M.

Tech- Industrial Automation & Robotics

CURRICULUM and SYLLABUS
(Regulation 2011)

Department of Mechanical Engineering

KALASALINGAM UNIVERSITY
(Kalasalingam Academy of Research and Education)
(Under sec.3 of UGC Ac,1956)
Anand Nagar, Krishnankoil-626126,
Srivilliputtur (via),Virudhunagar (Dt) Tamilnadu,India.
(www.kalasalingam.ac.in)
M.TECH INDUSTRIAL AUTOMATION AND ROBOTICS REGULATION 2011

M. TECH
INDUSTRIAL AUTOMATION AND ROBOTICS
CURRICULUM
AND
SYLLABUS
M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

KALASALINGAM UNIVERSITY
(Kalasalingam Academy of Research and Education)
Anand Nagar, Krishnankoil – 626 190
DEPARTMENT OF MECHANICAL ENGINEERING
CURRICULUM FOR M.Tech (ROBOTICS AND AUTOMATION)

SEMESTER – I
Course Code Course Name L T P C
THEORY
MAT5009 Applied Mathematics 3 0 0 3
MEC5501 Robotics Engineering 3 0 0 3
MEC5003 Design of Hydraulics And Pneumatics Systems 3 0 0 3
MEC5502 Drives and Control Systems for Robots 3 0 0 3
MEC5011 Mechatronics in Manufacturing Systems 3 0 0 3
MECxxxx Elective I 3 0 0 3
PRACTICAL
MEC5581 Automation Lab 0 0 3 2
Total 18 0 3 20
SEMESTER – II
Course Code Course Name L T P C
THEORY
MEC5503 Robot Sensor and Language 3 0 0 3
MEC5504 Industrial Robotics 3 0 0 3
MEC5505 Group Technology And Cellular Manufacturing 3 0 0 3
MEC5506 Computer numerical control machines and adaptive control 3 0 0 3
MEC5507 Manufacturing Systems Automation 3 0 0 3
MECxxxx Elective II 3 0 0 3
PRACTICAL
MEC5582 Robotics Lab 0 0 3 2
Total 18 0 3 20
SEMESTER – III
Course Code Course Name L T P C
THEORY
MECxxxx Elective III 3 0 0 3
MECxxxx Elective IV 3 0 0 3
MECxxxx Elective V 3 0 0 3
PRACTICAL
MEC6598 Project Work – Phase I 0 0 18 6
Total 9 0 18 15
SEMESTER – IV
Course Code Course Name L T P C
PRACTICAL
MEC6599 Project Work Phase II 0 0 36 12
Total Credit = 67

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 M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

LIST OF ELECTIVES

M.Tech (ROBOTICS AND AUTOMATION)

Course Code Course Name L T P C

Micro-Controllers And Its Applications
MEC5508 3 0 0 3
MEC5509 Modern material handling systems 3 0 0 3
MEC5510 Fluid Power Systems 3 0 0 3
MEC5511 Computer Integrated Manufacturing 3 0 0 3
MEC5512 Kinematics and Dynamics of Robots 3 0 0 3
MEC5002 Finite Element Analysis 3 0 0 3
MEC5008 Integrated Manufacturing Systems
MEC5009 Flexible Manufacturing System 3 0 0 3
MEC5012 Computer Aided Process Planning 3 0 0 3
Performance Modeling and Analysis of Manufacturing
MEC5014 System 3 0 0 3
MEC5021 Composite Materials Technology
MEC5407 Safety in Plant Layout and Material Handling 3 0 0 3
MEC5417 Reliability Engineering 3 0 0 3
MEC6501 Mechanics Of Composite Materials
MEC6502 Robot vision 3 0 0 3
MEC6503 Robot economics 3 0 0 3
MEC6504 Manufacturing System Stimulation 3 0 0 3
MEC6505 Robot programming 3 0 0 3
MEC6506 Robot sensors 3 0 0 3
MEC6507 Advance Robotics 3 0 0 3
MEC6508 Robot Stimulation 3 0 0 3
MEC6509 Advance Kinematics 3 0 0 3
MEC6510 Computer Aided Mechanical Design And Analysis 3 0 0 3
MEC6511 Artificial intelligence and expert system 3 0 0 3
MEC6512 Programming Methodology and Data Structures 3 0 0 3
MEC6513 Experimental Techniques and Data Analysis 3 0 0 3
MEC6514 Rapid prototyping Principles and Applications 3 0 0 3
MEC6005 Research Methodology 3 0 0 3
MEC6011 Advanced Strength of Materials 3 0 0 3
MEC6012 Advanced Optimization Techniques 3 0 0 3
MEC6017 Design of Cellular Manufacturing System 3 0 0 3

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Semester – I

L T P C
MAT5009 APPLIED MATHEMATICS
3 0 0 3
[Common for M.Tech (CAD/CAM), M.Tech (Energy) and M.Tech (ASE)]

ONE-DIMENSIONAL WAVE EQUATION

Laplace transform methods for one dimensional wave equation - displacements in a string -
longitudinal vibration of an elastic bar - Fourier transformation methods for one - dimensional
heat conduction problems in infinite and semi-infinite rod.

LAPLACE EQUATION
Laplace equation - properties of harmonic functions - Fourier transformation methods for
Laplace equation - solutions for Poisson equation by Fourier transform method.

VARIATION AND ITS DERIVATIVES

Variation and its properties - Euler's equation - functional dependent on first and higher order
derivatives - functional dependent on functions of several independent variables - some
applications - direct methods - Ritz and Kantorovich methods.

SOLUTION OF LAPLACE EQUATION

Solution of Laplace's and Poisson equation on a rectangular region by Liebmann's method -
Diffusion equation by the explicit and Crank Nicolson - implicit methods - Stability and
Convergence criterion - solution of wave equation by explicit scheme.

SCHWARZ - CHRISTOFFEL TRANSFORMATION

The Schwarz - Christoffel transformation - Transformation of boundaries in parametric form -
Physical applications - Application to fluid flow - Application to heat flow.

REFERENCES
1. Sneddon, I. N., Elements of partial differential equations, McGraw-Hill, 1986.

2. Spiegel, M. R., Theory and problems of complex variables with an introduction to

conformal mapping and its applications, Schaum's outline series, McGraw-Hill Book Co.,
1987.
3. Sankara Rao, k., Introduction to partial differential equations, Prentice-Hall of India, New
Delhi, 1995.
4. Elsgolts, L., Differential equation and calculus of variations, Mir Publishers, Moscow,
1966.
L T P C
MEC5501 ROBOTICS ENGINEERING
3 0 0 3

INTRODUCTION
Brief History, Types of robots, Overview of robot subsystems, resolution, repeatability and
accuracy, Degrees of freedom of robots, Robot configurations and concept of workspace,
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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

Mechanisms and transmission, End effectors and Different types of grippers, vacuum and other
methods of gripping. Pneumatic, hydraulic and electrical actuators, applications of robots,
specifications of different industrial robots.

MATHEMATICS FOR ROBOT MANIPULATION

Homogeneous coordinate transformations, Mathematical description of objects. Description of a
wedge by transformation matrices, Relative transformations in the robot workspace. Description
of manipulator joints, Assignment of coordinate systems to robot joint and derivation of
transformation matrices.
Rotation matrices, Euler angle and RPY representation, Homogeneous transformation matrices,
Denavit-Hartenberg notation, representation of absolute position and orientation in terms of joint
parameters, direct kinematics.

END EFFECTORS, SENSORS AND CONTROLLERS

Introduction, classification of end effectors, Types of Grippers Hooks, scoops and other devices,
Gripper force analysis and design of Drive system for gripper.
Internal and external sensors, position, velocity and acceleration sensors, proximity sensors,
force sensors, laser range finder. Robot vision: image processing fundamentals for robotic
applications, image acquisition and preprocessing. Segmentation and region characterization
object recognition by image matching and based on features

COORDINATE SYSTEMS IN ROBOT APPLICATIONS

Euler angles for specifying orientation, Euler angles for roll-yaw-roll geometry, Gripper
positioning by Euler angles for roll-yaw-roll geometry - Euler angles for roll - pitch - yaw
geometry, Cylindrical Robot coordinates polar Robot coordinates, calculation of cylindrical,
polar coordinates, some applications.

ROBOT PROGRAMMING AND ANALYSIS

Programming – powered, manual. Textual robo languages – first generation, second, future
generation – VAL, VAL II, Static force analysis of RP type and RR type planar robots, Dynamic
analysis using Lagrangean and Newton Euler formulations of RR and RP type planar robots, ,
Independent joint control, PD and PID feedback, actuator models, nonlinearity of manipulator
models, force feedback, hybrid control.
REFERENCE

1. Francis N. Nagy, Andras Siegler, Engineering foundation of Robotics, Prentice Hall Inc.,
1987
2. Richard D. Klafter, Thomas. A, Chri Elewski, Michael Negin, Robotics Engineering an
Integrated Approach, Prentice Hall of India Pvt. Ltd., 1989
3. P.A. Janaki Raman, Robotics and Image Processing an Introduction, Tata Mc Graw Hill
Publishing company Ltd., 1995

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

4. .Mikell P. Grooyer, Mitchell weiss, Roger N. Nagel, Nicholas G. Odrey, Industrial

Robotics, Technology programming and Applications, Mc Graw Hill International
Edition, 1986
5. S.R. Deb, Robotics Technology and flexible automation, Tata Mc Graw Hill Publishing
company Ltd., 1994
6. Carl D. Crane and Joseph Duffy, Kinematic Analysis of Robot manipulation, Cambridge
University press, 1998
7. Nagrath and Mittal, “Robotics and Control”, Tata McGraw-Hill, 2003.
8. Spong and Vidhyasagar, “Robot Dynamics and Control”, John Wiley and sons, 2008.
9. Fu. K.S, Gonzalez, R.C., Lee, C.S.G, Robotics, control, sensing, Vision and
10. Intelligence, McGraw Hill International, 1987
11. Steve LaValle, “Planning Algorithms”, Cambridge Univ. Press, New York, 2006.
12. Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard,
13. Lydia Kavraki and
14. Sebastian Thurn, “Principles of Robot Motion: Theory, Algorithms, and
Implementations” , Prentice Hall of India, 2005

DESIGN OF HYDRAULICS AND PNEUMATICS L T P C

MEC5003
SYSTEMS 3 0 0 3

OIL HYDRAULIC SYSTEMS AND HYDRAULIC ACTUATORS

Hydraulic power generators - selection and specification of pumps, pump characteristics - linear
and rotary actuators - selection, specification and characteristics - pressure - direction and flow
control valves - relief valves, non return and safety valves - actuation systems.

HYDRAULIC CIRCUITS
Reciprocation- quick return- sequencing- synchronizing circuits - accumulator circuits -
Industrial circuits - press circuits - hydraulic milling machine - grinding, planning, copying,
forklift, earth mover circuits - design and selection of components - safety and emergency
mandrels.

PNEUMATIC SYSTEM AND CIRCUITS

Pneumatic fundamentals - control elements, position and pressure sensing -logic circuits -
switching circuits ¬fringe conditions modules and these integration - sequential circuits - cascade
methods - mapping methods - step counter method - compound circuit design - combination
circuit design.

SPECIAL CIRCUITS IN PNEUMATICS

Pneumatic equipments - selection of components - design calculations - application - fault
finding - hydro pneumatic circuits - use of microprocessors for sequencing - PLC, low cost
automation - robotic circuits.

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REFERENCES

1. 1.Antony Espossito, Fluid power with Applications, Prentice Hall, 1980.

2. Dudleyt, A. Pease and John, J. Pippenger, Basic Fluid Power, Prentice Hall, 1987.
3. Andrew Parr, Hydraulic and Pneumatics, (HB), Jaico Publishing House, 1999.
4. Bolton, W. Pneumatic and Hydraulic Systems, Butterworth Heineman, 1997.

L T P C
MEC5520 DRIVES AND CONTROL SYSTEMS FOR ROBOTS
3 0 0 3

ROBOT DRIVE MECHANISM

Objectives, motivation, open loop control, closed loop control with velocity and position
feedback, Types of drive systems. Functions of drive system.Lead Screws, Ball Screws, Chain &
linkage drives, Belt drives, Gear drives, Precision gear boxes, Harmonic drives, Cyclo speed
reducers

HYDRAULIC DRIVES
Introduction, Requirements, Hydraulic piston and transfer valve, hydraulic circuit incorporating
control amplifier, hydraulic fluid considerations, hydraulic actuators Rotary and linear actuators.
Hydraulic components in robots.

PNEUMATIC DRIVES
Introduction, Advantages, pistons-Linear Pistons, Rotary pistons, Motors-Flapper motor, Geared
motor, Components used in pneumatic control. Pneumatic proportional controller, pneumatically
controlled prismatic joint.

ELECTRIC DRIVES
Introduction, Types, DC electric motor, AC electric motor, stepper motors, half step mode
operation, micro step mode. Types of stepper motors, Direct drive actuator

SERVO SYSTEMS FOR ROBOT CONTROL

General aspects of robot control. Basic control techniques, mathematical modeling of robot
servos, error responses and steady state errors in robot servos, feed back and feed forward
compensations, hydraulic position servo, computer controlled servo system for robot
applications, selection of robot drive systems.

REFERENCE

1. Francis N-Nagy Andras Siegler, Engineering foundation of Robotics, Prentice Hall

Inc., 1987
2. Richard D. Klafter, Thomas. A, Chmielewski, Michael Negin, Robotics Engineering
an Integrated Approach, Prentice Hall of India Pvt. Ltd., 1989
3. P.A. Janaki Raman, Robotics and Image Processing an Introduction, Tata Mc Graw
Hill Publishing company Ltd., 1995
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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

4. Mikell P. Groorer, Mitchell welss, Roger N. Nagel, Nicholas G.Odrey, Industrial

Robotics, Technology programming and Applications, Mc Graw Hill
International Edition, 1986
5. Bernard Hodges, Industrial Robotics, Second Edition, Jaico Publishing house, 1993
6. Robert J. Schilling, Fundamentals of Robotics Analysis and Control, Prentice Hall of
India Pvt. Ltd., 2000
7. Tsuneo Yohikwa, Foundations of Robotics Analysis and Control, Prentice Hall of
India Pvt. Ltd., 2001
8. John J. Craig, Introduction to Robotics Mechanics and Control, Second Edition,
Addison Wesly Longman Inc. International Student edition, 1999

MECHATRONICS IN MANUFACTURING L T P C
MEC5011
SYSTEMS 3 0 0 3

INTRODUCTION TO MECHATRONICS
Introduction to mechatronics systems - mechatronics in production, measurement and control
systems.

SENSORS AND TRANSDUCERS

Introduction - performance terminology - displacement, position and proximity - velocity and
motion - fluid pressure - temperature sensors - light sensors - selection of sensors - signal
processing - servo systems.

MICROPROCESSOR IN PLANNING
Architecture - pin configuration - instruction set - programming of microprocessors using 8085
instructions - interfacing input and output devices - interfacing D/A converters and A/D
converters -applications-temperature control - stepper motor control - traffic light controller.

PROGRAMMABLE LOGIC CONTROLLERS

Basic structure - input / output processing – programming - mnemonics timers - internal relays
and counters - data handling - analog input / output - selection of PLC.

DESIGN OF MECHATRONICS
Traditional design and mechatronics design - possible design solutions - case studies of
mechatronics systems.

REFERENCES

1. Michael B., Histand and David G., Alciatore, Introduction to Mechatronics and
Measurement Systems, McGraw-Hill International Editions, 1999.
2. Bradley, D. A., Dawson, D, Buru, N. C. and Loader, AJ. Mechatronics, Chapman
and Hall, 1993.
3. Ramesh. S, Gaonkar, Microprocessor Architecture, Programming and
Applications, Wiley Eastern, 1998.

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

4. Lawrence, J., Kamm, Understanding Electro-Mechanical Engineering, An

Introduction to Mechatronics, Prentice-Hall, 2000.
5. Ghosh, P. K. and Sridhar, P. R., 0000 to 8085, Introduction to Microprocessors
for Engineers and Scientists, Second Edition, Prentice Hall, 1995.

L T P C
MEC5581 AUTOMATION LAB

PURPOSE
To train the students in handling microprocessor kit and PLC for control of drives and
sequencing
INSTRUCTIONAL OBJECTIVES
To practice the students in
• Drive controls using Microprocessor
• Sequencing hydraulic and pneumatics
• Programming PLC for different application
• Interfacing with computer
LIST OF EXPERIMENTS
• Introduction to Microprocessor
• Control of Drives using Microprocessor Kit
• Sequencing circuits in hydraulic/pneumatics
• Synchronizing circuits in hydraulics/pneumatic
• Introduction to PLC
• PLC Programming
• PLC Ladder diagram
• Interfacing with computers

REFERENCE BOOKS
• Laboratory Manual

SEMESTER – II

L T P C
MEC5503 ROBOT SENSOR AND LANGUAGE 0
3 0 3

INTRODUCTION
An Introduction to sensors and Transducers, History and definitions, Smart Sensing, AI sensing,
Need of sensors in Robotics.
Robot software functions - coordinate systems, position control, other control functions,
subroutines, Program planning for Robot flow charting for robot programs with few examples.

SENSORS IN ROBOTICS
Position sensors - optical, non-optical, Velocity sensors, Accelerometers, Proximity Sensors -
Contact, non-contact, Range Sensing, touch and Slip Sensors, Force and Torque Sensors.

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Vision sensors in robotics-Robot Control through Vision sensors, Robot vision locating
position, Robot guidance with vision system, End effectors camera Sensor.

MISCELLANEOUS SENSORS IN ROBOTICS

Different sensing variables - smell, Heat or Temperature, Humidity, Light, Speech or Voice
recognition Systems, Telepresence and related technologies.

MULTISENSOR CONTROLLED ROBOT ASSEMBLY

Control Computer, Vision Sensor modules, Software Structure, Vision Sensor software, Robot
programming, Handling, Gripper and Gripping methods, accuracy - A Case study.

ROBOT LANGUAGES
Textual ROBOT Languages, first generation and second generation languages, structure of a
robot language - operating systems, Elements and Functions, constants, variables and other data
objects, Motion commands, points in workspace, End effector and sensor commands,
computations and operations, program control and subroutines, communications and Data
processing.
VAL II-General description, Monitor commands, motion command, Hand Control,
Configuration control, interlock commands, INPUT/OUTPUT Controls, Program Control,
examples.
AML-General description, AML statements, Constant and variables, program control
statements, motion commands, Sensor commands, Grip sensing capabilities, Data processing,
examples.

REFERENCE

1 Paul W Chapman, "Smart Sensors", an Independent Learning Module Series, 1996

2 Richard D. Klafer, Thomas a. Chmielewski; Michael Negin, "Robotic Engineering -
An integrated approach", Prentice Hall of India Private Limited, 1989
3 John Iovice, "Robots, Androids and Animalrons", Mc Graw Hill, 1998
4 Mikell P. Groover, Mitchell Weiss, Roger N Nagel, Nicholas G. Odrey, "Industrial
Robotics - Technology, Programming and Applications", Mc Graw Hill,
International Editions, 1986
5 Sabric Soloman, "Sensors and Control Systems in Manufacturing", Mc Graw Hill,
International Editions, 1994
6 Julian W Gardner, Micro Sensor MEMS and Smart Devices, John Wiley & Sons,
2001
7 To familiarize the language like VALII and AML
8 Mikell P. Groover, Mitchell Weiss, Roger N. Nagel and Nicholas G. Odrey,
'Industrial Robotics Technology, Programming and Applications', Mc Graw Hill
Book company, 1986
9 Bernard Hodges, 'Industrial Robotics', Second Edition, Jaico Publishing House, 1993.

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

L T P C
MEC5504 INDUSTRIAL ROBOTICS
3 0 0 3

INTRODUCTION
General considerations in Robot material handling, material transfer application machine loading
and unloading, CNC machine tool loading, Robot centered cell.

SEARCH METHODS
Application of Robots in continuous arc welding, Spot welding, Spray coating, other processing
Operation, Limitation of usage of robots in processing operation.

ROBOTICS
Assembly and Robot assembly automation parts presentation methods, assembly operation,
compliance and the Remote center compliance (RCC) Device, assembly system configurations,
Adaptable programmable assembly system, Designing for robotic assembly inspection
automations - vision inspection system, robot - manipulated inspection.

PROGRAMMING AND LOGICS IN ARTIFICIAL INTELLIGENCE

Robot in hazardous and inaccessible non manufacture environments - construction trades
undergrand coal mining, fine fighting operations, under sea operations, space operations etc.
Robots in service industries - Teaching, security and household robots.

EXPERT SYSTEM
Factors influencing the choice of a robot, robot performance testing - Path/point accuracy and
repeatability, maximum working envelop, kinematic and state values. Robot safety
Considerations Factors affecting robot safety measures, safety features built into industrial robot,
safety barriers and other devices

REFERENCE

1. Mikell P. Groover, Mitchell Weiss, Roger N. Nagel and Nicholas G. Odrey, 'Industrial
Robotics Technology, Programming and Applications', Mc Graw Hill Bokk company,
1986
2. Bernard Hodges, 'Industrial Robotics', Second Edition, Jaico Publishing House, 1993
3. Critchlow, Arthur J., 'Introduction to Robotics', Macmillan Publishing Company, 1995
4. Deb. S.R., 'Robotics Technology and Flexible Automation', Tata Mc Graw Hill
publishing Company Limited, 1994

GROUP TECHNOLOGY AND CELLULAR L T P C

MEC5505
MANUFACTURING 3 0 0 3

GROUP TECHNOLOGY
Introduction, Design attributes, manufacturing attributes, part families, classification and coding
systems- OPITZ, MI class, Multi class, selection of coding systems, Production flow analysis,
factory flow analysis, group analysis, PFA charts, benefits of GT.

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

CELLULAR MANUFACTURING
Introduction, types of manufacturing cell, Design of cellular manufacturing systems, Machine
cell design, composite part concept, types of cell design, determination of best cell arrangement,
key machine concept.

CELLULAR MANUFACTURING PLANNING

Cell formation approach- Machine component group analysis, similarity coefficient based
approach, exceptional parts and bottleneck machines, Design of CMS- models, traditional and
nontraditional approaches, Evaluation of cell design-partitioning technique for cellular
manufacturing, graph based technique, matrix technique, integer programming technique.

IMPLEMENTATION OF CMS
Inter and intra cell layout, cost and non cost based models, managerial structure and groups,
batch sequencing and sizing, life cycle

PERFORMANCE MEASUREMENT AND CONTROL

CMS performance measurement- parametric analysis- PBC in GT/CMS, cell loading, GT and
MRP. Economics of GT/CMS, human aspects of GT/CMS

REFERENCE
1. Manua Singh, 'Systems approach to Computer Integrated Design and Manufacturing',
John Wiley & Sons Inc, 1996
2. Ali Kamrani, Hamid R Parsaei, Donald H Liles, 'Planning, Design and Analysis of
cellular manufacturing systems', Elsevier, 1995
3. RadhaKrishnan.P. and Subramanyan. S., 'CAD/CAM/CIM', New Age International
Publishers, 1994
4. Deb.S.R. 'Robotics technology and flexible automation', Tata McGraw Hill publishing
company limited, 1994

COMPUTER NUMERICAL CTRL MACHINES & L T P C

MEC5506 ADAPTIVE CONTROL 0
3 0 3

FUNDAMENTALS OF CNC MACHINES

Introduction to Numerical control in computer aided manufacturing, principle of operation of
CNC, features of CNC, classification of CNC systems, interpolations, open loop and closed loop
systems, CNC controllers, DNC concept, Machining centers-features, ATC and APC.

CONSTRUCTIONAL FEATURES OF CNC MACHINES

Design consideration of CNC machines for improving accuracy and productivity, machine
structure, slide ways- friction, antifriction and other types of guide ways recirculating ball screw,
backlash measurement and compensation. Torque transmission elements- gears, timing belts,
flexible couplings and bearings.

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CONTROL SYSTEMS AND DRIVES

Block diagram of CNC systems, feedback devices- positional feedback, velocity feedback
devices. Axis measuring system- synchronic, syncho-resolver, gratings, Moire fringes, encoders,
inductosyn, laser interferometer. Drives: spindle drives-DC shunt motor, 3 phase induction
motor, Feed drives-stepper motors, servo principle, DC and AC servo motors. Interfacing of
drives. Tooling for CNC machines- semi qualified, qualified and preset tools

CNC PART PROGRAMMING

Coordinate systems- structure of part program, types of part program, G & M codes, Machine
and work piece datum, absolute and incremental programming, tape codes ISO and EIA codes,
tool offset and tool nose radius compensation-Manual part programming for controllers like
FANUC and SINUMERIC, fixed cycles, DO LOOP, subroutines in part programming,
parametric programming, computer aided part programming, APT, Features of typical CAM
packages like Master CAM, Solid CAM.

ADAPTIVE CONTROL
Introduction, principles of adaptive control, adaptive control with optimization, adaptive control
with constraints-basic concepts, ACC system for turning, Variable gain AC systems-stability
problem, estimator algorithm, variable gain algorithm, Adaptive control of grinding process-
grinding model, optimization strategy, design of adaptive control for grinding, sensors for
adaptive control of CNC machine tools.

REFERENCE BOOKS

1. Peter Smid, 'CNC Programming Hand Book', Industrial Press Inc, 2000
2. HMT, 'Mechatronics', Tata McGraw Hill publishing company limited, 1998
3. James Madison, 'CNC Machining Hand Book', Industrial Press Inc, 1996
4. Radhakrishnan. P, 'Computer Numerical Control Machines', New Central Book Agency,
1992
5. Hans.B.Kief, T.Fredericx. Walters, 'Computer Numerical Control', Macmillan/ McGraw
Hill, 1992
6. Steve Krar, Arthur Gill, 'CNC technology and programming', McGraw Hill International
edition
7. Groover. M.P., 'Automation production systems and computer integrated manufacturing',
Prentice hall of India pvt ltd, 1989
8. Yorem Koren, 'Computer control of manufacturing systems', McGraw Hill Book Co,
1986

L T P C
MEC5507 MANUFACTURING SYSTEMS AUTOMATION
3 0 0 3

FUNDAMENTALS OF MANUFACTURING AUTOMATION

Production operations and Automation strategies - Types of production, Functions in
manufacturing, Plant Layout, Production concepts and Mathematical models, Automation

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

strategies. Production Economics - Cost in manufacturing, Break even analysis, Unit cost of
production, Cost of manufacturing lead time and work-in-progress.

HIGH VOLUME PRODUCTION SYSTEMS

Detroit - Type automation - Automated flow line, workpart transport, Transfer mechanism,
Buffer storage, Control functions, Automation for machining operations, Design and fabrication
consideration. Analysis of Automated Flow lines. General terminology and analysis, Analysis of
transfer lines without storage, partial automation, Automated flow lines, with storage buffer,
simulation of automation flow lines.

NUMERICAL CONTROL PRODUCTION SYSTEM

Numerical Control, Types of NC Systems, Machine tool applications, other applications of NC
Systems, Components of NC System, Introduction to NC part programming, Types of part
programming, Direct Numerical Control, Computer Numerical Control, Adaptive Control
Machining.

AUTOMATED ASSEMBLY SYSTEMS AND LINE BALANCING

The assembly process, assembly systems, manual assembly lines, The line balancing problem,
Methods of line balancing, Computerised line balancing method, flexible manual assembly lines.
Design for automated assembly, types of automated assembly system, parts feeding devices,
Analysis of single station and multistation assembly machine

MATERIAL HANDLING AND STORAGE

Automated materials handling : Types of material handling equipment, analysis for material
handling systems, design of the system, conveyor system, automated guided vehicle systems.
Automated storage systems : Automated storage / Retrieval systems, Carousel storage systems,
work-in-process storage, interfacing handling and storage with manufacturing.

REFERENCE

1. Mikell.P.Groover, Automation, Production Systems and Computer Integrated

Manufacturing, Prentice Hall of India Pvt. Ltd., Thirteenth Indian Reprint, 2001
2. P.N.Rao, 'CAD/CAM Principles and Applications' Tata McGraw Hill Publishing
Company Ltd., 2002

L T P C
MEC5582 ROBOTICS LAB
3 0 0 3

PURPOSE
• To train the students in writing programs for robot movements
• To train the students in handling FMS cell for different sequences
INSTRUCTIONAL OBJECTIVES
To practice the students in
• Writing program for pick and place robot for specific action
• Handling FMC cell for different sequences by changing robot action, conveyor
movements and linear slide movement etc
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LIST OF EXPERIMENTS
• Introduction to Robot Programming
• Teaching a Robot
• Writing a program for a specific application using pick and place robot
• Introduction to FMS cell
• Exercise in FMS cell for different sequence

REFERENCE BOOKS
• Laboratory Manual

L T P C
MEC5508 MICRO-CONTROLLERS AND ITS APPLICATIONS
3 0 0 3

UNIT-I
Binary data representation: decimal system, binary system, octal system, hexadecimal system,
binary coded decimal system, decimal conversion, decimal to Hexadecimal, binary addition and
subtraction, binary multiplication and division, binary coded decimal addition, signed numbers,
twos complement arithmetic, hexadecimal arith- metic, digital logic gates, MCS51 Micro
controller - difference between micro controller and microprocessor, criteria for choosing a
microcontroller, internal architecture of MCS51 microcontroller and its family.

UNIT-II
8051 assembly language programming: instruction set-arithmetic, logical, data transfer
branching and Flag manipulation Instructions, addressing modes

UNIT-III
8051 timer/counter, serial communication programming, interrupts structure, interrupt
programming, usage of C programming to 8051 family.

UNIT-IV
Real word interfacing: Analog to Digital converter, Digital to Analog converter, Mechanical
switches, keypads, LEDs, seven segment display, LCDs, keyboard, DC motor, stepper motor,
PWM, External Memory Interface.

UNIT-V
Microcontroller Applications: C programming of Podium timer, microcontroller based menu
card, chimney sentinel, counting cars, anonymous voting, efficient lighting using
microcontroller, I2 C interface with serial EPROM, reading a PWM waveform using
microcontroller, 8051 based pick and place robot.

REFERENCE

1. Mazidi, The 8051 micro controller and embedded system, Pearson education , 2002
2. Han-way Huang, Using the MCS-51 microcontroller, Oxford University Press, 2009.

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

3. Ajay V Deshmukh, Microcontrollers(Tuning and applications), The McGraw Hill

publications,2007.
4. Parab, Shekale, Kamat & Naik, “Exploring C for Micro controllers: A hands on
approach”,
5. Kenneth Hintz and Daniel Tabak, Microcontrollers architecture, Implementation and
programming,TMH, 2005
6. A. K. Stiffler, Design with microprocessors for Mechanical Engineers, McGraw Hill,
1992

L T P C
MEC5509 MODERN MATERIAL HANDLING SYSTEMS
3 0 0 3

INTRODUCTION
Material Handling - Functions, Types, analysis, Importance & Scope, Principles, - Part feeding
device - types of material handling system - Unit material movement & Unit loads - Receiving,
Shipping, inprocess handling - bulk handling equipment & methods.

MATERIAL HANDLING EQUIPMENT

Industrial trucks, lifting device, monorails, manipulators, conveyors, storage systems, elevators,
racks, bins, pallets, cranes - Automation of material handling - mechanication of part handling.

AUTOMATED GUIDED VEHICLE SYSTEM

Types of AGV's - Guidance techniques - Painted line, wire guided, vision guided method -
Applications - Vehicle guidance & routing - Traffic control & safety - system management -
Quantitative analysis of AGV system

STORAGE SYSTEM
Conveyor systems - types, Quantitative relationship & analysis - Automated storage system,
performance - AS/RS system - Basic components, types, controls, features, applications,
Quantitative analysis - carousel storage system - applications.

ROBOTICS IN MATERIAL HANDLING

General considerations in robot material handling - material transfer application - pick & place
operations - machine loading & unloading - characteristics of robot application - Robot cell
design - processing operations - Spot welding, Spray painting, Plastic moulding, forging.

REFERENCE

1. Mikell P. Groover, Automated Production system & computer integrated manufacturing -

- Prentice Hall of India - 1987
2. Mikell P Groover, Industrial Robotics -McGraw Hill - 1986
3. Allegeri, Theodove. H, Material Handling Principle & Pratice - C.B.S. Publisher - 1987
4. Alexandrov. M.P & Rudenko. N, Material handling equipments - MIR Publisher - 1981
5. Govindan. K.R, Plant Layout & Material Handling - Auradhagency - 2001

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

6. Material Handling Equipment for the manufacturing industry - AICTE – 1995

7. Measwani. N.V & Mehta. A.C., Advances in material handling equipment

L T P C
MEC5510 FLUID POWER SYSTEMS
3 0 0 3

UNIT - I
Advantages and Disadvantages of Fluid control, Types of Hydraulic Fluids, physical, chemical
and thermal properties of hydraulic fluids, selection of hydraulic fluid, fluid flow
fundamentals.

UNIT - II
Hydraulic Pumps and Motors: Basic Types and constructions, ideal pump and motor analysis,
Performance curves and parameters,
Hydraulic Control Valves- Valve configurations, general valve analysis, critical center, open
center, three way spool valve analysis and Flapper valve analysis, pressure control valves,
single and two stage pressure control valves, flow control valves, introduction to electro
hydraulic valves.

UNIT - III
Hydraulic Power Elements: Valve controlled motor, valve controlled piston, three way valve
controlled piston, pump controlled motor, pressure transients in power elements.

UNIT - IV
Characterisitcs of Pneumatics, Applications of Pneumatics, Basic Pneumatic elements, Steady
flow of Ideal gases, orifice and nozzle calculations, capillary flow, flow of real gases, linearised
flow equations in Orifices and Nozzles. Steady state analysis of pneumatic components:
Multiple restriction and volume calculations, sensing chambers, valves, Single acting
actuators.

UNIT - V
Transients in elementary pneumatic systems: Linear dynamics-linear pneumatic spring rate,
linear dynamics of a variable volume of gas, Pneumatic transmission lines, linear dynamics in
single acting actuators. Applications in industrial process controls: On-Off pneumatic
feedback systems, feedback control of proportional gain, derivative action, integral action,
Design of a Pneumatic Pressure Regulator.
REFERENCES

1 Herbert E. Merritt, “Hydraulic Control Systems”, John Wiley & Sons, 1967
2 B.W. Anderson, The Analysis and Design of Pneumatic Systems, Wiley, 1967.
3 A.B. Goodwin, Fluid Power Systems, Macmillan, 1976.
1. Anthony Esposito, “Fluid power with applications”, Prentice Hall, 7th Edition, 2002.
4 Arthur Akers, Max Gassman, Richard Smith, “Hydraulic Power System Analysis”, Taylor
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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

and Francis Group, 2006.

5 John Pippenger & Tyler Hicks, “Industrial Hydraulics”, 3rd edition McGraw Hill , 1980.

L T P C
MEC5511 COMPUTER INTEGRATED MANUFACTURING 0
3 0 3

INTRODUCTION TO CIM
The meaning of Manufacturing, Types of Manufacturing; Basic Concepts of CIM: CIM
Definition, Elements of CIM, CIM wheel, concept or technology, Evolution of CIM, Benefits of
CIM, Needs of CIM: Hardware and software. Fundamentals of Communication:
Communications Matrix. Product Development Cycle, Concurrent Engineering: Definition,
Sequential Engineering Versus Concurrent Engineering, Benefits of Concurrent
Engineering, Characteristics of concurrent Engineering, Framework for integration of Life-cycle
phases in CE, Concurrent Engineering Techniques, Integrated Product Development(IPD),
Product Life-Cycle Management (PLM), Collaborative Product Development.

CIM DATABASE AND DATABASE MANAGEMENT SYSTEMS

Introduction, Manufacturing Data: Types, sources; Database Terminology, Database
requirements, Database models, Database Management System, DBMS Architecture, Query
Language, Structural Query Language (SQL): Basic structure, Data definition Language (Create,
Alter, Drop, Truncate, View), Data Manipulation Language (store, retrieve, update, delete).
Illustration of Creating and Manipulating a Manufacturing Database. SQL as a Knowledge
Base Query Language. Features of commercial DBMS: Oracle, MySQL, SQL Access, Sybase,
DB2. Product Data Management (PDM), Advantages of PDM.

CIM TECHNOLOGY AND SYSTEMS

Product Design: Needs of the market, Design and Engineering, The design Process,
Design for Manufacturability (DFM): Component Design, Design for Assembly. Computer-
Aided Process Planning: Basic Steps in developing a process plan, Variant and Generative
Process Planning, Feature Recognition in Computer-Aided Process Planning. Material
Requirements Planning (MRP), Manufacturing Resource Planning (MRP -II), Cellular
Manufacturing: Design of Cellular Manufacturing Systems, Cell Formation Approaches:
Machine-Component Group Analysis, Similarity Coefficients-Based Approaches. Evaluation of
Cell Design. Shop-floor Control: Data Logging and Acquisition, Automated Data Collection,
Programmable Logic Controllers, Sensor Technology. Flexible Manufacturing Systems: Physical
Components of an FMS. Types of Flexibility, Layout Considerations: Linear Single Machine
Layout, Circular Machine Layout, Cluster Machine Layout, Loop Layout; Operational Problems
of FMS. FMS benefits.

ENTERPRISE WIDE INTEGRATION IN CIM AND CIM MODELS

Introduction to Networking, Principles of Networking, Network Terminology, Types of
Networks: LAN, MAN, WAN; Selection of Network Technology: Communication medium,
Network Topology, Medium access control Methods, Signaling methods; Network Architectures

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and Protocols: OSI Model, MAP & TOP, TCP/IP, Network Interconnection and Devices,
Network Performance. Framework for Enterprise-wide Integration.
CIM Models: ESPRIT-CIM OSA Model, NIST-AMRF Model, Siemens Model of CIM, Digital
Equipment Corporation Model, IBM Concept of CIM.

FUTURE TRENDS IN MANUFACTURING SYSTEMS

Lean Manufacturing: Definition, Principles of Lean Manufacturing, Characteristics of Lean
Manufacturing, Value of Product, Continuous Improvement, Focus on Waste, Relationship of
Waste to Profit, Four Functions of Lean Production, Performance Measures, The Supply Chain,
Benefits of Lean Manufacturing. Introduction to Agile and Web Based Manufacturing systems.

REFERENCES

1. S.Kant Vajpayee: Principles of Computer Integrated Manufacturing, Printice-Hall India.

2. Nanua Singh: Systems Approach to Computer Integrated Design and Manufacturing-
John Wiley.
3. P.Radhakrishnan, S.Subramanyam: CAD/CAM/CIM, New Age International
4. Alavudeen, Venkateshwaran: Computer Integrated Manufacturing, Printice-Hall India

L T P C
MEC5512 KINEMATICS AND DYNAMICS OF ROBOTS
3 0 0 3

INTRODUCTION
Introduction, position and orientation of objects, objects coordinate frame Rotation matrix, Euler
angles Roll, pitch and yaw angles coordinate Transformations, Joint variables and position of
end effector.

DIRECT KINEMATICS
Dot and cross products, coordinate frames, Rotations, Homogeneous coordinates, link
coordinates D-H Representation, The ARM equation. Direct kinematic analysis for Four axis,
SCARA Robot and six axis Articulated Robots.

INVERSE KINEMATICS
The inverse kinematics problem, General properties of solutions. Tool configuration, Inverse
kinematics of four axis SCARA robot and six axis Articulated robot.

WORKSPACE ANALYSIS AND TRACJECTORY PLANNING

Workspace Analysis, work envelope of a Four axis SCARA robot and five axis articulated robot
workspace fixtures, the pick and place operations, continuous path motion, Interpolated motion,
straight line motion.

MANIPULATOR DYNAMICS
Introduction, lagrange's equation kinetic and potential energy. Link inertia Tensor, link Jacobian
Manipulator inertia tensor. Gravity, Generalized forces, Lagrange-Euler Dynamic model,
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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

Dynamic model of a Two-axis planar robot Newton Euler formulation, Lagrange - Euler
formulation, problems.

REFERENCE

1. Robert J. Schilling, Fundamentals of Robotics Analysis and Control, Prentice Hall of

India Pvt. Ltd., 2000
2. Richard D. Klafter, Thomas. A, Chmielewski, Michael Negin, Robotics Engineering an
Integrated Approach, Prentice Hall of India Pvt. Ltd., 1989
3. P.A. Janaki Raman, Robotics and Image Processing An Introduction, Tata Mc Graw Hill
Publishing company Ltd., 1995
4. Francis N-Nagy Andras Siegler, Engineering foundation of Robotics, Prentice Hall Inc.,
1987
5. Bernard Hodges, Industrial Robotics, Second Edition, Jaico Publishing house, 1993
6. Tsuneo Yohikwa, Foundations of Robotics Analysis and Control, Prentice Hall of India
Pvt. Ltd., 2001
7. John J. Craig, Introduction to Robotics Mechanics and Control, Second Edition, Addison
Wesly Longman Inc. International Student edition, 1999
8. Bijay K. Ghosh, Ning Xi, T.J. Tarn, Control in Robtics and Automation Sensor - Based
integration, Academic Press, 1999

L T P C
MEC5002 FINITE ELEMENT ANALYSIS
3 0 0 3
[Common for M.Tech (CAD/CAM) and M.Tech (Energy Engineering)]

INTRODUCTION
Historical background, weighted residual methods - basic concept of FEM ¬variational
formulation of boundary value problems - Ritz method - finite element modelling - element
equation - linear and quadratic shape functions - bar, beam, elements - application to heat
transfer.

HEAT TRANSFER AND FLUIDMECHANICS

Basic boundary value problems in 2 dimensions - triangular, quadrilateral, higher order elements
- Poisons and laplaces equation - weak formulation - element matrices and vectors - application
to solid mechanics, heat transfer, fluid mechanics.

ISO-PARAMETRIC ELEMENT
Natural co-ordinate systems - lagrangian interpolation polynomials - isoparametric, elements -
formulation ¬numerical integration – one dimensional - two dimensional triangular elements -
rectangular elements - illustrative examples.

PLANE STRESS AND STRAIN

Introduction to theory of elasticity - plane stress - plane strain and axisymetric formulation -
principle of virtual work - element matrices using energy approach.
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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

STRUCTURAL DYNAMICS APPLICATIONS

Dynamic analysis - equation of motions - mass matrices - free vibration analysis - natural
frequencies of longitudinal - transverse and torsional vibration ¬introduction to transient field
problem - non linear analysis - uses of softwares - h and p elements - special element
formulation.

REFERENCES

1 Reddy, J. N., An Introduction to the Finite Element Method, McGraw Hill,

International Edition,1993
2 Segerlind, L. J., Applied Finite Element Analysis, John Wiley, 1984.
3 Rao, S. S, Finite Element Method in Engineering, Pergamon Press, 1989.
4 Chandrupatla and Belagundu, Finite Element in Engineering, Prentice Hall of India
Private Ltd, 1997.
5 Cook,Robert, Davis, et.al, Concept and Applications of Finite Element Analysis,
Wiley, John and Sons,1999.
6 George, R. Buchaman, Schaum's Outline of Finite Element Analysis, McGraw Hill
Company, 1994.

L T P C
MEC5008 INTEGRATED MANUFACTURING SYSTEMS
3 0 0 3

BASICS OF MANUFACTURING SYSTEM

Objectives of a manufacturing system-identifying business opportunities and problems
classification of production systems-linking manufacturing strategy and systems-analysis of
manufacturing operations.

GROUP TECHNOLOGY
Part families-parts classification and cooling, group technology machine cells-benefits of group
technology - automatic identification system, barcode technology, automated data collection
system.

PRODUCTION PLANNING AND CONTROL

Introduction - cost planning and control-inventory management - material requirements planning
(MRP)-shop floor control - factory data collection system - process planning function CAPP -
computer generated time standards.

COMPUTER MONITORING
Types of production monitoring systems-structure model of manufacturing process -process
control strategies, direct digital control, supervisory computer control - computer in QC - contact
inspection methods, non-contact inspection methods, computer-aided testing, integration of
CAQC with CAD/CAM.

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INTEGRATED MANUFACTURING SYSTEMS

Definition - application - features - types of manufacturing systems-machine tools -materials
handling system-computer control system - DNC systems manufacturing cell - flexible
manufacturing systems (FMS) - the FMS concept, transfer systems, head changing FMS,
variable mission manufacturing system, CAD/CAM system - human labour in the manufacturing
system-computer integrated manufacturing system benefits - rapid prototyping - artificial
intelligence and expert system in CIM.

REFERENCES

1 Groover, M. P., Automation, Production System and CIM, Prentice-Hall of India,

1998.

2 David Bedworth, Computer Integrated Design and Manufacturing, McGraw Hill,

New Delhi, 1998.
3 Yorem Koren, Computer Integrated Manufacturing Systems, McGraw Hill, 1983.
4 Ranky, Paul, G., Computer Integrated Manufacturing, Prentice Hall International
1986.

L T P C
MEC5009 FLEXIBLE MANUFACTURING SYSTEMS
3 0 0 3

INTRODUCTION TO FMS
Basic concepts, advantages, components and examples of FMS - distributed numerical control
(DNC) - communication between DNC computer and MCU.

DATA PROCESSING
Distributed data processing in FMS - computer network protocols - interfacing of CAD and
CAM - part programming in FMS tool data base - clamping devices and fixtures data base,
tool management system part alignment and work mounting errors - surface description
method for automated design and robotized assembly.

GROUP TECHNOLOGY
Part families-parts classification and cooling, group technology machine cells-benefits of group
technology - automatic identification system, barcode technology, automated data collection
system

HANDLING SYSTEMS:
Material handling systems - ASRS - AGVs – features of industrial robots - robot cell design
and control.

INTERFACING
Interfacing of computer - machine tool controllers and handling systems -
communications standards - programmable logic controllers (PLC's) – interfacing - computer
aided project planning - inventory control

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

REFERENCES

1 Groover, M. P., Automation, Production System and CIM, Prentice-Hall of India,

1998
2 Paul Ranky., The design and operation of FMS, IFS publication. 1983.
3 Viswanathan, N and Nahari, Y, Performance modeling of automated manufacturing
systems, Prentice Hall, 1992.

L T P C
MEC5012 COMPUTER AIDED PROCESS PLANNING
3 0 0 3

INTRODUCTION TO COMPUTER AIDED PROCESS PLANNING

The place of process planning in the manufacturing cycle - process planning and production
planning - process planning and concurrent engineering – CAPP - group technology.

PART DESIGN REPRESENTATION

Design drafting - dimensioning, conventional tolerancing, geometric tolerancing CAD, input /
output devices, topology, geometric transformation - perspective transformation - data structure -
geometric modelling for process planning,

GROUP TECHNOLOGY
Part families - parts classification and cooling, group technology machine cells - automatic
identification system – barcode technology - the optiz system, the MICLASS system – benefits.

PROCESS ENGINEERING
Experienced - based planning - decision table and decision trees - process capability analysis -
process planning ¬variant process planning - generative approach - forward and backward
planning.

COMPUTER AIDED PROCESS PLANNING SYSTEMS

Logical design of a process planning - implementation considerations - manufacturing system
components, production volume, number of production families - CAM-I, CAPP, MIPLAN,
APPAS, AUTOPLAN and PRO, CPPP.

REFERENCES

1 Gideon Halevi and Roland D. Weill, Principles of Process Planning, A logical approach,
Chapman and Hall, 1995.
2 Tien-Chien Chang, Richard A. Wysk, An Introduction to automated process planning
systems, Prentice Hall, 1985.
3 Chang, T. C., An Expert Process Planning System, Prentice Hall, 1985.
4 Nanua Singh, Systems Approach to Computer Integrated Design and Manufacturing,
John Wiley and Sons, 1996.
5 Rao, Computer Aided Manufacturing , Tata McGraw Hill Publishing Co., 2000.

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PERFORMANCE MODELLING AND ANALYSIS OF L T P C

MEC5014
MANUFACTURING SYSTEM 3 0 0 3

MANUFACTURING SYSTEMS AND CONTROLS

Automated manufacturing systems - modelling, role of performance modelling, simulation
models, analytical models - product cycle - manufacturing automation - economics of scale and
scope - input/output model – plant configurations - performance measures - manufacturing lead
time - work in process -machine utilization- flexibility - performability – quality - control
systems - control system architecture - factory communications - local area networks - factory
networks - open systems interconnection model.

MANUFACTURING PROCESS
Examples of stochastic processes - Poisson process discrete time Markov chain models -
Definition and notation - Sojourn times in states - examples of DTMCs in manufacturing
Chapman - Kolmogorov equation – steady-state analysis - continuous time Markov chain models
- definitions and notation - sojourn times in states - examples of CTMCs in manufacturing -
equations for CTMC evolution - Markov model of a transfer line- birth and death processes in
manufacturing.

QUEING MODELS
Queues in manufacturing systems - performance measures, Little's result - steady state analysis
of M/M/m queue, queues with general distributions and queues with breakdowns- analysis of a
flexible machine center.

QUEING NETWORKS
QN models in manufacturing - Little's law in queuing networks, Tandem queue, an open queuing
network with feedback, an open central server model for FMS, closed transfer line - closed
server model Garden Newell networks.

PETRI NETS
Classical Petri Nets - Transition firing and reachability, representational power, properties -
manufacturing models - Stochastic Petri Nets, exponential timed Petri Nets, generalized
Stochastic Petri Nets, modelling of KANBAN systems, manufacturing models.

REFERENCES

1. Viswanadham, N and Narahari, Y. "Performance Modelling of Automated

Manufacturing Systems", Prentice Hall of India, New Delhi, 1994.
2. Trivedi, K.S., Probability and Statistics with Reliability, Queuing and Computer Science
Applications, Prentice Hall, New Jersey, 1982.
3. Gupta S.C., and Kapoor V.K., Fundamentals of Mathematical Statistics, 3rd Edition,
Sultan Chand and Sons, New Delhi, 1988.

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L T P C
MEC5021 COMPOSITE MATERIALS TECHNOLOGY 3 0 0 3
[Common for M.Tech (CAD/CAM) and M.Tech (Energy Engineering)]

INTRODUCTION
Limitations of conventional materials - definition of composite materials - types and
characteristics - applications.

MATERIALS
Fibbers - Materials - Fibber reinforced plastics - thermoset polymers - Coupling agents, fillers
and additives - Metal Matrix and Ceramic composites.

MANUFACTURING
Fundamentals - bag moulding - compression moulding pultrusion-filament winding - other
manufacturing process - quality inspection and non-destructive testing.

MECHANICS AND PERFORMANCE

Introduction to micro-mechanics-unidirectional lamina - laminates - interlaminar stresses - static
mechanical properties - fatigue properties - impact properties - environmental effects - fracture
mechanics and toughening mechanisms, damage prediction, failure modes.

DESIGN
Failure predictions - design considerations - joint design - codes - design examples. Optimization
of laminated Composites - Application of FEM for design and analysis of laminated composites.

REFERENCES

1 Ronald Gibson, "Principles of Composite Material Mechanics ", Tata McGraw Hill,
1994.
2 Micael hyer, "Stress Analysis of Fiber - Reinforced Composite Materials ", Tata
McGrawHill, 1998.
3 P.K.Mallicak, "Fiber-reinforced composites ", Monal Deklar Inc., New York, 1988.
4 B.D. Agarwal and L.J.Broutman, "Analysis and Performance of Fiber Composites ",
John Wiley and Sons, New York, 1980.
5 F.L.Matthews & R.D.Rawlings, "Composite Materials, Engineering and Sciences ",
Chapman & hall, London, 1994.

SAFETY IN PLANT LAYOUT AND MATERIAL L T P C

MEC5407
HANDLING 3 0 0 3

PLANT LOCATION
Selection of plant locations, territorial parameters, considerations of land, water, electricity,
location for waste treatment and disposal, further expansions

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

Safe location of chemical storages, LPG, LNG, CNG, acetylene, ammonia, chlorine, explosives
and propellants

PLANT LAYOUT
Safe layout, equipment layout, safety system, fire hydrant locations, fire service rooms, facilities
for safe effluent disposal and treatment tanks, site considerations, approach roads, plant railway
lines, security towers. Safe layout for process industries, engineering industry, construction sites,
pharmaceuticals, pesticides, fertilizers, refineries, food processing, nuclear power stations,
thermal power stations, metal powders manufacturing, fireworks and match works

WORKING CONDITIONS
Principles of good ventilation, purpose, physiological and comfort level types, local and exhaust
ventilation, hood and duct design, air conditioning, ventilation standards, application.
Purpose of lighting, types, advantages of good illumination, glare and its effect, lighting
requirements for various work, standards- Housekeeping, principles of 5S.

MANUAL MATERIAL HANDLING AND LIFTING TACKLES

Preventing common injuries, lifting by hand, team lifting and carrying, handling specific shape
machines and other heavy objects – accessories for manual handling, hand tools, jacks, hand
trucks, dollies and wheel barrows – storage of specific materials - problems with hazardous
materials, liquids, solids – storage and handling of cryogenic liquids - shipping and receiving,
stock picking, dock boards, machine and tools, steel strapping and sacking, glass and nails, pitch
and glue, boxes and cartons and car loading – personal protection – ergonomic and safety
considerations . Fiber rope, types, strength and working load inspection, rope in use, rope in
storage - wire rope, construction, design factors, deterioration causes, sheaves and drums,
lubrication, overloading, rope fitting, inspection and replacement – slings, types, method of
attachment, rated capacities, alloy chain slings, hooks and attachment, inspection - ergonomic
and safety considerations

MECHANICAL MATERIAL HANDLING

Hoisting apparatus, types - cranes, types, design and construction, guards and limit devices,
signals, operating rules, maintenance safety rules, inspection and inspection checklist –
conveyors, precautions, types, applications - ergonomic and safety considerations
Powered industrial trucks, requirements, operating principles, operators selection and training
and performance test, inspection and maintenance, electric trucks, gasoline operated trucks, LPG
trucks – power elevators, types of drives, hoist way and machine room emergency procedure,
requirements for the handicapped, types- Escalator, safety devices and brakes, moving walks –
man lifts, construction, brakes, inspection - ergonomic and safety considerations

REFERENCES

1 Apple .M. James, Plant layout and material handling, 3rd edition, John Wiley and
sons, 1991
2 Fred E. Meyers and Matthew P. Stephens, “Manufacturing Facilities Design and
Material Handling”, Prentice Hal, 3rd edition, 2004.
3 Encyclopedia of occupational safety and health, ILO Publication, 1985
4 Accident prevention manual for industrial operations, N.S.C., Chicago, 1982.
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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

5 Alexandrov. M.P., Material handling equipment, Mir Publishers, Moscow, 1981

6 Spivakosky, Conveyors and related Equipment, Vol.I and II Peace Pub. Moscow,
1982.
7 Rudenko, N., Material handling Equipments, Mir Publishers, 1981.
8 Reymond, A.Kulwice, Material Handling Hand Book - II, John Wiley and Sons, New
York, 1985.
9 Safety and good housekeeping, N.P.C. New Delhi, 1985.
10 Industrial ventilation (A manual for recommended practice), American conference of
Governmental Industrial Hygiene, USA, 1984.

L T P C
MEC5417 RELIABILITY ENGINEERING
3 0 0 3

RELIABILITY CONCEPT
Reliability function – failure rate – mean time between failures (MTBF) – mean time to failure
(MTTF) – A priori and a posteriori concept - mortality curve – useful life – availability –
maintainability – system effectiveness.

FAILURE DATA ANALYSIS

Time to failure distributions – Exponential, normal, Gamma, Weibull, ranking of data –
probability plotting techniques – Hazard plotting.

RELIABILITY PREDICTION MODELS

Series and parallel systems – RBD approach – Standby systems – m/n configuration –
Application of Bayes’ theorem – cut and tie set method – Markov analysis – Fault Tree Analysis
– limitations.

RELIABILITY MANAGEMENT AND RISK ASSESSMENT

Reliability testing – Reliability growth monitoring – Non-parametric methods – Reliability and
life cycle costs – Reliability allocation – Replacement model.
Definition and measurement of risk – risk analysis techniques – risk reduction resources –
industrial safety and risk assessment.

HUMAN RELIABILITY ANALYSIS

Development of HRA – Approaches and trends in HRA – Human reliability methods – Human
reliability data – Human actions – Interdisciplinary analysis of human reliability – Probabilistic
Safety Analysis

REFERENCES

1. Srinath L.S, Reliability Engineering, Affiliated East-West Press Pvt Ltd, New Delhi,
1998.
2. Modarres, Reliability and Risk analysis, Maral Dekker Inc.1993.
3. John Davidson, The Reliability of Mechanical system, Institution of Mechanical
Engineers, London, 1988.
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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

4. Smith C.O., Introduction to Reliability in Design, McGraw Hill, London, 1976.

MECHANICS OF COMPOSITE MATERIALS L T P C

MEC6501
3 0 0 3

INTRODUCTION:
Fibres, Matrix materials, interfaces, polymer matrix composites, metal matrix composites,
ceramic matrix composites carbon fibre composites.

MICROMECHANICS OF COMPOSITES:
Mechanical properties: Prediction of Elastic constant, micromechanical approach, Halpin-Tsai
equations, Transverse stresses. Thermal properties: Hygrothermal stresses, mechanics of load
transfer from matrix to fibre.

MACROMECHANICS OF COMPOSITES:
Elastic constants of a lamina, relations between engineering constants and reduced
stiffness and compliances, variation of lamina properties with orientation, analysis of laminated
composites, stresses and strains with orientation, inter-laminar stresses and edge effects.
Simplified composite beam solutions. Bending of laminated beams.

STRENGTH, FRACTURE, FATIGUE AND DESIGN:

Tensile and compressive strength of unidirectional fibre composites, fracture modes in
composites: Single and multiple fracture, de-bonding, fibre pullout and de-lamination failure,
fatigue of laminate composites. Effect of variability of fibre strength. Strength of an orthotropic
lamina: Max stress theory, max strain criteria, maximum work (Tsai-Hill) criterion, quadratic
interaction criteria. Designing with composite materials.

ANALYSIS OF PLATES AND STRESS:

Plate equilibrium equations, Bending of composite plates, Levy and Navier solution for plates of
composite materials. Analysis of composite cylindrical shells under axially symmetric loads.

REFERENCE

1. Jones, R.M., Mechanics of Composite Materials, Mc Graw Hill Co., 1967.

2. Calcote, L.R., The Analysis of Laminated Composite Structures, Van
Nostrand,1969.
3. Whitney, I.M. Daniel, R.B. Pipes, Experimental Mechanics of Fibre Reinforced
Composite Materials, Prentice Hall, 1984. Hyer, M.W., Stress Analysis of Fibre
Reinforced Composite Materials, Mc Graw Hill Co., 1998.
4. Carl. T. Herakovich, Mechanics of Fibrous Composites, John Wiley Sons Inc.,
1998.

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L T P C
MEC6502 ROBOT VISION
3 0 0 3

ELEMENTS OF IMAGE PROCESSING

Introduction, Discretization, preprocessing, Neighborhood averaging, Medium filtering.
Smoothening of binary images. Thresholding, Edge detection

IMAGING COMPONENTS
Point sensor, line sensor, planar sensor, camera transfer characteristic, Raster scan, Image
capture time, volume sensors, Image representation, picture coding techniques.

OBJECT RECOGNITION BY METHOD OF MOMENTS

Introduction, Feature set, Recognition procedure, mahalanobic procedure, Template - matching,
structural techniques.

COLLISON FRONTS ALGORITHM

Introduction, skeleton of objects. Gradients, propagation, Definitions, propagation algorithm,
Thinning Algorithm, Skeleton lengths of Top most objects.

NEED FOR VISION TRAINING AND ADAPTATIONS

Review of existing systems - Binary, Gray level, structure of light, character recognition system,
examples. Automatic part Recognition by SRI vision system - Automated Navigation guidance
by vision system - A case study.

REFERENCE

1. P.A. Janaki Raman, Robotics and Image Processing an Introduction, Tata Mc Graw Hill
Publishing company Ltd., 1995
2. Richard D. Klafter, Thomas. A Chmielewski, Michael Negin, Robotics Engineering an
Integrated Approach, Prentice Hall of India Pvt. Ltd., 1989
3. Mikell P. Groover, Mitchell weiss, Roger N. Nagel, Nicholas G.Odrey, Industrial
Robotics, Technology programming and Applications,
4. John J. Craig, Introduction to Robotics Mechanics and Control, Second Edition, Addison
Wesly Longman Inc. International Student edition, 1999
5. Bijay K. Ghosh, Ning Xi, T.J. Tarn, Control in Robtics and Automation Sensor - Based
integration, Academic Press, 1999
6. S.R. Deb, Robotics Technology and flexible automation, Tata Mc Graw Hill Publishing
company Ltd., 1994

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

L T P C
MEC6503 ROBOT ECONOMICS 3 0 0 3

ROBOT COMPONENTS AND THEIRS SELECTION

Power supply, movement and drive systems, sensors, end effector and grippers, Control
techniques, Characteristics and factor considered for selection.

ECONOMIC ANALYSIS FOR ROBOTICS

Economic analysis for robotics. Economic analysis, basic data required methods of Economic
analysis, subsequent uses of robot, Difference in production rates, other factors Robot project
analysis form.

IMPLEMENTING ROBOTICS
Familiarization with robotics technology, plant survey to identify potential applications,
Selection of the best applications, Selection of a robot, Detailed economic analysis, planning and
installation

SOCIAL ISSUES
Safety in Robotics, Training, Maintenance, Quality improvement, productivity and capital
formation, Robotics and labour. Education and training, international impacts, future applications

ROBOTICS TECHNOLOGY OF THE FUTURE

Robot intelligence, Advanced Sensors, Capabilities, Tele robotics, Mechanical design Features,
Mobility, locomotion and Navigation. The universal Hand Systems Integration and Networking.
Robots in RPT.

REFERENCE

1. Mikell P. Groover, Mitchell weiss, Roger N. Nagel, Nicholas G.Odrey, Industrial

Robotics, Technology programming and Applications, 1986
2. Richard D. Klafter, Thomas. A, Chri elewski, Michael Negin, Robotics Engineering an
Integrated Approach, Prentice Hall of India Pvt. Ltd., 1989
3. P. Radhakrishnan, R. Srivatsavan, P.V. Mohan Ram and R. Radharamanan, CAD/CAM,
Robotics and factories of the future, Proceeding of the 14th International Conference on
CAR and FOF '98 editors, Narosa Publishing house, 1999
4. K.S. Fu, R.C. Gonzalez, C.S.G. Lee, Robotics Control, Sensing Vision and Intelligence,
Mc Graw Hill Book Company

L T P C
MEC6504 MANUFACTURING SYSTEM STIMULATION
3 0 0 3

INTRODUCTION
Systems - discrete and continuous systems, general systems theory, models of systems- variety
of modeling approach, concept of simulation, simulation as a decision making tool, types of

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

simulation, Principle of computer modeling- Monte Carlo simulation, Nature of computer

modeling, limitations of simulation, area of application.

RANDOM NUMBER GENERATION

Techniques for generating random numbers- mid square method, mid product method, constant
multiplier technique, additive congruential method, linear congruential method. Tests for random
numbers- Kolmogorov-Smirnov test, the Chi-square test.

DESIGN AND EVALUATION OF SIMULATION EXPERIMENTS

Problem formulation, data collection and reduction, time flow mechanism, key variables, logic
flow charts, starting condition, run size, experimental design consideration, out put analysis,
verification and validation of simulation models.

SIMULATION LANGUAGES
Comparison and selection of simulation languages, study of any one simulation language.

DISCRETE EVENT SIMULATION

Concepts in discrete -event simulation, development of simulation models for queuing systems,
production systems, inventory systems, maintenance and replacement systems, investment
analysis and network.
Programming for discrete event simulation in GPSS, case studies.

REFERENCE

1. Jerry Banks and John S Carson, Barry L Nelson, David M Nicol, 'Discrete event system
simulation', Prentice Hall, India, 2000
2. Khoshnevi. B., 'Discrete system simulation', McGraw Hill International edition, 1994
3. Ronald G Askin and Charles R Standridge, 'Modeling and analysis of manufacturing
systems', John Wiley & Sons, 1993
4. Gordon G, 'System Simulation', Prentice Hall, India, 1991
5. Thomas J Schriber., 'Simulation using GPSS', John Wiley & Sons, 1991
6. Shannon, R.E., 'System Simulation - The art and science', Prentice Hall, India, 1975

L T P C
MEC6505 ROBOT PROGRAMMING 3 0 0 3

INTRODUCTION TO ROBOT PROGRAMMING

Robot software functions - coordinate systems, position control, other control functions,
subroutines, Program planning for Robot flow charting for robot programs with few examples.

METHODS OF ROBOT PROGRAMMING

Online programming, off-line programming, advantages of off-line programming, lead through
methods - powered lead through, manual lead through, Teach pendant, Robot program as a path
in space, defining position in space, motion interpolation, WAIT, SIGNAL and DELAY
commands, Branching capabilities and Limitations of head through methods.
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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

ROBOT LANGUAGES
Textual ROBOT Languages, first generation and second generation languages, structure of a
robot language - operating systems, Elements and Functions, constants, variables and other data
objects, Motion commands, points in workspace, End effector and sensor commands,
computations and operations, program control and subroutines, communications and Data
processing.

VAL II
General description, Monitor commands, motion command, Hand Control, Configuration
control, interlock commands, INPUT/OUTPUT Controls, Program Control, examples.

AML
General description, AML statements, Constant and variables, program control statements,
motion commands, Sensor commands, Grip sensing capabilities, Data processing, examples.

REFERENCE

1. Mikell P. Groover, Mitchell Weiss, Roger N. Nagel and Nicholas G. Odrey, 'Industrial
Robotics Technology, Programming and Applications', Mc Graw Hill Book company,
1986
2. Bernard Hodges, 'Industrial Robotics', Second Edition, Jaico Publishing House, 1993.

L T P C
MEC6506 ROBOT SENSORS 3 0 0 3

INTRODUCTION
An Introduction to sensors and Transducers, History and definitions, Smart Sensing, AI sensing,
Need of sensors in Robotics.

SENSORS IN ROBOTICS
Position sensors - optical, non-optical, Velocity sensors, Accelerometers, Proximity Sensors -
Contact, non-contact, Range Sensing, touch and Slip Sensors, Force and Torque Sensors

MISCELLANEOUS SENSORS IN ROBOTICS

Different sensing variables - smell, Heat or Temperature, Humidity, Light, Speech or Voice
recognition Systems, Telepresence and related technologies.

VISION SENSORS IN ROBTICS

Robot Control through Vision sensors, Robot vision locating position, Robot guidance with
vision system, End effector camera Sensor.

MULTISENSOR CONTROLLED ROBOT ASSEMBLY

Control Computer, Vision Sensor modules, Software Structure, Vision Sensor software, Robot
programming, Handling, Gripper and Gripping methods, accuracy - A Case study.

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

REFERENCE

1. Paul W Chapman, "Smart Sensors", an Independent Learning Module Series, 1996

2. Richard D. Klafer, Thomas a. Chmielewski; Michael Negin, "Robotic Engineering - An
integrated approach", Prentice Hall of India Private Limited, 1989
3. John Iovice, "Robots, Androids and Animalrons", Mc Graw Hill, 1998
4. K.S. Fu, R.C. Gonzalez, C.S.G. Lee, "Robotics - Control Sensing, Vision and
Intelligence", Mc Graw Hill Internation Editions, 1987.

L T P C
MEC6507 ADVANCE ROBOTICS 3 0 0 3

UNIT-I
Fully v/s under actuated systems, non linear dynamics of the simple pendulum, Acrobot and cart-
pole controllability, partial feedback linearization(PFL), energy shaping

UNIT-II
Simple walking models- rimless wheels, compass gait, kneed compass gait, feedback control for
simple walking models. Simple running models-spring loaded inverted pendulum (SLIP),
Raibert hoppers, swimming and flapping flight.

UNIT-III
Function approximation and system identification, model systems with uncertainty, state
distribution dynamics and state estimation

UNIT-IV
Introduction to optimal control, double integrator and pendulum examples, dynamic
programming and value integration, grid world, quadratic regulator (Hamilton -Jacobi-
Bellman sufficiency), min-time control (pontryagin), open loop optimal control, direct and
indirect methods., trajectory stabilization, iterative linear quadratic regulator(ILQR).

UNIT-V
Motion planning: Dijkstra’s algorithm, A-star algorithm, randomized motion planning,
rapidly exploring randomized trees, and probabilistic road maps, feedback motion planning-
planning with funnels, linear quadratic regulator (LQR) trees,

REFERENCE

1. Strogatz steven.H, Non linear Dynamics and Chaos: with applications to physics,
biology, chemistry and Engineering, Boulder, CO: westview press, 2001
2. Slotine, Jean-Jacques and Weiping Li, Applied Nonlinear control, Upper Saddle River,
NJ, Prentice Hall, 1991
3. Fantoni, Isabelle and Rogelio Lozano, Non linear control for under actuated mechanical
systems, Newyork, NY, Springer verlag, 2002

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

4. Bertsekas, Dimitri , Dynamic Programming and Optimal control 3rd edition, vol I and II
Nausha, NH,Athena Scientific, 2007
5. Lavalle steven, Planning Algorithms, New york, NY, Cambridge University Press, 2006

L T P C
MEC6508 ROBOT STIMULATION
3 0 0 3

INTRODUCTION
Robotics systems, Robot movements, Quality of simulation, types of simulation, Robot
applications, Robotics simulation displays. Simulation notation, Auto lisp functions. Features,
Command syntax, writing design functions.

ROBOTIC PRINCIPLES
Straight lines, Angles and optimal moves circular interpolation, Robotic functions Geometrical
commands, Edit commands. Selecting robot views, standard Robot part, using the parts in a
simulation.

ROBOTICS SIMULATION
Simulation packages, Loading the simulation, Simulation editors, delay, Resume commands.
Slide commands, program flow control. Robot motion control, Analysis of robot elements,
Robotic linkages.

ROBOTIC MOTION
Solids construction, Solid animation. Types of motion, velocity and acceleration, Types of
simulation motion Harmonic motion, parabolic motion, uniform motion velocity and acceleration
analysis for robots.

ROBOT DESIGN
Linkages, Types, Transmission elements Flexible connectors, pulley-and-Belt drives, variable
speed transmission. Design of Robot for particular applications - A case study.

REFERENCE

1. Daniel L. Ryan, Robotics Simulation, CRC Press Inc., 1994

2. Richard D. Klafter, Thomas. A, Chri elewski, Michael Negin, Robotics Engineering an
Integrated Approach, Prentice Hall of India Pvt. Ltd., 1989
3. Mikell P. Groorer, Mitchell welss, Roger N. Nagel, Nicholas G.D.D. Ray, Industrial
Robotics, Technology programming and Applications, 1986
4. Francis N-Nagy Andras Siegler, Engineering foundation of Robotics, Prentice Hall Inc.,
1987
5. Bernard Hogcos, Industrial Robotics, Second Edition, Jaico Publishing house
6. Robert J. Schilling, Fundamentals of Robotics Analysis and Control, Prentice Hall of
India Pvt. Ltd., 2000

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

7. Tsuneo Yohikwa, Foundations of Robotics Analysis and Control, Prentice Hall of India
Pvt. Ltd., 2001
8. John J. Craig, Introduction to Robotics Mechanics and Control, Second Edition, Addison
Wesly Longman Inc. International Student edition, 1999
9. Bijay K. Ghosh, Ning XI, T.J. Tarn, Control in Robotics and Automation Sensor - Based
ingegration, Academic Press, 1999
10. Carl D. crane III and Joseph Duffy, Kinematic Analysis of Robot manipulation,
Cambridge University press, 1998

ADVANCED KINEMATICS L T P C
MEC6509
3 0 0 3

UNIT-I
Kinemtic Analysis of plane mechanism: Analytical method of kinematic analysis of four bar
mechanism. Acceleration analysis of complex mechanisms by auxiliary point method, good
man’s indirect method.

UNIT-II
Kinematic synthesis of linkages: Number synthesis, associated linkage or equivalent linkage
concept, dimensional synthesis by analytical and graphical methods.

UNIT-III
Kinematic analysis of four link RGGR spatial mechanism, D-H parameters, Transformations
matrix method for position velocity and acceleration analysis of special mechanisms.

UNIT-IV
Cams: Analysis of follower motions, analytical cam design.

UNIT-V
Kinematic analysis of two-degree freedom of Robot arm.

REFERENCES

1. Amitabh Ghosh and Ashok Kumar Mallik, Theory of mechanism and Machines,
Affiliated East-West Press Pvt. Ltd., New Delhi, 1998.
2. Artur, G. Erdman and George. N. Sandor., Mechanism design: Analysis and Synthesis,
Vol-1 Prentice Hall of India, 1984.
3. Joseph Edward. Shigley and J. Joseph Uicker, Theory of Mechanisms and Machines,
Mc.Graw-Hill Company, 1995.

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COMPUTER AIDED MECHANICAL DESIGN AND L T P C

MEC6510 ANALYSIS
3 0 0 3

UNIT-I
Design of pressure Vessels: Introduction and constructional features of pressure vessels, stresses
in pressure vessels, shrink fit stresses in built up cyliners, autofrettage of thick cylinders, thermal
stresses and their significance.

UNIT-II
Stresses in flat plates: Introduction, Bending of plate in one direction, Bending of plate in two
perpendicular directions, Thermal stresses in plates, Bending of circular plates of constant
thickness, Bending of uniformly loaded plates of constant thickness.

UNIT-III
Fracture Mechanics: Introduction, Modes of fracture failure Griffith Analysis, Energy release
rate, Energy
release rate of DCB specimen; Stress Intensity Factor: SIF’s for edge and centre line crack,
Fracture toughness, Elastic plastic analysis through J-integral method: Relevance and scope,
Definition of J-integral, Path independence, stress strain relation, Strain Energy Release Rate Vs
J-integral.

UNIT-IV
Eigen Value Problems: Properties of Eigen values and Eigen Vectors, Torsional, Longitudinal
vibration, lateral vibration, Sturm sequence. Subspace iteration and Lanczo’s method,
Component mode synthesis, Eigen value problems applied to stepped beams and bars.

UNIT-V
Dynamic Analysis: Direct integration method, Central difference method, Wilson-θ method,
Newmark method, Mode superposition, Single degree of freedom system response, Multi degree
of freedom system response, Rayleigh damping, Condition for stability.

REFERENCE

1. John, V. Harvey, Pressure Vessel Design: Nuclear and Chemical Applications, Affiliated
East West Press Pvt. Ltd., 1969.
2. Prasanth Kumar, Elements of Fracture Mechanics, Wheeler Publishing, New Delhi-1999.
3. V. Rammurti, Computer Aided Mechanical Design and Analysis, Tata Mc Graw Hill-
1992.
4. Bathe, J., Finite Element Procedures, Prentice Hall of India-1996.

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

L T P C
MEC6511 ARTIFICIAL INTELLIGENCE AND EXPERT
SYSTEMS 3 0 0 3

UNIT-I
Artificial Intelligence: Definition, Study of AI techniques, problems and Problems space, AI
characteristics, Heuristics.
Problem solving Methods: Forward and backward reasoning, problem trees, problem graph,
hill climbing, search method, problem reduction, constraint satisfaction, means and analysis,
game playing, mini max algorithms, alphabetic heuristics.

UNIT-II
Computer Vision: Perception, early processing, representation and recognition of scenes,
Guzman’s algorithms of spurting objects in a scene, Waltz algorithm.

UNIT-III
Neural Language understanding problems, syntactic analysis, semantic analysis, augmented
transition networks.
UNIT-IV
Knowledge representation (Logic): Representing facts in logic predicate logic, resolution,
unification, question answering, mathematical theorem proving.
Knowledge representation (Structured): Declarative representation, Semantic nets, procedural
representation.
UNIT-V
Learning: Learning as induction, failure drive learning, learning by teaching, learning
through examples (Winston’s program) skill acquisition.
REFERENCE

1 Elaine Rich, Artificial Intelligence, Mc Graw Hill, 1985.

2 Nilson, Principles of Artificial Intelligence.
4. Winston, The Psychology of Computer.
L T P C
MEC6512 PROGRAMMING METHODOLOGY AND DATA
STRUCTURES 3 0 0 3

UNIT I
Programming Methodology: Introduction, Algorithm, Data Flow Diagrams, Decision Tree,
Decision Table and Life Cycles of Project Development.

UNIT II
Programming in ‘C’: Data types & Memory size, Expressions, Statements, Operators, Control
flows, Arrays,

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

Pointers, Structures, Functions, Dynamic Memory Allocation and Simple programs in

Mechanical Engineering.

UNIT III
Sorting and Searching Techniques: Selection sort, Quick sort, Radix sort, Heap sort. Linear
search, Binary search trees and Applications in Mechanical Engineering.

UNIT IV
Data Structures: Classification of Data Structures, Definitions of Linked Lists, Double Linked
Lists, Stacks and Queues. Operations and Implementations of Stack, Queues and Linked List.
General and Mechanical Engineering Applications

UNIT V
Advanced Data Structures: Tree, Basic Terminology, Binary Trees, Operations on Binary
tree, Tree traversals, Graph, Graph representation Adjacency matrix, Adjacency Lists and
Applications.

REFERENCE

1. G.Michael Schneider, Steven C.Bruell, “Concepts in Data Structures and Software

2. Development”, Jaico Publishing House,2002
3. Kernighan B.W, Ritchie D.M, “The C Programming Language”, 2nd Edition, Prentice-
Hall of India, 2003
4. Ellis Horowitz, Sartaj Sahni, “Fundamentls of Data Structures”, Galgotia, 1999
5. Kruse RL, Bruce RL, Cloris Lt, “Data Structures and Program Design in C”, PHI, 1991.
6. Trembly and Sorenson, “An Introduction to Data Structures with application”, McGraw
Hill, 1984.

L T P C
MEC6513 EXPERIMENTAL TECHNIQUES AND DATA 0
ANALYSIS 3 0 3

UNIT-I
Measurement of Cutting Forces: Strain gauge and piezoelectric transducers and their
characteristics. Dynamometer construction, Bridge circuits. Instrumentation and calibration.
Displacement and strain measurements by photoelasticity. Holography, interferometer, Moir
techniques, strain gauge rosettes.

UNIT-II
Temperature Measurement: Circuits and instrumentation for different transducers viz,
bimetallic, expanding fluid, electrical resistance, thermister, thermocouples, pyrometers.
Flow Measurement : Transducers for flow measurements of Non-compressible and compressible
fluids. Obstruction and drag methods. Vortex shredding flow meters. Ultrasonic, Laser Dopler
and Hotwire anemometer. Flow visualization techniques, Shadow graphs, Schlieren
photography. Interferometer.

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

UNIT-III
Metallurgical Studies: Optical and electron microscopy, X-Ray diffraction, Bragg’s Law and its
application for studying crystal structure and residual stresses. Electron spectroscopy, electron
microprobe. Surface Measurements: Micro hardness, roughness, accuracy of dimensions and
forms. 3-D co-ordinate measuring machines.

UNIT-IV
Experiment design & data analysis: Statistical methods, Randomised block design, Latin and
orthogonal squares, factorial design. Replication and randomization.
Data Analysis: Deterministic and random data, uncertainty analysis, tests for significance: Chi-
square, student’s ‘t’ test. Regression modeling, direct and interaction effects. ANOVA, F-test.
Time Series analysis, Autocorrelation and autoregressive modeling.
UNIT-V
Taguchi Methods: Experiment design and planning with Orthogonal arrays and linear graphs.
Additive cause effect model. Optimization of response level. Identification of Design and noise
factors. Performance evaluation and Optimization by signal to noise ratios. Concept of loss
function and its application.

REFERENCE

1. Holman, J.P.: Experimental Methods for Engineers, McGraw Hill Int., New York, 1994.
2. Venkatesh, V.C., and Chandrasekharan, Experimental Methods in Metal Cutting,
Prentice Hall of India, Delhi.
3. Davis, O.V.; The Design and Analysis of Industrial Experiments, Longman, London.
4. Box and Jenkins; Time Series analysis, Forecasting and control, Holden Day,
Sanfrancisco
5. Dove and Adams, Experimental stress analysis and motion measurement, Prentice Hall of
India, Delhi.
6. Tapan P. Bagchi, Taguchi Methods Explained, Prentice Hall of India, Delhi.

L T P C
MEC6514 RAPID PROTOTYPING PRINCIPLES AND 0
APPLICATIONS 3 0 3

UNIT - I
Introduction: Prototyping fundamentals, Historical development, Fundamentals of Rapid
Prototyping, Advantages and Limitations of Rapid Prototyping, Commonly used Terms,
Classification of RP process, Rapid Prototyping Process Chain: Fundamental Automated
Processes, Process Chain.

UNIT - II
Liquid-based Rapid Prototyping Systems: Stereo lithography Apparatus (SLA): Models and
specifications, Process, working principle, photopolymers, photo polymerization, Layering
technology, laser and laser scanning, Applications, Advantages and Disadvantages, Case
studies. Solid ground curing (SGC): Models and specifications, Process, working principle,
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KALASALINGAM UNIVERSITY
M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

Applications, Advantages and Disadvantages, Case studies Solid-based Rapid Prototyping

Systems: Laminated Object Manufacturing (LOM): Models and specifications, Process,
working principle, Applications, Advantages and Disadvantages, Case studies. Fused Deposition
Modeling (FDM): Models and specifications, Process, working principle, Applications,
Advantages and Disadvantages, Case studies.

UNIT - III
Powder Based Rapid Prototyping Systems: Selective laser sintering (SLS): Models and
specifications, Process, working principle, Applications, Advantages and Disadvantages, Case
studies. Three dimensional Printing (3DP): Models and specifications, Process, working
principle, Applications, Advantages and Disadvantages, Case studies. Rapid Tooling:
Introduction to Rapid Tooling (RT), Conventional Tooling Vs RT, Need for RT. Rapid Tooling ,
Classification: Indirect Rapid Tooling Methods: Spray Metal Deposition, RTV Epoxy Tools,
Ceramic tools, Investment Casting, Spin Casting, Die casting, Sand Casting, 3D Keltool
process. Direct Rapid Tooling: Direct AIM, LOM Tools, DTM Rapid Tool Process, EOS Direct
Tool Process and Direct Metal Tooling using 3DP.

UNIT - IV
Rapid Prototyping Data Formats: STL Format, STL File Problems, Consequence of Building
Valid and Invalid Tessellated Models, STL file Repairs: Generic Solution, Other Translators,
Newly Proposed Formats. Rapid Prototyping Software’s: Features of various RP software’s like
Magics, Mimics, Solid View, View Expert, 3 D View, Velocity 2, Rhino, STL View 3 Data
Expert and 3 D doctor.

UNIT -V
RP Applications: Application - Material Relationship, Application in Design, Application in
Engineering, Analysis and Planning, Aerospace Industry, Automotive Industry, Jewelry
Industry, Coin Industry, GIS application, Arts and Architecture. RP Medical and
Bioengineering Applications: Planning and simulation of complex surgery, Customised Implants
& Prosthesis, Design and Production of Medical Devices, Forensic Science and Anthropology,
Visulization of Biomolecules.

REFERENCE

1. Rapid prototyping: Principles and Applications - Chua C.K., Leong K.F. and LIM C.S,
World Scientific publications , Third Edition, 2010.
2. Rapid Manufacturing - D.T. Pham and S.S. Dimov, Springer , 2001
3. Wholers Report 2000 - Terry Wohlers, Wohlers Associates, 2000
4. Rapid Prototyping & Manufacturing - Paul F.Jacobs, ASME Press, 1996.

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

L T P C
MEC6005 RESEARCH METHODOLOGY
3 0 0 3
[Common for M.Tech (CAD/CAM) and M.Tech (Energy Engineering)]

INRODUCTION
Observation of research- motivation - types of research - approaches - significance -research
methods versus methodology - research process - criteria of good research -formal science and
empirical science - logic of scientific method - hypothetic deductive method - models - scientific
attitude.

LOGICAL APPROACH
Logical approach - soft system approach - creative approach - development of creativity -
group problem solving techniques for idea generation - approaches to management research
problem - investigation of idea by an experienced researcher - pilot study.

EXPERIMENTAL RESEARCH
Experimental research- principles of experiment - laboratory experiments - experimental designs
- quasi - experimental designs - action research - validity and reliability of experiments and
quasi-experiments - sources of invalidity of experiments and quasi -experiments - choice of
experimental design.

PROBLEM IDENTIFICATION
Exploration for problem identification - hypothesis generation - formulation of the problem -
heuristics and simulation - heuristic optimization- simulation modeling - measurement design-
primary types of measurement scales - errors in measurement- validity and reliability in
measurement - qualitative research methods.

PRIMARY DATA COLLECTION METHODS

Primary data collection methods - sources of secondary data - non-sampling errors -validity and
reliability of data collection procedures - data preparation- exploratory data analysis – statistical
estimation - hypothesis testing - Univariate analysis - logic - identification of appropriate test-
parametric tests - non-parametric tests - Bivariate analysis and hypothesis testing.

ANALYSIS OF EXPERIMENTS
Analysis of experiments data - analysis of single factor experiment - Latin square design
randomized 2x2 factorial designs - multivariate analysis of data - dependence and
interdependence analysis - pre-writing consideration - style and composition of the report -
principles of thesis writing - format of reporting - briefing - rules for typing or word processing.

REFERENCES

1 Krishnaswamy, K.N. Appa Iyer Sivakumar. M.Mithran Management research

methodology: Integration of principles, methods and techniques’ Pearson education,
Delhi, 2006.
2 Panneer selvam .R., Research methodology, PHI India ,2004.

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KALASALINGAM UNIVERSITY
M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

3 Kothari.C.R., Research methodology,1990. New Age International (P) Ltd.,

Publishers, New Delhi

L T P C
MEC6011 ADVANCED STRENGTH OF MATERIALS
3 0 0 3

ELASICITY
Stress - strain relations and general equations of elasticity in Cartesian, polar and spherical
coordinates differential equations of equilibrium-compatibility - boundary conditions -
representation of three - dimensional stress of a tension generalized hook's law - St. Venant's
principle - plane stress - Airy's stress function.

SHEAR CENTRE
Location of shear centre for various sections - shear flows - stresses and deflections in beams
subjected to unsymmetrical loading - kern of a section.

CURVED FLEXIBLE MEMBERS

Circumference and radial stresses - deflections – curved beam with restrained ends - closed ring
subjected to concentrated load and uniform load - chain links and crane hooks.

STRESS IN FLAT AND CIRCULAR PLATES

Stresses in circular and rectangular plates due to various types of loading and end conditions
buckling of plates - Torsion of rectangular cross section - St. Venants theory - elastic membrane
analogy, Prandtl's stress function, torsional stress in hollow thin walled tubes.

STRESS DUE TO ROTARY SECTIONS

Radial and tangential stresses in solid disc and ring of uniform thickness and varying thickness
allowable speeds. Methods of computing contact stress-deflection of bodies in point and line
contact applications.

REFERENCE

1 Seely and Smith, Advanced Mechanics of Materials, John Wiley International Edn,
1952.
2 Rimoahwnko, Strength of Materials, Van Nostrand.
3 Timoshenko and Goodier, LTheory of Elasticity, McGraw Hill.
4 Wang, Applied Elasticity, McGraw Hill.
5 Cas, Strength of Materials, Edward Arnold, London 1957.
6 Robert D. Cook, Warren C. Young, Advanced Mechanics of Materials, Mc-millan
pub. Co., 1985.

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L T P C
MEC6012 ADVANCED OPTIMIZATION TECHNIQUES
3 0 0 3
[Common for M.Tech (CAD/CAM) and M.Tech (Energy Engineering)]

INTRODUCTION
Classification of optimization problems, Applications of optimization, concepts of design vector,
Design constraints, constrains surface, objective function surfaces and multi-level optimization.

OPTIMIZATION – I
Karmakars method of solving L.P.problem, Quadratic programming, non-linear programming –
unconstrained optimization techniques, Basics of constrained optimization.

OPTIMIZATION – II
Integer linear programming methods and application, Introduction to integer non-linear
programming, Basics of geometric programming.

OPTIMIZATION – III
Multi-objective optimization methods and application, Formulation of problems – Separable
programming and stochastic programming.

OPTIMIZATION – IV
Applications of Soft Computing Techniques – GA, SAA, Tabu search, Ants Colony Algorithm,
ANN, Fuzzy Systems, PSO algorithm and other Meta-Heuristics.

REFERENCE

1. Singiresu S.Rao, “Engineering optimization – Theory and practices”, John Wiley and
Sons, 1996.
2. Ravindran – Phillips –Solberg, “Operations Research – Principles and Practice”, John
Wiley and Sons, 1987.
3. Fredrick S.Hillier and G.J.Liberman, “Introduction to Operations Research”, McGraw
Hill Inc. 1995.

DESIGN OF CELLULAR MANUFACTURING L T P C

MEC6017
SYSTEM 3 0 0 3

INTRODUCTION
Introduction to Group Technology, Limitations of traditional manufacturing systems,
characteristics and design of groups, benefits of GT and issues in GT.

CMS PLANNING AND DESIGN

Problems in GT/CMS - Design of CMS - Models, traditional approaches and non-traditional
approaches - Genetic Algorithms, Simulated Annealing, Neural networks.

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M.TECH ROBOTICS AND AUTOMATION REGULATION 2011

IMPLEMENTATION OF GT/CMS
Inter and Intra cell layout, cost and non-cost based models, establishing a team approach,
Managerial structure and groups, batch sequencing and sizing, life cycle issues in GT/CMS.

PERFORMANCE MEASUREMENT AND CONTROL

Measuring CMS performance - Parametric analysis - PBC in GT/CMS, cell loading, GT and
MRP - framework.

ECONOMICS OF GT/CMS
Conventional Vs G.T- use of computer models in GT/CMS, Human aspects of GT/CMS – case
studies.

REFERENCE
1. Burbidge, J.L. Group “Technology in Engineering Industry ", Mechanical Engineering
pub. London, 1979.
2. Askin, R.G. and Vakharia, A.J., G.T " Planning and Operation, in The automated factory-
Hand Book: Technology and Management ", Cleland, D.I. and Bidananda, B (Eds), TAB
Books, NY, 1991.
3. Irani, S.A. " Cellular Manufacturing Systems ", Hand Book.
4. Kamrani, A.K, Parsaei, H.R and Liles, D.H. (Eds), " planning, design and analysis of
cellular manufacturing systems ", Elsevier, 1995.

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