Graduate courses
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Fundamentals
of artificial neural networks; rigorous analysis of and introduction to
various network paradigms: perceptrons, backpropagation, counter-propagation,
Hopfield nets, bi-directional associative memories, adaptive resonance
theory, cognitron and neocognitron; neural network topologies, memories,
learning, stability and convergence; applications to adaptive knowledge
knowledge processing, classification, pattern recognition, signal processing,
communications, robotics and control; and assessment ofcurrent neural network
technology. ELEC 6061 Real-Time Computer Control Systems Introduction
to real-time systems for control applications; discrete models of
sampled-data systems; design specifications, stability (Jury test and Nyquist
criterion); discrete equivalents, design using root locus and frequency
response; implementation issues such as quantization effects, sample rate
selection, pre-filtering and computational delay; principles and
characteristics of sensors and devices, embedded processors, processor/device
interface; scheduling theory, task management, and design techniques from a
control perspective; performance analysis, reliability and fault tolerance;
modeling real-time behavior of control systems, delay and time variation in
control systems, and characteristics of time variation. ELEC
6091 Discrete Event Systems Introduction
to discrete-event systems (DES). Modeling (languages, automata and Petri
nets). Supervisory control (controllability, modular control and control under
partial observation). Architecture (decentralized and hierarchical schemes).
Petri nets (modeling and analysis). Timed models. ELEC 691F Large Scale Systems Introduction to large scale
systems, Decentralized control, Characterization and computation of
decentralized fixed modes, Structured and unstructured decentralized fixed
modes, Expanded system, Approximate decentralized fixed modes, Interconnected
systems, Decentralized pole assignment, Decentralized robust servomechanism
problem, Decentralized controller design, Sampling and decentralized control,
Optimal decentralized control. ENCS
6181 Optimization
Techniques I The
optimization problem; classical optimization; one dimensional search techniques;
unconstrained gradient techniques; quadratically convergent minimization
algorithms; constrained optimization; constrained gradient techniques;
penalty-function methods; applications. State-space representation
of dynamic systems, canonical realizations, solutions, modal decomposition,
stability. Controllability and observability, minimal realizations, state
feedback, pole placement, observers, observerbased controllers. Introduction
to optimal control, linear quadratic regulator, the Kalman filter. Limitation
on performance of control systems, introduction to robustness. Dynamic systems:
definitions and notations; nonlinear differential equations; Lipschitz
continuity; linearization; describing functions; phase plane analysis;
Lyapunov stability; Popov and circle criteria; limit cycles. ENGR
6411 Robotic Manipulators I: Mechanics Types of industrial robots and
their applications. Mathematical analysis for robot manipulation: homogeneous
transformations; definition and solution of kinematic equations governing the
position and orientation of the hand. Force analysis and static accuracy;
forces and moments of inertia, dynamic equation of equilibrium, differential
equations of motion of robotic arms. Robotic actuators. ENGR 7121 Analysis and Design of Linear
Multivariable Systems Representation of linear
multivariable systems. Controllability, observability and canonical forms;
poles and zeroes; multivariable system inverses; the linear quadratic
regulator problem; the robust servomechanism problem; the minimal design
problem; frequency-domain design techniques. Real-time
parameter estimation; least-squares and regression models; recursive
estimators; model reference adaptive systems (MRAS); MRAS based on gradient
approach and stability theory; self-tuning regulators (STR); adaptive
prediction and control; stability and convergence results, robustness issues;
autotuning and gain scheduling; alternatives to adaptive control; practical
aspects; implementation and applications. ENGR 7181 Digital Control of Dynamics Systems
Review
of discrete-time and sampled-data systems; discrete input-output and
state-space equivalents; effects of sampling on controllability and
observaility; design using transform techniques, robustness; design using
state-space method; multivariability and optimal control; quantization
effects; sample rate selection; multirate sampling. ENGR
7401 Robotic Manipulators II: Control Control
of a single link manipulator; position, velocity and acceleration errors;
control of a multiple link manipulator sensor: vision, proximity, touch,
slip, force, compliance and force controlled robots. Computer control of
robots, command languages. Introduction to intelligent robots. |
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