ID4

SEMESTER I

Discipline : INTERDISCIPLINARY
Stream : ID4
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CODE COURSE NAME CATEGORY L T P CREDIT

MATHEMATICS FOR DISCIPLINE
221TIA002 3 0 0 3
INTELLIGENT SYSTEMS CORE

Preamble: Mathematics for intelligent systems are indispensable for computing applications
in robotic systems. This course is designed such that it will equip the students with
mathematical framework for the numerical computation and optimization and techniques
necessary for various computing applications in engineering and robotic systems.

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

Apply the basic ideas of linear algebra in determining spaces for intelligent
CO 1
systems
CO 2 Apply matrix algebra to represent the dimensions of intelligent systems.
CO 3 Apply probability in engineering
CO 4 Formulate optimization problems and identify a suitable method to solve the same
Solve optimization problems in robotics using appropriate optimization
CO 5
techniques

Mapping of course outcomes with program outcomes

PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7
CO 1 3 3 3 3 2
CO 2 3 3 3 3 2
CO 3 3 3 3 3 2
CO 4 3 3 3 3 2
CO 5 3 3 3 3 2

Assessment Pattern

Bloom’s Category End Semester Examination

Apply 30%
Analyse 30%
Evaluate 20%
Create 20%
 ID4

Mark distribution

Total ESE
CIE ESE
Marks Duration

100 40 60 2.5 hours

Continuous Internal Evaluation Pattern: 40 marks

Micro project/Course based project : 20 marks

Course based task/Seminar/Quiz : 10 marks

Test paper, 1 no. : 10 marks

The project shall be done individually. Group projects are not permitted. The project may include the

implementation of theoretical computation using software packages. The test papers hall include a

minimum 80% of the syllabus.

End Semester Examination Pattern: 60 marks

Part A: 5 numerical/short answer questions with 1 question from each module, (such
questions shall be useful in the testing of knowledge, skills, comprehension, application,
analysis, synthesis, evaluation and understanding of the students). Students should answer all
questions.

Each question can carry 5 marks.

Part B: 7 questions (such questions shall be useful in the testing of overall achievement and
maturity of the students in a course, through long answer questions relating to
theoretical/practical knowledge, derivations, problem solving and quantitative evaluation),
with minimum one question from each module of which student should answer any five.

Each question can carry 7 marks

 ID4

Model Question Paper

SLOT A

APJ ABDULKALAM TECHNOLOGICAL UNIVERSITY

FIRST SEMESTER M.TECH DEGREE EXAMINATION
MONTH &YEAR
Course code: 221TIA002
Course Name: Mathematics for Intelligent Systems
Max. Marks: 60 Duration: 2.5 Hours

PART A
Answer all Questions. Each question carries 5 Marks
1 a) State whether the following vectors represent a vector space giving explanations
(i) V = a real polynomial of degree 5 or less
(ii) V = {f(x)/ f is continuous on 𝑅}
b) Explain an invariant subspace
2 Explain Lasso and Ridge regression models. While building a regression model using a
data set, one of the feature is found to have relatively higher negative value. What does
it indicate?
3 Prove that: If B ∈ F and P (B) > 0. Then, P (· |B) : F −→ [0, 1] is a probability measure
on (Ω, F).
4 Formulate an optimization problem to find a shortest path for a differential drive robot
from start to goal location.

5 In which context we can use optimization methods like genetic algorithms and
simulated annealing?

PART B
Answer any 5 Questions. Each question carries 7 Marks
6 (i) Find the rank of the following matrix using
(ii) echelon form and (ii) canonical form

B = [−123 − 22 − 5123 − 8525 − 12 − 16]

 ID4

7 Find the Eigen values and Eigen vectors of the matrix A=[811280 − 72 − 1 − 3 −
7211124]. Show that the matrix A can be diagonalised using these Eigen vectors.

8 Given the following 3D input data.

119
2 4 6
3 7 4
4 11 4
5 9 2
a. identify the principal component and
b. the transformed input along the first two principal component.
9 A manufacturing firm is engaged in the production of steel pipes in its three plants P 1,
P2, P3. It produces 30% steel pipes from P1, 45% from P2 and 25% s from P3. From the
historical data it is found that P1, P2, P3 produce 2%, 3% and 2% defective products. If
a product is randomly selected what is the probability that it is defective? Also
determine the probability that the defective product is from plant P3.

10 Is this a linear or nonlinear programming problem?

Maximize 𝑍 = 3𝑥2 − 2𝑥2
1

Subject to

2𝑥1 + 𝑥2 = 4
𝑥2 + 𝑥2 ≤ 40
1 2

𝑥1, 𝑥2 ≥ 0 and are integers.

Solve this problem by a suitable classical method.

11 Minimize 𝑓𝑓(𝑥1 , 𝑥2 ) = 𝑥1 − 𝑥2 + 2𝑥 2 + 2𝑥1 𝑥2 + 𝑥 2 from the starting point X1 = {00}

1 2
using Powell’s method.
12 Minimize 𝑓𝑓(X) = (𝑥1 − 1)2 + (𝑥2 − 5)2 subject to
−𝑥2 + 𝑥2 ≤ 4
1
−(𝑥1 − 2)2 + 𝑥2 ≤ 3

Starting from the point X1 = {11} and using Zoutendijk’s method. Complete two one-
dimensional minimization steps.
 ID4

Syllabus and Course Plan

Module 1

Linear Algebra: Introduction: Fields-System of Linear Equations Echelon matrices-

invertible matrices. Vector Spaces and subspaces: bases and dimensions-summary of row
equivalence-computations concerning subspaces. Linear transformations-isomorphism-
double dual-transpose of linear transformations-pseudo inverse-application to
regression.Orthogonality: Orthonormal subspaces-Gram Schmidt orthogonalisation-
Projections onto sub-spaces -The Regression Least Square

Module 2

Matrix Algebra: Determinants-commutative rings-modules-multi linear functions-The

grass man ring. Elementary canonical forms- introduction-characteristic values-invariant
subspaces-simultaneous triangulation and simultaneous diagonalization-direct sum
decomposition. Principal Component Analysis-image processing Eigen Faces -Markov
Matrices and the Google Matrix.

Module 3

Probability and Statistical Theory: Introduction: Probability and counting-Conditional

probability: Bayes’ Rule and law of total probability -Random Variables and their
distributions Expectation: Definition-Linearity of the expectation -Geometric and Negative
Binomial- Indicator Random Variable and the Fundamental Bridge. Moments: Moment
generating functions- generating moments-Transformations: convolutions-beta-gamma-beta
gamma connections. Markov chains: Markov property and transition matrix-classification of
states-stationary distribution-reversibility.Markov chain and Monte Carlo.

Module 4

Optimisation problem, Formulation of optimisation problems and linear optimization -

Review only.
Classical Optimization Techniques Single variable optimization, Multivariable
optimization with equality constraints- Direct substitution, method of Lagrange multipliers,
Multivariable optimization with equality constraints- Kuhn-Tucker conditions.
Non-linear Programming: Unconstrained Optimization Techniques Direct Search
Methods: Random search methods, Grid search method, Univariate method, Hookes and
Jeeves’ method, Powell’s method; Indirect Search Methods: Steepest descent method,
Fletcher-Reeves method, Newton’s method

Module 5

Nonlinear Programming: Constrained Optimization Techniques Direct search methods:

Random search methods, Basic approach in methods of feasible directions, Zoutendijk’s
 ID4

method of feasible directions, Rosen’s gradient projection method, Generalized Reduced

gradient method, Sequential quadratic programming.
Recent developments in optimization techniques: Genetic Algorithm, Simulated Annealing,
Neural Network based optimization, Particle Swarm Optimization, Ant colony Optimization.

Course Plan

No. of
No Topic
Lectures
1 Module 1 Linear Algebra
Introduction: Fields-System of Linear Equations Echelon
1.1 2
matrices-invertible matrices.
Vector Spaces and subspaces: bases and dimensions-summary
of row equivalence-computations concerning subspaces. Linear
1.2 3
transformations-isomorphism-double dual-transpose of linear
transformations-pseudo inverse-application to regression
Orthogonality: Orthonormal subspaces-Gram Schmidt
1.3 orthogonalisation-Projections onto sub-spaces -The Regression 3
Least Square
2 Module 2 Matrix Algebra
Determinants-commutative rings-modules-multi linear
2.1 1
functions-The grass man ring.
Elementary canonical forms- introduction-characteristic
2.2 values-invariant subspaces-simultaneous triangulation and 3
simultaneous diagonalization-direct sum decomposition
Principal Component Analysis-image processing Eigen Faces -
2.3 4
Markov Matrices and the Google Matrix.
3 Module 3 Probability and Statistical Theory:
Introduction: Probability and counting-Conditional
probability: Bayes’ Rule and law of total probability -Random
3.1 Variables and their distributions Expectation: Definition- 2
Linearity of the expectation -Geometric and Negative Binomial-
Indicator Random Variable and the Fundamental Bridge
Moments: Moment generating functions- generating moments-
3.2 Transformations: convolutions-beta-gamma-beta gamma 3
connections.
Markov chains: Markov property and transition matrix-
3.3 classification of states-stationary distribution-reversibility. 3
Markov chain and Monte Carlo.
4 Module 4
Optimisation problem, Formulation of optimisation problems
4.1 1
and linear optimization - Review only.
4.2 Classical Optimization Techniques Single variable 3
 ID4

optimization, Multivariable optimization with equality

constraints- Direct substitution, method of Lagrange multipliers,
Multivariable optimization with equality constraints- Kuhn-
Tucker conditions.
Non-linear Programming: Unconstrained Optimization
Techniques Direct Search Methods: Random search methods,
4.3 Grid search method, Univariate method, Hookes and Jeeves’ 4
method, Powell’s method; Indirect Search Methods: Steepest
descent method, Fletcher-Reeves method, Newton’s method

5 Module 5

Nonlinear Programming: Constrained Optimization

5.1 Techniques Direct search methods: Random search methods, 2
Basic approach in methods of feasible directions
Zoutendijk’s method of feasible directions, Rosen’s gradient
5.2 projection method, Generalized Reduced gradient method, 4
Sequential quadratic programming.
Recent developments in optimization techniques: Genetic
Algorithm, Simulated Annealing, Neural Network based
5.3 2
optimization, Particle Swarm Optimization, Ant colony
Optimization.

Reference Books

1. G. Strang, Introduction to Linear Algebra. Wellesley, MA: Wellesley Cambridge

Press, fifth ed., 2016.
2. K. Hoffman and R. Kunze, Linear algebra. Prentice-Hall mathematics series,
Prentice-Hall India Ltd, 2015.

3. J. Blitzstein and J. Hwang, Introduction to Probability. Chapman & Hall/CRC Texts

in Statistical Science, CRC Press, 2014.

4. Singiresu S Rao, Engineering Optimization Theory and Practice,5/e, John Wiley &
Sons 2020.
5. Edwin K P Chong, Stanislaw H Zak, An introduction to Optimization, 2e, Wiley
India.
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CODE COURSE NAME CATEGORY L T P CREDIT

KINEMATICS, PROGRAM
221TIA003 DYNAMICS AND 3 0 0 3
CORE 1
CONTROL OF ROBOTS

Preamble This course helps the student with the basic idea of Robots. Concepts like
trajectory planning and obstacle avoidance and kinematics of robots are introduced.
Discussion on various mobile robots and robotic manipulators are also included as part of the
course to get an overall idea on robotics

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

CO 1 Familiarise with anatomy, specifications and standard robot configurations

CO 2 Obtain the forward and inverse kinematic model of a robotic manipulator
CO 3 Plan trajectories for robots
CO 4 Obtain the dynamic model of robots
CO 5 Design controllers for robotic manipulators
CO 6 Design controllers for mobile robots

Mapping of course outcomes with program outcomes

PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7
CO 1 3 2 3
CO 2 3 2 3
CO 3 3 2 3 3 3
CO 4 3 2 3 3 3
CO 5 3 2 3 3 3
CO 6 3 2 3 3 3

Assessment Pattern

Bloom’s Category End Semester Examination

Apply 30
Analyse 30
Evaluate 30
Create 10

Mark distribution

Total ESE
CIE ESE
Marks Duration

100 40 60 2.5 hours

 ID4

Continuous Internal Evaluation Pattern:

Evaluation shall only be based on application, analysis or design based questions (for both
internal and end semester examinations).

Continuous Internal Evaluation: 40 marks

Micro project/Course based project : 20 marks

Course based task/Seminar/Quiz : 10 marks

Test paper, 1 no. : 10 marks

The project shall be done individually. Group projects are not permitted. The project may include the

implementation of theoretical computation using software packages. The test papers hall include a

minimum 80% of the syllabus.

(Test paper shall include minimum 80% of the syllabus.)

End Semester Examination Pattern:

End Semester Examination :60 marks

Part A: 5 numerical/short answer questions with 1 question from each module, (such
questions shall be useful in the testing of knowledge, skills, comprehension, application,
analysis, synthesis, evaluation and understanding of the students). Students should answer all
questions.
Each question can carry 5 marks.

Part B: 7 questions (such questions shall be useful in the testing of overall achievement and
maturity of the students in a course, through long answer questions relating to
theoretical/practical knowledge, derivations, problem solving and quantitative evaluation),
with minimum one question from each module of which student should answer any five.
Each question can carry 7 marks.
 ID4

Model Question Paper

Slot: B
APJ ABDULKALAM TECHNOLOGICAL UNIVERSITY
FIRST SEMESTER M.TECH DEGREE EXAMINATION
MONTH & YEAR
Course code: 221TIA003
Course Name:Kinematics Dynamics and Control of Robots

Max. Marks: 60 Duration: 2.5 Hours

PART A
Answer all Questions. Each question carries 5 Marks
1 What do you mean by DOF? What are redundant manipulators? Explain with the help
of an example.
2 If a point𝑃 = [30 − 11]𝑇, find the new location of the point P, if it is (i) rotated by 𝜋
about z-axis of fixed frame and then translated by 3 units along y axis (ii) it is first
translated by 3 units along y axis and then rotated about z axis by𝜋. Are the two
locations same. Explain why the final position in two cases is same or different.
3 One revolute joint of SCARA robotic manipulator is to move from 30 0to 1200 in 7
seconds. If the joint has initial and final velocity of 1.0deg/sec and 1.2deg/s
respectively. Determine the cubic polynomial to interpolate a smooth trajectory. Also
obtain the velocity and acceleration profiles of the joint.
4 Compare position vs force control.
5 Compare a differential drive WMR and a car like WMR.
PART A
Answer any 5 Questions. Each question carries 7 Marks
6 Explain how robots are classified based on work envelope geometries and drive
technologies.
7 For the following cylindrical robot arm, compute the position and orientation of the
tool tip.
 ID4

8 Determine the joint angles θ1, θ2, θ3 of a 3 axis robot if the origin of {3} is located at
[0.707, 1.707, 0.000]T and the orientation of {3} with respect to {0} is given by the
rotation matrix 𝑅 = [0.5 − 0.86600.8660.50001] . Given 𝑇30 = [𝐶123 −𝑆123 0𝐿1𝐶1 +
𝐿2𝐶12𝑆123 𝐶123 0𝐿1𝑆1 + 𝐿2𝑆1200100001]
9 Which algorithm can be used to find a path from start to goal in the following
scenario? Explain the algorithm.

10 Obtain the dynamic model of a 1DOF robotic manipulator.

11 Suppose a robotic manipulator is to be designed to erase a white board, which
control scheme can be used? Give the details of the controller.
12 Design a control scheme to drive a differential drive robot to follow a circular
trajectory
 ID4

Syllabus

Module I:

Introduction

Robots, Robotics; Types of Robots- Manipulators, Mobile Robots-wheeled & Legged

Robots, Aerial Robots; Anatomy of a robotic manipulator-links, joints, actuators, sensors,
controller; open kinematic vs closed kinematic chain; degrees of freedom; Robot
considerations for an application, Classification of End effectors - mechanical grippers,
special tools, Magnetic grippers, Vacuum grippers, adhesive grippers, Active and passive
grippers, selection and design considerations of grippers in robot.

Robot configurations-PPP, RPP, RRP, RRR; features of SCARA, PUMA Robots;

Classification of robots based on drive technologies and motion control methods.

Case study- sensors and actuators of robots (demo/assignment only)

Module II
Kinematics
Robot Coordinate Systems- Fundamental and composite rotations, homogeneous co-ordinates
and transformations, Kinematic parameters, D-H representation, Direct Kinematics,
Necessity of kinematic modelling, The Arm equation- forward Kinematic analysis of a
typical robots up to 3 DOF. The inverse kinematics problem, general properties of solutions,
Inverse kinematics of robots up to 3 DOF. Tool configuration vector and Jacobian.
Linear and angular velocities of rigid body, Linear and angular velocities of 3R manipulator,
relation between joint and end effector velocities.

Inverse kinematics of 3DOF manipulator with concurrent wrist (demo/assignment only)

Module III
Trajectory Planning and Dynamics of Robots
Trajectory Planning- joint space trajectory planning-cubic polynomial, linear trajectory with
parabolic blends; Cartesian space planning. Obstacle avoidance methods- Artificial Potential
field, A* algorithms.

Dynamics- Necessity of dynamic modelling, dynamic model of a robot using Lagrange’s

equation, dynamic modelling of 1DOF robot, modelling including motor and gearbox, 2R
planar manipulator.

Module IV
Control of robotic manipulators
Necessity of a control system in a robot, block diagram typical robot control system, position
control, force control.
PID control, PD gravity control, Computed torque control, Variable Structure control,
Impedance control, digital control of a single link manipulator.
 ID4

Case study- Control of a single link and two link manipulator using MATLAB/ROS.
(Assignment/demo only)

Module V
Control of mobile robots
Basic understanding of Differential-Drive WMR, Car-Like WMR, Three-Wheeled
Omnidirectional Mobile Robot, Kinematic model of a differential drive and a steered mobile
robot.

Control of mobile robots- Control of differential drive robot and steered robot based on its
kinematic model, Control of differential drive robot to move to a point, follow a line, follow a
trajectory, to achieve an orientation. Control of a steered robot to move to a point, follow a
line, follow a trajectory, to achieve an orientation.

Case study- design and implementation of a controller for a differential drive robot capable
of moving to a point, following a line and following a path using MATLAB
(Assignment/demo only)

References

1. Robert. J. Schilling , “Fundamentals of robotics – Analysis and control”, Prentice

Hall of India 1996.
2. R K Mittal and I J Nagrath, “Robotics and Control”, Tata McGraw Hill, New
Delhi,2003.
3. Introduction to Robotics by S K Saha, Mc Graw Hill Education
4. Introduction to Robotics (Mechanics and control), John. J. Craig, Pearson
Education Asia 2002.
5. AshitavaGhosal, “Robotics-Fundamental concepts and analysis”, Oxford
University press.
6. Introduction to Autonomous Mobile Robots , R Siegwart, IR Nourbakhsh, D
Scaramuzza, , MIT Press, USA, 2011.
7. Peter Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB

Course plan

No. of
No Topic
Lectures
1 Introduction
Robots, Robotics; Types of Robots- Manipulators, Mobile Robots-
wheeled & Legged Robots, Aerial Robots; Anatomy of a robotic
1.1 2
manipulator-links, joints, actuators, sensors, controller; open kinematic
vs closed kinematic chain, ; degrees of freedom;
Robot considerations for an application- Number of Axes, Capacity
1.2 and Speed, Reach and Stroke, Tool Orientation, Repeatability, 1
Precision and Accuracy, Operating environment
 ID4

Classification of End effectors - mechanical grippers, special tools,

Magnetic grippers, Vacuum grippers, adhesive grippers, Active and
1.3 passive grippers, selection and design considerations of grippers in 2
robot.

Robot configurations-PPP, RPP, RRP, RRR; features of SCARA,

PUMA Robots; Classification of robots based on drive technologies
1.4 and motion control methods. Case study- sensors and actuators of 3
robots (demo/assignment only)

2 Kinematics
Robot Coordinate Systems- Fundamental and composite rotations,
2.1 2
homogeneous co-ordinates and transformations
Kinematic parameters, D-H representation, Direct Kinematics,
2.2 Necessity of kinematic modelling, The Arm equation- forward 2
Kinematic analysis of a typical robots up to 3 DOF.
The inverse kinematics problem, general properties of solutions,
2.3 1
Inverse kinematics of robots up to 3 DOF.
Tool configuration vector and Jacobian, Linear and angular velocities
2.4 of rigid body, Linear and angular velocities of 3R manipulator, relation 2
between joint and end effector velocities.
Inverse kinematics of 3DOF manipulator with concurrent wrist
2.5 1
(demo/assignment only)
3 Trajectory Planning and Dynamics of Robots
Trajectory Planning- joint space trajectory planning-cubic polynomial,
3.1 2
linear trajectory with parabolic blends;
3.2 Cartesian space planning 1
3.3 Obstacle avoidance methods- Artificial Potential field, A* algorithms 2
Dynamics- Necessity of dynamic modelling, dynamic model of a robot
3.4 using Lagrange’s equation, dynamic modelling of 1DOF robot, 3
modelling including motor and gearbox, 2R planar manipulator.
4 Control of robotic manipulators
Necessity of a control system in a robot, block diagram typical robot
4.1 3
control system, position control, force control.
PID control, PD gravity control, Computed torque control, Variable
4.2 Structure control, Impedance control, digital control of a single link 4
manipulator
Case study- Control of a single link and two link manipulator using
4.3 1
MATLAB/ROS. (Assignment/demo only)
5 Control of mobile robots
Basic understanding of Differential-Drive WMR, Car-Like WMR,
5.1 Three-Wheeled Omnidirectional Mobile Robot, Kinematic model of a 2
differential drive and a steered mobile robot.
Control of mobile robots- Control of differential drive robot and
5.2 2
steered robot based on its kinematic model,
 ID4

Control of differential drive robot to move to a point, follow a line,

5.3 2
follow a trajectory, to achieve an orientation.
Control of a steered robot to move to a point, follow a line, follow a
5.4 1
trajectory, to achieve an orientation.
Case study- design and implementation of a controller for a differential
5.5 drive robot capable of moving to a point, following a line and 1
following a path using MATLAB (Assignment/demo only)
 ID4
CODE COURSE NAME CATEGORY L T P CREDIT
INDUSTRIAL PROGRAM
221TIA004 3 0 0 3
AUTOMATION CORE 2

Preamble This course introduces the basic types, levels and strategies of automation. The
course includes continuous and discrete control systems. The concepts of hydraulic/
pneumatic circuits and applications is also included

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

CO 1 Acquire basic knowledge in industrial automation systems.

CO 2 Explain the fundamental principles of industrial automation components like
CNC, Material handling and material storage systems.
CO 3 Develop hydraulic/ pneumatic circuits based on practical applications.
CO 4 Explain Manufacturing cells and automated inspection methods.
CO 5 Explain the Control Technologies and Building Blocks of Automation Systems.

Mapping of course outcomes with program outcomes

PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7
CO 1 2 2 2 2

CO 2 2 2 3 2 3

CO 3 2 2 3 3 3

CO 4 2 2 2 3 1

CO 5 2 2 2 2 1

Assessment Pattern

Bloom’s Category End Semester Examination

Apply 30 %
Analyse 30 %
Evaluate 20 %
Create 20 %
 ID4

Mark distribution

Total CIE ESE ESE

Marks Duration

100 40 60 2.5 hours

Continuous Internal Evaluation Pattern:

Continuous Internal Evaluation: 40 marks

Micro Evaluation shall only be based on application, analysis or design-based questions.

Micro project/Course based project : 20 marks

Course based task/Seminar/Quiz : 10 marks

Test paper, 1 no. : 10 marks

The project shall be done individually. Group projects not permitted. Test paper shall include minimum

80% of the syllabus.

End Semester Examination Pattern:

The end semester examination will be conducted by KTU. There will be two parts; Part A
and Part B. Part A will contain 5 numerical/short answer questions with 1 question from each
module, having 5 marks for each question (such questions shall be useful in the testing of
knowledge, skills, comprehension, application, analysis, synthesis, evaluation and
understanding of the students). Students should answer all questions. Part B will contain 7
questions (such questions shall be useful in the testing of overall achievement and maturity of
the students in a course, through long answer questions relating to theoretical/practical
knowledge, derivations, problem solving and quantitative evaluation), with minimum one
question from each module of which student should answer any five. Each question can carry
7 marks.
 ID4
Syllabus and Course Plan

No. of
No Topic
Lectures
1 Introduction to automated systems
Introduction: Automation in Production System, Principles and
1.1 Strategies of Automation, Classification and Overview of 3
Manufacturing Systems.
Basic Elements of an Automated System, Levels of Automations.
1.2 3
Flow lines & Transfer Mechanisms, Fundamentals of Transfer Lines
1.3 Automated Manufacturing Systems: Components 2
2 Numerical control, Material handling and storage systems
Numerical control-concepts-evolution – CNC Structure of CNC
2.1 2
machines, components, ball screws and guideways.
Spindle, bearings and mountings, Drive systems. Automated tool
2.2 2
changers and pallet changers. Accessories
Material handling and storage systems: Overview of Material
2.3 Handling Systems, Principles and Design Consideration, Material 3
Transport Systems, Storage Systems
3 Automation System Design
Design of fluid power circuits –cascade, KV-map and step counter
3.1 4
method.
Electrical control of pneumatic and hydraulic circuits- use of relays,
3.2 3
timers, counters
3.3 interfacing pneumatic and hydraulic circuits with PLCs 2
4 Manufacturing Cells and Quality Control Systems.
4.1 Manufacturing Cells, GT and Cellular Manufacturing, FMS, CIM. 3
4.2 Overview of Automatic Identification Methods. 2
Automated Inspection: Principles and Practices, Inspection
4.3 3
Technologies.
Control Technologies in Automation and Building Blocks of Automation
5
Systems
Industrial Control Systems, Process Industries Versus Discrete-
5.1 Manufacturing Industries, Continuous Versus 3
Discrete Control.
Building Blocks of Automation Systems: Networks, Analog &
5.2 3
Digital I/O Modules, SCADA Systems & RTU.
Distributed Control System: Functional Requirements,
5.3 2
Configurations
 ID4

Reference Books

1. YoramKoren,“Computer Control of Manufacturing Systems”,TataMcGraw

HillEdition2005.
2. Automation, Production Systems and Computer Integrated Manufacturing M.P.Groover,
Pearson Education.5th edition, 2009.
3. W.Bolton, “Mechatronics:A MultidisciplinaryApproach,4/E”, Pearson Education India.
4. Anthony Esposito, Fluid power with applications, Pearson Education, 6th Edition, 2003.
5. Peter Rohner, Fluid Power logic circuit design. The Macmillan Press Ltd., London, 1979
6. Radhakrishnan P, “CNC Machines”, New Central Book Agency,1992.
7.HMT “Mechatronics”, TataMcGraw-Hill,1998.
8. Computer Based Industrial Control- Krishna Kant, EEE-PHI,2nd edition,2010
9. Chapman and Hall, “Standard Handbook of Industrial Automation”, Onsidine DM C
&Onsidine GDC”, NJ, 1986
Model Question Paper ID4

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

FIRST SEMESTER M.TECH DEGREE EXAMINATION, Month & Year

Stream: Robotics and Automation

Course Code: 221TIA004

Course Name: INDUSTRIAL AUTOMATION

Max. Marks: 60 Duration: 2.5 Hours

PART A

Answer all questions, each carries 5 marks. Marks

1 Briefly explain the different types of automation. (5)

2 Briefly explain static load, dynamic load and thermal load in relation to (5)
a machine tool structure.
3 With a neat sketch explain the use of a pressure switch in an electro (5)
pneumatic circuit.

4 Explain the MICLASS and OPITZ classification and coding systems. (5)

5 Explain continuous and discrete control with respect to an industrial (5)

control system.

PART B

Answer any 5 full question, each question carries 7 marks.

6 a Explain the different types of industrial layouts and their applications. (4)

b With neat sketch explain different types of automated transfer lines. (3)

7 a Explain the different types of industrial trucks used for material (4)
handling.

b Write short note on different types of spindle bearings. (3)

8 Design and draw hydraulic circuit for A1A0B1B0 sequencing operation (7)
using Karnaugh-Veitch method.

9 A double acting cylinder is used to perform continuous to and fro (7)

 motion. Cylinder has to move forward 10 sec after PB1 button is pressed
and once to and fro reciprocation starts it should continue till stop buttonID4
PB2 is pressed. Limit switches are used for end position sensing. Design
an electro pneumatic circuit to implement this task.

10 a Briefly explain FMS and CIM. (4)

b Explain any two noncontact inspection methods. (3)

11 a Distinguish Random order FMS and Dedicated FMS. (4)

b Briefly explain the capabilities of computer process control. (3)

12 Explain the SCADA system with its components. (7)

 ID4
CODE COURSE NAME CATEGORY L T P CREDIT
221LIA001 ROBOTICS LAB LABORATORY 0 0 2 1

Preamble: The lab introduces the student to a Robot Operating System and familiarisation of
a few ROS tools. It provides students with exposure to the common Robotic manipulators
with at least 3DOF arm and mobile robots

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

CO 1 Understand the applications of ROS in real world complex scenarios

CO 2 Work with turtlesim, Gazebo, MoveIt and Rviz
CO 3 Interface ROS with hardware and analyse the issues in hardware interfacing
CO 4 Joint space and cartesian space trajectory planning of robotic manipulator
Test basic control algorithms in mobile robots to move to a point, to follow a line,
CO 5 to follow a path and for obstacle avoidance.
Calibrate sensors used in robots and design and develop sensor-based systems in
CO 6 robots

Mapping of course outcomes with program outcomes

PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7
CO 1 3 3 3 3 3
CO 2 3 3 3 3 3
CO 3 3 3 3 3 3
CO 4 3 3 3 3 3
CO 5 3 3 3 3 3
CO6 3 3 3 3 3

Pre-requisites

ROS Installed Ubuntu System—UBUNTU 16.04LTS/18.04LTS

Basic knowledge of Linux command line tools
Basic programming in Python—2.7/3.5/3.6
Robotics Basics
ROS Essentials

● Installing and Configuring Your ROS Environment—ROS kinetic/ Melodic/

Compatible versions
● Familiarisation with ROS (Master, nodes, topics, messages, services, parameters and
actions)
● Familiarisation with ROS Tools – Gazebo ,Moveit , Rviz
● Creating Workspace and Package in ROS

Preliminary study

● Writing a Simple Publisher and Subscriber, Simple Service and Client, Recording and
playing back data, Reading messages from a bag file(Python/C++)
● Getting Started with Turtlesim ID4
● Familiarisation with Rviz -- Markers: Sending Basic Shapes -- use
visualization_msgs/Marker messages to send basic shapes, to send points and lines
(C++), Interactive Markers: Writing a Simple Interactive Marker Server, Basic
Controls
● Introduction to tf -- broadcast the state of a robot to tf, get access to frame
transformations, Adding a frame, waitForTransform function, Setting up your robot
using tf, publish the state of your robot to tf, using the robot state publisher.

List of Experiments

1. Building a Visual Robot Model with URDF from Scratch, Building a Movable Robot
Model with URDF, Adding Physical and Collision Properties to a URDF Model.
2. Familiarisation with Gazebo--How to get Gazebo up and running, Creating and
Spawning Custom URDF Objects in Simulation, Gazebo ROS API for C-Turtle,
Simulate a Spinning Top, Gazebo Plugin - how to create a gazebo plugin, Create a
Gazebo Plugin that Talks to ROS
3. Create a Gazebo Custom World (Building Editor, Gazebo 3D Models), Add Sensor
plugins like Laser, Kinect, etc. to URDF of mobile robot
4. Create a 3DOF robotic arm from scratch
5. Familiarisation with MoveIt through its RViz plugin, Motion Planning with the Panda or
other robot models. Create Moveit package for robotic arm simulation and add
controllers, Plan a path for a 3DOF Robotic Arm and execute the same, Move the
3DOF arm to a desired goal point. Attach 2DOF gripper as the end effector of 3DOF
arm and execute gripping operations, Execute Pick and Place Operation.
6. Familiarisation with 2D navigation stack, Basic ROS Navigation, Start robots in
simulation. Execute SLAM Mapping (Lidar based) using a differentially driven
mobile robot
7. Execute AMCL Navigation in a known environment using a differentially driven
mobile robot
Hardware experiments
1. Familiarise ROS Serial Arduino for hardware interface.
2. Obstacle avoidance using a differentially driven mobile robot
3. Robotic Manipulator- Joint space and Cartesian space trajectory planning for a pick and
place task.
4. Control of mobile robot for moving to a point(xg, yg) , following a line (ax+by+c=0),
moving to a specific target orientation (θg) (Closed loop control considering kinematic
models)
5. Sensor based experiment- Calibration of sensors-sonar, IR sensors and obtain the
calibration curve, Object detection using any one standard algorithm, Object tracking and
visual servoing, Following a moving target/ Object tracking from a moving vehicle

ROS based Mini Project (any one –compulsory)

1. Design and develop a servo controlled robotic manipulator (1 DOF) with visual
feedback for pick and place task
2. Design and develop a mobile robot capable of obstacle avoidance and localisation
3. Assemble a quadcopter drone kit and make it hover.
Text Books: ID4
1. Lentin Joseph, “Robot Operating Systems (ROS) for Absolute Beginners, Apress, 2018
2. Aaron Martinez, Enrique Fernández, “Learning ROS for Robotics Programming”,
Packt Publishing Ltd, 2013.
3. Robin Tommy, Ajithkumar Narayanan Manaparampil, Rinu Michael, Building Smart
Robots Using ROS: Design, Build, Simulate, Prototype and Control Smart Robots
Using ROS, Machine Learning and React Native Platform ,

Reference Books:

1. Jason M O'Kane, “A Gentle Introduction to ROS”, CreateSpace, 2013.

2. AnisKoubaa, “Robot Operating System (ROS) – The Complete Reference (Vol.3),
Springer, 2018.
3. Kumar Bipin, “Robot Operating System Cookbook”, Packt Publishing, 2018.
4. Wyatt Newman, “A Systematic Approach to learning Robot Programming with ROS”,
CRC Press, 2017.
5. Patrick Gabriel, “ROS by Example: A do it yourself guide to Robot Operating System”,
Lulu, 2012.
6. Introduction to Robotics ( Mechanics and control), John. J. Craig, Pearson Education
Asia 2002.
7. Introduction to Robotics by S K Saha, Mc Graw Hill Education
8. R K Mittal and I J Nagrath, “Robotics and Control”, Tata McGraw Hill, New
Delhi,2003.
9. AshitavaGhosal, “Robotics-Fundamental concepts and analysis”, Oxford University
press.
10. Robotics Technology and Flexible Automation, Second Edition, S. R. Deb
11. Introduction to Autonomous Mobile Robots, Siegwart, Roland, Cambridge, Mass. :
MIT Press, 2nd ed.
12. Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Peter Corke,
Springer
 ID4

SEMESTER I
PROGRAM ELECTIVE I
 ID4

CODE COURSE NAME CATEGORY L T P CREDIT

PROGRAM
221EIA021 MACHINE LEARNING 3 0 0 3
ELECTIVE 1

Preamble: Machine learning techniques are indispensable for computing applications in

robotic systems. This course is designed with the objective of providing a foundation to the
theory behind machine learning and its application in robotic systems. This course will equip
the students with mathematical framework for the machine learning necessary for various
computing applications in robotic systems.

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

CO 1 Familiarise machine learning algorithms and apply it in robotics

CO 2 Apply regression models in robotics
CO 3 Familiarise neural networks and its application in robotics
CO 4 Explain the development of hypothesis and apply it in robotics
CO 5 Solve problem using support vector machines and dimensionality reduction
CO 6 Apply unsupervised learning techniques in anomaly detection

Mapping of course outcomes with program outcomes

PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7
CO 1 3 3 3 3 2
CO 2 3 3 3 3 2
CO 3 3 3 3 3 2
CO 4 3 3 3 3 2
CO 5 3 3 3 3 2
CO 6 3 3 3 3 2

Assessment Pattern

Bloom’s Category End Semester Examination

Apply 30%
Analyse 30%
Evaluate 20%
Create 20%
 ID4

Mark distribution

Total ESE
CIE ESE
Marks Duration
100 40 60 2.5 hours

Continuous Internal Evaluation Pattern: 40 marks

Evaluation shall only be based on application, analysis or design based questions (for both
internal and end semester examinations).
Continuous Internal Evaluation: 40 marks
Preparing a review article based on peer reviewed Original publications
(minimum 10 publications shall be referred) : 15 marks
Course based task/Seminar/Data collection and interpretation : 15 marks
Test paper, 1 no. : 10 marks
(Test paper shall include minimum 80% of the syllabus.)

End Semester Examination Pattern: 60 marks

Part A: 5 numerical/short answer questions with 1 question from each module, (such
questions shall be useful in the testing of knowledge, skills, comprehension, application,
analysis, synthesis, evaluation and understanding of the students). Students should answer all
questions.

Each question can carry 5 marks.

Part B: 7 questions (such questions shall be useful in the testing of overall achievement and
maturity of the students in a course, through long answer questions relating to
theoretical/practical knowledge, derivations, problem solving and quantitative evaluation),
with minimum one question from each module of which student should answer any five.

Each question can carry 7 marks

 ID4

Model Question Paper

SLOT D

APJ ABDULKALAM TECHNOLOGICAL UNIVERSITY

FIRST SEMESTER M.TECH DEGREE EXAMINATION

MONTH & YEAR

Course code: 221EIA021

Course Name: Machine Learning

Max. Marks: 60 Duration: 2.5 Hours
PART A
Answer all Questions. Each question carries 5 Marks
1 Suppose you are working on stock market prediction. You would like to predict
whether or not a certain company will win a patent infringement lawsuit (by training on
data of companies that had to defend against similar lawsuits). Explain briefly about the
algorithm used to solve the above problem.
2 Consider the problem of predicting how well a student does in her/his second year of
college, given how well she/he did in first year. Specifically, let x be equal to the
number of “A” grades (including A-. A and A+ grades) that a student receives in their
first year of college. Build a model to predict the value of y, which define as the number
of “A” grades they get in their second year. Suppose you set θ0 = -1, θ1 = 2 in the linear
regression hypothesis. Find hθ(6) ?
X Y
1 2
0 1
4 3
3 2
3 Suppose you are learning to recognize cars from 100×100 pixel images (grayscale, not
RGB). Let the features be pixel intensity values. If you train logistic regression
including all the quadratic terms (xi, xj) as features, about how many features will you
have?
4 Suppose the data sample S contains n = 40 examples and that hypothesis h
commits r = 12 errors over this data. Find the confidence interval. Explain the
steps to find the 95% confidence interval.
5 Consider the training set to the right, where "x" denotes positive examples (y=1) and
"o" denotes negative examples (y=0). Suppose you train an SVM (which will predict 1
when θ0+θ1x1+θ2x2 ≥0). Find values might the SVM give for θ0, θ1, θ2?
 ID4

PART B
Answer any 5 Questions. Each question carries 7 Marks
6 An adaptive controller adjusts parameters of a petroleum refinery’s operation in real
time. The controller optimizes the yield/cost/quality trade on the basis of specified
marginal costs without sticking strictly to the set points originally suggested by
engineers. Explain the algorithm suitable for this operation.
7 Many substances that can burn (such as gasoline and alcohol) have a chemical structure
based on carbon atoms; for this reason they are called hydrocarbons. A chemist wants
to understand how the number of carbon atoms in a molecule affects how much energy
is released when that molecule combusts (meaning that it is burned). The chemist
obtains the dataset below. In the column on the right, “kJ/mol” is the unit measuring
the amount of energy released.

Number of hydrocarbons in Heat released when

Name of molecule
molecule (x) burned (y)
Methane 1 2
Ethane 2 4
Propane 3 5
Butane 4 4
Pentane 5 5
You would like to use linear regression to estimate the amount of energy released (y) as
a function of the number of carbon atoms (x). Find the values of θ1 and θ0.
8
Let J(θ)=2θ3+2. Let θ=1, and ϵ=0.01. Use the formula 𝐽 (𝜃𝜃 +𝜖𝜖 )−𝐽 (𝜃𝜃 −𝜖𝜖 ) to numerically
2𝜖𝜖
compute an approximation to the derivative at θ=1. What value do you get when θ=1,
the true/exact derivative is 𝑑𝐽 (𝜃𝜃 ) =6 and also write the explanation for each steps.
𝑑𝜃𝜃
9 You are about to test a hypothesis h whose errorD(h) is known to be in the range
between 0.2 and 0.6. What is the minimum number of examples you must collect to
assure that the width of the two-sided 95% confidence interval will be smaller than 0.1?

10 Suppose you have a dataset with n = 10 features and m = 5000 examples. After training
your logistic regression classifier with gradient descent, you find that it has underfit the
training set and does not achieve the desired performance on the training or cross
 ID4

validation sets. Explain the promising steps to avoid underfitting?

11 From a large set of primary care patient records, identify individuals who might have
unusual health conditions. Explain briefly about the algorithm suitable for this task.
12 Support vector machines learn a decision boundary leading to the largest margin from
both classes. You are training SVM on a tiny dataset with 4 points shown in figure
below. This dataset consists of two examples with class label -1 (denoted with plus),
and two examples with class label +1 (denoted with triangles).

Find the weight vector w and bias b. What’s the equation corresponding to the decision
boundary? Circle the support vectors and draw the decision boundary

Syllabus and Course Plan

Module 1

Definition of ML – definitions by Arthur Samuel and Tom Mitchell – scope and application
of ML. ML algorithms, supervised learning – Regression and Classification: Linear
regression with one variable – model representation – cost function – Gradient descent for
linear regression – learning rate. Un-supervised learning – cocktail party problem,
reinforcement learning, recommender systems

Module 2

Linear algebra – inverse and transpose of matrices - significance of eigenvalues and

eigenvectors – singular value decomposition. Linear regression with multiple variables –
multiple features – Polynomial regression – Normal equation – Non-invertibility. Logistic
regression for classification – hypothesis representation – decision boundary – multiclass
classification

Module 3
 ID4

Neural Networks: Representation – Non-linear hypothesis, neurons and the brain – weights,
effective inputs, threshold and activation function. The McCulloch-Pitts neuron model -
single and multi-layer neural network. Learning – General learning rule for one neuron –
perceptron and delta learning rules – back propagation algorithm.

Module 4

Evaluating Hypotheses: Estimating hypothesis accuracy – sample error and true error.
Basics of sampling theory - the Binomial Distribution – estimators, bias and variance –
confidence intervals. Central Limit Theorem for deriving confidence intervals, hypothesis
testing. Paired r test for comparing learning algorithms

Module 5

Support vector machines (SVM) and Dimensionality Reduction: Large margin

classification - applications of SVM - linear and non-linear SVM - kernels, data compression
and dimensionality reduction - Principle Component Analysis (PCA) – choosing the number
of principle components. Unsupervised learning and anomaly detection: k-Means
algorithm – optimization objective – choosing the number of clusters,
hierarchicalagglomeration, scope of anomaly detection - Gaussian distribution. Developing
and evaluating an anomaly detection system - anomalydetectionvs.supervisedlearning –
choosing what features to use – multivariate Gaussian Distribution – anomaly detection using
multivariate Gaussian Distribution

Course Plan

No. of
No Topic
Lectures
1 Module 1
Definition of ML – definitions by Arthur Samuel and Tom
1.1 2
Mitchell – scope and application of ML.
ML algorithms, supervised learning – Regression and
Classification: Linear regression with one variable – model
1.2 3
representation – cost function – Gradient descent for linear
regression – learning rate.
unsupervised learning – cocktail party problem, reinforcement
1.3 3
learning, recommender systems
2 Module 2
Linear algebra – inverse and transpose of matrices - significance
2.1 1
of eigenvalues and eigenvectors – singular value decomposition.
Linear regression with multiple variables – multiple features –
2.2 3
Polynomial regression – Normal equation – Non-invertibility
Logistic regression for classification – hypothesis representation
2.3 4
– decision boundary – multiclass classification
3 Module 3
 ID4

Neural Networks: Representation – Non-linear hypothesis,

3.1 neurons and the brain – weights, effective inputs, threshold and 2
activation function.
The McCulloch-Pitts neuron model - single and multi-layer
3.2 3
neural network
Learning – General learning rule for one neuron – perceptron
3.3 3
and delta learning rules – back propagation algorithm
4 Module 4
Evaluating Hypotheses: Estimating hypothesis accuracy –
sample error and true error. Basics of sampling theory - the
4.1 Binomial Distribution – estimators, bias and variance – 3
confidence intervals.

Central Limit Theorem for deriving confidence intervals,

4.2 2
hypothesis testing.
4.3 Paired r test for comparing learning algorithms 3
5 Module 5
Support vector machines (SVM) and Dimensionality
Reduction: Large margin classification - applications of SVM -
5.1 linear and non-linear SVM - kernels, data compression and 3
dimensionality reduction - Principle Component Analysis (PCA)
– choosing the number of principle components.
Unsupervised learning and anomaly detection: k-Means
algorithm – optimization objective – choosing the number of
5.2 2
clusters, hierarchicalagglomeration, scope of anomaly detection
- Gaussian distribution.
Developing and Evaluating an anomaly detection system -
anomalydetectionvs.supervisedlearning – choosing what
5.3 features to use – multivariate Gaussian Distribution – anomaly 3
detection using multivariate Gaussian Distribution

Reference Books

1. EthemAlpaydin, Introduction to Machine Learning, Second Edition, The MIT Press

Cambridge, Massachusetts, London, England 2010.
2. Tom M. Mitchell, "Machine learning", McGraw Hill Education, 2017.
3. Christopher M. Bishop, Pattern Recognition and Machine Learning, Springer 2011.
4. Trevor Hastie, Robert Tibshirani, Jerome H. Friedman, The Elements of Statistical
Learning, springer 2nd edition, 2009.
5. Max Kuhn and Kjell Johnson, Applied predictive modelling. Springer, 2013.
6. Sebastian Raschka and VahidMirjalili, Python Machine Learning. Packt Publishing,
2017.
 ID4

SEMESTER I
PROGRAM ELECTIVE II
 ID4

CODE COURSE NAME CATEGORY L T P CREDIT

PROGRAM
221EIA014 MOBILE ROBOTICS 3 0 0 3
ELECTIVE 2

Preamble: Mobile robotics is an indispensable subject in robotics. This course is designed

with the objective of providing a foundation to the theory behind numerical computation and
optimization techniques used in robotic systems. This course will equip the students with
mathematical framework for the robotic systems and optimization techniques necessary for
mobile robotic systems.

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

CO 1 Familiarise types of locomotion for mobile Robots

CO 2 Derive the kinematic model of mobile robots
CO 3 Derive dynamic model of mobile robots
CO 4 Choose appropriate Sensors for mobile robot navigation
CO 5 Perform navigation and path planning mobile robots
CO 6 Control the mobile robots to follow different paths

Mapping of course outcomes with program outcomes

PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7
CO 1 3 3 3 3 2
CO 2 3 3 3 3 2
CO 3 3 3 3 3 2
CO 4 3 3 3 3 2
CO 5 3 3 3 3 2
CO 6 3 3 3 3 2

Assessment Pattern

Bloom’s Category End Semester Examination

Apply 30%
Analyse 30%
Evaluate 30%
Create 10%
 ID4

Mark distribution

Total ESE
CIE ESE
Marks Duration

100 40 60 2.5 hours

Continuous Internal Evaluation Pattern: 40 marks

Preparing a review article based on peer reviewed Original publications
(minimum 10 publications shall be referred) : 15 marks
Course based task/Seminar/Data collection and interpretation : 15 marks
Test paper, 1 no. : 10 marks
(Test paper shall include minimum 80% of the syllabus.)

End Semester Examination Pattern: 60 marks

Part A: 5 numerical/short answer questions with 1 question from each module, (such
questions shall be useful in the testing of knowledge, skills, comprehension, application,
analysis, synthesis, evaluation and understanding of the students). Students should answer all
questions.

Each question can carry 5 marks.

Part B: 7 questions (such questions shall be useful in the testing of overall achievement and
maturity of the students in a course, through long answer questions relating to
theoretical/practical knowledge, derivations, problem solving and quantitative evaluation),
with minimum one question from each module of which student should answer any five.

Each question can carry 7 marks.

 ID4

Model Question Paper

SLOT E

APJ ABDULKALAM TECHNOLOGICAL UNIVERSITY

FIRST SEMESTER M.TECH DEGREE EXAMINATION

MONTH &YEAR

Course code: 221EIA014

Course Name: Mobile Robotics

Max. Marks: 60 Duration: 2.5 Hours

PART A

Answer all Questions. Each question carries 5 Marks

1 Discuss how leg configuration affect stability of robots. Which mobile robot
configuration is preferred for movement in uneven terrains? Justify your answer.
2 What are the advantages of a mobile robot with Mecanum wheels compared to the
conventional differential drive robot with ordinary wheels?
3 What is the necessity of dynamic modelling of mobile robot? Explain the steps to obtain
the dynamic model of a differential drive mobile robot? (steps only)
4 Which all sensors may be needed for an autonomous mobile robot in an indoor
environment to navigate as well as to find its own position. Justify your answer.
5 Discuss the dynamic window approach for obstacle avoidance in mobile robot.

PART B
Answer any 5 Questions. Each question carries 7 Marks
6 Which are the different wheel configurations possible for a wheeled mobile robot?
Explain with the help of sketches. Also comment on the manoeuvrability of these
configurations.
7 Derive the Kinematic model of a differential drive mobile robot. Also explain whether a
differential drive mobile robot is holonomic or not.
8 Derive the dynamic modelling differential drive WMR using Newton-Euler method
9 Assume that a mobile robot is moving in an uneven terrain. Which all sensors may be
needed to autonomously navigate in this terrain, Justify your answer,
10 What do you mean by localization? Explain any one method of localization a mobile
robot.
11 Design a control scheme to drive a steered robot to follow a path.
 ID4

12 A robot equipped with a differential drive starts at position x = 1.0 m, y = 2.0 m and
with heading θ = π/2. It has to move to the position x = 1.5m, y = 2.0 m, θ = π/2 (all
angles in radians). The movement of the vehicle is described by steering commands (vl
= speed of left wheel, vr = speed of right wheel, t = driving time).
(a) What is the minimal number of steering commands (vl, vr, t) needed to guide the
vehicle to the desired target location?
(b) What is the length of the shortest trajectory under this constraint

Syllabus and Course Plan

Module I

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

Module 2

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

Omnidirectional Mobile Robot, Four Mecanum-Wheel Omnidirectional Robot

Kinematic model of a differential drive and a steered mobile robot, degree of freedom and
manoeuvrability, Degree of steerability, different wheel configurations, holonomic and non-
holonomic robots. Omnidirectional Wheeled Mobile Robots.
Module 3

Dynamics of mobile robot: Lagrange-Euler method, Newton-Euler methods, Differential-

Drive WMR, Dynamics of WMR with Slip, Car-Like WMR Dynamic Model, Three-Wheel
Omnidirectional Mobile Robot.

Computer based dynamic (numerical) simulation of different wheeled mobile robots.-

Demo/Assignment only

Module 4

Sensors for mobile robot navigation: Sensor classification, Characterizing sensor

performance, Wheel /motor sensors, Heading sensors, Accelerometers, IMUs, Ground-based
beacons, Active ranging, Motion/speed sensors, Vision-based sensors.

Robot navigation: Localization, Error propagation model, Probabilistic map based

localisation-Kalman method, Autonomous map building, Simultaneous localization and
mapping (SLAM).
 ID4

Module 5

Path Planning- local vs global path planning, Graph search, Potential field-based path
planning; Map based path planning- Dijkstra’s algorithm, A*, D* algorithms.
Obstacle avoidance- Bug algorithm, Vector field histogram, Dynamic window approach.

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

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

Course Plan
No. of
No Topic
Lectures
1 Module 1
Introduction, key issues for locomotion, Wheeled Mobile
1.1 2
Robots
Wheeled locomotion: The design space, Wheeled locomotion:
1.2 3
Case studies. Mobile manipulators,
Legged Mobile Robots- Leg configurations and stability,
1.3 Examples of legged robot locomotion, aerial robots, underwater 3
robots and surface water robots.
2 Module 2

Basic understanding of Differential-Drive WMR, Car-Like

2.1 WMR, Three-Wheel Omnidirectional Mobile Robot, Four 2
Mecanum-Wheel Omnidirectional Robot
Kinematic model of a differential drive and a steered mobile
2.2 robot, degree of freedom and manoeuvrability, Degree of 3
steerability
Different wheel configurations, holonomic and non-holonomic
2.3 3
robots. Omnidirectional Wheeled Mobile Robots.
3 Module 3
Dynamics of mobile robot: Lagrange-Euler method, Newton-
3.1 2
Euler methods
3.2 Differential-Drive WMR, Dynamics of WMR with Slip 3
Car-Like WMR Dynamic Model, Three-Wheel Omnidirectional
3.3 3
Mobile Robot
4 Module 4
 ID4

Sensors for mobile robot navigation: Sensor classification,

Characterizing sensor performance, Wheel /motor sensors,
4.1 Heading sensors, Accelerometers, IMUs, Ground-based 3
beacons, Active ranging, Motion/speed sensors, Vision-based
sensors.
Robot navigation: Localization, Error propagation model,
4.2 3
Probabilistic map based localisation-Kalman method
Autonomous map building, Simultaneous localization and
4.3 3
mapping (SLAM)
5 Module 4
Path Planning- local vs global path planning, Graph search,
5.1 Potential field-based path planning; Map based path planning- 3
Dijkstra’ s algorithm, A*, D* algorithms

Control of mobile robots- Control of differential drive robot and

steered robot based on its kinematic model, Case study- design
5.2 3
and implementation of a differential drive robot capable of
moving to a point, following a line and following a path.
Basics of Swarm robots, cooperative and collaborative robots,
5.3 mobile manipulators. 1

Reference Books

1. R. Siegwart, I. R. Nourbakhsh, “Introduction to Autonomous Mobile Robots”,

The MIT Press, 2011.
2. Peter Corke, Robotics, Vision and Control: Fundamental Algorithms in
MATLAB, Springer Tracts in Advanced Robotics, 2011.
3. Spyros G. Tzafestas, Introduction to Mobile Robot Control, Elsevier.
4. S. M. La Valle, “Planning Algorithms”, Cambridge University Press, 2009.
5. Thrun, S., Burgard,W., and Fox, D., Probabilistic Robotics. MIT Press,
Cambridge, MA, 2005.
6. Melgar, E. R., Diez, C. C., Arduino and Kinect Projects: Design, Build, Blow
Their Minds, 2012.
7. H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki,
and S. Thrun, Principles of Robot Motion: Theory, Algorithms and
Implementations, PHI Ltd., 2005.