EC6003 ROBOTICS AND AUTOMATION SYLLABUS

OBJECTIVES:

To study the various parts of robots and fields of robotics.

To study the various kinematics and inverse kinematics of robots.

To study the Euler, Lagrangian formulation of Robot dynamics.

To study the trajectory planning for robot.

To study the control of robots for some specific applications.

UNIT I BASIC CONCEPTS

Definition and origin of robotics different types of robotics various generations of
robots degrees of freedom Asimovs laws of robotics dynamic stabilization of
robots.
UNIT II POWER SOURCES AND SENSORS
Hydraulic, pneumatic and electric drives determination of HP of motor and gearing
ratio variable speed arrangements path determination micro machines in robotics
machine vision ranging laser acoustic magnetic, fiber optic and tactile sensors.
UNIT III MANIPULATORS, ACTUATORS AND GRIPPERS
Construction of manipulators manipulator dynamics and force control electronic and
pneumatic manipulator control circuits end effectors U various types of grippers
design considerations.
UNIT IV KINEMATICS AND PATH PLANNING
Solution of inverse kinematics problem multiple solution jacobian work envelop hill
Climbing Techniques robot programming languages
UNIT V CASE STUDIES
Mutiple robots machine interface robots in manufacturing and non- manufacturing
applications robot cell design selection of robot.
TOTAL: 45 PERIODS
OUTCOMES:
Upon completion of the course, the student should be able to:
Explain the basic concepts of working of robot

 Analyze the function of sensors in the robot

Write program to use a robot for a typical application
Use Robots in different applications
TEXT BOOKS:
1. Mikell P. Weiss G.M., Nagel R.N., Odraj N.G., Industrial Robotics, Mc Graw-Hill
Singapore, 1996.
2. Ghosh, Control in Robotics and Automation: Sensor Based Integration, Allied
Publishers, Chennai,1998.
REFERENCES:
1. Deb. S.R.,Robotics Technology and flexible Automation, John Wiley, USA 1992.
2. Klafter R.D., Chimielewski T.A., Negin M., Robotic Engineering An integrated
approach, Prentice Hall of India, New Delhi, 1994.
3. Mc Kerrow P.J. Introduction to Robotics, Addison Wesley, USA, 1991.
4. Issac Asimov Robot, Ballantine Books, New York, 1986.
5. Barry Leatham - Jones, "Elements of industrial Robotics" PITMAN Publishing, 1987.
6. Mikell P.Groover, Mitchell Weiss, Roger N.Nagel Nicholas G.Odrey, "Industrial
Robotics Technology, Programming and Applications ", McGraw Hill Book Company
1986.
7. Fu K.S. Gonzaleaz R.C. and Lee C.S.G., "Robotics Control Sensing, Vision and
Intelligence" McGraw Hill International Editions, 1987.
Course Code: ECE S507 Breakup: 3 1 0 4
Course Name : Information Theory And Coding
Course Details:
UNIT I
Source Coding:
Introduction to Information Theory, Uncertainty and Information, Average Mutual Information
and Entropy, Information Measures for Continuous Random Variables, Source Coding Theorem,
Huffman Coding, The Lempel- Ziv Algorithm, Rate Distortion Function, Optimum Quantizer
Design,
UNIT II
Channel Capacity and Coding:
Introduction, Channel Models, Channel Capacity, Channel Coding, Information Capacity
Theorem The Shannon Limit, Random Selection of Codes,
UNITIII
Linear Block Codes for Error Correction:
Introduction to Error Correcting Codes, Basic Definitions, Matrix Description of Linear Block
Codes, Equivalent Codes, Parity Check Matrix, Decoding of a Linear Block Code, Syndrome
Decoding, Error Probability after Coding (Probability of Error Correction), Perfect Codes
Hamming Codes, Optimal Linear Codes, Cyclic Codes, Introduction to Cyclic Codes,
Polynomials The Division Algorithm for Polynomials, A Method for Generating Cyclic Codes,
Matrix Description of Cyclic Codes, Fire Code, Golay Codes, Cyclic Redundancy Check (CRC)
Codes Introduction to BCH Codes, Primitive Elements, Minimal Polynomials, Generator
Polynomials in Terms of Minimal Polynomials, Some Examples of BCH Codes, Decoding of

BCH Codes Reed-Solomon Codes, Implementation of Reed-Solomon Encoders and Decoders

Nested Codes,

UNIT IV
Convolutional Codes:
Introduction to Convolutional Codes, Tree Codes and Trellis Codes, Polynomial Description of
Convolutional Codes (Analytical Representation), Notions for Convolutional Codes, The
Generating Function, Matrix Description of Convolutional Codes, Veterbi Decoding of
Convolutional Codes, Distance Bounds for Convolutional Codes, Performance Bounds, Known
Good Convolutional Codes, Turbo Codes, Turbo Decoding 792.14 C, Concluding Remarks
788.15 Po
UNIT V
Trellis Codes Modulation:
Introduction to TCM, The concept of Coded Modulation, Mapping by Set Partitioning,
Ungerboecks TCM Design Rules, TCM Decoder, Performance Evaluation for AWGN Channel,
Computation of dfree, TCM for Fading Channel
Text Books:
1. Bose, Ranjan / Information Theory, Coding & Cryptography / Tata McGraw Hill /
Reference Books:
1. Van Lint, J.H./ Introduction to Coding Theory / Springer
2. Proakis, John G. / Digital Communications / McGraw Hill
3. Sathyanarayana, P.S. / Probability Information and Coding Theory/ Dynaram Publications,
Bangalore