PROGRAM

M. Tech.
Robotics and Automation

Faculty of Engineering

Revised in June 2016

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 TABLE OF CONTENTS

PROGRAM OUTCOMES 3
PROGRAM SPECIFIC OUTCOMES 3
CURRICULM STRUCTURE 4
SYLLABUS AND COURSE OUTCOMES 6
EVALUATION SCHEME AND GEADING SYSTEM 31

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PROGRAM OUTCOMES

PO1: An ability to independently carry out research /investigation and development

work to solve practical problems.
PO2: An ability to write and present a substantial technical report/document.
PO3: Students should be able to demonstrate a degree of mastery over the area as per
the specialization of the program. The mastery should be at a level higher than the
requirements in the appropriate bachelor program.

PROGRAM SPECIFIC OUTCOMES

PSO1: To master the state of the art robotic and automation technologies.
PSO2: To identify the existence of the real-life engineering problems and carving the
best solution using various technologies of robotics and automation.
PSO3: To secure a relevant job/research position in industries/research institutes
having a core focus on robotics/automation technologies.

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CURRICULUM STRUCTURE

Semester 1

Course Course Credits

Course Title
Code Type# L T L Total
16MA623 FC Mathematics for Robotics and Automation 3 0 0 3
16RA601 FC Embedded System Design 3 0 1 4
16CI622 FC Digital Control Systems 3 0 0 3
19RA611 SC Introduction to Robotics 2 1 1 4
E Elective - I 3 0 1 4
16HU601 HU Cultural Education* Pass/Fail
Total Credits 18

Course Course Credits

Type# Elective – 1 Courses
Code L T L Total
Computer Programming Including
16RA701 E 2 0 2 4
Python and Embedded C
16RA702 E Modelling Mechanical and Electrical Systems 3 0 1 4

Semester 2

Course Course Credits

Course Title
Code Type# L T L Total
16MA622 FC Probability and Statistics 3 0 0 3
16WN604 FC Design and Analysis of Algorithms 3 0 1 4
16RA613 SC Mobile and Autonomous Robots 3 0 1 4
E Elective - II 3 0 1 4
16RA612 SC Digital Image Processing 3 0 1 4
16EN600 HU Technical Writing* Pass/Fail
Total Credits 19

Course Course Credits

Elective – II Courses
Code Type# L T L Total
16RA703 E Industrial Automation I 2 0 2 4
16RA704 E Machine Learning 3 0 1 4

Semester 3

Course Course Credits

Course Title
Code Type# L T L Total
E Elective – III 3 0 0 3
E Elective – IV 3 0 0 3

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 16RA798 SC Dissertation 8
Total Credits 14
*Non-credit courses # FC – Foundation Core, SC – Subject Core
Course Course Elective – III & IV Courses Credits
Code Type# Stream 1: Career oriented L T L Total
16RA711 E Industrial Automation – II 2 0 1 3
16CI624 E Process Control and Instrumentation 3 0 0 3
16RA712 E Advanced Process Control 3 0 0 3
16RA713 E FPGA based System Design 3 0 0 3
16RA714 E Embedded Real Time Systems 3 0 0 3
16RA715 E Robot Simulation and Offline Programming 3 0 0 3
16RA716 E Advanced Embedded System Design 3 0 0 3

Course Course Elective – 2 & 3 Courses Credits

Code Type# Stream 2: Research Focus L T L Total
16RA721 E Humanoid Robotics 3 0 0 3
16RA722 E Swarm Intelligence 3 0 0 3
16RA723 E Behavioral Robotics 3 0 0 3
16RA724 E Frontiers of Biomechanics 3 0 0 3
16MA702 E Optimization Theory 3 0 0 3
16RA725 E Haptic Interfaces 2 0 1 3
16RA726 E Innovating in Technology 3 0 0 3
16RA727 E Measuring User Interface Quality 3 0 0 3
Design for People: Principles and
16RA728 E 3 0 0 3
Practices of Human Centered Design

Course Course Elective – 2 & 3 Courses Credits

Code Type# Stream 2: Software Focus L T L Total
16RA731 E Advanced Perception for Robotics and HCI 3 0 0 3
16CS701 E Computational Intelligence 3 0 0 3
16RA732 E Machine Vision 3 0 0 3
16RA733 E Advanced AI for Robotics 3 0 0 3
16RA734 E Virtual Reality and Applications 3 0 0 3
16RA735 E Non-Linear Control Theory 3 0 0 3
16RA736 E Experimental Haptics 3 0 0 3

Semester 4

Course Course
Type# Course Title Credits
Code
16RA799 P Dissertation 14

Total Credits: 65

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 SYLLABUS AND COURSE OUTCOMES

16MA623 MATHEMATICS FOR ROBOTICS AND AUTOMATION 3-0-0-3

Linear Algebra: Review of Matrices: Geometry of linear equations, Vector spaces and
subspaces, linear independence, basis and dimensions, linear transformations, applications
of linear transformations, inner product space, orthogonality, Gram Schmidt
orthogonalization process, projections and least square applications, eigen values and eigen
vectors. Ordinary Differential Equations and applications of integration: Separable first order
differential equations, exact first order differential equations, applications of differential
equations, Linear homogeneous differential equations with constant coefficients, method of
undetermined coefficients, Variation of Parameters, techniques and applications of
integration. Complex numbers: Different ways of representing complex numbers, arithmetic
operations on complex numbers. Linear Programming and Optimization: Formulation of
Linear programming problem, Graphical method of Linear programming problems, Simplex
method, Big M. Method, Transportation Models, Assignment Models.

TEXT BOOKS/REFERENCES:

[1 P.C. Tulsian and Vishal Pandey, "Quantitative Techniques", Pearson Education.

[2 Ronald L. Rardin, "Optimization in Operations Research".
[3 Singiresu S. Rao, "Engineering Optimization Theory and Practice".
[4 Stephen D. Fisher, "Complex Variables".
[5 Emil G. Milewski , "The Complex Variables Problem Solver".
[6 Kreyszig, "Advanced Engineering Mathematics".
[7 Howard Anton, "Elementary Linear Algebra with Applications".
[8 Bernard Kolman and David R. Hill, "Introductory Linear Algebra with Applications".
[9 David C. Lay, "Linear Algebra and its Applications", Pearson Education.
[10 Thomas and Finney, "Calculus".

Course outcome:

CO1: To get introduced to linear algebra, differential equations

CO2: To understand the role of Linear algebra and differential equation in
robotics applications
CO3: To provide conceptual foundations for careers in research, teaching or industrial
work in which advanced mathematics is used in an essential way

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16RA601 EMBEDDED SYSTEMS DESIGN 3-0-1-4

Microcontroller fundamentals: ARM ASM programming and basic of C; IO Interfacing: LED

and Switch; Design and Development Process: Architecture, Microarchitecture, Design,
Implementation, Verification and Validation; Development Tools: Block Diagrams, Flow
Charts, Call Graphs, Dataflow Graphs, Finite State Machines; The Parallel Interface: GPIO;
The Serial Interface: UART; PLL programming; Timer: SysTick; Fixed Point; Software: Structs,
Stacks and Recursion; Device Driver: Interfacing with an Hitachi HD44780 display; IO
Synchronization; Interrupts; DAC: Music Synthesis and Music Playback; ADC: Real world
interfacing and Data Acquisition.
Labs include prototypes of actual embedded systems, e.g., Traffic Light Controller (FSM), LCD
Device Driver (Hitachi HD44780), Digital Piano (DAC, Interrupts), Digital Vernier Caliper (ADC,
Interrupts, LCD), Distributed Data Acquisition (Interrupts, ADC, LCD, UART) accomplished using
Arduino based system. Basics of system booting and Boot Loaders. Concurrency, Timeouts,
Inter Process Communication. Capstone Design Project, A popular video game, e.g., Space
Invaders, Connect-4, Pipe Dream, etc.

TEXT BOOKS/REFERENCES:

[1 Jonathan Valvano, “Embedded Systems: Introduction to ARM® CortexTM-

M Microcontrollers”, Fourth Edition, Create Space Publishing, 2013.
[2 Michael Margolis, “Arduino Cookbook”, O'Reilly Media, 2014
[3 Massimo Banzi and Michael Shiloh,“Getting Started With Arduino”,Third Edition, 2014.
[4 Edward A. Lee, and Sanjit A. Seshia, “Introduction to Embedded Systems- A
CyberPhysical Systems Approach”, Second Edition, 2015.
[5 Jeff C. Jensen, Edward A. Lee, and Sanjit A. Seshia, “An Introductory Lab in
Embedded and Cyber-Physical Systems”, First Edition, 2015.

Course outcome:

CO1: To study how an embedded system could be used to solve real-world problems
especially related to Robotics and Automation technologies
CO2: To understand how to interface input and output devices to ARM board
CO3: To study ARM programming

16CI622 DIGITAL CONTROL SYSTEMS 3-0-0-3

Review of Z transforms. Pulse transfer function. Digital control system: sampling, quantization,
data reconstruction and filtering of sampled signals. Z transform analysis of closed loop and
open loop systems, multi rate Z transform. Stability analysis of closed loop systems in the z
plane: root loci, frequency domain analysis, stability tests. Discrete equivalents. Digital
controller design for SISO systems: design based on root locus method in the z plane, design
based on frequency response method, design of the lag compensator, lead compensator, lag
lead compensator, design of PID controller based on frequency response

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method, direct design, method of Ragazzini. Controllability, observability, control law design,
decoupling by state variable feedback, effect of sampling period. Estimator/Observer design:
full order observers, reduced order observers, regulator design.

TEXT BOOKS/REFERENCES:

[1 Gene F. Franklin, J. David Powell, Michael Workman, “Digital Control of Dynamic

Systems”, Pearson, 2000.
[2 Loan Dore Landau, Gianluca Zito, “Digital Control Systems: Design, Identification
and Implementation”, Springer, 2006.
[3 K. Ogata, “Discrete-Time Control Systems”, Pearson Education, 2011.
[4 M. Sami Fadali, Antonio Visioli, “Digital Control Engineering: Analysis and Design”,
Elsevier, 2013.
[5 M. Gopal, “Digital Control and State Variable Methods”, Tata McGraw-Hill, 2006.
[6 C.L. Philips, Troy Nagle, Aranya Chakrabortty, “Digital Control System Analysis and
Design”, Prentice-Hall, 2014.

Course outcome:

CO1: To provide a thorough understanding of control systems

CO2: To understand control system design techniques, their limitations, and benefits
CO3: To provide knowledge on designing a control system for a particular application
with necessary simulations
CO4: To provide knowledge on analyzing a control system

16RA611 INTRODUCTION TO ROBOTICS 2-1-1-4

Robot types, trends, applications, classification - Anatomy and Architecture of Manipulators –

Transformations - Robot Kinematics: Forward and Inverse - Manipulator Jacobian - Force
relations - Dynamics: Forward and Inverse – Feedback Control: Position and force - Trajectory
planning in Joint space and Cartesian space Programming of ABB Industrial Robots (RAPID
Language).

TEXT BOOKS/REFERENCES:

[1 John J. Craig, "Introduction to Robot Mechanics".

[2 Reza N. Jazar, “Theory of Applied Robotics Kinematics, Dynamics and control”
[3 Peter Corke, "Robotics, Vision, and Control: Fundamental Algorithms in
MATLAB", Springer, 2011.
[4 S K Saha, “Introduction to Robotics”

Course outcome:

CO1: To understand about Industrial robot architecture

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CO2: To gain knowledge on kinematic and dynamic modelling of serial chain manipulators
CO3: To understand the robot-control aspects
CO4: To study how to do programming and control ABB Industrial Manipulators

16RA701 COMPUTER PROGRAMMING INCLUDING PYTHON AND EMBEDDED C 2-0-2-4

Programming in C, Basic Computer Organization and Architecture, Build and Compilation

process, Debugging concepts. Data Types and Variables, Input/ Output implementation and
usage. Control flow, Modular Programming with functions, Stack Frames and Activation
Records. Arrays, Pointers, Strings, Structures and Implementation of Structures. Memory,
Dynamic Memory Allocation, Stacks and Heap. Recursion. Program Runtime Analysis, Big-Oh
Notation. Exception Handling, Watchdog and Fault Tolerance. Data structures such as maps,
multi-maps, lists, etc. Assembly Language Programming. Programming in Python.
Programming in Embedded C. Significant labs, e.g., implementation of a Spell Checker with a
real dictionary, implementation of a data structure such as a Vector/Set, development of a
Customer Relationship Management system, etc. Capstone Design Project, Game of Life, Data
Compression, etc.

TEXT BOOKS/REFERENCES:

[1 Brian Kernighan and Dennis Ritchie, “The C Programming Language”, Second Edition,
1978.
[2 K. N. King, “C Programming: A Modern Approach”, Second Edition, 2008.
[3 http://en.wikibooks.org/wiki/C_Programming
[4 http://www.tutorialspoint.com/cprogramming/

Course Outcomes:

CO1: To increase the programming skills on Python and Embedded C through hands-on
coding sessions.
CO2: To provide insight on program debugging and bug fixing

16RA702 MODELLING MECHANICAL AND ELECTRICAL SYSTEMS 3-0-1-4

Introduction - Units and Dimensions, Laws of Mechanics, Forces: Coplanar forces, Collinear
forces, Concurrent forces, Parallel forces - Resolution and composition of forces - Moment
and Couple - Varignon's theorem - Equilibrium of rigid bodies - Supports and reactions - Free
body diagrams - Centre of gravity. Mechanisms – static force analysis Links, Types of links -
Joints Types of joints - Degrees of freedom - Kinematic pair - Kinematic chain, Types -
Kinematic inversions - Velocity and acceleration in mechanisms. Moment of inertia. -
dynamic force analysis. Power transmissions: Rope, Belt & Pulley, Chain & sprocket, Gears.
Modeling of Electrical Components - Kirchoff’s Laws - Vector and Matrix Representations in
Kirchoff’s Laws - Mechanical/Electrical Analogies.

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TEXT BOOKS/REFERENCES:

[1 Engineering Mechanics (In SI Units) by S. Timoshenko, D.H. Young, J.V. Rao.

[2 Theory of Machines and Mechanisms 4th Edition by John Uicker, Gordon Pennock,
Joseph Shigley
[3 Theory of Machines by R. S. Khurmi, J.K. Gupta

Course Outcomes:

CO1: To give an overview of the importance in mathematically modelling systems/problems

CO2: To understand the necessary concepts to model real world mechanical and
electrical systems

16MA622 PROBABILITY AND STATISTICS 3-0-0-3

Probability: Introduction to data analysis and statistics, Algebra of sets, Counting, Axioms of
probability, Conditional probability, Law of Total Probability and Bayes' rule, Independence
of events, Random variables; Types of data, Descriptive statistics (measures of central
tendency and variation), Graphical representation of data, Distribution functions,
Expectation, variance, and moments of discrete & continuous random variables, Functions
of random variables, Discrete Uniform, Bernoulli, Binomial, Poisson, and Geometric
distributions, Continuous Uniform, Normal, and Exponential random variables;
Measurement errors - accuracy and precision; Framing hypothesis statements (practical
statement vs. statistical statement), Concept of statistical hypothesis tests; Type I Error,
Type II Error, and p-value, Point estimation vs. interval estimation, Test of single mean, Test
of comparison of two means (independent and paired t-tests), Test of single variance, Test
of comparison of two variances, Test of comparison of more than two means (ANOVA),
Test of independence of two discrete random variables (Chi-square), Correlation and
covariance, Concept of Linear Regression.

TEXT BOOKS/REFERENCES:

[1 K.M. Ramachandran and Chris P. Tsokos, "Mathematical Statistics with Applications"

[2 Douglas C. Montgomery and George C. Runger, "Applied Statistics and Probability
for Engineers", 3rd Edition, John Wiley, 2008.

Course outcome:

CO1: To get a deep insight in to probability and statistics

CO2: To know how to do hypothesis testing
CO3: To use probability and statistics in real world robotics problems

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16WN604 DESIGN AND ANALYSIS OF ALGORITHMS 3-0-1-4

Algorithm Analysis: Methodologies for Analyzing Algorithms, Asymptotic Notation,

Recurrence Relations. Data Structures: Linear Data Structures (Stacks, Queues, Linked-Lists,
Vectors), Trees (Binary Search Trees, AVL trees, Red-Black trees, B-trees), Hash-Tables
(Dictionaries, Associative Arrays, Database Indexing, Caches, Sets) and Union-Find Structures.
Searching and Sorting (Insertion and Selection Sort, Quicksort, Mergesort, Heapsort, Bucket
Sort and Radix Sort), Comparison of sorting algorithms and lower bounds on sorting.
Fundamental Techniques: The Greedy Method, Divide and Conquer, Dynamic Programming.
Graph Algorithms: Elementary Algorithms, i.e., Breadth-first search, Depth-first search,
Topological sort, strongly connected components. Minimum Spanning Trees, Single-Source
Shortest Paths, All-Pairs Shortest Paths, Maximum Flow, Network Flow and Matching, Flows
and Cuts. Nondeterministic Polynomial Time Problems: P and NP, NP-Complete, NP-Hard,
Important NP-Complete/Hard Problems. Significant labs: Implementation of algorithms
using a structured or object-oriented programming language.

TEXT BOOKS/REFERENCES:

[1 T. H. Cormen, C. E. Leiserson, R. L. Rivest and C. Stein, "Introduction to Algorithms",

MIT Press, 2009, 3rd Edition
[2 S. Dasgupta, C. Papadimitriou and U. Vazirani, "Algorithms", McGraw-Hill, 2006
[3 J. Kleinberg and E. Tardos, "Algorithm Design", Addison Wesley, 2005
[4 R. Sedgewick and K. Wayne, "Algorithms", Addison Wesley, 2011, 4th Edition
[5 K. Mehlhorn and P. Sanders, "Data Structures and Algorithms: The Basic Toolbox",
Springer, 2008
[6 E. Lehman, T. Leighton and A. Meyer, "Mathematics for Computer Science", MIT
Press, 2010

Course Outcome:

CO1: To introduce to design principles and concepts for algorithm design

CO2: To have a mathematical foundation in the analysis of algorithms
CO3: To understand different algorithmic design strategies and to analyze the efficiency
of algorithms

16RA613 MOBILE AND AUTONOMOUS ROBOTS 3-0-1-4

Introduction, Types of Mobile Robots: Legged and Wheeled Mobile Robots, Kinematics
Models for Mobile Robots, Maneuverability, Workspace & Motion control, Sensors &
Actuators for Mobile Robots, Sizing and Torque Calculations, Design and implementation
of estimation algorithms for state estimation, Localization, Map-representation and Map
building, Map-based
localization scheme, Planning and Navigation: Dijkstra’s algorithm, A* algorithm, Potential
field method, wandering standpoint algorithm, DistBug algorithm etc., Mobile Robot

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Simulation systems, Mechanisms for negotiating with staircases and unstructured
environments. ROS

TEXT BOOKS/REFERENCES:

[1 R. Siegwart and Illah R. Nourbakhsh, “Introduction to Autonomous Mobile Robots”,

MIT Press, 2004.
[2 Thomas Braunl, “Embedded Robotics”, Second Edition, Springer, 2006.
[3 Siciliano andKhatib, “Handbook of Robotics”, Springer, 2008.
[4 WitoldJacak, “Intelligent Robotic Systems: Design Planning and Control”,
Kluwer Academic Publishers, 1999.

Course outcome:

CO1: To familiarize with the mobile robot classification

CO2: To gain knowledge on the kinematic modelling of wheeled robots
CO3: To gain knowledge on the architecture of a wheeled mobile robot
CO4: To have a deep insight in to the robot perception and navigation
CO5: To study how to perform robot simulations in ROS

16RA612 DIGITAL IMAGE PROCESSING 3-0-0-3

Two-Dimensional Signals and Systems: Two-dimensional convolution, 2D Discrete-Space

Fourier Transform, Inverse 2-D Fourier Transform, Fourier Transform of 2-D or Spatial
Convolution, Symmetry properties of Fourier Transform, Continuous-Space Fourier
Transform. Sampling in two dimensions: Sampling theorem, Change in Sample rate, Down
sampling, Ideal decimation, Up sampling, Ideal interpolation. Continuous Image
characterization: Psychophysical vision properties, Photometry, Colorimetry. Fundamentals
of Digital Image Processing: Image acquisition - Various modalities, Image sampling and
quantization, mathematical representation, Image reconstruction based on interpolation.
Gray level transformation, Histogram processing, Arithmetic and logic operations.
Transform and filtering: Intensity transformation and spatial filtering, filtering in frequency
domain, Image restoration and reconstruction, Binary image morphology. Smoothing and
sharpening filters, Line detection, Edge detection, Zero crossings of the second derivative.
DFT, smoothing in frequency domain filtering, Sharpening in frequency domain filtering.
Degradation model, noise models, restoration in spatial domain, restoration in frequency
domain. Estimation of degradation function, inverse filtering, Wiener filtering, constrained
least square filtering. Color Image Processing: Color Models, the RGB Color Model, the CMY
and CMYK Color Models, the HSI Color Model, Pseudo color image processing, Basics of
Full-Color Image Processing, Smoothing and Sharpening, Image Segmentation Based on
Color. Image Segmentation-Point, Line, and Edge Detection, Thresholding-Types Boundary
based and Region-Based Segmentation. Representation of Boundary Descriptors, Regional
Descriptors-Texture descriptors.

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TEXT BOOKS/REFERENCES:

[1] John W Woods, "Multidimensional Signal, Image and Video Processing and Coding",
Academic Press, 2006.
[2 Rafael C. Gonzalez and Richard E. Woods, “Digital Image Processing”, Third Edition,
Pearson Education, 2009.
[3 William K. Pratt, “Digital Image Processing”, John Wiley, New York, 2007.
[4 Kenneth R. Castleman, "Digital Image Processing", Prentice Hall, 1996.
[5 Gonzalez, Woods and Eddins, "Digital Image Processing using MATLAB", Prentice
Hall, 2004.

Course Outcomes:

CO1: To understand the fundamentals of digital image processing

CO2: To analyze image using various transforms
CO3: To understand various image enhancement, restoration and reconstruction techniques

16EN600 TECHNICAL WRITING P/F

Technical terms – Definitions – extended definitions – grammar checks – error detection –

punctuation – spelling and number rules – tone and style – pre-writing techniques – Online
and offline library resources – citing references – plagiarism – Graphical representation –
documentation styles – instruction manuals – information brochures – research papers –
proposals – reports (dissertation, project reports etc.)

TEXTBOOKS/REFERENCES:

[1 H.L. Hirsch, Essential Communication Strategies for Scientists, Engineers and

Technology Professionals, Second Edition, New York: IEEE Press, 2002.
[2 P.V. Anderson, Technical Communication: A Reader-Centered Approach, Sixth
Edition, Cengage Learning India Pvt. Ltd., New Delhi, 2008, (Reprint 2010).
[3 W.Jr. Strunk and E.B. White, The Elements of Style, New York. Alliyan & Bacon,

Course Outcomes:

CO1: To understand how to prepare technical reports, research proposals etc.

CO2: To understand the ethics to be followed during research and documentation
CO3: To get introduced to the documentation software LateX

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19RA701 INDUSTRIAL AUTOMATION I 2-0-2-4

Introduction to Automation, Introduction to Pneumatic System: Introduction to pneumatic

systems: advantages and limitations, applications, structure and signal flow of pneumatic
systems; pneumatic power pack: air generation and distribution, air reservoir, filter,
lubricator, pressure regulator, actuators, direction control valves, check valves, flow control
valves, pneumatic counter. Pneumatic Symbols. Pneumatic system design
Introduction to Hydraulic systems: advantages and limitations, physical principles of oil
hydraulics, hydraulic power pack, hydraulic fluids, filters, types of hydraulic pumps,
hydraulic actuators and accessories, accumulator, hydraulic valves: pressure control
valves, flow control valves. Hydraulic symbols. Hydraulic system design
Programmable Logic Controllers (PLCs): Introduction, Architecture of PLC, PLC networking,
programing and wiring, PLC installation, troubleshooting and maintenance, Design of HMI.

TEXT BOOKS/REFERENCES:

[1 Anthony Esposito, "Fluid Power with Applications", 7th ed., Pearson Publishers.
[2 Vedam Subrahmaniam, “Electric Drives (Concepts and Applications)”, Tata McGraw-
Hill, 2001.
[3 Nagrath I.J. and Kothari D.P., “Electrical Machines”, Tata McGraw-Hill, 1998.
[4 Pillai S.K. “A First Course on Electric Drives”, Wiley Eastern Limited, 1998.
[5 Groover M. P., "Industrial Robotics, Technology, Programming and Application",
McGraw Hill Book and Co., 2012.
[6 Siemens "PLC Handbook".
[7 Frank D. Petruzella, "Programming Logic Controllers", McGraw Hill Book Company
[8 Ries and Ries, "Programming Logic Controllers", PHI.
[9 Werner Deppert and Kurt Stoll, “Pneumatic Control”, VOGEL Buchverlag Wurzburg,
Germany.
[10 Majumdar S.R., “Pneumatic Systems Principles and Maintenance”, Tata McGraw
Hill, New Delhi.
[11 Peter Croser and Frank Ebel, "Pneumatics Basic Level TP 101" Festo Didactic GMBH
& Co, Germany.
[12 Hasebrink J.P. and Kobler R., “Fundamentals of Pneumatic Control Engineering”,
Festo Didactic GMBH & Co, Germany.
[13 Merkle D.,Schrader B. and Thomes M., "Hydraulics Basic Level TP 501" Festo
Didactic GMBH & Co, Germany.
[14 Peter Rohner, “Industrial Hydraulic Control” John Wiley and Sons, Brisbane.

Course Outcomes:

CO1: Introduce the requirement of Automation in Industries

CO2: To design pneumatic actuation system
CO3: To design hydraulic actuation system

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CO4: To design electric actuation system
CO5: To implement PLC control for a process

16RA704 MACHINE LEARNING 3-0-1-4

Supervised learning: Supervised learning setup, LMS, Logistic regression, Perceptron,

Exponential family, Generative learning algorithms, Gaussian discriminant analysis, Naive
Bayes, Support vector machines, Model selection and feature selection, Ensemble methods:
Bagging, boosting, Evaluating and debugging learning algorithms. Learning theory:
Bias/variance tradeoff, Union and Chernoff/Hoeffding bounds, VC dimension, Worst case
(online) learning, Practical advice on how to use learning algorithms. Unsupervised learning:
Clustering, K-means, EM, Mixture of Gaussians, Factor analysis, PCA (Principal components
analysis), ICA (Independent components analysis). Reinforcement learning and control:
MDPs, Bellman equations, Value iteration and policy iteration, Linear quadratic regulation
(LQR), LQG, Q-learning, Value function approximation, Policy search, Reinforce, POMDPs.

TEXT BOOKS/REFERENCES:

[1 Russell and Norvig, "Arti ficial Intelligence: A Modern Approach", Prentice Hall.
[2 http://www.stanford.edu/class/cs229/materials.html
[3 http://www.stanford.edu/class/cs221/handouts.html
[4 Christopher Bishop, "Pattern Recognition and Machine Learning", Springer, 2006.
[5 Richard Sutton and Andrew Barto, "Reinforcement Learning: An Introduction", MIT
Press, 1998.
[6 S. Thrun, W. Burgard and D. Fox, "Probabilistic Robotics", MIT Press, 2005.

Course Outcomes:

CO1: To have an overview of the supervised, unsupervised and reinforcement techniques

of machine learning
CO2: To understand the characteristics of machine learning, which enables them to apply
for real-world problems
CO3: To understand the underlying principles of neural networks and artificial intelligence

16RA711 INDUSTRIAL AUTOMATION II 3-0-0-3

Overview of MES (Manufacturing Execution Systems) including computer integrated

manufacturing (CIM) and computer integrated automation (CIA) and their integration into
manufacturing execution systems. Overview of the applications of robotic systems in
industrial automation. Recap of pneumatic and Hydraulic system design, Selection and
control of motors for an application, motor drives - Variable Frequency Drives and Servo
Drives. Supervisory Control and Data Acquisition: operation and use of SCADA commercial
packages, application of SCADA in controlling and monitoring the control of both local and

15
remote processes using standard communication protocols. Distributed Control Systems
in Automation: The theory and operation of DCS in large, medium and small automation
applications, current development. Robot programming- RAPID language, Robot
software-Pick Master, Robot studio. Project - Design and control of a process using PLC,
HMI, SCADA including sensors and actuators.

TEXT BOOKS/REFERENCES:

[1 Groover M. P., "Automation, Production Systems, and Computer-Integrated

Manufacturing", Third Edition, 2007.
[2 J. Craig, "Introduction to Robotics: Mechanics and Control", Third Edition, 2003.
[3 Jürgen Kletti, "Manufacturing Execution System - MES", 2007.
[4 Srinivas Medida, "Pocket Guide on Industrial Automation", First Edition, IDC
Technologies, 2008.

Course Outcomes:

CO1: To introduce to computer integrated manufacturing system

CO2: To get a deep knowledge on PLC and DCS
CO3: To give an idea on how a robotic system can be configured for a particular
automation task
CO4: To use SCADA for data acquisition and supervisory control of a process
CO5: To design automation solutions through case studies

16CI624 PROCESS CONTROL AND INSTRUMENTATION 3-0-0-3

Process Modeling: hierarchies. Theoretical models: transfer function, state space models,
and time series models. Development of empirical models from process data- chemical
reactor modeling. Feedback & feed forward control, cascade control, selective control loops,
ratio control, feed forward and ratio control. Multi-loop and multivariable control: process
interactions, singular value analysis. PID design, tuning, trouble shooting, tuning of multiloop
PID control systems. Decoupling control: strategies for reducing control loop interactions.
Instrumentation for process monitoring: codes and standards, preparation of P&I diagrams.
Model predictive control. Statistical process control, supervisory control, direct digital
control, distributed control, PC based automation. Programmable logic controllers:
organization, programming aspects, ladder programming, final control elements. SCADA in
process automation. Case studies.

TEXT BOOKS/ REFERENCES:

1. Dale E. Seborg, Duncan A. Mellichamp, Thomas F. Edgar and Francis J. Doyle “Process
Dynamics and Control”, John Wiley and Sons, 2010.

16
2. Ernest O. Doebelin, “Measurement Systems Application and Design”, McGraw Hill
International Editions, 2006.
3. Johnson D Curtis, “Process Control Instrumentation Technology”, Prentice Hall India, 2013.
4. Bob Connel, “Process Instrumentation Applications Manual”, McGraw Hill, 1996.

Course Outcomes:

CO1: To get a deep insight in to the process automation domain

CO2: To gain knowledge on process modelling
CO3: To study how to develop various control schemes for automating a process
CO4: To implement SCADA systems for control and data acquisition

16RA712 ADVANCED PROCESS CONTROL 3-0-0-3

Introduction: Review of basics of Process Control, Control objective and benefits, Control
system elements. Mathematical modeling and dynamic performance analysis process for
control: Basic Concepts in modeling, models from fundamental laws, empirical model
identification, dynamic performance analysis of first order, second order, multi-capacity
processes, Effect of Zeros and time delay. Multivariable Process control: Cascade control,
Ratio control, feedback-feedforward control, override control, selective control, modeling
of multivariable process, Design of Multivariable controllers. Model Based control:
Feedback-feedforward, delay compensation, Internal Model controller (IMC): Concept, IMC
design Procedure. MPC: General Principles, Model forms, DMC, SISO unconstrained DMC
Problem, controller tuning. Statistical Process Control (SPC): Concept, Design procedure.
Mini project: Design of Fuzzy-Logic based controller. Mini project: Design of Neural
Network based controller.

TEXT BOOKS/REFERENCES:

[1 Thomas E. Marlin, "Process Control", McGraw-Hill International Edition.

[2 Jose A. Romagnoli and Ahmet Palazoglu, "Introduction to Process Control", CRC
Taylor and Francis Group.
[3 Statistical Process Control –ISA.
[4 B.G. Liptak, "Handbook of Instrumentation - Process Control".
[5 Les A. Kane, “Handbook of Advanced Process Control Systems and Instrumentation”
Springer.

Course Outcome:

CO1: To provide deep insight to the applications of process control through case studies
CO2: To review and apply various control schemes for process control depending on the
requirement

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16RA713 FPGA BASED SYSTEM DESIGN 3-0-0-3

Introduction to ASICs, CMOS logic and ASIC library design: Types of ASICs - Design Flow CMOS
transistors, CMOS design rules - Combinational Logic Cell - Sequential logic cell – Data path
logic cell - transistors as resistors - transistor parasitic capacitance - Logical effort - Library cell
design - Library architecture. Programmable logic cells and I/O cells: Digital clock Managers-
Clock management- Regional clocks- Block RAM – Distributed RAM-Configurable Logic
Blocks-LUT based structures – Phase locked loops- Select I/O resources –Anti fuse - static
RAM - EPROM and EEPROM technology. Device Architecture: Spartan 6 -Vertex 4
architecture-Altera Cyclone and Quartus architectures. Design Entry and Testing: Verilog and
VHDL - logic synthesis - Types of simulation –Faults- Fault simulation - Boundary scan test
Automatic test pattern generation. Built-in self-test. – scan test. Floor Planning, Placement
and Routing: System partition - FPGA partitioning - partitioning methods - floor planning
placement - physical design flow - global routing - detailed routing - special routing - circuit
extraction - DRC.

TEXT BOOKS/REFERENCES:

[1 M.J.S. Smith, "Application Specific Integrated Circuits", Addison Wesley Longman

Inc., 1997.
[2 Wolf Wayne, "FPGA Based System Design", Pearson Education.
[3 Design Manuals of Altera, Xilinx and Actel.

Course Outcome:

CO1: To translate software applications to hardware logic for FPGA architecture

CO2: To design VHDL systems
CO3: To design architecture for high performance computing applications
CO4: To introduce to commercially available FPGA tools

16RA714 EMBEDDED REAL TIME SYSTEMS 3-0-0-3

This course looks at components, interfaces and methodologies for building systems. Specific
topics include microcontrollers, design, verification, hardware/software synchronization,
interfacing devices to the computer, timing diagrams, real-time operating systems, data
collection and processing, motor control, analog filters, digital filters, and real-time signal
processing. Topics include Computer Architecture review, Design of I/O Interfaces, Software
Design, Real Time Operating Systems, Multitasking (preemptive scheduling, resource sharing
and priority determination), Digital Signal Processing, High-Speed Interfacing, File system
management, Interfacing Robotic Components, High-Speed Networks, Robotic Systems.

Course Outcomes:

CO1: To introduce to various components and methodologies for building embedded systems

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CO2: To introduce to computer architecture
CO3: To understand the difference between generalized computing systems and
embedded systems
CO4: To introduce to the software design optimization

TEXT BOOKS/REFERENCES:

[1 Jonathan Valvano, “Embedded Systems: Real-Time Operating Systems for Arm

Cortex M Microcontrollers”, CreateSpace Publishing, 2012.
[2 Joseph Yiu, "The Definitive Guide to ARM® Cortex®-M3 and Cortex®-M4
Processors", Third Edition, Newnes, 2013.
[3 Martin, "The Designer's Guide to the Cortex-M Processor Family: A Tutorial
Approach", First Edition, Newnes, 2009.

16RA715 ROBOT SIMULATION AND OFFLINE PROGRAMMING 3-0-0-3

This course provides the student with a background in the programming and application of
industrial robots and general purpose synchronized multi-axis motion control. The topics
covered include safety rules and devices for working with or around industrial robots;
advantages, functions, components, operation and applications of industrial robots and end
effectors; the function, operation, storage and retrieval of robot programs and position
points; the use, function and operation of on-line programming, off-line programming,
teach pendants, operator stations, and digital inputs and outputs for industrial robots. Use a
PC and robot programming software for
various operations. Use the Cartesian coordinate system to command robot position and
program with World Coordinates and Tool Coordinates. Connect, configure, program
and operate a robot in conjunction with both servo-driven and non-servo-driven
conveyors. Use robot simulation software to design a work-cell. Use PLC Open motion
function blocks to implement a synchronized multi-axis motion application.
Troubleshoot a multi-axis motion system. Robot
Simulation using Gazebo and ROS.

Course Outcomes:

CO1: To introduce to the offline programming of robots – manipulators and mobile platforms
CO2: To design and simulate a robot work cell in an offline programming software
CO3: To control the internal axis and external axis of a robotic work-cell
CO4: To implement the concept of manipulator multi-axis motion system through offline
programming software

TEXT BOOKS/REFERENCES:

[1 MotoSim EG Basic Training Manual.

[2 MotoSim EG Advanced Training Manual.

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[3 MotoSim VRC Basic Training Manual.
[4 MotoSim VRC Advanced Training Manual.

16RA716 ADVANCED EMBEDDED SYSTEM DESIGN 3-0-0-3

Review of Computer Architecture, Logic Design, Electrical and Electronic Circuits. System
Design Process, Software Design Principles and Debugging Theory. ARM Cortex-M processor,
Programming in Assembly Language and C. OS Principles -- Threads, FIFO, Memory
Management. Hardware Software Synchronization, Timing, Interrupts. Timer, PLL, PWM,
Period and Frequency Measurement. Serial Interfacing -- RS232, USB, SSI, I2C. Analog
Interfacing -- Op Amps, Filters, DAC and ADC. Data Acquisition -- Discrete Calculus, Noise
Analysis, Transducers. Wired and wireless communication systems. System Level Design --
Design for Manufacturability, Power, Tolerance, Testability, Performance and Cost. PCB
Design.

TEXT BOOKS/REFERENCES

[1 Jonathan W. Valvano, "Embedded Systems: Real-Time Interfacing to Arm® Cortex

(TM)-M Microcontrollers", CreateSpace Publishing, 2013, 3rd edition
[2 Joseph Yiu, "The Definitive Guide to ARM® Cortex®-M3 and Cortex®-M4 Processors",
Newnes, 2013, 3rd Edition
[3 Martin, "The Designer's Guide to the Cortex-M Processor Family: A Tutorial
Approach" Newnes, 2009, 1st Edition
[4 E. A. Lee and S. A. Seshia, Introduction to Embedded Systems, Online Book at
berkeley.edu,2012

Course Outcomes:

CO1: To introduce to computer architecture, operating system and software designing

principles
CO2: To make advance level programming in Assembly language
CO3: To develop data acquisition systems with emphasis on wired and wireless
communication for data transfer

16RA721 HUMANOID ROBOTICS 3-0-0-3

The course aims at giving the students a basic understanding of the theory of humanoid
robots, i.e. bipedal walking robots with an approximately humanlike shape, and a practical
knowledge concerning humanoid robots, through a robot construction project. The contents
of the course include Theory of humanoid robots, kinematics and dynamics. Methods for gait
generation, including classical control theory, central pattern generators and linear genetic
programming. Applications of humanoid robots. Humanoid robots in society - current and
future applications, comparison with other types of robots. Hardware construction, including

20
the use of microcontrollers and servo motors in connection with humanoid robots.
Simulation in ROS

Course Outcomes:

CO1: To understand the kinematic and dynamic model of a walking platform

CO2: To understand the methodology for capturing the GAIT pattern of a humanoid
biped robot
CO3: To introduce to the design principles and control schemes used in controlling the
dynamics of the humanoid robot

TEXT BOOKS/REFERENCES:
[1 Goswami Ambarish, Vadakkepat Prahlad, "Humanoid Robotics: A Reference",
Springer, 2019
[2 J. Craig, "Introduction to Robotics: Mechanics and Control", Third Edition, 2003.
[3 Lorenzo Sciavicco and Bruno Siciliano, "Modelling and Control of Robot Manipulators".
[4 Jean-Claude Latombe, "Robot Motion Planning".

16RA722 SWARM INTELLIGENCE 3-0-0-3

Introduction to swarm intelligence and key principles (e.g., self-organization), natural and
artificial examples, computational and real-time SI. Foraging, trail laying/following
mechanisms. Open-space, multi-source foraging experiments: biological data and
microscopic models. From real to virtual ants: Ant System (AS). Application to a classical
operational research problem: The Travel Salesman Problem (TSP). From AS to Ant Colony
Optimization (ACO). Ant-based algorithms (ABC, Ant-Net) applied to routing in
telecommunication networks. Introduction to unsupervised multi-agent machine-learning
techniques for automatic design and optimization: terminology and classification, Genetic
Algorithms (GA) and Particle Swarm optimization (PSO). Application of machine-learning
techniques to automatic design and optimization in single-robot and multi-robot
experiments. Collective movements in natural societies; focus on flocking phenomena.
Collective movements in artificial systems: Reynolds' virtual agents and experiments with
multi-robot systems (flocking, formation). Multi-level modelling of self-organized robotic
systems: microscopic and macroscopic models; Markov formalism; linear and nonlinear
micro-to-macro mapping, model analysis. Combined modelling and machine-learning
methods for off-line system design and optimization. Diversity and specialization metrics.
Division of labour and task-allocation mechanisms, threshold-based algorithms, market-
based algorithm. Aggregation, segregation, and collective decisions, social insects, sensor
networks, and multi-robot systems, clustering data and distributed structure building in
natural and artificial systems.

21
TEXT BOOKS/REFERENCES:

[1 E. Bonabeau, M. Dorigo and G. Theraulaz, “Swarm Intelligence: From Natural to Artificial

Systems", Santa Fe Studies in the Sciences of Complexity, Oxford University Press, 1999.
[2 Camazine, Deneubourg, Franks, Sneyd, Theraulaz andBonabeau, "Self-organisation
in Biological Systems", Princeton University Press, 2002.
[3 Mitchel Resnick, "Turtles, Termites, and Traffic Jams", MIT Press, 1997.
[4 Stuart A. Kauffman, "The Origins of Order: Self-Organization and Selection in
Evolution", Oxford University Press, 1993.

Course Outcomes:

CO1: To provide the concept of swarm robotics

CO2: To give an insight towards the various formation algorithms
CO3: To understand the methodology of task allocation between the robotic units in a
formation

16RA723 BEHAVIORAL ROBOTICS 3-0-0-3

This course is designed to investigate and study methods and models in embodied cognitive
science and artificial intelligence, with particular focus on behaviour-based techniques on
robots. All models and architectures will be theoretically scrutinized and evaluated with
respect to their conceptual clarity, support by empirical data, plausibility, etc. without
neglecting issues of practicality such as feasibility of implementation, real-time/real-world
issues, computational resources, etc. Topics include introduction to embodied cognitive
science and behaviour -based robotics, reactive behaviour -based architectures, perception,
deliberative systems, hybrid systems.

TEXT BOOKS/REFERENCES:

[1 Arkin, C. Ronald, “behaviour -Based Robotics”, MIT Press, Cambridge: MA, 1998.
[2 Pfeiffer R. and Scheier Ch., "Understanding Intelligence", MIT Press, Cambridge:
MA, 1999.
[3 Murphy, R., "Introduction to AI Robotics." Second Edition, MIT Press, Cambridge:
MA, 2002.
[4 Bekey, G., "Autonomous Robots: From Biological Inspiration to Implementation and
Control (Intelligent Robotics and Autonomous Agents)". MIT Press, Cambridge: MA, 2005.

Course Outcomes:

CO1: To introduce to the cognitive science and AI with a strong focus on behavioural
models
CO2: To give an insight to behaviour-based architecture for a robot

22
16RA724 FRONTIERS OF BIOMECHATRONICS 3-0-0-3

Topics consist of rehabilitation engineering, artificial tissue and organs, implantable

neural prosthesis, orthopaedic implants and implanted devices, biology-machine
interface, minimally invasive surgical instruments, surgical robot, introduces its basic
principle, key technology and its development and application. They include introduction
to Biomechatronic Systems, design and manufacturing of Biomechatronic products,
musculoskeletal mechanics, review of multi-body dynamics, principles of motor control
and sensorimotor integration, simulation of human movement, human locomotion and
gait studies, motor control in patients with neurological disorders, artificial tissue and
organ, orthopaedic implants, Biology-Machine Interface, implantable neural prosthesis,
minimally invasive surgical instruments, surgical robot.

TEXT BOOKS/REFERENCES:

[1 Myer Kutz (Editor), "Biomedical Engineering and Design Handbook", Volume 1:

Fundamentals, Second Edition, McGraw-Hill Companies, 2009.
[2 Mark J. Schulz, Vesselin N. Shanov and Yeoheung Yun, "Nanomedicine Design of
Particles, Sensors, Motors, Implants, Robots, and Devices", Artech House, 2009.
[3 Graham M. Brooker, "Introduction to Biomechatronic: The Application of
Mechatronic Engineering to Human Biology", SciTech Publishing, 2012.

Course Outcomes:

CO1: To introduce to the underlying principles of wearable robotics for rehabilitation/human

capability augmentation
CO2: To perform human motion simulation in state-of-the-art simulation platforms
CO3: To give a deep insight in to human GAIT pattern and technique to measure it
CO4: To give an insight in to various sensory devices to read biological signals

16MA702 OPTIMIZATION THEORY 3-0-0-3

Topics covered will include linear programming, nonlinear programming, calculus of

variations and dynamic programming. Introduction to optimization, linear programming.
simplex technique, Duality and Sensitivity, Unconstrained Nonlinear Programming,
Constrained Nonlinear Programming, Numerical methods, Duality and Applications. Basics of
the Calculus of Variations, theory of the Calculus of Variations, Applications of the Calculus of
Variations, Dynamic Programming: Theory and Dynamic Programming: Applications.

TEXT BOOKS/REFERENCES:

[1.] D. A. Pierre, "Optimization Theory with Applications", Dover, 1986.

23
[2.] R. Fletcher, "Practical Methods of Optimization", Second Edition, John-Wiley and
Sons, 1987. [3.] D. G. Luenberger, "Linear and Nonlinear Programming", Second Edition,
Addison Wesley, 1989.
[4.] J. Nocedal and S.J. Wright, "Numerical Optimization". Springer, 2000.

Course Outcome:

CO1: To understand the concept of optimization and classification of optimization

CO2: To get a deep insight to techniques like Linear Programming, nonlinear programming
CO3: To introduce to Dynamic programming

16RA725 HAPTIC INTERFACES 3-0-0-3

Introduction to haptics, Kinesthetic haptic devices: Kinematics and dynamics, rendering,

control, dynamic simulations, sensors and actuators. Tactile haptic devices: Types and
applications. Teleoperation: Implementation, Transparency and Stability. Surface
Haptics. Human haptics: Mechanoreceptors, Kinesthesia.

TEXT BOOKS/REFERENCES:

[1]. Kern, Thorsten A. Engineering haptic devices: a beginner's guide for engineers.
Springer Science & Business Media, 2009.
[2]. Lin, Ming C., et al. Haptic rendering: Foundations, algorithms and applications. AK
Peters, Ltd., 2008.

Course Outcomes:

CO1: Introduces the domain of haptics technologies and its relevance

CO2: To give an understanding on the underlying principles for developing haptic devices
CO3: To give an introduction to haptic software development
CO4: To give an overview on haptic rendering algorithms

16RA726 INNOVATING IN TECHNOLOGY 3-0-0-3

The need for innovation. Core innovation lenses: attitudes, activities, conversations, rhythm
and examples. Business, Technology and Experience goals. Working with Technology and
Business constraints. Assessing one’s Innovation Readiness. Innovation Truths and Innovation
Myths. Cross-discipline research. Targeting Social Impact. Women Innovators in Technology.
Innovation games. Asking skilful questions. Lateral thinking. Cultivating Curiosity. Effective
brain storming. Expanding and Contracting phases. Refining existing ideas. Innovation in
methodologies and techniques. How to have collaborative conversations. Design and User
Experience led innovation. Sketching vs Prototyping. Working with end users. Project

24
Management and organizational agility to support innovation. Developing an
“Innovation Studio”.

TEXT BOOKS/REFERENCES:

[1.] Berkun, Scott. The myths of innovation. O'Reilly Media, Inc., 2010. [2.] Sawyer, Keith.
Zig zag: The surprising path to greater creativity. John Wiley & Sons, 2013.

Course Outcomes:

CO1: To introduce to the basic practices of innovation

CO2: To break down the myths around innovation, and learning various concepts and
techniques for innovation
CO3: To understand the relevance of project management and organizational agility to
support innovation

16RA727 MEASURING USER INTERFACE QUALITY 3-0-0-3

How to conduct a usability study. What to measure: Identifying top tasks, Common metrics,
Task completion metrics, Performance metrics, Qualitative and quantitative metrics,
Biometrics. When to measure: Before development, During development, Pre launch, Post
Launch, Common problems and solutions to effective timing. How to measure: overview of
approaches, usability labs, automated measurement, remote testing, field testing. With
Who to measure: understanding user samples, identifying valid participants, techniques for
finding participants. Taking Action: communicating findings, presenting usability issues,
strategies for resolution.

TEXT BOOKS/REFERENCES

[1 Albert, W., Tullis, T. Measuring the User Experience: Collecting, Analyzing, Presenting
Usability Metrics. Morgan Kaufman: 2013.
[2 Krug, S. Don’t Make Me Think. New Riders: 2005.
[3 Norman, D. The Design of Everyday Things. Basic Books: 2013.
[4 Gothelf, J. Lean UX: Applying Lean Principles to Improve User Experience. O’Reilly
Media: 2013

Course Outcomes:

CO1: To understand how to perform usability test

CO2: To understand the methodologies for testing user interface quality

25
16RA728 DESIGN FOR PEOPLE: PRINCIPLES AND PRACTISES OF HUMAN CENTERED DESIGN
3-0-0-3

Introduction to Usability: History, Classic Examples, Core Principles Representing Users: Goal
and task analysis, Personas, User scenarios, Agile user stories and epics. Methods of Data
Gathering and Analysis: Lean UX, Ethnographic observation, Interviews, Surveys, User
studies, Usability labs, Eye tracking, Biometric measurement, Qualitative and quantitative
data methods. Creating Personas: Collecting data sources, Initial drafting, Assessing with
stakeholders, Final crafting and prioritization. Working with Personas: Scenario definition
with personas, Functionality prioritization with personas, Quality Assurance with personas.
User-centred design processes: User participation, Iteration, Identifying expand/collapse
phases. Collaboration with Engineering: Managing the tech-centred and human-centred
design processes together.

TEXT BOOKS/REFERENCES:

[1.] Norman, D. The Design of Everyday Things. Basic Books: 2013. [2.] Gothelf, J. Lean
UX: Applying Lean Principles to Improve User Experience. O’Reilly Media: 2013

Course Outcomes:

CO1: To give an introduction to usability

CO2: To give an overview of the methods and concepts for understanding end users
CO3: To teach the essential practices of observing and interviewing users

16RA731 ADVANCED PERCEPTION FOR ROBOTICS AND HCI 3-0-0-3

This course is an advanced survey of the state of the art in machine vision, focused primarily
on robotics applications and human-computer interfaces. Topics covered will be related to
3D reconstruction of objects and scenes from video, camera motion estimation from video,
object detection and recognition, and tracking, cloud robotics as it relates to robot vision.
They include optical flow estimation: motion field and optical flow, calculating optical flow,
flow-based motion analysis, robust incremental optial flow. Object detection and
recognition: Global methods, transformation search-based methods, geometric
correspondence-based approaches, flexible shape matching, interest point detection and
region descriptors, three-dimensional object recognition. Tracking and video analysis: Point
tracking, deterministic methods, statistical methods, kernel tracking, template and density-
based appearance models multi view appearance models, silhouette tracking, contour
evolution, shape matching.

TEXT BOOKS/REFERENCES:

[1.] D. Forsyth and J. Ponce, "Computer Vision: A Modern Approach". Prentice-Hall, 2003.

26
[2.] E. Trucco and A. Verri, "Introductory Techniques for 3-D Computer Vision", Prentice
Hall, 1998.

Course Outcomes:

CO1: To give an understanding on the relevance of machine vison technology for robot
perception
CO2: To review various techniques in machine vison for data capturing and processing

16CS701 COMPUTATIONAL INTELLIGENCE 3-0-0-3

Computational intelligence (CI): Adaptation, Self-organization and Evolution, Biological and

artificial neuron, Neural Networks Concepts, Paradigms, Implementations, Evolutionary
computing: Concepts, Paradigms, Implementation, Swarm Intelligence, Artificial Immune
Systems, Fuzzy systems: Concepts, Paradigms, Implementation, Hybrid systems CI
application: case studies may include sensor networks, digital systems, control, forecasting
and time-series predictions.

TEXTBOOKS/REFERENCES:

[1.] R.C. Eberhart, “Computational Intelligence: Concept to Implementations”, Morgan

Kaufmann Publishers, 2007. [2.] A Konar, “Computational Intelligence: Principles,
Techniques and Applications”, Springer Verlag, 2005.

Course Outcome:

CO1: To introduce to the concept of Computational intelligence

CO2: To introduce to neural networks
CO3: To introduce to fuzzy and hybrid systems

16RA732 MACHINE VISION 3-0-0-3

Active contours Model Snake- Split and merge, Mean shift and mode finding, Normalized cuts,
Graph cuts and energy-based methods, Clustering based segmentation. Detectors and
Descriptors, Chain Codes, Polygonal Approximations Boundary Descriptors-Fourier Descriptors,
Statistical Moments Regional Descriptors-Texture-Moment Invariants, MOPS, GLOH, SIFT, PCA-
SIFT, SURF. 2D and 3D feature-based alignment ,3D Pose estimation, Geometric intrinsic
calibration, Feature Matching-Object Recognition, The Use of Motion in Segmentation Optical
Flow & Tracking, Introduction to Object Recognition and Bag-of-Words Models, KL Tracking,
Object tracking using mean- shift and Kalman filters, Face detection (Viola Jones),Face
Recognition using PCA, LDA. Image Formation: Geometric image formation, Photometric
image formation -Camera Models and Calibration: Camera Projection Models – orthographic,
affine, perspective, projective models. Projective Geometry, transformation of 2-d and 3-d,
Internal Parameters, Lens Distortion Models, Calibration Methods – linear, direct,

27
indirect and multiplane methods. Visual servo. Stereo correspondence-Epipolar geometry,
Fundamental matrix, Computation- Normalized 8-point algorithm (Hartley), Robust
Fundamental Matrix Estimation by Zhang, Stereo Pairs and Depth Maps Image Rectification
for Stereo, Correlation Based Stereo Methods Barnard’s Stereo Method Multi-view stereo.
Introduction to SLAM (Simultaneous Localisation and Mapping).

TEXTBOOKS/REFERENCES:

[1] Richard Szelinski, “Introduction to Computer Vision and its Application”

[2] E. Trucco and A. Verri, “Introductory techniques for 3D Computer Vision”, Prentice Hall,
1998. [3] Marco Treiber, “An Introduction to Object Recognition Selected Algorithms for a
Wide Variety of Applications”, Springer, 2010.
[4.] Forsyth and Ponce, “Computer Vision – A Modern Approach”, Second Edition,
Prentice Hall, 2011.
[5] R. C. Gonzalez, R. E. Woods, ‘Digital Image Processing’, Addison-Wesley,2002

Course Outcomes:

CO1: To give an overview of the various image processing techniques used in machine vison
CO2: To give knowledge on motion tracking and its techniques
CO3: To introduce vison system to assist in Simultaneous Localization and Mapping for
mobile robots

16RA733 ADVANCED AI FOR ROBOTICS 3-0-0-3

Problem solving: Graph based search, Algorithms for searching, Heuristic search, Robot path
planning. Knowledge representation: Descriptive representation, Procedural representation,
Rule-based representation, Semantic networks, Frames, Ontologies, Knowledge based
systems. Expert systems. Artificial neural networks: Perceptron, Learning, Associative
memories, Self-organised networks, Applications of neural networks in robotics. Fuzzy logic
systems: Fuzzy logic, Fuzzy reasoning, Fuzzy logic-based techniques, Fuzzy relations, Fuzzy
control, implementing fuzzy controllers, Fuzzy decision making. Genetic algorithms:
Principles, Working, Design, Applications in robotics

TEXT BOOKS/REFERENCES:

[1 Russell, S.J. and Norvig, P., "Artificial Intelligence – A Modern Approach", Prentice
Hall, 2003.
[2 Negnewitsky, M., "A Guide to Intelligent Systems", Addison-Wesley, 2005.
[3 Inger, G.F., "Artificial Intelligence: Structures and Strategies for Complex Problem
Solving", Addison-Wesley, 2005.
[4 Nilsson, N.J., "Artificial Intelligence: A New Synthesis", Morgan-Kaufmann, 1998.

28
Courses outcome:

CO1: To understand the application of artificial intelligence in robotics through use cases
CO2: To give a deep insight into artificial neural networks and fuzzy logic systems in robotics

16RA734 VIRTUAL REALITY AND APPLICATIONS 3-0-0-3

Introduction: The three I’s of virtual reality, commercial VR technology and the five classic
components of a VR system. VR design principles, Input Devices: Three-dimensional position
trackers, navigation and manipulation, interfaces and gesture interfaces. Output Devices:
Graphics displays, sound displays & haptic feedback. Modelling: Geometric modelling,
kinematics modelling, physical modelling, behaviour modelling, model management. Human
Factors: Methodology and terminology, user performance studies, VR health and safety
issues. Applications: Medical applications, military applications, robotics applications. VR in
Unity 3D.

TEXT BOOKS/REFERENCES:

[1 Gregory C. Burdea and Philippe Coiffet, "Virtual Reality Technology", Second Edition,
John Wiley and Sons, Inc.
[2 Andrew Davison, "Killer Game Programming in Java, "O’Reilly-SPD, 2005.
[3 William R.Sherman and Alan Craig, "Understanding Virtual Reality, Interface,
Application and Design", Elsevier(Morgan Kaufmann).
[4 Bill Fleming, "3D Modeling and surfacing", Elsevier (Morgan Kaufmann).
[5 David H.Eberly, "3D Game Engine Design", Elsevier. [6.] John Vince, "Virtual Reality
Systems", Pearson Education.

Courses outcome:

CO1: To master the VR design principles

CO2: To get introduced to various hardware and software to set up a VR system
CO3: To understand various modelling required to define an object in the VR environment
CO4: To understand the application of VR in various domains

16RA735 NON-LINEAR CONTROL THEORY 3-0-0-3

Topics include Nonlinear Behaviour. Mathematical Language for Modelling Nonlinear

Behaviour: Discrete Time State Space Equations, Differential Equations on Manifolds,
Input/Output Models, Finite State Automata and Hybrid Systems. Linearization: Linearization
Around a Trajectory, Singular Perturbations, Harmonic Balance, Model Reduction, Feedback
Linearization. System Invariants: Storage Functions and Lyapunov Functions, Implicitly
Defined Storage Functions, Search for Lyapunov Functions. Local Behaviour of Differential
Equations: Local Stability, Centre Manifold Theorems, Bifurcations. Controllability of
Nonlinear Differential Equations: Frobenius Theorem, Existence of Feedback Linearization,

29
Local Controllability of Nonlinear Systems. Nonlinear Feedback Design Techniques: Control
Lyapunov Functions, Feedback Linearization: Backstepping, Dynamic Inversion, etc., Adaptive
Control, Invariant Probability Density Functions, Optimal Control and Dynamic Programming.

TEXT BOOKS/REFERENCES:

[1.] Hassan K. Khalil, "Nonlinear Systems", Prentice Hall. [2.] Shankar Sastry, "Nonlinear
Systems: Analysis, Stability, and Control", Springer.

Course Outcome:

CO1: To gain a thorough knowledge of theory involved in modelling non-linear systems

CO2: To introduce to the controllability of nonlinear systems
CO3: To get introduced to Adaptive control theory

19RA736 EXPERIMENTAL HAPTICS 3-0-0-3

The goal of this course is to develop virtual reality simulations and applications that
incorporate haptic interaction. Theoretical topics include haptic rendering in 3-D virtual
environments, simulation of haptic interaction with rigid and deformable objects, haptic
interfaces, psychophysics of touch. Applied topics include an introduction to the CHAI
3D/Unity 3D haptics library, implementation of algorithms for haptic rendering, collision
detection, and deformable body simulation.

TEXT BOOKS/REFERENCES:

[1.] Ming Lin and Miguel Otaduy,"Haptic Rendering", A K Peters, 2008.

Course Outcomes:

CO1: To understand how to combine VR with haptics technology

CO2: To introduce to various algorithms for haptic rendering
CO3: To introduce to various haptic rendering software like CHAI 3D/ Unity 3D etc

30
EVALUATION SCHEME AND GRADING SYSTEM
1 – credit course:
* The instructor can choose one of the following options for course assessment
*Continuous assessment has to be properly decided at the starting of the semester
and should be approved by the Chairperson.

Grading Internal assessment External assessment

Options
A (Theory 50 % (Mid-sem exam, assignments, quizzes, Lab experiments, 50% (2 hr exam)
course) mini-project)
Mid Sem – 15%
Continuous Evaluation – 35%
B (Lab 70% - Lab based assessment (minimum of 4 experiments with 30% (1 hr exam)
Based an end semester lab exam(mini-project) evaluated by an
Course) external examiner)
Lab experiments – 40%
Mini Project/End Sem (20%) + Viva (10%) – 30%
C (Project 70% - Project based (one final review with a review panel 30% (1 hr exam)
Based comprised of at least one external examiner, student should
Course) submit a project report duly signed by the chairperson and
external examiner)
Project Implementation – 40%
Final Review (20%) + Report (10%) – 30%
D 70% - Assignment and quiz based (Mathematical courses) 30% (1 hr exam)
(Analytical Assignments (min 2) – 30%
Courses) Quizzes (min 2) - 40%

2 – credit course:
* The instructor can choose one of the following options for course assessment
*Continuous assessment has to be properly decided at the starting of the semester and
should be approved by the Chairperson.

Grading Internal assessment External assessment

Options
A(Theory 50 % (Mid-sem exam, assignments, quizzes, Lab experiments, 50% (2 hr exam)
course) mini-project)
Periodical 1 – 15%
Periodical 2 – 15%
Continuous Evaluation – 20%

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 B (Lab 70% - Lab based assessment (minimum of 6 experiments with 30% (1 hr exam)
Based an end semester lab exam(mini-project) evaluated by an
Course) external examiner)
Lab experiments – 40%
Mini Project/End Sem (20%) + Viva (10%) – 30%
C (Project 70% - Project based (one final review with a review panel 30% (1 hr exam)
Based comprised of at least one external examiner, student should
Course) submit a project report duly signed by the chairperson and
external examiner)
Project Implementation – 40%
Final Review (20%) + Report (10%) – 30%
D 70% - Assignment and quiz based 30% (1 hr exam)
(Analytical Assignments (min 4) – 30%
Courses) Quizzes (min 2) – 40%

3 – credit course:
* The instructor can choose one of the following options for course assessment
*Continuous assessment has to be properly decided at the starting of the semester and
should be approved by the Chairperson.

Grading Internal assessment External assessment

Options
A (Theory 50 % 50% (3 hr exam)
Course) Periodical 1 – 15%
Periodical 2 – 15%
Continuous Evaluation – 20%
B 70 % 30% (2 hr exam)
Periodical 1 – 15%
Periodical 2 – 15%
Continuous Evaluation – 40%
C (For 50% 50% (3 hr exam)
Courses Periodical 1 – 15%
Complete Assignments + Quizzes / lab-based experiments / mini-project –
d in 6 35%
weeks)
D (Lab 70% 30% (2 hr exam)
Based One Periodical Exam – 15%
Course) 50 % - Lab based assessment (minimum of 5 experiments
With one end semester exam(mini-project) which should be
evaluated by an external examiner)
Lab experiments - 25%

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 Mini Project/End Sem Lab (20%) + Viva (10%) – 30%
E (Project 70% - Project based (one mid-sem review and one final 30% (2 hr exam)
Based review with a review panel comprised of atleast one
Course) external
examiner, student should submit a project report duly
signed
by the chairperson and external examiner)
Project Implementation – 40% (this can have a mid-
sem review)
Final Review (20%) + Report (10%) – 30%
F 70% - 30% (2 hr exam)
(Analytical One Periodical - 15%
Courses) Assignments (min 6) – 20%
Quizzes (min 4) - 35%

4 – credit course:
* The instructor can choose one of the following options for course assessment
*Continuous assessment has to be properly decided at the starting of the semester and
should be approved by the Chairperson.

Grading Internal assessment External assessment

Options
A (Theory 50 % 50% (3 hr exam)
Course) Periodical 1 – 15%
Periodical 2 – 15%
Continuous Evaluation – 20%
B 70 % 30% (2 hr exam)
Periodical 1 – 15%
Periodical 2 – 15%
Continuous Evaluation – 40%
C (For 50% 50% (3 hr exam)
Courses Periodical 1 – 15%
Complete Assignments + Quizzes / lab-based experiments / mini-project –
d in 6 35%
weeks)
D (Lab 70% 30% (2 hr exam)
Based One Periodical Exam – 15%
Course) 50 % - Lab based assessment (minimum of 7 experiments
With one end semester exam(mini-project) which should be
evaluated by an external examiner)
Lab experiments - 25%

33
 Mini Project/End Sem Lab (20%) + Viva (10%) – 30%
E (Project 70% - Project based (one mid-sem review and one final 30% (2 hr exam)
Based review with a review panel comprised of at least one
Course) external
examiner, student should submit a project report duly
signed
by the chairperson and external examiner)
Project Implementation – 40% (this can have a mid-
sem review)
Final Review (20%) + Report (10%) – 30%
F 70% - 30% (2 hr exam)
(Analytical One Periodical - 15%
Courses) Assignments (min 8) – 20%
Quizzes (min 6) - 35%

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