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Course Criteria
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3.00 Credits
The materials science and engineering of the mechanics of solids. Description of the relationships between the macrosopic deformation of engineering materials and the meso-, micro- and atomic-level structural mechanisms.
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3.00 Credits
The materials science and engineering of failure, including fracture and fatigue. Description of the relationships between the failure of engineering materials and the meso-, micro-, and atomic-level structural mechanisms.
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3.00 Credits
The science of processes for the production, consolidation and densification of powders, including the characterization of powders, colloidal suspensions and powder compacts.
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3.00 Credits
The equations of motion of rigid airplane are developed and analyzed. The relationship between aerodynamics stability derivatives, vehicle motion, and handling qualities is presented. Also classical and modern control theory is applied to the design of automatic flight control systems. (Alternate years)
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3.00 Credits
The application of techniques such as the phase-plane method, Lyapunov method, vector-format method, the z-tranform method, and statistical methods to the design of control systems.
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3.00 Credits
Homogeneous representation of rigid motion in R3, exponential coordinates for rigid motions, twists and screws, spatial and body velocities and adjoint representation for coordinate transformations. Manipulator kinematics via the product of exponentials formulation, inverse kinematics, Jacobians, singularities and manipulabity. Multifingered hand kinematics including contact models, the grasp map, force closure, grasp planning, grasp constraints and rolling contact kinematics.
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3.00 Credits
An in-depth study of the curvature theory of general planar one degree of freedom motion and the special case of first-order translations. Development of Fruedenstein's equation. Applications to synthesis of one degree of freedom mechanisms for path tracking, rigid body guidance and function generation. (Every Spring)
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3.00 Credits
This course will introduce seniors to a unified view of the aerospace and mechanical engineering applications of intelligent systems theory and practice.
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3.00 Credits
A study of tools of estimation and stochastic modeling and their use in the application of artificial vision to the guidance and control of multi-degree-of-freedom mechanisms. The Kalman filter and extended Kalman filter are developed; state and observation equations, based, respectively, on robot mechanisms and discrete visual issues of image analysis, time delay, and the modeling of random-disturbance convariances as well as kinematic holonomy.
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3.00 Credits
The application of techniques such as the phase-plane method, Lyapunov method, vector-format method, the z-tranform method, and statistical methods to the design of control systems.
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