Mechanical Engineering

ME 4773 Fundamentals of Robotics

ME5493 Robotics (cross-listed)
Syllabus
Part A- Course Outline
Technical Elective in Mechanical Engineering
Course Description:
(3-0) 3 hours credit. Prerequisite: ME 3543.
This course covers mobile robots and manipulators. Specifically, this course covers topics such as
kinematics, dynamics, path planning, and control of robots. A LEGO based laboratory supplement the
lectures. This course is listed as a service learning course and the students are expected to work a
minimum of 10 hours in the local community (60-90 minutes per week for 10 weeks) on roboticsrelated projects relevant to material covered in the course. Students who cannot complete the service
learning part can opt to do a final project instead.
Prerequisites:
ME 3543 Dynamic Systems and Control (requires a grade of C- or better)
Textbook(s) and/or required material:
1. No textbook required. Lecture notes will be provided by the instructor.
2. MATLAB from Mathworks. Student version of MATLAB is available for $99. http://
www.mathworks.com/academia/student_version/
Other Books for Reference (no need to buy these):
1. Robot Modeling and Control. By Mark Spong, Seth Hutchinson, M Vidyasagar. First Edition,
Wiley, 2005. ISBN-10: 0471649902. ISBN-13: 978-0471649908
2. Introduction to Robotics: Mechanics and Control. John Craig. Third Edition, Pearson Prentice Hall,
2005. ISBN-10: 0201543613. ISBN-13: 978-0201543612
3. Principles of Robot Motion: Theory, Algorithms, and Implementations. By Howie Choset, Kevin M.
Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun.
A Bradford Book. ISBN-13: 978-0262033275. ISBN-10: 0262033275.
4. Introduction to Autonomous Mobile Robots. By Roland Siegwart, Illah Reza Nourbakhsh, Davide
Scaramuzza. Second Edition. The MIT Press, ISBN-13: 978-0262015356, ISBN-10: 0262015358.
Major prerequisites by topic:
1. Linear Algebra
2. Calculus
3. Ordinary Differential Equations.
4. Matrix Algebra
5. Computer programming.
Topics covered:
1. Kinematics of mobile robots.
2. Forward and Inverse Kinematics of manipulators

3.
4.
5.
6.
7.

Trajectory generation for manipulators.

Path planning for mobile robots and manipulators.
Dynamics of Manipulators
Feed-forward control and feedback control of mobile robots and manipulators.
MATLAB: solving ordinary differential equations, optimization, least squares, creating animation.

Contribution of course to meet the professional component:

This course builds the foundation for preparing students to work professionally in the area of
mechanical systems and robotics
Relationship of course to student outcomes:
This course primarily contributes to Mechanical Engineering student outcomes:
(a) an ability to apply knowledge of mathematics, science, and engineering
(e) an ability to identify, formulate, and solve engineering problems
(l) an ability to apply principles of engineering, basic science, and mathematics (including multivariate
calculus and differential equations) to model, analyze, design, and realize physical systems, components
or processes; and prepare students to work professionally in mechanical systems area
The course contributes in a secondary way to Mechanical Engineering student outcomes:
(b) an ability to design and conduct experiments, as well as to analyze and interpret data.
(c) an ability to design a system, component, or process to meet desired needs within realistic
constraints such as economic, environmental, social, political, ethical, health and safety,
manufacturability, and sustainability.
(k) an ability to use the techniques, skills, and modern engineering tools necessary for engineering
practice.
Course objectives (contribution to student outcomes):
At the end of the course the students should
1. Be able to analyze manipulator systems; write kinematic and dynamic equations of motion; and
apply feed-forward and feed-back control methods (a, c, e, l,)
2. Be able to simulate and animate manipulator systems on a computer (l,b,k)
3. Be able to write a technically sound report and effectively communicate technical content on
mechanical systems. (k)
Evaluation Methods:
Student Outcomes will be evaluated through the analysis of the evaluation results of homework,
laboratory assignments, mid-term exam, final exam, and service learning project.
Course Coordinator: Ashok Nedungadi
Persons who prepared this description: Pranav A. Bhounsule, August 2016

Part B - General Course Information and Policies

Instructor: Pranav Bhounsule

o E-mail: pranav.bhounsule@utsa.edu
Phone: (210) 458-6570
o Office: AET 2.338

Class and Office Hours/Location:

Class Hours:
MWF 2:00 pm 2:50pm
BB-3.01.10
o Classroom:
Office Hours: MW 12:00 to 1:30 PM
AET 2.338
o Location:
Course Policies:
On-line Blackboard System: Grades will be posted on UTSA Blackboard. Please make sure you have
access to the course page and can receive message from the system.

Homework:
o Homework will be due on Monday at the beginning of the class. You will submit a scanned copy
of your HW through gradescope (http://gradescope.com) unless noted otherwise. No late
submissions are allowed.
o You are encouraged to discuss homework solution with other fellow classmates, however,
everybody has to submit their own homework solutions to receive credit.
o Illegible handwriting will not be graded.
o All MATLAB code needs to be neatly commented and printed.
o All MATLAB plots should have clear labels on the x-axis, y-axis with units and legends as
needed.

Exam:
o There will be no make-up exams except for medical emergency. You will need a note from a
doctor that you had a genuine medical emergency. The content of the make-up exam may be
different from the regular exam.
o The schedule of Final Exam is set by UTSA and should not be violated.
o Honor code must be strictly followed in every exam.
o All exams will be in-class and close book.
o Students are allowed to bring a calculator to exam but cannot get laptop/computer/tablet.
o Cell phones should be shut-off during exam. No exception to this rule for anybody.
o Mid Term Exam: TBD (Grades due by Oct 11)
o Final Exam: Mon, Dec 12, 12:30 to 3:00 PM (Grades due by Dec 20)
o Final exam will be a comprehensive exam. Please expect questions from HWs, mid-term, labs,
and simple MATLAB questions that test your knowledge of MATLAB and robotics.

Lab:
o Lab will be done in groups of 3.
o Labs will be graded in BSE atrium on Friday during class hours, unless told otherwise.
o Please come well prepared for the lab else you will not be able to complete the lab in time and
your grade will suffer.
o The TA/instructors decision on grading is final.
o There are about 5 or 6 labs depending on mid-term schedule. The first lab is an introductory lab.
o Labs are roughly 2 weeks apart.

Service Learning is an experiential learning program that combines community service with academic
instruction, focusing on critical, reflective thinking and personal and civic responsibility. Service-learning
programs involve students in activities that address community-identified needs, while developing their
academic skills and commitment to their community.
o Participation in service learning is recommended for undergraduate students (also see
evaluation). Please talk with the instructor if you cannot take part in service learning.

o Participation will include meeting with elementary- or middle-school students and working
with them in an after-school robotics club as they prepare to compete in the FIRST LEGO
league competition.
o Service learning placement is coordinated through Academy for Teacher Excellence
(ATE), contact is Deborah Chaney, deborah.chaney@utsa.edu. 210-458-6170 office
o You have to work for a minimum of 10 hours across the semester to get credit for service
learning. The commitment is 60-90 minutes per week, depending on campus assignment.
o You will be assigned into groups of 3 or 4 students based on availability of slots and your
preferences.
o After the introductory class the students will:
take the survey determine grouping and time for service learning:

http://goo.gl/forms/zTkmeuC5et (also HW1)

sign the liability and photo consent forms

complete the school districts Criminal Background Checks for the district their campus
assignment is in
In
addition
to working with kids you will need to do the following to get full credit:
o
You
will be required write reflections in the beginning, middle, and end of semester.

You
will meet with in the You will need to do a survey at the end of the semester.

You will need to participate in three individual meetings with ATEs Career Transition
Guide, Renee Tondre-Garza Renee.TondreGarza@utsa.edu. You will need to schedule
appointment with Renee individually. Each meeting will last a minimum of 15 minutes
and will take place before you start service learning, midway (approximately before mid
term), and last week of service learning.
NOTE:
The service learning will start in the second week and finish by week 11. It is
o
recommended over Project (below) because it will help you finish one of the course
requirements early.

Project (optional, if you cannot participate in Service learning) If you opted out of service learning than
you need to do final project to earn full credit.
o Project should be related to Robotics. You are expected to work at least 10 hours on the project.
o Project can be hardware project or a software programming project (e.g., using MATLAB).
o Project CANNOT be limited to just writing a term paper without doing some amount of
programming or hardware prototyping. Such reports will lead to a zero in the Project.
o Project plan (1 paragraph) is due by Oct 21, 2016. Do not start working on the project unless it is
approved by the instructor.
o Project report is due by last day of class.
o Project can be done individually or in groups of two. If the project is done in groups of two then
Please indicate individual contribution in a table.
Both students are expected to contribute equally to the technical content of the project. If
any one student does not contribute to the technical aspect of the project he/she will get a
zero in the project.
Report writing is a group task and does not count towards equal share discussed above.
o NOTE: Project work will most likely finish by end of the semester. If you are taking many
courses and expect a lot of work towards the end of the semester than I recommend doing
the service learning part which will finish by week 11. This is just a suggestion.

Evaluation Methods:
Midterm Exam 15%
Final Exam 35%
Homework - 15%
Labs 10%
Service Learning 25% (as indicated below) or Final Project - 25%
10% mentoring after-school robotics club and ATE required surveys
5% reflection journal entry (before, after 2 visits, and end of full program, at 11 weeks)
5% survey (end of full program, 10 weeks)
5% three meetings with Renee Tondre-Garza (Renee.TondreGarza@utsa.edu), ATE career transition
guide

UTSA Policies and Resources:

Please review UTSAs Common Syllabus Information at the http://utsa.edu/syllabus. It includes information
about: (1) Counseling Services, (2) Student Conduct and Scholastic Dishonesty, (3) Students with Disabilities,
(4) Transitory/Minor Medical Issues, (5) Supplemental Instruction, (5) Tutoring Services, and (6) Roadrunner
Creed.
Mechanical Engineering Department Faculty Exam Policy
Faculty in the department adopt the following policies to be implemented in Mechanical Engineering classes in
an effort to prevent cheating during exams.
Uniform policies for all ME classes:
1) no bathroom breaks during an exam (unless student provides medical note).
2) no electronic device (phone, smart watch, camera, electronic glasses, computer, unapproved calculator) on
student body (in pockets, boots, clothing, etc) or within reach (under seat, on adjacent seat) during exam
3) if calculators are needed, students can only use approved calculators during exams, based on the FE exam
approved calculator list
Exam Policy:
No bathroom breaks during exams. No electronic device (phone, smart watch, camera, electronic glasses,
computer, unapproved calculator) on student body (in pockets, boots, clothing, etc) or within reach (under seat,
on adjacent seat) during exam. It is considered cheating to have a phone, computer, or other electronic device
accessible during an exam.
Approved Calculators for Exams
The FE exam calculator policy (http://www.ncees.org) will be used in this course. Only the models listed below
may be used during exams.
Hewlett Packard - HP 33s and HP 35s models, but no others
Casio - all FX 115 models (must contain fx-115 in its model name)
Texas Instruments - all TI-30X and TI-36X models (must contain either TI-30X or TI-36X in its model name)
Scholastic Dishonesty: Scholastic dishonesty is a serious offense that includes, but is not limited to, cheating on a
test, plagiarism, or collusion. Cases of suspected scholastic dishonesty will be prosecuted through the UTSA
Office of Student Life (http://www.utsa.edu/studentlife), with the recommended penalty that the student receive a
failing grade for the class.
ME departmental reminders:
The instructor
1) should be present during an exam
2) has the authority to reseat students in the room before exam starts
3) can walk around the room during an exam and look for cheating
4) can prepare multiple versions of the exam with minor differences
Gun-free policy for private offices at UTSA.
Pursuant to HOP 9.48, Carrying of Concealed Handguns on Campus, my private office AET 2.338 is a
designated exclusion zone. As set out in Section 30.06, Penal Code (trespass by license holder with a concealed
handgun), a person licensed to carry a Concealed Handgun under Subchapter H, Chapter 411 Government Code
(handgun licensing law), may not enter this property/office with a concealed handgun.
De conformidad con HOP 9.48, Llevar Armas de Fuego Encubiertas en el Campus, mi oficina privada AET 2.338
es una zona designada de exclusin. Conforme a la seccin 30.06 del cdigo penal (trespasar portando armas de
fuego) personas con licencia bajo del sub-capitulo H, capitulo 411, codigo de gobierno (ley de portar armas), no
deben entrar a esta propiedad portando un arma de fuego.