dilation, Opening and Closing) , Region feature Extraction and Classification in Binary Image
6. SIFT key point descriptor and matching, Region based matching
7. Camera calibration, Computational Stereo Vision for 3-D scene reconstruction in Indoor Scenes
8. Structured light reconstruction
9. RGB data and LIDAR data correspondence in Outdoor Scenes
10. Optical flow estimation using Lucas-Kanade and Farneback methods in Outdoor Scenes
11. Monocular and Stereo Visual Odometry in Outdoor Scenes
12. Visual Inertial Odometry in Outdoor Scenes
13. Visual SLAM in Outdoor Scenes
14. Image Based Visual Servoing in Manipulator
15 Position based Visual Servoing in Manipulator

1. Rafael C. Gonzales, Richard.E.Woods, “Digital Image Processing,4th Edition, Pearson 4. WileyForsyth and Ponce, Computer Vision: A Modern Approach,2nd Edition, Pearson, 2015.
Education”, 2018 5. Peter Corke, Robotics, Vision and Control, Second Edition,Springer, 2017
Learning
2. Emanuele Trucco, Alessandro Verri, “Introductory Techniques for3D Computer Vision”,
Resources
1st Edition, Prentice Hall, 1998 Edition.
3. Alexander Hornberg, “Handbook of Machine Vision”, 2nd Edition,Wiley, 2006 Edition.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(45%) (15%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - - 15% 15% -
Level 2 Understand 25% - - 25% 25% -
Level 3 Apply 30% - - 30% 30% -
Level 4 Analyze 30% - - 30% 30% -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer, ZF Wabco TechnologyCenter, 1. Dr. P. Karthikeyan, MIT Campus, Anna University, 1. Dr. R. Senthilnathan, SRMIST
[email protected] [email protected]
2. Mr. Shankar Bharathi, Larsen & Toubro TechnologyServices, 2. Dr. Thiyagarajan, Indian Institute of Technology Tirupati, 2. Dr. K. Sivanathan, SRMIST
[email protected] [email protected]
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 Course Course Course L T P C
21MHE457L ROBOT PROGRAMMING Category E PROFESSIONAL ELECTIVE
Code Name 0 0 5 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Impart knowledge in RAPID programming for Industrial Manipulators. 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Introduce the concept and fundamentals of Robot Operating system.

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Impart knowledge in programming manipulators for various application.

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Impart knowledge and skills in the implementation of perception and localization algorithms.

Communication
Environment &
Sustainability
CLR-5: Impart knowledge and skills in the implementation of planning and motion control algorithms.

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Apply the skills to program Industrial Robot using RAPID. 3 1 3 - 3 - - - - - - - - - 3
CO-2: Learn the fundamentals and concepts of Robot Operating System. 3 2 3 - 3 - - - - - - - - - 3
CO-3: Gain the skill set in programming manipulators for various application. 3 2 3 - 2 - - - - - - - - - 3
CO-4: Implement the algorithms for mobile robot perception and localization. 3 2 3 - 2 - - - - - - - - - 3
CO-5: Implement the algorithm for mobile robot motion planning and control. 3 2 3 - 2 - - - - - - - - - 3

Unit-1 - Industrial Robot Programming Using RAPID 15 Hour

Getting started with GUI of Robot programing software, Foundations of robot programing language ,Programming with Flexpendant / Virtual Flex Pendant Create, Add, Edit, Save and Run. Understanding Routines,
Modules, Program Pointer and Motion Pointer , Creating a solution with station and a robot controller Creating frames, solids, setting-up local origin- Creating work object, target, empty path - Synchronize virtual controller
with Robot controller to run a basics movement program, Modelling Functions and Measuring, Action Programming, Smart Component Usage , Working with I/O signals
Unit-2 - Introduction to ROS 15 Hour
Installation of ROS, Workspace and Package, Exploring ROS Filesystem IDE , ROS Node creation, Publisher and Subscriber , Understanding roslaunch, rosbag, Understanding ROS Topics and rqt , Understanding
Services and Parameters, Understanding rcl, rclpy with Turtlesim , Implementing Topics, Service, Parameters, Visualization Tools: rviz and Gazebo , Spatial descriptions in ROS , Wandering robot, Follower Robot
Unit-3 - Industrial Manipulator Programming 15 Hour
Installing ROS Packages for ABB Yumi, Network Setup, Firmware setup and Setup of Yumi Controller, Griper Setup , Setup YuMi ROS Interface through TouchPendant, Running Task and Handling errors , Introduction
to programming and simulation using Robot studio, Control Interfaces – Position Control, Gripper Control , Starting RAPID Scripts, Live Nodes and MoveIt Vision Based Closed Control of Single arm for Pick and Place
Task , Vision Based Closed Control of Single arm for Pick and Place Task, Dual arm manipulation for an assembly task , Dual arm anipulation for an assembly task , Interfacing Dobot-Magician manipulator to ROS,
Understand service-programming and creating a server and client in ROS for Dobot magician , Programming for Point-to-Point motion – 1, Programming for Point-to-Point motion – 2, Programming for Continuous
motion – 1 , Programming for Continuous motion – 2 , Programming for Continuous motion - 3
Unit-4 - Mobile Robot Perception and Localization 15 Hour
Wheel Odometry, PID heading control of the robot, PID longitudinal control of the robot, Camera modelling and homographs, Camera calibration Lane marking detection, Visual servo control for lane following, Map
building , Visual odometry, Interfacing of range sensor and IMU, Understanding Kalman Filter Sensor fusion with EKF, Visual inertial odometry, Object detection

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Unit-5 - Mapping, Motion planning and Control 15 Hour
Map Considerations, Types, Access - ,Global Path Planning – A* , Global Path Planning – PRM, Global Path Planning – RRT , Control in Obstacle-free Environment Map update environmental objects with manual
jogging , Local planning -Bug Algorithm Variants, Local planning – VFH , Motion Planning and Control in Dynamic Environment, Reinforcement learning based navigation

Learning
1. ABB Yumi Manual ABB Robot studio Dobot studio 2. Dobot manal Robot Operating System (ros.org) RAPID Programming
Resources

Learning Assessment
Continuous Learning Assessment (CLA)
CLA-1 Average of first cycle CLA-2 Average of second cycle Final Examination
Bloom’s Practical Examination
experiments experiments (0% weightage)
Level of Thinking (40% weightage)
(30%) (30%)
Theory Practice Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - - - - -
Level 2 Understand - - - - - - - -
Level 3 Apply - - - - - - - -
Level 4 Analyze - - - - - - - -
Level 5 Evaluate - - - - - - - -
Level 6 Create - - - - - - - -
Total 100 % 100 % 100% -

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer, ZF commercial vehicle control systems Pvt. Ltd 1. Dr. G Nagamanikandan, IIIT Hyderabad 1. Dr. Ranjith Pillai R, SRMIST
2. Mr. Shankar Bharathi, Larsen & Toubro Technology Services 2. Dr. R Thiyagarajan, IIT Tirpuati 2. Dr. K Sivanathan , SRMIST

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 Course Course Course L T P C
21MHE458T MODEL BASED SYSTEMS ENGINEERING FOR ROBOTICS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

21MHC307P Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Review the Concepts of Model Based Systems Engineering 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Apply the concepts of MBSE in developing manipulator / autonomous ground vehicles

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Apply the concepts of MBSE in developing Aerial robots

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Apply the concepts of MBSE in developing Aquatic robots

Communication
Environment &
Sustainability
CLR-5: Apply the concepts of MBSE in developing medical robots

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Review the Concepts of Model Based Systems Engineering 3 3 - 1 - 1 - - - 2 - - 2 2 2
CO-2: Apply the concepts of MBSE in developing manipulator / autonomous ground vehicles 3 3 - 3 3 3 - - 3 3 - - 3 3 3
CO-3: Apply the concepts of MBSE in developing Aerial robots 3 3 3 3 3 3 - - 3 3 2 - 3 3 3
CO-4: Apply the concepts of MBSE in developing Aquatic robots 3 3 3 3 2 3 - - 3 3 2 - 3 3 3
CO-5: Apply the concepts of MBSE in developing medical robots 3 3 3 3 2 3 - - 3 3 2 - 3 3 3

Unit-1 - Review of MBSE concepts 9 Hour

Stakeholders Analysis, Requirements definition, Concept Generation, Creating Architecture, Verification and Validation
Unit-2 - Application of MBSE in Ground Robots Development 9 Hour
Manipulator / Autonomous Ground robot development: Stakeholders Analysis, Requirements definition, Concept Generation, Creating Architecture, Verification and Validation
Unit-3 - Application of MBSE in Aerial Robots Development 9 Hour
UAV fixed wing / Rotary wing development: Stakeholders Analysis, Requirements definition, Concept Generation, Creating Architecture, Verification and Validation
Unit-4 - Application of MBSE in Aquatic Robots Development 9 Hour
Autonomous Under water Vehicle/ Autonomous Surface Vehicle development: Stakeholders Analysis, Requirements definition, Concept Generation, Creating Architecture, Verification and Validation
Unit-5 - Application of MBSE in Surgical Robots Development 9 Hour
Surgical robot development: Stakeholders Analysis, Requirements definition, Concept Generation, Creating Architecture, Verification and Validation

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 1. National Aeronautics and Space Administration, “NASA Systems Engineering 4. “SysML distilled: A brief guide to the Systems modeling language”. Lenny Deligatti-Addison
Handbook”, (Rev 1, Dec 2007). Wesley Professional, Ed 1, 2013
Learning 2. INCOSE, “Systems Engineering Handbook” 5. Rechtin, E., and M.W.Maier, “The art of Systems architecting”, Boca Raton, FL: CRC
Resources 3. Kossiakof, Alexander and William N. Sweet; “Systems Engineering: Principles and Press, 2000
Practice” Wiley, 2011 6. Engel, Avner, “Verification, Validation and Testing of Engineered Systems; John Wiley &
Sons, 2010.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr.Gaurav Dubey, Mathworks, India 1. Dr.P.Karthikeyan, MIT Campus, Anna University,[email protected] 1. Dr. K Sivanathan, SRMIST
2. Dr. Yogananda Jeppu, Honeywell, India 2. Dr.Thiyagarajan, Indian Institute of Technology Tirupati,[email protected] 2. Dr. Ranjith Pillai , SRMIST

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 Course Course Course L T P C
21MHE459J PLANNING AND DECISION MAKING IN ROBOTICS Category E PROFESSIONAL ELECTIVE
Code Name 2 0 2 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Demonstrate the planning problem as a search algorithm 1 2 3 4 5 6 7 8 9 10 11 12 outcomes

Environment & Sustainability

CLR-2: Provide an overview of planning approaches relevant to Robotics

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge
CLR-3: Provide fundamentals knowledge in process of decision making and techniques

Design/development of

Project Mgt. & Finance

Modern Tool Usage
Present how to formulate and apply the fundamentals of Bayes and Kalman filters relatedto problems

Life Long Learning

complex problems
CLR-4:

Problem Analysis
of detection, and localization in robotics

Communication
CLR-5:

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Formulate the planning problems as a search algorithm in discrete space 2 - - - - - - - - - - - 1 - -
CO-2: Understand different types of motion planning with and without constraints 3 - - - - - - - - - - - - 2 -
CO-3: Apply the fundamentals of decision-making techniques 2 - - - - - - - - - - - 1 - -
CO-4: Estimate and localize the position of a mobile robot applying Bayesian and Kalman filtering 2 - - - - - - - - - - - 1 - -
CO-5: Modelling planning and decision-making problems in robotics - - - - 2 - - - - - - - - - 2

Unit-1 - Planning as a process and its applications 12 Hour

Planning: {Execution, refinement and inclusion}, search algorithms and Metrics, BFS, DFS, Heuristic search algorithms, Dijkstra, A-Star, Optimal path search,Dynamic programming
Unit-2 - Robotics: Configuration space and obstacle avoidance 12 Hour
Motion planning algorithsm: Roadmap methods: Visibility graph and Voronoi diagram, Cell decomposition and RRT, Sample based and Potential field approaches,Constraints, Planning under differential constraints,
Kinematics of two-wheeled differential drive mobile robota
Unit-3 - Decision making 12 Hour
Decision trees, Decision matrix, Linear Programming, Game theory, Statistical approaches, Bayesian approach
Unit-4 - State estimation 12 Hour
State and measurement uncertainties, Conditional probability and Bayes theorem, Belief function, Markov process and state transition, Recursive Bayes filter,
Obstacle detection & Bayes filter, State estimation using Bayes filter
Unit-5 - Kalman Filtering (KF) 12 Hour
State estimation using Linear Kalman Filtering (LKF) – algorithm, Robot localization - Formulation of/for: probabilistic kinematic model, Position calculation, algorithm for odometry, Orientation calculation, Robot
localization - Algorithm for probabilistic kinematic model

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List of Recommended Practical Experimental / Exercises
1. Shortest path finding using BFS search 9. Differential constraint-based path planning
2. Shortest path finding using DFS search 10. Motion-planning: (i) Localization, (ii) Probabilistic kinematic model
3. Shortest path finding using heuristic search 11. Dubins path-based path planning
4. Shortest path finding using Dijkstra search 12. Cubic polynomial-based path planning
5. Shortest path finding using dynamic programming 13. Path replanning using decision algorithms based on: (i) Linear programming, (ii) Game theory, (iii)
6. Path search: Road map methods (i) Visibility graph, (ii) Voronoi, (iii) Cell-decomposition, (iv) RRT Bayesian approach
7. Path search: Sample based methods 14. Kalman filter estimation of: (i) distance (ii) velocity
8. Path search: Potential field method 15. Kalman filter estimation of: (i) state, (ii) measurements: odometry
16. Probability of obstacle detection: Bayes’ belief function

1. Planning algorithms by Steven M. LaValle, Cambridge University Press, ISBN-13: 978- 4. Anis Koubaa , et al, Robot Path Planning and Cooperation - Foundations, Algorithms and
0521862059, http://lavalle.pl/planning/, http://lavalle.pl/ (2006) Experimentations, ISBN: 978-3-030-08355-7,(2019)
Learning 2. Sebastian Thrun, Wolfram Burgard and Dieter Fox, ProbabilisticRobotics, The MIT Press, ISBN- 5. Artificial Intelligence: A Guide to Intelligent Systems (3rd Edition) 3rdEdition, Pearson
Resources 13: 978-0262201629, http://www.probabilistic-robotics.org (2005) Education, 2011.
3. Alonzo Kelly, Mobile Robotics - Mathematics, Models, and Methods, Cambridge
University Press, (2013)

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(45%) (15%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - - -
Level 2 Understand - - - - - -
Level 3 Apply - - - - - -
Level 4 Analyze - - - - - -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer ,Wabco Technology Center ,India, 1. Prof Arpita Sinha, Indian Institute of Technology, 1. Dr Madhavan Shanmugavel, SRMIST
[email protected] Mumbai, India
2. Mr.Ganesh Ram, Intel Labs Bangalore, 2. Dr., P Karthikeyan, MIT, Anna University, 2. Dr Ranjith Pillai, SRMIST
[email protected] [email protected]

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 Course Course Course L T P C
21MHE460T ADVANCED ROBOTICS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Impart knowledge in the area of parallel manipulators 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Impart the concepts and challenges involved in multi-robot systems

The engineer and society

Conduct investigations of

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

CLR-3: Provide fundamentals of modeling and control of flexible robots.

Modern Tool Usage

Life Long Learning

complex problems
Problem Analysis
CLR-4: Introduce the various complexities of wheeled mobile robots in uneven terrain

Communication
Environment &
Sustainability
CLR-5: Introduce the advanced concepts of robotics like a cooperative robots, haptics, and tele robotic systems

solutions

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Derive the inverse kinematics and Jacobian of parallel manipulator. 3 1 - - - - - - - - - - 1 - -
CO-2: Understand the concept of multi-robot systems and their control challenges. 3 1 - - - - - - - - - - - 1 -
CO-3: Apply the concepts of modeling and control of flexible robots. 3 1 - - - - - - - - - - - 1 -
CO-4: Apply the mathematical concepts of modeling and control of wheeled mobile robot in uneven terrain. 3 1 - - - - - - - - - - 1 - -
CO-5: Understand the fundamentals of the cooperative robot, haptics, and tele robotic systems. 3 1 - - - - - - - - - - 1 - -

Unit-1 - Parallel Mechanisms 9 Hour

Definitions, Configurations and types, Degree of freedom computation, Inverse kinematics approach for a spatial parallel manipulator, Jacobian computation method using vector loop equation, singularity computation,
types and causes of the singularity, Introduction to forward kinematics and computation method, Study of pneumatically driven and wire driven parallel robot (any DoF)
Unit-2 - Multi-Mobile Robot systems 9 Hour
Introduction to multi-robot systems, Architecture for multi-robot systems, Communication systems and strategies, Networked Mobile Robots: Control methods, Communication for control, Communication for
perception, control for communication, Introduction to swarm robots, Introduction to modular robotics, Application
Unit-3 - Control of Flexible Manipulators 9 Hour
Robots with Flexible joints, Dynamic model of link with flexible joints, regulation control, PD control with gravity compensation, Robot with flexible links, design issues and considerations, Modelling of flexible arms,
Sensors for flexibility control, command shaping algorithm for control, Insight to feedback control of flexible link manipulators.
Unit-4 - Wheeled Mobile Robots 9 Hour
Introduction to wheeled mobile robot (WMR), Dynamic of mobile robot, Two and three-wheeled WMR on flat surfaces , Wheel terrain interaction mechanics, Concepts of Slip,
Slip Modelling, WMR on uneven terrain, and Design of Slip free motion on uneven terrain, Control of wheeled robot in rough terrain: slip compensated path follower, Introduction to modeling and control of tracked
vehicle: control of sub tracks.

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Unit-5 - Advanced Topics 9 Hour
Introduction to cooperative Manipulators, Historical overview, Control of cooperative manipulator: Overview, Introduction to Haptics, Application of Haptics, Haptic Device Design: Actuator and sensor selection,
Popular haptic device , Haptic Rendering, Haptic control loop, Overview of Impedance control, Control and stability of haptic interfaces, Introduction to tele robotic systems: actuators and sensor requirements,
Application, Control Architecture, Bilateral control and force feedback, Communication and networking.

1. John J. Craig, “Introduction to Robotics Mechanics and Control”,3rd edition, 3. J.P. Merlet, “Parallel Robots”, 2nd edition, Springer, 2006.Siciliano, B., and
Learning Pearson, 2008. Khatib, O. (Editors), Handbook of Robotics, Springer, 2016
Resources 2. Mark W. Spong and M. Vidyasagar, “Robot Dynamics andControl”, 2nd
edition, Wiley India, 2008.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 15% - 15% - 15% -
Level 2 Understand 25% - 20% - 25% -
Level 3 Apply 30% - 25% - 30% -
Level 4 Analyze 30% - 25% - 30% -
Level 5 Evaluate - - 10% - - -
Level 6 Create - - 5% - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr. Mohammed Sagheer, ZF commercial vehicle control systems Pvt. Ltd 1. Dr. G Nagamanikandan, IIIT Hyderabad 1. Dr. Ranjith Pillai R, SRMIST
2. Mr. Shankar Bharathi, Larsen & Toubro Technology Services 2. Dr. R Thiyagarajan, IIT Tirpuati 2. Dr. K Sivanathan , SRMIST

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 Course Course Course L T P C
21MHE461J AI FOR PERCEPTION PLANNING AND CONTROL Category E PROFESSIONAL ELECTIVE
Code Name

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Obtain motivation for artificial intelligence and machine learning. 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Analyze the mathematics behind fuzzy logic for decision making.

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Get exposed to classical and convolutional neural networks and deep learning philosophy.

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: Realize various convolutional neural network architectures that are applied for computer vision tasks.

Environment &
Sustainability
CLR-5: Explore the applications of reinforcement learning in planning and control tasks.

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Define various terminologies and concepts in artificial intelligence and machine learning. 3 - - - 1 - - - - - - - - 2 -
CO-2: Formulate the mathematical basics of fuzzy logic and apply fuzzy logic problems to robotics applications. 3 2 - - 1 - - - - - - - - - 1
CO-3: Express the concepts of classical and convolutional neural networks. 3 2 - - 1 - - - - - - - - 2 -
CO-4: Implement convolutional neural network architectures to various perception tasks. 3 - 1 - 2 - - - - - - - - - 2
CO-5: Demonstrate the applications of reinforcement learning for planning and control tasks. 3 - 1 - 2 - - - - - - - - - 2

Unit-1 - Introduction to AI & ML 12 Hour

Introduction to artificial intelligence - Intelligent agent - Categorization of AI - Overview of different forms of learning - Statistical decision theory – Machine learning - Feature selection and feature extraction -
Training concepts in machine learning - Train-val-test split - Cross-validation - Generalization - Overfitting and Underfitting - Regularization techniques - Hyperparameters and tuning - Classification and Regression
- Performance evaluation metrics for classification and regression algorithms.
Experiments:
1. Implementation of classification algorithm and its performance evaluation.
2. Linear regression algorithm and computation of its performance metrics.
Unit-2 - Fuzzy Logic 12 Hour
Introduction to fuzzy logic - Overview of Classical sets, their properties, and operation - Fuzzy set theory, properties of fuzzy sets and their operations - Fuzzy composition - Numerical examples - Membership
functions - Fuzzy rule generation - Fuzzification and defuzzification - Fuzzy inference system - Example case studies for mobile robot navigation and manipulator control.
Experiments:
1. Fuzzy logic control for mobile robotics application.
2. Fuzzy logic implementation for manipulator control.

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Unit-3 - Classical and Convolutional Neural Networks 12 Hour
Overview of biological neuro-system - Single layer perceptron - Learning rules - Multilayer perceptron - Backpropagation - Introduction to neuro-fuzzy system - Architecture of neuro-fuzzy networks - Classical neural
networks vs. deep learning - Convolutional neural networks - Activation functions - Optimization techniques - Deep learning hardware.
Experiments:
1. Implementation of the backpropagation learning algorithm.
2. Implementation of gradient decent optimization algorithm.
Unit-4 - CNN for Perception 12 Hour
Image classification - LeNet, AlexNet, ResNet, and Inception architectures - Object detection - RCNN and YOLO architectures - Semantic and instance segmentation - Panoptic segmentation - Visual racking.
Experiments:
1. CNN for object detection.
2. Image panoptic segmentation network.
Unit-5 - Planning and Control 12 Hour
Markov decision process - Deep reinforcement learning - POMDP - Deep-Q learning - Curriculum learning - Proximal policy optimization - Deep reinforcement learning in planning and control of autonomous ground
robots and aerial robots: implementation in end-to-end decomposition manner. Experiments:
1. DRL for autonomous navigation of mobile robots in end-to-end manner.
2. DRL in planning and control of mobile robots.

1. Bruno Siciliano, Oussama Khatib, "Handbook of Robotics", 2ndEdition, Springer, 3. Simon Haykin, "Neural Networks and Learning Machines: AComprehensive Foundation", 3rd
Learning 2016. Edition, Pearson, 2011.
Resources 2. Ian Goodfellow and Yoshua Bengio and Aaron Courville, "DeepLearning", 1st 4. Timothy J Ross, "Fuzzy Logic with Engineering Applications", 3rdEdition, Wiley, 2011.
Edition, MIT Press, 2016.

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - - -
Level 2 Understand - - - - - -
Level 3 Apply - - - - - -
Level 4 Analyze - - - - - -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr. Guna Surendra, Hitachi, Japan 1. Dr. P. Karthikeyan, MIT, Anna University [email protected] 1. Mrs. G. Madhumitha, SRMIST
2. Mr. Elayraj Jayaraj, Apple, USA 2. Dr. R. Thiyagarajan, IIT Tirupati [email protected] 2. Dr. K. Sivanathan, SRMIST

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 Course Course Course L T P C
21MHE462T ADVANCED DYNAMICAL SYSTEMS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Provide fundamentals of kinematics in different coordinate systems 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Give basic understanding and applying the concepts of dynamics using different techniques

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Provide a know-how of modelling and simulation of dynamical systems

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4:

Environment &
Sustainability
CLR-5:

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Derive the kinematics of dynamical systems 3 - - - 3 - - - - - - - 2 - -
CO-2: Apply the D’Alembert’s principle of virtual work and virtual power 3 - - - 3 - - - - - - - 1 - -
CO-3: Apply Lagrangian equation for deriving dynamics of mechanical, electrical and 3 - - - 2 - - - - - - - 2 - -
CO-4: Formulate relative motion of dynamical systems and control 2 - - - 2 - - - - - - - 1 - -
CO-5: Understand different types of dynamical systems: Non-linear, discrete-time and stochastic 1 - - - 1 - - - - - - - 1 - -

Unit-1 - Dynamical system 9 Hour

Principle and definition, Applications and failures, Motion description and kinematics
Unit-2 - Constrained motion and Generalized coordinates 9 Hour
Static equilibrium: Virtual work, Relating kinematics and kinetics, D’Alembert’s principle, Virtual power
Unit-3 - Lagrangian Dynamics 9 Hour
Applying Lagrangian dynamics to mechanical, electrical, electronic and electromechanical systems
Unit-4 - Relative dynamics & kinematics 9 Hour
Modelling and control of a group of Wheeled Mobile Robots (WMRs), USVs, UUVs
Unit-5 - Non-linear systems 9 Hour
Phase plane and vector fields, Chaos, and Limit cycle, Bifurcation, Discrete-time dynamical system, Stochastic dynamics, case study

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 1. Francis C Moon, Applied Dynamics: With Applications to Multibody and Mechatronic Systems, 3. Steven Strogatz, Nonlinear Dynamics and Chaos: With Applications to Physics, Biology,
Wiley-VCH; 2nd edition (10September 2008), ISBN-10: 3527407510. Chemistry, and Engineering, Westview Press; 2nd edition (29 July 2014), ISBN-
Learning
2. Soumitro Banerjee, Dynamics for Engineers, John Wiley & Sons, 2005 10:0813349109
Resources
4. Robert L. Devaney, A First Course in Chaotic Dynamical Systems Theory and
Experiment, CRC Press (1 January 2022), ISBN-10: 1032218525

Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - 10% -
Level 2 Understand - - - - 30% -
Level 3 Apply 35% - 50% - 40% -
Level 4 Analyze - - - - 20% -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr.D.Sathia Narayanan, Scientist F, Deep-sea technologies 1. Dr Veera Ragavan Sampathkumar, Department ofRobotics 1. Dr Madhavan Shanmugavel, SRMIST
(DST), National Institute of OceanTechnology (NIOT), and Mechatronics engineering, Monash University (Malaysia
Ministry of Earth Sciences (MoES), Chennai, India – 600100 campus), Malaysia
2. Dr Affiani Machmudah, Research Center for Hydrodynamics, 2. Dr., P Karthikeyan, MIT,Anna University, 2. Dr S.Sivanathan, SRMIST
National Research and InnovationAgency, Indonesia, Jakarta [email protected]
Pusat 10340

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 Course Course Course L T P C
21MHE463T SOFT ROBOTICS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: Provide the fundamentals of ARM architecture 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: Provide the fundamentals of ARM Processor and processing

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: Provide programming ARM processor

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: System and sub-systems of Robotic systems

Environment &
Sustainability
CLR-5: Demonstrate robotic applications related to ARM processors

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Understand the fundamentals of ARM Architecture and Cortex M7 2 - - - - - - - - - - - - - 1
CO-2: Understand ARM processor and internals 3 - - - - - - - - - - - - - -
CO-3: Program distance sensor, LED, stepper motor and ADC & DAC 3 - - - - - - - - - - - - - 2
CO-4: Understand robotic system from the perspective of embedded system 3 - - - - - - - - - - - - - -
CO-5: Apply programming concepts in control Robotic systems and sub-systems 2 - - - - - - - - - - - - - 2

Unit-1 - Arm Cortex M7 Processor Architecture Part 1 9 Hour

ARM Architecture, Cortex M series, M-processor
Unit-2 - Arm Cortex M7 Processor Architecture Part 2 9 Hour
Memory map, Program Image and Endianess, Instruction set
Unit-3 - Interrupts and Low-power features 9 Hour
Interrupt controller, Program design
Unit-4 - Robotic systems 9 Hour
Control and communication flows in robotic system & sub-systems
Unit-5 - Application of robotics using Cortex M7 9 Hour
Localization, Mapping, Path following & tracking

1. Embedded Systems with ARM Cortex-M Microcontrollers in Assembly Language and 3. Ian McLoughlin, Computer Systems, An Embedded Approach,McGraw-Hill Education
Learning C (Fourth Edition), ISBN-13: 978- 0982692677, Publisher: E-Man Press LLC; 4th (2018)
Resources edition 4. Cem Ünsalan et al, Embedded System Design with Arm Cortex-
2. ARM Architecture Reference Manual (January 2023) M Microcontrollers - Applications with C, C++, (2022, Springer)

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Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember 50% - - - 30% -
Level 2 Understand 50% - 30% - 20% -
Level 3 Apply - - 40% - 50% -
Level 4 Analyze - - 30% - - -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Mr Koteswaran Srinivasan, Director, HCL 1. Dr Gunesekaran Thangavel, Department, University ofTechnology and 1. Dr Madhavan Shanmugavel, SRMIST
Technologies Ltd, Chennai Applied Sciences, Muscat,Sultanate of Oman.
[email protected]
2. Dr. Raghav Menon - Senior Manager - 2. Dr. Arpita Sinha, Indian Institute of Technology,Mumbai, India, 2. Dr S.Vani, SRMIST
Capgemini [email protected]

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 Course Course Course L T P C
21MHE464T INTRODUCTION TO MARINE AND AERIAL ROBOTICS Category E PROFESSIONAL ELECTIVE
Code Name 3 0 0 3

Pre-requisite Co- requisite Progressive

Nil Nil Nil
Courses Courses Courses
Course Offering Department Mechatronics Engineering Data Book / Codes / Standards Nil

Course Learning Rationale (CLR): The purpose of learning this course is to: Program Outcomes (PO) Program
Specific
CLR-1: To give an introduction to different types of marine vessels and marine robots 1 2 3 4 5 6 7 8 9 10 11 12 outcomes
CLR-2: To provide the fundamentals of modelling of marine vessels in two- and three-dimensions

Individual & Team Work

Engineering Knowledge

Design/development of

Project Mgt. & Finance

Conduct investigations
of complex problems
Modern Tool Usage
CLR-3: To give the students the basics of guidance, navigation and control in marine robotics

Life Long Learning

The engineer and
Problem Analysis

Communication
CLR-4: To introduce modelling and simulations of path/trajectory planning in marine robotics

Environment &
Sustainability
CLR-5:

solutions

society

PSO-1

PSO-2

PSO-3
Ethics
Course Outcomes (CO): At the end of this course, learners will be able to:
CO-1: Understand the systems level design of different marine vessels and static equilibrium of 2 - - - - - - - - - - - 2 - -
CO-2: Derive kinematics and kinetics Unmanned Surface Vessel (USV) 3 - - - - - - - - - - - - - -
CO-3: Derive kinematics and kinetics of Autonomous Underwater Vehicle (AUV) 3 - - - - - - - - - - - - - -
CO-4: Apply the principles of guidance, navigation in simulating the motion of marine robots 3 - - - - - - - - - - - - - -
CO-5: Understand different path/trajectory planning approaches for different marine robotic vessels 2 - - - - - - - - - - - 2 - -

Unit-1 - Introduction to marine robotics 9 Hour

Types and classification of marine vessels, Systems & sub-systems, Hydrostatics, Buoyancy and Stability of marine vessels, Stability calculations and simulations
Unit-2 - Modelling of marine vessels 9 Hour
Motion of a rigid body, Modelling the motion of USV
Unit-3 - Motion of a rigid body (AUV)in 3d 9 Hour
Modelling the motion of AUV
Unit-4 - Relative motion of vessels 9 Hour
Relative motion in 2d, Guidance, Navigation and Control (GNC), Guidance law & navigation, Line Of Sight (LOS) guidance of USV
Unit-5 - Motion planning and obstacle avoidance in marine robotics 9 Hour
Types of path/trajectory planning approaches of marine robots and case studies

1. Alexander schlaelfer and ole blaurock, Robotic sailing, Proceedings of the 4th International 4. Thor I Fossen, Guidance and control of ocean vehicles, John wiley andSons, 1999
sailing conference, Springer, 2011 5. Gianluca Antonelli, Underwater robotics, Springer, 2014
Learning 2. Sabiha A. wadoo,pushkin kachroo, Autonomous underwater vehicles,modelling, control design 6. Mae L. Seto, Marine Robot Autonomy, Springer, 2013
Resources and Simulation, CRC press, 2011 7. Richard A Geyer, “Submersibles and their use in oceanography and ocean
3. Robert D. Christ,Robert L. Wernli, Sr. “The ROV Manual A User Guide for Remotely engineering”, Elsevier, 1997
Operated Vehicles”, Elsevier, second edition,2014 8. Ferial L hawry, The ocean engineering handbook, CRC press,2000

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Learning Assessment
Continuous Learning Assessment (CLA)
Summative
Formative Life-Long Learning
Bloom’s Final Examination
CLA-1 Average of unit test CLA-2
Level of Thinking (40% weightage)
(50%) (10%)
Theory Practice Theory Practice Theory Practice
Level 1 Remember - - - - 10% -
Level 2 Understand 70% - 70% - 20% -
Level 3 Apply 30% - 30% - 55% -
Level 4 Analyze - - - - 15% -
Level 5 Evaluate - - - - - -
Level 6 Create - - - - - -
Total 100 % 100 % 100 %

Course Designers
Experts from Industry Experts from Higher Technical Institutions Internal Experts
1. Dr.D.Sathia Narayanan, Scientist F, Deep-sea technologies (DST), 1. Dr., R. Thiyagarajan, Visiting faculty, IIT Madras, 1. Dr Madhavan Shanmugavel, SRMIST
National Institute of Ocean Technology (NIOT), Ministry of Earth [email protected]
Sciences(MoES), Chennai, India – 600100
2. Dr Affiani Machmudah, Research Center for Hydrodynamics, National 2. Dr., P Karthikeyan, MIT,Anna University, 2. Dr Ranjith Pillai, SRMIST
Research and InnovationAgency, Indonesia, Jakarta Pusat 10340 [email protected]

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SRM INSTITUTE OF SCIENCE AND TECHNOLOGY
( D e e m ed t o b e U n iv e r s i t y u / s 3 o f U GC A c t , 1 9 5 6 )

Kattankul athur, Chengalpattu District 6 03 203, Tamil N adu ,

India

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