Mechatronics Engineering

Also available in: Türkçe

Prof. Dr Fahreddin Sadıkoğlu
Prof. Dr Rahib Abiyev
Prof. Dr Doğan İbrahim
Prof. Dr Adnan Khashman
Assoc.Prof. Dr. Kadri Bürüncük
Assoc.Prof. Dr. Özgür C. Özerdem
Assist.Prof.Dr. Ali Evcil
Assist.Prof.Dr. Elbrus Bashir Imanov
CODE COURSE TITLE
MKE500 Master’s Thesis
MKE501 Mechatronic Systems Components
MKE502 Advanced Control Methods in Mechatronics
MKE503 Modelling and Control of Mechatronic Systems
MKE504 Advanced Topics in Robotics
MKE505 Mechatronic System Design
MKE506 Micro/Nano Robotics
MKE507 Machine Vision Applications in Mechatronics
MKE508 Expert Systems
MKE509 Advanced Mathematics for Engineers
MKE510 Advanced Artificial Neural Networks
MKE511 Process Control Instrumantation Technology
MKE512 Robotics Systems
MKE501 Mechatronics Systems Components
Measurement systems and their principles: distance, motion, force, torque, pressure, temperature and flow measurements. Sensor technologies, optical, mechanical, and thermal sensors. Digital encoders and decoders. Sensor-computer interfaces. Data acquisition systems. Analog and digital signal conditioning: performance specification and component matching applications. Power transmission components. Mechanical and hydraulic systems. Gear mechanisms. Hydraulic and pneumatic circuits: circuit components and their mathematical models. Digital transducers: single and multi-stack stepper motors, their modelling, classification and selection. Continuous-drive transducers: d.c. motors, brushless d.c. motors, induction motors, synchronous motors, torque motors, permanent-magnet motors, their charactersitics, selection and control .
MKE501 Mechatronics Systems Components
Measurement systems and their principles: distance, motion, force, torque, pressure, temperature and flow measurements. Sensor technologies, optical, mechanical, and thermal sensors. Digital encoders and decoders. Sensor-computer interfaces. Data acquisition systems. Analog and digital signal conditioning: performance specification and component matching applications. Power transmission components. Mechanical and hydraulic systems. Gear mechanisms. Hydraulic and pneumatic circuits: circuit components and their mathematical models. Digital transducers: single and multi-stack stepper motors, their modelling, classification and selection. Continuous-drive transducers: d.c. motors, brushless d.c. motors, induction motors, synchronous motors, torque motors, permanent-magnet motors, their charactersitics, selection and control .
MKE502 Advanced Control Methods in Mechatronics
Loop gain. Sensitivity. Complementary sensitivity. Loop shaping design. Motion control systems. Preview control systems. Two degree of freedom control architecture. The disturbance observer. Introduction to adaptive, optimal and robust control and comparison. Uncertainty models. The parameter space approach. Stability analysis. Lyapunov-based control of mechatronic/robotic systems. Gain scheduling controller design in parameter space. Mapping of frequency domain bounds to parameter space. Case studies
MKE503 Advanced Topics in Robotics
Spatial velocity concept and rigid body velocity propagation, rotation matrix and Rodriguez formula, kinematical modeling of a serial manipulator using Spatial Operator Algebra, visualization of kinematical modeling of a serial manipulator by Matlab Simulink 3d animation toolbox, inverse kinematics, singularity and redundancy, kinematical constraints of cooperating manipulators, kinematical modeling of cooperating manipulators on a mobile platform, inverse kinematical modeling of cooperating manipulators on a mobile platform, visualization of kinematical modeling of cooperating manipulators on a mobile platform by Matlab Simulink 3d animation toolbox, dynamical modeling of a serial manipulator using Spatial Operator Algebra, mass matrix factorization technique, dynamical constraints of cooperating manipulators, dynamical modeling of cooperating manipulators on a mobile platform, Matlab Simulink 3d animation for dynamical modeling of cooperating manipulators on a mobile platform.
MKE504 Modelling and Control of Mechatronics Systems
Mixed system integration; Sensor modelling: Basics concepts, modelling of severel types of sensors; Actuator modeling: Electrical actuators, Hydraulic and Pneumatic actuators; Modeling of signal and power transmission elements; Hybrid systems modeling: Events and states, Modeling with state-flow; Mechatronics system modeling: Block diagrams and state space, Object oriented modeling, virtual prototyping, Hardware in the loop simulation; Real-time monitoring and control.
MKE505 Mechatronic System Design
Basic principles and theory of mechatronic system design (first four weeks). Project selection and assignment of students into project teams. Project work. Presentation of projects
MKE506 Micro/Nano Robotics
This course focuses on the fundamental concept of design, construction, analysis, and control of the state-of-the-art micro/nano-robotic systems. The topics covered include the physics in the micro/nano world, microsensors, microactuators, micro/nano imaging, mobile microrobotics, power sources, dynamic modeling and control, and system integration.
MKE507 Machine Vision Applications in Mechatronics
Throughout this course, image processing algorithms particularly for industrial machine vision applications will be analyzed. An introduction to the theory and practice of machine vision, i.e. the analysis of the patterns in visual images with the view to understanding the objects and processes in the world that generate them. Major topics include optics, image representation, feature extraction, image processing, object recognition, feature selection, probabilistic inference, perceptual analysis and organization, dynamic and hierarchical processing. The emphasis is on the learning of mathematical concepts and techniques and the translation of them to Matlab programs to solve real vision problem.
MKE508 Expert Systems
The evaluation of artificial intelligence systems. Decision making. Expert System (ES) characteristics. Architecture of ES. Hybrid ES. Knowledge representation in ES.Representation of knowledge by Object-attribute value triplets, Semantic networks, Frames, Logic programming, Neural networks, Production rules. Inference engine, forward and backward chaining mechanisms. Knowledge acquisition. Uncertainty, fuzzy ES. ES shells. Application of ES for solving different problems.
MKE509 Advanced Mathematics for Engineers
Stochastic Properties of Random Signals. Stationary and Nonstationary Process. Ergodic Process. Corellation Function and Spectrum of Random Signals. Guassian Process. Noise Calculations. Markov Process. Linear and Kalman Filtering. Problems Using Matlab.
MKE510 Advanced Artificial Neural Networks
Artificial Intelligence Computing. Expert systems. Neural networks. Biological background. Character recognition. Classification of neural networks. Supervised learning. Unsupervised learning. Neural simulation of logic gates. The Perceptron. Back propagation algorithm. Mathematical foundation for implementing Backpropagation algorithm. Hamming algorithm. Hopfield algorithm. Kohonen’s algorithm. Adaline. Delta rule. Error minimization. The XOR problem.
MKE511 Process Control Instrumentation Technology
Process control characteristics. Analog and digital signals conditioning. Thermal, mechanical, optical sensors and design considerations. Final control. Discrete-state process control. Controller principles. Controllers. Control loop characteristics. Industrial control networks.
MKE512 Robotics Systems
Evolution of robots, elements of robotic systems, mathematics of manipulators. Homogeneous transformations, end effectors position and orientation. Kinematics of robotic systems. Manipulator dynamics. Tree-structured manipulators. Multiple manipulators. Leading robot hands. Hand gross motion control. Obstacle avoidance techniques. Collision free wrist path planning. Hand preshape analysis. Grasp planning. Contact analysis. Hand fine motion control. Manipulability and stability of robotic systems.