Focuses on robotics mechanics, embedded systems, perception, control systems, autonomous navigation, and ROS.
These are the required courses that define the major specialization journey.
Introduction to robotics, Robot components (links, joints), and Degrees of Freedom (DOF). Position and Orientation representation in 3D space. Coordinate Frames. Rotation Matrices and their properties. Homogeneous Tra...
Sensor principles and transduction mechanisms (resistive, capacitive, inductive, piezoelectric, optical), Sensor specifications (sensitivity, resolution, accuracy, hysteresis, linearity), Active vs. passive sensors, A...
Embedded system characteristics (real-time constraints, resource limitations), Microcontroller vs microprocessor architectures, ARM Cortex-M series architecture overview, Harvard vs Von Neumann memory architectures, I...
ROS design principles (modularity, distributed systems, hardware abstraction), ROS master (roscore) and graph concepts, Node architecture and lifecycle, ROS topics (publish/subscribe model, QoS policies), ROS services...
IoT reference model (devices, gateway, edge, cloud), Wireless communication principles (modulation, spectrum, bandwidth), Short-range protocols (Bluetooth LE, Zigbee, Z-Wave), LPWAN technologies (LoRaWAN, NB-IoT, LTE-...
Mobile robot kinematics (differential drive, Ackermann steering), Odometry error accumulation and correction, Monte Carlo Localization (MCL/particle filters), Adaptive Monte Carlo Localization (AMCL), Extended Kalman...
These electives are available within the same major specialization pathway.
State-space representation (controllable canonical, observable canonical, diagonal forms), Controllability and observability tests (Popov-Belevitch-Hautus eigenvalues), Pole placement by state feedback, Ackermann's fo...
Convolutional layers and feature hierarchies, AlexNet to ResNet/VGG, Residual learning and skip connections, Depthwise separable convolutions (MobileNet), Dilated convolutions (DeepLab), Grouped convolutions (ShuffleN...
Biological inspiration (ants, bees, birds, fish schooling), Boids model (separation, alignment, cohesion), Reynolds rules and flocking behavior, Particle Swarm Optimization (PSO: velocity update, inertia weight), Ant...
HRI paradigms (physical, teleoperation, shared autonomy), Levels of autonomy (SAE 0-5 for robotics), Cognitive models (NASA TLX workload, Situation Awareness), Trust in automation (Lee & See model), Uncanny valley eff...
Configuration space (C-space obstacles), Workspace vs. C-space, Collision detection (GJK algorithm, bounding volume hierarchies), Sampling-based planners (PRM: probabilistic roadmap, lazy evaluation), RRT family (RRT-...
Forward/inverse kinematics for manipulators, Denavit-Hartenberg (DH) parameters, Product of exponentials (POE) formulation, Jacobian matrices (linear/angular velocity), Singularity analysis (manipulability ellipsoid),...