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 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)
ME 332: Introduction to Computational Mechanics (CME 232)
Provides an introductory overview of modern computational methods for problems arising primarily in mechanics of solids and is intended for students from various engineering disciplines. The course reviews the basic theory of linear solid mechanics and introduces students to the important concept of variational forms, including the principle of minimum potential energy and the principles of virtual work. Specific model problems that will be considered include deformation of bars, beams and membranes, plates, and problems in plane elasticity (plane stress, plane strain, axisymmetric elasticity). The variational forms of these problems are used as the starting point for developing the finite element method (FEM) and boundary element method (BEM) approaches providing an important connection between mechanics and computational methods.
Terms: Sum

Units: 3

Grading: Letter (ABCD/NP)
Instructors:
Pinsky, P. (PI)
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.
Terms: not given this year

Units: 3

Grading: Letter or Credit/No Credit
ME 333B: Mechanics  Elasticity and Inelasticity
Introduction to the theories of elasticity, plasticity and fracture and their applications. Elasticity: Definition of stress, strain, and elastic energy; equilibrium and compatibility conditions; and formulation of boundary value problems. Stress function approach to solve 2D elasticity problems and Greenâs function approach in 3D. Applications to contact and crack. Plasticity: Yield surface, associative flow rule, strain hardening models, crystal plasticity models. Applications to plastic bending, torsion and pressure vessels. Fracture: Linear elastic fracture mechanics, Jintegral, DugdaleBarrenblatt crack model. Applications to brittle fracture and fatigue crack growth. Computer programming in Matlab is used to aid analytic derivation and numerical solutions.
Terms: Win

Units: 3

Grading: Letter or Credit/No Credit
Instructors:
Cai, W. (PI)
ME 335C: Finite Element Analysis
Newton's method for nonlinear problems; convergence, limit points and bifurcation; consistent linearization of nonlinear variational forms by directional derivative; tangent operator and residual vector; variational formulation and finite element discretization of nonlinear boundary value problems (e.g. nonlinear heat equation, nonlinear elasticity); enhancements of Newton's method: linesearch techniques, quasiNewton and arclength methods.
Terms: Spr

Units: 3

Grading: Letter or Credit/No Credit
Instructors:
Pinsky, P. (PI)
ME 337: Mechanics of Growth
Introduction to continuum theory and computational simulation of living matter. Kinematics of finite growth. Balance equations in open system thermodynamics. Constitutive equations for living systems. Customdesigned finite element solution strategies. Analytical solutions for simple model problems. Numerical solutions for clinically relevant problems such as: bone remodeling; wound healing; tumor growth; atherosclerosis; heart failure; tissue expansion; and high performance training.
Terms: Win

Units: 3

Grading: Letter or Credit/No Credit
Instructors:
Kuhl, E. (PI)
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