Savitribai Phule Pune University

Faculty of Science & Technology

Curriculum for
Third Year
Robotics and Automation Engineering
(2019 Course)

(with effect from June 2021)

1
 Savitribai Phule Pune University, Pune
TE (Robotics and Automation)
2019 Course
(With effect from Academic Year 2020-21)

Semester-V
Teaching Examination Scheme and Marks
Course Course Name Scheme Credit
Code (Hours/Week)

End-Sem
Seminar

Seminar
IN-Sem
Practical

TH
OR
Theory

PR

PR
Total

Total
TW
Embedded systems in
311501(A) 3 30 70 100 3 3
Robotics
Hydraulics and
311502(A) 3 30 70 100 3 3
Pneumatics
311503(A) Robot Kinematics and
3 30 70 100 3 3
Dynamics
311504(A) Sensors Technology 3 30 70 100 3 3
311505(A) Elective-1 3 30 70 100 3 3
311501(B) Embedded systems in
2 25 25 1 1
Robotics Lab
311502(B) Hydraulics and
2 25 25 1 1
Pneumatics Lab
311503(B) Robot Kinematics and
2 25 25 50 1 1
Dynamics Lab
311504(B) Sensors Technology
2 25 25 1 1
LAB
311505(B) Elective-1 lab 2 25 25 1 1
311506 Seminar 1 50 50 1 1
311507 Mandatory Audit Course - - - - - - - - - - - - -
5
Total 15 10 1 150 350 100 50 50 700 15 5 1 21

Elective 1:

I: Statistics and Numerical Methods

II: Finite Element Analysis
III: Industrial Robotics and material handling systems
IV: Intelligent Manufacturing Systems

2
 Savitribai Phule Pune University, Pune
TE (Robotics and Automation)
2019 Course
(With effect from Academic Year 2020-21)
Semester-VI
Teaching Examination Scheme and
Course Course Name Scheme Marks Credit
Code (Hours/Week)

End-Sem
IN-Sem
Practical

Internship

Internship
TH
OR

Total

Total
TW

PR

PR
Theory

311508(A) Robot Programming 3 30 70 100 3 3

311509(A) Artificial Intelligence for
3 30 70 100 3 3
Robotics
311510(A) Flexible Manufacturing
3 30 70 100 3 3
Systems
311511(A) Elective 2 3 30 70 100 3 3
311508(B) Robot Programming Lab 2 25 25 50 1 1
311509(B) Artificial Intelligence for
2 25 25 50 1 1
Robotics LAB
311510(B) Flexible Manufacturing
2 25 25 1 1
Systems Lab
311511(B) Elective 2 Lab 2 25 25 1 1
311512 Software Lab 2 50 50 1 1
311513 Internship 4 100 100 4 4
311514 Mandatory Audit Course 6 - - - - - - - - - - - - -
Total 12 10 4 120 280 200 50 50 700 12 5 4 21
Abbreviations:
TH : Theory TW : Term Work PR : Practical
OR : Oral TUT : Tutorial

Elective 2:
I: Micro-Electro-Mechanical Systems
II: Humanoid Robots
III: Modeling and Simulation
IV: Swarm Intelligence in Robotics

3
 Embedded System in Robotics
311501(A)

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 3 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

____________________________________________________________________________________________________

Pre-requisites: Applied Electronics Engineering

Course Outcomes:

After successful completion of this course, the student will be able to

1. Understand the concept of embedded system, microcontroller, different components of microcontroller and their
interactions.
2. Get familiarized with programming environment to develop embedded solutions.
3. Program ARM microcontroller to perform various tasks.
4. Understand the key concepts of embedded systems such as I/O, timers, interrupts and interaction with peripheral
devices
Unit 1: Fundamentals of Embedded System (6)
Basic structure of embedded systems: Power-supply, Sensors, A-D/D-A converters, processor and ASICs and Actuators,
memory. Communication Interface, Real time operating systems, Safety and reliability, environmental issues. Ethical practice.
Characteristics, advantages and disadvantages of embedded systems.

Unit 2: Embedded Hardware and Design (6)

Microcontroller Unit (MCU) 48, A Popular 8-bit MCU, Memory for Embedded Systems, Low Power Design, Pullup and
Pulldown Resistors, Introduction to ARM-v7-M (Cortex-M3), ARM-v7-R (CortexR4) and comparison in between them.
Embedded Product development life cycle, Program modeling concepts: DFG, FSM, Petri-net, UML 2

Unit 4: Embedded Serial Communication (6)

Study of basic communication protocols like SPI, SCI (RS232, RS485), I2C, 10 CAN, Field-bus (Profibus), USB (v2.0),
Bluetooth, Zig-Bee, Wireless sensor network

Unit 3: Embedded system programming (6)

Embedded C-programming concepts, Constants, Variables & Data Types, Operators, Functions, Softwares, interfacing of
LED, LCD, motors, and switches. Serial Communication Programming: Introduction to Serial Communication, Types of Serial
Communication, and Description of SFR associated with Serial Communication, Programming of UART, Interfacing of ADC,
sensor interfacing, embedded networking

Unit 5: Real Time Based Operating System(RTOS) (6)

POSIX Compliance , Need of RTOS in Embedded system software, Foreground/Background systems, multitasking, context
switching, IPC, Scheduler policies, Architecture of kernel, task scheduler, ISR, Semaphores, mailbox, message queues, pipes,
events, timers, memory management, RTOS services in contrast with traditional OS.

Unit 6: Linux Fundamentals & Device Driver Programming (6)

Linux Fundamentals, Linux Commands, VI Editors, Introduction to Device Driver, The Role of Device Driver, Kernel Module Vs
Application, Types of Device Driver, Character Driver, Block Driver & network Driver.
References:

4
1. K. V. Shibu, Introduction to Embedded Systems, TMH, ISBN: 978-9339219680
2. F. Vahid, Embedded System Design – A unified hardware and software introduction, John Wiley, ISBN: 978-0-471-
38678-0
3. Rajkamal, Embedded Systems, TMH.
4. L. B. Das, EMBEDDED SYSTEMS and Integrated approach, Pearson, ISBN: 978-81-317-8766-
5. M. Mazidi, Pic Microcontroller and Embedded System

5
 Hydraulics and Pneumatics
311502(A)

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

____________________________________________________________________________________________________
Prerequisites: Systems in Mechanical Engineering

Course Outcomes:
Students will be able to
1. Exemplify the basic principles of Industrial fluid power.
2. Select and specify various components for hydraulic and pneumatic systems.
3. Execute PLC program for electro-hydraulic circuit applications
4. Organize hydraulic and pneumatic circuits for given application
5. Evaluate the hydraulic and pneumatic systems based on various evaluation criteria

Unit I: Introduction to fluid power and automation (6)

Introduction to oil hydraulics and pneumatics, their structure, advantages and limitations. Properties of fluids, Fluids for
hydraulic systems, governing laws.

Unit II: Hydraulic pumps and actuators Pumps (6)

Classification of pumps, Pumping theory of positive displacement pumps, construction and working of Gear pumps, Vane
pumps, Piston pumps, fixed and variable displacement pumps, Pump performance characteristics, pump Selection factors,
problems on pumps. Design of reservoir capacity. Classification cylinder and hydraulic motors, Linear Hydraulic Actuators
[cylinders], single and double acting cylinder, Mechanics of Hydraulic Cylinder Loading, mounting arrangements, cushioning,
special types of cylinders, problems on cylinders, construction and working of rotary actuators such as gear, vane, piston
motors, Hydraulic Motor Theoretical Torque, Power and Flow Rate, Hydraulic Motor Performance, problems, symbolic
representation of hydraulic actuators (cylinders and motors).

Unit III: Control Components in hydraulic system (6)

Classification of control valves, Directional Control Valves- Symbolic representation, constructional features of poppet, sliding
spool, rotary type valves solenoid and pilot operated DCV, shuttle valve, check valves, Pressure control valves - types, direct
operated types and pilot operated types. Flow Control Valves -compensated and non-compensated FCV, needle valve,
temperature compensated, pressure compensated, pressure and temperature compensated FCV, symbolic representation.

Unit IV: Hydraulic Circuit Design and Analysis (6)

Control of Single and Double -Acting Hydraulic Cylinder, Regenerative circuit, Pump Unloading Circuit, Counter balance Valve
Application, Hydraulic Cylinder Sequencing Circuits, Automatic cylinder reciprocating system, Speed Control of Hydraulic
Cylinder and motors, Safety circuit, Accumulators, types, construction and applications with circuits, Intensifier circuits and
their applications, Proportional control valves and servo valves.

6
Unit V: Introduction to Pneumatic system (6)

Introduction to Pneumatic Control: Definition of pneumatic system, advantages, limitations, applications, Choice of working
medium. Characteristic of compressed air. Structure of Pneumatic control System, fluid conditioners and FRL unit. Pneumatic
Actuators: Linear cylinder - Types, Cascade design of Pneumatic circuit, Use of Logic gates - OR and AND gates in
pneumatic applications.

Unit VI: Electro-hydraulics and electro-pneumatic systems (6)

PLC based electro-hydraulic systems, PLC programming using ladder logic for automation and robotics applications, Electro-
Pneumatic Control: Principles - signal input and out put, pilot assisted solenoid control of directional control valves, Use of
relay and contactors. Control circuitry for simple applications.

References:
1. Esposito Anthony, Fluid power with Applications, Pearson, ISBN: 978-81-7758-580-3
2. Mujumdar S.R., Pneumatic Systems, Tata McGraw Hill, 2002 Edition. ISBN: 9780074602317
3. Bolton W., Mechatronics Electronic Control Systems in Mechanical and Electrical Engineering, Pearson, Education
(Singapore) Pvt Ltd., ISBN 81-7808-339-6.
4. Industrial hydraulics manual by Vickers, Inc.
5. Fluid Power: Generation, Transmission and Control, Wiley, 2018, ISBN: 9788126539543
6. Peter Rohner, Industrial hydraulic control, Hydraulic Supermarket, 2005, ISBN 978-0958149310

7
 Robot Kinematics and Dynamics
311503(A)

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

__________________________________________________________________________________________________

Pre-requisites: Engineering Mechanics, Strength of Materials,

Course outcomes:

Student will be able to:

1. Select the type of mechanism for the robotic applications
2. Perform kinematic analysis, synthesis of mechanisms.
3. Perform forward and inverse kinematics of robots
4. Apply design procedure for mechanical grippers depending upon their types and mechanism
5. Design of robot manipulators based on dynamic analysis

Unit I: Robot Mechanisms (6)

kinematic Link ,Types of links, Kinematics pair, Types of constrained motion, Classification of Kinematics pairs, Kinematics
chain, Degrees of freedom of mechanisms, Inversion of mechanism, Analysis of mechanisms such as Gear trains, cams and
followers, belt drives, four bar mechanism, slider crank mechanism etc. Computer aided analysis and synthesis of coupler
curves for four bar/five bar mechanism and slider crank mechanisms,

Unit II: Forward Kinematics (6)

Robot kinematics-Types- 2D, 3D Transformation, D-H Representation, Displacement Matrices for Standard Configurations,
Forward kinematics of manipulators up to 6 degrees of freedom

Unit III: Inverse kinematics (6)

Inverse kinematics analysis of robot with standard configurations, methods for solution of non-linear simultaneous equations,
use of meta-heuristics for inverse kinematic solutions

Unit IV: Robot end effectors: (6)

Types of end effectors, mechanical grippers, vacuum grippers, magnetic grippers, adhesive grippers, tools. force analysis, the
robot end effectors interface, considerations in gripper selection and design.

Unit V: Robot Arm Dynamics (6)

Robot dynamics – Rigid body dynamics, Newton-Euler formation, Lagrange-Euler, formation, generalized D’Alembert
equations of motion.

Unit VI: Balancing and Vibrations (6)

Static and Dynamic balancing, Balancing of revolving and reciprocating masses, Balancing machines, free vibrations,
Equations of motion, natural Frequency, Damped Vibration, bending critical speed of simple shaft.
8
Reference books:
1. Hartenberg and Denavit, "Kinematics and Synthesis of Linkages", McGraw Hill Book Co.
2. J. E. Shigley and J.J.Uicker Jr., Theory of Machines and Mechanism, McGraw Hill [ISBN019515598X]
3. G K Grover’, “Mechanical Vibration”, Nemchand and brothers. [ISBN8185240752]
4. S.S.Ratan , Theory of Machines, Tata McGraw Hill [ISBN0070591202]
5. Deb S.R., ―Robotics‖, Tata McGraw Hill Publications, New Delhi.
6. YoramKoren, "Robotics for Engineers", McGraw Hill Book Co.
7. Groover M.P., Weiss M., Nagel R.N., Odrey N.G., "Industrial Robotics Technology-Programming and Applications",
McGraw Hill Book Co.

9
 Sensor Technology
311504(A)

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 3 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

____________________________________________________________________________________________________

Pre-requisites: Applied Electronics Engineering

Course Outcomes:
After successful completion of this course, the student will be able to
1. Choose sensor for a particular application
2. Check the performance of the sensor under test.
3. Design signal conditioning circuitry for a sensor
4. Analyze the specifications of various types of sensors
5. Understand the principals of advance sensors
Unit I: Sensor Fundamentals (6)

Sensor Performance Characteristics, Types of Sensors Sensor Signal Conditioning, Conditioning Bridge Circuits, Amplifying
and Linearizing Bridge Outputs, Amplifiers for Signal Conditioning, Precision Op Amp Characteristics, Instrumentation
Amplifiers. Data-Acquisition Systems: Hardware and Software of Data Aquisition System (DAS)

Unit II: Mechanical Transducers (6)

Transduction methods, accelerometers, gyroscopes, pressure sensors, MEMS microphones, mechanical structures,
actuators. Chemical and Biological Transducers: basic concepts of cellular biology, chemical sensors, molecule-based
biosensors, cell-based biosensors, chemical actuators, biological transducers.

Unit III: Thermal Sensors (6)

Definition of Temperature: Thermal Energy, absolute and relative Temperature, Metal resistance versus temperature devices:
Resistance versus Temperature Approximations, Resistance-Temperature Detectors (RTD), Thermistors, Semiconductor
Resistance versus Temperature, Thermistor Characteristics, thermocouples, Thermoelectric Effects, Thermocouple,
Characteristics, Thermocouple Sensors, Other thermal sensor: Bimetal Strips, Gas Thermometers.

Unit IV: Displacement, Location, or Position Sensors (6)

Resistive, Capacitive, and Inductive Sensors, Variable-Reluctance Sensors, LVDT, Level Sensors, Acceleration, Shock and
Vibration Sensors: Piezoelectric Accelerometer, Piezo resistive Accelerometers, Applicable Standards, Interfacing and
Designs, Latest Developments

Unit V: Force, Load and Weight Sensors (6)

Quartz Sensors, sensor types, Applicable Standards Strain Gage Sensors, types, Applicable Standards, Metal Strain Gauges
and Semiconductor Strain Gauges (SGs), Load Cells

Unit VI: Optical and Radiation Sensors: (6)

Photo sensors, Thermal Detectors, Phototransistor, Position and Motion Sensors. Introduction to Nanotechnology-Enabled
Sensors, Bio Sensors

10
Reference Books:

1. John Wilson: Sensor Technology Handbook.

2. “Process Control Instrumentation Technology, 6th Edition”, Author: Curtis D. Johnson, Publisher: Prentice Hall International
Edition, ISBN: 0-13-978-200-3

11
 Elective 1-Statistics and Numerical Methods
311505(A)-I

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

____________________________________________________________________________________________________
Prerequisites: Engineering Mathematics- I, II and III, Design of Machine Elements
Course Outcomes:

Students will be able to

1. Understand the sampling and concept of hypothesis
2. Design the experiments based on the processes parameters.
3. Make use of numerical method to solve the simultaneous equations.
4. Able to establish the co-relation between input factors and performance measure using regression analysis and
interpolation methods
5. Make use of numerical & iterative methods for solving complex algebraic & transcendental equation, simultaneous
equations, curve fitting, interpolation , optimization , integration & differentiation

Unit I: Statistical hypothesis and tests (6)

Testing of Hypothesis Sampling distributions - Estimation of parameters, Statistical hypothesis, Large sample tests based on
Normal distribution for single mean and difference of means,-Tests based on t, Chi-square and F distributions for mean,
variance and proportion - Contingency table (test for independent) - Goodness of fit

Unit II: Design and Analysis of Experiments (6)

Design and Analysis of Experiments: Importance of experiments, Experimental strategies, Basic Principles of Design
Terminology, ANOVA, steps in experimentation, two and three full Factorial experiments, Taguchi Methods, Design using
Orthogonal Arrays, S/N ratios, Data Analysis

Unit III: Numerical Solutions of algebraic, transcendental and Linear Simultaneous Equations (6)
Errors and error propagation in numerical techniques, Numerical solution of algebraic and transcendental equations: Bisection
method, Newton Raphson Method. Numerical solution of Linear Simultaneous Equations: Gauss Elimination Method, Gauss-
Seidel Method.
Unit IV: Methods of curve fitting (6)
Numerical methods - Curve Fitting, methods of curve fitting. Least square criterion- 1st and 2nd order Interpolation:
Lagrange’s formula, Newton forward difference method. Methods of moment for curve fitting, Interpolation techniques:
Newtons forward difference method, Lagrange interpolation polynomial.

Unit V: Numerical Differentiation and integration (6)

Numerical single and double integrations using Trapezoidal and Simpson’s 1/3 rules, Ordinary Differential Equations: Runge-
Kutta Method. Partial Differential Equations -Finite difference method

Unit VI: Optimization Methods (6)

Manufacturing Optimization- Gradient methods, Method of Lagrange multipliers, Generalized reduced gradient Method.
Introduction to GA and SA. Case studies in robotic applications.
Reference Books:

12
1. Douglas C. Montgomery, Design and analysis of experiments, John Wiley and sons inc. New York 8th edition.
2. S.C. Chapra, R.P. Canale, ―Numerical Methods for engineers with programming and software applications, Tata
McGraw Hill Co. Ltd, New Delhi, ISBN 0071158952.
3. Dr. Sadhu Singh, ―Computer aided Design and Manufacturing‖, Khanna Publication, New Delhi.
4. Ramin S. Esfandiari, Numerical Methods for Engineers and Scientists Using MATLAB, CRC press, Taylor and
Francis group.
5. Jaan Kiusalaas, Numerical Methods in Engineering with Matlab, Cambridge University press.
6. S. S. Rao, Engineering Optimization: Theory and Practice, New Age International, 2000, ISBN: 9788122411492

13
 Elective 1-Finite Element Analysis
311505(A)-II

Teaching Scheme Credit Scheme

Examination Scheme
Lectures: 03 hours / week Theroy: 03 In-Sem: 30 Marks
End-Sem: 70 Marks
____________________________________________________________________________________

Prerequisites: Fundamentals of Programming Language, Engineering Mechanics, Strength of Material, Kinematics of

Manufacturing Machines, Design of Machine Elements, Heat and Fluid Engineering

Course Objective:
1) To provide the knowledge about Finite element method.
2) To aware the students about programming of force analysis of mechanical components and structures.
3) To provide knowledge about the heat transfer analysis of component.
4) To aware the students about recent software’s used in simulation and analysis.
Course Outcomes
After successful completion of course student will able to,
1) Model and Analyze 1-D problem.
2) Model and Analyze Truss subjected to loading
3) Model and Analyze Two-Dimensional Problem Using Constant Strain Triangles
4) Perform finite element modeling of triangular element and 2-D iso-parametric elements
5) Analyze steady state heat transfer - 1D and 2D heat conduction and convection
6) Identify meshing techniques quality aspects of meshing
Unit I: Introduction [6]
Introduction, One Dimensional Problem, Finite Element modeling, Coordinate and Shape function, Derivation of stiffness
matrix and Load Vector using Potential Energy approach, Properties of Stiffness Matrix, Assembly of Global Stiffness Matrix
and Load Vector, Elimination and penalty approach, shape function, Quadratic Shape Function.

Unit II: Trusses [6]

Introduction to different approaches used in FEA such as direct approach, Variational approach, weighted residual, energy
approach, Galerkin and Raleigh Ritz approach, Introduction to Plane trusses, Assembly of global Stiffness Matrix for Banded
Skyline solutions.

Unit III: Two-Dimensional Problem Using Constant Strain Triangles [6]

Introduction, finite element formulation, load considerations and boundary conditions, problem modeling, member end forces,
plane frame.
Formulation of elemental stiffness matrix and load vector for Plane stress/strain such as Linear Strain Rectangle (LSR),
Constant Strain Triangles (CST), Pascal‘s triangle , primary and secondary variables, properties of shape functions.

Unit IV: Axi-symmetric solids subjected to axi-symmetric loading [6]

Introduction, axi-symmetric formulation, finite element modeling of triangular element
Two dimensional iso-parametric elements
Introduction, four node quadrilateral, introduction to higher order elements.

Unit V: Finite element analysis of heat transfer [6]

Introduction, steady state heat transfer - 1D and 2D heat conduction and convection, governing differential equation, boundary
conditions, formulation of element.

14
Unit VI: Dynamic analysis [6]
Types of dynamic analysis, General dynamic equation of motion, point and distributed mass, lumped and Consistent mass,
Mass matrices formulation of bar and beam element. Undamped-free vibration- Eigenvalue problem, Evaluation of
eigenvalues and eigenvectors (natural frequencies and mode shapes).

Text Books
1. A First Course in the Finite Element Method, Daryl L. Logan
2. Concepts and Applications of Finite Element Analysis, R. D. Cook, et al. Wiley, India

Reference Books
1. Chandrupatla T. R. and Belegunda A. D., ―Introduction to Finite Elements in Engineering‖, Prentice Hall India.
2. Seshu P., ―Text book of Finite Element Analysis‖, PHI Learning Private Ltd. New Delhi, 2010.
3. Bathe K. J., ―Finite Element Procedures‖, Prentice-Hall of India (P) Ltd., New Delhi.
4. Fagan M. J., ―Finite Element Analysis, Theory and Practice‖, Pearson Education Limited
5. Kwon Y. W., Bang H., ―Finite Element Method using MATLAB‖, CRC Press, 1997
6. S. Moaveni, ―Finite element analysis, theory and application with Ansys‖,
7. Fundamental of Finite Element Analysis, David V. Hutton, Tata McGraw-Hill 8. Gokhale N. S., Deshpande S. S., Bedekar S.
V. and Thite A. N., ―Practical Finite Element Analysis‖, Finite to Infinite, Pune

15
 Elective 1-Industrial Robotics and Material handling Systems
311505(A)-III

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 3 hours / week Theory:03 In-Sem: 30 Marks
End-Sem : 70 Marks
__________________________________________________________________________________________________
Course Outcomes:

Students will be able to

 Understand about material handling system

 Understand storage and data capturing system
 Describe the basic concepts, parts of robots and types of robots.
 Select the robots according to its usage.
 Describe various applications of robots, justification and implementation of robot.

Unit I: Introduction to Material handling [6]

Principles of Material Handling, Unit load concept, Material Handling equipment, Material transport systems: AGVs, Monorails,
Conveyor systems, Cranes and hoists, Analysis of material transport systems: Charting technique, analysis of vehicle based
systems, Conveyor analysis

Unit II: Storage and Data capturing systems [6]

Conventional storage methods and equipments Storage system performance, Analysis of Automated storage/retrieval
systems (ASRS) and Carousel Storage system.
Automatic data capturing system (ADC), Bar coding, Radio frequency identification (RFID), Optical character recognition,
Magnetic stripes

Unit III: Introduction Industrial Robots [6]

Types of industrial robots, Load handling capacity, general considerations in Robotic material handling, material transfer,
machine loading and unloading, CNC machine tool loading, Robot centered cell.

Unit IV: End Effectors [6]

Classification, Design consideration, Materials for hostile operation. Cylindrical Cam type;Grippers using pneumatic, hydraulic
and electrical motor for transmission; Vacuum Grippers,Ultrasonic grippers.

Gripper force analysis and gripper design, design of multiple degrees of freedom, active and passive grippers. Selection of
Robot: Factors influencing the choice of a robot, robot performance testing, economics of robotisation, Impact of robot on
industry and society.

Unit V: Applications of Robots in Manufacturing [6]

Pick and place Robot, Application of Robots in Arc Welding Robots, Assembly and mega-assembly Robots continuous arc
welding, Spot welding, Spray painting, assembly operation,

Other industrial applications: Coating, Deburring, cleaning,Die Casting, Moulding, Material handling, Picking, Palletizing,
Packaging

16
Robots For Inspection :Robotic vision systems, image representation, object recognition and categorization, depth
measurement

Unit VI: Advanced Applications of robots [6]

Military and medical applications, robot for underwater applications Robots, Climbing Robots, Machine mounted Robots.
Interfacing Robots with computers. Obstacle Avoidance: Lee's Algorithm; Counter Path Defining using 'via' point, blending

References Books

1. M. P. Groover, “Automation, ProductionSysytems, and Computer –Integrated Manufacturing”, Pearson

Education,ISBN-81-7808-511-9
2. Deb S.R., “Robotics”, Tata McGraw Hill Publications, New Delhi.
3. Yoram Koren, "Robotics for Engineers", McGraw Hill Book Co.
4. Groover M.P., Weiss M., Nagel R.N., Odrey N.G., "Industrial Robotics Technology - Programming and Applications",
McGraw Hill Book Co.
5. Fu K.S., Gonzalex R.C., Lee C.S.G., "Robotics Control Sensing, Vision and intelligence", McGraw Hill Book Co.
6. Hartenberg and Denavit, "Kinematics and Synthesis of Linkages", McGraw Hill Book Co.
7. Hall A.S., "Kinematics and Linkage Design", Prentice Hall.
8. Hirchhorn J., "Kinematics and Dynamics of Machinery", McGraw Hill Book Co.
9. Todd D.J., “Fundamentals of Robot Technology”, Wiley Publications
10. Paul R., “Robots - Manipulators, Mathematics, Programming and Control”, MIT Press.
11. Janakiraman P.A., “Robotics and Image Processing”, Tata McGraw Hill 1995.
12. Rudenko N., “Material, Handling equipment”, MIR Publications, Moscow.
13. Jacob Fruchlboum, “Bulk Material Handling Handbook”, 1st Edition, Springer, 1988
14. Monkman, G. J.; Hesse, S.; Steinmann, R.; Schunk, H. (2007). Robot Grippers. Wiley-VCH. p. 62. ISBN 978-3-527-
40619-7

17
 Elective 1-Intelligent Manufacturing System
311505(A)-IV

Teaching Scheme Credit Scheme

Examination Scheme
Lectures: 03 hours / week Theroy: 03 In-Sem: 30 Marks
End-Sem: 70 Marks
____________________________________________________________________________________

Pre-requisites:Numerical techniques and optimization methods, Process Planning and Tool Selection, Industrial
Engineering and Management, Production Management

Course objectives:
1. To learn statistical methods, evolutionary optimization techniques, soft computing methods, machine learning and
knowledge based system.
2. Effective applications of these methods to intelligent manufacturing systems.

Course Outcomes:
After learning this subject, the student will be able to:
Implement statistical methods, evolutionary optimization techniques, soft computing methods, machine learning and
knowledge based system for manufacturing system applications such as:
1. Equipment selection and layout
2. Process planning and parametric optimization
3. Cellular manufacturing
4. Robotics systems

Unit I: Introduction to artificial intelligent techniques [6]

Goals of AI in manufacturing, tools for AI such as Search algorithm, Mathematical optimization,Evolutionary computation,
fuzzy logic, Probabilistic methods for uncertain reasoning such as Bayesian network, Hidden Markov model, Kalman filter,
Decision theory and Utility theory, statistical learning methods, support vector machines, neural networks, expert systems

Unit II: Industrial planning and decision making using intelligent systems [6]
Production planning using fuzzy cognitive maps, computer aided process planning, Methods for inventory space allocation and
storage processes analysis, Optimization of production costs and methods finding of the best process plan, Methods for
production equipment selection and layout, Heuristic scheduling of multiple resources, Fuzzy multiple attribute decision
making methods.

Unit III: Intelligent techniques for manufacturing process optimization [6]

Application of neural networks and fuzzy sets to machining and metal forming, Artificial neural network modeling of surface
quality characteristics in machining processes, parametric optimization of machining processes using evolutionary optimization
methods.

Unit IV: Knowledge Based Group Technology [6]

Group Technology: Models and Algorithms – Visual method, Coding method, Cluster analysis method Knowledge based
group technology – Group technology in automated manufacturing system, Structure of knowledge based system for group
technology (KBSGT) –database, knowledge base, Clustering algorithms

Unit V: Intelligent robotic systems [6]

Applications of intelligent systems for mobile Robot Motion Planning, Path Planning Robot Control in Dynamic Environments,
Task Based Hybrid Closure Grasping Optimization for Autonomous Robot Hand. Accurate Motion Control of Fast Mobile
Robots, obstacle avoidance.
Unit VI: Use of Intelligent techniques in flexible manufacturing systems (FMS) [6]

18
Applications of various intelligent systems for FMS functional segmentation schemes including control, real time scheduling,
tool management, process planning, route optimization for AS/RS systems.

References:
1. Andrew Kussiak, “Intelligent Manufacturing Systems”, Prentice Hall , 1990
2. Badiru A.B., “Expert Systems Applications in Engineering and Manufacturing”,
Prentice-Hall, New Jersey, 1992.
3. Liu, Dikai, Wang, Lingfeng, Tan, Kay Chen (Eds.) Design and Control of Intelligent
Robotic Systems, Springer-Verlag, London. ISBN 978-3-540-89932-7
4. Rao R. V. “Advanced Modeling and Optimization of Manufacturing Processes”,
Springer-verlag, London. ISBN 978-0-85729-014-4

19
 Embedded systems in Robotics Lab
311501(B)

Teaching Scheme Credit Scheme Examination Scheme

Practical: 02 hours / week Practical: 01 TW: 25 Marks
___________________________________________________________________________________________________

List of Practical

1. Porting of ucos-II on ARM7/Cortex controller.

2. Implementation/Verification of multitasking (minimum 03 tasks) with ucos-II on ARM7/Cortex controller.
3. Implementation of semaphore with ucos –II service ARM7/Cortex controller for resource management and
synchronization.
4. Implementation of inter process communication with ucos-II mailbox and message queue service on ARM7/Cortex
controller.
5. Programming with exploring on chip ADC of Cortex /MSP430 based microcontroller.
6. Programming on motor control with exploring on chip PWM of Cortex based microcontroller.
7. Exercise on Porting of Linux on ARM board (ARM9 preferably)
8. Programming for device driver with Embedded Linux.

20
 Hydraulics and Pneumatics Lab
311502(B)

Teaching Scheme Credit Scheme Examination Scheme

Practical: 02hours / week Practical: 01 PR: 25 Marks
____________________________________________________________________________________________________

List of Practical

1. Experiment on measurement of hydraulic pump efficiency

2. Experiment on design of speed control hydraulic circuits.
3. Experiment on design of regenerative circuits
4. Experiment on design of electro-hydraulic sequencing circuits
5. Experiment on pneumatic circuits by demonstrating logic gates.
6. Experiment on electro-pneumatic circuits
7. Experiment on programmable logic controllers: Ladder logic programming
8. Microprocessor programming for basic operations.
9. Industrial visit report on automation in any Industry

21
 Robot Kinematics and dynamics Lab
311503(B)

Teaching Scheme Credit Scheme

Examination Scheme
Practical: 02 hours / week Practical: 01
Term Work: 25 Marks
PR: 25 Marks
____________________________________________________________________________________________________

Term work will be based on following practical/design assignments

1. To write a computer program for analysis of any mechanism and test it.
2. Determination of holding torque in epicyclic gear train.
3. Design of cams and followers
4. Experiment on Robot forward kinematic analysis
5. Experiment on Robot inverse kinematic analysis
6. Determination of mass moment of inertia and radius of gyration of robotic links
7. Experiment on balancing of mass

22
 Sensor Technology Lab
311504(B)

Teaching Scheme Credit Scheme Examination Scheme

Practical: 02 hours / week Practical: 01 OR: 25 Marks
____________________________________________________________________________________________________

List of Experiments:

1. Design of instrumentation amplifier

2. Measurement of temperature using thermistor (whetstone Bridge)
3. Measurement and Analysis of temperature using various sensors.
4. Measurement of Displacement using LVDT.
5. Measurement and Analysis of Displacement using various sensors.
6. Measurement of load using strain gauge.
7. Measurement and Analysis of load using various sensors.
8. Study of photo sensors.

23
 Elective 1-Statistics and Numerical Method Lab
311505(B)-I

Teaching Scheme Credit Scheme Examination Scheme

Practical: 02hours / week Practical: 01 OR: 25 Marks
___________________________________________________________________________________________________

Each candidate shall be required to complete and submit the following term work.

1. Practical on parameter optimization of any one process using Taguchi based design of experiment. Validation of
results using any statistical software (R/Minitab/Excel/SigmaXL/Statgraphics etc.).
2. Practical on determination of significant factors for any one process using ANOVA. Validation of results using any
statistical software. (R/Minitab/Excel/SigmaXL/Statgraphics etc.).
3. Practical case study on regression analysis. (Data should be collected for some real life case). Validation of results
using any statistical software. (R/Minitab/Excel/SigmaXL/Statgraphics/Matlab etc.).
4. Practical case study on regression analysis. (Data should be collected for some real life case).
5. Practical case study on multivariable optimization with constraint using any one method.
6. C programming for any 3 practical mentioned above.

24
 Elective 1-Finite Element Analysis Lab
311505(B)-II

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 02 hours / week Pr/Or: 01 OR: 25 Marks
____________________________________________________________________________________

Term work shall consist of following Practical’s

1 Computer program for axial bar subjected to axial forces.
2 Computer program for truss subjected to plane forces.
3 Computer program for beams subjected to transverse forces and moments
4 Computer program for frames subjected to transverse forces and moments
5 Stress and deflection analysis of two dimensional truss using FEA software
6 Stress and deflection analysis of any machine component consisting of 2-D elements using FEA software.
7 Stress and deflection analysis of any machine component consisting of 3-D elements using FEA software
8 Modal analysis of any machine components.
9 Computer program for 1-D temperature analysis
10 Thermal analysis of member subjected to loading
11 Shear force and Bending Moment Calculations of Shaft using FEA software
12 Analysis of component subjected to self weight
13 Thermal analysis of composite wall

25
 Elective 1-Industrial Robotics and Material handling Systems Lab
311505(B)-III

Teaching Scheme Credit Scheme Examination Scheme

Practical:2 hours / week Practical: 01 OR: 25 Marks

________________________________________________________________________________________
Term Work

The term work shall be based on the following assignments:

1. Study of Material handling systems

2. Study and analysis of Storage and Data capturing systems
3. Study of configuration of robots and motion of robot manipulator
4. Study of pick and place industrial robot
5. Study and analysis of robot grippers (includes the problems based on gripper force)
6. Case Study on advanced industrial applications of robots

26
 Elective 1-Intelligent Manufacturing System Lab
311505(B)-IV

Teaching Scheme Credit Scheme Examination Scheme

Practical:2 hours / week Practical: 01 OR:25 Marks

___________________________________________________________________________________________
Term Work

Term work will be based on following assignments:

1. Study of Artificial Intelligent techniques with application examples
2. Case studies on industrial decision making using fuzzy multiple attribute decision making
3. Applications of artificial neural networks to manufacturing engineering
4. Study of various clustering algorithms for group technology
5. Study of algorithms for robot path planning/obstacle avoidance
6. Case study on route optimization of AS/RS systems

27
 Seminar
311506
Teaching Scheme Credit Scheme Examination Scheme
Seminar:1 hours / week Seminar: 01 Term work: 50 Marks
___________________________________________________________________________________________________
1. The objective of Seminar is to test the student on his/her ability for self-study and his/her ability to communicate - Written
and oral.
2. Seminar will be in the form of a report submitted by the student:
a) On topic of his/her choice based on literature survey/ a case study wherever applicable/possible, and approved by the staff-
in- charge.
b) A report with 20-25 pages of A-4 size paper, 1.5 spaced typed material, and appropriately bound.
c) Title font/figures/graphs shall be black and white.

28
 Audit Course 5: Disaster Management
311507
____________________________________________________________________________________________________

The course is intended to provide a general concept in the dimensions of disasters caused by nature beyond the human
control as well as the disasters and environmental hazards induced by human activities with emphasis on disaster
preparedness, response and recovery.

Course Contents:

1. Different Types of Disaster: Natural and man made

2. Risk and Vulnerability Analysis
3. Disaster Preparedness
4. Disaster Response
5. Reconstruction and Rehabilitation as a Means of Development.
6. Damage Assessment
7. Post Disaster effects and Remedial Measures.
8. Long-term Counter Disaster Planning

29
 Robot Programming
311508(A)

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

____________________________________________________________________________________________________

Pre-requisites: Sensors Technology, Robot Kinematics and dynamics.

Course outcomes:

Student will be able to:

1. Explain robot programming methods
2. Understand the components of robot programming
3. Develop simple programs to simulate robot movements
4.Develop robot programs for specific application
5. Describe the safety rulesin robot handling

UNIT 1: Introduction to Robot Programming (6)

Robot programming-Introduction-Types- Flex Pendant- Lead through programming, Coordinate systems of Robot, Robot
controller- major components, functions-Wrist Mechanism-Interpolation-Interlock commands- Operating mode of robot,
Jogging-Types, Robot specifications- Motion commands, end effectors and sensors commands.

UNIT 2: VAL Language (6)

Robot Languages-Classifications, Structures- VAL language commands motion control, hand control, program control, pick
and place applications, palletizing applications using VAL, Robot welding application using VAL program-WAIT, SIGNAL and
DELAY command for communications using simple applications.

UNIT 3: VAL-II (6)

VAL-II programming-basic commands, applications- Simple problem using conditional statements-Simple pick and place
applications-Production rate calculations using robot.

UNIT 4: RAPID Language (6)

RAPID language basic commands- Motion Instructions-Pick and place operation using Industrial robot- manual mode,
automatic mode, subroutine command based programming. Move master command language-Introduction, syntax, simple
problems.

UNIT 5:AML Language (6)

AML Language - General description, elements and functions, Statements, constants and variables-Program control
statements-Operating systems, Motion, Sensor commands-Data processing.

UNIT 6: Practical Study of Virtual Robot (6)

Robot cycle time analysis-Multiple robot and machine Interference-Process chart-Simple problems-Virtualrobotics, Robot
studio online software- Introduction, Jogging, components, work planning, program modules, input and output signals-
Singularities-Collision detection-Repeatabilitymeasurement of robot-Robot economics. AML Language-General description,
elements andfunctions, Statements, constants and variables-Program control statements-Operating systems, Motion, Sensor
commands-Data processing.
Reference Books:
1) S. R.Deb, Robotics technology and flexible automation, Tata McGraw Hill publishing companylimited, 1994.
2) Mikell. P. Groover, Industrial Robotics Technology, Programming and Applications, McGraw HillCo, 1995.
3) Robotcs Lab manual, 2007.

30
4) Klafter. R.D, Chmielewski.T.A. and Noggin’s., Robot Engineering : An Integrated Approach,Prentice Hall of India Pvt.
Ltd.,1994.

5) Fu. K. S., Gonzalez. R. C. & Lee C.S.G., Robotics control, sensing, vision and intelligence, McGrawHill Book co,
1987.
6) Craig. J. J. Introduction to Robotics mechanics and control, Addison-Wesley, 1999.

31
 Artificial Intelligence for Robotics
311509(A)

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

____________________________________________________________________________________________________

Pre-requisites: Engineering mathematics-III, statistics and Numerical Methods, Sensors Technology

Course outcomes:

Student will be able to:

1. Select appropriate artificial intelligence method/algorithm to handle various issues in robotics
2. Demonstrate various algorithms used in artificial intelligence
3. Apply artificial intelligence algorithms to robotics problems
4. Compare the performance of AI algorithms
5. Build solution methodology to solve complex problems in flexible automation

Unit I: Introduction to artificial intelligent techniques (6)

Goals of AI in manufacturing, tools for AI such as Search algorithm, Mathematical optimization, Evolutionary computation,
fuzzy logic, Probabilistic methods for uncertain reasoning such as Bayesian network, Hidden Markov model, Kalman filter,
Decision theory and Utility theory, statistical learning methods, support vector machines, neural networks, expert systems

Unit 2: Handling uncertainty and learning: (6)

Non-monotonic reasoning, probabilistic reasoning, use of certainty factors, fuzzy logic, Concept of learning, learning
automation, genetic algorithm, learning by inductions, neural network, Unsupervised learning- K-Means clustering, Boltzmann
machine, Supervised learning-classification algorithms, support vector machine.

UNIT 3: Search algorithms in AI: (6)

Algorithms for uninformed and informed search, Heuristics search: hill climbing, branch and bound, best first search,
Metaheuristics: Simulated annealing, Tabu search, ant colony optimization, real coded genetic algorithm.

Unit 4: Machine vision in robotics: (6)

Machine vision algorithms, Imaging based automatic sorting and inspection, image processing, imaging based robot guidance,

Unit 5: Intelligent robotic systems (6)

Applications of intelligent systems for mobile Robot Motion Planning, Path Planning Robot Control in Dynamic Environments,
Task Based Hybrid Closure Grasping Optimization for Autonomous Robot Hand. Accurate Motion Control of Fast Mobile
Robots, obstacle avoidance.

Unit 6: Artificial intelligence in flexible automation (6)

Applications of various intelligent systems for FMS functional segmentation schemes including control, real time
scheduling, tool management, process planning, route optimization for AS/RS systems.

References:

1) Steger, Carsten, Markus Ulrich, Christian Wiedemann. Machine Vision Algorithms and Applications (2nd ed.). Wiley,
2018. ISBN 978-3-527-41365-2.
2) Mikell P Groover, Automation, Production System and Computer Integrated Manufacturing, Prentice Hall,
Publications, 2016. ISBN 9789332549814
3) Bhattacharya S., Artificial Intelligence, Laxmi Publications, Ltd., 2008, ISBN9788131804896
4) Chopra Rajiv, Artificial Intelligence, S. Chand Publishing, 2012, ISBN9788121939485
32
5) Pawar P. J., Evolutionary Computations for Manufacturing, Studium Press, 2019, ISBN: 978-93-85046-52-0
6) Ramesh Jain, RangacharKasturi, Brian G. Schunck, Machine Vision, McGraw-Hill, Inc., 1995, ISBN 0-07-032018-7,

33
 Flexible Manufacturing Systems
311510(A)

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

____________________________________________________________________________________________________

Pre-requisites: Industrial Engineering and Management, Manufacturing Technology

Course outcomes:
Students should be able to:
1. Understand FMS and its applications.
2. Implement GT.
3. Perform CNC programming
4. Apply the concept of computer integrated manufacturing in FMS scenario
5. Understand basics of Tool Management System.

Unit I: FMS Introduction and Description (6)

limitations with conventional manufacturing, Need for FMS Introduction, Definition, Basic Component of FMS, Significance of
FMS, General layout and configuration of FMS, Principle Objectives of FMS, Benefits and limitations of FMS, Area of
Application of a FMS in Industry, Various Hardware and Software required for an FMS, CIM Technology, Hierarchy of CIM,
FMS Justification

Unit II: Cellular Manufacturing (6)

Introduction, Description and Classifications of Cell, Unattended Machining, Cellular versus Flexible Manufacturing.
Group Technology: Introduction, Definition, Reasons for Adopting Group Technology, Benefits of Group Technology
Affecting Many Areas of a Company, Obstacles to Application of GT

Unit III: Computer Aided Manufacturing (CAM) (6)

Concepts and features of NC, CNC & DNC - feed back devices ,Interpolators., Point-to-point and contouring systems –
Interchangeable tooling system – preset & qualified tools – ISO specification – Machining center – Turning center,
CNC Programming: -Machine Tool Co-ordinate System, Machine zero, Job zero, Cutter Programming, Tool Offsets,
Manual part programming – steps involved – G-codes and M-codes, sample program in lathe & milling. CAM package –
canned cycles - Programming.

Unit IV: Computer Integrated Manufacturing (CIM) (6)

Computer application in manufacturing automation, Computer aided inspection and quality control. Computer integrated
production management system, inventory, material requirement planning, manufacturing resource planning, enterprise
resource planning. Rapid Product Development and Manufacture, Extended Enterprises.

Unit 5: Automated Material Movement and Storage System (6)

Introduction, Types of AGV and Their principle of working, Advantages, Limitation and General AGV Guide path, Robots,
Benefits of using Industrial Robots, Basic components and benefits of Automated Storage and Retrieval Systems, Conveyors
and Pallet Flotation System, Queuing Carrousels and Automatic Work Changers, Coolant and Chip Disposal and Recovery
system.

Unit 6: Cutting Tools and Tool Management (6)

Introduction, Control of Cutting Tools, Tool Management, Tool Strategies, Tool Preset, Identification and Data Transfer, Tool
Monitoring and Fault Detection

34
References:

1. H. K. Shivanand, M. M. Benal, Flexible Manufacturing System, V. Koti, New Age Pub. ISBN:9386070227
2. Automation, Production Systems and Computer Integrated Manufacturing, Groover M.P, Prentice Hall of India, ISBN:
9789332572492
3. CAD/CAM, Groover M.P, Zimmers E.W, Prentice Hall of India, ISBN: 9780132440813
4. Approach to Computer Integrated Design and Manufacturing, Nanua Singh, John Wiley and Sons,
ISBN:9780471585176
5. Principles of CIM, Vajpayee, PHI, ISBN: 9788120314764
6. Flexible Manufacturing Cells and Systems, Luggen, PHI, ISBN: 9780133217384

35
 Elective 2-Micro-electro-mechanical Systems
311511(A)-I

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

____________________________________________________________________________________________________

Pre-requisites: Applied Electronics Engineering ,Sensory Technology

Course outcomes:
Students should be able to:
1. Understand the operation of micro devices, micro systems and their applications
2. Design the micro devices, micro systems using the MEMS fabrication process.
3. Gain a knowledge of basic approaches for various sensor design
4. Gain a knowledge of basic approaches for various actuator design

Unit I: Introduction to MEMS (6)

What is MEMS? , Definition and Classification, History of MEMS, Intrinsic Characteristics of MEMS: Minitiarization,
Microelectronics Integration, Parallel Fabrication with precision, Sensors and Actuator:Energy domains and transducers ,
Sensor Consideration, Actuator Consideration, Review of Electrical and Mechanical Concepts: Semiconductor devices ,Stress
and strain analysis ,Flexural beam bending, Torsional deflection.

Unit II: Microfabrication (6)

Overview of Microfabrication : Photolithography, Thin film Deposition, Thermal oxidation of Silicon, wet etching, Silicon
anisotropic etching, wafer dicing, wafer bonding etc., The Microelectronics Fabrication Process Flow , Silicon-Based MEMS
Processes, New Materials and Fabrication Processes, LIGA Process , Assembly of 3D MEMS , Foundry process.

Unit III: Sensors and actuators I (6)

Electrostatic sensors, Parallel plate capacitors, Applications, Interdigitated Finger capacitor, Comb drive devices, Micro
Grippers, Micro Motors , Thermal Sensing and Actuation , Thermal expansion ,Thermal couples , Thermal resistors , Thermal
Bimorph ,Applications , Magnetic Actuators , Micromagnetic components , Case studies of MEMS in magnetic actuators,
Actuation using Shape Memory Alloys

Unit IV: Sensors and actuators II (6)

Piezoresistive sensors , Piezoresistive sensor materials , Stress analysis of mechanical elements , Applications to Inertia,
Pressure, Tactile and Flow sensors ,Piezoelectric sensors and actuators , piezoelectric effects, piezoelectric materials ,
Applications to Inertia , Acoustic, Tactile and Flow sensors.

Unit V: Polymer and Optical MEMS (6)

Polymers in MEMS, Polimide ,SU-8 , Liquid Crystal Polymer (LCP), PDMS, PMMA, Parylene , Fluorocarbon, Application to
Acceleration, Pressure, Flow and Tactile sensors. Optical MEMS ,Lenses and Mirrors , Actuators for Active Optical MEMS.

Unit VI: Case Studies of Selected MEMS products (6)

Blood pressure sensor, Microphone, Acceleration sensors, Gyros, Zigbee, Ultrasonic Distance ranging sensors, Metal
Detector, Wireless Cameras and voice transmissions etc.

Text Books:
1. Chang Liu, ‘Foundations of MEMS’, Pearson Education Inc., 2012.
2. Stephen D Senturia, ‘Microsystem Design’, Springer Publication, 2000.
3. Tai Ran Hsu, “MEMS & Micro systems Design and Manufacture” Tata McGraw Hill, New Delhi, 2002.
36
Reference books:
1. Nadim Maluf,“ An Introduction to Micro Electro Mechanical System Design”, Artech House, 2000.
2. Mohamed Gad-el-Hak, editor, “ The MEMS Handbook”, CRC press Baco Raton, 2001.
3. Julian w. Gardner, Vijay K. Varadan, Osama O.Awadelkarim, Micro Sensors MEMS and Smart Devices, John Wiley
& Son LTD, 2002.
4. James J.Allen, Micro Electro Mechanical System Design, CRC Press Publisher, 2005.
5. Thomas M.Adams and Richard A.Layton, “Introduction MEMS, Fabrication and Application,” Springer, 2010.

37
 Elective 2-Humanoid Robots
311511(A)-II

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

____________________________________________________________________________________________________

Unit I: Introduction to Humanoid Robots [6]

Historical development, trends in humanoid robots, design-human likeness, trade off in humanoid robot design, human friendly
humanoid robot design, characteristics of humanoid robots

Unit II: Kinematics of Humanoid Robots [6]

Coordinate Transformations, Characteristics of Rotational Motion, Robot Data Structure and Programming, Kinematics of a
Humanoid Robot: forward and inverse kinematics, Numerical Solution to Inverse Kinematics, Inverse Kinematics with
Singularity Robustness

Unit III: Dynamics of Humanoid Robots [6]

Angular Momentum and Inertia Tensor of Rigid Body, zero moment point –measurement, 2D analysis, 3D analysis, derivation
and calculation, 3D Walking Pattern Generation, ZMP Based Walking Pattern Generation, Dynamic Simulation

Unit IV: Humanoid robots and neuroscience: [6]

Humanoid Robotics Perspective to Neuroscience, Emulating the Neuro-Mechanisms with Humanoid Robots, Foveal Vision
for Humanoid Robots, Humanoid Locomotion and the Brain, Cognitive Humanoid Robots

Unit V: Co-operative object manipulation and control [6]

Multi-fingered grasping, multi-arm object manipulation control, co-operation between multiple humanoids, leader follower type
co-operative object manipulation, symmetry type co-operative object manipulation

Unit VI: Humanoid robots applications [6]

Search and rescue humanoid robots, service humanoids, sports humanoids, AI humanoid robots,

Text Books:

1. Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi, Introduction to Humanoid Robotics, Springer,
ISBN: 9783642545368
2. Gordon Cheng, Humanoid Robotics and Neuroscience: Science, Engineering and Society, CRC Press
3. Nenchev D. N., Konno a., Tsujita T, ‘Humanoid robots-Modeling and Control’ Butterworth Heinemann Publishing,
ISBN: 9780128045602
4. S. L. Hamilton, Humanoid Robots, Abdo Publishing, ISBN: 9781532171437

38
 Elective 2-Modeling and Simulation
311511(A)-III

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

___________________________________________________________________________________________________

Pre-requisites: Machine Drawing, Engineering Mathematics III

Outcomes:
Students will be able to
1. Solve the problems based on simulation principal
2. Differentiate the simulation systems.
3. Collect data and generate the random numbers.
4. Distinguish simulations with regard to output analysis
5. Apply simulation to manufacturing system.
6. Handle software packages – ARENA/SimFactory/Promodel/ Witness

Unit I: Principles of Simulation and Modeling

A review of basic probability and statistics, Definition and concepts of simulation and modeling, steps in a simulation study,
Modeling concepts, Advantages, Disadvantages and Applications areas of simulation Basic principles of simulation modeling,
Model based problem solving

Unit II: System Simulation

Types of simulation: Physical vs. Mathematical, Static vs. Dynamic, Deterministic vs. Stochastic, Continuous vs. Discrete
simulation models, Continuous, Discrete event, Monte-Carlo simulation methods and their applications in inventory and
queuing problems (single server queuing system) – problem organization and logic.

Unit III: Input Data Analysis

Nature of simulation, Roots of simulation input modeling, Data collection, Identifying distribution, Histograms, practical
methods for testing assumptions Random Number Generation: Introduction, Desired properties, Generation of pseudo random
numbers

Unit IV: Random Variate Generation

Introduction, Factors considered in selecting generator, Generating continuous random variates like Uniform, Exponential,
Weibull, Normal Output Data Analysis: Introduction, Types of simulations with regard to output analysis – terminating and
nonterminating simulation

Unit V: Simulation of Manufacturing Systems

Need of simulation in manufacturing and material handling systems, Components of manufacturing systems – product,
resources, demand, control; Downtime, Rework and reentrancy, Random events and performance measures used in
manufacturing systems with a case study on any manufacturing system Material Handling Systems – Input parameters for
automated material handling systems, Conveyor and vehicle systems, job shop with material handling and flexible
manufacturing systems.

39
Unit VI: Simulation Software
Simulation software: Introduction, Comparison of simulation software with programming languages – SLAM, SIMAN. Desirable
software features, Classification of simulation software, General purpose and object oriented simulation software packages –
ARENA/SimFactory/Promodel/ Witness

Text Books:
1. Averill M Law, “Simulation Modeling and Analysis”, Fourth Edition, Tata McGraw Hill
2. Education Private Ltd, New Delhi, 2010.
3. Banks, J., J. S. Carson II, and B. L. Nelson. “Discrete-Event System Simulation”, SecondEdition,Prentice Hall, 4. Bratley, P.,
B. L. Fox, andL. E. Schrage “A Guide to Simulation”, 2nd ed., Springer-Verlag, New York
5. Fishman, G.S., “Monte Carlo: Concepts, Algorithms and Applications”, Chapman &Hall, New York.

40
 Elective 2-Swarm Intelligence in Robotics
311511(A)-IV

Teaching Scheme Credit Scheme Examination Scheme

Lectures: 03 hours / week Theory: 03 In-Sem: 30 Marks
End-Sem: 70 Marks

___________________________________________________________________________________________________

Unit I: Introduction to swarm intelligence [6]

Basic philosophy, Need of swarm intelligence, Traditional approach vs. Swarm intelligence, Models of swarm behaviour,
introduction to swarm intelligence methods: Particle swarm optimization, ant colony optimization, artificial bee colony, shuffled
frog leaping algorithm, firefly algorithm etc. Applications of swarm intelligence to robotics systems

Unit II: Particle swarm optimization: [6]

Introduction, Mechanism of working of particle swarm optimization algorithm, parameter selection, convergence criteria,
adaptive mechanisms, variants of PSO algorithm, hybridization, performance of algorithm - convergence rate and accuracy,
termination criteria.

Unit III: Ant colony optimization: [6]

Introduction, Mechanism of working of amt colony optimization algorithm, collective intelligence, parameter selection,
convergence, elitist ant system, Rank based ant systems, recursive ant colony optimization, Applications to combinatorial
optimization problems.

Unit IV: Artificial bee colony optimization [6]

Artificial bee colony meta-heuristic: Initialization, employed bees, onlooker bees, scout bees, honey foraging behavior, Global
Guided ABC Algorithm, Hybrid Guided Artificial Bee Colony (HGABC) Algorithm, hybridized artificial bee colony with simulated
annealing, genetic algorithm etc.

Unit V: Other techniques based on swarm intelligence [6]

Shuffled frog leaping, Cat Swarm Optimization, Bat algorithm, glowworm swarm optimization, Fish school algorithm, firefly
algorithm, Teaching-learning based optimization, Lion algorithm, civilized swarm optimization.

Unit VI: Applications of swarm intelligence in robotics: [6]

Swarm intelligence in following robotics applications: Robot path planning, Trajectory generation, inverse kinematics and
dynamics, Robotic controller design, robot clustering, robot sorting, robot collaboration, Obstacle avoidance etc.

Text Books:
1. Aboul Ella Hassanien, Eid Emary, ‘Swarm Intelligence: Principles, Advances, and Applications’, CRC Press, ISBN:
9781498741071
2. Pakize Erdogmus (Ed.) ‘Particle Swarm Optimization with Applications’, IntechOpen, ISBN: 9781789231489
3. Christian Blum, Daniel Merkle, Swarm Intelligence: Introduction and Applications, Springer, ISBN: 9783540740896
4. Pawar P. J., ‘Evolutionary Computations for Manufacturing’, Studium Press, 2019, ISBN: 978-93-85046-52-0

41
 Robot Programming Lab
311508(B)

Teaching Scheme Credit Scheme

Examination Scheme
Lectures: 02 hours / week Practical: 01
PR: 25 Marks
OR: 25 Marks
____________________________________________________________________________________________________

Term Work
Term work will be based on following practical/design assignments
1. Programming using teach pendant method
2. Programming on VAL Language
3. Programming on RAPID Language
4. Programming on AML Language
5. Programming the robot for pick and place operation using any robot
6. Robot Programming for Color identification/shape identification/path tracking
7. Industrial visit and its report on industrial applications of robots

42
 Artificial Intelligence for Robotics Lab
311509(B)

Teaching Scheme Credit Scheme Examination Scheme

Practical: 02 hours / week Practical: 01 TW: 25 marks
PR: 25 Marks
____________________________________________________________________________________________________
List of practical:

1. Programming in C or Matlab to implement fuzzy logic application for autonomous robot system.
2. Programming in C/Matlab to implement simulated annealing/genetic algorithm for solving inverse kinematic problems
3. Programming in C/Matlab to solve traveling salesman problem using ant colony optimization algorithm
4. Write program using VisualProlog to create an expert system
5. Write program for obstacle avoidance in mobile robots using any one algorithm
6. Implement A* algorithm to Solve 8-puzzle problem using. Assume any initial configuration and define goal
configuration clearly
7. Define the operators for controlling domestic robot; use these operators to plan an activity to be executed by the
robot. For example, transferring two/three objects one over the other from one place to another. Use Means-Ends
analysis with all the steps revealed.
8. Solving real time planning and scheduling problems using software like Witness/Pro-model

43
 Flexible Manufacturing Systems Lab
311510(B)
Teaching Scheme Credit Scheme Examination Scheme
Practical: 02 hours / week Practical: 01 TW- 25 Marks
____________________________________________________________________________________________________

Oral will be based on Assignment submitted on the topic and following practical work (Any 4)

1. Construction of model of cellular manufacturing system and performance evaluation using any software package.
2. Programming on CNC Lathe
3. Programming on CNC Milling
4. Robot programming for integrated process application
5. 3 D printing of a part
5. Programming for line/color follower AGV

44
 Elective 2-Micro-electro Mechanical Systems Lab
311511(B)-I

Teaching Scheme Credit Scheme Examination Scheme

Practical: 02 hours / week Practical: 01 OR - 25 Marks
____________________________________________________________________________________________________

List of Assignments: Oral will be based on the following assignments

1. What is MEMS ? and Explain its history in details.
2. Explain different Micro fabrication Processes.
3. Explain any one of the case studies of MEMS in magnetic actuators.
4. Explain Piezoelectric sensors and actuators as per fabrication point of view.
5. Study the optical MEMS as far as actuators in Active Optical MEMS are concern.
6. Explain one of the real life case study of MEMS.

45
 Elective 2-Humanoid Robots Lab
311511(B)-II

Teaching Scheme Credit Scheme Examination Scheme

Practical: 02 hours / week Practical: 01 OR - 25 Marks
_______________________________________________________________________________________________

1. Selection and design of sensors, actuators and other hardware in connection with humanoid robots
2. Forward Kinematics of Humanoid Robots
3. Inverse Kinematics of Humanoid Robots
4. Programing humanoid robots for bipedal gait generation and control, i.e. zero moment point (ZMP), central pattern
generators (CPGs) and linear genetic programming (LGP).
5. Forward and inverse dynamics of Humanoid Robots
6. Programing humanoid robots with basic algorithms for computer vision.
7. Programing humanoid robots for dexterous manipulation for humanoid robots.

46
 Elective 2-Modelling and Simulation Lab

311511(B)-III
Teaching Scheme Credit Scheme Examination Scheme
Practical: 02 hours / week Practical: 01 OR - 25 Marks
_______________________________________________________________________________________________

List of Practical
1. Assignment on Principals of Simulation and Modeling.
2. Development of Mathematical model for Manufacturing processes/Machining.
3. Simulation of Material Handling system using software package.
4. Simulation of manufacturing system using software package
5. Introduction to programming language – SLAM
6. Introduction to programming language - SIMAN

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 Elective 2-Swarm Intelligence in Robotics Lab
311511(B)-IV
Teaching Scheme Credit Scheme Examination Scheme
Practical: 02 hours / week Practical: 01 OR - 25 Marks
_______________________________________________________________________________________________

Programming in C/Python/Matlab for any 6 swarm intelligence methods for following applications in Robotics

1. Robot path planning and Trajectory generation

2. Inverse robot kinematics
3. Inverse robot dynamics
4. Robot controller design
5. Robot clustering and sorting
6. Obstacle avoidance
7. Robot vision system

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 Software Lab
311512
Teaching Scheme Credit Scheme Examination Scheme
Practical: 02 hours / week Practical: 01 TW: 50 Marks
___________________________________________________________________________________________________

List of Practical
1. Solid modeling using any CAD software
2. Tool path generation and Part programming using any CAM software
3. Stress and deflection analysis using FEA software
4. Robot Kinematics and dynamics using software such as RoboAnalyser, Gazebo, Robologix etc.
5. Robot path planning using ROS/Matlab
6. Robot control system simulation using Matlab
7. Any one robot project application using Raspberry Pi

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 Internship
311513

Teaching Scheme Credit Scheme Examination Scheme

Internship: 04 TW - 100 Marks
____________________________________________________________________________________________________

Course Outcomes:
On completion of the internship, learner will be able to –
CO1: To develop professional competence through industry internship.
CO2: To apply academic knowledge in a personal and professional environment
CO3: To build the professional network and expose students to future employees.
CO4: Apply professional and societal ethics in their day to day life.
CO5: To become a responsible professional having social, economic and administrative considerations.
CO6: To make own career goals and personal aspirations.

Guidelines:

Internships are educational and career development opportunities, providing practical experience in a field or discipline.
Internships are far more important as the employers are looking for employees who are properly skilled and having awareness
about industry environment, practices and culture. Internship is structured, short-term, supervised training often focused
around particular tasks or projects with defined time scales. Core objective is to expose technical students to the industrial
environment, which cannot be simulated/experienced in the classroom and hence creating competent professionals in the
industry and to understand the social, economic and administrative considerations that influence the working environment of
industrial organizations. Engineering internships are intended to provide students with an opportunity to apply theoretical
knowledge from academics to the realities of the field work/training. The following guidelines are proposed to give academic
credit for the internship undergone as a part of the Third Year Engineering curriculum.

Duration:

Internship to be completed after semester 5 and before commencement of semester 6 of at least 4 to 6 weeks; and it is to be
assessed and evaluated in semester 6.

Internship work Identification:

Student may choose to undergo Internship at Industry/Govt./NGO/MSME/Rural Internship/ Innovation/IPR/Entrepreneurship.

Student may choose either to work on innovation or entrepreneurial activities resulting in start-up or undergo internship with
industry/NGO’s/Government organizations/Micro/Small/ Medium enterprises to make themselves ready for the industry [1].

Contacting various companies for Internship and Internship work identification process should be initiated in the Vth semester
in coordination with training and placement cell/ industry institute cell/ internship cell. This will help students to start their
internship work on time. Also, it will allow students to work in vacation period after their Vth semester examination. Student
can take internship work in the form of Online/onsite work from any of the following but not limited to:

 Working for consultancy/ research project,

 Participation at Events (Technical / Business)/in innovation related completions like Hackathon,
 Contribution in Incubation/ Innovation/ Entrepreneurship Cell/ Institutional Innovation Council/ startups cells of
institute /

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  Learning at Departmental Lab/Tinkering Lab/ Institutional workshop,
 Development of new product/ Business Plan/ registration of start-up,
 Participation in IPR workshop/Leadership Talks/ Idea/ Design/ Innovation/ Business Completion/ Technical Expos,
 Industry / Government Organization Internship,
 Internship through Internshala,
 In-house product development, intercollegiate, inter department research internship under research lab/group,
micro/small/medium enterprise/online internship,
 Research internship under professors, IISC, IIT's, Research organizations,
 NGOs or Social Internships, rural internship,
 Participate in open source development.

[1] https://www.aicte-india.org/sites/default/files/AICTE%20Internship%20Policy.pdf

Internship Diary/ Internship Workbook:

Students must maintain Internship Diary/ Internship Workbook. The main purpose of maintaining diary/workbook is to cultivate
the habit of documenting. The students should record in the daily training diary the day-to-day account of the observations,
impressions, information gathered and suggestions given, if any. The training diary/workbook should be signed after every day
by the supervisor/ in charge of the section where the student has been working.

Internship Diary/workbook and Internship Report should be submitted by the students along with attendance record and an
evaluation sheet duly signed and stamped by the industry to the Institute immediately after the completion of the training.
Internship Diary/workbook may be evaluated on the basis of the following criteria:

 Proper and timely documented entries

 Adequacy & quality of information recorded
 Data recorded
 Thought process and recording techniques used
 Organization of the information

Internship Work Evaluation:

Every student is required to prepare a maintain documentary proofs of the activities done by him as internship diary or as
workbook. The evaluation of these activities will be done by Programme Head/Cell In-charge/ Project Head/ faculty mentor or
Industry Supervisor based on Overall compilation of internship activities, sub-activities, the level of achievement expected,
evidence needed to assign the points and the duration for certain activities.

Assessment and Evaluation is to be done in consultation with internship supervisor (Internal and External – a supervisor from
place of internship.

Recommended evaluation parameters-Post Internship Internal Evaluation -50 Marks + Internship Diary/Workbook and
Internship Report - 50 Marks

Evaluation through Seminar Presentation/Viva-Voce at the Institute

The student will give a seminar based on his training report, before an expert committee constituted by the concerned
department as per norms of the institute. The evaluation will be based on the following criteria:

• Depth of knowledge and skills Communication & Presentation Skills

• Team Work
• Creativity

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 • Planning & Organizational skills
• Adaptability
• Analytical Skills
• Attitude & Behavior at work
• Societal Understanding
• Ethics • Regularity and punctuality

• Attendance record
• Log book
• Student’s Feedback from External Internship Supervisor

After completion of Internship, the student should prepare a comprehensive report to indicate what he has observed and learnt
in the training period. The student may contact Industrial Supervisor/ Faculty Mentor/TPO for assigning special topics and
problems and should prepare the final report on the student’s presence physically, if the student is found absent without prior
intimation to the department/institute/concern authority/T & P Cell, entire training can be cancelled.

The report shall be presented covering following recommended fields but not limited to,

• Title/Cover Page • Internship completion certificate

• Internship Place Details- Company background-organization and activities/Scope and object of the study / personal
observations
• Index/Table of Contents
• Introduction
• Title/Problem statement/objectives
• Motivation/Scope and rationale of the study
• Methodological details
• Results / Analysis /inferences and conclusion
• Suggestions / Recommendations for improvement to industry, if any
• Attendance Record
• Acknowledgement
• List of reference (Library books, magazines and other sources)

Feedback from internship supervisor (External and Internal)

Post internship, faculty coordinator should collect feedback about student with following recommended parameters

Technical knowledge, Discipline, Punctuality, Commitment, Willingness to do the work, Communication skill, individual work,
Team work, Leadership…..

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 Audit Course 6: Technical writing and communication skill
311514
____________________________________________________________________________________________________
This course is intended to equip the students with skills to write technical reports and also to equip them with skills to
communicate and articulate in English (verbal as well as writing)
Technical Writing –
 Various forms of scientific writings- theses, technical papers, reviews, manuals, etc.
 Various parts of thesis and research communications (title page, authorship contents page, preface, introduction,
review of literature, material and methods, experimental results and discussion); Writing of abstracts, summaries,
précis, citations etc.;
 Commonly used abbreviations in the theses and research communications;
 Illustrations, photographs and drawings with suitable captions; pagination, numbering of tables and illustrations;
 Writing of numbers and dates in scientific write-ups; Editing and proof-reading; Writing of a review article.
Communication Skills –
 Grammar (Tenses, parts of speech, clauses, punctuation marks);
 Error analysis (Common errors);
 Concord;
 Collocation; Phonetic symbols and transcription;
 Accentual pattern: Weak forms in connected speech: Participation in group discussion: Facing an interview;
 presentation of scientific papers

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