ME 322: Kinematic Synthesis of Mechanisms
The rational design of linkages. Techniques to determine linkage proportions to fulfill design requirements using analytical, graphical, and computer based methods.
Terms: not given this year

Units: 3

Grading: Letter or Credit/No Credit
ME 323: Modeling and Identification of Mechanical Systems for Control
Lecture/Lab. The art and science behind developing mathematical models for control system design. Theoretical and practical system modeling and parameter identification. Frequency domain identification, parametric modeling, and blackbox identification. Analytical work and laboratory experience with identification, controller implementation, and the implications of unmodeled dynamics and nonlinearities. Prerequisites: linear algebra and system simulation with MATLAB/SIMULINK;
ENGR 105.
Terms: not given this year

Units: 3

Grading: Letter (ABCD/NP)
ME 324: Precision Engineering
Advances in engineering are often enabled by more accurate control of manufacturing and measuring tolerances. Concepts and technology enable precision such that the ratio of overall dimensions to uncertainty of measurement is large relative to normal engineering practice. Typical application areas: nonspherical optics, computer information storage devices, and manufacturing metrology systems. Application experience through design and manufacture of a precision engineering project, emphasizing the principles of precision engineering. Structured labs; field trips. Prerequisite: consent of instructors.
Terms: not given this year

Units: 4

Grading: Letter or Credit/No Credit
ME 325: Making Multiples: Scaled Manufacturing Tooling
Design course focusing on the process of injection molding as a prototyping and manufacturing tool. Coursework will include creating and evaluating initial design concepts, detailed part design, mold design, mold manufacturing, molding parts, and testing and evaluating the results. Students will work primarily on individually selected projects, using each project as a tool to continue developing and exercising individual design process. Lectures and field trips will provide students with context for their work in the Stanford Product Realization Lab. Prerequisite: ME318 or consent of instructors.
Terms: Spr

Units: 3

Grading: Letter (ABCD/NP)
Instructors:
Kohn, M. (PI)
;
Milroy, C. (PI)
ME 326: Telerobotics and HumanRobot Interactions
Focus is on dynamics and controls. Evaluation and implementation of required control systems. Topics include masterslave systems, kinematic and dynamic similarity; control architecture, force feedback, haptics, sensory substitutions; stability, passivity, sensor resolution, servo rates; time delays, prediction, wave variables. Hardwarebased 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)
Terms: not given this year

Units: 3

Grading: Letter or Credit/No Credit
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 researchoriented 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.
Terms: not given this year

Units: 3

Grading: Letter (ABCD/NP)
ME 328: Medical Robotics
Study of the design and control of robots for medical applications. Focus is on robotics in surgery and interventional radiology, with introduction to other healthcare robots. Delivery is through instructor lectures and weekly guest speakers. Coursework includes homework and laboratory assignments, an exam, and a researchoriented project. Directed toward graduate students and advanced undergraduates in engineering and computer science; no medical background required. Prerequisites: dynamic systems and MATLAB programming. Suggested experience with C/C++ programming, feedback control design, and linear systems. Cannot be taken concurrently with
CS 571.
Terms: Spr

Units: 3

Grading: Letter (ABCD/NP)
Instructors:
Barbagli, F. (PI)
;
Okamura, A. (PI)
ME 330: Advanced Kinematics
Kinematics from mathematical viewpoints. Introduction to algebraic geometry of point, line, and plane elements. Emphasis is on basic theories which have potential application to mechanical linkages, computational geometry, and robotics.
Terms: Win

Units: 3

Grading: Letter or Credit/No Credit
Instructors:
Roth, B. (PI)
ME 331A: Advanced Dynamics & Computation
Newton, Euler, momentum, and roadmap methods and computational tools for 3D force and motion analysis of multibody systems. Power, work, and energy. Numerical solutions (e.g., MATLAB, etc.) of nonlinear algebraic and differential equations governing the static and dynamic behavior of multiple degree of freedom systems.
Terms: Win

Units: 3

Grading: Letter (ABCD/NP)
Instructors:
Mitiguy, P. (PI)
ME 331B: Advanced Dynamics, Simulation & Control
Advanced methods and computational tools for the efficient formulation of equations of motion for multibody systems. D'Alembert principle. Power, work, and energy. Kane's and Lagrange's method. Computed torque control. Systems with constraints. Quaternions. Numerical solutions (e.g., MATLAB, etc.) of nonlinear algebraic and differential equations governing the behavior of multiple degree of freedom systems. Teambased computational multibody lab project (inclusion of feedforward control optional).
Terms: Spr

Units: 3

Grading: Letter (ABCD/NP)
Instructors:
Mitiguy, P. (PI)
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