Robotics and Automation s7 & s8

ROBOTICS AND AUTOMATION
SEMESTER VII
ALGORITHMS AND DATA CATEGORY L T P CREDIT

RAT401
STRUCTURES PCC 2 0 2 3
Preamble: This course helps the student to have an idea of Data Structures and Algorithms.
Students are introduced to the basic design consideration of algorithms. Discussion on
various data structures, algorithms and their applications are also included as part of the
course to get an overall idea on this topic.
Prerequisite: Nil
Course Outcomes: After the completion of the course the student will be able to
CO 1 Analyse various data structures and their applicability

Use appropriate data structures like arrays, linked lists, stacks and queues to
CO 2
solve real world problems efficiently.
Comprehend and implement various techniques for searching, sorting and
CO 3
Hashing
Represent and manipulate data using nonlinear data structures like trees and
CO 4
graphs to design algorithms for various applications.
Identify the appropriate data structure to design efficient algorithm for the given
CO 5
application
Mapping of course outcomes with program outcomes
PO PO PO PO PO PO PO PO PO PO PO PO
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 1 3
CO 2 2 1 3
CO 3 2 1 3
CO 4 3 2 2 3
CO 5 3 2 2 3
CO 6 3 2 2 3
Assessment Pattern
Continuous Assessment
Bloom’s Category Tests End Semester Examination
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total CIE ESE ESE

Marks Duration
150 50 100 3 hours
Continuous Internal Evaluation Pattern:
Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks
End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A
contain 10 questions with 2 questions from each module, having 3 marks for each question.
Students should answer all questions. Part B contains 2 questions from each module of which
student should answer any one. Each question can have maximum 2 sub-divisions and carry
14 marks.
Course Level Assessment Questions
Course Outcome 1 (CO1):
1. Differentiate between primitive and non-primitive data structures with the help of
examples.
2. What do you mean by asymptotic notations?
1. Differentiate between stacks and queues.
1. Differentiate between linear search and binary search.
2. What are hash tables?
1. What is breadth-first search?
2. What are the internal and external sorting algorithms?
1. Characteristics of dynamic programming.

2. What is backtracking
Model Question Paper

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY
SEVENTH SEMESTER B.TECH. DEGREE EXAMINATION
Course Code: RAT401
Course Name: Algorithms and Data Structures
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries 3 marks. Marks
1 What do you mean by asymptotic notations? Explain briefly about the (3)
asymptotic notations that are commonly used to calculate the running time
complexity of an algorithm?
2 Differentiate between primitive and non-primitive data structures with the (3)
help of examples
3 Write an algorithm/pseudocode to delete a given element k from an array (3)

A of n elements? Assume that the element k is always present in A.
4 How will you represent a polynomial 3x2 +2xy2 +5y3 +7yz using a singly (3)
linked list?
5 Draw the binary tree whose sequential representation is given below. (3)
1 2 3 4 5 6 7 8 9 10 11
12 13 14 15
A B C D —E F —G ——H ——I
6 Define (i) Tree (ii) Binary Tree. (3)
7 Explain efficiency of (i) Quick sort (ii) Binary searching. (3)
8 Write an algorithm to search for a substring in a given string. (3)
9 Explain backtracking with an example. (3)
10 What are the steps in dynamic programming? (3)
PART B
Answer any one full question from each module, each carries14 marks.
MODULE I
11 a) ROBOTICS
Explain in detail the substitution method for solving AND
recurrence AUTOMATION
relations (7)
b) Explain the operations on Data structures with examples. (7)
12 a) What is a recursive algorithm? Explain different types of recursive (6)

algorithms with examples.
b) Explain linear and nonlinear data structures. (8)
MODULE II
13 a) Assume that a stack is represented using a linked list. Write algorithms for (7)
the following operations: - (i) Push (ii) Pop
b) Explain the structure of Doubly Linked List (DLL). Differentiate the (7)
difference between DLL and Doubly Circular Linked List (DCLL).
Explain the procedures to insert a node in DLL at the beginning and at the
last.
14 a) Write algorithms to perform the following operations on a doubly linked (7)

list. (i) Insert a node with data ‘y’ after a node whose data is ‘x’. (ii)
Delete a node whose data is ‘s’ . (iii) Insert a node with data ‘a’ as the 1st
node of the list.
b) Explain different types of queues and their applications. (7)
MODULE III
15 a) Which are the elementary graph operations? Explain in detail. (7)
b) What is a priority queue? Implement using a linked list. (7)
16 a) Explain the various ways in which a graph can be represented bringing out (7)
the advantages and disadvantages of each representation.
b) Explain various tree traversal algorithms with examples. (7)
MODULE IV
17 a) Write an algorithm to perform selection sort in an array. Using the above (6)
selection sort algorithm, sort the input file [25, 7, 46, 11, 85].
b) With the help of an algorithm/pseudocode and suitable example, explain (8)

how you would perform binary search on an array of n elements. Find the
time complexity of binary search algorithm.
18 a) Explain in brief how the shortest path is calculated using Dijkstra’s (7)
algorithm.
b) Write an algorithm to perform binary search on ROBOTICS
a given set ofAND AUTOMATION
‘n’ numbers. (7)
Using the algorithm search for the element 23 in the set [12, 23, 34, 44,
48, 53, 87, 99]
MODULE V
19 a) Explain divide-and-conquer approach in detail. (7)
b) Explain greedy algorithm with example. Also explain its advantages and (7)
disadvantages.
20 a) Explain dynamic programming in detail with example. (7)
b) What is meant by NP-complete problems? Explain in detail with (7)

examples. What are the techniques that can be applied to solve
computational problems in general?
****
. SYLLABUS
Module I (8 Hours)
Introduction to Data Structures: Basic Terminology, Elementary Data Structure

Organization, Classification of Data Structures: Primitive and Non-primitive, Linear and
Non-linear, Operations on Data structures, Asymptotic notations, Notion of recursive
algorithms, Recurrence relations
Module II ( 10 Hours)
Linear Data Structures: Introduction, variations, operations and applications of array,

queue, stack and linked list
Array: Representation of arrays, Applications of arrays, sparse matrix and its representation.
Stack: Stack-Definitions & Concepts, Operations On Stacks, Applications of Stacks, Polish

Expression, Reverse Polish Expression And Their Compilation, Recursion, Tower of Hanoi
Queue: Representation Of Queue, Operations On Queue, Circular Queue, Priority Queue,

Array representation of Priority Queue, Double Ended Queue, Applications of Queue
Linked lists: - singly linked list, doubly linked list, Circular linked list, operations on linked
list, linked list with header nodes
Module III ( 8 Hours)
Non-Linear Data Structures: Concepts and types of trees, tree traversal algorithms, search
trees, Priority queue implementation and applications
Graph-Matrix Representation Of Graphs, Elementary Graph operations, (Breadth First
Search, Depth First Search, Spanning Trees, Shortest path, ROBOTICS AND tree).
Minimal spanning AUTOMATION
Module IV (8Hours)
Indexing structure: Concepts and implementations of B-Tree, B+ tree, Hashing, Dictionary
Graph Algorithms: Depth-first search, strongly connected components, Breadth-first search,

Dijkstra's algorithm
Searching and Sorting Algorithms: Linear search, Binary search, Hash tables, internal and
external sorting algorithms, sorting without comparison.
Module V (8 Hours)
Algorithm Design: Greedy algorithm, Divide and conquer, Dynamic programming,

Backtracking, Branch and bound, Randomized algorithms
Algorithm Analysis: Asymptotic notations, Recurrences, NP complete problems
Text Books
1. Samanta D., Classic Data Structures, Prentice Hall India, 2/e, 2009.
2. Richard F. Gilberg, Behrouz A. Forouzan, Data Structures: A Pseudocode Approach
with C, 2/e, Cengage Learning, 2005.
3. Aho A. V., J. E. Hopcroft and J. D. Ullman, Data Structures and Algorithms, Pearson
Publication,1983.
Reference Books
1. Horwitz E., S. Sahni and S. Anderson, Fundamentals of Data Structures in C,

University Press (India), 2008.
2. Tremblay J. P. and P. G. Sorenson, Introduction to Data Structures with Applications,
Tata McGraw Hill, 1995.
3. Peter Brass, Advanced Data Structures, Cambridge University Press, 2008
4. Wirth N., Algorithms + Data Structures = Programs, Prentice Hall, 2004.
Course Contents and Lecture Schedule ROBOTICS AND AUTOMATION
No. of
No Topic
Lectures
1 MODULE 1
Introduction to Data Structures: Basic Terminology, Elementary

1.1 3
Data Structure Organization
Classification of Data Structures: Primitive and Non-primitive,
1.2 Linear and Non-linear 3
Operations on Data structures, Asymptotic notations, Notion of

1.3 recursive algorithms, Recurrence relations 3
2 MODULE 2
Introduction, variations, operations and applications of array,

2.1 queue, stack and linked list, operations and applications of array, 3
queue, stack and linked list
Array: Representation of arrays, Applications of arrays, sparse
2.2 2
matrix and its representation.,
Stack: Stack-Definitions & Concepts, Operations On Stacks,
2.3 Applications of Stacks, Polish Expression, Reverse Polish 2
Expression And Their Compilation, Recursion, Tower of Hanoi
Queue: Representation Of Queue, Operations On Queue, Circular
2.4 Queue, Priority Queue, Array representation of Priority Queue, 2
Double Ended Queue, Applications of Queue
Linked lists:- singly linked list, doubly linked list, Circular linked
2.5 2
list, operations on linked list, linked list with header nodes
3 MODULE 3
3.1 Concepts and types of trees, tree traversal algorithms, search trees 3
3.2 Priority queue implementation and applications 3
Graph-Matrix Representation Of Graphs, Elementary Graph
3.3 operations, ( Breadth First Search, Depth First Search, Spanning 3
Trees, Shortest path, Minimal spanning tree ).
4 MODULE 4
Indexing structure: Concepts and implementations of B-Tree, B+

4.1 3
tree, Hashing, Dictionary
Graph Algorithms: Depth-first search, strongly connected
4.2 3
components, Breadth-first search, Dijkstra's algorithm
Searching and Sorting Algorithms: Linear search, Binary search,
4.3 Hash tables, internal and external sorting algorithms, sorting 3
without comparison.
5 MODULE 5
Algorithm Design: Greedy algorithm, Divide ROBOTICS
and conquer,AND AUTOMATION
5.1 Dynamic programming, Backtracking, Branch and bound, 5
Randomized algorithms
Algorithm Analysis : Asymptotic notations, Recurrences, NP
5.2 4
complete problems
CATEGORY L T P CREDIT
RAL 411 ELECTRICAL DRIVES AND CONTROL LAB
PCC 0 0 3 2
Preamble: Drives and control lab will enable the students to understand the characteristics of
basic components used in electric drives. They will work on AC and DC drives. They can
experimentally determine the control using various drives.
Course Outcomes: After the completion of the course the student will be able to:-
CO 1 Test the basic characteristics of power semiconductor devices.

CO 2 Test the various techniques used for triggering SCRs and solid state devices.
CO 3 Test and design choppers and inverters.
CO 4 Test the speed control of DC motors.
CO 5 Design and develop different speed control schemes for DC motor drives.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2 2 2 2 2
CO 2 3 2 2 2 2 2 2
CO 3 3 2 2 2 2 2 2 2
CO 4 3 2 2 2 2 2 2 2 3
CO 5 3 2 2 2 2 2 2 3
Assessment Pattern
Mark distribution
Total CIE ESE ESE

Marks Duration
150 75 75 2.5 hours
Continuous Assessment : 30 marks
Internal Test (Immediately before the second series test) : 30 marks
End Semester Examination Pattern: The following guidelines should be followed regarding award of
marks
(a) Preliminary work : 15 Marks
(b) Implementing the work/Conducting the experiment : 10 Marks
(c) Performance, result and inference (usage of equipment and trouble shooting) : 25 Marks
(d) Viva voce : 20 Marks
(e) Record : 5 Marks
General instructions: Practical examination to be conducted immediately after the second series test
covering entire syllabus given below. Evaluation is a serious process that is to be conducted under
the equal responsibility of both the internal and external examiners. The number of candidates
evaluated per day should not exceed 20. Students shall be allowed for the University examination
only on submitting the duly certified record. The external examiner shall endorse the record.
LIST OF EXPERIMENTS
1. Characteristics of SCR
2. Characteristics of MOSFET
3. Characteristics of IGBT
4. R and RC firing scheme for SCR control
5. Study of step up and step down chopper
6. Study of 1-Φ fully controlled bridge rectifier with RL load with SCR
7. Single-phase half bridge/full bridge inverter using power MOSFET/IGBT
8. Study of 1-phase full bridge voltage source inverters inverter with R & RL loads.
9. Chopper controlled speed control of DC motor.
10. Study of speed control of stepper motor
11. Study of position control of Servomotor
Simulation experiments
1. study of 3-Φ full controlled bridge rectifier

2. V control and V/f control of Induction motor using PWM Inverter.
3. v/f control of chopper motor drive using VFD(MATLAB/Hardware)
4. Simulation of a Brushless DC Motor Drive
5. Microcontroller based speed control of DC motor
. Text Books:
1. Ned Mohan, Tore m Undeland, William P Robbins, “Power electronics converters
applications and design”, John Wiley and Sons.
2.Dubey G. K. “Power semiconductor control drives” Prentice Hall, Englewood Cliffs, New
Jersey, 1989
3. E. G. Janardhanan, ‘Special Electrical Machines’ PHI Learning Private Limited.
4. NAGARATH.I.J & KOTHARI .D.P,”Electrical machines”, Tata McGraw-Hill.1998
References:
1. VEDAM SUBRAMANIAM “Electric drives (concepts and applications)”, Tata McGraw-
Hill.2001
2. R. Krishnan, ‘Permanent magnet synchronous and Brushless DC motor Drives’, CRC
Press.
3. Bimal K. Bose “Modern power electronics and AC drives” Pearson Education, Asia
2003
4. Irvin L. Kosow.’Electrical Machinery and Transformers’, Oxford Science Publications.
5. T. J. E. Miller, ‘Brushless PM and Reluctance Motor Drives’.C.Larendon Press, Oxford.
6. Dr. P. S. Bimbra “Power electronics”, Khanna publishers
7. Vedam Subrahmanyam, “Electric Drives”, MC Graw Hill Education, New Delhi
8. Pillai S. K. “A first course on electric drives”, Wieley Eastern Ltd, New Delhi
9. Theodore Wildi, ‘Electric Machines, Drives and Power Systems’, Prentice Hall India
Ltd.
10. M.D. SINGH, K.B.KHANCHANDANI,”Power electronics,” Tata McGraw-Hill.1998
11. N. K. De, P. K. Sen “Electric drives” Prentice Hall of India 2002
ROBOTICS AND
CATEGORY L TAUTOMATION
P CREDIT
RAQ413 SEMINAR
PWS 0 0 3 2
Preamble: The course ‘Seminar’ is intended to enable a B.Tech graduate to read, understand,
present and prepare report about an academic document. The learner shall search in the
literature including peer reviewed journals, conference, books, project reports etc., and
identify an appropriate paper/thesis/report in her/his area of interest, in consultation with
her/his seminar guide. This course can help the learner to experience how a presentation can
be made about a selected academic document and also empower her/him to prepare a
technical report.
Course Objectives:
 To do literature survey in a selected area of study.

 To understand an academic document from the literate and to give a presentation
about it.
 To prepare a technical report.
Course Outcomes [COs] : After successful completion of the course, the students will be able
to:
Identify academic documents from the literature which are related to her/his areas of
CO1
interest (Cognitive knowledge level: Apply).
Read and apprehend an academic document from the literature which is related to
CO2
her/ his areas of interest (Cognitive knowledge level: Analyze).
Prepare a presentation about an academic document (Cognitive knowledge
CO3
level: Create).
Give a presentation about an academic document (Cognitive knowledge level:
CO4
Apply).
CO5 Prepare a technical report (Cognitive knowledge level: Create).
Mapping of course outcomes with program outcomes:
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12
CO1 2 2 1 1 2 1 3
CO2 3 3 2 3 2 1 3
CO3 3 2 3 1 2 3
CO4 3 2 1 3 3
CO5 3 3 3 3 2 2 2 3 3
Abstract POs defined by National Board of Accreditation
PO# Broad PO PO# Broad PO

PO1 Engineering Knowledge PO7 Environment and Sustainability
PO2 Problem Analysis PO8 Ethics
Design/Development of
PO3 PO9 Individual and team work
solutions
Conduct investigations of complex PO10 Communication
PO4 problems
PO5 Modern tool usage PO11 Project Management and Finance
PO6 The Engineer and Society PO12 Life long learning
General Guidelines
 The Department shall form an Internal Evaluation Committee (IEC) for the seminar
with academic coordinator for that program as the Chairperson/Chairman and seminar
coordinator & seminar guide as members. During the seminar presentation of a
student, all members of IEC shall be present.
 Formation of IEC and guide allotment shall be completed within a week after the
University examination (or last working day) of the previous semester.
 Guide shall provide required input to their students regarding the selection of topic/
paper.
 Choosing a seminar topic: The topic for a UG seminar should be current and broad
based rather than a very specific research work. It's advisable to choose a topic for the
Seminar to be closely linked to the final year project area. Every member of the project
team could choose or be assigned Seminar topics that covers various aspects linked to
the Project area.
 A topic/paper relevant to the discipline shall be selected by the student during the
semester break.
 Topic/Paper shall be finalized in the first week of the semester and shall be submitted
to the IEC.
 The IEC shall approve the selected topic/paper by the second week of the semester.
 Accurate references from genuine peer reviewed published material to be given in the
report and to be verified.
Evaluation pattern
Total marks: 100, only CIE, minimum required to pass 50
Seminar Guide: 20 marks (Background Knowledge – 10 (The guide shall give deserving
marks for a candidate based on the candidate's background knowledge about the topic
selected), Relevance of the paper/topic selected – 10).
Seminar Coordinator: 20 marks (Seminar Diary – 10 (Each student shall maintain a

seminar diary and the guide shall monitor the progress of the seminar work on a weekly
basis and shall approve the entries in the seminar diary during the weekly meeting with the
student), Attendance – 10).
Presentation: 40 marks to be awarded by the IEC (Clarity of presentation – 10,

Interactions – 10 (to be based on the candidate's ability to answer questions during the
interactive session of her/his presentation), Overall participation – 10 (to be given based on
her/his involvement during interactive sessions of presentations by other students), Quality
of the slides – 10).
Report: 20 marks to be awarded by the IEC (check for technical content, overall quality,
templates followed, adequacy of references etc.).
ROBOTICS AND
P CREDIT
RAD415 PROJECT PHASE I
PWS 0 0 6 2
Preamble: The course ‘Project Work’ is mainly intended to evoke the innovation and invention
skills in a student. The course will provide an opportunity to synthesize and apply the knowledge
and analytical skills learned, to be developed as a prototype or simulation. The project extends to
2 semesters and will be evaluated in the 7th and 8th semester separately, based on the achieved
objectives. One third of the project credits shall be completed in 7th semester and two third in 8th
semester. It is recommended that the projects may be finalized in the thrust areas of the respective
engineering stream or as interdisciplinary projects. Importance should be given to address societal
problems and developing indigenous technologies.
Course Objectives
 To apply engineering knowledge in practical problem solving.
 To foster innovation in design of products, processes or systems.
 To develop creative thinking in finding viable solutions to engineering problems.
Course Outcomes [COs] :After successful completion of the course, the students will be able to:
Model and solve real world problems by applying knowledge across domains
CO1
(Cognitive knowledge level: Apply).
Develop products, processes or technologies for sustainable and socially relevant
CO2
applications (Cognitive knowledge level: Apply).
Function effectively as an individual and as a leader in diverse teams and to
CO3
comprehend and execute designated tasks (Cognitive knowledge level: Apply).
Plan and execute tasks utilizing available resources within timelines, following
CO4
ethical and professional norms (Cognitive knowledge level: Apply).
Identify technology/research gaps and propose innovative/creative solutions
CO5
(Cognitive knowledge level: Analyze).
Organize and communicate technical and scientific findings effectively in written
CO6
and oral forms (Cognitive knowledge level: Apply).
CO1 2 2 2 1 2 2 2 1 1 1 1 2
CO2 2 2 2 1 3 3 1 1 1 1
CO3 3 2 2 1
CO4 2 3 2 2 3 2
CO5 2 3 3 1 2 1
CO6 2 2 2 3 1 1
PO# Broad PO PO# Broad PO
PO3 Design/Development of solutions PO9 Individual and team work

Conduct investigations of PO10 Communication
PO4
complex problems
PO6 The Engineer and Society PO12 Lifelong learning
PROJECT PHASE I
Phase 1 Target
 Literature study/survey of published literature on the assigned topic

 Formulation of objectives
 Formulation of hypothesis/ design/ methodology
 Formulation of work plan and task allocation.
 Block level design documentation
 Seeking project funds from various agencies
 Preliminary Analysis/Modeling/Simulation/Experiment/Design/Feasibility study
 Preparation of Phase 1 report
Evaluation Guidelines & Rubrics
Total: 100 marks (Minimum required to pass: 50 marks).
 Project progress evaluation by guide: 30 Marks.

 Interim evaluation by the Evaluation Committee: 20 Marks.
 Final Evaluation by the Evaluation Committee: 30 Marks.
 Project Phase - I Report (By Evaluation Committee): 20 Marks.
(The evaluation committee comprises HoD or a senior faculty member, Project coordinator
and project supervisor).
Evaluation by the Guide
The guide/supervisor shall monitor the progress being carried out by the project groups on a
regular basis. In case it is found that progress is unsatisfactory it shall be reported to the
Department Evaluation Committee for necessary action. The presence of each student in the group
and their involvement in all stages of execution of the project shall be ensured by the guide.
Project evaluation by the guide: 30 Marks. This mark shall be awarded to the students in his/her
group by considering the following aspects:
Topic Selection: innovativeness, social relevance etc. (2)
Problem definition: Identification of the social, environmental and ethical issues of the project
problem. (2)
Purpose and need of the project: Detailed and extensive explanation of the purpose and need of
the project. (3)
Project Objectives: All objectives of the proposed work are well defined; Steps to be followed to
solve the defined problem are clearly specified. (2)
Project Scheduling & Distribution of Work among Team members: Detailed and extensive
Scheduling with timelines provided for each phase of project. Work breakdown structure well
defined. (3)
Literature survey: Outstanding investigation in all aspects. (4)
Student’s Diary/ Daily Log: The main purpose of writing daily diary is to cultivate the habit of
documenting and to encourage the students to search for details. It develops the students’ thought
process and reasoning abilities. The students should record in the daily/weekly activity diary the
day to day account of the observations, impressions, information gathered and suggestions given,
if any. It should contain the sketches & drawings related to the observations made by the students.
The daily/weekly activity diary shall be signed after every day/week by the guide. (7)
Individual Contribution: The contribution of each student at various stages. (7)
EVALUATION RUBRICS for PROJECT Phase I: Interim Evaluation
No. Parameters Marks Poor Fair Very Good Outstanding

The team has identified a topic.
Topic The team has failed to come Good evidence of the group The group has brainstormed in an
The originally selected topic
identification, with a relevant topic in time. thinking and brainstorming on excellent manner on what they were
lacks substance and needs to
selection, Needed full assistance to find what they are going to build. The going to build. The topic selected is
be revised. There were
formulation of a topic from the guide. They results of the brainstorming are highly relevant, real world problem
suggestions given to improve
objectives do not respond to documented and the selection of and is potentially innovative. The
1-a 10 the relevance and quality of the
and/or suggestions from the topic is relevant. The review of group shows extreme interest in the
project topic. Only a few
literature evaluation committee and/or related references was good, but topic and has conducted extensive
relevant references were
survey. the guide. No literature there is scope of improvement. literature survey in connection with
consulted/ studied and there is
(Group review was conducted. The Objectives formed with good the topic. The team has come up
no clear evidence to show the
assessment) team tried to gather easy clarity, however some objectives with clear objectives which are
team's understanding on the
information without verifying are not realistic enough. feasible.
same. Some objectives
[CO1] the authenticity. No
identified, but not clear enough.
objectives formed yet.
(0 – 3 Marks) (4 – 6 Marks) (7 - 9 Marks) (10 Marks)

Excellent evidence of enterprising
and extensive project planning.
Gantt charts were used to depict
Project detailed project scheduling. A
Good evidence of planning
Planning, No evidence of planning or Some evidence of a primary project management/version
done. Materials were listed and
Scheduling scheduling of the project. plan. There were some ideas on control tool is used to track the
thought out, but the plan
and The students did not plan the materials /resources project, which shows familiarity
wasn't quite complete.
Resource/ what they were going to required, but not really thought with modern tools. All materials /
Schedules were prepared, but
Tasks build or plan on what out. The students have some resources were identified and listed
not detailed, and needs
Identification materials / resources to use idea on the finances required, and anticipation of procuring time
1-b 10 improvement. Project journal is
and in the project. The students but they have not formalized a is done. Detailed budgeting is done.
presented but it is not complete
allocation. do not have any idea on the budget plan. Schedules were All tasks were identified and
in all respect / detailed. There
(Group budget required. The team not prepared. The project incorporated in the schedule. A
is better task allocation and
assessment) has not yet decided on who journal has no details. Some well-kept project journal shows
individual members understand
does what. No project journal evidence on task allocation evidence for all the above, in
[CO4] about their tasks. There is
kept. among the team members. addition to the interaction with the
room for improvement.
project guide. Each member knows
well about their individual tasks.

Phase 1 Interim Evaluation Total Marks: 20
EVALUATION RUBRICS for PROJECT Phase I: Final Evaluation
Sl.
Formulation
None of the team members The students have some The students are comfortable Shows clear evidence of having a
of Design
show any evidence of knowledge on the design with design methods adopted, well- defined design methodology and
and/or
knowledge about the design procedure to be adopted, and and they have made some adherence to it. Excellent knowledge
Methodology
and and the methodology adopted the methodologies. However, the progress as per the plan. The in design procedure and its
1-c 5 till now/ to be adopted in the team has not made much methodologies are understood adaptation. Adherence to project
Progress.
(Group later stages. The team has progress in the design, and yet to a large extent. plan is commendable.
assessment) not progressed from the to catch up with the project
[CO1] previous stage of evaluation. plan.
(0 – 1 Marks) (2 – 3 Marks) (4 Marks) (5 Marks)
The student show some interest The student shows very good
Individual and The student does not show interest in project, and takes up The student takes a leadership
and participates in some of the
any interest in the project tasks and attempts to complete position and supports the other
Teamwork activities. However, the activities
1-d activities, and is a passive them. Shows excellent team members and leads the project.
Leadership are mostly easy and superficial
10 member. responsibility and team skills. Shows clear evidence of leadership.
( Individual in nature.
assessment) Supports the other members
[CO3] well.
Preliminary The team has not done any The team has started doing There is some evidence to show Strong evidence for excellent
Analysis/ preliminary work with respect some preliminary work with that the team has done good progress in the project. The team
Modeling / to the analysis/modeling/ respect to the project. The amount of preliminary has completed the required
1-e
Simulation/ simulation/experiment/desig students however are not investigation and design/ preliminary work already and are
10
Experiment / n/feasibility study/ algorithm prepared enough for the work analysis/ modeling etc. poised to finish the phase I in an
Design/ development. and they need to improve a lot. They can improve further. excellent manner. They have shown
Feasibility results to prove their progress.
study
[CO1]
The project stages are extensively
documented in the report.
Professional documentation tools
The team did not document
Some documentation is done, like LaTeX were used to document
Documentatio the work at all. The project
but not extensive. Interaction Most of the project details were the progress of the project along
n and journal/diary is not
1-f with the guide is minimal. documented well enough. with the project journal. The
presentation. 5 presented. The presentation
Presentation include some There is scope for documentation structure is well-
(Individual & was shallow in content and
points of interest, but overall improvement. The presentation planned and can easily grow into the
group dull in appearance.
quality needs to be improved. is satisfactory. Individual project report.
assessment). The individual student has no
Individual performance to be performance is good.
idea on the presentation of
improved. The presentation is done
[CO6] his/her part.
professionally and with great clarity.
The individual’s performance is
excellent.
Total 30 Phase - I Final Evaluation Marks: 30

EVALUATION RUBRICS for PROJECT Phase I: Report Evaluation
Sl.
Project report shows

The prepared report is Project report follows the
evidence of systematic
shallow and not as per standard format to some The report is exceptionally good. Neatly
documentation. Report is
standard format. It does not extent. However, its organized. All references cited
1-g Report [CO6] 20 following the standard
follow proper organization. organization is not very good. properly. Diagrams/Figures, Tables and
format and there are only a
Contains mostly Language needs to be equations are properly numbered, and
few issues. Organization of
Unacknowledged content. improved. All references are listed and clearly shown. Language is
the report is good. Most
Lack of effort in preparation not cited properly in the excellent and follows standard styles.
of references are cited
is evident. report.
properly.
(0 - 7 Marks) (8 - 12 Marks) (13 - 19 Marks) (20 Marks)
Phase - I Project Report Marks: 20
SEMESTER VII
PROGRAM ELECTIVE II
RAT413 MOBILE ROBOTICS
PEC 2 1 0 3
Preamble: With the increase in automation, robots are used in all walks of life. It was
observed by many researches that the ability of a robot can be increased several folds if it was
capable of movement. This paper introduces the student with the basic issues in bringing
mobility to robots and how those issues are resolved through its various modules.
Explain the fundamental computational issues involved in mobile robotics and issues
CO 1
related to locomotion
Translate the working principle of different visual and non-visual sensors to select the
CO 2
appropriate ones for a particular application
CO 3 Explain the techniques used for representing and reasoning about space
CO 4 Classify the different software architecture in the development of robotic applications
State the techniques used for pose maintenance and localization techniques used in
CO 5
robotics
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 2 2
CO 2 2 2 2
CO 3 3 2 2 2
CO 4 3 2 3 2 2 2
CO 5 3 2 3 2 2
Assessment Pattern
1 2
Remember 10 10 10
Understand 30 30 60
Apply 10 10 30
Analyse
Evaluate
Create
Mark distribution
Total Marks CIE ESE ESE Duration
150 50 100 3 hours

14 marks.

1. Elaborate on the challenges to be addressed during the design of a mobile robot
2. Explain the concepts like Path planning, Localization for a mobile robot.
3. Identify the most suitable locomotion technique for a given scenario

1. Differentiate between Visual and Non-Visual Sensors
2. Elaborate on the working principle of different sensors
3. Explain the various processes involved in visual image sensing

1. Explain the representation of a robot in space
2. Explain the different methods of path planning
3. Explain the working of various algorithms for finding the optimal path

1. Explain the need for decomposing the design of a mobile robot
2. Explain the architecture of different decomposition techniques
3. Elaborate the advantages of Hybrid Control Architectures

1. Explain the different matching techniques possible to perform local or global localization
2. Explain the Non-Geometric methods for localization
SYLLABUS ROBOTICS AND AUTOMATION
Module I: (7 Hours)
Mobile Robots: Fundamental problems – Path Planning, Localization, Sensing, Mapping,

Simultaneous Localization and Mapping
Locomotion: Introduction to stepper Motor and Servo Motor Control, Wheeled Mobile
Robots - Differential Drive, Synchronous Drive, Steered wheels, Tricycle Drive, Car drive -
Limbed Locomotion – Vehicle Stability, Number of legs, Limb design and Control, forward
and inverse kinematics, Gait and Body Control, Dynamic Gaits
Off-Board Communication: Tethered, Untethered, Radio Modems
Module 2(6 Hours)
Non Visual Sensors : Basic concepts – Sensors: Bumbers, Accelerometers, Gyroscopes,

infrared sensors, Sonar – Transducer Model, Data interpretation, Laser Rangefinders - Data
Fusion: Kalman Filter
Visual Sensors : Perspective Camera, Planar Homography, Camera Calibration, - Object

Appearance and Shading – Signals and Sampling – Image features and Their Combination –
Measuring Depth – Active Vision
Module 3(8 Hours)

Representation and Reasoning about Space: Representing Space: Spatial Decomposition,
Geometric Representations, Topological Representations – Representing the Robot:
Configuration Space, Simplification of C-space – Path Planning for Mobile Robots:
Constructing a discrete search space, Retraction Methods - Searching a Discrete State Space:
Graph search, Depth-first Search, Breadth-first Search, Dijkstra’s Algorithm – Searching a
Continuous State Space:Vector Field Algorithm, Bug algorithm – Spatial Uncertainty –
Dynamic Environments , Probabilistic path planning
Module 4(7 Hours)

System Control: Horizontal Decomposition – Vertical Decomposition – Hybrid Control
Architectures – Middleware – High Level Control – Alternative Control Formalisms – The
human Robot interface
Module 5(7 Hours)

Pose Maintenance and Localization: Simple landmark measurement - Servo Control –
Recursive Filtering – Non-Geometric methods: Perceptual Structure – Correlation based
localization – Global Localization
Mapping: Sensorial Maps – Geometric Maps – Topological Maps.
Text Books
1. Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin,

Cambridge University PRess
ROBOTICS
2. Introduction to Autonomous Mobile Robots , R Siegwart, AND AUTOMATION
IR Nourbakhsh, D
Scaramuzza, , MIT Press, USA, 2011.
References:
1. Introduction to Mobile Robot Control, Spyros G. Tzafestas , Elsevier, USA, 2014.
2. Sensors for mobile robot ,HR Everett, CRC Press
Course Contents and Lecture Schedule
No. of
No Topic
Lectures
1 Module 1
Fundamental problems – Path Planning, Localization, Sensing,
1.1 1
Mapping, Simultaneous Localization and Mapping
1.2 Stepper Motors, Servo Motor Control 1
Wheeled Mobile Robots, Differential Drive, Steered wheels, Tricycle
1.3 1
Drive, Car drive
Limbed Locomotion – Vehicle Stability, Number of legs, Limb design
1.4 2
and Control, forward and inverse kinematics
1.5 Gait and Body Control, Dynamic Gaits 1
1.6 Tethered, Untethered, Radio Modems 1
2 Module 2
2.1 Basic concepts – Sensors: Bumbers, Accelerometers, Gyroscopes 1
2.2 Infrared sensors, Sonar – Transducer Model, Data interpretation 1
2.3 Laser Rangefinders - Data Fusion: Kalman Filter 1
2.4 Perspective Camera, Planar Homography, Camera Calibration 1
2.5 Object Appearance and Shading – Signals and Sampling 1
Image features and Their Combination – Measuring Depth – Active
2.6 1
Vision
3 Module 3
Representing Space: Spatial Decomposition, Geometric Representations,
3.1 1
Topological Representations
3.2 Representing the Robot: Configuration Space, Simplification of C-space 1
Path Planning for Mobile Robots: Constructing a discrete search space,
3.3 Retraction Methods 1
Searching a Discrete State Space: Graph search, Depth-first Search,

3.4 Breadth-first Search, Dijkstra’s Algorithm 2
Searching a Continuous State Space:Vector Field Algorithm, Bug

3.5 algorithm – 2
Spatial Uncertainty – Dynamic Environments , Probabilistic path

3.6 planning 1
4 Module 4
4.1 Horizontal Decomposition 2
4.2 Vertical Decomposition 2
4.3 ROBOTICS
Hybrid Control Architectures -– Middleware – High AND AUTOMATION
Level Control 1
Alternative Control Formalisms
4.4 1
The human Robot interface
4.5 1
5 Module 5
5.1 Simple landmark measurement 1
5.2 Servo Control - Recursive Filtering 2
5.3 Non-Geometric methods: Perceptual Structure 1
5.4 Correlation based localization – Global Localization 1
5.5 Sensorial Maps – Geometric Maps – Topological Maps. 2

Course Code: RAT 413

Course Name:
MOBILE ROBOTICS

PART A
1 Which point is called as the Instantaneous center of curvature of a vehicle. What (3)
is its significance?
2 Explain the term Dead Reckoning. Explain how this technique is used in mobile (3)
robots
3 Differentiate between active sensing and passive sensing (3)
4 List out the important characteristics need to be considered while selecting a (3)
sensor for a particular application
5 Define the term ‘Search method’ in the context of searching a discrete state (3)
space
6 What is the drawback of simple graph searching algorithm in robot path (3)
planning.
7 List out the drawbacks of vertical decomposition technique used in robotic (3)
design
8 What is a middleware and how is it significant in robotic software design (3)
9 Explain the term pose estimation (3)
10 List out the different matching methods used in localization process (3)
PART B ROBOTICS AND AUTOMATION
Answer any one full question from each module, each carries 14 marks.
MODULE1
11 a) Explain the Bug algorithm to determine a path between two points A and B (8)
b) Explain how different trajectories can be made using a differential drive (6)
12 a) For a robot at an initial position (x,y) and is following a particular path, State (9)
any one possible reason for the error in the estimated position of the robot.
Show the effects of errors in the x and y directions are independent in the
estimate of robots position.
b) List out any 5 periodic gaits used by quadrupeds in locomotion over flat surfaces (5)
MODULE II
13 a) Explain the principle of operation of gyroscopes (8)
b) Discuss in detail any one camera calibration technique of a single video camera (6)
14 a) Suppose that an object is dropped from some known height under the effect of (14)
gravity. Develop a Kalman filter to continually estimate the state of the object if
(a) the position of the object is measured at each time instance, (b) the velocity
of the object is measured at each time instance, and (c) the position and the
velocity of the object is measured at each time instant.
MODULE III
15 a) Define the term Configuration Space and explain the use of it in motion (14)
planning. Compare the configuration space of a limbed robot to that of a robot
with only one translational and rotational motion
16 a) How is Topological representation better than Geometric representation? With (10)
an example, a graph based representation of a robotic environment
b) With an example, explain Dijkstra’s algorithm to find the shortest path between (5)
two nodes.
MODULE IV
17 a) Explain with an example the process of horizontal decomposition of a robotic (8)
control system
b) With a block diagram, Explain the general structure of a behaviour based system (6)
18 What is the design principle behind reactive control paradigm. Discuss the (14)
Subsumption architecture used in robotic design
MODULE V
19 a) Describe a procedure for determining the pose of a robot in a 2D world using (14)
only “wall following,” assuming that a perfect map is available and that the
absolute orientation of the robot can be determined at any time.
20 a) Explain the use of Triangulation and Trilateration for localization (14)

***
PLC AND DISTRIBUTED CATEGORY L T P CREDIT

RAT423
CONTROL SYSTEMS PEC 2 1 0 3
Preamble: Acquire the skill of PLC programming and to learn DCS architecture
CO 1 Learn PLC hardware and its general architecture.

Design logic circuits to perform industrial control functions of medium complexity
CO 2
and realise the same using ladder logic.
CO3 Apply the industrial protocols used with PLC in real applications.
CO4 Familiarize the DCS architecture and its functions.
CO5 Determine hardware and communication requirements of DCS.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3
CO 2 3 3 2
CO 3 3 3 2
CO 4 3 3
CO 5 3 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours

Continuous Internal Evaluation Pattern
contains 10 questions with 2 questions from each module, having 3 marks for each question.
14 marks.

1. Explain the architecture of PLC?
2. Explain input/output modules of PLC.

1. Simple PLC programs
2. Application of PLC in applications such as traffic control system.

1. Explain Industrial Protocols
2. Explain the role of industrial protocols in automation using PLC

1. Describe the architecture of DCS
2. Explain the functions of different modules in PLC.

1. Explain the role of DCS in industry 4.0
2. Explain different communication protocols used in DCS.


Course Name: PLC AND DISTRIBUTED CONTROL SYSTEMS
PART A
1 What is the need for isolators in PLC I/O modules? Draw a commonly used (3)
isolator arrangement.
2 How to classify languages used in PLC programming. Give their salient (3)
features.
3 Implement a mod-2 counter using ladder logic program. (3)
4 Write the sequential instructions in PLC. (3)

5 Detail the role of RS-485 in PLC communication? (3)
6 What is the requirement of signal conditioning systems in a Data Acquisition (3)
Card?
7 Discuss the performance criteria for selection of DCS (3)
8 Explain automation pyramid. (3)
9 What are the design considerations for displays used with high level operator (3)
interfaces in DCS?
10 Discuss how the alarm management is don in DCS? (3)
PART B
MODULE1
11 a) Draw the block diagram of a PLC showing the main functional items and (4)
explain the functions of each block.
b) Explain the criteria for selecting the PLC (5)
c) Explain the standard procedure for installing a PLC. (5)
12 a) Draw the block diagram for interfacing of an analoginput and output modules (7)
and explain the parts.
b) Discuss the different powersupply units used in PLC system with suitable diagrams. (7)
MODULE II
13 a) Design a ladder logic program for following process: The level in two (8)
bypassed tanks is to be maintained in 5m. The two tanks have separate inlets
and outlets. If there is any change in the inlet flow rate, a level sensor mounted
in tank 1 will give a signal so that outlet flow of tank 2 is regulated. And if
there is any change in outlet flow rate in tank 1, then also outlet flow in tank 2
is to be regulated. If the level is steady, a green LED should glow.
b) With a neat diagram and a ladder logic program, explain how a stepper motor (6)
can be controlled using a PLC.
14 A pump is to be used to fill two storage tanks. The pump is manually started (14)
by the operator from a start/stop station. When the first tank is full, the control
logic must be able to automatically stop flow to the first tank and direct flow to
the second tank through the use of sensors and electric solenoid valves. When
the second tank is full, the pump must shut down automatically. Indicator
lamps are to be included to signal when each tank is full.
With a drawing of the process, prepare a PLC ladder logic program for this
control process.
MODULE III
15 a) Write a program control the upper and lower levels in a tank using Sequential (8)
Function Charts(SFC)
b) Explain OPC and OPC-UA by highlighting the specialities. (6)
16 a) With a block diagram, explain the working of MODBUS in three configurations (8)
b) Explain the working of a Direct Digital Control(DDC) system, with an example. (6)
MODULE IV
17 a) Describe how the DCS architecture is supporting ERP. (6)
b) Explain the basic architecture of DCS and highlight the need of LCUs and (8)
HLCUs.
18 a) Explain the role of shared communication facilities in DCS. (8)
b) Write short notes on 1. LCU 2. DIO 3. LHLD 4. HLOI (6)
Module V
19 a) Explain the different type of displays in DCS. (7)
b) Which are the different proprietary and open communication protocols of DCS (7)
20 a) Explain the various operator and engineering interface requirements in DCS. (8)
b) Highlight the reasons for using general purpose computers in DCS (6)
****
SYLLABUS
Module I (7 Hours)
Introduction to PLC -Construction of relay logic circuits with different control elements-
Need for PLC –Evolution of PLC.
PROGRAMMABLE LOGIC CONTROLLERS: Architecture of PLC -Types of PLC –PLC
modules, Input and Output modules –Digital and Analog Input/Output- examples of Digital
and Analog Inputs/Outputs in PLC-AC- DC power supplies in PLC- isolators- PLC
Configuration -Scan cycle -Capabilities of PLC-Selection criteria for PLC –PLC
Communication with PC and software-PLC Wiring-Installation of PLC and its modules.
PLC programming languages: Ladder Logic, Functional Block Diagram FBD -Sequential
Flow Chart SFC - Structured Text - Instruction List
Module II(7 Hours)
PROGRAMMING OF PLC: – Ladder Logic Programming – Realization of simple logic

circuits programming on-off inputs/ outputs. Auxiliary commands and functions: PLC Basic
Functions: Register basics- timer functions- counter functions.
Program control instructions- math instructions- sequencers- PLC based traffic light system,
stepper motor & servo motor control using PLC, Analog sensor interfacing with PLC
APPLICATIONS OF PLC: Case studies of manufacturing automation and process

automation.
Module III(7 Hours)
PLC programming tools as per IEC 61131-Developing programs using Sequential Function
Chart and FBD
Networking PLC:usingRS232, RS485, Protocols-ethernet- Modbus,CANOpen, OPC-Open

Platform Communication- OPC UA
Industrial Automation :General Block diagrams of DDC- Supervisory control- Data

Acquisition system.
Module IV(7 Hours)
Distributed Control System- DCS - Architectures, Comparison, Local control unit, Process
interfacing issues, Communication facilities- Distributed Control System Basics: DCS
introduction- Various function Blocks- DCS components/block diagram- DCS Architecture of
different makes- comparison of these architectures with automation pyramid- DCS
specification- latest trend and developments in DCS- DCS support to Enterprise Resources
Planning (ERP)- performance criteria for DCS and other automation tools.
Module V(7 Hours)
Interfaces In DCS : Operator interfaces- Low level and high level operator interfaces -
Operator displays- Engineering interfaces- Low level and high level engineering interfaces-
General purpose computers in DCS- DCS detail Engineering- configuration and
programming- DCS software function- functions including database management, reporting,
alarm management, diagnosis.
Communication highway of DCS-Role of DCS in Industry4.0
Text Books:
1. Programmable logic controllers, Frank D Petruzella, McGraw-Hill, 2011.

2. Michael P. Lukas, ‘Distributed Control Systems’, Van Nostrand Reinhold
Co.,Canada,1986
3. Industrial Process Automation Systems: Design and Implementation, B.R. Mehta
and Y. Jaganmohan Reddy, Hardcover ISBN: 9780128009390 , ELSEVIER, 1st
Edition - November 26, 2014
Reference Books
1. Programmable Controllers- An Engineers’s Guide, 2nd Edition, E.A. Parr, Newnes,

1999.
2. Programmable controllers, Hardware, Software & Applications, George L. Batten
Jr., Mc GrawHill, 2nd Edition, 1994.
3. Programmable logic controllers, W. Bolton, Elsevier Ltd, 2015.
4. Programmable Logic Controllers: Programming Methods and Applications. John
R Hackworth and Fredrick D Hackworth Jr., Pearson Education, 2006.
5. John. W. Webb Ronald A Reis - Programmable Logic Controllers - Principles and
Applications, Fourth edition, Prentice Hall Inc., New Jersey, 1998.
6. Process Control- Instrument Engineers Handbook by Bela G. Liptak, Chilton book
co
No. of
No Topic
Lectures
1
1.1 Introduction to PLC -Construction of relay logic circuits with different 1

control elements- Need for PLC - PLC evolution
PROGRAMMABLE LOGIC CONTROLLERS: Architecture of PLC -
1.2 Types of PLC –PLC modules, Input and Output modules – Digital and 2
Analog Input/Output- examples of Digital and Analog Inputs/Outputs
1.3 PLC-AC- DC power supplies in PLC- isolators 1
PLC Configuration -Scan cycle -Capabilities of PLC- Selection criteria
1.4 for PLC – PLC Communication with PC and software- PLC Wiring- 2
Installation of PLC and its modules
PLC programming languages: Ladder Logic, Functional Block Diagram
1.5 1
FBD -Sequential Flow Chart SFC - Structured Text - Instruction List
2
2.1 PROGRAMMING OF PLC: – Ladder Programming – Realization of 2
simple logic circuits programming on-off inputs/ outputs. Auxiliary
commands and functions: PLC Basic Functions: Register basics, timer
functions, counter functions
Program control instructions- math instructions- sequencers- PLC based
2.2 traffic light system, stepper motor & servo motor control using PLC, 3
Analog sensor interfacing with PLC
APPLICATIONS OF PLC: Case studies of manufacturing automation

2.3 2
and process automation
3
PLC programming tools as per IEC 61131-Developing programs using
3.1 Sequential Function Chart and FBD- simple programming examples 3
Networking PLC using RS232, RS485, Protocols- ethernet- Modbus,

3.2 CANOpen, OPC-Open Platform Communication- OPC UA. 3
Industrial Automation : General Block diagrams of DDC- Supervisory

3.3 Control- Data Acquisition system 1
4
Distributed Control System- DCS - Architectures, Comparison, Process
interfacing issues, Communication facilities. Distributed Control System
4.1 Basics: DCS introduction, Various function Blocks, DCS 2
components/block diagram
DCS Architecture of different makes, comparison of these architectures

4.2 with automation pyramid, DCS specification, latest trend and 3
developments,
DCS support to Enterprise Resources Planning (ERP), performance

4.3 criteria for DCS and other automation tools. 2
5
Interfaces In DCS : Operator interfaces, Low level and high level
5.1 operator interfaces, Operator displays, Engineering interfaces, Low level 2
and high level engineering interfaces
General purpose computers in DCS, DCS detail Engineering,

configuration, and programming- DCS software functions- functions
5.2 including database management, reporting, alarm management, 3
diagnosis.
Communication highway of DCS, communication protocols in DCS-

5.3 case studies 2
RAT433 THEORY OF ELASTICITY
PEC 2 1 0 3
Preamble: Acquire knowledge in analysis of elastic behaviour of materials
CO 1 Define stress, strain and displacements
CO 2 Solve plane stress and plane strain problems using elasticity theory
CO3 Explain stress, strain transformations and photoelasticity
CO4 Solve problems on strain energy methods and thermal stresses
CO5 Discuss failure criteria and propagation of waves in elastic media
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3 3
CO 2 3 3 3
CO 3 3 3 3
CO 4 3 3 3
CO 5 3 3 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours

Continuous Internal Evaluation Pattern ROBOTICS AND AUTOMATION
1. Write the tensor representing stress and strain? Why are they symmetric?
2. What does compatibility conditions signify?
3.List the strain displacement relations.
Course Outcome 2 (CO2)
1. What do you understand by plane strain?
2. Explain stress concentration.
3.What is a stress function?
Course Outcome 3(CO3):
1. What is meant by principal stress?
2. Using a mohr circle, find the maximum shear in terms of principal stresses.
3. What do you understand by photoelasticity?
1. Differentiate between bending and torsion.
2.What is Prandtl’s membrane analogy?
3. State Castigliano’s first theorem.
1. Plot the yield surfaces of maximum shear stress theory and maximum distortio energy
theory.
2. What is meant by dilatation and distortion wave in elastic media?
3. Write the elastic wave eqution and explain the terms.


SEVENTH SEMESTER B.TECH. DEGREE
EXAMINATION
Course Code: RAT433

Course Name: THEORY OF ELASTICITY
Max. Marks: 100 Duration: 3
Hours
PART A
1 What is a stress tensor? Represent principal stresses as a stress tensor (3)
2 Explain compatibility conditions. What is its significance in solving (3)
problems on elasticity?
3 Differentiate between plane stress, plane strain and axisymmetric (3)
problems.
4 Discuss the types of displacement boundary conditions implemented on (3)

a beam
5 Explain the principle of photo elasticity. (3)
6 What are principal stresses? How is it related to maximum shear stress? (3)
7 Explain the phenomenon of warping in torsion. (3)
8 Explain Castigliano’s theroem? (3)
9 Differentiate between normal and shear stress theory. (3)
10 What is elastic waves? What are the factors that affect the propagation (3)
of elastic wave through a structure?
PART B
MODULE1
11 a) Derive the differential equations of equilibrium in Cartesian coordinates. (7)
b) Determine the principal stresses for the state of stress given below: (7)
[3 − 10 0 − 10 0 30 0 30 − 27 ]
12 a) The displacement field for a body is given by (9)

u = (x 2 + y)i + (3 + z)j + (x 2 + 2y)k
Write down the displacement gradient matrix at point (2, 3, 1).
b) Explain the differential sstrain displacement relations. (5)
MODULE II
13 a) ROBOTICS
Show that the following are Airy’s stress functions AND
and examine the AUTOMATION
(8)
stress distribution represented by them:
a) ф=Ax2+By2, b)ф=Cx4, c)ф=A(x4-6x2y2)
b) State and explain generalised Hooke’s law. Explain the modifications in (6)
the law when applied to Isotropic, orthotropic and transversely isotropic
materials.
14 a) Find the nature of stress fields represented by first, second, third and (8)
fourth degree polynomial stress functions in x and y. Also, plot the
stress distributions on a square plate.
b) What is meant by stress concentration? List the boundary conditions (6)
applied to solve the problem of a plate with a hole.
MODULE III
15 a) What is meant by stress transformation? Explain its significance in (8)
mechanical design.
b) Find the maximum shear stress and the angle of the plane for a state of (6)
stress given by
[10 8 8 2 ]
16 a) Show that the angle between planes of maximum shear stress and (6)
nmaximum ormal stress is 45o.
b) Explain how fringe patterns are obtained for a beam using photoelastic (6)
method.
MODULE IV
17 a) Show that the Airy’s stress function ф=A(xy3-3/4 xyh2) represents stress (8)
distribution in a cantilever beam loaded at the free end with load P,
examine the value of A if τxy=0 at y=± h/2 where b and h are width
and depth respectively of the cantilever.
b) A simply supported beam of length 3L is subjected to point loads P at (8)
2L from the left end. Determine the vertical deflection under the load
using Castigliano’s theorem.
18 a) Explain the method of Prandtl’s membrane analogy applied to torsion. (8)
b) Derive the equation of torsion applied to elliptical cross section. (6)
MODULE V
19 a) A machine element is subjected to the following stresses [50 5 5 12 ]. (9)
Find the factor of safety if it is made of steal having yield stress of 350
MPa, using (i) Maximum principal stress theory, (ii) Maximum shear
stress theory, (iii) Distortion energy theory.
b) (5)
Differentiate between waves of dilatation and distortion in isotropic
media.
20 a) Differentiate between propagation of longitudinal waves through (6)
prismatic bars and longitudinal impact of bars.
b) What is meant by theory of yielding? Explain the concept of yield (6)
surface? Compare the yield surfaces corresponding to maximum shear
stress theory and distortion energy theory.
SYLLABUS
Module I (7 Hours)
Stress and strain: Concept of stress at a point, stress tensor, stress on inclined plane, stress
components on a rectangular parallelepiped in Cartesian coordinate system, derivation of
stress equilibrium equations, stress invariants. The state of strain at a point, strain
displacement relations, strain compatibility condition and stress compatibility conditions.
Module II (6 Hours)
Stress-Strain Relationship: Generalized Hooke’s law for Isotropic, Orthotropic, Transversely

Isotropic materials, plane stress, plane strain and axisymmetric problems, Problems in 2D
Cartesian coordinate system, Polynomial stress function, Airy’s stress function, Airy’s stress
function approach to 2-D problems of elasticity, Simple problems of plates, stress
concentration problem.
Module III (7 Hours)
Transformation of stress in two dimensional problems- Principal stresses- Maximum shear
stress- Mohr’s circle for stress in two dimensional problems-Construction of Mohr circle for
stress transformation- Construction of Mohr’s circle for general state of stress-
Transformation of strain in two dimensions- Strain rosettes.
Photoelastic method-Photo elastic stress measurement-Circular polariscope-Examples of

photoelastic stress determination-Determination of Principal stresses-Three dimensional
photoelasticity.
Module IV (8 Hours)
Introduction to theories of bending and torsion.
Bending of prismatic bars- Bending of cantilever- Stress function-Circular and elliptic cross
sections.
Torsion of prismatic bars- elliptic cross section- Membrane analogy.
Strain energy methods- Strain energy- Principle of virtual work- Castigliano’s theorem-
Applications of Castigliano’s theorem.
Module V (7 Hours)
Yield and fracture criteria- Maximum shear stress theory-Maximum normal stress theory-
Maximum distortion energy theory
Propagation of waves in elastic solid media-Longitudinal waves in prismatic bars-

Longitudinal impact of bars- Waves of dilatation and distortion in isotropic elastic media-
Plane waves- Propagation of waves over the surface of an elastic solid body
Text Books: ROBOTICS AND AUTOMATION
1. Theory of Elasticity - S.P. Timoshenko and J.N. Goodier, Tata McGraw Hill,
2017.
2. Advanced Mechanics of Solids - L.S Srinath, Tata McGraw Hill, 2010.
3. Foundations of Solid Mechanics -Y.C.Fung, Prentice –Hall.Inc, 1977.
Reference Books
1. An introduction to theory of Elasticity-R J Atkin,N Fox, Dover book on Physics,

2013.
2. Mechanics of Solids- Egor P Popov, Pearson education,1998.
No. of
No Topic
Lectures
1
Stress and strain: Concept of stress at a point, stress tensor, stress on
1.1 2
inclined plane
Stress components on a rectangular parallelepiped in Cartesian
1.2 2
coordinate system, derivation of stress equilibrium equations
1.3 Stress invariants. The state of strain at a points 1
Strain displacement relations, strain compatibility condition and stress
1.4 2
compatibility conditions.
1.5 Problems 1
2 Module III
Stress-Strain Relationship: Generalized Hooke’s law for Isotropic,
2.1 1
Orthotropic, Transversely Isotropic materials
Plane stress, plane strain and axisymmetric problems, Problems in 2D
2.2 2
Cartesian coordinate system
Polynomial stress function, Airy’s stress function, Airy’s stress function
2.3 2
approach to 2-D problems of elasticity
2.4 Simple problems of plates 1
3 Module III
Transformation of stress in two dimensional problems- Principal
3.1 1
stresses- Maximum shear stress
Mohr’s circle for stress in two dimensional problems-Construction of
3.2 2
Mohr circle for stress transformation
Construction of Mohr’s circle for general state of stress-Transformation
3.3 2
of strain in two dimensions- Strain rosettes.
Photoelastic method-Photo elastic stress measurement-Circular
3.4 polariscope-Examples of photoelastic stress determination- 2
Determination of Principal stresses-Three dimensional photoelasticity.
4 Module IV
4.1 Introduction to theories of bending and torsion. 2
ROBOTICS
Bending of prismatic bars- Bending of cantilever- Stress AND AUTOMATION
function-
4.2 Circular and elliptic cross sections. 2
4.3 Torsion of prismatic bars- elliptic cross section- Membrane analogy. 2

Strain energy methods- Strain energy- Principle of virtual work-
4.4 Castigliano’s theorem-Applications of Castigliano’s theorem. 1
5 Module V
Yield and fracture criteria- Maximum shear stress theory-Maximum

5.1 normal stress theory- Maximum distortion energy theory 2
Propagation of waves in elastic solid media-Longitudinal waves in

5.2 prismatic bars- Longitudinal impact of bars 3
Waves of dilatation and distortion in isotropic elastic media-Plane

5.3 waves- Propagation of waves over the surface of an elastic solid body 2
DESIGNING THE MECHANISMS CATEGORY L T P CREDIT

RAT443
FOR AUTOMATED MACHINES PEC 2 1 0 3
Preamble: As automation is getting more acceptance in a wide variety of industrial

environments, students need to be familiarized with the design of such automatic machines.
This course is designed to build a basic understanding on the various concepts involved in the
design of different mechanisms of automated machines.
CO 1 Define the principles and kinematic layout of automatic manufacturing systems.

CO 2 Select the suitable drives for automatic manufacturing systems.
CO3 Identify the suitable sensor based on the requirements of automation.
CO4 Design the kinematic model of transportation for a variety of work materials.
Select the functional systems and mechanisms for automating manufacturing
CO5
processes such as assembly and automation.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3 3 3
CO 2 3 3 3 3
CO 3 3 3 3 3
CO 4 3 3 3 3
CO 5 3 3 3 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 40
Apply 20 20 50
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. Differentiate between spherical and cylindrical manipulators.
2. What is an indexing device? Explain its role in automation.
3. What is a kinematic layout?
1. What are the types of drives used for activating automated systems?
2. Compare hydraulic and pneumatic drives.
3. Illustrate a typical system with variable moment of inertia.
1. What is a flexible cam system?
2. What do you understand by item presence sensor?
3. Explain the working principle of force sensors.
1. What is the role of wire tension regulation in transport of continous wires?

2. What do you understand by vibrational transportation?
3. Explain the significance of feeding devices in automation.
1. List the processes in automated manufacturing.
2. List the principles of assembling.
3. Enumerate the types of grippers.
SYLLABUS
Module I(7 Hours)
Introduction: Structure of automatic industrial systems, Linear and circular configurations,

Non-industrial robots.
Concepts and Layouts: Processing layout, Case studies for analysis: Chain links, springs,
soldering printed circuits, galvanizing steel strips, Approaches to automating manufacturing
processes, Determination of productivity of manufacturing processes- Timing layout.
Kinematic layout: Selection of drives: Mechanical, Hydraulic, Pneumatic, Electrical systems.

Case studies: Automation of Spring manufacturing using fixed and programmable systems.
Module II(7 Hours)
Dynamic Analysis of Drives: Mechanical Drives systems: Falling weight, Mass transmitted
over an inclined belt, spring systems. Electromagnetic drives, Electric drives: induction
motors, stepper motors, calculation of selection parameters.
Hydraulic drives, Pneumo drives, brakes. Drives with variable moment of inertia, calculation
of time of braking for different systems.
Module III(7 Hours)

Kinematics and Control of Automatic machines: Position function, Input-output relations of
drives, Analysis of 4 slot Geneva mechanism, Cam mechanisms, Flexible cam systems,
Spatial cam mechanisms, amplifiers.
Dynamic accuracy, Vibrations, damping, electrical damping.
Feedback Sensors:
Displacement sensors, electrical sensors- resistance, induction, variable capacitance, optical
sensors,
Pneumatic sensors, Speed and flow rate sensors, Force sensors, pressure sensors, temperature
sensors- Electrical, thermal, optical, Item presence sensors.
Module IV(8 Hours)

Transporting devices:
Linear transportation: Wire tension regulation, length compensator for continuous processing
machine, Conveyors, Chain type and chainless transportation devices, Case studies.
Rotational Transportation devices: Indexing table driven by cam, pneumatic and electric
drives, sorting and measuring devices, Vibrational transportation.
Feeding and orientation devices: Feeding devices: Liquid, powder, wire, rod and oriented part
feeding systems, Tray hoppers, Orientation of parts, Passive orientation, active orientation
and logical orientation, orientation using electromagnetic fields- magnetostatic, electrostatic,
alternating magnetic fields. Case studies: Electronic parts, stamping process.
Module V(7 Hours)
Functional Systems and Mechanisms: Processes in automatic manufacturing, Automatic

assembling, Principles of assembling, Inspection systems, Miscellaneous systems.
Manipulators: Dynamics of cylindrical manipulators, Optimal time-trajectory of gripper,

Introduction to kinematics of manipulators, vibrations in two arm serial manipulator.
Grippers: Types of grippers and their functions, Guides: Types and Functions
Text Books:
1. Ben-Zion Sandler, Robotics Designing the Mechanisms for Automated

Machinery, Academic Press, 2nd Edition, 1999.
2. Frank Lamb, Industrial Automation: Hands On, McGraw-Hill Professional, 2013
3. Industrial Process Automation Systems: Design and Implementation, B.R. Mehta
and Y. Jaganmohan Reddy, ELSEVIER, 1st Edition - November 26, 2014
Reference Books
1. Bolton W., “Mechatronics”, Pearson Education, 6th Edition, 2015.

2. Davis G.Alciatore and Michael B. Histand, “Introduction to Mechatronics and
Measurement systems”, McGraw Hill Education, 2011.
3. StamatiosManesis, George Nikolakopoulos, “Introduction to Industrial
Automation”,CRC Press,2018.
No. of
No Topic
Lectures
Introduction: Structure of automatic industrial systems, Linear and

1.1 1
circular configurations, Non-industrial robots.
Concepts and Layouts: Processing layout, Case studies for analysis:
1.2 3
Chain links, springs, soldering printed circuits, galvanizing steel strips
approaches to automating manufacturing processes, Determination of
1.3 1
productivity of manufacturing processes- Timing layout.
Kinematic layout: Selection of drives- Mechanical, Hydraulic,
1.4 1
Pneumatic, Electrical systems.
1.5 Case studies: Spring manufacturing for fixed and programmable cases. 1
Dynamic Analysis of Drives: Mechanical Drives systems: Falling

2.1 2
weight, Mass transmitted over an inclined belt, spring systems.
Electromagnetic drives, Electric drives: induction motors, stepper
2.2 2
motors, calculation of selection parameters.
Hydraulic drives, Pneumo drives, brakes. Drives with variable moment
2.3 3
of inertia, calculation of time of braking for different systems.
3
Kinematics and Control of Automatic machines: Position function,
3.1 Input-output relations of drives. 1
Analysis of 4 slot Geneva mechanism, Cam mechanisms, Flexible cam

3.2 systems, Spatial cam mechanisms, amplifiers. 2
3.3 Dynamic accuracy, Vibrations, damping, electrical damping 2

Feedback Sensors: Displacement sensors, electrical sensors- resistance,
3.4 induction, variable capacitance. 1
Optical sensors, Pneumatic sensors, Speed and flow rate sensors, Force
3.5 sensors, pressure sensors, temperature sensors- Electrical, thermal, 1
optical, Item presence sensors.
Transporting devices:
4.1 Linear transportation: Wire tension regulation, length compensator for 2
continuous processing machine, Conveyors, Chain type and chainless
transportation devices
Case studies.
Rotational Transportation devices: Indexing table driven by cam,
4.2 pneumatic and electric drives, sorting and measuring devices, 2
Vibrational transportation
Feeding and orientation devices: Feeding devices: Liquid, powder, wire,
4.3 rod and oriented part feeding systems, Hoppers, Case studies,Tray 2
hoppers,
Orientation of parts, Passive orientation, active orientation and logical
orientation, orientation using electromagnetic fields- magnetostatic,
4.4 2
electrostatic, alternating magnetic fields.
Case studies: Electronic parts, stamping process.
Functional Systems and Mechanisms: Processes in automatic

5.1 manufacturing, Automatic assembling, Principles of assembling, 3
Inspection systems, Miscellaneous systems.
Manipulators: Dynamics of cylindrical manipulators, Optimal time-
5.2 2
trajectory of gripper
Introduction to kinematics of manipulators, vibrations in two arm serial
5.3 1
manipulator.
Grippers: Types of grippers and their functions, Guides: Types and
5.4 1
Functions

SEVENTH SEMESTER B.TECH. DEGREE
EXAMINATION

Course Name: Robotics Designing the mechanisms for Automated Machines
Max. Marks: 100 Duration
:3
Hours
PART A
1 Differentiate between linear and circular automation systems using (3)
suitable examples.
2 What is a processing layout? List the factors to be considered while (3)
deciding the processing layout.
3 Find the expression for time taken to displace the mass M in a spring (3)
mass system through a distance ‘d’.
4 What are the advantages of using stepper motors in robotic applications (3)
over DC motors?
5 Explain the role of Geneva mechanism in automation. (3)
6 Explain the working principle of induction based displacement sensor. (3)
7 What are the problems encountered in the continous transportation of (3)
feeds in automation?
8 What is meant by the phenomenon of seizure in the design of hoppers? (3)
9 What are the types of inspection devices used in automation? (3)
10 What are the types of tasks carried out by manipulators in automated (3)
industries?
PART B
MODULE1
11 a) Explain how the processing layout for automation is finalised using the (7)
case of a spring manufacturing industry.
b) What are the approaches used to decide the concept of automation in (7)
manufacturing processes?
12 a) What is a kinematic layout in industrial automation? What are the criteria (7)
used in the selection of drives for automation?
b) With the aid of the layout diagram, explain the process of rapid (7)
prototyping and its significance in automation.
MODULE II
13 a) Derive the expression for the time taken to rotate through a given angle (8)
in terms of driving and resisting torques for an electric motor from its
equation of motion.
b) Explain the performance of a stepper motor with regard to torque vs (6)
time and torque vs. Pule rate variations.
14 a) Compare the performance of pneumatic and hydraulic drives used in (6)
automation.
b) Determine the angular displacement of a rotating device with variable (8)
moment of inertia due to addition of material to the system.
MODULE III
15 a) Discuss the methods used for rapid cam exchange on a camshaft. (8)
b) Explain how the pressure angle affects the kinematic design in (6)
automation.
16 a) What is a dynamic damper? Using a two degree freedom system, show (6)
how the vibrations are controlled using a dynamic damper.
b) Explain the working principle of the following: (8)
1. Liquid flow meter with impeller.
2. Thermal flow rate sensor.
3. Piezo electric acceleration sensor.
4. Pyrometers.
MODULE IV
17 a) What are the techniques used to regulate wire tension and length (7)
compensation during transportation?
b) Create the kinematic design of a transportation device consisting of an (7)
indexing mechanism activated using pneumatic drive.
18 a) With the aid of sketches, explain the method used for automatic filling of (7)
bottles with liquids.
b) What are the methods used for active and passive orientation of objects? (7)
MODULE V
19 a) What are the principles applied in the automation of assembling (8)
processes?
b) Explain the role of gripper and guides used in association with manipulators?(6)
20 a) Explain the working of a SCARA robot. What are its applications? (8)
b) What are the kinds of inspection devices used in automatic production? (8)
Discuss how inspection system can be employed in grindstone wear.
****
RAT453 TRIBOLOGY
PEC 2 1 0 3
Preamble: The objective of this course is to expose the student to different types of bearings
and bearing materials, understand friction characteristics and power losses in bearings and to
learn theory and concepts about different types of lubrication.
Prerequisite: NIL
CO 1 Discuss the fundamentals of tribology and associated parameters.
Apply concepts of tribology for the performance analysis and design of

CO 2
components experiencing relative motion.
CO 3 Classify wear mechanism and understand wear testing and reduction methods
Analyse the requirements and design of hydrodynamic journal and plane slider
CO 4
bearings for a given application.
CO 5 Apply the principles of surface engineering for different applications of tribology.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3 1
CO 2 3 3 1
CO 3 3 3 1
CO 4 3 3 1
CO 5 3 3 1
Assessment Pattern
1 2
Remember
Understand 15 15 30
Apply 21 21 42
Analyse 14 14 28
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. Explain the importance of tribology in industry
2. Discuss the grades and selection of lubricants
1. Various methods of measuring frictional force
2. Explain methods of friction measurement
1. Explain the classification of wear mechanism

2. Discuss the role of wear debris in modifying friction and wear
1. Differentiate between Full journal bearing and partial journal bearing
2. List the advantages and applications of hydrodynamic journal bearings
1. Study the requirements for selecting the best material for bearing
2. Factors to be considered for proper selection of corrosion resistant coatings

Syllabus ROBOTICS AND AUTOMATION
RAT453 TRIBOLOGY
Module 1 (7 Hours)
Introduction to tribology
Historical background, practical importance, and subsequent use in the field. Lubricants:
Types and specific field of applications. Properties of lubricants, viscosity, its measurement,
effect of temperature and pressure on viscosity, lubrication types, Grease and anti seize,
standard grades of lubricants, and selection of lubricants, Additives in lubricants,
Module 2 (6 Hours)
Friction:
Friction of Surfaces: Genesis of friction, friction in contacting rough surfaces, sliding and
rolling friction, various laws and theory of friction, friction of elastomers, friction of various
materials, friction measurement methods, friction of non metallic materials.
Module 3 (7 Hours)
Wear:
Wear Mechanism: Introduction, types of wear, wear mechanism, minor forms of wear, wear
debris analysis, wear testing method, wear of metals, ceramics, polymers, system approach
for wear reduction.
Module 4 (8 Hours)
Hydrodynamic journal bearings:

Friction forces and power loss in a lightly loaded journal bearing, Petroff’s equation,
mechanism of pressure development in an oil film, and Reynold’s equation in 2D.
Introduction to idealized journal bearing, condition for equilibrium, Sommerfeld’s number
and its significance, end leakages in journal bearing, numerical examples on full journal
bearings only.
Module 5 (7 Hours)
Bearing Materials:
Commonly used bearings materials, and properties of typical bearing materials. Advantages
and disadvantages of bearing materials.
Introduction to Surface engineering:

Concept and scope of surface engineering. Surface modification – transformation hardening,
surface melting, thermo chemical processes. Surface Coating – plating, fusion processes,
vapor phase processes. Selection of coating for wear and corrosion resistance.
Text Books ROBOTICS AND AUTOMATION
1. B. Bhushan,”Introduction to Tribology”, John Wiley & Sons, Inc., New York, 2002
2. Prasanta Sahoo, “Engineering Tribology”, Prasanta Sahoo, PHI Learning Private Ltd,
New Delhi, 2011.
3. J. A. Williams, “Engineering Tribology”, Oxford Univ. Press, 2005.
4. Gwidon W Stachowiak, “Wear : Material, Mechanism and Practise” John Wiley &
Sons, Ltd, 2005
Reference Books
1. B. C. Majumdar, “Introduction to Tribology in bearings”, Wheeler Publishing.
2. Amir Hossein Pakserest, Omid Sharifahmadian, “ Tribology in Coatings and Surface

Treatment: Technology, Properties, and Applications, Engineering Science
Reference, 2022
3. Ernest Rabinowicz, “Friction and Wear of Materials”, John Wiley & sons,1995.

No. of
No Topic
Lectures
1 Introduction to tribology (7 Hours)
1.1 Historical background, practical importance, and subsequent use in

1 Hour
the field
1.2 Lubricants: Types and specific field of applications. Properties of

2 Hours
lubricants viscosity, its measurement,
1.3 Effect of temperature and pressure on viscosity, Lubrication types,

2 Hours
Grease and anti seize.
1.4 Standard grades of lubricants, Selection of lubricants, Additives in

2 Hours
lubricants
2 Friction: (6 Hours)
2.1 Friction of Surfaces: Genesis of friction, friction in contacting rough 2 Hours

surfaces, sliding and rolling friction.
2.2 Various laws and theory of friction, friction of elastomers, friction of
2 Hours
various materials
2.3 Friction measurement methods, friction of non metallic materials. 2 Hours
3 Wear: (7 Hours)
3.1 Wear Mechanism: Introduction, types of wear, wear mechanism,
3 Hours
minor forms of wear.
3.2 Wear debris analysis, Wear testing methods. 2 Hour
3.3 Wear of metals, ceramics, polymers. 1 Hour
3.4 System approach for wear reduction. 1 Hour
4 Hydrodynamic journal bearings (8 Hours)
4.1 Friction forces and power loss in a lightly loaded journal bearing. 1 Hour
4.2 Petroff’s equation, mechanism of pressure development in an oil

2 Hour
film, and Reynold’s equation in 2D.
4.3 Introduction to idealized journal bearing, condition for equilibrium. 1 Hours
4.4 Sommerfeld’s number and its significance, end leakages in journal

2 Hour
bearing.
4.5 Numerical examples on full journal bearings only. 2 Hour
5 Bearing Materials, Introduction to Surface engineering (7 Hours)

5.1 Commonly used bearings materials, and properties of typical bearing
2 Hour
materials. Advantages and disadvantages of bearing materials.
5.2 Concept and scope of surface engineering. 1 Hours
5.3 Surface modification – transformation hardening, surface melting,

2 Hours
thermo chemical processes.
5.4 Surface Coating – plating, fusion processes, vapor phase processes.

2 Hours
Selection of coating for wear and corrosion resistance.


Course Name: TRIBOLOGY

PART A
1 Distinguish between Abrasive wear and Adhesive wear. (3)
2 Comment on various wear mechanisms. (3)
3 Distinguish between Grease and Anti-Seize (3)
4 Explain the implication of stribeck curve. (3)
5 Discuss the frictional behaviour of elastomers. (3)
6 State the differences between static and dynamic friction. (3)
7 Explain the selection criteria for wear resistant powder coatings (3)
8 Explain the various types of bearing materials (3)
9 Discuss the operating conditions of hydrodynamic journal bearings. (3)
10 Write the Petroff”s equation. (3)
PART B
MODULE1
11 a) Discuss the pressure and temperature effects on the viscosity of liquids (8)
b) Explain the historical background and industrial importance of tribology (6)
12 a) With a neat sketch, explain the measurement of viscosity using a viscometer (8)
b) List the specifications of lubricants used for selection (6)
MODULE II
13 a) Explain the consequences of friction. List a few examples of occurrence of (8)
rolling friction.
b) Discuss the theory of adhesive friction (6)
14 a) Explain briefly the frictional behaviour of non-metallic materials (8)
b) Comment on the rules of sliding friction on a solid –solid contact (6)
MODULE III
15 a) Explain the various particle types generated through wear process (7)
b) How wear debris analysis provides information on the wear mechanism (7)
involved
16 a) Describe the tribological behaviour of alumina ceramics and SiC ceramics (7)
b) Discuss the strategies to minimize wear (7)
MODULE IV
17 a) A lightly loaded full journal bearing has a journal of 50 mm,
ROBOTICS ANDbush bore of (10)
AUTOMATION
50.05 mm and bush length of 20 mm. If the rotational speed of the journal
is 1200 rpm and the average viscosity of liquid lubricant is 0.03 Pascal-
second, Calculate the power loss in Watts
b) State the significance of Sommerfeld’s number (4)
18 A hydrodynamic journal bearing of width 40 mm operates with a shaft of (14)
40 mm which rotates at 1800 rpm and carries a load of 2220 N. The
diametral clearance is 80 μm and the absolute viscosity of the lubricant is
28 cP. Calculate the minimum film thickness, attitude angle, volumetric
flow rate, volumetric side flow rate, maximum film pressure and location
of maximum film pressure.
MODULE V
19 a) List the standard requirements for the selection of materials for bearings. (9)
Explain the metal and non-metal category of bearing materials
b) Comment on the advantages and disadvantages of bearing materials (5)
20 a) Explain surface engineering (5)

b) Write brief notes on (9)
i) Surface modification
ii) Surface coating
iii) thermo-chemical processes

RAT463 FINITE ELEMENT METHODS
PEC 2 1 0 3
Preamble: This course helps the students to learn various modelling techniques and different
numerical methods for solving a system of governing equations over the domain of a continuous
physical system, which is discredited into simple geometric shapes called finite elements.
Prerequisite: Higher secondary physics, engineering mathematics
CO 1 Apply numerical methods to solve problems in solid mechanics

Explain the pre-processing, solution and post processing stages of Finite Element
CO 2
Method
Model and solve linear problems involving structural beams, shafts and frames
CO 3
using FE method.
Model and solve two dimensional problems using CST, quadrilateral and axi-
CO 4
symmetric elements
CO 5 Apply isoparametric formulation for solution of 2D problems.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2 2 3
CO 2 3 1 2 3
CO 3 3 1 3 3
CO 4 3 2 3 3
CO 5 3 2 3 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
student should answer any one. Each question can have a maximum 2 subdivisions and carry 14
marks.
1. List various functional approximation methods used for solving boundary value problems.
2. State the method of Minimum potential energy applied in the finite element analysis.
3. Explain the principle used in Galerkin method.
4. What do you mean by Weak formulation? How does it differs from Strong formulation?
5. List out various steps involved in finite element analysis
6. Compare finite element analysis and finite volume analysis.
7. What are the advantages and Dis-advantages of finite element analysis?
8. Give the applications of Finite element Analysis
9. Enumerate the method to evaluate stiffness matrix of a beam element.
10. Specify the boundary conditions of a two noded beam element.
11. Differentiate between a frame and grid element.
12. Write the shape functions for a two-dimensional torsional bar element.
13. Using area coordinate system, give the relations to find the shape functions for a triangular
element.
14. How CST differs from LST?
15. How do you differentiate between the Plane stress and Plane Strain problem?
16. Briefly discuss about the finite element modelling of Axisymmetric solids.
17. Define Shape functions and Isoparametric formulation.
18. Derive the shape functions for a Fournoded two-dimensional quadrilateral element.
19. What do you mean by Jacobian matrix? How it helps in Local-Global transformation?
20. Derive the shape functions for an axisymmetric triangular element.
SYLLABUS
Module I(7 Hours)

Basics of 2D elasticity - Equations of equilibrium- Strain displacement relations - constitutive
relations- Energy Principles-Principles of virtual work- Total potential energy- Rayleigh-Ritz
method- method of weighted residuals. Gauss elimination - Solution of equations
Module II(7 Hours)

Introduction to FEM- outline of the procedure – steps involved in FEM - Preprocessing phase –
discretisation - types of elements - Element properties - - polynomial form- Development of
shape functions for truss elements - Formulation of stiffness matrix (direct method, 1-D
element) - formulation of load vector - assembly of global equations - implementation of
boundary conditions - solution procedure – post processing phase
Module III(7 Hours)

Development of shape functions for torsion elements – Analysis of frames - Frame and grid
equations, Transformation of coordinates – Analysis of beams - Development of Euler beam
equations - Patch test - different type of refinements (h, p and r)
Module IV(7 Hours)

Two dimensional stress analysis - Development of the Plane Stress and Plane Strain Stiffness
Equations - Lagrangian interpolation functions for two dimensional elements - constant strain
triangle- Linear strain triangle – Bilinear plane rectangular elements
Module V(7 Hours)
Axisymmetric Elements - Natural coordinates systems, Isoparametric Formulation - Numerical
integration, Full and reduced integration –Lagrange and Serendipity Elements - - Introduction to
plate and shell elements - Introduction to Three-Dimensional FEM.
Text Books
1. Bathe K J, Finite Element Procedures in Engineering Analysis, Prentice Hall, New
Delhi.,1982
2. Cook R D, Malkus D S, and Plesha M E, Concepts and Applications of Finite
ElementAnalysis, John Wiley & Sons, Singapore., 1981
3. Krishnamoorthy C S, Finite Element Analysis- Theory and Programming, Tata McGraw Hill,
New Delhi., 1994
References Books
1. Chandrupatla T R and Belegundu A D, Introduction to Finite Elements in Engineering,

Pearson Education, New Delhi., 1998
2. Hutton D V, Fundamentals of Finite Element Analysis, Tata McGraw Hill Education Private
Ltd, New Delhi., 2005
3. Mukhopadhyay M and Abdul Hamid Sheikh, Matrix and Finite Element Analyses of
Structures, Ane Books Pvt. Ltd., New Delhi, 2009
4. Rajasekharan S, Finite Element Analysis in Engineering Design, Wheeler, New Delhi., 1998
5. Reddy J N, An Introduction to FEM, McGraw Hill Book Co. New York, 1984
6. Zienkiewicz O C and Taylor R W., Finite Element Method, Elsevier Butterworth-
Heinemann, UK., 2005
Module Contents Hrs

Basics of 2D elasticity - Equations of equilibrium- Strain
displacement relations - constitutive relations- Energy Principles- 4
1 Principles of virtual work-
Total potential energy- Rayleigh-Ritz method- method of weighted
3
residuals. Gauss elimination - Solution of equations
Introduction to FEM- outline of the procedure – steps involved in
FEM - Preprocessing phase – discretisation - types of elements -
4
Element properties - - polynomial form- Development of shape
functions for truss elements
2
Formulation of stiffness matrix (direct method, 1-D element) -
formulation of load vector - assembly of global equations - 3
implementation of boundary conditions - solution procedure – post
processing phase
Development of shape functions for torsion elements – Analysis of
3 frames - Frame and grid equations, Transformation of coordinates 4
Analysis of beams - Development of Euler beam equations - Patch 3
test - different type of refinements (h, p and r)
Two dimensional stress analysis - Development of the Plane Stress
3
and Plane Strain Stiffness Equations
4 Lagrangian interpolation functions for two dimensional elements -
constant strain triangle- Linear strain triangle – Bilinear plane 4
rectangular elements
Axisymmetric Elements - Natural coordinates systems, Isoparametric
4
Formulation - Numerical integration, Full and reduced integration
5
Lagrange and Serendipity Elements - - Introduction to plate and shell
3
elements - Introduction to Three-Dimensional FEM

Course Code: RAT463
Course Name: FINITE ELEMENT METHOD
PART A
1 State the Principle of Virtual work. (3)
2 Write the Stress – Strain relations for a Three-Dimensional body acted upon (3)
loads in all three sides
3 What are the main properties of an Elemental Stiffness Matrix? (3)
4 Specify the importance of Proper Node Numbering in the Finite element (3)
analysis.
5 What is the use of a transformation matrix? (3)
6 Compare h, p and r type of mesh refinement. (3)
7 How does LST differ from CST? (3)
8 Compare Plane stress and Plane Strain problem applied in Solid Mechanics. (3)
9 How a Three-Dimensional problem can be approximated to a Two-Dimensional (3)
Axi-Symmetric problem?
10 What do you meant by shear locking? How it can be avoided? (3)
PART B
MODULE1
11 a) Using the Principle of Minimum Potential Theory, derive the relation for the (8)
elemental Stiffness matrix of a Spring Element.
b) Solve the following simultaneous equations using gaussian elimination (6)
approach
2a+b+2c-3d = -2
2a+2b+c-4d = -15
a+2c-3d = -5
4a+4b-4c+d = 4
12 a) What do you mean by Ritz Parameter? (2)
b) For a differential equation
𝑑𝑑 2 𝑦𝑦
+ 300 𝑥𝑥 2 = 0, 𝑤𝑤𝑤𝑤𝑤𝑤ℎ 𝑡𝑡ℎ𝑒𝑒 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 0 ≤ 𝑥𝑥 ≤ 1 and (12)
𝑑𝑑𝑑𝑑 2
the boundary conditions are given as y(0) = 0 and y(1) = 0. Using Galerkin’s
weighted residual technique, find the solution of the problem with a trial
function as y = ax(1-x3).
MODULE II
13 a) Define local and global axes used in the analysis of Trusses (2)
b) Determine the nodal displacements and Support reactions for the Four member (12)
Pinned truss as shown in Figure 1
Figure 1
14 a) Define Interpolation function. (2)
b) For a system with four springs as shown in figure 2, evaluate the nodal (12)
displacements of node 2, 3 and 4. The nodal displacement of node 5 is given
as 20 mm and the Spring stiffness k is given as 200 kN/m.
Figure 2
MODULE III
15 Consider the cantilever beam as shown in Figure 3. The beam, fixed at one (14)
end, has uniform cross section area as shown in figure. The beam undergoes a
static deflection by a downward load of 1000 N applied at the free end. Take
E= 69 GPa. Find the displacement at free end and reactions at fixed end.
Figure 3
16 a) What do you mean by Mesh Convergence study? State its importance (4)
b) Derive the relation for the element stiffness matrix of a frame element, which (10)
is inclined at an angle θ to the horizontal axis.
MODULE IV
17 a) What do you mean by Jacobian of a Matrix? State its use in FEA (4)
b) Derive the relation for the stiffness matrix of a four nodedIsoparametric (10)
quadrilateral element.
18 Determine the nodal displacements and elemental stresses for a two- (14)
dimensional loaded plate as shown in the figure 4. Assume plane stress
condition and take E= 210 GPa, μ = 0.25,Thickness t = 10 mm.
Figure 4
MODULE V
19 Using proper relations for the displacements, derive the equation for the strain (14)
displacement matrix of a three-dimensional element.
20 a) Compare Lagrange and Serendipity Elements. (4)
b) Using two point Gauss Quadrature technique Evaluate the integral (10)
1 1 2
∫−1 ∫−1 �7𝑥𝑥2 + 13𝑥𝑥𝑥𝑥 + 64𝑦𝑦 �𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑. Take the weights W1=W2= 1 for
the Gauss points = + 0.57735
****
FUNDAMENTALS OF MOMENTUM, CATEGORY L T P CREDIT
RAT473
HEAT AND MASS TRANSFER PEC 2 1 0 3
Preamble: This course is designed to equip the students with the basic principles of momentum,
heat and mass transfer.
Prerequisite: Higher secondary physics, Engineering mathematics
CO 1 Discuss fluids, their properties and determine forces acting on a submerged body
explain differential forms of continuity and momentum equations and estimate head
CO 2 loss in pipes
Discuss basic equations of heat conduction and calculate heat transfer through plane
CO 3 walls and pipes.
Determine convection heat transfer in external and internal flows (flat plate and
CO 4 pipe).
CO 5 Discuss basic laws of radiation heat transfer and mass transfer.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2
CO 2 3 2
CO 3 3 2
CO 4 3 2
CO 5 3 2
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 40
Apply 20 20 50
Analyse
Evaluate
Create
Mark distribution ROBOTICS AND AUTOMATION
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
student should answer any one. Each question can have a maximum 2 subdivisions and carry
14 marks.

1. Discuss Newtonian and Non-Newtonian fluids with one example.
2. Differentiate between dynamic viscosity and kinematic viscosity.
3. Define Newton’s law of viscosity
4. A Newtonian fluid is filled between a shaft and a concentric sleeve. The sleeve attains
a speed of 0.5 m/s when a force of 50 N is applied to the sleeve. Determine the speed
if a force of 250 N is applied.

1. Write the differential form of the general mass conservation equation and discuss the
significance of each term.
2. Write the general conservation equation for momentum in differential form and
discuss the physical meaning of each term.
3. Determine the size of galvanised steel pipe needed to carry water for a distance of 180
m at 85 lit./s with a head loss of 9.0. Take k, = 0.15 mm.

1. Discuss the effect of temperature on thermal conductivity of solids and gases.
2. Discuss critical thickness of insulation
3. Calculate the rate of heat loss through the walls of a furnace of size 5 m by 5 m by 3
m high. The walls are constructed from an inner fire brick wall 25 cm thick of thermal
conductivity 0.4 W/mK, a layer of ceramic insulation of thermal conductivity 0.2
W/mK and 8 cm thick, and a steel protective layer of thermal conductivity 50 W/mK
and 2 mm thick. The inside temperature of the fire brick layer was measured at 600o C
and the temperature of the outside of the insulation 50o C. Also
ROBOTICS ANDfind the interface
AUTOMATION
temperature of layers.

1. Discuss the physical significance of Prandtl Number
2. Discuss the relative thicknesses of hydrodynamic and thermal boundary layer over a
flat plate if Pr>1 with a neat schematic.
3. Water flows at the rate of 60 kg/min through a double pipe counter flow heat
exchanger. Water is heated from 50o C to 80oC by an oil flowing through the tube.
The specific heat of the oil is 1.780 kJ/kg K. The oil enters at 120oC and leaves at
70oC.the overall heat transfer co-efficient is 350 W/m2K. Calculate the area of the
heat exchanger and rate of heat transfer.

1. Discuss Wiens Law and its significance.
2. Discuss any three analogies between heat and mass transfer
3. Two parallel black plates 0.5m X 1m are spaced 0.5 m apart. One plate is maintained
at 1000oC and the other at 600oC. Calculate the net radiant heat exchange between the
two plates?
SYLLABUS
Module 1 (7 Hours)
Concept of continuum, Fluid and flow properties, Pressure variation in a static fluid, Forces
on submerged surfaces, Buoyancy, Steady and unsteady flows, Streamlines, System and
control volume
Newton’s law of viscosity
Module 2 (7 Hours)
Differential continuity equation, Navier stokes equation, Bernoulli’s equation, Fluid rotation,
Stream function and potential function, Reynold’s experiment, Drag, Concept of boundary
layer, Description of turbulence, Friction factor for laminar flow, Estimation of head loss in
pipes
Module 3 (7 Hours)
Conduction, Fourier’s law, Thermal conductivity of solids and fluids, Heat Equation
(Cartesian and cylindrical), Steady state conduction through plane wall and pipes, Critical
thickness of insulation, Fins, Tip conditions, Lumped analysis for transient conduction, Biot
number and Fourier Number
Module -4 (7 Hours)
Convection heat transfer, Hydrodynamic and thermal boundary layer, Prandtl number and
Nusselt number, Convective heat transfer correlations for external and internal flows,
Concept of natural convection, Grashoff Number, Heat exchangers and their classification,
LMTD and ε- NTU methods.
Module 5 (7 Hours) ROBOTICS AND AUTOMATION
Thermal radiation, Planck’s law, Wien’s law, Stefan-Boltzmann law, Radiative properties of
surfaces
Black bodies, Kirchhoff’s law, Radiant exchange between black bodies
Molecular mass transfer, Analogies between heat, momentum and mass transfer, Fick’s law,
Diffusion coefficient, Mass transfer into a moving gas stream, Concept of convective mass
transfer
Text Books
1. WeltyJR, CR Wicks, RE Wilson, GL Rorrer, Fundamentals of Momentum, Heat and

Mass Transfer. John Wiley & Sons Inc.
2. Modi P. N. and S. M. Seth, Hydraulics & Fluid Mechanics, S.B.H Publishers, New
Delhi, 2002Reference Books
3. Jain, A.K., Fluid Mechanics, Khanna Publishers, New Delhi, 1998.Roy. J Dossat,
Principles of Refrigeration, Pearson Education
4. Frank.M.White, Fluid Mechanics, Mc Graw Hill, 2013.
5. Holman J.P.,"Heat Transfer", Mc Graw-Hill, 9th.Ed., 2002
References:
1. R.K.Rajput. Heat and mass transfer, S.Chand& Co.,2015

2. Frank P. Incropera and David P. Dewitt, Heat and Mass Transfer, John Wiley and
sons, 2011
3. Yunus A Cengel, Heat Transfer: A Practical Approach, McGraw Hill,2015
4. C.P. Kothandaraman, S. Subramanya, Heat and Mass Transfer data book:, New age
International publishers,2014
Course Contents and Lecture Plan
Topic No. of
Lectures
Module 1
Concept of continuum, Fluid and flow properties , , Pressure
variation in a static fluid 2
Forces on submerged surfaces, Buoyancy, Steady and unsteady

3
flows, Streamlines
System and control volume, Newton’s law of viscosity 2
Module 2
Differential continuity equation, Navier stokes equation,
Bernoulli’s equation, 2
Fluid rotation, Stream function and potential function, Reynold’s

experiment, Drag, Concept of boundary layer 3
Description of turbulence , Friction factor for laminar flow,
Estimation of head loss in pipes 2
Module 3
Conduction, Fourier’s law, Thermal conductivity of solids and
2
fluids, Heat Equation (Cartesian and cylindrical),
Steady state conduction through plane wall and pipes, Critical
3
thickness of insulation, Fins, Tip conditions,
Lumped analysis for transient conduction, Biot number and Fourier
2
Number
Module 4
Convection heat transfer, Prandtl number and Nusselt number, 2
Hydrodynamic and thermal boundary layer, Convective heat
transfer correlations for external and internal flows 2
Concept of natural convection, Grashoff Number. Heat exchangers

and their classification, LMTD and ε- NTU methods. 3
Module 5
Thermal radiation, Planck’s law, Wien’s law, Stefan-Boltzmann
law, Radiative properties of surfaces, Black bodies, Kirchhoff’s 4
law, Radiant exchange between black bodies.
Molecular mass transfer, Analogies between heat, momentum and
2
mass transfer, Fick’s law, Diffusion coefficient
Mass transfer into a moving gas stream, Concept of convective
1
mass transfer.

Course Code: RAT473
Course Name: FUNDAMENTALS OF MOMENTUM, HEAT AND MASS TRANSFER
Heat and mass transfer data book may be permitted.
PART A
Answer all questions, each carries 3 marks. Mark
s
1 Differentiate between dynamic viscosity and kinematic viscosity. (3)
2 Explain the difference between system and control volume. (3)
3 Write the general differential form of the continuity equation. Explain the physical (3)
meaning of each term.
4 The stream function in a two dimensional flow field is given by φ=x2-y2. Calculate (3)
the magnitude of velocity at point (2,1)
5 Discuss the effect of temperature on thermal conductivity of solids and gases. (3)
6 What do you mean by lumped systems? Give two examples. ROBOTICS AND AUTOMATION(3)
7 Explain the physical significance of Prandtl number and Reynolds number. (3)
8 Classify heat exchangers based on direction of flow of heat transfer fluids. What do (3)
you mean by compact heat exchangers?
9 Solar radiant energy with an intensity of 1000 W/m2 strikes a flat plate normally. The (3)
absorptivity is twice the transmissivity and thrice the reflectivity. Determine the rate
of absorption, transmission and reflection of energy.
10 State and explain Fick’s law. (3)
PART B
MODULE1
11 a) Classify fluids and represent them in shear stress- deformation rate plot (4 )
b) A 60-cm square gate has its top edge 12 m below the water surface. It is on a (10 )
45o angle and its bottom edge is hinged. What force P is needed to just open the
gate?
12 a) State and explain Newton’s law of viscosity (4)
b) The water in a tank is pressurized by air, and the pressure is measured by a (10)
multifluid manometer as shown in the following figure. The tank is located on a
mountain at an altitude of 1400 m where the atmospheric pressure is 80 kPa.
Determine the air pressure in the tank if h1, h2 and and h3 are 0.1 m, 0.2 m and
0.35 m respectively. Take the densities of water, oil, and mercury to be 1000
kg/m3, 850 kg/m3, and 13,600 kg/m3, respectively.
MODULE II
13 a) Discuss the Lagrangian and Eulerian approach in fluid mechanics. Write Navier (7 )
Stokes equation in differential form. Explain the physical meaning of each term.
b) Discuss the concept of hydrodynamic boundary layer with a neat schematic. (7)
What do you mean by momentum thickness and energy thickness?
14 a) Three pipes of 0.5 m, 0.3 m and 0.4 m diameters and having lengths of 100 m, (14)
60 m and 80 m respectively are connected in series between two tanks whose
difference in water levels is 10 m. If the friction factor for all the pipes is equal
to 0.05, calculate the flow rate through the pipes.
MODULE III
15 a) Derive heat equation in cartesian coordinates (14)
16 b) The temperature distribution across a wall 1m thick at a certainAND
ROBOTICS instant of time is (14)
AUTOMATION
given by T(x)=a+bx+cx a=900 C, b=-300 C/m, c=-50 C/m , q=1000 W/m3,
2 o o o 2
k=40W/mK
Cp=4 kJ/kg K.
1) Determine the rate of heat transfer entering the wall (x=0) and leaving the
wall (x=1 m)
2) Determine the rate of energy storage in the wall.
3) Determine the time rate of temperature change at x=0.25 m.
MODULE IV
17 a) Air at a pressure of 6 kN/m2 and a temperature of 400oC flows with a velocity (14)
of 10 m/s over a flat plate 0.5m long. Calculate the cooling rate per unit width of
the plate needed to maintain it at a surface temperature of 30oC.
18 b) Water at the rate of 0.0625 kg/s is to be heated from 35oC to 95oC by means of a (14)
concentric tube heat exchanger. Oil at the rate of 0.0625 kg/s with a specific
heat of 2.095 kJ/kg K and a temperature of 210oC is to be used. If the overall
heat transfer coefficient based on the outside dia. of inner tube is 500 W/m2K,
determine the length of heat exchanger. The outer dia. of the inner tube is 10
cm.
MODULE V
19 a) Discuss Wiens law and its significance with suitable plot. (7)
b) Discuss analogies between heat, momentum and mass transfer (7)
20 a) Consider a 4mX4mX4m cubical furnace whose surfaces are black. The base, top (14)
and side surfaces of the furnace are maintained at uniform temperatures of
800K, 1800K and 400K respectively. Determine a) the net rate of radiation heat
transfer between the base and side surfaces. b) the net rate of radiation heat
transfer between base and top surface.
****
SEMESTER VII
OPEN ELECTIVE
RAT415 FUNDAMENTALS OF ROBOTICS
OEC 2 1 0 3
Preamble:The objective of this course is to expose the student to the functional elements of
Robotics, impart knowledge on the direct and inverse kinematics, understand manipulator
differential motion and control, learn various path planning techniques and dynamics and
control of manipulators
Prerequisite:Multi variable calculus, Linear algebra

CO 1 Explain the functional elements of Robotics
CO 2 Describe the direct and inverse kinematics in modeling and controlling of robot
manipulators
Evaluate the position and orientation of the manipulator end-effecter in relation to
CO 3
joint displacements.
CO 4 Discuss Collision free path planning methods
CO 5 Explain the kinematics, dynamics and control of Robots
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3 1
CO 2 3 3 1
CO 3 3 3 1
CO 4 3 3 1
CO 5 3 3 1
Assessment Pattern
Bloom’s Category Continuous Assessment

Tests End Semester Examination
1 2
Remember
Understand 15 15 30
Apply 21 21 42
Analyse 14 14 28
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. Discuss the Degrees of Freedom and workspace of manipulators.
2. Compare SCARA, Cartesian and Cylindrical configurations
1. Explain Wrists and end effectors
2. Explain two-link planar robot example
1. Express Jacobian matrix of the manipulator

2. Discuss Wrist and arm singularities
1. Write the Trajectory equations for point-to-point motion
2. Discuss Cubic polynomial trajectories
1. Study the requirements for selecting the best material for bearing
2. Discuss the sensors for force feedback

SYLLABUS
RAT415 FUNDAMENTALS OF ROBOTICS
Module 1 (7 Hours)
Basic Concepts
Brief history, Types of Robots, Technology, Robot Configurations and Robot classifications,
Robot control systems, Various manipulators, End effectors tools, Programming languages.
Module 2 (6 Hours)
Direct and Inverse Kinematics:

Mathematical representation of Robots, Position and orientation, Homogeneous
transformation, Various joints, Representation using the Denavit Hattenberg parameters -
Degrees of freedom, Direct kinematics, Inverse kinematics, SCARA robots.
Module 3 (7 Hours)
Manipulator Differential Motion and Control:
Robot Manipulators – Motion control and Differential motion of manipulators, Overview of

Jacobian matrix, Wrist and arm singularity - Static analysis – Calculation of force and torque
Module 4 (8 Hours)
Trajectory generation:
Representing the position and orientation of a robotic system – Centroid of an object,
Trajectory generation - Basic Problem, Solution space – Joint space and Cartesian space,
Planning in any space, Polynomial trajectory in Robotics, Cubic polynomial, Cubic
polynomial for a path, Joint space trajectory generation using single degree polynomial,
Module 5 (7 Hours)
Dynamics and Control:

Lagrangian equation of motion- Manipulator dynamics in robots, Euler-Lagrange equation
for a single degree of freedom system, Properties of Robotic dynamic equations, Newton-
Euler formulation for analysing the dynamics of robot manipulators, Control problem of
robot manipulators, independent joint control, Closed loop system with PD/PID control
Text Books
1. John J. Craig, ” Introduction to Robotics , Mechanics and Control”, Pearson

Education International, 2008
2. Dileep Kumar Pratihar, “Fundamentals of Robotics”, Narosa Book, 2017

3. Niku S. B., “Introduction to Robotics, Analysis, Control, Applications”, John Wiley,

2011.
4. Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, “ Robot Dynamics and

Control” Wiley India Edition, 2004
Reference Books
1. H. Asada, J. J. E. Slotine, “Robot Analysis and Control”, John Wiley & sons,1991.
2. N. Ben- Ari,“ Elements of Robotics”, Springer, 2017

3. Bruno Siciliano, Ousama Khatib, “ Springer Handbook of Robotics”, Springer,2008.
No. of
No Topic
Lectures
1 Basic Concepts (7 Hours)
1.1 History of Robots and Robotics, Types of Robots 1 Hour
1.2 Robot anatomy and related attributes – Joints and links 1 Hours
Common robot configurations – Polar, Cylindrical, Cartesian co- 2 Hours

1.3
ordinate, Jointed-arm, SCARA
Classification of Robots – Hydraulic drive, Electric drive, Pneumatic 3 Hours

1.4 drive Robot Control systems – Hierarchical control structure, end
effectors - tools
2 Direct and Inverse Kinematics: (6 Hours)
2.1 Mathematical representation of Robots, Position and orientation, 2 Hours
Homogeneous transformation, Various joints, Representation using the 2 Hours

2.2
Denavit Hartenberg (DH) parameters -Degrees of freedom,
2.3 Direct kinematics, Inverse kinematics, SCARA robots. 2 Hours
3 Manipulator Differential Motion and Control: (7 Hours)
Robot Manipulators – Motion control and Differential motion of 3 Hours

3.1 manipulators Overview of Jacobian matrix – conversion of angular
velocities of the joint using Jacobian matrix.
3.2 Jacobian matrix for a 2D 2- Link manipulator example 2 Hour
3.3 Types of Robot Singularities. Wrist and arm singularity 1 Hour

3.4 Static force/torque analysis of manipulators 1 Hour
4 Path Planning (8 Hours)
4.1 Representing position and orientation of a Robotic system, Finding the 1 Hour
centroid of an object
4.2 Trajectory generation - Basic Problem, Solution space – Joint space and 2 Hour
Cartesian space, Planning in any space,
4.3 Polynomial trajectory in Robotics, Cubic polynomial, 1 Hours
4.4 Cubic polynomial for a path, Joint space trajectory generation using 2 Hour
single degree polynomial
Numerical examples on finding the coefficients of cubic that 2 Hour
4.5
accomplishes the motion of a joint
5 Dynamics and Control (7 Hours)
Lagrangian equation of motion- Manipulator dynamics in robots- Euler-

5.1 2 Hour
Lagrange equation for a single degree of freedom system
5.2 Properties of Robotic dynamic equations 1 Hours
Newton-Euler formulation for analysing the dynamics of robot

5.3 2 Hours
manipulators
Control problem of robot manipulators, independent joint control,

5.4 2 Hours
Closed loop system with PD/PID control
Course Name: FUNDAMENTALS OF ROBOTICS
Max.Marks:100 Duration: 3 Hours
PART A
Answer all Questions. Each question carries 3 Marks
1. Mention few applications of Robots.

2. Explain the role of position sensors in Robotics
3. Comment on SCARA Robots.
4. Discuss different types of robot drive systems.
5. Explain the importance of Gripper and list applications
6. List the various robot programming methods
7. Explain the geometric constraints in task and motion planning.
8. Define Joint space Trajectory generation
9. State Lagrangian formulation.
10. Explain Newton-Euler formulation for robot dynamics
PART B
Answer any one full question from each module. Each question carries 14 Marks
Module 1
11. a. Discuss Robot anatomy and related attributes (6)

b. Explain in detail, common robot configurations (8)
12. a. Describe the following classification of robots.
i) Hydraulic drive ii) Electric drive iii) Pneumatic drive (9)
b. List the Hierarchical control structure of Robot control systems (5)
Module 2
13. Explain the use of Homogeneous transformation matrices as a tool in robotics. (14)
14. What is the difference between forward kinematics and inverse kinematics in the
field of modelling and controlling of robot manipulators? (14)
Module 3
15 Derive the Jacobian matrix for a 2D 2- Link manipulator (14)

16 Explain the three types of Robot Singularities. Perform static force/torque analysis of
manipulators and calculate the force and torque required to keep the structure in its
locked position (14)
Module 4
17 Represent the position and orientation of a Robotic system. Find the centroid of an
object (14)
18 Explain the trajectory generation in Robotics using cubic polynomial method (14)
Module 5
19 Derive Euler- Lagrange equation for a single degree of freedom system. Explain with
an example (14)
20 Derive Newton-Euler formulation for analysing the dynamics of robot manipulators
(14)
RAT425 BASICS OF MOBILE ROBOTICS
OEC 2 1 0 3
Preamble: This course introduces the student with the computational fundamentals behind
the design and control of autonomous robots. Mobile robots fall under the category of
autonomous robots in the sense that they take decisions in response to their surroundings.
This course takes the students through all the important concepts that is required to build an
autonomous robot.
CO 1 Explain the challenges involved in robotic locomotion and the kinematics of robots
CO 2 Identify the appropriate sensors and actuators for a particular robotic application
CO 3 Describe the principles behind extracting information using visual techniques
Explain the design of control loops that determine robotic behaviour and mapping
CO 4
techniques used by the robots to understand its surroundings
CO 5 Discuss and apply different algorithms for Localization and grasping

1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 2 2
CO 2 2 2 2
CO 3 3 2 2 2
CO 4 3 2 3 2 2 2
CO 5 3 2 3 2 2
Assessment Pattern
1 2
Remember 10 10 10
Understand 30 30 60
Apply 10 10 30
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.

1. Explain the Cartesian DoFs of an object in motion
2. Derive the forward kinematic of a robotic arm and find its Jacobian
3. Use of inverse Jacobian techniques to determine the inverse kinematics

1. Explain the design of parallel gripper and scissor like gripper
2. Use of manipulability analysis to obtain the best configuration to reach a desired pose
3. Determine the kind of electric motor that is suitable for a robotic arm that need maximum
strength and minimum weight. Justify your selection
4. Identify a sensor that can be used in a robotic application which will help you to
determine the pose of the robot. Explain its working principle

1. Identify and Explain a smoothening algorithm to smoothen small amounts of noise while
maintaining the edges
2. Explain a method of extracting the metric information from an image
3. Explain the importance of lines as a feature in mobile robotics. Discuss mechanisms to
extract lines from an image.

1. Explain the use of a simple perceptron training algorithm to find a separating hyperplane
for simple data
2. Explain the steps involved to implement a pick and place robot.
3. Discuss in detail about the techniques that can be used to overcome uncertainty in
localization and sensing

1. Determine the shortest path from one point to another point in a connected graph using
Dijkstra’s algorithm
2. Explain the sampling based path planning and its significance for mobile robots
3. Discuss the important steps for grasping by a simple gripper with 2 DoF using a stereo
camera as the perception device.
SYLLABUS
Module I: (7 Hours)
Locomotion,manipulation and their representation: Static and dynamic stability –

Degrees of freedom – Coordinate systems and Frames of Reference – Matrix notation –
Mapping from one frame to another – Concatenation of Transformations
Kinematics: Forward Kinematics – The Denavit-Hartenberg notation - Inverse Kinematics –-

Differential Kinematics – Inverse Differential Kinematics
Module 2 (7 Hours)
Forces: Statics – Kineto- Static Duality – Manipulability Ellipsoid in Velocity Space, Force
Space, Manipulability considerations
Grasping: The theory of grasping – Simple Grasping Mechanisms – 1-DoF scissor like
gripper, Parallel Jaw, 4-bar linkage parallel gripper, Multi-fingered hands
Actuators: Electric Motors - Hydraulic and pneumatic actuators – Safety Considerations
Sensors: Terminology – Sensors that measure the robot’s joint configuration – sensors that
measure ego-motion, measuring force – Sensors to measure distance – Sensors to measure
global pose
Module 3 (7 Hours)
Vision: Images as two dimensional signals – Translation of Signal to information - Basic
image operations – Extracting structure from Vision – Computer vision and Machine learning
Feature Extraction: Feature detection as an information-reduction problem – Features –
Line recognition – Scale-invariant feature transforms – Feature detection and Machine
learning
Module 4 (7 Hours)
Artificial Neural Network: The simple perception – Activation function - Simple perceptron
to multi layer neural network – Single outputs to higher dimensional data – Objective
Functions and optimization
Task Execution: Reactive Control – Finite State Machines – Hierarchical Finite State
Machine- Behaviour Trees – Mission Planning
Mapping: Map representations – Iterative Closest point for sparse mapping – Octomap:
dense mapping of voxels – RGB-D mapping : dense mapping of surfaces
Module 5 (7 Hours)
Path Planning: The configuration space – Graph based planning algorithms – Sampling
based path planning – Planning at different length scales – Coverage path planning
Manipulation: Non-Prehensile Manipulation – Choosing the right grasp – Pick and Place –
Peg-in-hole problems
Localization: Markov Localization – Perception Update – Action Update – Case study
Markov localization on a Topological Map – The Bayes Filter – Bayes filter on a grid
Simultaneous Localization and Mapping(SLAM): Introduction – The Covariance Matrix –

EKF SLAM
Text Books
1. Introduction to Autonomous Robots: Mechanisms, Sensors, Actuators and
Algorithms, Nikolaus Correll, Bradley Hayes, Christoffer Heckman and Alessandro
Roncone,, The MIT Press
Reference Books
1. Introduction to Mobile Robot Control, Spyros G. Tzafestas , Elsevier, USA, 2014.
2. Introduction to Autonomous Mobile Robots , R Siegwart, IR Nourbakhsh, D
Scaramuzza, , MIT Press, USA, 2011.
3. Sensors for mobile robot ,HR Everett, CRC Press
4. https://open.umn.edu/opentextbooks/textbooks/316
No. of
No Topic Lectures
1 Module I
1.1 Introduction, Static and dynamic stability,Degrees of freedom 1
1.2 Coordinate systems and Frames of Reference, Matrix notation 1
1.3 Mapping from one frame to another, Concatenation of Transformations 1
1.4 Forward Kinematics, The Denavit-Hartenberg notation 1
1.5 Inverse Kinematics 1
1.6 Differential Kinematics, Inverse Differential Kinematics 2
2 Module II
2.1 Statics , Kineto-Statics Duality 1
Manipulability Ellipsoid in Velocity Space, Force Space, Manipulability 1
2.2
considerations
2.3 The theory of grasping, Simple Grasping Mechanisms 1
2.4 Electric Motors 1
2.5 Hydraulic and pneumatic actuators – Safety Considerations 1
2.6 Terminology – Sensors that measure the robot’s joint configuration 1
2.7 sensors that measure ego-motion, measuring force 1
measuring force – Sensors to measure distance – Sensors to measure 1
2.8
global pose
3 Module 3
3.1 Images as two dimensional signals, Translation of Signal to information 1
3.2 Basic image operations 1
Extracting structure from Vision – Computer vision and Machine 1
3.3 learning
3.4 Feature detection as an information-reduction problem – Features 1

3.5 Line recognition 1
Scale-invariant feature transforms, – Feature detection and Machine 2
3.6 learning
4 Module 4
4.1 The simple perception, Activation function 1
4.2 Simple perceptron to multi layer neural network 1
– Single outputs to higher dimensional data, Objective Functions and 1
4.3
optimization
Reactive Control, Finite State Machines, Hierarchical Finite State 1
4.4
Machine
4.5 Behaviour Trees, Mission Planning 1
Map representations, Iterative Closest point for sparse mapping An error 1
4.6
model for odometric position estimation,
Octomap: dense mapping of voxels, – RGB-D mapping : dense 1
4.7
mapping of surfaces
5 Module 5
5.1 The configuration space – Graph based planning algorithms 1
5.2 Sampling based path planning 1
5.3 Planning at different length scales – Coverage path planning 1
5.4 Non-Prehensile Manipulation – Choosing the right grasp 1
5.5 Pick and Place – Peg-in-hole problems 1
Markov Localization – Perception Update – Action Update – Case study 1
5.6
Markov localization on a Topological Map
The Bayes Filter – Bayes filter on a grid, SLAM - Introduction – The 1
5.7
Covariance Matrix – EKF SLAM
Course Name:
BASICS OF MOBILE ROBOTICS

PART A
1 Is a car statically or dynamically stable? Compare it against the stability of a (3)
motorcycle
2 Consider a differential wheel robot with a broken motor, i.e., one of the wheels (3)
cannot be actuated anymore. Derive the forward kinematics of this platform.
Assume the right motor is broken.
3 Why are singular configuration dangerous for the robot and its surroundings (3)
4 Why does the bandwidth of a ultrasound based distance sensor decrease (3)
significantly when increasing its dynamic range, but that of a laser range
scanner does not for typical operation?
5 Explain the use of Gaussian filter in image processing? (3)
6 What are scale invariant feature transforms (3)
7 What is a Perceptron? How does it classify the data? (3)
8 What do you mean by training a perceptron? Explain the steps involved in (3)
training a perceptron
9 List out the important steps involved in accomplishing a pick and place process (3)
by a robot
10 Explain the A* algorithm used for path planning (3)
PART B
MODULE1
11 a) Assume two coordinate systems that are co-located in the same origin, but (8)
rotated around the z−axis by the angle α. Derive the rotation matrix from
one coordinate system into the other and verify that each entry of this matrix
is indeed the scalar product of each basis vector of one coordinate system with
every other basis vector in the second coordinate system.
Consider a tri-cycle with two independent standard wheels in the rear and (6)
the steerable, driven front-wheel. Choose a suitable coordinate system and
use ϕ as the steering wheel angle and wheel-speed ω˙ . Provide forward and
inverse kinematics.
12 a) (6)
a) Write out the entries of a rotation matrix assuming basis vectors
XA, YA, ZA, and XB, YB, ZB.
b) Write out the entries of rotation matrix .

b) Consider two coordinate systems {B} and {C}, whose orientation is given (8)
by the rotation matrix and have distance . Provide the homogenous
transform and its inverse .

MODULE II
13 a) With neat diagram, explain the working of a two finger parallel jaw gripper (7)
b) Given a laser scanner with an angular resolution of 0.01 rad and a maximum (7)
range of 5.6 meters, what is the minimum range d a robot needs to have from
an object of 1cm width to definitely sense it, i.e., hit it with at least one of
its rays? You can approximate the distance between two rays with the arc
length.
14 a) Explain the concept of Kineto-Statics Duality (5)
b) Discuss the method to analyse manipulator performance for a given joint using (9)
the duality property.
MODULE III
15 a) Discuss in detail on how to extract structure from a visual image (14)
16 a) Discuss the line fitting using least square method. Explain the use of this (7)
algorithm in robotics
b) Explain the RANSAC algorithm with an example (7)
MODULE IV
17 a) Discuss in detail the role of CNN for processing images. Elaborate on the (14)
various techniques used during the process and the need for them
18 a) What is a reactive control in autonomous robots? Explain its limitations. (6)
b) How is finite state machines useful in the design of mobile robots (8)
MODULE V
19 a) Explain the Dijkstra’s algorithm in finding the shortest path from one point to (9)
another point in a closed graph.
b) How does the computational complexity of Dijkstra’s algorithm change when (5)
moving from 2D to 3D search spaces?
20 a) Discuss the peg-in-hole problem in robotic manipulation. Explain the steps (14)
involved in the tilt based peg-in-hole insertion using appropriate diagrams
***
RAT435 INDUSTRIAL AUTOMATION
OEC 2 1 0 3
Preamble: The objective of this course is :

1. To provide the student with a general idea of the different automation technologies
existing in the process industry.
2. To familiarize with various types of sensors and actuators and control valves which is
an integral part of industrial automation
3. To learn the industrial automation and control systems.
4. To design systems using PLC.
Understand the basic concepts of automation methodologies and industrial

CO 1
automation in robotics.
Understand the working principle and applications of different types of sensors,
CO 2
actuators and control valves used in industry.
CO 3 Discuss different automated inspection methods.
CO 4 Explain the design aspects of modern CNC machines.
CO 5 Familiarize the concepts of PLC programming.

1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2
CO 2 3 2 2
CO 3 3 2
CO 4 3 2
CO 5 3 3 2 2
Assessment Pattern
1 2
Remember 10 10 10
Understand 25 25 30
Apply 15 15 60
Analyse
Evaluate
Create
Mark distribution
150 50 100 3 hours

14 marks.

1. Explain how the automated flow lines are working?
2. Explain the architecture of the industrial automation system
3. Basic construction of a robot of any general application, say line follower robot.

1. With neat diagrams explain different sensors like LVDT/strain gauge etc…
2. Compare the performance of different control valves
3. Advantages and disadvantages of pneumatic, hydraulic and electric actuators.

1. How laser interferometer is used in inspection
2. The sensors used for thickness measurements

1. Basic elements of CNC machines
2. Selection criteria for drives for CNC machines
3. Explain automation in CNC machines

1. Explain the architecture of PLC system.
2. Simple PLC programs
3. Block diagrams of SCADA/ DCS and explanation of each module.
SYLLABUS
Module I (7 Hours)
Introduction: Automation overview-Requirement of automation systems - Architecture of
Industrial Automation system.
Automation methodologies: Concept of Mechanization and Automation – Types of
Automation Detroit type Automation-Automated flow lines- Fundamentals of Transfer Lines
in material handling.
Overview of Industrial automation using robots: Basic construction and configuration of
robot-Pick and place robot- Welding robot
Module II (7 Hours)
Sensors for automation: Classification of position, proximity and motion sensors, inductive
type, electromechanical switches, rotary position sensors – resolver, encoders, integrated
motion systems- fundamental sensor methodologies, LVDT, RVDT, photo electric,
capacitive, magnetic detectors, , linear potentiometer, strain gauges. Temperature
measurements- Thermo couple, RTD and LM35 sensors, humidity measurements, smart
sensors, Practical examples on design, selection and implementation of sensor systems,
calibration of sensors.

Sensor systems for automated inspection- online inspection systems - laser interferometer,
non-contact inspection methods. Automatic gauging and size control systems, thickness
measurement, machine vision systems.
Actuators of automation :
Electrical, Hydraulic and pneumatic actuators and their comparison, Examples - use of
Electrical, Hydraulic and pneumatic actuators in industrial automation.
Elements of CNC systems: servomotor and servo system design trends-stepper motors and
controls, adaptive control, Drive systems- Automated tool changers and pallet changers-
different types- Accessories, and selection of drives for CNC machines.
Module IV (7 Hours)
Pneumatic/Hydraulic Automation: control valves – direction, pressure and flow, sequential
control of single /multiple actuator systems, cascade and Karnaugh Veitch map methods,
step-counter systems.
Electro pneumatic/electro hydraulic automation: Symbols: Basic electrical elements –

relay, solenoid, timers, pneumatic – electrical converters
Control Valves: Valve equations, Valve characteristics- equal percentage, linear and ON-OFF
control valves- Types of valves- Globe valve(construction)-Gate valve -butterfly valve-needle
valve, shuttle valve.
Module V (7 Hours)
Automation Control: Sequence control and programmable controllers – logic control and
sequencing elements, ladder diagram, PLC, programming of PLC- analog and digital I/Os,
timers, counters, function blocks.
Case studies on PLC ladder programming- bottle filling system, packing system, car
parking system.
External relays and contactors, Introduction to SCADA and DCS(only block diagram level).
Text Books:
1. Automation, Production Systems and Computer Integrated Manufacturing, Groover
M.P, Prentice – Hall Ltd., 1997.
2. Programmable Logic Controllers – Principles and Applications, John. W. Webb Ronald
A Reis, Fourth edition, Prentice Hall Inc., New Jersey, 1998.
3. Industrial Instrumentation and Control By. S.K. Singh The McGraw Hill Companies
References:
1. Computer Control of Manufacturing Systems YoramKoren, Tata McGraw-Hill Edition
2005.
2. CNC Machines, Radhakrishnan P., New Central Book Agency, 1992.
3. Mechatronics: A Multidisciplinary Approach, 4/E, W. Bolton. Pearson Education India.
4. Mechatronics, HMT, Tata McGraw-Hill, 1998.
5. Standard Handbook of Industrial Automation, Considine D M C & Considine G D C,
Chapman and Hall, NJ, 1986.
6. Pneumatic Control for Industrial Automation‖, Peter Rohner& Gordon Smith, John
Wiley and Sons, 1987.
7. Industrial control handbook, Parr, Newnem
8. Process Control Instrumentation Technology By. C.D. Johnson, PHI.
9. Principles of Measurement Systems (English, Paperback, Bentley John P.), Pearson
No. of
No Topic
Lectures
1 MODULE 1
1.1 Introduction: Automation overview, Requirement of automation

2
systems, Architecture of Industrial Automation system
1.2 Automation methodologies: Concept of Mechanization and
Automation – Types of Automation Detroit type Automation, 3
Automated flow lines, Fundamentals of Transfer Lines.
1.3 Overview of Industrial automation using robots: Basic
construction and configuration of robot, Pick and place robot, 2
Welding robot.
2 MODULE 2
2.1 Sensors and actuators for automation: Classification of position

and motion sensors, inductive type, electromechanical switches,
2
rotary position sensors – resolver, encoders, integrated motion
systems.
2.2 fundamental sensor methodologies, LVDT, RVDT, photo electric,
3
capacitive, magnetic detectors, , linear potentiometer, strain gauges
2.3 Temperature measurements- Thermo couple, RTD and LM35
sensors, smart sensors, Practical examples on design, selection and 2
implementation of sensor systems, calibration of sensors.
3 MODULE 3
3.1 Sensor systems for automated inspection- online inspection

systems, laser interferometer, non-contact inspection methods.
2
Automatic gauging and size control systems, thickness measurement,
machine vision systems.
Actuators of automation :
3.2 Electrical, Hydraulic and pneumatic actuators and their comparison,
2
Examples - use of Electrical, Hydraulic and pneumatic actuators in
industrial automation.
3.3 Elements of CNC systems: servomotor and servo system design
trends, stepper motors and controls, adaptive control, Drive systems.
3
Automated tool changers and pallet changers-different types .
Accessories, and selection of drives for CNC machines.
4 MODULE 4
4.1 Pneumatic/Hydraulic Automation: control valves – direction,

pressure and flow, sequential control of single /multiple actuator
systems, cascade and Karnaugh Veitch map methods, step-counter 3
systems.
4.2 Electro pneumatic/electro hydraulic automation: Symbols: Basic

electrical elements – relay, solenoid, timers, pneumatic – electrical
2
converters
P to I and I to P converters.
4.3 Control Valves: Valve equations, Valve characteristics- equal
percentage, linear and ON-OFF control valves- Types of valves-
Globe valve(construction)-Gate valve -butterfly valve-needle valve, 2
shuttle valve.
5 MODULE 5
5.1 Automation Control: Sequence control and programmable

controllers – logic control and sequencing elements, ladder diagram, 3
PLC, programming of PLC- analog and digital I/Os, timers, counters,
function blocks.
5.2 Case studies on PLC ladder programming- bottle filling system, 2
packing system, car parking system.
5.2 external relays and contactors, Introduction to SCADA and DCS(only
2
block diagram level).

Course Name: INDUSTRIAL AUTOMATION
PART A
1 What is the need for industrial automation systems. (3 )
2 Explain the role of automated flow lines in material handling. (3 )
3 Compare smart sensors and conventional sensors (3 )
4 Discuss the reasons for residual effects in LVDT, suggest a solution for it. ( 3)
5 What are the two existing applications of hydraulic actuators ( 3)
6 Detail the role of computer vision in inspection. ( 3)
7 How the solenoid functions as a relay. (3)
8 Explain valve characteristics (3)
9 Draw the ladder diagram for the following logic functions. (3)
F(A,B,C,D)={1,4,8,15}
10 Differentiate between relays and contractors. (3)
PART B
MODULE1
11 a) With a neat sketch explain the different types of automated transfer lines used (7)
ithe n industry.
b) How a welding system based on robotic action is developed. (7)
12 a) With a neat diagram explain the basic configuration of a robotic system (6)
b) With a neat diagram explain the architecture of industrial instrumentation (8)

systems.
13 a) Explain the working of an optical absolute encoder. How the number of tracks (6)
and sectors of absolute encoder is related to the resolution of the encoder?
b) Explain the merits, demerits and applications of LVDT. An LVDT produces an (8)
RMS voltage of 2.5V for a displacement of 4mm. Calculate the sensitivity of the
LVDT.
14 a) Derive an expression for Gauge factor for a resistance strain gauge. A strain (8)
gauge has a resistance of 100Ω and a gauge factor of 2 and bounded to a
structure under tensile stress. Determine the strain experienced on the structure, if
the change in resistance is given as 0.15Ω.
b) Highlight the difference between thermocouples and RTD in terms of application (6)
in measurement
MODULE III
15 a) Sketch and explain the working of a stepper motor. (7)
b) With neat sketches explain adaptive control of machine tools. (7)
16 a) Explain the role of different types of actuators in industrial automation (8)
b) With neat sketches explain different sensors for inspection (6)
MODULE IV
17 a) Design a pneumatic circuit for A+B+ B-A-.sequencing operation using the (8)
Karnaugh-Veitch method.
b) Explain with neat diagrams the construction of a globe valve. (6)
18 a) With neat sketches explain the basic electrical devices used in electro-pneumatic (8)
control.
b) Explain the design considerations of proportional control valve. (6)
MODULE V
19 a) Design PLC ladder program for operating a coffee vending machine. (8)
b) Two motors are to be controlled in a sequence. The second motor starts 30 (6)
seconds after the starting of first motor by a push switch. Develop a PLC ladder
diagram for the following cases and describe the circuit.
Case (A): Only one motor operates at a time.
Case (B): Second motor gets off together after 50 seconds
Case( C ): first motor gets off after 20 seconds time

20 a) Design PLC based automated car parking barrier system with suitable sensors (7)
and actuators. Design the ladder logic for the PLC so that the system collects
coins for parking cars and the barrier prevents the entry of one vehicle for a
single coin collection.
b) Explain how different types of I/O devices interfaced to PLC (7)
****
RAT445 AI FOR ROBOTICS
OEC 2 1 0 3
Preamble:This course will introduce selected topics in Artificial Intelligence (AI) with a
focus on Robotics. Develop a basic understanding of the building blocks of AI as presented
in terms of intelligent agents: Search, Knowledge representation, inference, logic, and
learning. Introduce concepts of expert systems and machine learning.
Prerequisite: Nil
CO 1 Identify and solve problems using appropriate AI methods.

CO 2 Formalize a given problem in the language/framework of different AI methods
CO 3 Describe the learning methods adopted in AI
CO 4 Perform an empirical evaluation of different algorithms on a problem formalization
CO 5 Interpret variousapplications of AI in Robotic Applications
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 1 3
CO 2 2 1 3
CO 3 2 1 3
CO 4 3 2 2 3
CO 5 3 2 2 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. Define the concept of Agent based Intelligence representation
2. Compare and contrast different types of search strategies
1. What is planning and need of planning?
2. What is ontology in Al?
1. What is Bayesian networks?
2. Explain different decision networks.
1. Explain supervised, unsupervised and reinforcement learning with examples
2. Give a short note on Expert systems in AI.
1. Ethical issues of AI in Robotics

2. Explain how robotics is a technology for future.
SYLLABUS
Module I (7 Hours)
Introduction and Problem solving
History, state of the art, Need for AI in Robotics. Thinking and acting humanly, intelligent
agents, structure of agents.
Solving problems by searching –Informed search and exploration–Constraint satisfaction

problems– Adversarial search,
Module II (7 Hours)
Knowledge representation and Planning
knowledge representation, first order logic.
Planning with forward and backward State space search – Partial order planning – Planning
graphs– Planning with propositional logic – Planning and acting in real world.
Module III(8 Hours)
Reasoning and Decision making
Uncertainty – Probabilistic reasoning, Dynamic Bayesian Networks;

Basis of utility theory, decision theory, sequential decision problems;
Module IV(7 Hours)
Learning and Expert System
Forms of learning – Knowledge in learning – Statistical learning methods –reinforcement

learning, communication, perceiving and acting, Probabilistic language processing, and
perception.
Module V (6 Hours)
AI In Robotics and Applications
Robotic perception, localization, mapping- configuring space, planning uncertain movements,

dynamics and control of movement, Ethics and risks of artificial intelligence in robotics
Text Books
1. Stuart Russel, Peter Norvig, “Artificial Intelligence: A modern approach” Pearson

Education, India,2016
2. Kevin Murphy, Machine Learning; A Probabilistic Perspective (MLAPP), MIT
Press,2012
3. Negnevitsky, M, “Artificial Intelligence: A guide to Intelligence Systems”,

Harlow:AddisonWesley,2002
4. Introduction to Robotics by S K Saha, McGraw Hill Education
5. Introduction to Autonomous Mobile Robots, Siegwart, Roland, Cambridge, Mass.
: MIT Press, 2nd ed.
Reference Books
1. Robin Murphy, Robin R. Murphy, Ronald C. Arkin,”Introduction to AI Robotics”MIT

Press,2000
2. David Jefferis, “Artificial Intelligence: Robotics and Machine Evolution”, Crabtree
Publishing Company, 1992
3. Fransis X. Govers, “Artificial Intelligence for Robotics”, Packt Publishing, 2018
4. Sicilliano, Khatib , “Handbook of Robotics”, Springer
5. John J. Craig, Introduction to Robotics – Mechanics and Control
No. of
No Topic
Lectures
1 MODULE 1: Introduction to AI and Problem Solving
Foundations of AI, need for AI in Robotics., Thinking and acting

1.1 humanly; 2
Intelligent agents: reactive, deliberative, goal-driven, utility driven and

1.2 learning agent; 2
Problem solving: Solving problems by searching: Forward and backward,

1.3 Informed search and exploration, Constraint satisfaction problems, 3
Adversarial search;
2 MODULE 2: Knowledge representation and Planning
Knowledge representations and reasoning: Ontologies, Foundations of

2.1 knowledge representation and reasoning, representing and reasoning 4
about objects, relations, events, actions, time and space. First order logic;
Planning with forward and backward state space search, Partial order
2.2 planning, Construction and use of planning graphs, planning with 3
propositional logic, Planning and acting in real world;
3 MODULE 3: Reasoningand Decision making
Reasoning with uncertain knowledge: Probabilistic reasoning- Filtering

3.1 2
and prediction,
3.2 Hidden Markov Models, connection to logic, Baye’s rule, Dynamic 3
Bayesian Networks
Decision making: Basis of utility theory, decision theory, sequential
3.3 3
decision problems, elementary game theory, sample applications;
4 MODULE 4: Learning and Expert System
Forms of learning – Knowledge in learning – Statistical learning methods

4.1 –reinforcement learning, communication, perceiving and acting, 4
Probabilistic language processing, and perception;
Expert System: Introduction to expert system, Phases of expert system,
4.2 3
characteristics of expert system and a case study;
5 MODULE 5: AI in Robotics and its Applications
AI In Robotics: Robotic perception, localization, mapping- configuring

5.1 space, planning uncertain movements, dynamics and control of 3
movement, Ethics and risks of artificial intelligence in robotics;
Robotics and Its applications, DDD concept, Intelligent robots, Accuracy
5.2 3
and repeatability of Robotics-Simple problems;

SEVENTH -SEMESTER B.TECH. DEGREE EXAMINATION
Course Name: Artificial Intelligence For Robotics
PART A
1 Describe the PEAS description of a task environment. (3)
2 Explain depth bounded DFS (Depth Limited DFS) algorithm with an example. (3)
3 Explain the concept of ontological engineering. (3)
4 How is description logic suitable to represent definitions and properties of categories of (3)
objects?
5 What are the problem areas of spatial reasoning? (3)
6 State value of perfect information and its properties (3)
7 Mention any five characteristics of expert system (3)
8 What is a near miss situation in case of Concept learning? (3)

9 Differentiate between various types of drives used for robot system. (3)
10 Which design approach is similar to object-oriented design in DDD? List the common (3)
terms under design tool?
PART B
MODULE I
11 a) What is an agent? Explain how it can interact with the environment? “Surely computers (9)
cannot be intelligent—they can do only what their programmers tell them.” Is the latter
statement true, and does it imply the former?
b) For the activity named ‘Playing soccer’ give a PEAS description of the task environment (5)
and its characteristics
12 a) The initial state and final state of an 8-puzzle problem is given below. Compute the (8)
heuristic function and solve using an informed search algorithm.
b) What are the disadvantages of hill climbing approach? Is simulated annealing a better (6)
solution when compared to hill climbing?
MODULE II
13 a) Using knowledge reasoning how can you reason the default information? (7)
b) Explain knowledge-based agent. Give an example for a knowledge-based agent. (7)

Describe the environment of a knowledge –based agent.
14 a) How is planning graph used for heuristic estimation? Explain (7)
b) Represent the following sentences in first-order logic, using a consistent vocabulary (7)
(which you must define):
a. Some students took French in spring 2001.
b. Every student who takes French passes it.
c. Only one student took Greek in spring 2001.
d. The best score in Greek is always higher than the best score in French.
e. Every person who buys a policy is smart.

f. No person buys an expensive policy.
g. There is an agent who sells policies only to people who are not insured.
MODULE III
15 a) How AI handles reasoning under uncertainty. Explain with example. (6)
b) Explain the following with examples: (8)
(i) Forward reasoning

(ii) Non-Monotonic Reasoning
16 a) For the 4 × 3 world shown in Figure, calculate which squares can be reached (7)
from (1,1) by the action sequence [Up, Up, Right, Right, Right] and with what
probabilities.
Explain how this computation is related to the prediction task for a hidden
Markov model.
b) Illustrate decision networks with an example in detail. (7)
MODULE IV
17 a) Differentiate between the various learning methods: neural networks, reinforcement (7)
learning and genetic algorithms.
b) What is an expert system? Draw the architecture and explain each block in detail. (7)
18 a) How forward chaining is different from backward chaining inference method? (5)
b) Consider the following case, (9)
"As per the law, it is a crime for an American to sell weapons to hostile nations.
Country A, an enemy of America, has some missiles, and all the missiles were sold
to it by Robert, who is an American citizen."
Prove that "Robert is criminal." using Forward chaining algorithm.
MODULE V
19 a) What is mobile robot localization? Why it is important? How the landmark is measured (8)
in robot localization?
b) Explain ethics and risks of artificial intelligence in robotics (6)
20 a) Describe basic structure of a robotic system with neat sketch. (7)
b) Robots find applications not only in industry. Explain three non-industrial applications (7)
of Robots.
SEMESTER VII
MINOR
RAD481 MINI PROJECT
PWS 0 0 3 4
Preamble: Mini Project Phase I: A Project topic must be selected either from research literature
or the students themselves may propose suitable topics in consultation with their guides. The
object of Project Work I is to enable the student to take up investigative study in the broad
field of Robotics and Automation either fully theoretical/practical or involving both
theoretical and practical work to be assigned by the Department on a group of three/four
students, under the guidance of a Supervisor. This is expected to provide a good initiation
for the student(s) in R&D work. The assignment to normally include:
♦ Survey and study of published literature on the assigned topic;
♦ Preparing an Action Plan for conducting the investigation, including team work;
♦ Working out a preliminary Approach to the Problem relating to the assigned topic;
♦ Block level design documentation
♦ Conducting preliminary Analysis/ Modelling/ Simulation/ Experiment/ Design/
Feasibility;
♦ Preparing a Written Report on the Study conducted for presentation to the Department;
CO1 Identify and synthesize problems and propose solutions to them.
CO2 Prepare work plan and liaison with the team in completing as per schedule.
Validate the above solutions by theoretical calculations and through

CO3
experimental
CO4 Write technical reports and develop proper communication skills.
CO5 Present the data and defend ideas.

CO1 3 3 3 3 3 3 2
CO2 3 3 3 3 3 3
CO3 3 3 3 3 3 3
CO4 3 3 3 3 1
CO5 3 3 3 3 3 3 3 1
*1-slight/low mapping, 2- moderate/medium mapping, 3-substantial/high mapping
Assessment Pattern
The End Semester Evaluation (ESE) will be conducted as an internal evaluation based on the
product, the report and a viva- voce examination, conducted by a 3-member committee
appointed by Head of the Department comprising HoD or a senior faculty member, academic
coordinator for that program and project guide/coordinator. The Committee will be
evaluating the level of completion and demonstration of functionality/specifications,
presentation, oral examination, working knowledge and involvement.
The Continuous Internal Evaluation (CIE) is conducted by evaluating the progress of the
mini project through minimum of TWO reviews. At the time of the 1st review, students are
supposed to propose a new system/design/idea, after completing a thorough literature study
of the existing systms under their chosen area. In the 2nd review students are expected to
highlight the implementation details of the proposed solution. The review committee should
assess the extent to which the implementation reflects the proposed design. A well coded,
assembled and completely functional product is the expected output at this stage. The final
CIE mark is the average of 1st and 2nd review marks.
A zeroth review may be conducted before the beginning of the project to give a chance for
the students to present their area of interest or problem domain or conduct open brain
storming sessions for innovative ideas. Zeroth review will not be a part of the CIE evaluation
process.
Marks Distribution
Total Marks CIE ESE
150 75 75

Marks awarded by Guide : 15 marks
Project Report : 10 marks
Evaluation by the Committee : 40 Marks
End Semester Examination Pattern: The following guidelines should be followed

regarding award of marks.
(a) Demonstration : 50 Marks
(b) Project report : 10 Marks
(d) Viva voce : 15marks
Course Plan
In this course, each group consisting of three/four members is expected to design and develop
a moderately complex software/hardware system with practical applications. This should be a
working model. The basic concept of product design may be taken into consideration.
Students should identify a topic of interest in consultation with Faculty-in-charge of
miniproject/Advisor. Review the literature and gather information pertaining to the chosen
topic. State the objectives and develop a methodology to achieve the objectives. Carryout the
design/fabrication or develop codes/programs to achieve the objectives. Demonstrate the
novelty of the project through the results and outputs. The progress of the mini project is
evaluated based on a minimum of two reviews.
The review committee may be constituted by the Head of the Department. A project report is
required at the end of the semester. The product has to be demonstrated for its full design
specifications. Innovative design concepts, reliability considerations, aesthetics/ergonomic
aspects taken care of in the project shall be given due weight.
SEMESTER VII
HONOURS
RAT495 FIELD ROBOTICS
VAC 3 1 0 4
Preamble: Practical Field Robotics comprises the design and fabrication of machines that do
useful work on their own, for the most part. Field Robotics separates us from robotics done in
a protected laboratory environment. This course provides exposure to the students on the
various challenges involved in the design of Autonomous Ground Vehicles and Unmanned
Aerial Vehicles used for real time applications.
Recognize the complexity of mobile robotic applications in unstructured
CO 1
environments
CO 2 Describe the design considerations for an autonomous ground vehicle
CO 3 Describe the design considerations for an unmanned aerial vehicle
Explain the communication infrastructure and Data processing requirements of a
CO 4
UAV
CO 5 Interpret the use of Field robots for disaster recovery and in agriculture

1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2 2 2 1
CO 2 3 2
CO 3 3 2
CO 4 3 2
CO 5 3 2 3 3 3 1 2
Assessment Pattern
1 2
Remember 20 20 40
Understand 30 30 60
Apply
Analyse
Evaluate
Create
Mark distribution
150 50 100 3 hours
14 marks.

1. Explain the challenges faced by mobile robots in harsh environments
2. Discuss the different design considerations for a field robot
3. Explain the working of an Autonomous Ground Vehicle
1. Elaborate the need for both internal and external state sensing in an AGV
2. Discuss on the implementation of autonomy for different real world scenarios in vehicles

1. Explain the requirements for maintaining the stability of a UAV
2. Elaborate on the various components and their role in an UAV
3. Describe the various Mission planning techniques used in UAV

1. Explain the different communication infrastructure used in a UAV
2. Differentiate between the different types of communication infrastructure used in UAVs

1. Elaborate the use of robots for disaster management
2. Elaborate the use of robots in the field of agriculture
SYLLABUS ROBOTICS AND AUTOMATION
Module I: (9 Hours)
Introduction to Field Robots: Challenges – Wheeled Mobile Robots in Agriculture –
Wheeled Mobile Robots in Industry - Wheeled Mobile Robots in Domestic Environments –
(Basic Setup – Sensors used – Localization and Mapping Techniques – Path Planning –
Control strategies – Decision Making for all the above cases)
Autonomous Ground Vehicles: Components of Autonomy – Feedback control in
Autonomous systems – Steering control using point mass model – open loop – closed loop –
Polynomial tracking – Trajectory establishment
Module 2 (9 Hours)
Autonomous Ground Vehicles: System Architecture – Hybrid system formulation
Sensing – Internal State Sensing – External world Sensing – Estimation – Sensor Fusion -
Autonomy Case Study – Steering Control and Lane Following – Parking
Maps and Path Planning: Map Databases – Path Planning
Module 3(9 Hours)
Unmanned Ariel Vehicles : Working of UAV – Advantages and Disadvantages – Stability
and Control of UAV – Classification - Components of UAV – Measures of UAV Autonomy
– Path planning in UAV - Path Planning algorithms -– Mission Planning – Flight Planning,
Control of Mission and Payload
Module 4(9 Hours)

Flight Safety Operation - Intelligent Flight Control systems -UAV Communication
infrastructure – Types – Wireless Sensor Network System – Free Space Optical Approach –
First Person View Approach – SWARM Approach
UAV Data Collection and Processing Methods : Data Products – Data processing Approaches
Module 5(9 Hours)

Robotics in Disaster Management : Rescue Robot – Characteristics – Need for Rescue
Robots – Types of Disasters – Rescue Robot Missions – Taxonomy of mission failure –
Rescue robot terminal failures Reasons – Non Terminal Failure and workarounds
Robotics in Agriculture: Operational Classification – Weeding, Seeding, Disease and Insect
detection, crop scouting, spraying, harvesting, plant management
Text Books
1. “Autonomous Ground Vehicles”, Umit Ozguner, Tankut Acarman, Keith Redmill,
Artech House Intelligent Transportation Systems Series
2. “Unmanned Aerial Vehicle – An Introduction”, P. K.Garg, Mercury Learning and
Information
3. “Agricultural Robotics for Field Operations”, Spyros Fountas, Nikos Mylonas,
Ioannis Malounas, Efthymios Rodias, Christoph Hellmann Santos, and Erik Pekkeriet
– Sensors Journal, MDPI, 2020
Reference Books ROBOTICS AND AUTOMATION
1. “Fundamentals of Agricultural and Field Robotics”, Manoj Karkee, Qin Zhang,
Agricultural Automation and Control, Springer
2. “Practical Field Robotics – A Systems Approach”, Robert H. Sturges Jr., Wiely
3. “Unmanned Aerial Vehicle: Applications in Agriculture and Environment”,
https://doi.org/10.1007/978-3-030-27157-2 , eBook, Springer
4. “Robotics and Mechatronics for Agriculture”, Dan Zhang, Bin Wei CRC Press
(2017)

No. of
No Topic
Lectures
1 Module I
1.1 Challenges – Wheeled Mobile Robots in Agriculture – Wheeled Mobile 2
Robots in Industry
1.2 Wheeled Mobile Robots in Domestic Environments – 1
1.3 Autonomous Ground Vehicles: Components of Autonomy – Feedback 2
control in Autonomous systems
1.4 Steering control using point mass model – open loop – closed loop 2
1.5 Polynomial tracking – Trajectory establishment 2
2 Module II
2.1 Autonomous Ground Vehicles: System Architecture – Hybrid system 2
formulation
2.2 Sensing – Internal State Sensing – External world Sensing 2
2.3 Estimation – Sensor Fusion 1

2.4 Autonomy Case Study – Steering Control and Lane Following – Parking 2
2.5 Maps and Path Planning: Map Databases – Path Planning 2
3 Module 3
3.1 Working of UAV – Advantages and Disadvantages 2
3.2 Stability and Control of UAV – Classification - Components of UAV 2
3.3 Measures of UAV Autonomy 1
3.4 Path planning in UAV - Path Planning algorithms 2
3.5 Mission Planning – Flight Planning, Control of Mission and Payload 2
4 Module 4
4.1 Flight Safety Operation - Intelligent Flight Control systems 2
4.2 UAV Communication infrastructure – Types – Wireless Sensor Network 2
System
4.3 Free Space Optical Approach – First Person View Approach – SWARM 3
Approach
4.4 UAV Data Collection and Processing Methods : Data Products – Data 2
processing Approaches
5 Module 5
5.1 Robotics in Disaster Management : Rescue Robot – Characteristics
ROBOTICS – 4
AND AUTOMATION
Need for Rescue Robots – Types of Disasters – Rescue Robot Missions
– Taxonomy of mission failure – Rescue robot terminal failures Reasons
– Non Terminal Failure and workarounds
5.2 Robotics in Agriculture: Operational Classification – Weeding, 5
Seeding, Disease and Insect detection, crop scouting, spraying,
harvesting, plant management
Course Code: RAT495
Course Name:
FIELD ROBOTICS

PART A
1 Explain the different mapping techniques that can be used in a floor cleaning (3)
robot
2 What is swerving ? How will you calculate the look ahead distance while (3)
overtaking a stationary object?
3 List out the important characteristics that you will look for while selecting a (3)
sensor for Autonomous Ground Vehicle
4 What are the different error sources in GPS sensing? (3)
5 What are the three angular degrees of freedom in the case of an UAV? (3)
6 What are the different UAV classification based on the usage (3)
7 Differentiate between active and passive remote sensing systems (3)
8 What do you mean by Georeferencing and where is it used in UAV Data (3)
processing systems
9 Explain the different functions that you look forward in a agriculture robot (3)
10 Explain any one robotic method used for weeding in agricultural applications (3)
PART B
MODULE1
11 a) Discuss in detail the issues and challenges involved in the development of a (8)
wheeled mobile robot for floor cleaning
Discuss the feedback mechanism that can be used for speed control in an (6)
autonomous vehicle.(assume point mass and force inputs)
12 a) Discuss in detail the steering control using point mass model using closed loop (14)
commands
MODULE II
13 a) Explain the working principle of GPS and how position is determined using (14)
GPS
14 a) With the help of a block diagram, explain a vehicle localization fusion system. (14)
MODULE III
15 a) Discuss any two path planning algorithms used in the implementation of UAVs (14)
16 a) What is Geofencing and how is it useful for UAVs? (7)
b) Discuss the mechanisms used for collision avoidance in the design of UAVs (7)
MODULE IV
17 a) Explain the term SWARM. What is the utility of swarm in UAV-based (8)
network
b) Explain with the help of diagrams, the difference between MANET,
ROBOTICS VANET
AND AUTOMATION
and FANET in Swarm technology
18 a) Explain the role of GCPs. How do you get GCPs for processing UAV images? (7)
b) Discuss the different methods used to collect elevation data using UAVs. (7)
MODULE V
19 a) Discuss in detail about the reasons for a terminal failure of a rescue robot (7)
b) Discuss in detail about any two disaster scenarios and explain how a rescue (7)
robot can be useful in those circumstances
20 a) Explain how robots can be used for disease and Insect detection in agricultural (7)
applications
b) Discuss in detail about bulk harvester and selective harvester robots that are (7)
used in agriculture
***
SEMESTER VIII
RAT402 AI AND MACHINE LEARNING
PCC 2 1 0 3
Preamble: Artificial Intelligence can be applied to a wide range of engineering application

and is a topic of study by itself. This course provides an introduction to the areas of AI that
can be used for robotic application which include computer vision, path planning, object
recognition etc.
Prerequisite: Nil
Appreciate the role of AI in solving problems in different domains and their

CO 1 evolution of AI
CO 2 Explain the different learning techniques used in Machine learning

CO3 Recognize the need for multilayer neural network for solving complex tasks
Understand the fundamental concepts of Image processing and its application in
CO4
computer vision
Explain the different ways of perception of the environment by a robot and its use in
CO5
path planning
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 2 2
CO 2 3 2 2 2
CO 3 3 2 2 2
CO 4 3 2 2 2
CO 5 3 2 2 2
Assessment Pattern
1 2
Remember 10 10 10
Understand 30 30 50
Apply 10 10 40
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. Discuss the use of Machine learning technique for classifying objects

2. Elaborate on the various AI techniques that can be used in robotics applications
3. Compare and contrast Supervised and Unsupervised Learning techniques

4. How is Stochastic Gradient Descent algorithm better compared to other traditional
learning techniques
5. Explain how Back propagation algorithm can be used for character recognition
application
6. Explain the basic Recurrent Neural Network architecture and its applications
7. Discuss the any two techniques used for Edge detection in image processing
8. What is segmentation and how is it used in Image processing applications
9. Explain Robotic Perception and the challenges faced in robotic perception

10. How can AI be used in path planning for robotic applications
SYLLABUS
Module 1
Artificial intelligence - Introduction, its importance, The Turing test, Foundations of artificial
intelligence, A brief historical overview
Application areas of AI - vision and speech processing, robotics, expert systems -basic
overview
Module 2
Learning - Forms of learning, Supervised Learning Algorithms, Unsupervised Learning

Algorithms, Reinforcement based learning - overview with basic elements agent,
environment, action, state, reward only; Stochastic Gradient Descent, Challenges Motivating
Deep Learning
Module 3
Deep Feedforward Networks- Example: Learning XOR, Gradient-Based Learning, Hidden

Units. Architecture Design, Back-Propagation and Other Differentiation Algorithms,
Convolutional Networks -basic outline and functions of each layers only, Sequence
Modeling: Recurrent and Recursive Nets -Need for sequence models, basic RNN architecture
and types
Module 4
Machine vision - Introduction, Computer vision - Introduction, Image formation, Basic image
processing operations - edge detection, texture, optical flow, segmentation. challenges in
image detection, Image features optimization.
Case study- crop monitoring using drones, traffic sign detection
Module 5
Robotics - Robotic perception, Localization and mapping, Machine learning in robot

perception, Application domains
Textbooks:
1. Ian Goodfellow, Yoshua Bengio, Aaron Courville, Deep Learning, MIT Press,
2016
2. Stuart J. Russell and Peter Norvig, Artificial Intelligence - A Modern Approach
Third Edition, 2016
3. Bishop, C. ,M., Pattern Recognition and Machine Learning, Springer, 2006.
4. Berthold Klaus, Paul Horn “Robot vision” The MIT Press, 1987.
5. Richard Szeliski, “Computer Vision: Algorithms and Applications”, 2010.
6. Grigorescu, Sorin, et al. "A survey of deep learning techniques for autonomous
driving." Journal of Field Robotics 37.3 (2020): 362-386.
Reference Books:
1. Robin R. Murphy – Introduction to AI Robotics, The MIT Press

2. Chandra S.S.V, Anand Hareendran S. - Artificial Intelligence and Machine
Learning, PHI
3. Simon J. D. Prince - Computer Vision – Models, Learning and Inference
Cambridge University Press
No. of
No Topic
Lectures
1
Artificial intelligence - Introduction, its importance, The Turing test,
1.1 Foundations of artificial intelligence, A brief historical overview (Ref 2, 3
chapter 1 section 1.3).
Application area of AI: vision and speech processing, robotics, expert

1.2 systems--basic overview only 3
2
Learning - Forms of learning, (Ref 2 Chapter 18 section 18.1.1),
Supervised Learning Algorithms, Unsupervised Learning Algorithms,

2.1 Reinforcement based learning-- overview with basic elements agent, 5
environment, action, state, reward only; (Ref 2, Chapter 20, section
20.1)
Stochastic Gradient Descent, Challenges Motivating Deep Learning

2.2 (Ref 1, chapter 5 sections 5.7 – 9 and 5.11, Ref 2 Chapter 18 section 3
18.2),).
3
Deep Feedforward Networks - Example: Learning XOR, Gradient-
3.1 Based Learning, Hidden Units. Architecture Design, Back-Propagation 3
and Other Differentiation Algorithms
Convolutional Networks-basic outline and functions of each layers only,

Sequence Modeling: Recurrent and Recursive Nets - Need for sequence
3.2 models, basic RNN architecture and types (Ref 1 chapter 6, 9, 10, Ref 3 4
- chapter 5).
4
Machine vision - Introduction (Ref 4, chapter 1), Computer vision -
4.1 Introduction (Ref 5 chapter 1, section 1.2), 2
Image formation, Basic image processing operations - edge detection,
4.2 texture, optical flow, segmentation. (Ref 4, 5) challenges in image 4
detection, Image features optimization.
4.3 Case study-crop monitoring using drones, traffic sign detection 1

5
Robotics - Robotic perception, Localization and mapping, Machine
5.1 learning in robot perception, 5
Application domains (Ref 2, chapter 25 sections 25.1, 25.3.1, 25.3.3,

5.2 25.8) 2

EIGHTH SEMESTER B.TECH. DEGREE EXAMINATION

Course Name: AI AND MACHINE LEARNING
PART A
1 Explain the Turing Test approach for the definition of AI. What are the (3)
additional capabilities required by an AI system to completely satisfy the total
Turing Test
2 How can AI be used in Speech Processing? (3)
3 “A machine learning algorithm is an algorithm that is able to learn from data” (3)
– What do we mean by the term ‘learn’ in the above statement
4 Explain the term ‘Feature’ under machine learning context (3)

5 What is a multilayer feed forward Network? (3)
6 What is the role of activation function in a neural network? (3)
7 Define Sampling pitch for a digital camera. Explain its effect on the quality of (3)
the image
8 What is aliasing in a digital image? What is the use of PSF in aliasing? (3)
9 Explain Robotic perception and discuss the challenges faced in robotic (3)
perception
10 Discuss the motion model for localization in robotics (3)
PART B
MODULE1
11 a) Explain the contribution of Mathematics in the development of AI (8)
b) What are the different applications of AI in Visual Processing (6)
12 a) What are Expert Systems? What is the role of knowledge base and Inference (7)
Engine in a knowledge based System
b) What are the application areas of AI in a Robotics (7)
MODULE II
13 a) Explain the kind of problems that can be solved using Machine Learning (6)
techniques
b) Explain the gradient descent Algorithm used in Machine Learning
14 a) Explain Supervised and Unsupervised Learning techniques in machine learning. (14)
Discuss the advantages and disadvantages of each.
MODULE III
15 a) With an example, explain the working of Back Propagation algorithm (14)
16 a) What is a Convolutional Neural Network? Explain the functionality of each (14)
layer
MODULE IV
17 a) Explain the method of image segmentation using multilevel threshold (7)

b) Explain the ‘Snakes’ method of detecting active contours (7)
18 a) Explain region splitting and merging algorithm for segmentation (7)
b) What is the use of Edge Linking and how it is carried out? (7)
Module V
19 a) Explain the Monte-Carlo localization algorithm using a range scan sensor model (14)
20 a) Discuss in detail the role of Machine learning in Robotic perception (14)
****
COMPREHENSIVE COURSE CATEGORY L T P CREDIT

RAT404
VIVA PCC 1 0 0 1
Preamble: The objective of this Course viva is to ensure the basic knowledge of each student in the
most fundamental core courses in the curriculum. The viva voce shall be conducted based on the
core subjects studied from third to eighth semester. This course helps the learner to become
competent in placement tests and other competitive examinations.
Guidelines
1. The course should be mapped with a faculty and classes shall be arranged for practicing
questions based on the core courses listed in the curriculum.
2. The viva voce will be conducted by the same three member committee assigned for final
project phase II evaluation. It comprises of Project coordinator, expert from
Industry/research Institute and a senior faculty from a sister department.
3. The pass minimum for this course is 25.
4. The mark will be treated as internal and should be uploaded along with internal marks of
other courses.
5. Comprehensive Viva should be conducted along with final project evaluation by the three
member committee.
Mark Distribution
Total marks: 50, only CIE, minimum required to pass : 25 Marks
ROBOTICS AND
P CREDIT
RAD416 PROJECT PHASE II
PWS 0 0 12 4
Preamble: The course ‘Project Work’ is mainly intended to evoke the innovation and invention
skills in a student. The course will provide an opportunity to synthesize and apply the knowledge
and analytical skills learned, to be developed as a prototype or simulation. The project extends to
2 semesters and will be evaluated in the 7th and 8th semester separately, based on the achieved
objectives. One third of the project credits shall be completed in 7th semester and two third in 8th
semester. It is recommended that the projects may be finalized in the thrust areas of the
respective engineering stream or as interdisciplinary projects. Importance should be given to
address societal problems and developing indigenous technologies.
Course Objectives
 To apply engineering knowledge in practical problem solving.
 To foster innovation in design of products, processes or systems.
 To develop creative thinking in finding viable solutions to engineering problems.
Course Outcomes [COs]: After successful completion of the course, the students will be able to:
Model and solve real world problems by applying knowledge across domains
CO1
(Cognitive knowledge level: Apply).
Develop products, processes or technologies for sustainable and socially relevant
CO2
applications (Cognitive knowledge level: Apply).
Function effectively as an individual and as a leader in diverse teams and to
CO3
comprehend and execute designated tasks (Cognitive knowledge level: Apply).
Plan and execute tasks utilizing available resources within timelines, following ethical
CO4
and professional norms (Cognitive knowledge level: Apply).
Identify technology/research gaps and propose innovative/creative solutions
CO5
(Cognitive knowledge level: Analyze).
Organize and communicate technical and scientific findings effectively in written and
CO6
oral forms (Cognitive knowledge level: Apply).
CO1 2 2 2 1 2 2 2 1 1 1 1 2
CO2 2 2 2 1 3 3 1 1 1 1
CO3 3 2 2 1
CO4 2 3 2 2 3 2
CO5 2 3 3 1 2 1
CO6 2 2 2 3 1 1
PO # Broad PO PO# Broad PO

PO3 Design/Development of solutions PO9 Individual and team work
Conduct investigations of
PO4 complex problems PO0 Communication
PO6 The Engineer and Society PO12 Lifelong learning
PROJECT PHASE II
Phase 2 Targets
 In depth study of the topic assigned in the light of the report prepared under Phase - I;
 Review and finalization of the approach to the problem relating to the assigned topic.
 Preparing a detailed action plan for conducting the investigation, including teamwork.
 Detailed Analysis/ Modeling / Simulation/ Design/ Problem Solving/Experiment as
needed.
 Final development of product/ process, testing, results, conclusions and future
directions.
 Preparing a paper for Conference Presentation/ Publication in Journals, if possible.
 Presenting projects in Project Expos conducted by the University at the cluster level
and/ or state level as well as others conducted in India and abroad.
 Filing Intellectual Property Rights (IPR) if applicable.
 Preparing a report in the standard format for being evaluated by the Department
Assessment Board.
 Final project presentation and viva voce by the assessment board including the
external expert.
Evaluation Guidelines & Rubrics
Total: 150 marks (Minimum required to pass: 75 marks).

 Project progress evaluation by guide: 30 Marks.
 Two interim evaluations by the Evaluation Committee: 50 Marks (25 marks for each
evaluation).
 Final evaluation by the Final Evaluation committee: 40 Marks
 Quality of the report evaluated by the evaluation committee: 30 Marks
(The evaluation committee comprises HoD or a senior faculty member, Project coordinator
and project supervisor. The final evaluation committee comprises of Project coordinator,
expert from Industry/research/academic Institute and a senior faculty from a sister
department).
Evaluation by the Guide
The guide/supervisor must monitor the progress being carried out by the project groups on
regular basis. In case it is found that progress is unsatisfactory it should be reported to the
Department Evaluation Committee for necessary action. The presence of each student in the
group and their involvement in all stages of execution of the project shall be ensured by the
guide. Project evaluation by the guide: 30 Marks. This mark shall be awarded to the students in
his/her group by considering the following aspects:
Project Scheduling & Distribution of Work among Team members: Detailed and extensive
Scheduling with timelines provided for each phase of project. Work breakdown structure well
defined. (5)
Literature survey: Outstanding investigation in all aspects. (4)
Student’s Diary/ Daily Log: The main purpose of writing daily diary is to cultivate the habit of
documenting and to encourage the students to search for details. It develops the students’ thought
process and reasoning abilities. The students should record in the daily/weekly activity diary the
day to day account of the observations, impressions, information gathered and suggestions given,
if any. It should contain the sketches & drawings related to the observations made by the
students. The daily/weekly activity diary shall be signed after every day/week by the guide. (7)
Individual Contribution: The contribution of each student at various stages. (9)
Completion of the project: The students should demonstrate the project to their respective
guide. The guide shall verify the results and see that the objectives are met. (5)
EVALUATION RUBRICS for PROJECT Phase II: Interim Evaluation - 1
Good evidence of an implementable
Some of the aspects of the proposed
The project is not addressing any project. There is some evidence for The project has evolved into incorporating
idea can be implemented. There is
useful requirement. The idea is the originality of the work done by the an outstandingly novel idea. Original work
still lack of originality in the work
Novelty of idea, and evolved into a non-implementable team . There is fresh specifications/ which is not yet reported anywhere else.
done so far by the team. The project
Implementation scope one. The work presented so far is features/improvements suggested by Evidence for ingenious way of innovation
2-a 5 is a regularly done theme/topic
[CO5] lacking any amount of original work the team. The team is doing a design which is also Implementable. Could be a
without any freshness in terms of
[Group Evaluation] by the team. from fundamental principles, and patentable / publishable work.
specifications, features, and/or
there is some independent learning
improvements.
and engineering ingenuity.
Good evidence of task allocation Excellent display of task identification and

being done, supported by project distribution backed by documentary
No task distribution of any kind. Task allocation done, but not journal entries, identification of tasks evidence of team brainstorming, and
Effectiveness of task
Members are still having no clue on effectively, some members do not through discussion etc. However, the project journal entries. All members are
2-b distribution among 5 what to do. have any idea of the tasks assigned. task distribution seems to be skewed, allocated tasks according to their
team members. Some of the tasks were identified but and depends a few members heavily capabilities, and as much as possible in an
[CO3] not followed individually well. than others. Mostly the tasks are being equal manner. The individual members are
[Group Evaluation]
followed by the individual members. following the tasks in an excellent manner.
Little or no evidence of continued There is some improvement in the Good evidence of planning done and Excellent evidence of enterprising and
planning or scheduling of the primary plan prepared during phase I. being followed up to a good extent extensive project planning and follow-up
project. The students did not stick to There were some ideas on the since phase I. Continued use of project
after phase I. Materials were listed
Adherence to project the plan what they were going to materials /resources required, but not and thought out, but the plan wasn't management/version control tool to track
schedule. build nor plan on what materials / really thought out. The students have the project. Material procurement if
2-c 5 followed completely. Schedules were
[CO4] resources to use in the project. The some idea on the finances required, prepared, but not detailed, and needs applicable is progressing well. Tasks are
[Group Evaluation] students do not have any idea on the but they have not formalized a budget improvement. Project journal is updated and incorporated in the schedule.
budget required even after the end of plan. Schedules were not prepared. presented but it is neither complete A well-kept project journal showed
phase - I. No project journal kept or The project journal has no useful nor updated regularly. evidence for all the above, in addition to
the journal. details on the project. the interaction with the project guide.
(0 - 1 Marks) (2 - 3 Marks) (4 Marks) (5 Marks)

The team showed some interim The interim results showed were good
There were significant interim results
Interim Results. results, but they are not complete / and mostly consistent/correct with
There are no interim results to show. presented which clearly shows the progress.
2-d [CO6] 5 consistent to the current stage, Some respect to the current stage. There is
[Group assessment] corrections are needed. room for improvement.
Very poor presentation and there is Presentation is average, and the Good presentation. Student has good Exceptionally good presentation. Student
Presentation
no interim results. The student has student has only a feeble idea about idea about the team's project. The has excellent grasp of the project. The
2-e [Individual 5 no idea about the project proposal. the team work. overall presentation quality is good. quality of presentation is outstanding.
assessment]
Phase-II Interim Evaluation - 1 Total Marks: 25

EVALUATION RUBRICS for PROJECT Phase II: Interim Evaluation – 2
No Parameters Marks Poor Fair Very Good Outstanding
The student does not show any The student appears to apply some The student is able to show some Excellent knowledge in design procedure
Application of evidence of applying engineering basic knowledge, but not able to evidence of application of engineering and its adaptation. The student is able to
engineering knowledge on the design and the show the design procedure and the knowledge in the design and apply knowledge from engineering
knowledge methodology adopted. The student's methodologies adopted in a development of the project to good domains to the problem and develop
2-f [CO1] 10 contribution in application of comprehensive manner. extent. solutions.
[Individual engineering knowledge in the project
Assessment] is poor.
The individual contribution is evident.

Involvement of No evidence of any Individual There is evidence for some amount Evidence available for the student acting
The student has good amount of
individual participation in the project work. of individual contribution, but is as the core technical lead and has excellent
5 involvement in core activities of the
members limited to some of the superficial contribution to the project.
2-g [CO3] project.
tasks.
[Individual
Assessment] (0 - 1 Marks) (2 - 3 Marks) (4 Marks) (5 Marks)
None of the expected outcomes are Many of the expected outcomes are Most of the stated outcomes are met.
Only a few of the expected outcomes
Results and achieved yet. The team is unable to achieved. Many observations and Extensive studies are done and inferences
are achieved. A few inferences are
inferences upon derive any inferences on the failures/ inferences are made, and attempts to drawn. Most of the failures are addressed
5 made on the observed failures/issues.
execution [CO5] issues observed. Any kind o f identify the issues are done. Some and solutions suggested. Clear and valid
2-h No further work suggested.
[Group Assessment] observations or studies are not made. suggestions are made for further work. suggestions made for further work.
Documentatio n and The individual student has no idea on The individual's presentation is done
Presentation's overall quality needs The individual’s presentation
presentation. the presentation of his/her part. The professionally and with great clarity. The
5 to be improved. performance is satisfactory.
2-i .[CO6] presentation is of poor quality. individual’s performance is excellent.
[Individual assessment]
Phase-II Interim Evaluation - 2 Total Marks: 25

EVALUATION RUBRICS for PROJECT Phase II: Final Evaluation
No Parameters Marks Poor Fair Very Good Outstanding
The team is able to show evidence of Excellent knowledge in design procedure
Engineering The team does not show any evidence The team is able to show some of the
application of engineering knowledge and its adaptation. The team is able to
2-j knowledge. [CO1] of applying engineering knowledge design procedure and the
10 in the design and development of the apply knowledge from engineering
[Group Assessment] on the design and the methodology methodologies adopted, but not in a
project to good extent. There is scope domains to the problem and develop an
adopted. comprehensive manner.
for improvement. excellent solution.

Relevance of the The project has some relevance with The project is relevant to the society The project is exceptionally relevant to
project with respect to The project as a whole do not have respect to social and/or industrial and/or industry. The team is mostly society and/or industry. The team has
2-k societal and/or any societal / industrial relevance at application. The team has however successful in translating the problem made outstanding contribution while
5 all.
industrial needs. made not much effort to explore into an engineering specification and solving the problem in a professional and/
[Group Assessment] further and make it better. managed to solve much of it. or ethical manner.
[CO2]
Some of the aspects of the proposed Good evidence of an implementable
The project is not addressing any The project has evolved into incorporating
idea appears to be practical. There is project. There is some evidence for the
useful requirement. The idea is an outstandingly novel idea. Original work
still lack of originality in the work originality of the work done by the
evolved into a non-implementable which is not yet reported anywhere else.
done. The project is a regularly done team. There is fresh specifications/
Innovation / novelty / one. The work presented so far is Evidence for ingenious way of innovation
theme/topic without any freshness in features/improvements suggested by the
lacking any amount of original work which is also Implementable. Could be a
2-i Creativity 5 terms of specifications, features, and/ team. The team is doing a design from
[CO5] by the team. patentable publishable work.
or improvements. fundamental principles, and there is
[Group Assessment] some independent learning and
engineering ingenuity. Could be
translated into a product / process if
more work is done.

Only a few of the expected outcomes
None of the expected outcomes are are achieved. A few inferences are Many of the expected outcomes are Most of the stated outcomes are met.
Quality of results / achieved. The team is unable to made on the observed failures/issues. achieved. Many observations and Extensive studies are done and inferences
conclusions / 10 derive any inferences on the No further work suggested. inferences are made, and attempts to drawn. Most of the failures are addressed
2-m solutions. [CO1] failures/issues observed. Any kind of identify the issues are done. Some and solutions suggested. Clear and valid
[Group Assessment] observations or studies is not made. suggestions are made for further work. suggestions made for further work.

Presentation slides follow a good style
Presentation slides follow professional The presentation slides are exceptionally
The presentation slides are shallow style formats to some extent. However, format and there are only a few issues.
Organization of the slides is good. Most good. Neatly organized. All references
Presentation - Part I and in a clumsy format. It does not its organization is not very good.
of references are cited properly. The cited properly. Diagrams/Figures, Tables
Preparation of slides. 5 follow proper organization. Language needs to be improved. All and equations are properly numbered,
flow is good and team presentation is
[CO6] references are not cited properly, or and l i s ted. Results/ inferences clearly
neatly organized. Some of the results
[Group Assessment]. acknowledged. Presentation slides highlighted and readable.
are not clearly shown. There is room
needs to be more professional.
for improvement.
2-n (0 - 1 Marks) (2 - 3 Marks) (4 Marks) (5 Marks)

Good presentation/ communication by
Presentation - Part The student is able to explain some of Clear and concise communication
the student. The student is able to
II: Individual The student is not communicating the content. The student requires a lot exhibited by the student. The
explain most of the content very well.
Communication 5 properly. Poor response to of prompts to get to the idea. There are presentation is outstanding. Very
There are however, a few areas where
[CO6] questions. language issues. confident and tackles all the questions
the student shows lack of preparation.
[Individual without hesitation. Exceptional traits of
Language is better.
Assessment]. communicator.
Phase-II Final Evaluation, Marks: 40

EVALUATION RUBRICS for PROJECT Phase II: Report Evaluation
Sl.
The prepared report is shallow and not Project report shows evidence of
Project report follows the standard The report is exceptionally good. Neatly
as per standard format. It does not systematic documentation. Report is
format to some extent. However, its organized. All references cited properly.
follow proper organization. Contains mostly following the standard style
organization is not very good. Diagrams/Figures, Tables and equations
mostly unacknowledged content. Lack format and there are only a few issues.
2-o Report [CO6] 30 Language needs to be improved. All are properly numbered, and listed and
of effort in preparation is evident. Organization of the report is good.
references are not cited properly in the clearly shown. Language is excellent and
References are not cited. Mostly consistently formatted. Most of
report. There is lack of formatting follows professional styles. Consistent
Unprofessional and inconsistent references/sources are cited/
consistency. formatting and exceptional readability.
formatting. acknowledged properly.
(0 - 11 Marks) (12 - 18 Marks) (19 - 28 Marks) (29 - 30 Marks)
Phase - II Project Report Marks: 30

SEMESTER VIII
PROGRAM ELECTIVE III
RAT414 MACHINE VISION
PEC 2 1 0 3
Preamble: This course will enable the students to learn fundamental digital image processing
and machine vision concepts and their application to the fields of robotics and automation.
CO 1 Understand the vision capturing systems and its industry standards.
Acquire images and standardize the images by applying standard techniques like
CO 2
smoothing and filtering.
CO3 Apply various transform tools like frequency domain and affine transform.
CO4 Apply various segmentation algorithms.
Apply state-of-the-art pattern analysis techniques like clustering, classifying and
CO5
dimensionality reduction.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 3 2 2
CO 2 3 2
CO 3 3 2
CO 4 3 3 1
CO 5 3 3 2
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
150 50 100 3 hours


1. What are the different types of cameras and their classification
2. Discuss the performance analysis of cameras.

1. Explain image enhancement techniques.
2. Explain different image smoothing algorithms used in computer vision

1. Explain the different image transformation techniques
2. Explain the different thresholding algorithms used in image processing.

1. Discuss edge based approaches to segmentation.
2. Explain the technique for texture image segmenting.

1. Explain different clustering and classification algorithms.
2. Discuss various techniques for dimensionality reduction.

Model Question Paper ROBOTICS AND AUTOMATION


Course Name: MACHINE VISION
Max. Marks: 100 Duration
: 3 Hours
PART A
1 Illustrate the purpose of the lens in a camera. (3)
2 Differentiate between USB2.0 and USB3.0 (3)
3 List the properties of affine transforms. (3)
4 What is meant by contrast stretching. (3)

5 List out the applications of morphological operations. (3)
6 Discuss the limitation of variation model of thresholding. (3)
7 In which context we use bicubic interpolation over bilinear one. (3)
8 How overfitting affects the watershed model. (3)
9 What is a discriminant function. (3)
10 differentiate clustering and classification (3)
PART B
MODULE1
11 a) Write short on different type of lenses. (8)
b) Illustrate the types of lens aberrations (6)
12 a) Explain the standards to interface between camera and computer. (7)

b) Discuss any two types of cameras. (7)
MODULE II
13 a) .Apply a)mean Filter and b) median filter and compare the effects on the (8)
given matrix
[10 0 10 0 10 0 10 0 10 0 10 0 10 0 10 0 10 0 10 0 10 0 10 0 10 ]
b) Differentiate between affine transform and projective transformations (6)

14 a) Explain how noise is getting supressed by smoothing. (7)
b) Define 2-D DFT. Explain any 4 properties of Fourier Transform (7)
MODULE III
15 a) Write short notes on 1. Nearest neighbour 2. Bicubic and 3.Bilinear (8)
interpolation techniques.
b) With an example explain morphological gradientROBOTICS
operations. AND AUTOMATION
(6)
16 a) Compare and contrast different types of thresholding techniques. (8)
b) Discuss the operations pf canny edge detector. (6)
MODULE IV
17 a) With an example illustrate region split and merge algorithm. (8)
b) Discuss the methods for texture segmentation. (6)
18 a) Discuss any object detection algorithm. (6)
b) Differentiate between density based hierarchy based clustering method (8)
and illustrate the role of mean shift method in segmentation.
Module V
19 a) Explain the steps for LDA, PCA algorithms and compare. (14)
20 a) State the K-Means algorithm for clustering. (9)

Apply K-Means algorithm on the following data set to obtain three
clusters: (1, 1) (1.5, 2), (3, 4), (5, 7), (3.5, 5), (4.5, 5) and (3.5, 4.5).
b) Discuss the Gaussian mixture models. (5)
****
SYLLABUS
Module I
Image Acquisition, Lenses and Cameras:

Pinhole camera, Gaussian Optics, Depth Field, Telemetric lenses, Lens aberrations Cameras:
CCD cameras, CMOS Camera, Colour cameras: Single chip cameras, Three chip cameras,
Camera performance parameters: noises, dynamic range, Camera-Computer interfaces,
Digital video signals: camera link, IEEE1394, USB2.0, USB 3 vision
Module II
Image Fundamentals
Images, regions, piecewise contours, Image Enhancement: contrast enhancement, contrast

normalization, Image Smoothing: Temporal Averaging, Mean Filter, Noise Suppression by
Linear Filters, Median and Rank Filters, 2-D Fourier Transform: Continuous Fourier
Transform, Discrete Fourier Transform.
Geometric Transformations: Affine Transformations, Projective Transformations.
Module III
Image Transformations: Nearest-Neighbour Interpolation, Bilinear Interpolation, Bicubic

Interpolation, Smoothing to Avoid Aliasing, Projective Image Transformations,
Transformations, Image Segmentation Thresholding: Global Thresholding, Automatic
Threshold Selection, Dynamic Thresholding, Variation Model, morphological operations.
Module IV ROBOTICS AND AUTOMATION
Image Segmentation: Region Growing, Edge Based approaches to segmentation, Graph-Cut,

Mean-Shift, MRFs, Texture Segmentation; Object detection.
Module V
Pattern Analysis
Clustering: K-Means, Mixture of Gaussians, Classification: Discriminant Function,

Supervised, Un-supervised, Semi-supervised; Classifiers: Bayes, KNN, ANN models;
Dimensionality Reduction: PCA, LDA, ICA
Text Books:
1. Carsten Steger, Markus Ulrich, Christian Wiedemann, Machine Vision Algorithms

and Applications, WILEY-VCH, Weinheim,2008.
2. Richard Szeliski, Computer Vision: Algorithms and Applications, Springer-Verlag

London Limited 2011.
3. Computer Vision: A Modern Approach, D. A. Forsyth, J. Ponce, Pearson Education,

2003.
Reference Books
1. Rafael C. Gonzalez and Richard E.woods, Digital Image Processing, Addition –

Wesley Publishing Company, New Delhi, 2007.
2. Shimon Ullman, High-Level Vision: Object recognition and Visual Cognition, A

Bradford Book, USA, 2000.
3. R.Patrick Goebel, ROS by Example: A Do-It-Yourself Guide to Robot Operating

System -Volume I, A Pi Robot Production, 2012.
No Topic No. of
Lectures
1
1.1
Image Acquisition, Lenses and Cameras: Pinhole camera, Gaussian 2
Optics, Depth Field, Telemetric lenses, Lens aberrations
1.2 Cameras: CCD cameras, CMOS Camera, Colour cameras: Single chip
2
cameras, Three chip cameras,
1.3 , Camera performance parameters: noises, dynamic range, Camera-
1
Computer interfaces,
1.4 Digital video signals: camera link, IEEE1394, USB2.0, USB 3 vision 2
2
2.1 Images, regions, piecewise contours 1
2.2 Image Enhancement: contrast enhancement, contrast normalization, 1
2.3 ROBOTICS
Image Smoothing: Temporal Averaging, Mean Filter, AND AUTOMATION
Noise Suppression
by Linear Filters, Median and Rank Filters, Fourier Transform: 3
Continuous Fourier Transform, Discrete Fourier Transform.
2.4 Geometric Transformations: Affine Transformations, Projective
2
Transformations
3
3.1 Image Transformations: Nearest-Neighbour Interpolation, Bilinear

Interpolation, Bicubic Interpolation, Smoothing to Avoid Aliasing, 3
3.2 Projective Image Transformations, Transformations, Image

Segmentation 2
3.3 Thresholding: Global Thresholding, Automatic Threshold Selection,

Dynamic Thresholding, Variation Model, morphological operations 2
edge detector- canny edge detector.
4
4.1 Image Segmentation: Region Growing, 2
4.2 Edge Based approaches to segmentation, Graph-Cut, Mean-Shift,
MRFs,. 3
4.3 Texture Segmentation; Object detection 2

5
5.1 Clustering: K-Means, Mixture of Gaussians, 2

5.2 Classification: Discriminant Function, Supervised, Un-supervised,
Semi-supervised; 1
5.3 Classifiers: Bayes, KNN, ANN models; 2

5.4 Dimensionality Reduction: PCA, LDA, ICA 2
RAT424 BEHAVIORAL ROBOTICS
PEC 2 1 0 3
Preamble: Behavioural robotics is an approach in robotics that focuses on robots that are
able to exhibit complex-appearing behaviours despite little internal variable state to model its
immediate environment, mostly gradually correcting its actions via sensory-motor links. This
course introduces the student to the concepts and challenges involved in the development of
such a robot
CO 1 Apply behaviour-based techniques on robots

Understand methods and models in embodied cognitive science and artificial
CO 2
intelligence
Analyse models and architectures with respect to their conceptual clarity, supported
CO 3 by
empirical data, robotic programming
CO 4 Apply embodied cognitive science and robot work cell design
Develop dynamic model and design the controller for robotic manipulators, Robot
CO 5
Languages
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 1 3
CO 2 2 1 3
CO 3 2 1 3
CO 4 3 2 2 3
CO 5 3 2 2 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 30 30 40
Apply 10 10 50
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.

1. Explain behavioural architectures of a robot
2. What is variable speed transmission on robots ?

1. Why is the concept of embodied cognition important?
2. What is sub-sumption architecture of robot

1. What is - Lead through programming of robot
2. Explain motion commands of robot

1. What are the considerations for robot work cell design?
2. Explain Safety monitoring devices in Robot

1. Explain robot language structure
2. What is RAPID language in robotics
SYLLABUS
Module I:
Behaviour-based techniques on robots, Features of behaviour-based robots, Behavioural

architectures, robot design Linkages, Types, Transmission elements , Flexible connectors,
pulley-and- Belt drives, variable speed transmission, Comparison with classical AI.
Module II
Introduction to embodied cognitive science and behaviour-based robotics, reactive behaviour-

based architectures, perception, deliberative systems, hybrid systems, sub-sumption
architecture. representational issues for behavioral systems, adaptive behavior, social
behavior, fringe robotics
Module III
Basics of robot programming ,Introduction-Types- Flex Pendant- Lead through

programming, , Robot controller- major components, functions-Wrist Mechanism-
Interpolation-Interlock commands- Jogging-Types, Robot specifications- Motion commands,
end effectors and sensors commands.
Module IV
Robot work cell design and control-Sequence control, Operator interface, Safety monitoring
devices in Robot-Mobile robot working principle, Robot applications- Material handling,
Machine loading and unloading, assembly, Inspection, Welding, Spray painting and undersea
robot. Fabrication of micro/ Nano grippers .
Module V
Robot Languages-Classifications, Structures- VAL- language commands, motion control,

hand control, program control, , Robot welding application using VAL program- RAPID-
language basic commands- Motion Instructions-. VAL-II programming-basic commands,
applications-Simple pick and place applications-. AML Language-General description,
elements and functions,mProgram control statements.
Text Books
1. Arkin, C. Ronald, “Behaviour-Based Robotics”, MIT Press, Cambridge: MA, 1998.

2. Murphy, R., "Introduction to AI Robotics." Second Edition, MIT Press, Cambridge:
MA,
2002.
3. S. R.Deb, “Robotics technology and flexible automation”, Tata McGraw Hill
publishing company limited, 1994
4. Mikell. P. Groover, “Industrial Robotics Technology”, Programming and
Applications, McGraw Hill Co, 1995..
References: ROBOTICS AND AUTOMATION
1. Craig. J. J. “Introduction to Robotics mechanics and control”, Addison- Wesley,1999.
2. S.R. Deb, Robotics Technology and flexible automation, Tata McGraw-Hill
Education., 2009
No. of
No Topic
Lectures
1
1.1 Behaviour-based techniques on robots, 1
1.2 Features of behaviour-based robots, 1
1.3 Behavioural architectures, 2
1.4 robot design Linkages, Types 1
Transmission elements Flexible connectors, pulley-and- Belt drives,
1.5 2
variable speed transmission, Comparison with classical AI,
2
introduction to embodied cognitive science and behaviour-based 1
2.1
robotics,
2.2 reactive behaviour-based architectures, perception 2
2.3 deliberative systems, hybrid systems, sub-umption architecture. 2

2.4 representational issues for behavioral systems, 1
2.5 adaptive behavior, social behavior, fringe robotics 1
3
Basics of robot programming , Robot programming-Introduction-
3.1 3
Types- Flex Pendant- Lead through programming,
3.2 Robot controller- major components, 2
functions-Wrist Mechanism-Interpolation-Interlock commands-,
2
3.3 Jogging-Types, Robot specifications- Motion commands, end effectors
and sensors commands
4
4.1 Robot work cell design and control-Sequence control, Operator interface 2
Safety monitoring devices in Robot-Mobile robot working principle,
4.2 Robot applications- Material handling, Machine loading and unloading, 3
assembly, Inspection, Welding, Spray painting and undersea robot.
4.3 Fabrication of micro/ Nano grippers 2
5
Robot Languages-Classifications, Structures- VAL- language
5.1 2
commands, motion control, hand control, program control
Robot welding application using VAL program- RAPID- language basic
5.2 2
commands- Motion Instructions-.
VAL-II programming-basic commands, applications-Simple pick and
5.3 place applications-. AML Language-General description, elements and 3
functions, Program control statements..


Course Name: BEHAVIORAL ROBOTICS
PART A
s
1 What are the three basic robot behaviours? (3 )
2 What is Behaviour based control? (3 )
3 Briefly explain main objectives of cognitive robotics? (3 )
4 What is meant by embodied cognition?. ( 3)
5 Explain the basic elements of robotic programming? ( 3)
6 What is end effectors and sensors commands of robotic programming ( 3)
7 Explain the various functions performed by robot work cell controller? (3)
8 What are the types of robot cell design? (3)
9 What are the different types of robot languages? (3)
10 Briefly explain robot language structure? (3)
PART B
MODULE1
11 a) Explain in detail the behavioural architectures of a robot . (10 )
b) What is robot design Linkages? (4 )
12 a) Explain in detail features of behaviour-based robots. ( 10)
b) Write short notes on Flexible connectors (4 )
MODULE II
13 a) Explain Sub-sumption architecture of robots (10 )
b) What is fringe robotics (4)
14 a) Explain in detail representational issues for behavioural systems. (8)
b) Briefly explain social behaviour of robot . (6)
MODULE III
15 a) Explain robot controller in detail (14)
16 a) Briefly explain Robot specifications (14)
MODULE IV
17 a) Explain in detail all robot applications. (14)
18 a) Describe the fabrication of micro/ Nano grippers (14)
MODULE V
19 a) Briefly explain VAL,VAL-II, RAPID AND AML robot languages (14)
20 b) Describe program control statements of AML language ? (8)
a) Briefly explain Robot welding application using VAL program (6)
****
RAT434 INDUSTRIAL MANIPULATORS
PEC 2 1 0 3
Preamble: This course will enable the students to learn the fundamentals of industrial
manipulators. It will enable the learner to have an idea about kinematics and mechanics of
industrial manipulators. The learners are also expected to understand the manipulator
dynamics.
Prerequisites: control systems,
Course Outcomes: After the completion of the course the student will
CO 1 Understand the basics of industrial manipulator

CO 2 Understand manipulator kinematics and mechanics of robot motion, forward and
inverse kinematic transformation of position
CO3 Understand forward and inverse kinematic transformation of velocity, end effectors
force transformations
CO4 Understand about manipulator dynamics
CO5 Understand robot control schemes
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 1
CO 2 2 2
CO 3 2 2
CO 4 2 2
CO 5 3 3 1
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. What are the different types of end effectors
2. Discuss the sensors and actuators used in robotic systems.
1. Explain rotation matrices and Euler angles.
2. Explain direct kinematics of manipulators.

3. Explain the inverse kinematics
1. Explain differential kinematics and statics.

2. Explain kinematic transformation of velocity
1. Illustrate the dynamic model of simple manipulator structures
2. Compare different inverse kinematic algorithms.
1. Explain the trajectory planning in manipulators
2. Explain the feedback control in a joint control scheme for manipulator motion.

Course Code: RAT434

Course Name: INDUSTRIAL MANIPULATORS
PART A
1 Write short note on industrial applications of manipulators (3)
2 Compare different types of grippers (3)
3 Express the rotation matrices in 3-Dimensions. (3)
4 Choose the link parameters for a three-link cylindrical manipulator. (3)

5 Infer the need for kinematic decoupling. (3)
6 Explain the features of a workspace. (3)
7 Classify different types of Jacobians. (3)
8 Establish the relationship between closed chain and joint variables. (3)
9 List out the inputs and outputs for a trajectory planning algorithm. (3)
10 What are the different control schemes available for the manipulators? (3)
PART B
MODULE1
11 a) Write short notes on 1. Position sensors 2. Vision sensors (7)
b) Illustrate the power transmission systems in the robot manipulator. (7)
12 a) Explain different types of grippers. (7)

b) Discuss the power transmission in robotic manipulators (7)
MODULE II
13 a) .A vector v= 3i + 2j + 7k is rotated by 300 about the z axes of the (9)
reference frame. It is then rotated by 450 about the x-axes of the reference
frame. Find the rotation transformation.
b) Discuss the concepts of Euler angles and rotation matrix. (6)

14 a) Explain the steps for increasing the degree of freedom from 2 to 3.. (7)
b) Explain the Denavit-Hartenberg convention for deriving the forward (7)
kinematics for any manipulator.
MODULE III
15 a) Differentiate between joint space and operational space. (8)
b) Discuss the inverse solution for the Euler angles ZYZ in the case sϴ = 0. (6)
16 a) Explain the procedure to compute the direct kinematics function for a (5)
closed-chain manipulator using the convention.
b) Solve the inverse kinematics for the cylindrical arm in Figure (9)
MODULE IV
17 a) Discuss inverse kinetic algorithm with Jacobian inverse and Inverse (14)
Jacobian transpose.
18 a) Articulate how the kineto-statics duality can be used to characterize the (6)
transformation of velocities and forces between two coordinate frames.
b) Compute the dynamic model of a two-link cartesian arm (8)
Module V
19 a) Discuss the position feedback control scheme for the manipulator. (14)
20 a) Detail with a block diagram the general independent joint control scheme. (9)
b) Discuss the decentralized control scheme to reduce the tracking error.. (5)
****
SYLLABUS
Module I
Robot Subsystems -Classification of Robots -Industrial Applications
Robotic configurations- robot motion- joint notation schemes-End effectors- types-

mechanical, vacuum, magnetic grippers- Actuators: mechanical, hydraulic, electrical-
sensors: proximity sensors position sensors, velocity sensors, force sensors and vision
sensors- power transmission systems- modelling and control of single joint robot.
Industrial robot- manipulator structures
Module II
Kinematics-: Position definitions- Coordinate frames - Different orientation descriptions -

Free vectors- Translations, rotations and relative motion - Position and Orientation of a Rigid
Body- Rotation Matrix- Elementary Rotations- Representation and rotation of a Vector -
Composition of Rotation Matrices-Euler Angles- YZY angles- Roll-Pitch-Yaw Angles-Angle
and axis
Introduction to manipulator kinematics- position representation -forward and reverse
transformations of the 2-DOF arm—adding dimensions – Homogeneous transformation and
robot kinematics.
Direct Kinematics: Kinematic Chains - Denavit Hartenberg Representation- Kinematics of

manipulator structures- Three link planar arm- parallelogram arm- spherical arm -
anthropomorphic arm- spherical arm – Stanford manipulator.
Module III
Manipulator Kinematics-2
Inverse Kinematics- The General Inverse Kinematics Problem- kinematic decoupling -

inverse position – inverse orientation- joint space and operational space -workspace.
Differential Kinematics and Statics:- Geometric Jacobian- Derivative of a Rotation Matrix -

Link Velocity -Jacobian Computation.-Jacobian of Typical Manipulator Structures- Three-
link Planar Arm - Anthropomorphic Arm- Stanford Manipulator - Kinematic Singularities-
Singularity Decoupling - Wrist Singularities- Arm Singularities -Analysis of Redundancy -
Differential Kinematics Inversion -Redundant Manipulators - Kinematic Singularities -
Analytical Jacobian. -
Module IV
Inverse Kinematics Algorithms -Jacobian (Pseudo-)Inverse -Jacobian Transpose - Orientation

Error- A Comparison Between Inverse Kinematics Algorithms -Statics - Kineto-statics-
Duality - Velocity and Force Transformation - Closed Chain.
Manipulator Dynamics-1
Lagrange Formulation -Properties of Dynamic Model -Dynamic Model of Simple

Manipulator Structures - Two-link Cartesian Arm- Two-link Planar Arm.- Parallelogram
Arm - Dynamic Parameter Identification-Newton-Euler Formulation- Link Acceleration
Module V
Manipulator Dynamics-2
Trajectory Planning - Path and Trajectory -Joint Space Trajectories-Point-to-point Motion
Path Motion- Operational Space Trajectories-Path Primitives -position -Orientation -
Dynamic Scaling of Trajectories -
Motion Control : Joint Space Control- Independent Joint Control - Feedback Control-
Decentralized Feedforward Compensation .
Text Books:
1. S K Saha Introduction to Robotics – MC GRAW HILL INDIA
2. Groover Mikell P., M. Weiss, R.N. Nagel, N.G. Odrey, Industrial Robotics,
McGrawHill, 1986, ISBN-13: 978-0070249899 ISBN-10: 007024989X
3. Sciavicco, L., B. Siciliano, Modelling & Control of Robot Manipulators, 2nd Edition,
Springer Verlag, 2000, ISBN 978-1-84628-641-4 e-ISBN 978-1-84628-642-1
4. Mark W. Spong & M. Vidyasagar Robot Dynamics and Control John Wiley & Sons,
1989, ISBN: 978-0-471-61243-8
Reference Books:
1. Patrick Maurine, Calibration of Industrial Robot Manipulators, Wiley ISTE, 2015,
ISBN-10: 1848212542 ISBN-13: 978-1848212541
2. Gray J.O., D.G. Caldwell(Ed), Advanced Robotics & Intelligent machines, The
Institution of Electrical Engineers, UK, 1996, ISBN-13: 978-0852968536 ISBN-10:
0852968531
3. Craig, John J., Introduction to Robotics: Mechanics & Control, 2nd Edition, Pearson
Education, 1989, ISBN 0131236296
4. Frank L.Lewis, Darren M.Dawson, Chaouki T.Abdallah Robot Manipulator Control
Theory and Practice, Marcel Dekker Inc, 2006, ISBN: 0-8247-4072-6

No. of
No Topic
Lectures
1
1.1 Robot Subsystems -Classification of Robots -Industrial Applications 1
Robotic configurations- robot motion- joint notation schemes-End

1.2 effectors- types- mechanical, vaccum, magnetic grippers- 2
Actuators: mechanical, hydraulic, electrical- sensors: proximity senssors
1.3 2
position sensors, velocity sensors, force sensors and vision sensors-
power transmission systems- modelling and control of single joint robot,
1.4 Industrial robot- manipulator structures 2
2
Position definitions- Coordinate frames - Different orientation
descriptions -Free vectors- Translations, rotations and relative motion
2.1 2
Introduction to manipulator kinematics- position representation -forward
and reverse transformations of the 2-DOF arm—adding dimensions
2.2 Homogeneous transformation and robot kinematics. 1
Kinematics-: Position and Orientation of a Rigid Body- Rotation Matrix-
Elementary R otations- Representation and rotation of a Vector -
2.3 Composition of Rotation Matrices-Euler Angles- YZY angles- Roll- 2
Pitch-Yaw Angles-Angle and axis
Direct Kinematics: Kinematic Chains - Denavit Hartenberg

Representation- Kinematics of manipulator structures- Three link planar
2.4 2
arm- parallelogram arm- spherical arm -anthrepomorphic arm- spherical
arm – Standford manipulator
3
Inverse Kinematics- The General Inverse Kinematics Problem-
3.1 kinematic decoupling -inverse position – inverse orientation- joint space 3
and operational space -workspace
Differential Kinematics and Statics:- Geometric Jacobian- Derivative of

a Rotation Matrix - Link Velocity -Jacobian Computation.-Jacobian of
3.2 Typical Manipulator Structures- Three-link Planar Arm - 2
Anthropomorphic Arm- Stanford Manipulator
Kinematic Singularities-Singularity Decoupling - Wrist Singularities-

Arm Singularities -Analysis of Redundancy - Differential Kinematics
3.3 Inversion -RedundantManipulators - Kinematic Singularities - 2
Analytical Jacobian.
4
Inverse Kinematics Algorithms -Jacobian (Pseudo-)Inverse -Jacobian
4.1 Transpose - Orientation Error- A Comparison Between Inverse 2
Kinematics Algorithms
Statics - Kineto-statics -Duality - Velocity and Force Transformation -

4.2 Closed Chain 2
Lagrange Formulation -Properties of Dynamic Model -Dynamic Model
of Simple Manipulator Structures - Two-link Cartesian Arm- Two-link
4.3 Planar Arm.- Parallelogram Arm - Dynamic Parameter Identification- 3
Newton-Euler Formulation- Link Acceleration.
5
Trajectory Planning - Path and Trajectory -Joint Space Trajectories-
5.1 Point-to-point Motion- 2
Path Motion- Operational Space Trajectories-Path Primitives -position -

5.2 Orientation 2
5.3 Dynamic Scaling of Trajectories 1

Motion Control : Joint Space Control- IndependentJoint Control -
5.4 Feedback Control- Decentralized Feedforward Compensation 2
RAT444 ROBOT MOTION PLANNING
PEC 2 1 0 3
Preamble: Motion planning for robots deals with the planning and computation of the
movement of one or more physical or virtual robots or agents. These algorithms can be used
to generate motions in a workspace in order to achieve a goal-specified task.
Prerequisite: RAT301 Introduction to Robotics
CO 1 Explain the concepts of topology and configuration space in motion planning

CO 2 Describe the classical motion planning techniques
CO 3 Describe the working of sampling-based motion planners
CO 4 Apply sensor information to motion planning and obstacle avoidance
CO 5 Explain dynamic motion planning techniques
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2 2 2
CO 2 3 2 3 2
CO 3 3 2 3 2
CO 4 3 2 3 2
CO 5 3 2 3 2
Assessment Pattern
1 2
Remember 20 10 20
Understand 30 20 40
Apply 20 40
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours

14 marks.

1. Distinguish between connected and path connected topological spaces.
2. Describe how obstacles are dealt with in the configuration space of a circular mobile
robot.
3. Explain Homeomorphism and Diffeomorphism in the topology of a configuration
space.

1. Describe the terms Accessibility, Departability, Connectivity with reference to
Roadmaps
2. Describe Silhouette Methods in motion planning.
3. Explain deformation retracts in roadmap motion planning.

1. Describe the characteristics of Sampling-Based Planners.
2. Describe the basic Probabilistic Roadmap PRM construction.
3. Explain Rapidly-Exploring Random Trees RRTs.

1. Apply motion planning concepts to the motion of flexible objects.
2. Describe the A* algorithm with a suitable example.
3. Explain the Bug1 algorithm.

1. Explain Configuration-Time space.
2. Describe the configuration space of a planar two revolute joint manipulator.
3. Explain Centralized Planning and Decoupled planning
.
SYLLABUS
Module I (7 Hours)
Overview of robot motion planning: Application areas of robot motion planning - Personal
Transport Vehicles, Planetary Exploration, Demining, Fixed-base Robot Arms in Industry,
Search and Rescue Robots, Surgical Robots; Concepts in Motion Planning – Task, Properties
of the Robot, Properties of the Algorithm
Basic Topological Concepts: Basic definitions of Topological Spaces, Homeomorphism,

Diffeomorphism, Differentiable Manifolds, Paths and Connectivity – Paths, connected vs.
path connected
Configuration space: Specifying a Robot’s Configuration, Obstacles and the Configuration

Space - Circular Mobile Robot, Two-Joint Planar Arm, C obstacles, Topology of the
Configuration Space
Module II (7 Hours)
Classical motion planning paradigms:
Roadmaps: Definition, Accessibility, Departability, Connectivity, Types of roadmaps:

visibility maps – visibility graphs, deformation retracts – Generalized Voronoi Diagram GVD,
Sensor-Based Construction of the GVD, Polygonal Spaces, Grid Configuration Spaces - The
Brushfire Method, Silhouette Methods - Canny’s Roadmap Algorithm
Cell decomposition: Exact cell decomposition, Approximate cell decomposition,

Trapezoidal Decomposition, Morse Cell Decomposition, Boustrophedon Decomposition
Potential Field Planning: Potential Field Method, Attractive, Repulsive potential

Sampling-Based Algorithms: Characteristics of Sampling-Based Planners, Probabilistic
Roadmaps: Basic PRM – Roadmap Construction, Query Phase, PRM Sampling Strategies -
Sampling near the obstacles, Sampling inside narrow passages, Visibility-Based Sampling,
Manipulability-Based Sampling, Single-Query Sampling-Based Planners - Expansive-Spaces
Trees EST, Rapidly-Exploring Random Trees RRTs
Module IV (7 Hours)
Sensor-Based Motion Planning Algorithms: Bug1, Bug2, Tangent Bug algorithms, Vector
field histogram, the bubble band technique, curvature velocity techniques, Dynamic window
approaches
A*, D* Algorithms
Manipulation Planning, Assembly planning, Motion planning for flexible objects
Case studies: Going to location A in a given environment (differential drive robot); Finding
an object B in a given environment
Module V (7 Hours)
Multiple Moving Objects Motion Planning:
Multiple Robot Motion Planning: Problem Formulation, Composite Configuration Space,
Centralized Planning, Decoupled planning - Prioritized planning - Fixed-path coordination,
Fixed-roadmap coordination
Dynamic Motion Planning: Moving Obstacles, Configuration Time space, Planning without
velocity bound - Exact Cell Decomposition, Approximate Cell Decomposition, Planning with
velocity bound - Asteroid Avoidance Problem, Approximate Cell Decomposition, Velocity
Tuning
Motion Planning for Articulated Robots: Configuration space – planar two revolute joint
manipulator, articulated three joint manipulator, Path planning methods
Text Books
1. Principles of Robot Motion - Theory, Algorithms, and Implementation, Choset, Lynch,

Hutchinson, Kantor, Burgard, Kavraki, Thrun, MIT Press
2. Planning Algorithms, Steven M. LaValle, Cambridge University Press
3. Introduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh,
MIT Press
Reference Books
1. Autonomous Mobile Robots and Multi-Robot Systems - Motion-Planning,

Communication, and Swarming, Kagan, Shvalb, Ben-Gal, Wiley
2. Robot Motion Planning, Jean- Claude Latombe, Springer Science+Business Media
No. of
No Topic
Lectures
1 Overview of robot motion planning
Application areas of robot motion planning - Personal Transport
Vehicles, Planetary Exploration, Demining, Fixed-base Robot Arms in
1.1 Industry, Search and Rescue Robots, Surgical Robots; Concepts in 1
Motion Planning – Task, Properties of the Robot, Properties of the
Algorithm
Basic Topological Concepts: Basic definitions of Topological Spaces,

1.2 Homeomorphism, Diffeomorphism, Differentiable Manifolds, Paths and 3
Connectivity – Paths, connected vs. path connected
Configuration space: Specifying a Robot’s Configuration, Obstacles and

1.3 the Configuration Space - Circular Mobile Robot, Two-Joint Planar 3
Arm, C obstacles, Topology of the Configuration Space
2 Classical motion planning paradigms

Roadmaps: Definition, Accessibility, Departability, Connectivity, Types
of roadmaps: visibility maps – visibility graphs, deformation retracts –
2.1 Generalized Voronoi Diagram GVD, Sensor-Based Construction of the 4
GVD, Polygonal Spaces, Grid Configuration Spaces - The Brushfire
Method, Silhouette Methods - Canny’s Roadmap Algorithm
Cell decomposition: Exact cell decomposition, Approximate cell

2.2 decomposition, Trapezoidal Decomposition, Morse Cell Decomposition, 2
Boustrophedon Decomposition
Potential Field Planning: Potential Field Method, Attractive, Repulsive

2.3 potential 1
3 Sampling-Based Algorithms
Characteristics of Sampling-Based Planners, Probabilistic Roadmaps:

3.1 3
Basic PRM – Roadmap Construction, Query Phase
PRM Sampling Strategies - Sampling near the obstacles, Sampling
3.2 inside narrow passages, Visibility-Based Sampling, Manipulability- 2
Based Sampling
Single-Query Sampling-Based Planners - Expansive-Spaces Trees EST,
3.3 2
Rapidly-Exploring Random Trees RRTs
4 Sensor-Based Motion Planning Algorithms
4.1 Bug1, Bug2, Tangent Bug algorithms 2
Vector field histogram, the bubble band technique, curvature velocity
4.2 1
techniques, Dynamic window approaches
4.3 A*, D* Algorithms 2
Manipulation Planning, Assembly planning, Motion planning for
4.4 flexible objects 1
Case studies: Going to location A in a given environment (differential

4.5 drive robot); Finding an object B in a given environment 1
5 Multiple Moving Objects Motion Planning

Multiple Robot Motion Planning: Problem Formulation, Composite
Configuration Space, Centralized Planning, Decoupled planning -
5.1 Prioritized planning - Fixed-path coordination, Fixed-roadmap 3
coordination
Dynamic Motion Planning: Moving Obstacles, Configuration Time

space, Planning without velocity bound - Exact Cell Decomposition,
5.2 Approximate Cell Decomposition, Planning with velocity bound - 2
Asteroid Avoidance Problem, Approximate Cell Decomposition,
Velocity Tuning
Motion Planning for Articulated Robots: Configuration space – planar

5.3 two revolute joint manipulator, articulated three joint manipulator, Path 2
planning methods

Course Code: RAT444

Course Name: Robot Motion Planning
PART A
s
1 Explain the application of robot motion planning in any three areas. (3)
2 Distinguish between connected and path connected topological spaces. (3)
3 Describe the terms Accessibility, Departability, Connectivity with reference to (3)
Roadmaps
4 Distinguish between Exact cell decomposition and Approximate cell (3)
decomposition
5 Describe the characteristics of Sampling-Based Planners. (3)
6 Define Expansive-Spaces Trees EST. (3)
7 Is the Bug2 algorithm better than the Bug1 algorithm? Justify your answer. (3)
8 Apply motion planning concepts to the motion of flexible objects. (3)
9 Explain Centralized Planning, Decoupled planning with reference to multi robot (3)
motion planning.
10 Explain the terms direct motion, contact motion and fundamental motion of a (3)
moving object.
PART B
MODULE1
11 a) Describe how obstacles are described in C space. (7)
b) Explain Homeomorphism and Diffeomorphism in the topology of a configuration (7)
space.
12 a) Describe how obstacles are dealt with in the configuration space of a circular (7)
mobile robot.
b) Explain manifold and chart in topology. (7)
MODULE II
13 a) Explain deformation retracts in roadmap motion planning. (7)
b) Describe Silhouette Methods in motion planning. (7)
14 a) Explain Trapezoidal Decomposition, Morse Cell Decomposition and (6)
Boustrophedon Decomposition.
b) Describe motion planning using the Potential field method. (8)
MODULE III
15 a) Describe basic Probabilistic Roadmap PRM construction. (7)
b) Explain Rapidly-Exploring Random Trees RRTs. (7)
16 Explain the various sampling strategies used in Probabilistic Roadmaps. (14)
MODULE IV
17 a) Describe the A* algorithm with a suitable example. (7)
b) Apply suitable motion planning techniques for moving a differential drive robot (7)
to a specified point on a plane.
18 a) Explain the Bug1, Bug2, Tangent Bug algorithms with advantages and (14)
disadvantages of each.
MODULE V
19 a) Describe the configuration space of a planar two revolute joint manipulator. (7)
b) Explain Configuration-Time space. (7)
20 a) Describe dynamic motion planning with velocity bound. (14)
****
RAT454 CNC MACHINES
PEC 2 1 0 3
Preamble: To make students familiar with basis of CNC machines and CNC machine
tools
To provide knowledge on write manual part program and program using APT
To provide knowledge about computer numerical control system.
Prerequisite: Advanced automation system
CO 1 Understand about basics of CNC system and CNC machine tools

CO 2 Understand about constructional features of CNC machine tools
CO 3 Write manual part program and program using APT
CO 4 Understand about computer numerical control system
CO 5 Understand about manufacturing automation
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 3
CO 2 2 3
CO 3 2 3
CO 4 2 3
CO 5 3 3
Assessment Pattern
1 2
Remember 25 25 25
Understand 15 15 45
Apply 10 10 30
Analyse
Evaluate
Create
Mark distribution ROBOTICS AND AUTOMATION
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. List the operations that could be performed on a machining center

2. What are the different types machining centers?
3. Describe the classification of CNC turning machines.
4. List the operations that could be performed an a machining center.
1. What are the special constructional features of CNC machine tools?

2. What are the requirements of the slideway system of CNC machine tools?
1. What is the purpose of a feedback device in a CNC machine tool?

2. Describe the broad classification of feedback transducers.
3. What are the various word address codes used in a CNC program
4. What is contouring?
1. Describe programming procedure for CNC turning.

2. Describe with the aid of a block diagram the various steps involved in computer aided
part programming
ROBOTICS
3. Describe with the aid of a block diagram the principal AND
components of aAUTOMATION
typical CNC
system
4. Explain the G-Functions and M-Functions used in part programming
1. What are the different types of interpolation systems? Explain each one of them
2. Explain the functions of CNC systems.
SYLLABUS
Module 1 (7 Hours)
INTRODUCTION TO COMPUTOR NUMERICAL CONTROL: Introduction, CNC

system-an overview, fundamental aspects of machine control, types of interpolation, CNC
machine components.
CNC MACHINE TOOLS: machining centers, turning centers/CNC lathes, CNC drilling
and milling machines, CNC grinding machines
Module 2 (6 Hours)
CONSTRUCTIONAL FEATURES OF CNC MACHINE TOOL: Introduction, spindle

drives of CNC machine tools, transmission belting, axes feed drives, slide ways for machines,
ball screws, accessories of machining centers, accessories and constructional features of CNC
lathes.
Module 3 (8 Hours)
FEEDBACK DEVICES IN CNC MACHINE TOOLS: Introduction, digital incremental

displacement measuring systems, the digital absolute measuring system, electro-magnetic
analogue position transducers
MANUAL PART PROGRAMMING: Introduction, manual part programming,

nomenclature of the CNC machines, preparatory functions (G-functions), miscellaneous
functions (M-functions), further part programming examples, hints for programming,
program examples of machining centers.
Module 4 (7 Hours)
COMPUTER AIDED PART PROGRAMMING: Introduction, languages for computer

programming, geometric system in APT, point-to-point programming, programming in tool
path, motion commands, post processor statements, part programming examples in APT
Module 5 (8 Hours)
COMPUTER NUMERICAL CONTROL SYSTEMS: Introduction, description of a

simple CNC control system, interpolation systems, interpolator, types of interpolators,
contour programming, hardware of interpolation systems, functions of a CNC system,
advantages microprocessor based numerical control systems, programmable machine
interface(PMI), features available in typical CNC system, new developments in CNC systems
Text Books ROBOTICS AND AUTOMATION
1. P RADHAKRISHNAN, computer numerical control machines, New central book

agency(p) ltd.
2. MIKELL P. GROOVER,Automation production systems, computer – integrated
manufacturing
Reference Books
1. P M AGRAWAL , CNC fundamentals and programming

2. ASHOK KUMAR SINGH, CNC programming, vayu education of India.
Topic No. of
No
Lectures
1 MODULE 1
Introduction, CNC system-an overview, fundamental aspects of

1.1 3
machine control, types of interpolation, CNC machine components.
machining centers, turning centers/CNC lathes, CNC drilling and
1.2 milling machines, CNC grinding machines 4
2 MODULE 2
Introduction, spindle drives of CNC machine tools, transmission

2.1 3
belting, axes feed drives, slide ways for machines
ball screws, accessories of machining centers, accessories and
2.2 3
constructional features of CNC lathes.
3 MODULE 3
Introduction, digital incremental displacement measuring systems,

3.1 the digital absolute measuring system, electro-magnetic analogue 3
position transducers
Introduction, manual part programming, nomenclature of the CNC
machines, preparatory functions (G-functions), miscellaneous
3.2 5
functions (M-functions), further part programming examples, hints
for programming, program examples of machining centers.
4 MODULE 4
Introduction, languages for computer programming, geometric

4.1 system in APT, point-to-point programming, programming in tool 4
path,
motion commands, post processor statements, part programming
4.2 3
examples in APT
5 MODULE 5
Introduction, description of a simple CNC control system,

5.1 2
interpolation systems, interpolator, types of interpolators
ROBOTICS
contour programming, hardware of interpolation systems, functionsAND AUTOMATION
5.2 of a CNC system, advantages microprocessor based numerical 3
control systems,
programmable machine interface(PMI), features available in
5.3 typical CNC system, new developments in CNC systems 2

Course Name: CNC MACHINES
PART A

s
1 Define CNC systems. (3 )
2 Write a short note on machine centers . (3 )
3 What are the major types of spindle drives. (3 )
4 Discuss any two common transmission belting mechanism ( 3)
5 Write a short note on electro-magnetic analog position transducers. ( 3)
6 List out the common G-codes used for manual part programming. ( 3)
7 write a short note on geometric statements APT (3)
8 What are M-Functions? List out any 3 M-Functions and their usage (3)
9 List out the types of interpolators. (3)
10 Shortly explain the functions of CNC systems. (3)
PART B
MODULE I
11 a) Explain the working of CNC system with the help of a block diagram. (14)
12 a) Discuss in detail about CNC grinding machines. What are the types of CNC grinding (14)
machines
MODULE II
13 a) ROBOTICS
Discuss in detail about accessories and constructional features AND AUTOMATION
of CNC lathes (14)
14 a) List out the different accessories of machining centers and their purposes (14)
MODULE III
15 a) Compare digital incremental displacement measuring systems and digital absolute (14)
measuring systems
16 a) Write an example of a manual part program for turning operations (14)
MODULE IV
17 a) Write a part program example in APT.(14 Marks) (14)
18 a) Explain the different Post processor statements used in part programming (14)
MODULE V
19 a) What are the major features available in a typical CNC system. (14 Marks) (14)
20 a) Compare the advantages and disadvantages of hardware and software interpolations (14)
****
RAT464 NONLINEAR CONTROL
PEC 2 1 0 3
Preamble:This course is designed to equip the students to analyse and designing nonlinear control
system
Prerequisite: Control System Theory
Course Outcomes:After the completion of the course the student will be able to
CO 1 Understand nonlinear system behaviour

CO 2 Analyse nonlinear system using phase plane method
CO 3 Understand describing function method for analysing nonlinear system
CO 4 Analyse the stability of nonlinear system using Lyapunov method
CO 5 Describe various Adaptive Control Schemes and analyze its stability.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2 2
CO 2 3 2 2
CO 3 3 2 2
CO 4 3 2 2
CO 5 3 2 2
Assessment Pattern
End Semester
Bloom’s Category Tests
Examination
1 2
Remember 10 10 10
Understand 20 20 40
Apply 20 20 50
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A contain
10 questions with 2 questions from each module, having 3 marks for each question. Students should
answer all questions. Part B contains 2 questions from each module of which student should answer
any one. Each question can have a maximum 2 subdivisions and carry 14 marks.
Course Outcome 1 (CO1): Understand nonlinear system behaviour

1. Differentiate between autonomous and non-autonomous systems.
2. Distinguish linear system from nonlinear system
3. Explain the modelling of nonlinear mass damper system
Course Outcome 2 (CO2):Analyse nonlinear system using phase plane method

1. Explain how the properties of a system can be best explained by analyzing the nature of
singular points.
2. Generate the phase portrait of system by employing the method of isoclines.
3. Explain the concept of limit cycles in the stability analysis of non-linear systems.
Course Outcome 3 (CO3):Understand describing function method for analysing nonlinear system
1. Define Describing function. Explain how describing functions can be used to discover
theexistence of limit cycles and their stability.
2. Compute the describing function for saturation non-linearity.
3. Explain the Limit cycle detection for frequency dependent describing functions.
Course Outcome 4 (CO4): Analyse the stability of nonlinear system using Lyapunov method
1. State and explain the Lyapunov’s linearization method.
2. Explain Lyapunov’s direct method and apply it to a non-linear mass damper spring system.
3. Explain Lyapunov’s theorem for local stability.
Course Outcome 5 (CO4):Describe various Adaptive Control Schemesand analse its stability.
1. Obtain the controller and identifier structure in the input error direct adaptive control
scheme.
2. Explain the implementation of output error direct adaptive control algorithm.
3. Differentiate between input error and output error direct adaptive control schemes
SYLLABUS
Module 1
Introduction: Linear vs non-linear system- non-linear systems and equilibrium points- non–linear
system behaviour-examples-Common Nonlinearities in control systems-Autonomous and non-
autonomous systems modelling of simple pendulum- mass spring system
Module 2
Phase Plane Analysis: Singular points-construction of phase portraits- method of isoclines- phase
plane analysis of linear systems- phase plane analysis of nonlinear systems- local behaviour of non-
linear systems-limit cycles- Stability- poincare- bendixon theorems.
Module 3
Describing Function: Describing Function Fundamentals Describing functions of common
nonlinearities-hysteresis, backlash, relay, dead zone, saturation and combined effects stability
analysis and limit cycles
Module 4
Stability of nonlinear systems-Lyapunov theory (review)-autonomous and non-autonomous systems
equilibrium points, Stability in the sense of Lyapunov, asymptotic stability and exponential
stability, Linearization and local stability, Lyapunov’s direct method, positive definite functions
and Lyapunov functions, Lyapunov theorem for local stability and global stability
Module-5
Parametric models of dynamical systems-SISO LTI Identification- Linear ErrorEquation- Gradient
Algorithm-Least Squares Algorithm-Model Reference Identifier.Model Reference Adaptive
Control-Input Error Direct Adaptive Control- Output Error Direct Adaptive Control- Indirect
Adaptive Control
Text Books
1. Jean Jacques Slotine and Weiping Li , “Applied Nonlinear Control”, Prentice Hall Inc.,
1991
2. Shankar Sastry and Marc Bodson, Adaptive Control- Stability, Convergence and
Robustness, Springer,2011
3. Shankar Sastry, Nonlinear Systems; Analysis, Stability and Control, Springer. 1999
4. K.J. Astrom and B. Wittenmark, Adaptive Control, 2nd ed., Pearson Education, 1995
References
1. H. K. Khalil., “Nonlinear Systems”, Pearson Education, 3rdEd.
2. M Gopal “Digital Control and State Variable Methods”, Tata McGraw-Hill Ltd, New Delhi,
2003.
3. NagoorKani, “Advanced Control System”, Rba Publications
No. of
Topic
Lectures
Module 1
Introduction: Linear vs non-linear system- non-linear systems and equilibrium
points- non–linear system behaviour-examples-Common Nonlinearities in 4
control systems
Autonomous and non-autonomous systems, modelling of simple pendulum-
3
mass spring system analysis and design of nonlinear system.
Module 2
Phase Plane Analysis: Singular points-construction of phase portraits- method
of isoclines- phase plane analysis of linear systems- phase plane analysis of 3
nonlinear systems
local behaviour of non-linear systems-limit cycles- Stability- Poincare-
4
bendixon theorems
Module 3
Describing Function: Describing Function Fundamentals Describing functions
of common nonlinearities-hysteresis, backlash, relay, dead zone, saturation 7
and combined effects stability analysis and limit cycles
Module 4
Stability of nonlinear systems-Lyapunov theory (review)-autonomous and
non-autonomous systems equilibrium points, Stability in the sense of 3
Lyapunov, asymptotic stability and exponential stability
Linearization and local stability , Lyapunov’s direct method, positive definite
functions and Lyapunov functions, Lyapunov theorem for local stability and 4
global stability
Module 5
Parametric models of dynamical systems-SISO LTI Identification- Linear
Error Equation- Gradient Algorithm-Least Squares Algorithm-Model
4
Reference Identifier. Model Reference Adaptive Control-Input Error Direct
Adaptive Control- Output Error Direct Adaptive Control
Indirect Adaptive Control. Stability- Input Error Direct Adaptive Control-
3
Output Error Direct Adaptive Control- Indirect Adaptive Control.

Course Name: NON LINEAR CONTROL
PART A
s
1 Compare the features of linear and non-linear system (3)
2 Explain the term Jump resonance in a nonlinear system (3)
3 Define singular points. How are they classified? (3)
4 Explain basic concept of phase plane analysis (3)
5 Explain the features of describing function method (3)
6 Determine the definiteness for the following quadratic form (3)
V(x)=10𝑥𝑥1 2 + 4𝑥𝑥2 2 + 𝑥𝑥3 2 + 2𝑥𝑥1 𝑥𝑥2 − 2𝑥𝑥2 𝑥𝑥3 − 4𝑥𝑥1 𝑥𝑥3
7 Explain limit cycle phenomenon with a suitable example (3)
8 Deduce the phase variable representation of the following transfer function (3)
2𝑠𝑠 + 3
𝐺𝐺(𝑠𝑠) 3
𝑠𝑠 + 0.1)
9 Explain the bounded input bounded state stability concept for adaptive systems. (3)
10 Explain the major differences between input error and output error adaptive (3)
control schemes.
PART B
MODULE1
11 a) Explain different types of a non-linearties in a control system (10 )
b) Differentiate between autonomous and non-autonomous control system. (4 )
12 a) Explain the mathematical modelling of mass damper system taking into account (10)
the associated nonlinearities
b) The response of a system is given as y=a+b(dx/dt) .Test whether the system is (4)
linear or non-linear.
MODULE II
13 a) A second order system is represented by the differential equation (10 )
ë + 2𝜁𝜁ωė +𝜔𝜔2 e = 0 where ζ= 0.25, ω= 1 rad/sec, e(0) = 2.5 and ė(0) = 0.
Determine the singular point. Construct the phase trajectory using isocline
method.
b) Explain any one method for the construction of a phase portrait. (4)
14 a) Determine the type of singularity for the following system (10)
𝑥𝑥̇ 1 =-𝑥𝑥1 + 𝑥𝑥1 2 𝑥𝑥2 and𝑥𝑥̇ 2 =-𝑥𝑥1 + 𝑥𝑥2
b) Determine the sign definiteness of scalar function (4)
2 2 2
𝐹𝐹(𝑥𝑥) = −5𝑥𝑥1 − 4𝑥𝑥2 − 2𝑥𝑥3 − 2𝑥𝑥1 𝑥𝑥2 + 2𝑥𝑥2 𝑥𝑥3 + 4𝑥𝑥1 𝑥𝑥3
MODULE III
15 a Derive the describing function of Dead-zone Non-Linearity (7)
b Derive the describing function of Backlash Non-Linearity? (7)
16 a Derive the describing function of Relay with Dead-zone and Hysteresis non- (10)
linearity?
b What is the significance of describing function analysis? (4)
MODULE IV
17 a) Test the stability of non-linear system (10)
0 1
𝑋𝑋̇ = � �
−1 −𝑥𝑥1 2
b) Distinguish between local stability and global stability. (4)
18 a) Determine the value of K such that system is stable in the sense of Lyapunov (10)
0 𝐾𝐾
𝑋𝑋̇ = � � 𝑋𝑋
−1 −1
b) Describe asymptotic stabilization problem in nonlinear control systems. (4)
MODULE V
19 a) Define the update law for standard gradient algorithm. Explain the (7)
implementation of identifier with normalized gradient algorithm.
b) Define covariance propagation equation for least squares algorithm. Explain (7)
the implementation of identifier with normalized least squares algorithm and
covariance resetting.
20 a) Obtain the input error identifier structure and explain the implementation of (14)
input error direct adaptive control algorithm.
****
COURSE NAME CATEGORY L T P CREDIT

CODE
DATA ANALYTICS FOR
RAT474 PEC 2 1 0 3
ENGINEERS
Preamble: The student will understand the techniques to analyse different types of data,
characterize it and can apply them to make decision modelling process more intelligent.
Prerequisite: Nil
CO 1 Explain different data analysis techniques

CO 2 Discuss the concepts behind the descriptive analytics and predictive analytics of data
CO 3 Familiarize with Big Data and its sources
CO 4 Illustrate different visualization techniques in data analysis
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3 3 1 1 2
CO 2 3 3 3 3 1 1
CO 3 3 3 3 1 1 1 1
CO 4 3 3 3 3
Assessment Pattern
1 2
Remember 10 10 30
Understand 30 30 40
Apply 10 10 30
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours

14 marks.
COURSE LEVEL ASSESSMENT QUESTIONS
1. Explain the different types of prediction errors.
2. What is the need for sampling? Explain about different sampling methods.
3. Compare and contrast analysis and reporting in data analytics with suitable example
1. Differentiate descriptive and predictive analysis technique.
2. Explain how attribute selection is carried out in decision tree induction.
3. Write different steps in Apriori algorithm used for finding frequent item sets.
1. Explain 3V’s in big data analytics
2. List the different sources of bigdata.
3. With suitable example, give the difference between Business intelligence and data
analytics.
1. Discuss file system used for big data analysis.
2. Explain how recommender systems help in big data analysis.
3. Explain different techniques used for data visualization,

APJ Abdul kalam Technological University
VIII Semester B.Tech Degree Examination
RAT 474 Data Analytics for Engineers
PART A
Answer all questions, each carries 3 marks
1. Explain how significance level affects inferences drawn from data.
2. Define the term correlation between data points.
3. Differentiate classification and prediction.
4. State the different activation functions used in neural networks.
5. Give a brief description about how to perform descriptive analysis in a dataset.
6. Explain frequent item sets in association rule mining with example ?
7. Define bigdata.
8. List the challenges in big data acquisition
9. Explain the term social media analytics.
10. What is the significance of scatter plot matrix?
PART B
Answer any one Question from each module. Each question carries 14 Marks
Module I
11.Give the significance of resampling technique. Explain the different types of resampling
techniques.
12. Describe the process of hypothesis technique with the help of a suitable example.
Module II
13. Illustrate regression analysis in predictive modelling.
14. Explain how principal components are extracted using PCA.
Module III
15. Differentiate K-means and hierarchical clustering techniques with suitable example.
16. Describe market-based model used in descriptive analysis.

Module IV
17. With the help of a neat diagram, describe data analytics lifecycle.
18. a. Describe the characteristics of Big data?
b. Summarize the challenges and applications of big data analytics
Module V
19. What is HDFS? How does it handle Big Data?
20. Illustrate and explain the concept of Map Reduce framework
SYLLABUS
Module 1 (7 hours)
Introduction to Data Analysis - Evolution of Analytic scalability, analytic processes and tools,
Analysis vs reporting - Modern data analytic tools. Statistical concepts: Sampling
distributions, re-sampling, statistical inference, prediction error.
Module 2 (7 hours)
Predictive Analytics – Regression, Decision Tree, Neural Networks. Dimensionality

Reduction - Principal component analysis
Module 3 (7 hours)
Descriptive Analytics - Mining Frequent item sets - Market based model – Association and
Sequential Rule Mining - Clustering Techniques – Hierarchical – K- Means
Module 4 (6 hours)
Introduction to Big data framework - Fundamental concepts of Big Data management and
analytics - Current challenges and trends in Big Data Acquisition
Module 5 (8 hours)
Popular Big Data Techniques and tools- Map Reduce paradigm and the Hadoop system-
Applications Social Media Analytics, Recommender Systems- Fraud Detection
Text Books
1. EMC Education Services, Data Science and Big Data Analytics: Discovering,
Analyzing, Visualizing and Presenting Data. John Wiley & Sons, 2015.
2. Jaiwei Han, Micheline Kamber, “Data Mining Concepts and Techniques”, Elsevier,
2006.
3. Michael Berthold, David J. Hand, Intelligent Data Analysis, Springer, 2007.2.

Reference Books
1. Bart Baesens," Analytics in a Big Data World: The Essential Guide to Data Science
and its Business Intelligence and Analytic Trends”, John Wiley & Sons, 2013
Challenges and Future Prospects, Springer, 2014.
No Topic No. of Lectures

Module 1
1.1 Introduction to Data Analysis - Evolution of Analytic scalability 1
1.2 Analytic processes and tools 2
1.3 Analysis vs reporting - Modern data analytic tools 2
1.4 Statistical concepts: Sampling distributions, re-sampling, 2
statistical inference, prediction error.
Module 2
2.1 Predictive Analytics – Regression 2
2.2 Decision Tree 2
2.3 Neural Networks 1
2.4 Dimensionality Reduction - Principal component analysis 2
Module 3
3.1 Descriptive Analytics - Mining Frequent item sets 2
3.2 Market based model 2
3.3 Association and Sequential Rule Mining 1
3.4 Clustering Techniques – Hierarchical 1
3.5 K- Means 1
Module 4
4.1 Introduction: Fundamental concepts of Big Data management and 2
analytics
4.2 Data Analytics Lifecycle Overview 2
4.3 Current challenges and trends in Big Data Acquisition 2
Module 5
5 Popular Big Data Techniques and tools 1
5.1 Map Reduce paradigm 2
5.2 Hadoop system 2
5.3 Applications Social Media Analytics, Recommender Systems- 2
Fraud Detection
5.4 Data Visualization techniques-overview 1
SEMESTER VIII
PROGRAM ELECTIVE IV
DESIGN FOR MANUFACTURING CATEGORY L T P CREDIT

RAT416
AND ASSEMBLY PEC 2 1 0 3
Preamble: The main objective of this course is to understand the basic design rules for
manufacturing and material selection and applying the production process for ease of
manufacturing. Apply the concepts of design for manufacturing and assembly for product
manufacturing.
Prerequisite: Basic knowledge in Metallurgy and material Science, Production technology
Remember the basic principles of designing for economical production and

CO 1
understand the principles of selection of materials for product development.
CO 2 Understand the general design recommendations for machined parts.
Enumerate the general design considerations for casting, casting tolerances and
CO 3
Remember the factors in design of weldments.
Analyze the effects of thermal stresses in welded joints and Understand the various
CO 4
advantages and limitations of joining techniques.
Remember the design factors for forging and Understand the design guidelines for
CO5
extruded sections.
Remember Keeler-Goodman formability diagram and its concept and Apply

CO6
design guidelines to assembly
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3 1 1 1 1 1
CO 2 3 2 1 1 1 1 1
CO 3 3 3 1 2 1 1 1
CO 4 3 2 1 1 1 1 1
CO 5 3 2 1 2 2 1 1
CO6 3 2 2 1 1 1
Assessment Pattern
1 2
Remember
Understand 15 15 30
Apply 21 21 42
Analyse 14 14 28
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
End Semester Examination Pattern:

There will be two parts; Part A and Part B. Part A contains 10 questions with 2 questions
from each module, having 3 marks for each question. Students should answer all
questions. Part B contains 2 questions from each module of which student should answer
any one. Each question can have maximum 2 sub-divisions and carry 14 marks.
1. Explain Ashby charts for material selection.

2. Explain 7 phases of design manufacturing
1. Describe steps in selecting manufacturing process

2. Decision on manufacturing process and steps in selecting a manufacturing process-
case study
1. Describe Selection and evaluation of casting processes
2. List examples of poor and good design for machining
1. Metal joining processes and classification

2. Designing forgings for horizontal machines
1. Explain manual assembly methods

2. Explain Robot assembly
1. What do you mean by formability?

2. Explain the use of Forming Limit Diagram in manufacturing.
SYLLABUS
RAT416 DESIGN FOR MANUFACTURING AND ASSEMBLY
Module 1 (6 Hours)
INTRODUCTION TO DFM
Introduction: Design philosophy, steps in design process, general design rules for
manufacture ability, basic principles of designing for economical production, creativity in
design; materials: Selection of materials for design, developments in material technology,
criteria for material selection, and material selection interrelationship with process selection.
Module 2 (6 Hours)
DESIGN FOR MACHINING
Machining Process: Overview of various machining processes, general design rules for
machining, dimensional tolerance and surface roughness, design for machining ease,
redesigning of components for machining ease with suitable examples, general design
recommendations for machined parts.
Module 3 (8 Hours)
DESIGN FOR METAL CASTING & JOINING
Metal Casting: Appraisal of various casting processes, selection of casting process, - general
design considerations for casting - casting tolerances - use of solidification simulation in
casting design - product design rules for sand casting.
Metal Joining: Appraisal of various welding processes, Factors in design of weldments -

general design guidelines - pre and post treatment of welds - effects of thermal stresses in
weld joints - design of brazed joints.
Module 4 (7 Hours)
Forging: Design factors for forging, closed die forging, design parting lines of dies, drop
forging die design, General design recommendations.
EXTRUSION: Sheet metal work and plastics, Design guide lines for extruded sections,
Design principles for punching, blanking, bending, deep drawing, Keeler -Goodman
formability diagram,(forming limit diagram) Component design for blanking
Module 5 (8 Hours)
DESIGN OF MANUAL ASSEMBLY
Design for assembly fits in the design process, general design guidelines for manual
assembly, development of the systematic DFA methodology, assembly efficiency,
classification system for manual handling, classification system for manual insertion and
fastening, effect of part symmetry on handling time, effect of part thickness and size on
handling time, effect of weight on handling time, parts requiring two hands for manipulation,
effects of combinations of factors, effect of symmetry effect of chamfer design on insertion
operations, estimation of insertion time
Text Books
1. Geoffrey Boothroyd, “Assembly Automation and Product Design”, Marcel and

Dekken, Inc., NY, 2002.
2. George E. Deiter, “Engineering Design - Material & Processing Approach”, McGraw

Hill Intl. 2nd Edition, 2010
3. Geoffrey Boothroyd,” Hand Book of Product Design”, Marcel and Dekken,, N.Y.
2008
Reference Books
1. Geoffrey Boothroyd, “Hand Book of Product Design”, Marcel and Dekken, 1st
Edition, 2013
2. Geoffrey Boothroyd, Peter Dewhurst, Winston, “Product Design for Manufacturing

and Assembly”, CRC Press, 1st Edition, 2010
No. of
No Topic
Lectures
1 INTRODUCTION TO DFM (6 Hours)
1.1 Introduction: Design philosophy, steps in design process. 1 Hour
1.2 General design rules for manufacture ability. 1 Hours
1.3 Basic principles of designing for economical production, creativity in 2 Hours

design
Materials: Selection of materials for design, developments in material

technology.
1.4 Criteria for material selection, and material selection interrelationship 2 Hours
with process selection, process selection charts.
2 DESIGN FOR MACHINING (6 Hours)
2.1 Machining Process: Overview of various machining processes, general 2 Hours

design rules for machining.
2.2 Dimensional tolerance and surface roughness.. 2 Hours
Design for machining ease.
2.3 Redesigning of components for machining ease with suitable examples, 2 Hours
general design recommendations for machined parts.
3 DESIGN FOR METAL CASTING & METAL JOINING (8 Hours)

3.1 Metal Casting: Appraisal of various casting processes, selection of 2 Hours
casting process, - general design considerations for casting.
3.2 Casting tolerances - use of solidification simulation in casting design - 2 Hours

product design rules for sand casting.
3.3 Metal Joining: Appraisal of various welding processes, Factors in the 2 Hours
design of weldments.
3.4 General design guidelines - pre and post treatment of welds - effects of 2 Hours
thermal stresses in weld joints - design of brazed joints.
4 FORGING AND EXTRUSION (6 Hours)
4.1 Design factors for forging, closed die forging, design parting lines of 2 Hours
dies, drop forging die design, General design recommendations.
4.2 Sheet metal work and plastics, Design guide lines for extruded sections, 2 Hour
Design principles for punching.
4.3 Blanking, Bending, Deep Drawing - Keeler Goodman Forming Line 3 Hours
Diagram - Component Design for Blanking.
5 DESIGN OF MANUAL ASSEMBLY (8 Hours)
5.1 Design for assembly fits in the design process, general design guidelines
for manual assembly, development of the systematic DFA methodology. 2 Hours
5.2 Assembly efficiency, classification system for manual handling, 2 Hours

classification system for manual insertion and fastening
5.3 Effect of part symmetry on handling time, effect of part thickness and 2 Hours
size on handling time, effect of weight on handling time, parts requiring
two hands for manipulation,
5.4 Effects of combinations of factors, effect of symmetry effect of chamfer 2 Hours

design on insertion operations, estimation of insertion time


Course Name: Design for Manufacturing and Assembly
PART A
1. Explain the Definition of Design for Manufacture & Assembly (DFMA)

2. Explain the relation of Materials Selection to Design
3. Compare Planing, Shaping and Broaching.
4. Distinguish between traditional and Non Traditional Machining Processes
5. List the benefits and bottlenecks of casting simulation
6. Compare fusion welding and pressure welding
7. List the design guidelines for sheet metal bending
8. Explain the design factors for closed die-forging
9. Discuss the types of manual assembly methods
10. Explain the manual handling insertion of parts.
PART B
Module 1
11. a. Explain the flow diagram of various steps undertaken for applying DFMA during product
design (8)
b. List the advantages of applying DFMA during product Design (6)
12. a. Discuss the general Criteria for Selection of materials (6)

b. Explain process selection charts and process shape matrix (8)
Module 2
13. a. With a Schematic depiction, explain Abrasive Jet Machining (7)

b. Discuss the machinability of materials (7)
14. a. Describe the classification of machining processes (7)

b. With a schematic depiction, describe turning operation (7)
Module 3
15 a. Describe the important pre- heating and post heating guidelines for a good welding design
(7)
b. List the design considerations for casting (7)
16 a. Explain Brazing, Soldering and Adhesive bonding in Metal joining process (7)
b. List the benefits and bottlenecks of casting simulation (7)
Module 4
17 a. Differentiate between forward and backward extrusion process. (4)

b. What are the advantages of cold extrusion over hot extrusion? Discuss cold extrusion
processes. (5)
c. Distinguish between direct and indirect extrusion. (5)
18. a. What is upset forging ? Show the different parts of the forging die punch set up (7)
b. What is the purpose of heat treatment of forging ? (3)
c. Explain sequentially the various passes used in drop forging with a suitable diagram. (4)
Module 5
19. a. Explain the effect of chamfer design on manual insertion (6)

b. Discuss the effect of the following part features:
i) Effect of part symmetry on handling Time
ii) Effect of weight on handling time
iii) Effect of product thickness and size on handling time (8)
20. a. Explain the design guidelines for component insertion and mechanical fastening (7)
b. List the assembly rules and criteria. Discuss the major benefits of design of assembly (7)
NATURAL LANGUAGE CATEGORY L T P CREDIT

RAT426
PROCESSING PEC 2 1 0 3
Preamble: This course enables the learners to understand the concepts of Natural Language
Processing. The course covers basic pre-processing steps, language models, text classification
using machine learning algorithms, information and relation extraction methods, Information
Retrieval, Question Answer Systems and Machine Translation models. This course enables the
students to apply techniques and methods to solve challenging real-world problems in NLP.
Prerequisite: Nil.
CO1
Understand the fundamental concepts of NLP
CO2 Explain the different representation methods on text data

CO3 Make use of NLP techniques in Text Classification
CO4 Demonstrate the NLP techniques in Information Extraction and Information Retrieval
CO5 Explain QA Systems and Machine Translation
PO PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO1 PO11 PO1
1 0 2
CO1 3 2 2
CO2 3 2 2 2
CO3 3 2 2 2
CO4 3 2 2 2 2
CO5 3 2 2
Assessment Pattern
Bloom’s Category Continuous Assessment End Semester Examination

Tests
1 2
Remember 15 15 30
Understand 20 20 40
Apply 15 15 30
Analyse
Evaluate
Create
Mark distribution
Total CIE ESE ESE

Marks Duration
150 50 100 3 hours
End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A contain
10 questions with 2 questions from each module, having 3 marks for each question. Students
should answer all questions. Part B contains 2 questions from each module of which student
should answer any one. Each question can have maximum 2 sub-divisions and carry 14 marks.
Course Outcome1 (CO1):

1. Explain the fundamental tasks that make up an NLP system.
2. Why is NLP considered a challenging problem domain?

1. Mention two issues associated with sentence segmentation.
2. Compare Bag-of-Words model and Bag-of-n-gram model.

3. Illustrate how TF-IDF model is used to represent text. Mention the advantage of TF-
IDF over other models.
4. A corpus of data is given below :
Use one hot-encoding and Bag-of-words models to represent “dog bites man”.

1. The following table shows data about the profile of customers and whether they purchase
computers or not. Given this data, use Naïve Bayes Classifier to classify the customer X
(age = youth, income = medium, student = yes, credit rating = fair)
2. Illustrate how linearly inseparable data can be made linearly separable by suitable mapping
using kernel functions.
Course Outcome 4(CO4): .

1. Given the following data about documents and contents, use tf-idf document scoring method
to retrieve the document for the query “best game”
The game was so exciting. The players excelled in every

Doc 1 department of the game.
Doc 2 It was an excellent game.
Doc 3 The game was not good. The moves were boring
2. Explain Name Entity Recognition using Sequence Labeling.
1. Explain the phases of a factoid question-answering system.
2. Explain a statistical algorithm for word alignment in Machine Translation.
SYLLABUS
Module – 1 (Introduction to NLP)
NLP Tasks and Applications, Language-Building Blocks, Challenges of NLP, Regular

Expressions, Text Normalization, Edit Distance, N-gram Language Models, Approaches to NLP-
- Heuristics-Based NLP, Machine Learning-based NLP.
Module - 2(Representation Models)
Text Representation—Preprocessing, Sentence segmentation, Word tokenization, Stemming and

lemmatization, Vector Space Models--Basic Vectorization Approaches--One-Hot Encoding, Bag
of Words, Bag of N-Grams TF-IDF; Distributed Representations-- Word Embeddings, Doc2Vec.
Module - 3 ( Classification)
Text Classification--Text classification applications – Pipeline for building text classification

systems, Naïve Bayes for Sentiment Classification – Naïve Bayes Classifier Training –
Optimizing for Sentiment Analysis, Logistic Regression, Support Vector Machine for Text
Classification
Module - 4 (Information Extraction and Retrieval)
Information Extraction(IE)—IE Applications – The General Pipeline for IE - Named Entity

Recognition(NER), Ambiguity in Named Entity Recognition – NER as Sequence Labeling –
Evaluation of NER.
Information Retrieval – Term weighting and document scoring – Inverted Index – Evaluation of
Information Retrieval Systems.
Module - 5 (QA Systems and Machine Translation )
Question-Answering Systems – Factoid Question Answering – Question Processing – Passage

Retrieval – Answer Processing – Evaluation of Factoid Answers
Machine Translation – Why Machine Translation is Hard – Classical Machine Translation –

Direct Translation – Transfer – Statistical Machine Translation- The Phrase based Translation
model – Alignment in MT – Training Alignment Models – Symmetrizing Alignments for Phrase-
based MT – Decoding for Phrase-based Statistical MT
Text Books
1. Daniel Jurafsky, James H. Martin , “Speech and Language Processing”(2nd and 3rd
editions), Pearson Prentice Hall
2. Sowmya Vajjala, Bodhisattwa Majumder, Anuj Gupta, Harshit Surana,” Practical Natural
Language Processing: A Comprehensive Guide to Building Real-World NLP Systems “
June 2020 Publisher(s): O'Reilly Media, Inc. ISBN: 9781492054054.
Reference Books
1. James Allen, “Natural Language Understanding”, Second Edn , Pearson.
2. Christopher Manning and Hinrich Schutze, Statistical Natural Language Processing, MIT
Press.

No of
No Topic Lecture
Hrs
Module 1 : Introduction to NLP (7 hours)
1.1 Introduction to NLP – Tasks and Applications 1
1.2 Language – Building Blocks, Challenges of NLP 1
1.3 Regular Expressions 1
1.4 Text Normalization 1
1.5 Edit Distance 1
1.6 N-gram Language Models 1
Approaches to NLP-- Heuristics-Based NLP, Machine Learning-

1.7 1
based NLP.
Module 2 : Representation Models ( 8 hours)
Text Representation--Preprocessing , Sentence segmentation, Word

2.1 2
tokenization, Stemming and lemmatization
2.2 Vector Space Model 1
2.3 Vectorization Approaches – One hot encoding, Bag of words 1
2.4 Bag of n-grams, TF-IDF 1
2.5 Word Embeddings – Word2Vec 1
2.6 CBOW, SkipGram models 1
Module 3 : Classification (7 hours)
Text Classification--Text classification applications – Pipeline for

3.1 1
building text classification systems
3.2 Naïve Bayes for Sentiment Classification 1
Naïve Bayes Classifier Training-Optimizing for Sentiment

3.3 2
Analysis
3.4 Logistic Regression 1
3.5 Support Vector Machine for Text Classification 1
Module 4 : Information Extraction and Retrieval (7 hours)
Information Extraction (IE) and Applications, IE Tasks and the IE

4.1 1
Pipeline
4.2 Named Entity Recognition (NER) – Ambiguity in NER 1
4.3 NER as Sequence Labeling 1
4.4 Evaluation of NER, Practical NER Systems 1
4.5 Information Retrieval – Term weighting and document scoring 1

4.6 Inverted Index, Evaluation of Information-Retrieval Systems 1
Module 5 : QA Systems and Machine Translation (9 hours)
Question-Answering Systems – Factoid Question Answering, 1

5.1
Question Processing
5.2 Passage Retrieval 1
5.3 Answer Processing, Evaluation of Factoid Answers 1
5.4 Machine Translation – Why Machine Translation is Hard 1
5.5 Classical Machine Translation 1
5.6 Statistical Machine Translation 1
5.7 The Phrase based Translation model 1
5.8 Alignment in Machine Translation 1
5.9 Decoding for Phrase-based Statistical MT 1
EIGHTH SEMESTER B.TECH DEGREE EXAMINATION, MONTH & YEAR
Course Name: Natural Language Processing
Max. Marks : 100 Duration: 3 Hours
PART A
Answer All Questions. Each Question Carries 3 Marks

1. What is text normalization. (3)
2. State Bayes’ Theorem. (3)
3. List three preprocessing steps that are necessary for an HTML file. (3)
4. Differentiate CBOW and Skipgram models (3)
5. Explain the role of support vectors in SVM Classification. (3)
6. Explain challenges in Name Entity Recognition. (3)
7. Differentiate information extraction and information retrieval. (3)
8. Explain the need for an inverted index in an information retrieval system. Are there (3)
any more efficient data structures that serve the same purpose.
9. How do you extract answers to DEFINITION questions? (3)
10. What are the components that make up a noisy channel model of statistical (3)
Machine Translation?
Part B
(Answer any one question from each module. Each question carries 14 Marks)
11. (a) Explain the language models of NLP (8)
(b) Explain the different approaches of NLP (6)
OR
12. (a) Why is NLP considered a challenging problem domain? (6)
(b) Explain the fundamental tasks that make up an NLP system. (8)
13. (a) Explain sentence segmentation. Mention the issues associated with (7)
sentence segmentation.
(b) Illustrate Bag-of-ngrams model with an example. (7)
OR
14. (a) Explain the concept of word embeddings as a model for text representation. (8)
(b) Compare word embeddings model with vectorization approaches. (6)
15. (a) Given the following data about movie review and its classification, (14)
classify “predictable with no fun” to one of the classes using Naïve
Bayes Classifier.
Document Category
just plain boring Negative
entirely predictable and lacks energy Negative
no surprises and very few laughs Negative
very powerful Positive
the most fun film of the summer Positive
OR
16. (a) Explain Logistic Regression for Text Classification. (8)
(b) Illustrate the steps involved in classification in Naïve Bayes Classifier. (6)
17. (a) Explain Name Entity Recognition using Sequence Labeling. (10)
(b) How is term selection done for indexing? (4)
OR
18. (a) Given the following data about documents and contents, use tf-idf document (10)
scoring method to retrieve the document for the query “sweet love”.
Doc 1 Sweet sweet nurse! Love

Doc 2 Sweet sorrow
Doc 3 How sweet is love?
Doc 4 Nurse!
(b) Explain challenges in Name Entity Recognition. (4)

19. (a) Explain the phases of a factoid question-answering system. (8)
(b) Give an algorithm for word alignment in Machine Translation. (6)
OR
20. (a) How is decoding done in a Phrase-based Statistical Machine Translation (10)
System?
(b) Explain the concept of Mean Reciprocal Rank. (4)

RAT436 DIGITAL CONTROL SYSTEMS
PEC 2 1 0 3
Preamble: This course is designed to equip the students to analyse and designing digital control
system
Prerequisite: control system design
CO 1 Analyse discrete data control system

Understand Z-transform, its properties and do steady state error analysis of digital
CO 2
control system
CO 3 Understand and gain knowledge in stability analysis of digital control systems
Develop state space representation of discrete time systems and find solution of
CO 4
state equation.
Test controllability and observability of linear systems also design discrete-date
CO 5
control systems.
P PO PO PO PO PO PO PO PO PO PO PO
O 2 3 4 5 6 7 8 9 10 11 12
1
CO 1 3 2 2
CO 2 3 2 2
CO 3 3 2 2
CO 4 3 2 2
CO 5 3 2 2
Assessment Pattern
Bloom’s Category Continuous Assessment

End Semester
Tests
Examination
1 2
Remember 10 10 10
Understand 20 20 40
Apply 20 20 50
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A contain 10
questions with 2 questions from each module, having 3 marks for each question. Students should
answer all questions. Part B contains 2 questions from each module of which student should answer
any one. Each question can have a maximum 2 subdivisions and carry 14 marks.

1. Explain how to model the sampling process mathematically. Also, with and without
aliasing. plot the amplitude spectrum of the sampler output.
2. With suitable diagrams explain how data reconstruction is done in zero order hold and
first order hold. Derive transfer functions for each

1. Derive the expression for acceleration error constant and velocity error constant of a
Type 1digital system
2. Describe the mapping of the following locus from s-plane to z-plane
a. Constant damping loci
b. Constant frequency loci
c. Constant damping ratio loci

1. Explain in detail about gain margin and phase margin
2. Test the stability of the polynomial using Jury’s stability test
F(z)=𝑧𝑧 5 + 2.6𝑧𝑧 4 − .56𝑧𝑧 3 − 2.05𝑧𝑧 2 + 0.0775𝑧𝑧 + 0.35 = 0

1. Obtain the state transition Matrix of the given state space representation
𝑥𝑥 (𝑘𝑘 + 1) = (𝑘𝑘)+ 𝐵𝐵𝑢𝑢(𝑘𝑘)
𝑦𝑦(𝑘𝑘)= 𝐶𝐶𝑥𝑥(𝑘𝑘)+ 𝐷𝐷𝑢𝑢(𝑘𝑘)
where
A=[0 1 − .21 1 ];B=[0 1 ]; C=[1 0 ]
2. Obtain the state space representation of the following transfer function in observable
canonical form and controllable canonical form.
𝑌𝑌(𝑧𝑧) 0.368𝑧𝑧 −1 +0.264𝑧𝑧 −2
=
𝑈𝑈(𝑧𝑧) 1−1.368𝑧𝑧 −1 +.368𝑧𝑧 −2

1. Explain the concept of pole placement by state feedback.
2. Find out the state feedback gain matrix K for the following system by converting the system
into controllable canonical form such that the closed loop poles are located at 0.5 and 0.6
x(k+1)=[−1 − 1 0 − 2 ]x(k)+[0 1 ]u(k)
SYLLABUS
Module 1
Introduction: Basic Elements of discrete data control systems, advantages of discrete data control
systems, examples. Signal conversion & processing: Digital signals & coding, data conversion &
quantization, sample and hold devices, Mathematical modelling of the sampling process; Data
reconstruction and filtering of sampled signals: Zero order hold, first order Hold and polygonal hold.
Module 2
Digital control systems- Pulse transfer function. z transform analysis of closed loop open loop
systems-Modified z- transfer function Difference equation. Solution by recursion and z transform.
Steady state error analysis- Examples on static error coefficients. Bilinear transformation- mapping
from s-plane to z-plane.
Module 3
Stability of linear digital control systems- Routh Hurwitz criteria, Jury’s test. Root loci of
digital control systems – rules for construction of root locus. Frequency domain analysis - Bode
Plots-Gain margin and Phase margin
Module 4
Review of state space techniques to continuous data systems, state space representation of discrete
time systems- Transfer function from state space model-various canonical forms- conversion of
transfer function model to state space model-characteristics equation- solution to discrete state
equations.
Module-5
Controllability and Observability - Response between sampling instants using state variable
approach-Pole placement using state feedback. Dynamic output feedback- Effects of finite word
length on controllability and closed loop pole placement
Text Books
1.B. C. Kuo , “Digital control systems” (Second Edition) , Oxford University Press,2007
2. K. Ogatta, “Discrete Time control systems”, 2nd ed. PHI),1995
3. M. Gopal, “Digital Control systems and state variable methods”, Tata McGraw Hill
Reference
1. John Dorsey, “Continuous & Discrete Control Systems “, (MGH).
2. R John Dorsey, “Continuous & Discrete Control Systems “, (MGH).
3.R Nagrath & Gopal, “Control System Engineering” (Wiley Eastern).
4.R F. Franklin, J.D. Powell, and M.L. Workman, “Digital control of Dynamic Systems”,
Addison - Wesley Longman, Inc., Menlo Park, CA , 1998

Topic No. of
Lectures
Module 1
Introduction: Basic Elements of discrete data control systems, advantages of
discrete data control systems, examples. Signal conversion & processing: Digital 4
signals & coding, data conversion & quantization, sample and hold devices,
Mathematical modelling of the sampling process; Data reconstruction and filtering

of sampled signals: Zero order hold, first order Hold and polygonal hold 3
Module 2
Digital control systems- Pulse transfer function. z transform analysis of closed
loop open loop Systems-Modified z- transfer function. Difference equation. 5
Solution by recursion and z transform.
Steady state error analysis- Examples on static error coefficients. Bilinear
2
transformation- mapping from s-plane to z-plane.
Module 3
Stability of linear digital control systems- Routh Hurwitz criteria, Jury’s test. Root
4
loci of digital control systems – rules for construction of root locus.
Frequency domain analysis - Bode Plots-Gain margin and Phase margin
3
Module 4
Review of state space techniques to continuous data systems, state space
representation of discrete time systems- Transfer function from state space model- 4
various canonical forms
conversion of transfer function model to state space model-characteristics
3
equation- solution to discrete state equations.
Module 5
Controllability and Observability - Response between sampling instants using
4
state variable approach-Pole placement using state feedback.
Dynamic output feedback- Effects of finite word length on controllability and
closed loop pole placement 3

Course Code: RAT436
Course Name: DIGITAL CONTROL SYSTEM
PART A
s
1 Explain the advantages of Digital Data system (3)
2 Why control systems are designed with high gain feedback (3)
3 Obtain the transfer function of zero order hold circuit (3)
4 Explain Liapunov stability analysis (3)
5 Write the properties of the state transition matrix of discrete time system (3)
6 Find the stability of the following system using Jurys test F(z)=4𝑧𝑧 2 + 2𝑧𝑧 + 1 (3)
7 Discuss the principle of optimality (3)
8 Draw the block diagram of the system described by the state model (3)
�𝑥𝑥1̇ 𝑥𝑥2̇ 𝑥𝑥3̇ �=[1 0 0 0 1 0 0 𝑎𝑎2 𝑎𝑎3 ][𝑥𝑥1 𝑥𝑥2 𝑥𝑥3 ]+[0 0 1 ][𝑢𝑢] ,y=x1
9 What do you mean by controllability and observability of discrete time control (3)
systems? Explain
10 How the s-plane is mapped to z plane (3)
PART B
MODULE1
11 a) Explain the basic sampled data control system with a neat block diagram (10 )
b) Illustrate the digital control system with a stepper motor control (4 )
12 a) For a sampled data system with 𝐺𝐺(𝑠𝑠) = 1 , a zero order hold and unity (10)
𝑠𝑠+1
feedback; find find the unit step response with Ts=1sec
b) Write short not on impulse sampling (4)
MODULE II
13 a) Solve the difference equation c(k+2)+3c(k+1)+2c(k)=u(k) given c(0)=1;c(1)=- (10)
3;c( k)=0, for k<0.
b) What are the methods for methods for obtaining G(z) from G(s) (4)
14 a) Explain the general rules and procedures for constructing Root Loci in detail (10)
b) Derive the expression for static error constants for a typical closed loop system (4)
MODULE III
15 Find the range of gain k to make the system stable. The open-loop transfer (14)
function is given by
𝑘𝑘(.3679𝑧𝑧 + .264𝑧𝑧)
G(z)= (𝑧𝑧−.3679 )(𝑧𝑧−1) with T=1sec
16 The input output relation of a sampled data system is described by the equation (14)
y(k+2) +5y(k+1) +6y(k) = x(k+1)-x(k). Determine the pulse transfer function
MODULE IV
17 a) Determine the state space representation of the following discrete time system (10)
1
𝐺𝐺(𝑧𝑧)
(𝑧𝑧 + 1) (𝑧𝑧 + 0.1)
2
b) Briefly explain “Diophantine equation”. (4)

18 a) A discrete time system is described by the difference equation equation
Y(k+2) +5y(k+1) +6y(k)=u(k); y (0) =y (1) =0; T=1sec
Determine:
i)a state model in diagonal canonical form.
ii) for input u(k)=1, k≥ 1 , find the o/p y(k).
b) Explain the different types of canonical form representations (4)
MODULE V
19 a) 10
For the system described by the transfer function G(s)= 𝑠𝑠(𝑠𝑠+1 )(𝑠𝑠+2). (10)
Design a feedback controller with state feedback so that the closed loop poles
are at
-2,-1±j1.
b) Explain pole placement design approach briefly (4)
20 a) Design a regulator system using polynomial equations approach with suitable (10)
diagrams
b) Explain full order observer with a state diagram (12)
****
RAT446 PROBABILISTIC ROBOTICS
PCC 2 1 0 3
Preamble: This course helps the student to have a basic idea of Probabilistic robotics.
various localization techniques , mapping algorithms and their applications are also included
as part of the course to get an overall idea on this topic.
Prerequisite: Nil
CO 1 Understand the basic concepts of probabilistic robotics

CO 2 Describe appropriate models to solve real world problems efficiently.
CO 3 Comprehend and implement various localization techniques
CO 4 Describe different types of mapping algorithms
CO 5 Apply various Markov processes and and their applicability
CO 6 Understand the applicability of probability in robotics
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 1 3
CO 2 2 1 3
CO 3 2 1 3
CO 4 3 2 2 3
CO 5 3 2 2 3
CO 6 3 2 2 3
Assessment Pattern
Bloom’s Category Continuous Assessment End Semester Examination

Tests
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. What are probabilistic generative laws?
2. What do you mean by state?
1. Differentiate between velocity motion model and odometry motion model.
2. Explain different techniques to reduce the computational complexity of localization

process
1. Differentiate between grid localization and monte carlo localization.
2. What is occupancy grid mapping?
1. What is layered EM mapping?
2. What are the fast incremental mapping algorithms

1. Characteristics of finite environments.

2. What are augmented markov decision processes?
3.
SYLLABUS
Module I ( 9 Hours)
Introduction to Probabilistic Robotics: Uncertainty in Robotics, Probabilistic Robotics,

Basic Concepts in Probability
Robot Environment Interaction: State, Environment Interaction, Probabilistic Generative

Laws, Belief Distributions
Bayes Filters: The Bayes Filter Algorithm, Mathematical Derivation of the Bayes Filter, The
Markov Assumption
Gaussian and Nonparametric Filters: Kalman Filter, Extended Kalman Filter, Information
Filter, Histogram Filter, Particle Filter
Robot motion: Introduction, Preliminaries, Velocity Motion Model, Odometry Motion

Model, Motion and Maps
Measurements: Maps, Beam Models of Range Finders, Likelihood Fields for Range Finders,
Correlation-Based Sensor Models, Feature-Based Sensor Models
Mobile Robot Localization: Taxonomy of Localization Problems, Markov Localization,

Illustration of Markov Localization, EKF Localization, Estimating Correspondences, Multi-
Hypothesis Tracking
Grid and Monte Carlo Localization: Grid Localization, Monte Carlo Localization,
Localization in Dynamic Environments,
Mapping: Occupancy Grid Mapping, Simultaneous Localization and Mapping
Module IV ( 7 Hours)
Mapping with Unknown Data Association: Mapping with the EM Algorithm, Grid-Based
Implementation, Layered EM Mapping
Fast Incremental Mapping Algorithms: Incremental Likelihood Maximization, Maximum

Likelihood as Gradient Descent, Incremental Mapping with Posterior Estimation, Multi-
Robot Mapping, Mapping in 3D
Module V ( 6 Hours)
Markov Devision Processes: Uncertainty in Action Selection, Value Iteration
Partially Observable Markov Decision Processes: Finite Environments, General

POMDPs, Monte Carlo Approximation, Augmented Markov Decision Processes
Text Books
1. Thrun, Sebastian, Wolfram Burgard, and Dieter Fox, “Probalistic robotics”,

Kybernetes 2006.
Reference Books
1. Bessière, Pierre, Christian Laugier, and Roland Siegwart, Probabilistic reasoning and
decision making in sensory-motor systems, Springer, 2008.
2. AshitavaGhosal, “Robotics-Fundamental concepts and analysis”, Oxford University

press.
No. of
No Topic
Lectures
1 MODULE 1
Introduction to Probabilistic Robotics: Uncertainty in Robotics,

1.1 1.5
Probabilistic Robotics, Basic Concepts in Probability
Robot Environment Interaction: State, Environment Interaction,
1.2 1.5
Probabilistic Generative Laws, Belief Distributions
Bayes Filters: The Bayes Filter Algorithm, Mathematical
1.3 2
Derivation of the Bayes Filter, The Markov Assumption
Gaussian and Nonparametric Filters: Kalman Filter, Extended
1.4 2
Kalman Filter, Information Filter, Histogram Filter, Particle Filter
2 MODULE 2
Robot motion: Introduction, Preliminaries, Velocity Motion Model,

2.1 3
Odometry Motion Model, Motion and Maps
Measurements: Maps, Beam Models of Range Finders, Likelihood
2.2 Fields for Range Finders, Correlation-Based Sensor Models, 4
Feature-Based Sensor Models
3 MODULE 3
Mobile Robot Localization: Taxonomy of Localization Problems,

Markov Localization, Illustration of Markov Localization, EKF
3.1 3
Localization, Estimating Correspondences, Multi-Hypothesis
Tracking
Grid and Monte Carlo Localization: Grid Localization, Monte
3.2 2
Carlo Localization, Localization in Dynamic Environments
Mapping: Occupancy Grid Mapping, Simultaneous Localization
3.3 3
and Mapping
4 MODULE 4
Mapping with Unknown Data Association: Mapping with the EM

4.1 3.5
Algorithm, Grid-Based Implementation, Layered EM Mapping
Fast Incremental Mapping Algorithms: Incremental Likelihood
Maximization, Maximum Likelihood as Gradient Descent,
4.2 3.5
Incremental Mapping with Posterior Estimation, Multi-Robot
Mapping, Mapping in 3D
5 MODULE 5
Markov Devision Processes: Uncertainty in Action Selection,

5.1 Value Iteration 2
Partially Observable Markov Decision Processes: Finite

5.2 Environments, General POMDPs, Monte Carlo Approximation, 4
Augmented Markov Decision Processes
Course Code: RAT446
Course Name: Probabilistic Robotics
PART A
1 Write any three complimentary sources of approximation error, each of (3)

which gives rise to improved versions of the particle filter.
2 In mobile robot localization, xt is the robot’s pose, and Bayes filters are (3)
applied to estimate the pose relative to a fixed map. Find three factors
that may have a systematic effect on sensor readings.
3 What is meant by a map of the environment? (3)
4 Explain the drawbacks of beam-based sensor model, while closely (3)

linked to the geometry and physics of range finders.
5 Briefly explain any three techniques to reduce the computational (3)

complexity of grid localization.
6 Explain any three factors that results the hardness of the mapping (3)
problem.
7 Write the general EM mapping algorithm. (3)
8 Explain the limitations of incremental maximum likelihood approach. (3)
9 Distinguish two types of uncertainty in markov decision processes: (3)

uncertainty in action, and uncertainty in perception.
10 Briefly explain Augmented State Space (3)
PART B
MODULE I
11 a) Derive the mathematical representation of the Bayes Filter. (6)
b) Explain the properties of particle filters. (8)
12 a) What are range finders? Explain beam models of range finders. (6)
b) Explain the basic algorithm of particle filter. (8)

MODULE II
13 a) Write algorithms for the following:- (i) Algorithm for computing p(xt | (6)
ut, xt−1) based on velocity information (ii) Algorithms for computing
densities of a zero-centered normal distribution and the triangular
distribution with variance b.
b) Explain the velocity motion model in detail. (8)
14 a) What is odometry motion model? Write the algorithm for computing (6)
p(xt | ut, xt−1) based on odometry information.
b) Explain EKF algorithm and derive the mathematical representation of (8)

EKF.
MODULE III
15 a) Distinguish the following with examples. (i)Local and Global (8)

Localization, (ii) Static and Dynamic Environments, (iii) Passive and
Active Approaches, (iv) Single-Robot and Multi-Robot localization.
b) What is meant by markov localization and EKF localization? (6)
16 a) Briefly explain occupancy grid mapping algorithm. (7)
b) Explain MCL algorithm. (7)
MODULE IV
17 a) Explain the basic idea of mapping with EM with necessary diagrams. (6)
b) Explain the Perceptual model for Layered Maps (8)
18 a) Briefly explain various fast incremental mapping algorithms. (7)
b) Explain the concept of multi-robot mapping. (7)
MODULE V
19 a) How to find Control Policies in fully observable domains (7)
b) Write short note on general POMDPs (7)
20 a) What are augmented markov decision processes? Explain value (7)

Iteration in AMDPs.
b) Briefly explain Monte Carlo approximations. (7)
****
RAT456 IOT AND APPLICATIONS
PEC 2 1 0 3
Preamble: To expose the students to the field of IoT and its applications.
Prerequisite: Nil
CO 1 Explain the basic concepts of IoT and IoT networking.
Perceive ideas on the different connectivity technologies and Wireless Sensor

CO 2
Networks.
Discuss on UAV Networks & M2M Communication, Software defined

CO 3
networking.
CO 4 Explain the basic concepts of cloud computing and fog computing.
Apply the basics of IoT for different applications like Smart Homes and Industrial
CO 5
IoT.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2
CO 2 3 2
CO 3 3 2
CO 4 3 2
CO 5 3 2
Assessment Pattern
End Semester
Bloom’s Category Tests
Examination
1 2
Remember
Understand 50 50 100
Apply
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
Assignment/Quiz : 15 marks
Course Project (Application of IoT) : 10 marks
End Semester Examination Pattern:There will be two parts; Part A and Part B. Part A
14 marks.
1. Define IoT.
2. Enlist any three characteristics of IoT and explain.
1. Discuss on Plasma HART and Wireless HART.
2. Explain the challenges in WSN.
1. Discuss on different UAV components.
2. Define Software Defined WSN.
1. Explain public cloud.
2. List out the advantages of Fog.
1. Use course project to evaluate the CO.

SYLLABUS
Module 1 (7 Hours)
Introduction to Internet of Things
Introduction- Characteristics of IoT- Applications of IoT- IoT categories- IoT Enablers and
Connectivity Layers - Baseline Technologies-Sensors-Characteristics of a Sensor-
Classification of Sensors-Actuators-Types of Actuators-IoT components and implementation-
Service Oriented Architecture-IoT Interdependencies-Challenges for IoT.
IoT Networking
Connectivity Terminologies, Gateway Prefix Allotment-Impact of Mobility on Addressing-

Multihoming-Deviations from Regular Web-IoT Identifications and Data Protocols.
Module 2 (7 Hours)
Connectivity Technologies
Introduction-IEEE 802.15.4-ZigBee-6LoWPAN-RFID-HART and wireless HART-NFC-

Bluetooth-Z-wave-ISA 100.11A.
Wireless Sensor Networks
Introduction-Components of a sensor Node-Modes of Detection-Challenges in WSN-Sensor

Web-Cooperation-Behaviour of Nodes in WSN-Information Theoretic Self-Management of
WSN-Social Sensing in WSN-Applications of WSN-Wireless Multimedia Sensor Networks-
Wireless Nano sensor Networks-Under Water Acoustic Sensor Networks-WSN Coverage-
Optimal Geographical Density Control (OGDC) Algorithm-Stationary WSN-Mobile WSN.
Module 3 (7 Hours)
UAV Networks & M2M Communication
Introduction-UAV Components-UAV Networks-Features-Challenges-Topology-FANET-

Features-Difference between FANET and the Existing Ad hoc Networks, FANET Design
Considerations-FANET communication-Gateway Selection in FANETS-M2M
Communication-M2M Applications-Types of Node in M2M-M2M Ecosystem-M2M Service
platform-Interoperability-Need for Interoperability-Types of Interoperability.
Software Defined Networking
Introduction, Limitations of Current Network-Origin of SDN-SDN Architecture-Rule

Placement-OpenFlow Protocol-Controller Placement-Security in SDN-Integrating SDN in
IoT-Software defined WSN-SDN for Mobile Networking-Rule Placement at Access Devices.
Module 4 (7 Hours)
Cloud Computing
Introduction-Architecture-Characteristics-Deployment Models-Public Cloud-Private Cloud-

Hybrid Cloud-Community Cloud-Multi Cloud-Distributed Cloud-Inter Cloud-Big Data
Cloud-HPC Cloud-Service Models-Service Management-Cloud Security.
Fog Computing
Introduction-Why Fog Computing-Requirements of IoT-Architecture of Fog-Working of

Fog-Advantages of Fog-Applications of Fog-Challenges in Fog.
Module 5 (7 Hours)
IoT Applications-Smart Homes
Introduction-Origin of Smart Home-Examples of Smart Home Technologies-Smart Home

Implementation-Home Area Networks-HAN Elements-HAN Standards-HAN Architectures-
HAN Initiatives-Smart Home Benefits and Issues.
Industrial IoT
Introduction-IIoT Requirements-Design Considerations-Applications of IIoT-Manufacturing

Industry-Health Care Service Industry-Transportation and Logistics-Mining-Firefighting-
Smart Dust-Drones-Futuristic Farming-Aerospace-Energy Networks-Benefits of IIoT-
Challenges of IIoT.
Text Books
1. Jeeva Jose, “Internet of Things”, Khanna Book Publishing Co.(P) Ltd, 1/e.
2. RMD Sundaram Shriram K Vasudevan, & Abhishek S Nagarajan, “Internet of

Things”, Wiley.
Reference Books
1. Hanes David , Salgueiro Gonzalo , Grossetete Patrick , Barton Rob , Henry Jerome,
“IoT Fundamentals: Networking Technologies, Protocols and Use Cases for the
Internet of Things”, Pearson, 1/e.

Topic No. of
No
Lectures
1 Introduction to Internet of Things
Introduction- Characteristics of IoT- Applications of IoT- IoT

1.1 2
categories- IoT Enablers and Connectivity Layers
Baseline technologies-Sensors-Characteristics of a Sensor-
Classification of Sensors-Actuators-Types of Actuators-IoT
1.2 components and implementation-Service Oriented Architecture- 2
IoT Interdependencies-Challenges for IoT.
IoT Networking
Connectivity Terminologies, Gateway Prefix Allotment-Impact
1.3 of Mobility on Addressing-Multihoming-Deviations from 3
Regular Web-IoT Identifications and Data Protocols
2 Connectivity Technologies
Introduction-IEEE 802.15.4-ZigBee-6LoWPAN-RFID-HART
2.1 2
and wireless HART-NFC-Bluetooth-Z-wave-ISA 100.11A
Wireless Sensor Networks
Introduction-Components of a sensor Node-Modes of Detection-
Challenges in WSN-Sensor Web-Cooperation-Behaviour of
2.2 2
Nodes in WSN-Information Theoretic Self-Management of
WSN-Social Sensing in WSN-Applications of WSN
Wireless Multimedia Sensor Networks-Wireless Nano sensor
Networks-Under Water Acoustic Sensor Networks-WSN
2.3 3
Coverage-Optimal Geographical Density Control (OGDC)
Algorithm-Stationary WSN-Mobile WSN
3 UAV Networks & M2M Communication
Introduction-UAV Components-UAV Networks-Features-

Challenges-Topology-FANET-Features-Difference between
3.1 2
FANET and the Existing Ad hoc Networks, FANET Design
Considerations
FANET communication-Gateway Selection in FANETS-M2M
Communication-M2M Applications-Types of Node in M2M-
3.2 2
M2M Ecosystem-M2M Service platform-Interoperability-Need
for Interoperability-Types of Interoperability
Software Defined Networking
Introduction, Limitations of Current Network-Origin of SDN-
3.3 1
SDN Architecture-
Rule Placement-OpenFlow Protocol-Controller Placement-
Security in SDN-Integrating SDN in IoT-Software defined
3.4 2
WSN-SDN for Mobile Networking-Rule Placement at Access
Devices
4 Cloud Computing
Introduction-Arhitecture-Characteristics-Deployment Models-
4.1 Public Cloud-Private Cloud-Hybrid Cloud-Community Cloud- 2
Multi Cloud-Distributed Cloud-Inter Cloud-Big Data Cloud-

4.2 HPC Cloud-Service Models-Service Management-Cloud 2
Security
Fog Computing
4.3 Introduction-Why Fog Computing-Requirements of IoT- 1
Architecture of Fog-Working of Fog-Advantages of Fog-
4.4 Applications of Fog-Challenges in Fog 2
5 IoT Applications-Smart Homes

Introduction-Origin of Smart Home-Examples of Smart Home
5.1 1
Technologies
Smart Home Implementation-Home Area Networks-HAN
5.2 Elements-HAN Standards-HAN Architectures-HAN Initiatives- 2
Smart Home Benefits and Issues
Industrial IoT-Introduction
IIoT Requirements-Design Considerations-Applications of IIoT-
5.3 2
Manufacturing Industry-Health Care Service Industry
Transportation and Logistics-Mining-Firefighting-Smart Dust-
5.4 Drones-Futuristic Farming-Aerospace-Energy Networks- 2
Benefits of IIoT-Challenges of IIoT
Course Code: RAT456

Course Name: IoT AND APPLICATIONS

PART A
1. Discuss on the applications of IoT.

2. Define multihoming.
3. Explain the working of RFID.
4. Compare Stationary WSN and Mobile WSN.
5. Explain the difference between FANET and the existing Ad hoc Networks.
6. What is Open Flow protocol? Explain.
7. Discuss on Community cloud.
8. Explain the challenges in Fog.
9. Discuss on smart home implementation.
10. Explain the benefits of IIoT.
PART B
Module 1
11. With neat sketch explain the Functional components of IoT and implementation of
IoT.
12. Discuss on IoT identification and data protocols.
Module 2
13. Discuss on (a) ZigBee (b) NFC.

14. Explain the applications of WSN with suitable examples.
Module 3
15. Discuss M2M communication in detail.

16. Explain the architecture and controller Placement of SDN.
Module 4
17. With neat sketch discuss on the different Cloud computing service models.
18. Explain the architecture and working of Fog.
Module 5
19. Discuss in detail on Home Area Networks (HANs).

20. With suitable examples explain the applications of IIoT.
RAT476 SUPERVISORY CONTROL
PEC 2 1 0 3
Preamble: To get knowledge about different supervisory control systems in industrial

automation.
Prerequisite: Nil
CO1 Understand basic process control loops

CO2 Design and develop ladder based PLC programs
CO3 Illustratesimple computerized process control systems such as DAQ and DDC
CO4 Illustrate SCADA systems and its building blocks for industrial automation
CO5 Understand Distributed Control System and its applications.
PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7 PO 8 PO 9 PO PO PO
10 11 12
CO 3 3
1
CO 3 2
2
CO 3 2
3
CO 3 3
4
CO 3 3
5
Assessment Pattern
Bloom’s Category Continuous Assessment Tests End Semester Examination

1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total CIE ESE ESE Duration

Marks
150 50 100 3 hours

1. Discuss the steps for compuetrized process control
2. Discuss different control algorithms such as feedforward and cascade control loops.

1. Discuss the programming languages and simple programs with PLC.
2. Explain the protocols for PLC communication.

1. Explain Direct Digital Control(DDC).
2. Explain Data Acquisition Systems.

1. Discuss the architecture of SCADA systems.
2. Discuss the communication systems applicable to SCADA.

1. Explain the basics of Distributed Control System(DCS).
2. Explain various interfaces in DCS.
3. Explain the protocols used in DCS.

SYLLABUS
Module I (6 Hours)
Process Control Loops: Feedback control, feed forward control, Cascade control, Ratio
control, Split range control.
Computerized control: Basic building blocks of Computer controlled systems, advantages.
Programmable Logic Controller: Definition of PLC Architecture of PLC, Input and output
modules, Types of inputs and outputs, analog and discrete I/O modules, power supply of
PLCs
Module II (8 Hours)
PLC programming languages, Ladder programming, Relay logic, Timers and counters,
simple programs in PLC, math operations, sequencers, program control instructions, analog
instructions, case studies- bottle filling system, gate control system.
Interfacing PLC to SCADA/DCS using communication link (RS232, RS485) , Protocols

(Modbus ASCII/RTU) and OPC.
Direct digital control: block diagram, multiplexers, demultiplexers, ADC, Data Acquisitions
systems.
SCADA: SCADA Fundamentals: Introduction, Open system: Need and advantages, Building
blocks of SCADA systems, Remote terminal unit (RTU), Human-Machine Interface (HMI)
subsystem.
Module IV (7 Hours)
SCADA communication systems, Master Station: Master station software components,

Master station hardware components, Server systems in the master station, Small, medium,
and large master stations, Global positioning systems (GPS), software architecture of
SCADA
Distributed Control System : DCS - Architectures, Comparison, Local control unit, Process
interfacing issues, Communication facilities. Various function Blocks.
Module V (7 Hours)
LCU communication Facilities - Communication system requirements – Architectural Issues

Operator displays, Operator Interfaces – Engineering Interfaces. Development of Field
Control Unit (FCU) diagram for simple control applications. Introduction to HART and Field
bus protocol. Interfacing Smart field devices (wired and wireless) with DCS controller.
Introduction to Object Linking and Embedding (OLE) for Process Control, Automation in the
cloud with case studies.
Text Books:
1. Programmable Logic Controllers Frank D Petruzella McGraw Hill 4th Edition, 2011
2. Power System SCADA and Smart Grids Mini S. Thomas CRC Press 3rd Edition,2015
3. Michael P. Lukas, Distributed Control Systems: Their Evaluation and Design, Van
Nostrand Reinhold Co., 1986
4. D. Popovic and V.P.Bhatkar,’ Distributed computer control for industrial
Automation’ Marcel Dekker, Inc., Newyork ,1990.
Reference Books
1. Deshpande P.B and Ash R.H, Elements of Process Control Applications, ISA Press,
New
York, 1995.
2. Curtis D. Johnson, Process Control Instrumentation Technology, Pearson New
International, 8th Edition, 2013.
3. Krishna Kant, Computer-based Industrial Control, Prentice Hall, New Delhi, 2nd
Edition, 2011.
4. D. Patranabis , P, Principles of Process Control, Tata McGraw Hill Education, 2012.
No Topic No. of
Lectures
1
1.1
Process Control Loops: Feedback control, feed forward control, Cascade 1
control, Ratio control, Split range control
1.2 Computerized control: Basic building blocks of Computer controlled
1
systems, advantages. .
1.3 Programmable Logic Controller: Definition of PLC Architecture of
PLC, Input and output modules, Types of inputs and outputs, ,analog
4
and discrete I/O modules, power supply of PLCs
2
2.1 PLC programming languages, Ladder programming, Relay logic, Timers

2
and counters, simple programs in PLC
2.2 math operations, sequencers, program control instructions, analog
instructions, case studies-bottle filling system, gate control system . 3
2.3 Interfacing PLC to SCADA/DCS using communication link (RS232,

RS485) , Protocols (Modbus ASCII/RTU) and OPC 3
3.1 Direct digital control: block diagram, multiplexers, demultiplexers,

ADC, Data Acquisitions systems 2
3.2 SCADA: SCADA Fundamentals: Introduction, Open system: Need and

advantages, Building blocks of SCADA systems 3
3.3 Remote terminal unit (RTU), Human-Machine Interface (HMI)

subsystem. 2
4
4.1 SCADA communication systems, Master Station: Master station
software components, Master station hardware components, Server 2
systems in the master station
4.2 Small, medium, and large master stations, Global positioning systems
(GPS), software architecture of SCADA 2
4.3 Distributed Control System : DCS - Architectures, Comparison, Local

control unit, Process interfacing issues, Communication facilities. 3
Various function Blocks.
5.1 LCU communication Facilities - Communication system requirements –

Architectural Issues Oprator displays, Operator Interfaces – Engineering
Interfaces. Development of Field Control Unit (FCU) diagram for 3
simple control applications
5.2 Introduction to HART and Field bus protocol. Interfacing Smart field
devices (wired and wireless) with DCS controller 2
5.3 Introduction to Object Linking and Embedding (OLE) for Process

Control, Automation in the cloud with case studies. 2
MODEL QUESTION PAPER


Course Name: Supervisory Control
PART A
1 List out the power supplies commonly used for PLC. (3)
2 How the set point is controlled in a cascade control loop. (3)
3 Which all the registers are available in a counter of a PLC. (3)
4 Differentiate between RS 232, RS422, and Rs 485. (3)

5 Define the resolution of an ADC. Find out the resolution of a 10 bit ADC (3)
6 What will be the main role of RTU in a local station in a SCADA system. (3)
7 What is the role of GPU in a SCADA system. (3)
8 Illustrate the role of DIO in local stations in a Distributed Control System. (3)
9 Illustrate the communication facilities arranged in LCUs. (3)
10 .Demonstrate the features of OLE for process control. (3)
PART B
MODULE1
11 a Describe thecascade control with a suitable application. (7)
)
b Why the feed forward control is called an anticipatory control. (7)
)
12 a Illustrate the different types of Input modules in PLC (8)

)
b With a neat diagram explain the architecture of PLC. (6)
)
MODULE II
a Explain the different types of timers used in PLC ladder program. (8)
13
)
b Design a PLC program and prepare a typical I/O connection diagram and (6)
) ladder logic program for the following counter specifications.
14
1. Counts the number of times a push button is closed.
2. Decrements the accumulated value of the counter each time a second
push button is closed.
3. Turns on a light any time the accumulated value of the counter is less
than 20.
Describe MODBUS protocol. Differentiate between different modes of (14)
operations.
MODULE III
a Discuss the basic building blocks of a SCADA system. (8)
15
)
b With a neat block diagram explain DAQ. (6)
)
16 a Describe the process of developing the HMIs and its role in SCADA system. (8)
)
b With a neat diagram explain the Direct Digital Control for an HVAC system. (6)
)
MODULE IV
17 a Explain with a neat diagram the software architecture of a SCADA system (6)
)
b Differentiate the role of LLHI and HLHI in DCS. (8)
)
18 a Explain the architecture of DCS with appropriate diagrams. (7)
)
b Discuss the master station software and hardware components in SCADA. (7)
)
Module V
19 a Write short notes on the communication system requirements of DCS (14)
)
b How the smart devices are interconnected to Distributed Control System both
) in wired and wireless manner.
20 a Write shore notes on 1. HART protocol 2. Fieldbus.. (8)

)
b Differentiate between operator level interface and engineering level interface (6)
) in DCS
****
SEMESTER VIII
PROGRAM ELECTIVE V
MECHATRONIC SYSTEM CATEGORY L T P CREDIT

RAT418
DESIGN PEC 2 1 0 3
Preamble: To expose students to the basics of Mechatronics which include principles and
working of devices and elements for Mechatronics
Prerequisite: Basic knowledge in Sensors and Transducers, Control engineering
Explain the basics of Mechatronics which include Integrated circuit and printed
CO 1
circuit board manufacturing processes.
Examine various types of transducers used in industrial automation, machine
CO 2
control systems and instrumentation systems.
CO 3 Examine different types of actuators and its actuating mechanism.
Perceive basic concepts of feedback and intelligent control, Components Based
CO 4
Modular Design.
CO 5 Explain basic concepts of design and integration of Mechatronic systems.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 3
CO 2 3 2 3
CO 3 3 2 3
CO 4 2 3
CO 5 2 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 50
Apply 20 20 40
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. Elucidate the design aspect of Mechatronics discipline.

2. Enlist the main technical areas under research domain Mechatronics.
1. Determine the acceptance angle for a single fiber with a numerical aperture of 0.096.
2. A piezoelectric transducer has an output voltage of 3V at no load conditions. It has a
capacitance 250 Pf. Find the voltage across the load at high frequencies.
1. A 6 pole lap connected shunt generator has armature and field resistance of 0.05W
and 125W respectively.If it drives a current of 200 A and 500 V, calculate shunt field
current, armature current and generated emf..
2. Differentiate between shaft, spindle and axle. Give practical examples of each.
1. Draw the block diagram of a process influenced by the fault..

2. Discuss the various stages of the design process in terms of validation implementation
1. Why is the present trend towards flexible automation rather than fixed automation?.
2. Give an overview of AGV architecture.
SYLLABUS
Module 1 (9 Hours)
Introduction to Mechatronics: Introduction -multidisciplinary scenario – origins –

evolution of Mechatronics – an overview of Mechatronics – brief introduction to
manufacturing – design – Mechatronics in products Scope of Mechatronics-advantages and
disadvantages - applications.
Transducers and Sensors Difference between transducer and sensor – transducer types –
transduction principle – photoelectric transducers – thermistors – thermo devices –
thermocouple – inductive transducers – capacitive transducers – pyro electric transducers –
piezoelectric transducer – hall-effect transducer – light emitting diode – optical encoder –
bimetallic strip – bourdon tube – strain gauge – load cell diaphragms – mechanical switches –
flow transducers – fibre optic transducers.
Module 2 (7 Hours)
Actuators and Mechanisms Actuator types and application areas – electromechanical

actuators – DC motor – AC motors – pneumatic actuators – Fluid power actuators –
piezoelectric actuators – magneto strictive actuators – memory metal actuator – mechanisms
– bearings – belt & chain – pulleys – gears – rack and pinion – ratchet, pawl & crank – slider
and crank – cams and followers – Geneva wheel – four bar linkages.
Module 3 (6 Hours)
Feedback and Intelligent Control Defining automatic control methods – Artificial Neural
Network-Fuzzy logic-Diagnostics: mathematical description of process and faults, FDI
phases - FDI approaches- merits and demerits – analog versus digital control.
Module 4 (8 Hours)
Components Based Modular Design and System: Validation Introduction-Components

based modular design view – system validation – validation methodology – more about
validation scheme – fusion technique.
Integration Background – advanced actuators – consumer mechatronic products – hydraulic

fingers – surgical equipment – industrial robot – drilling machine – conveyor based material
handling systems
Module 5 (6 Hours)
Mechatronic Design Strategy spindle system review – dynamic modelling of HSSS –

important design criteria – diagnostics and prognostics – sea scheme – approach to the design
of a control systems – remote monitoring and control.
Text Books
1. Nitaigour Premchand Mahalik, “Mechatronics: Principles, Concepts and

Applications”, McGraw Hill Education.
2. A.K Sawhney, “A course in Electrical and Electronic Measurements and
Instrumentation”, Dhanpat Rai & Co. (P) Limited.
3. D. Patranabis, “Sensor & transducers”, Prentice Hall India Learning Private Limited,
2/e.
4. 4. Godfrey Onwubolu “Mechatronics-Principles and
Applications”,ButterworthHeinemann.
Reference Books
1. M.D.Singh & J.G.Joshi, “Mechatronics”, Prentice Hall India Learning Private

Limited.
2. Yoram Koren, “Computer Control of Manufacturing Systems”, McGraw Hill
Education, 1/e.
No. of
No Topic
Lectures
1 MODULE 1
1.1 Introduction -multidisciplinary scenario – origins – evolution of

Mechatronics – an overview of Mechatronics – brief introduction
2
to manufacturing – design – Mechatronics in products-Scope of
Mechatronics-advantages and disadvantages - applications.
1.2 Difference between transducer and sensor, transducer types,
transduction principle. 1
1.3 Photoelectric transducers, thermistors, thermo devices,

thermocouple 1
1.4 Inductive transducers, capacitive transducers, pyro electric

transducers, piezoelectric transducer, hall-effect transducer. 2
1.5 Light emitting diode, optical encoder, bimetallic strip, bourdon

tube. 1
1.6 Strain gauge, load cell diaphragms, mechanical switches, flow

transducers, fibre optic transducers. 2
2 MODULE 2
2.1 Actuator types and application areas, electromechanical actuators,

2
DC motor, AC motors- pneumatic actuators
ROBOTICS
2.2 Fluid power actuators, piezoelectric actuators, magneto strictiveAND AUTOMATION
2
actuators, memory metal actuator
2.3 mechanisms, bearings, belt & chain, pulleys, gears, rack and pinion 1.5
2.4 Ratchet, pawl & crank, slider and crank, cams and followers,
1.5
Geneva wheel, four bar linkages.
3 MODULE 3
3.1 Defining automatic control methods – Artificial Neural Network-

2
Fuzzy logic
3.2 Diagnostics: mathematical description of process and faults 2
3.3 FDI phases, FDI approaches, merits and demerits, analog versus
2
digital control
4 MODULE 4
4.1 Introduction, Components based modular design view, system

2
validation.
4.2 Validation methodology, more about validation scheme, fusion
1
technique.
4.3 Integration Background ,advanced actuators ,consumer
mechatronic products , hydraulic fingers ,surgical equipment 3
,industrial robot
4.4 drilling machine , conveyor based material handling systems 2
5 MODULE 5
5.1 Spindle system review ,dynamic modelling of HSSS , important

3
design criteria , diagnostics and prognostics ,sea scheme
5.2 Approach to the design of a control systems – remote monitoring
3
and control.
Model Question Paper ROBOTICS AND AUTOMATION

Course Code: RAT418
Course Name: MECHATRONIC SYSTEM DESIGN
PART A

s
1 Explain the purpose of standardization and importance of interchangeability. (3 )
2 A flat frequency response within10% is required from a piezoelectric crystal. Find the (3 )
value of minimum frequency for which it can be used if the time constant is 2ms.Find
also the phase shift.
3 A 220 V DC shunt motor takes 10 kW at a speed of 700 RPM. The armature resistance (3 )
is 0.50 Ohm and the brush contact drop is 1.6 V mechanical and iron losses are 495 W.
Calculate the efficiency and net torque
4 Which type of bearing in nanotechnology conformant machineries. Why? ( 3)
5 Give an illustration how the neural network concept has been adopted in the ( 3)
engineering domain
6 Discuss the merits and demerits of FDI approaches ( 3)
7 Explain any two validation methodologies used in component based modular design (3)
approach
8 Why diagnosis is essential in Mechatronic system? Explain. (3)
9 What do you mean by flexible manufacturing? What are the components of flexible (3)
manufacturing? Explain.
10 Explain the role of electromagnetic balancer in HSSS. (3)
PART B
MODULE I
11 a) Mechatronics is the synergistic integration of mechanical engineering with (7)

electronics and intelligent control algorithms in the design and manufacture of
products process. Justify the statement.
b) How has Mechatronics discipline been evolved? Briefly explain various evolution (7)
stages.
12 a) ROBOTICS
A Bimetal cantilever with invar, and brass as two metal stripsAND AUTOMATION
of equal thickness has (7)
a total thickness of 0.125 cm and length 5 cm. Its one end is fixed, estimate the end
deflection for the change of temperature of 40℃.
b) A metallic diaphragm of thickness 3mm used for the measurement of a differential (7)
pressure 2kg/𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐2 is required to give a deflection of its centre by 1 mm. What
should be its diameter if the Young’s modulus and Poisson’s ratio of the element
are 1, 00,000 kg/𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐2 and 0.3 respectively
MODULE II
13 a) Two spur gears of 30 teeth and 40 teeth of 8mm module and 20° pressure angle are (14)
in mesh .Addendum of each gear is 7.5mm .The teeth are of involute form.
Determine i) The angle through which the pinion turns while any pair of teeth are in
contact ii) The velocity of sliding between teeth when the contact on the pinion is at
a radius of 101mm.The speed of the pinion is 445 rpm
14 a) Define gear ratio. With a suitable example, illustrate how to calculate gear ratio. (14)
MODULE III
15 a) Draw the general architecture of a model based FDI scheme and explain (14)
16 a) Discuss in detail on artificial neural network. (14)
MODULE IV
17 a) Discuss in detail about the design considerations of a hydraulic finger and its (14)
applications
18 a) What are the issues and challenges faced in the design of a conveyor based material (14)
handling systems. Propose a solution to address any one of the concern discussed
MODULE V
19 a) Draw and explain a possible scheme for smart motorized actuator integration (14)
20 a) What is SEA scheme? Explain in detail. (14)
****
RAT428 VIBRATION
PEC 2 1 0 3
Preamble: The objective of this course is to present the fundamentals of various types of
vibrations and develop mathematical models of vibratory system, analyze free and forced
vibration of single and two-degree of freedom systems and free vibration of continuous
systems
Prerequisite: Engineering Mechanics
CO 1 Classify different types of vibrations and develop mathematical models of

vibratory systems.
CO 2 Analyse free and forced vibrations of single degree of freedom systems.
CO 3 Analyse the free and forced vibration of two degree of freedom systems.
CO 4 Analyse free vibration of continuous systems
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3 1 1 1 1 1
CO 2 3 3 1 1 1 1 1
CO 3 3 3 1 1 1 1 1
CO 4 3 3 1 1 1 1 1
Assessment Pattern
1 2
Remember
Understand 15 15 30
Apply 21 21 42
Analyse 14 14 28
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.

1. Discuss the SHM and natural undamped vibrations
2. Find the equivalent spring constant of a uniform rod of length l, cross-sectional area
A, Area Moment of Inertia I and Young’s modulus E

1. Formulate equation of motion of a single-degree-of-freedom system using
D’Alembert’s principle
2. Explain free vibration of a simple pendulum using Newton’s law

1. Obtain the solution to undamped SDOF to harmonic excitation
2. Discuss Harmonic response of damped SDOF systems
Fig. A
1. Derive the equations of motion for the system given in Fig. A and express them in
second order form with mass matrix, stiffness matrix and damping matrix
2. Consider the two degree freedom system of Fig. B below with m1= 10 kg, m2= 1 kg,
k1 = 30N/m, k2=5N/m, k3=0N/m. For c1=c2=c3=0,
Find the normal modes (or eigenvectors) for free vibration response of the system
Fig. B

1. Compare torsional vibrations and lateral vibrations
2. Find the natural frequencies of two inertias connected by a single spring
SYLLABUS
Module 1 (6 Hours)
Introduction to Vibrations
Mechanical vibrations - Vibrational elements – problem classification – steps in vibration

analysis - elements of mechanical vibration systems – periodic and harmonic motion –
equation of motion of various dynamic systems
Module 2 (7 Hours)
Free vibration of single-degree-of-freedom systems
Vibration of Single Degree Of Freedom (SDOF) systems- equation of motion of a single-

degree-of-freedom system using Newton’s second law - D’Alembert’s principle - and the
principle of conservation of energy - natural frequency and damped frequency for the single-
degree-of freedom system - Free vibration of SDOF systems - undamped and viscously
damped free vibration – underdamped - overdamped - critically damped systems.
Module 3 (7 Hours)
Harmonically Excited vibration
Response of the undamped single-degree-freedom system to harmonic excitations -

resonance and beating phenomena - response of the damped single-degree-freedom system to
harmonic excitations - response of the single-degree-of-freedom system to arbitrary forces
using convolution integral - Forced vibration of SDOF systems - Harmonically excited SDOF
systems - rotating unbalance - support harmonic excitation
Module 4 (9 Hours)
Vibration of two-degree-of-freedom Systems

Vibration of two degree of freedom systems - equations of motion of two-degree-of-freedom
systems - mass, stiffness and damping matrices from the equations of motion - mode shapes
and natural frequencies of the system - free vibration and forced vibration solution for two-
degree-of freedom systems – co-ordinate decoupling – principal coordinates.
Module 5 (7 Hours)
Vibration of continuous systems

Vibration of continuous systems - Transverse vibration of a string - axial vibration of a rod -
torsional vibration of a shaft - free vibration response of a rectangular membrane -
formulation and solution of differential eigenvalue problem
Text Books
1. W T Thomson, M D Dahleh and C Padmanabhan, ”Theory of Vibrations”, Pearson

Education International, 2018
2. S S Rao, “Mechanical Vibrations”, Pearson Education, 2018
3. Daniel J. Inman, “Engineering Vibrations”, Prentice Hall, 2007.
Reference Books
1. Leonard Meirovitch, “Fundamentals of Vibrations”, McGraw Hill International

Edition, 2010
2. J. P. Den Hartog, “Mechanical Vibrations”, Crastre Press, 2008
3. Bruno, S. Tamadonni & Graham S. Kelly, ” Mechanical Vibrations ” Schaum’s Out

line Series, Mc-Graw Hill Inc, 1998.
No. of
No Topic
Lectures
1 Introduction to Vibrations (6 Hours)
1.1 Introduction to Vibrations – Vibrational elements 1 Hour
1.2 Problem classification and Study of mechanical vibrations 1 Hours
Steps in vibration analysis and important elements of every mechanical 2 Hours

1.3
vibration systems
Periodic and harmonic motion and equation of motion of various 2 Hours

1.4
dynamic systems
2 Free vibration of single-degree-of-freedom systems (6 Hours)
Vibration of Single Degree Of Freedom (SDOF) systems and equation 3 Hours

of motion of a single-degree-of-freedom system using Newton’s second
2.1
law, D’Alembert’s principle and the principle of conservation of energy
-
Natural frequency and damped frequency for the single-degree-of 1 Hours
2.2
freedom system
Free vibration of SDOF systems - undamped and viscously damped free 2 Hours
2.3
vibration. Underdamped, overdamped and critically damped systems.
3 Harmonically Excited vibration (7 Hours)
Response of the undamped single-degree-freedom system to harmonic 3 Hours

3.1 excitations. Resonance and beating phenomena. Response of the damped
single-degree-freedom system to harmonic excitations
Response of the single-degree-of-freedom system to arbitrary forces 2 Hour

3.2
using convolution integral
3.3 Quality factor of the vibrations. 1 Hour
Forced vibration of SDOF systems - Harmonically excited SDOF 1 Hour

3.4
systems - rotating unbalance - support harmonic excitation
4 Vibration of two-degree-of-freedom Systems (9 Hours)
4.1 Vibration of two degree of freedom systems and equations of motion of 2 Hour
two-degree-of-freedom systems
Mass, stiffness and damping matrices from the equations of motion. 2 Hour
4.2 Mode shapes and natural frequencies of the system Trajectory
generation
Free vibration and forced vibration solution for two-degree-of freedom 1 Hours
systems. Perform co-ordinate decoupling and obtain principal
4.3 coordinates.
4.4 Cubic polynomial for a path, Joint space trajectory generation using 2 Hour
single degree polynomial
Numerical examples on finding the coefficients of cubic that 2 Hour
4.5
accomplishes the motion of a joint
5 Vibration of continuous systems (7 Hours)
5.1 Vibration of continuous systems and Transverse vibration of a string 2 Hours

5.2 Axial vibration of a rod and torsional vibration of a shaft 2 Hours
5.3 Free vibration response of a rectangular membrane 2 Hours
5.4 Formulation and solution of differential eigen value problem 1 Hour
Course Code: RAT428
Course Name: VIBRATION
PART A
1. Discuss the elements of a vibratory system.

2. Illustrate different types of vibratory motion
3. Explain any two single degree of freedom system.
4. Present the equation of motion of single degree of freedom system using Newton’s
laws of motion.
5. Explain forced vibration due to rotating unbalance
6. Comment on harmonically excited vibration
7. Explain undamped 2- degree of freedom system model.
8. When will the differential equations of motion for two DOF free vibration system are
said to be coupled?
9. Discuss the vibration of membranes
10. Compare vibration of continuous and discrete systems.
PART B
Module 1
11. a. A table has a vertical sinusoidal motion with constant frequency. What is the largest
amplitude that the table can have if an object on the table is to remain in contact? (7)
b. A periodic motion is described by the equation x = 5 sin 2πt + 3 sin 4πt. In a plot of
x versus t , sketch the motion for 0 ≤ t ≤ 1.5s (7)
12. a. The motion of a particle is described as x = 4 sin (ωt + π/6). If the motion has two
components, one of which is x1=2sin(ωt-π/3) determine the other harmonic
component. (7)
b. An accelerometer indicates that the acceleration of a body is sinusoidal at a

frequency of 40 Hz. If the maximum acceleration is 100 m/s2 find the amplitudes of the
displacement and the velocity. (7)
Module 2
13. Derive the equation of motion of a spring mass system using energy method. Also
derive the natural frequency of the system. (14)
14. A component of a machine is represented schematically in Fig. 1.Derive its equation
of motion (14)
Fig 1: One degree of freedom system with damping
Module 3
15 Describe the two important phenomena, beats and resonance, that occurs when
driving frequency comes close to the system’s natural frequency. (14)
16 Develop the equation for the total response of a single degree of freedom system with
damping to harmonic excitation using a spring – mass model (14)
Module 4
17 Obtain the equation of motion for a two degree of freedom system shown in Fig. 2
(14)
Fig. 2
18. Find the natural frequencies and mode shapes of a spring mass system shown in Fig. 3 ,
which is constrained to move in the vertical direction
Fig. 3 (14)
Module 5
19. Fig. 4 shows a tightly stretched elastic string or cable of length l subjected to a
distributed transverse force f (x, t) per unit length. Obtain one dimensional wave equation
Fig.4 (14)
20. Find the free vibration response of a rectangular membrane when it is struck such that the
middle point experiences a velocity V0 at t = 0.
(14)
RAT438 COOPERATIVE ROBOTICS
PEC 2 1 0 3
Preamble: This course helps the student to have a basic idea of Cooperative robotics.
various control problems, consensus algorithms and their applications are also included as
part of the course to get an overall idea on this topic.
Prerequisite: Nil
CO 1 Familiarise with various robotic components and controllers

CO 2 Describe various design approaches
CO 3 Understand various consensus algorithms and their applicability
CO 4 Analyse the use of coupling in cooperative control problems
Apply distributed cooperative control problems with and without an optimization
CO 5
objective
CO 6 Familiarise various applications to multivehicle cooperative control
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 1 3
CO 2 2 1 3
CO 3 2 1 3
CO 4 3 2 2 3
CO 5 3 2 2 3
CO 6 3 2 2 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. Differentiate between effector and actuator in robots.
2. What is meant by Degrees of Freedom?
1. Differentiate between top-down and bottom-up approaches with the help of examples.
1. Differentiate between Formation Manoeuvring and Flocking.
2. Explain Lyapunov Analysis of Consensus Algorithms.
1. Differentiate between Objective Coupling and Local Coupling.
2. What is meant by Dynamic coupling?
1. Differentiate between centralized and decentralized architecture.
2. How to find formation control strategies for each spacecraft

SYLLABUS
Module I ( 6 Hours)
Introduction to robotics:Components, Odometry, Kinematics, Control, Finite State

Machines as Robot Controllers, State Transitions Based on Robot–Robot Interactions, Early
Micro-Macro Problems, Macroscopic Perspective, Expected Macroscopic Dynamics and
Feedbacks
Discrete Consensus Achievement in Artificial Systems: Consensus Achievement, The

Best-of-n Problem, Overview of Current Design Approaches, Bottom–Up Design
Approaches, Top–Down Design Approaches
Consensus Algorithms in Cooperative Control: Fundamental Consensus Algorithms,

Convergence Analysis of Consensus Algorithms, Synthesis and Extensions of Consensus
Algorithms, Design of Coordination Strategies via Consensus Algorithms.
Module IV ( 7 Hours)
Consensus-based Design Methodologies for Distributed Multivehicle Cooperative

Control:
Coupling in Cooperative Control Problems: Objective Coupling, Local Coupling, Full

Coupling, Dynamic Coupling
Approach to Distributed Cooperative Control Problems with an Optimization Objective:

Cooperation Constraints and Objectives, Coordination Variables and Coordination Functions,
Centralized Cooperation Scheme, Consensus Building
Approach to Distributed Cooperative Control Problems Without an Optimization Objective:

Coordination Variable Constituted by a Group-level Reference State, Coordination Variable
Constituted by Vehicle States
Module V ( 7 Hours)
Applications to Multivehicle Cooperative Control: Rendezvous and Axial Alignment with

Multiple Wheeled Mobile Robots, Distributed Formation Control of Multiple Wheeled
Mobile Robots with a Virtual Leader, Deep Space Spacecraft Formation Flying, Cooperative
Fire Monitoring with Multiple UAVs, Cooperative Surveillance with Multiple UAVs
Text Books
1. Hamann, Heiko, Swarm robotics: A formal approach, Springer, 2018.

2. Ren, Wei, and Randal W. Beard, Distributed consensus in multi-vehicle cooperative
control, Springer London, 2008.
3. Valentini, Gabriele. "Achieving consensus in robot swarms", Studies in computational
intelligence, 2017.
Reference Books
1. Mahulea, Cristian, Marius Kloetzer, and Ramón González, Path planning of
cooperative mobile robots using discrete event models, John Wiley & Sons, 2020.
2. Koubâa, Anis, and AbdelmajidKhelil, Cooperative Robots and Sensor Networks
2014, Springer, 2014.
3. Asama, Hajime, Toshio Fukuda, Tamio Arai, and Isao Endo, Distributed autonomous
robotic systems 2, Springer Science & Business Media, 2013.
No. of
No Topic
Lectures
1 MODULE 1
Introduction to robotics: Components, Odometry, Kinematics,

Control, Finite State Machines as Robot Controllers, State Transitions
1.1 Based on Robot–Robot Interactions, Early Micro-Macro Problems, 6
Macroscopic Perspective, Expected Macroscopic Dynamics and
Feedbacks
2 MODULE 2
Discrete Consensus Achievement in Artificial Systems: Consensus

Achievement, The Best-of-n Problem, Overview of Current Design
2.1 7
Approaches, Bottom–Up Design Approaches, Top–Down Design
Approaches
3 MODULE 3
Consensus Algorithms in Cooperative Control: Fundamental

Consensus Algorithms, Convergence Analysis of Consensus
3.1 7
Algorithms, Synthesis and Extensions of Consensus Algorithms,
Design of Coordination Strategies via Consensus Algorithms .
4 MODULE 4
Consensus-based Design Methodologies for Distributed

Multivehicle Cooperative Control:
Coupling in Cooperative Control Problems: Objective Coupling,

4.1 Local Coupling, Full Coupling, Dynamic Coupling 2
4.2 Approach to Distributed Cooperative Control Problems with an 2.5

Optimization Objective: Cooperation Constraints and Objectives,
Coordination Variables and Coordination Functions, Centralized
Cooperation Scheme, Consensus Building
Approach to Distributed Cooperative Control Problems Without an

Optimization Objective: Coordination Variable Constituted by a
4.3 Group-level Reference State, Coordination Variable Constituted by 2.5
Vehicle States
5 MODULE 5
Applications to Multivehicle Cooperative Control: Rendezvous

and Axial Alignment with Multiple Wheeled Mobile Robots,
Distributed Formation Control of Multiple Wheeled Mobile Robots
5.1 7
with a Virtual Leader, Deep Space Spacecraft Formation Flying,
Cooperative Fire Monitoring with Multiple UAVs, Cooperative
Surveillance with Multiple UAVs

Course Code: RAT438
Course Name: Cooperative Robotics
PART A
1 Explain the problem of forward kinematics. (3)
2 Explain the terms: Non-systematic Errors, Systematic Errors, and (3)

Calibration
3 Briefly explain navigation-based Approaches for consensus (3)

achievement
4 What is meant by Automatic Modular Design? (3)
5 Explain lyapunov analysis of consensus algorithms (3)
6 What is meant by the rendezvous problem? (3)
7 Explain the terms: Local Coupling, Full Coupling and Dynamic (3)
Coupling
8 What is meant by cooperation constraints and objectives? (3)

9 Briefly explain any three applications to Multivehicle Cooperative (3)
Control
10 Explain centralized coordination architecture via the virtual structure (3)
approach.
PART B
MODULE I
11 a) Briefly explain various components of a robot. (7)
b) What is meant by Kinematics? Discuss various kinematics problem (7)
12 a) Write a note on various robot controllers. (6)
b) Explain odometry in robotics. (8)
MODULE II
13 a) Describe the current design approaches used for consensus (7)

achievement
b) Which are the top-down design approaches used for consensus (7)
achievement? Explain in detail.
14 a) Explain the best-of-n problem in detail. (6)
b) Explain various bottom–up design approaches used for consensus (8)

achievement.
MODULE III
15 a) Briefly explain convergence analysis of consensus algorithms. (7)
b) Explain the design of coordination strategies via consensus algorithms (7)
16 a) Describe the synthesis and extensions of consensus algorithms. (7)
b) Explain the convergence analysis for dynamic communication (7)

topologies
MODULE IV
17 a) Write a note on coupling in cooperative control problems. (8)
b) Explain coordination variables and coordination functions (6)
18 a) Explain the term consensus building. (7)
b) Explain the approach to distributed cooperative control problems (7)

without an optimization objective
MODULE V
19 a) Explain the distributed formation control architecture that (7)

accommodates an arbitrary number of subgroup leaders and ensures
accurate formation maintenance through information coupling between
neighbors.
b) Explain the decentralized architecture via the virtual structure approach (7)
20 a) Explain the decentralized formation control strategies for each space (7)
craft.
b) Explain any one of the applications to multivehicle cooperative control (7)
****
RAT448 ROBOT NAVIGATION
PEC 2 1 0 3
Preamble: Robot navigation deals with the ability of the robot to determine its own position
in its frame of reference and then to plan a path towards a goal location. Students will learn
the various aspects and techniques associated with robot navigation.
Prerequisite: RAT301 Introduction to Robotics
CO 1 Describe sensors for perception in navigation

CO 2 Compare various methods for robot localization
CO 3 Explain the techniques of motion in Potential Field and Navigation Function
CO 4 Use information from satellites for navigation
Apply SLAM and Occupancy Grid mapping to localization and mapping in robot
CO 5
navigation
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 2 2 2
CO 2 3 2 3 2
CO 3 3 2 3 2
CO 4 3 2 3 2
CO 5 3 2 3 2
Assessment Pattern
1 2
Remember 20 10 20
Understand 30 20 40
Apply 20 40
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.

1. Explain the terms perception and localization.
2. Describe odometry sensor with necessary diagrams.
3. Explain color tracking sensors.
1. Describe Markov localization.
2. Compare Localization-Based Navigation versus Programmed Solutions.
3. Describe any two challenges of the localization problem.
1. Define configuration space and free configuration space.
2. Describe the technique of Gradient Descent without constraints.
3. Derive the navigation function in static deterministic environments.
1. Describe Trilateration with necessary diagrams.
2. Describe the issues associated with Urban Navigation using GNSS and the solutions.
3. Outline the threats to GNSS.
1. Distinguish between the online SLAM and full SLAM problems.
2. Explain multi sensor data fusion for mapping.
3. Explain the SLAM algorithm for the case with known correspondence.
.
SYLLABUS
Module I (6 Hours)
Building blocks of navigation: Definitions - perception, localization, cognition, motion

control
Perception: Sensors for Perception - Schematic representation of the sensing unit, Obstacle
Sensor (Bumper), the odometry sensor, Heading sensors - Gyroscopes, IMUs, Distance
sensors - ToF, Phase shift, triangulation, ultrasonic rangefinders, Ground based beacons,
GPS, Motion field and optical flow, Color tracking sensors, Feature Extraction - Feature
Definition, Target Environment, Environment representation
Module II (8 Hours)
Localization: General schematic for mobile robot localization, Challenge of Localization -

Sensor noise and Sensor aliasing, Effector noise, Error model for odometric position
estimation
Localization-Based Navigation versus Programmed Solutions, Belief Representation, Map

Representation - Continuous Representation, Decomposition Strategies, current challenges in
map representation, Probabilistic Map-Based Localization - Markov localization, Kalman
filter localization, Application to mobile robots: Kalman filter localization - schematic, Robot
position prediction, Observation, Measurement prediction, Matching, Estimation, Landmark-
based navigation, Globally unique localization, Positioning beacon systems, Route-based
localization, Autonomous Map Building - stochastic map technique, Challenges - Cyclic
environments, Dynamic environments

Motion in Potential Field and Navigation Function
Problem Statement, configuration space, free configuration space, Gradient Descent Method
of Optimization, Gradient Descent without and with Constraints, Minkowski Sum, Potential
Field, Navigation Function - in Static Deterministic Environment, in Static Uncertain
Environment, Navigation Function and Potential Fields in Dynamic Environment -
Estimation, Prediction, Optimization
Module IV (7 Hours)
Satellite Navigation
Introduction to Satellite Navigation, Trilateration, Position Calculation - Multipath Signals,

GNSS Accuracy Analysis, Dilution of Precision, Coordinate Systems, UTM Projection,
Local Cartesian Coordinates, Velocity Calculation, Urban Navigation - Urban Canyon
Navigation, Map Matching, Dead Reckoning – Inertial Sensors, Incorporating GNSS Data
with INS - Modified Particle Filter, Estimating Velocity by Combining GNSS and INS, A-
GPS, DGPS Systems,, RTK Navigation, GNSS Threats
Module V (7 Hours)
Simultaneous Localization and Mapping SLAM:
Introduction to SLAM, SLAM with Extended Kalman Filters - Setup and Assumptions,
SLAM with known correspondence (mathematical derivation not required), SLAM with
unknown correspondences, The General EKF SLAM Algorithm, Feature Selection and Map
Management
SLAM implementation in ROS (Assignment only)
Occupancy Grid Mapping - the Occupancy Grid Mapping Algorithm, Multi sensor fusion,
Learning Inverse Measurements Models - Inverting the measurement model, Sampling from
the Forward Model, The Error Function
Text Books
1. Introduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh,
MIT Press
2. Autonomous Mobile Robots and Multi-Robot Systems - Motion-Planning,
Communication, and Swarming, Kagan, Shvalb, Ben-Gal, Wiley
3. Probabilistic Robots, Thrun, Burgard, Fox, MIT Press
Reference Books
1. Planning Algorithms, Steven M. LaValle, Cambridge University Press

2. Robot Motion Planning, Jean- Claude Latombe, Springer Science+Business Media
No. of
No Topic
Lectures
1 Building blocks of navigation
Definitions - perception, localization, cognition, motion control
1.1 Perception: Sensors for Perception - Schematic representation of the 1

sensing unit
Obstacle Sensor (Bumper), the odometrysensor,Heading sensors -

1.2 Gyroscopes, IMUs 2
Distance sensors - ToF, Phase shift, triangulation, ultrasonic

1.3 rangefinders, Ground based beacons, GPS, Motion field and optical flow 2
Color tracking sensors, Feature Extraction - Feature Definition, Target

1.4 Environment, Environment representation 1
2 Localization
General schematic for mobile robot localization, Challenge of

2.1 1
Localization - Sensor noise and Sensor aliasing, Effector noise, Error
model for odometric position estimation
Localization-Based Navigation versus Programmed Solutions, Belief

2.2 Representation, Map Representation - Continuous Representation, 2
Decomposition Strategies, current challenges in map representation
Probabilistic Map-Based Localization - Markov localization, Kalman

filter localization, Application to mobile robots: Kalman filter
2.3 localization - schematic, Robot position prediction, Observation, 3
Measurement prediction, Matching, Estimation
Landmark-based navigation, Globally unique localization, Positioning

beacon systems, Route-based localization, Autonomous Map Building -
2.4 stochastic map technique, Challenges - Cyclic environments, Dynamic 2
environments
3 Motion in Potential Field and Navigation Function
Problem Statement, configuration space, free configuration space,

3.1 Gradient Descent Method of Optimization, Gradient Descent without 4
and with Constraints, Minkowski Sum
Navigation Function - in Static Deterministic Environment, in Static

Uncertain Environment, Potential Field, Navigation Function and
3.2 Potential Fields in Dynamic Environment - Estimation, Prediction, 3
Optimization
4 Satellite Navigation
Introduction to Satellite Navigation, Trilateration, Position Calculation -

Multipath Signals, GNSS Accuracy Analysis, Dilution of Precision,
4.1 Coordinate Systems, UTM Projection, Local Cartesian Coordinates, 3
Velocity Calculation
Urban Navigation - Urban Canyon Navigation, Map Matching, Dead

Reckoning – Inertial Sensors, Incorporating GNSS Data with INS -
4.2 Modified Particle Filter, Estimating Velocity by Combining GNSS and 3
INS
4.3 A-GPS, DGPS Systems,, RTK Navigation, GNSS Threats 1

5 Simultaneous Localization and Mapping SLAM
Introduction to SLAM, SLAM with Extended Kalman Filters - Setup
and Assumptions, SLAM with known correspondence (mathematical
derivation not required), SLAM with unknown correspondences, The
5.1 4
General EKF SLAM Algorithm, Feature Selection and Map
Management
SLAM implementation in ROS (Assignment only)
Occupancy Grid Mapping - the Occupancy Grid Mapping Algorithm,
5.2 3
Multi sensor fusion, Learning Inverse Measurements Models - Inverting
the measurement model, Sampling from the Forward Model, The Error
Function


Course Name: Robot Navigation
PART A
s
1 Describe the working of the bumper obstacle sensor. (3)
2 Explain the terms perception and localization. (3)
3 Describe any two challenges of the localization problem. (3)
4 Distinguish between map building in cyclic and dynamic environments. (3)
5 Define configuration space and free configuration space. (3)
6 Summarize the Gradient Descent Method of Optimization. (3)
7 Explain how the accuracy of GNSS is analysed and improved. (3)
8 Outline the threats to GNSS. (3)
9 Distinguish between the online SLAM and full SLAM problems. (3)
10 Summarize the factors that affect the hardness of a mapping problem. (3)
PART B
MODULE1
11 a) Describe a sensing unit using a block schematic representation. (7)
b) Explain Motion field and optical flow techniques. (7)
12 a) Describe odometry sensor with necessary diagrams. (7)
b) Explain color tracking sensors. (7)
MODULE II
13 a) Compare Localization-Based Navigation versus Programmed Solutions. (7)
b) Describe Markov localization. (7)
14 a) Explain in detail Kalman filter localization. (14)
MODULE III
15 a) Describe the technique of Gradient Descent without constraints. (7)
b) Derive the navigation function in static deterministic environments. (7)
16 a) Explain how the Navigation Function and Potential Fields are considered in (14)
dynamic environments.
MODULE IV
17 a) Summarize the various coordinate systems used in GNSS. (7)
b) Describe Trilateration with necessary diagrams. (7)
18 a) Describe the issues associated with Urban Navigation using GNSS and the (7)
b) solutions. (7)
Explain how modified particle filters can be used to solve the problem due to
multipath signals in obtaining position.
MODULE V
19 a) Explain multi sensor data fusion for mapping. (7)
b) Derive the error function for the inverse measurement models. (7)
20 a) Explain the SLAM algorithm for the case with known correspondence. (14)
****
HUMAN-MACHINE CATEGORY L T P CREDIT

RAT458
INTERFACE PEC 2 1 0 3
Preamble:To get knowledge about the state-of-the-art human machine interactive systems.
Prerequisite: Nil
Course Outcomes:After the completion of the course the student will be able to
CO 1 Understand the basics of human and computational abilities and limitations.

CO 2 Design GUIs for human computer interactions.
CO3 Understand the fundamental aspects of designing mobile ecosystems.
CO4 Design the web based interaction systems
CO5 apply appropriate HMI modalities and sensors to design systems that are usable by
people.
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3
CO 2 3 2
CO 3 3 2
CO 4 3 3
CO 5 3 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours

1. What are the fundamental elements in human computer interaction systems.

2. Explain the role of human factors in design.
1. Explain the models of interaction.

2. What are the features of ergonomics in interaction?
1. Explain the mobile ecosystem for interaction.

2. Explain the widgets in mobiles.
1. Explain the web interfaces and their design for interaction

2. Explain the case studies for web based interaction.
1. Explain the role of haptics in interaction.

2. Explain the various displays and projections used for human-machine interaction.
SYLLABUS
Module I (6 Hours)
Introduction to HMI -Natural Communication, types of human-machine interfaces, Human

perception and recognition, Psychology of users, attention, thinking, perception of visual,
sound and haptic incitements. Multimodality, concept of combined reality, virtual reality,
technologies, existing scientific and commercial projects.
Module II (7 Hours)
The interaction: Models of interaction, the terms of interaction, interaction framework, the
ergonomics of interaction, interaction styles, WIMP interface, Experience, engagement and
fun, paradigm of interaction
Module III(7 Hours)
Mobile Ecosystem: Platforms, Application frameworks- Types of Mobile Applications:

Widgets, Applications, Games- Mobile Information Architecture, Mobile 2.0, Mobile Design:
Elements of Mobile Design, Tools. - Case Studies
ModuleIV(7 Hours)
Designing Web Interfaces – Drag & Drop, Direct Selection, Contextual Tools, Overlays,
Inlays and Virtual Pages, Process Flow - Case Studies
Module V(8 Hours)
Technologies and concepts. Haptic interfaces, Haptic perception and recognition,sensors for
sensing of fingers, hands and touching, interactive digital surfaces, manipulation of digital
objects, displays with rear projection.Sound interaction. Basics of acoustics.Psychoacoustics.
Analysis and synthesis of sound.
Text Books:
1. Alan Dix, Janet Finlay, Gregory Abowd, Russell Beale Human Computer Interaction,
3rd Edition Prentice Hall, 2004.
2. Brian Fling, ―Mobile Design and Development‖, First Edition, O‘Reilly Media Inc.,
2009
3. Bill Scott and Theresa Neil, ―Designing Web Interfaces‖, First Edition, O‘Reilly,
2009.
4. Subhas Chandra Mukhopadhyay and Tarikul Islam, Wearable Sensors Applications,
design and implementation, IOP Science 2017
5. Haptics and Haptic Interfaces
6. Katherine Kuchenbecker, Haptics and Haptics interfaces, https://doi.org/10.1007/978-
3-642-41610-1_19-1
7. https://www.researchgate.net/publication/3663200_Multimodal_interfaces_with_voic
e_and_gesture_input
Reference Books
1. Jonathan Lazar Jinjuan Heidi Feng, Harry Hochheiser, Research Methods in

Human Computer Interaction, Wiley, 2010.
No. of
No Topic
Lectures
1
1.1
Introduction to HMI -Natural Communication, types of human-machine
interfaces, Human perception and recognition, Psychology of users, 2
attention, thinking
1.2 perception of visual, sound and haptic incitements. 2
1.3 Multimodality, concept of combined reality, virtual reality, technologies,
2
existing scientific and commercial projects
2
2.1 The interaction: Models of interaction, the terms of interaction, 2
interaction framework
2.2 the ergonomics of interaction 3
2.3 interaction styles, WIMP interface, Experience, engagement and fun,
paradigm of interaction 2
3.1 Mobile Ecosystem: Platforms, Application frameworks 2

3.2 Types of Mobile Applications: Widgets, Applications, Games- Mobile
Information Architecture, 3
3.3 Mobile 2.0, Mobile Design: Elements of Mobile Design, Tools. - Case
Studies 2
4
4.1 Designing Web Interfaces – Drag & Drop, Direct Selection, 2
4.2 Contextual Tools, Overlays, Inlays and Virtual Pages 2
4.3 Process Flow - Case Studies 3
5
5.1 Technologies and concepts. Haptic interfaces, Haptic perception and 2

recognition,.
5.2 sensors for sensing of fingers, hands and touching, interactive digital
surfaces, manipulation of digital objects, displays with rear projection. 3
5.3 Sound interaction. Basics of acoustics.Psychoacoustics. Analysis and

synthesis of sound 3

Course Code: RAT458

Course Name: HUMAN MACHINE INTERFACE
PART A
1 Explain how the concept of virtual reality is integrated into human (3)
machine interaction systems.
2 Explain the concept of multimodality (3)
3 What is meant by command line interaction. (3)
4 Illustrate the designing experience. (3)

5 List out the layers of the mobile ecosystem. (3)
6 What is meant by application framework? (3)
7 List any five events available for cueing the user during a drag and drop (3)
interaction?
8 What is a web widget? (3)
9 Write a short note on psychoacoustics. (3)
10 Explain the working principle of a touch sensor. (3)
PART B
MODULE1
11 a) Describe the different perceptions of visual system. (7)
b) With an example illustrate optical illusion (7)
12 a) Illustrate the role of psychology of users in design. (6)

b) Explain the concept of multimodality, combined modality and virtual (8)
reality in human machine interactive systems.
MODULE II
13 a) Explain interaction framework in detail. (8)
b) What are the elements of WIMP interface. (6)

14 Discuss the features of ergonomics in physical interaction in detail (14)
MODULE III
15 a) Disuse about mobile design tools. (8)
b) Discuss in detail about Mobile Web Widgets. (6)
16 a) Write detailed note on platforms in mobile ecosystem. (8)
b) Discuss about different mobile elements like typography, palatte. (6)
MODULE IV
17 a) What is meant by virtual pages. (6)
b) Draw the schematic of a drag and drop selection. (8)
18 a) Explain the steps for designing a web interface for an agriculture store (14)
with proper steps.
MODULE V
19 a) Explain the different sensors for fingers, hands and touching in detail (14)
20 a) Explain the different types of displays and projections used for (8)
interaction..
b) Highlight the methods through which haptics interfaces are done (6)
****
RAT468 ADAPTIVE CONTROL
PEC 2 1 0 3
Preamble: This paper will make the learners to acquire knowledge about the controllers that
could adapt to changes in process dynamics and disturbance characteristics.
Prerequisites: Nil
CO 1 Understand the adaptive control system with an introduction to adaptive schemes.
CO 2 Design self- tuning controllers.

CO3 Design stochastic self -tuning controllers.
CO4 Understand Model Reference Adaptive Control systems
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 3 3 1
CO 2 3 3 2
CO 3 3 3 2
CO 4 3 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours

14 marks.
1. Explain the basics of adaptive control system.
2. Explain adaptive control schemes.
1. Explain pole placement techniques.
2. Explain different self-tuning controllers.
1. Explain the stochastic self-tuning regulators.
2. Discuss minimum phase and moving average controllers.
1. Explain the Model reference adaptive controllers.
2. Discuss applications of adaptive control.

3. Explain properties of adaptive control systems.
SYLLABUS
Module I( 8 Hours)
Introduction to adaptive control; linear feedback; Effects of process variations; Adaptive

schemes. Applications of adaptive control systems, Direct and indirect adaptive control
Module II (7 Hours)
Introduction to self-tuning regulators- Pole placement design-pole placement design, Indirect

self-tuning controllers, Continuous time self -tuner, Direct self -tuning regulators,
Introduction to Stochastic self-tuning regulators- Design of minimum variance and moving

average controllers.
Stochastic Self tuning regulators: stochastic Indirect self-tuning regulator-Unification of

direct self- tuning regulators Adaptive Predictive Control.
Module IV (7 Hours)
Introduction to model-reference adaptive systems; MIT Rule, Lyapunov theory, design of

MRAS using Lyapunov theory; Bounded-input bounded-output stability; applications to
adaptive control.
Module V (7 Hours)
Properties of Adaptive Systems: Nonlinear dynamics, Analysis of Indirect discrete time self-
tuners, Stability of direct discrete time algorithms, Averaging, Application of averaging
techniques, Averaging in stochastic systems, Robust adaptive controllers.
Text Books:
1. Karl J Astrom and Bjorn Wittenmark, “Adaptive Control”, Pearson Education Inc.,
New Delhi, 2008
Reference Books
1. Ioannou P A and Sun J, “Robust Adaptive Control”, Prentice Hall, 1996.

2. Krstic M, Kanellakopoulos I and Kokotovic P, “Nonlinear and Adaptive Control
Design”, Wiley -Interscience , 1995.
3. Chalam V V, “Adaptive Control Systems – Techniques and Applications”, Marcel
Dekkar Inc., NewJersey, 1987.
4. Shankar Sastry and Marc Bodson, “Adaptive Control – Stability, Convergence and
Robustness”, Prentice Hall Englewood Cliffs, New Jersey, 1989
No. of
No Topic
Lectures
1
1.1 Introduction to adaptive control; linear feedback 1
1.2 Effects of process variations 2

1.3 Adaptive schemes 2
1.4 Applications of adaptive control systems 1
1.5 Direct and indirect adaptive control 1
2
2.1 Pole Placement design-pole placement design 2
2.2 Indirect self-tuning controllers 2
2.3 Continuous time self -tuner 2
2.4 Direct self -tuning regulators 1
3
3.1 Design of minimum variance and moving average controllers 2
3.2 stochastic Indirect self tuning regulator 1
3.3 Unification of direct self tuning regulators 2
3.4 Unification of direct self tuning regulators Adaptive Predictive Control. 2

4
4.1 Introduction to model-reference adaptive systems; MIT Rule 3
4.2 Lyapunov theory, design of MRAS using Lyapunov theory 2

Bounded-input bounded-output stability; applications to adaptive
4.3 control. 2
5
Properties of Adaptive Systems: Nonlinear dynamics, Analysis of
5.1 Indirect discrete time self-tuners 2
5.2 Stability of direct discrete time algorithms 2

Averaging, Application of averaging techniques, Averaging in stochastic
5.3 systems, Robust adaptive controllers. 3

Course Code: RAT468

Course Name: ADAPTIVE CONTROL
PART A
1 Enumerate how the controller is becoming non linear in an adaptive control (3)
system.
2 Discuss the reason for ringing. (3)
3 Express the Bezout identity. (3)
4 Differentiate between minimum phase and non-minimum phase systems. (3)

5 Summarize the properties of Minimum Variance controller (3)
6 Discuss the properties of self-turning regulators (3)
7 Define MIT Rule (3)
8 State the Lyapunov’s condition for stability of linear system. (3)
9 What is meant by Robust adaptive controller. (3)
10 Discuss the use of Gronwall-Bellman lemma. (3)
PART B
MODULE 1
11 a) Discuss the effect of changes in process variations in performance of a (8)
control system.
b) Discuss the direct and indirect adaptive control system. (6)

Discuss about moving average controller.
12 a) Consider a process described by 𝐺𝐺0 (𝑠𝑠) =

𝑘𝑘 𝑝𝑝
, The sign of the gain kp is (6)
𝑠𝑠
unknown. Discuss the conditions for the system to be stable.
b) Summarize the different adaptive schemes. (8)

MODULE II
13 a) Consider a process 𝐺𝐺(𝑠𝑠) =
1
where a is a unknown parameter. (8)
𝑠𝑠(𝑠𝑠+𝑎𝑎)
Assume that the desired closed loop system is 𝐺𝐺 𝑤𝑤 2 .
𝑚𝑚 (𝑠𝑠)= 2
𝑠𝑠 +2𝜁𝜁𝜁𝜁𝜁𝜁 +𝑤𝑤 2
Construct continuous time indirect self-tunning algorithm for the system.

b) Develop an algorithm for indirect self-tuning controller without zero (6)

cancellation.
14 a) 1
Consider the process 𝐺𝐺(𝑆𝑆) = 𝑆𝑆(𝑆𝑆+5). Desired closed loop system is (8)
4
𝐺𝐺𝑑𝑑 (𝑆𝑆) = 𝑆𝑆 2 +3𝑆𝑆+4. Construct an indirect self-tuning algorithm for this
system.
b) Discuss different pole placement designs (6)
MODULE III
15 a) Employ the design steps for a minimum variance controller (7)
b) Discuss adaptive predictive control (7)
16 a) Articulate the design steps of a moving average controller. (14)
MODULE IV
17 a) Explain methods for constructing Lyapunov functions for linear systems (14)
with an example in each case
18 a) Discuss about the design MRAS using Lyapunov theory. (8)

b) Explain the passivity theorem (6)
MODULE V
19 a) Write short notes on the applications of averaging techniques (7)
b) (7)
Explain Robust adaptive controllers
20 a) Discuss the conditions for stability of non-linear systems (8)
b) Highlight the algorithm for stability of direct discrete time systems (6)
****
RAT478 AI FOR ROBOTICS
PEC 2 1 0 3
Preamble:This course will introduce selected topics in Artificial Intelligence (AI) with a
focus on Robotics. Develop a basic understanding of the building blocks of AI as presented
in terms of intelligent agents: Search, Knowledge representation, inference, logic, and
learning. Introduce concepts of expert systems and machine learning.
Prerequisite: Nil
CO 1 Identify and solve problems using appropriate AI methods.

CO 2 Formalize a given problem in the language/framework of different AI methods
CO 3 Describe the learning methods adopted in AI
CO 4 Perform an empirical evaluation of different algorithms on a problem formalization
CO 5 Interpret variousapplications of AI in Robotic Applications
1 2 3 4 5 6 7 8 9 10 11 12
CO 1 2 1 3
CO 2 2 1 3
CO 3 2 1 3
CO 4 3 2 2 3
CO 5 3 2 2 3
Assessment Pattern
1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create
Mark distribution
Total ESE
CIE ESE
Marks Duration
150 50 100 3 hours
14 marks.
1. Define the concept of Agent based Intelligence representation
2. Compare and contrast different types of search strategies
1. What is planning and need of planning?
2. What is ontology in Al?
1. What is Bayesian networks?
2. Explain different decision networks.
1. Explain supervised, unsupervised and reinforcement learning with examples
2. Give a short note on Expert systems in AI.
1. Ethical issues of AI in Robotics

2. Explain how robotics is a technology for future.
SYLLABUS
Module I (7 Hours)
Introduction and Problem solving
History, state of the art, Need for AI in Robotics. Thinking and acting humanly, intelligent
agents, structure of agents.
Solving problems by searching –Informed search and exploration–Constraint satisfaction

problems– Adversarial search,
Module II (7 Hours)
Knowledge representation and Planning
knowledge representation, first order logic.
Planning with forward and backward State space search – Partial order planning – Planning
graphs– Planning with propositional logic – Planning and acting in real world.
Module III(8 Hours)
Reasoning and Decision making
Uncertainty – Probabilistic reasoning, Dynamic Bayesian Networks;

Basis of utility theory, decision theory, sequential decision problems;
Module IV(7 Hours)
Learning and Expert System
Forms of learning – Knowledge in learning – Statistical learning methods –reinforcement

learning, communication, perceiving and acting, Probabilistic language processing, and
perception.
Module V (6 Hours)
AI In Robotics and Applications
Robotic perception, localization, mapping- configuring space, planning uncertain movements,

dynamics and control of movement, Ethics and risks of artificial intelligence in robotics
Text Books
1. Stuart Russel, Peter Norvig, “Artificial Intelligence: A modern approach” Pearson

Education, India,2016
2. Kevin Murphy, Machine Learning; A Probabilistic Perspective (MLAPP), MIT
Press,2012
3. Negnevitsky, M, “Artificial Intelligence: A guide to Intelligence Systems”,

Harlow:AddisonWesley,2002
4. Introduction to Robotics by S K Saha, McGraw Hill Education
5. Introduction to Autonomous Mobile Robots, Siegwart, Roland, Cambridge, Mass.
: MIT Press, 2nd ed.
Reference Books
1. Robin Murphy, Robin R. Murphy, Ronald C. Arkin,”Introduction to AI Robotics”MIT

Press,2000
2. David Jefferis, “Artificial Intelligence: Robotics and Machine Evolution”, Crabtree
Publishing Company, 1992
3. Fransis X. Govers, “Artificial Intelligence for Robotics”, Packt Publishing, 2018
5. John J. Craig, Introduction to Robotics – Mechanics and Control
No. of
No Topic
Lectures
1 MODULE 1: Introduction to AI and Problem Solving
Foundations of AI, need for AI in Robotics., Thinking and acting

1.1 humanly; 2
Intelligent agents: reactive, deliberative, goal-driven, utility driven and

1.2 learning agent; 2
Problem solving: Solving problems by searching: Forward and backward,

1.3 Informed search and exploration, Constraint satisfaction problems, 3
Adversarial search;
2 MODULE 2: Knowledge representation and Planning
Knowledge representations and reasoning: Ontologies, Foundations of

2.1 knowledge representation and reasoning, representing and reasoning 4
about objects, relations, events, actions, time and space. First order logic;
Planning with forward and backward state space search, Partial order
2.2 planning, Construction and use of planning graphs, planning with 3
propositional logic, Planning and acting in real world;
3 MODULE 3: Reasoningand Decision making
Reasoning with uncertain knowledge: Probabilistic reasoning- Filtering

3.1 2
and prediction,
3.2 Hidden Markov Models, connection to logic, Baye’s rule, Dynamic 3
Bayesian Networks
Decision making: Basis of utility theory, decision theory, sequential
3.3 3
decision problems, elementary game theory, sample applications;
4 MODULE 4: Learning and Expert System
Forms of learning – Knowledge in learning – Statistical learning methods

4.1 –reinforcement learning, communication, perceiving and acting, 4
Probabilistic language processing, and perception;
Expert System: Introduction to expert system, Phases of expert system,
4.2 3
characteristics of expert system and a case study;
5 MODULE 5: AI in Robotics and its Applications
AI In Robotics: Robotic perception, localization, mapping- configuring

5.1 space, planning uncertain movements, dynamics and control of 3
movement, Ethics and risks of artificial intelligence in robotics;
Robotics and Its applications, DDD concept, Intelligent robots, Accuracy
5.2 3
and repeatability of Robotics-Simple problems;

EIGHTH -SEMESTER B.TECH. DEGREE EXAMINATION
Course Code: RAT478
Course Name: AI For Robotics
PART A
1 Describe the PEAS description of a task environment. (3)
2 Explain depth bounded DFS (Depth Limited DFS) algorithm with an example. (3)
3 Explain the concept of ontological engineering. (3)
4 How is description logic suitable to represent definitions and properties of categories of (3)
objects?
5 What are the problem areas of spatial reasoning? (3)
6 State value of perfect information and its properties (3)
7 Mention any five characteristics of expert system (3)
8 What is a near miss situation in case of Concept learning? (3)

9 Differentiate between various types of drives used for robot system. (3)
10 Which design approach is similar to object-oriented design in DDD? List the common (3)
terms under design tool?
PART B
MODULE I
11 a) What is an agent? Explain how it can interact with the environment? “Surely computers (9)
cannot be intelligent—they can do only what their programmers tell them.” Is the latter
statement true, and does it imply the former?
b) For the activity named ‘Playing soccer’ give a PEAS description of the task environment (5)
and its characteristics
12 a) The initial state and final state of an 8-puzzle problem is given below. Compute the (8)
heuristic function and solve using an informed search algorithm.
b) What are the disadvantages of hill climbing approach? Is simulated annealing a better (6)
solution when compared to hill climbing?
MODULE II
13 a) Using knowledge reasoning how can you reason the default information? (7)
b) Explain knowledge-based agent. Give an example for a knowledge-based agent. (7)

Describe the environment of a knowledge –based agent.
14 a) How is planning graph used for heuristic estimation? Explain (7)
b) Represent the following sentences in first-order logic, using a consistent vocabulary (7)
(which you must define):
a. Some students took French in spring 2001.
b. Every student who takes French passes it.
c. Only one student took Greek in spring 2001.
d. The best score in Greek is always higher than the best score in French.
e. Every person who buys a policy is smart.

f. No person buys an expensive policy.
g. There is an agent who sells policies only to people who are not insured.
MODULE III
15 a) How AI handles reasoning under uncertainty. Explain with example. (6)
b) Explain the following with examples: (8)
(i) Forward reasoning

(ii) Non-Monotonic Reasoning
16 a) For the 4 × 3 world shown in Figure, calculate which squares can be reached (7)
from (1,1) by the action sequence [Up, Up, Right, Right, Right] and with what
probabilities.
Explain how this computation is related to the prediction task for a hidden
Markov model.
b) Illustrate decision networks with an example in detail. (7)
MODULE IV
17 a) Differentiate between the various learning methods: neural networks, reinforcement (7)
learning and genetic algorithms.
b) What is an expert system? Draw the architecture and explain each block in detail. (7)
18 a) How forward chaining is different from backward chaining inference method? (5)
b) Consider the following case, (9)
"As per the law, it is a crime for an American to sell weapons to hostile nations.
Country A, an enemy of America, has some missiles, and all the missiles were sold
to it by Robert, who is an American citizen."
Prove that "Robert is criminal." using Forward chaining algorithm.
MODULE V
19 a) What is mobile robot localization? Why it is important? How the landmark is measured (8)
in robot localization?
b) Explain ethics and risks of artificial intelligence in robotics (6)
20 a) Describe basic structure of a robotic system with neat sketch. (7)
b) Robots find applications not only in industry. Explain three non-industrial applications (7)
of Robots.
SEMESTER VIII
MINOR
RAD482 MINI PROJECT
PWS 0 0 3 4
field of Robotics and Automation either fully theoretical/practical or involving both
Feasibility;

CO3
experimental

CO1 3 3 3 3 3 3 2
CO2 3 3 3 3 3 3
CO3 3 3 3 3 3 3
CO4 3 3 3 3 1
CO5 3 3 3 3 3 3 3 1
Assessment Pattern
process.
Marks Distribution
Total Marks CIE ESE
150 75 75


Course Plan
SEMESTER VIII
HONOURS
RAD496 MINI PROJECT
PWS 0 0 3 4
field of Robotics and Automation, either fully theoretical/practical or involving both
Feasibility;

CO3
experimental

CO1 3 3 3 3 3 3 2
CO2 3 3 3 3 3 3
CO3 3 3 3 3 3 3
CO4 3 3 3 3 1
CO5 3 3 3 3 3 3 3 1
Assessment Pattern
process.
Marks Distribution
Total Marks CIE ESE
150 75 75


Course Plan

Robotics and Automation s7 & s8

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ROBOTICS AND AUTOMATION

ALGORITHMS AND DATA CATEGORY L T P CREDIT

CO 1 Analyse various data structures and their applicability

Mapping of course outcomes with program outcomes

Total CIE ESE ESE

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Course Level Assessment Questions

Course Outcome 1 (CO1):

2. What do you mean by asymptotic notations?

Course Outcome 2 (CO2):

1. Differentiate between stacks and queues.

Course Outcome 3 (CO3):

1. Differentiate between linear search and binary search.

2. What are hash tables?

Course Outcome 4 (CO4):

1. What is breadth-first search?

2. What are the internal and external sorting algorithms?

Course Outcome 5 (CO5):

1. Characteristics of dynamic programming.

Model Question Paper

Answer all questions, each carries 3 marks. Marks

3 Write an algorithm/pseudocode to delete a given element k from an array (3)

6 Define (i) Tree (ii) Binary Tree. (3)

7 Explain efficiency of (i) Quick sort (ii) Binary searching. (3)

8 Write an algorithm to search for a substring in a given string. (3)

9 Explain backtracking with an example. (3)

10 What are the steps in dynamic programming? (3)

b) Explain the operations on Data structures with examples. (7)

12 a) What is a recursive algorithm? Explain different types of recursive (6)

b) Explain linear and nonlinear data structures. (8)

14 a) Write algorithms to perform the following operations on a doubly linked (7)

b) Explain different types of queues and their applications. (7)

15 a) Which are the elementary graph operations? Explain in detail. (7)

b) What is a priority queue? Implement using a linked list. (7)

b) Explain various tree traversal algorithms with examples. (7)

b) With the help of an algorithm/pseudocode and suitable example, explain (8)

19 a) Explain divide-and-conquer approach in detail. (7)

20 a) Explain dynamic programming in detail with example. (7)

b) What is meant by NP-complete problems? Explain in detail with (7)

Introduction to Data Structures: Basic Terminology, Elementary Data Structure

Linear Data Structures: Introduction, variations, operations and applications of array,

Stack: Stack-Definitions & Concepts, Operations On Stacks, Applications of Stacks, Polish

Queue: Representation Of Queue, Operations On Queue, Circular Queue, Priority Queue,

Module III ( 8 Hours)

Indexing structure: Concepts and implementations of B-Tree, B+ tree, Hashing, Dictionary

Graph Algorithms: Depth-first search, strongly connected components, Breadth-first search,

Algorithm Design: Greedy algorithm, Divide and conquer, Dynamic programming,

Algorithm Analysis: Asymptotic notations, Recurrences, NP complete problems

1. Horwitz E., S. Sahni and S. Anderson, Fundamentals of Data Structures in C,

Introduction to Data Structures: Basic Terminology, Elementary

Operations on Data structures, Asymptotic notations, Notion of

Introduction, variations, operations and applications of array,

Indexing structure: Concepts and implementations of B-Tree, B+

CO 1 Test the basic characteristics of power semiconductor devices.

Total CIE ESE ESE

150 75 75 2.5 hours

Continuous Internal Evaluation Pattern:

1. study of 3-Φ full controlled bridge rectifier

3. E. G. Janardhanan, ‘Special Electrical Machines’ PHI Learning Private Limited.