ME 326: Telerobotics and Human-Robot Interactions
Focus is on dynamics and controls. Evaluation and implementation of required control systems. Topics include master-slave systems, kinematic and dynamic similarity; control architecture, force feedback, haptics, sensory substitutions; stability, passivity, sensor resolution, servo rates; time delays, prediction, wave variables. Hardware-based projects encouraged, which may complement ongoing research or inspire new developments. Limited enrollment. Prerequisites:
ENGR 205, 320 or
CS 223A, or consent of instructor. (Niemeyer)
ME 327: Design and Control of Haptic Systems
Study of the design and control of haptic systems, which provide touch feedback to human users interacting with virtual environments and teleoperated robots. Focus is on device modeling (kinematics and dynamics), synthesis and analysis of control systems, design and implementation, and human interaction with haptic systems. Coursework includes homework/laboratory assignments and a research-oriented project. Directed toward graduate students and advanced undergraduates in engineering and computer science. Prerequisites: dynamic systems and MATLAB programming. Suggested experience with C/C++ programming and feedback control design.
ME 333: Mechanics
Goal is a common basis for advanced mechanics courses. Introduction to variation calculus. Formulation of the governing equations from a Lagrangian perspective for finite and infinite dimensional mechanical systems. Examples include systems of particles and linear elastic solids. Introduction to tensors. Definition and interpretation of Cauchy stress tenor.
ME 338B: Continuum Mechanics
Constitutive theory; equilibrium constitutive relations; material frame indifference and material symmetry; finite elasticity; formulation of the boundary value problem; linearization and well-posedness; symmetries and configurational forces; numerical considerations.
ME 340: Theory and Applications of Elasticity
This course provides an introduction to the elasticity theory and its application to material structures at microscale. The basic theory includes the definition of stress, strain and elastic energy; equilibrium and compatibility conditions; and the formulation of boundary value problems. We will mainly discuss the stress function method to solve 2D problems and will briefly discuss the Green's function approach for 3D problems. The theory and solution methods are then applied to contact problems as well as microscopic defects in solids, such as voids, inclusions, cracks, and dislocations. Computer programming in Matlab is used to aid analytic derivation and numerical solutions of elasticity problems.
ME 342: Theory and Application of Inelasticity
Theories of plasticity and fracture phenomena from both phenomenological and micromechanical viewpoints. Yield surface, flow rules, strain hardening models, and applications to creep. Plastic zone near crack tip. Linear fracture mechanics and other criteria for crack initiation and growth. Application to fatigue. Classical analytic solutions will be discussed together with numerical solutions of plane elastoplatic problems by Matlab.
ME 346A: Introduction to Statistical Mechanics
The main purpose of this course is to provide students with enough statistical mechanics background to the Molecular Simulations classes (
ME 346B,C), including the fundamental concepts such as ensemble, entropy, and free energy, etc. The main theme of this course is how the laws at the macroscale (thermodynamics) can be obtained by analyzing the spontaneous fluctuations at the microscale (dynamics of molecules). Topics include thermodynamics, probability theory, information entropy, statistical ensembles, phase transition and phase equilibrium. Recommended:
PHYSICS 110 or equivalent.
ME 346B: Introduction to Molecular Simulations
Algorithms of molecular simulations and underlying theories. Molecular dynamics, time integrators, modeling thermodynamic ensembles (NPT, NVT), free energy, constraints. Monte Carlo simulations, parallel tempering. Stochastic equations, Langevin and Brownian dynamics. Applications in solids, liquids, and biomolecules (proteins). Programming in Matlab.
ME 347: Mathematical Theory of Dislocations
The mathematical theory of straight and curvilinear dislocations in linear elastic solids. Stress fields, energies, and Peach-Koehler forces associated with these line imperfections. Anisotropic effects, Green's function methods, and the geometrical techniques of Brown and Indenborn-Orlov for computing dislocation fields and for studying dislocation interactions. Continuously distributed dislocations and cracks and inclusions.
ME 349: Variational Methods in Elasticity and Plate Theory
An introduction to variational calculus methods and their applications to the theories of elasticity and plates.
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