M.Tech. Robotics and Control

Department of Electronics and
Instrumentation Engineering
M.Tech. Robotics and Control
Curriculum & Syllabus
2014 Regulations

ACADEMIC REGULATIONS
(M.TECH./ M.B.A. / M.C.A.)
(Full - Time / Part – Time)
(Effective 2014-15)
1. Vision, Mission and Objectives
1.1 The Vision of the Institute is “To make
every man a success and no man a failure”.
In order to progress towards the vision, the
Institute has identified itself with a mission to
provide every individual with a conducive
environment suitable to achieve his / her
career goals, with a strong emphasis on
personality development, and to offer quality
education in all spheres of engineering,
technology, applied sciences and
management, without compromising on the
quality and code of ethics.
1.2 Further, the institute always strives
 To train our students with the latest and
the best in the rapidly changing fields
of Engineering, Technology,
Management, Science & Humanities.
 To develop the students with a global
outlook possessing, state of the art
skills, capable of taking up
challenging responsibilities in the
respective fields.
 To mould our students as citizens with
moral, ethical and social values so as
to fulfill their obligations to the nation
and the society.
 To promote research in the field of
science, Humanities, Engineering,
Technology and allied branches.
1.3 Our aims and objectives are focused on
 Providing world class education in
engineering, technology, applied
science and management.
 Keeping pace with the ever changing
technological scenario to help our
students to gain proper direction to
emerge as competent professionals
fully aware of their commitment to the
society and nation.
 To inculcate a flair for research,
development and entrepreneurship.
2. Admission
2.1. The admission policy and procedure
shall be decided from time to time by the
Board of Management (BOM) of the
Institute, following guidelines issued by
Ministry of Human Resource
Development (MHRD), Government of
India. The number of seats in each branch
of the (M.TECH / M.B.A. / M.C.A.)
programme will be decided by BOM as
per the directives from Ministry of Human
Resource Development (MHRD),
Government of India and taking into
account the market demands. Some seats
for Non Resident Indians and a few seats
for foreign nationals shall be made
available.
2.2. The selected candidates will be
admitted to the (M.TECH / M.B.A. /
M.C.A.) programme after he/she fulfills all
the admission requirements set by the
Institute and after payment of the
prescribed fees.
2.3. Candidates for admission to the first
semester of the Master’s Degree
Programme shall be required to have
passed an appropriate Degree
Examination recognized by Hindustan
University.
2.4. In all matters relating to admission to
the (M.TECH /M.B.A. / M.C.A.).
Programme, the decision of the Institute
and its interpretation given by the
Chancellor of the Institute shall be final.
2.5. If at any time after admission, it is
found that a candidate has not fulfilled any
of the requirements stipulated by the
Institute, the Institute may revoke the
admission of the candidate with
information to the Academic Council.
3. Structure of the programme
3.1. The programme of instruction will have
the following structure
i) Core courses of Engineering / Technology
/ Management.

1
ii) Elective courses for specialization in
areas of student’s choice.
3.2. The minimum durations of the
programmes are as given below:
Program
No. of
Semesters
M.Tech.(Full-Time) 4
M.Tech.(Part -Time) 6
M.B.A. (Full - Time) 4
M.B.A. (Part - Time) 6
M.C.A.(Full - Time) 6
M.C.A.(Part -Time) 8
Every (M.TECH / M.B.A. / M.C.A.)
programme will have a curriculum and
syllabi for the courses approved by the
Academic Council.
3.3. Each course is normally assigned
certain number of credits. The following
norms will generally be followed in
assigning credits for courses.
 One credit for each lecture hour per
week per semester;
 One credit for each tutorial hour per
week per semester;
 One credit for each laboratory practical
(drawing) of three (two) hours per week
per semester.
 One credit for 4 weeks of industrial
training and
 One credit for 2 hours of project per
week per semester.
3.4. For the award of degree, a student
has to earn certain minimum total number
of credits specified in the curriculum of the
relevant branch of study. The curriculum
of the different programs shall be so
designed that the minimum prescribed
credits required for the award of the
degree shall be within the limits specified
below.
Program
Minimum
prescribed
credit
range
M.Tech. (Full time / Part
time)
75 - 85
M.B.A. (Full time / Part
time)
85 - 95
M.C.A (Full time / Part
time)
115 - 125
3.5. The medium of instruction,
examination and the language of the
project reports will be English.
4. Faculty Advisor
4.1. To help the students in planning their
courses of study and for getting general
advice on the academic programme, the
concerned Department will assign a
certain number of students to a Faculty
member who will be called their Faculty
Advisor.
5. Class Committee
5.1 A Class Committee consisting of the
following will be constituted by the Head
of the Department for each class:
(i) A Chairman, who is not teaching the
class.
(ii) All subject teachers of the class.
(iii)Two students nominated by the
department in consultation with the
class.
The Class Committee will meet as often
as necessary, but not less than three
times during a semester.
The functions of the Class Committee will
include:
(i) Addressing problems experienced by
students in the classroom and the
laboratories.

2
(ii) Analyzing the performance of the
students of the class after each test
and finding ways and means of
addressing problems, if any.
(iii) During the meetings, the student
members shall express the opinions
and suggestions of the class
students to improve the teaching /
learning process.
6. Grading
6.1 A grading system as below will be
adhered to.
6.2 GPA & CGPA
GPA is the ratio of the sum of the product
of the number of credits Ci of course “i “
and the grade points Pi earned for that
course taken over all courses “i”
registered by the student to the sum of
Ci for all “i ”. That is,



i
i
i
ii
C
PC
GPA
CGPA will be calculated in a similar
manner, at any semester, considering all
the courses enrolled from first semester
onwards.
6.3. For the students with letter grade I in
certain subjects, the same will not be
included in the computation of GPA and
CGPA until after those grades are
converted to the regular grades.
6.4 Raw marks will be moderated by a
moderation board appointed by the Vice
Chancellor of the University. The final
marks will be graded using an absolute
grading system. The Constitution and
composition of the moderation board will be
dealt with separately.
7. Registration and Enrollment
7.1 Except for the first semester,
registration and enrollment will be done in
the beginning of the semester as per the
schedule announced by the University.
7.2 A student will be eligible for enrollment
only if he/she satisfies regulation 10
(maximum duration of the programme) and
will be permitted to enroll if (i) he/she has
cleared all dues in the Institute, Hostel &
Library up to the end of the previous
semester and (ii) he/she is not debarred
from enrollment by a disciplinary action of
the University.
7.3. Students are required to submit
registration form duly filled in.
8. Registration requirement
8.1. (i) A Full time student shall not
register for less than 16 credits or more
than 26 credits in any given semester.
8.1. (ii) A part time student shall not
register for less than 10 credits or more
than 20 credits in any given semester.
8.2 If a student finds his/her load heavy in
any semester, or for any other valid reason,
he/she may withdraw from the courses
within three weeks of the commencement
of the semester with the written approval of
his/her Faculty Advisor and HOD. However
the student should ensure that the total
number of credits registered for in any
semester should enable him/her to earn the
minimum number of credits per semester
for the completed semesters.
9. Minimum requirement to continue
the programme
Range of
Marks
Letter Grade
Grade
points
95-100 S 10
85 - 94 A 09
75- 84 B 08
65-74 C 07
55-64 D 06
50-54 E 05
< 50 U 00
I (Incomplete) --

3
9.1. For those students who have not
earned the minimum required credit
prescribed for that particular semester
examination, a warning letter to the
concerned student and also to his parents
regarding the shortage of his credit will be
sent by the HOD after the announcement of
the results of the university examinations.
10. Maximum duration of the
programme
The minimum and maximum period for
the completion of various programs are
given below.
Program
Min.
No. of
Semester
s
Max.
No. of
Semesters
M.Tech
(Full - time)
4 8
M.Tech
(Part - time)
6 10
M.B.A. (Full
Time)
4 8
M.B.A. (Part
Time)
6 10
M.C.A.
(Full - Time)
6 12
M.C.A
(Part –Time)
8 14
11. Temporary discontinuation
11.1. A student may be permitted by the
Director(Academic) to discontinue
temporarily from the programme for a
semester or a longer period for reasons of
ill health or other valid reasons. Normally
a student will be permitted to discontinue
from the programme only for a maximum
duration of two semesters.
12. Discipline
12.1. Every student is required to observe
discipline and decorum both inside and
outside the campus and not to indulge in any
activity which will tend to bring down the
prestige of the University.
12.2. Any act of indiscipline of a student
reported to the Director(Academic) will be
referred to a Discipline Committee so
constituted. The Committee will enquire into
the charges and decide on suitable
punishment if the charges are substantiated.
The committee will also authorize the
Director(Academic) to recommend to the
Vice - Chancellor the implementation of the
decision. The student concerned may
appeal to the Vice Chancellor whose
decision will be final. The
Director(Academic) will report the action
taken at the next meeting of the Council.
12.3. Ragging and harassment of women
are strictly prohibited in the University
campus and hostels.
13. Attendance
13.1. A student whose attendance is less
than 75% is not eligible to appear for the
end semester examination for that
semester. The details of all students who
have attendance less than 75% will be
announced by the teacher in the class.
These details will be sent to the
concerned HODs and Dean.
13.2. Those who have less than 75%
attendance will be considered for
condonation of shortage of attendance.
However a condonation of 10% in
attendance will be given on medical
reasons. Application for condonation
recommended by the Faculty Advisor,
concerned faculty member and the HOD
is to be submitted to the
Director(Academic) who, depending on
the merits of the case, may permit the
student to appear for the end semester
examination. A student will be eligible for
this concession at most in two semesters
during the entire degree programme.
Application for medical leave, supported
by medical certificate with endorsement
by a Registered Medical Officer, should
reach the HOD within seven days after
returning from leave or, on or before the

4
last instructional day of the semester,
whichever is earlier.
13.3. As an incentive to those students
who are involved in extra curricular
activities such as representing the
University in Sports and Games, Cultural
Festivals, and Technical Festivals, NCC/
NSS events, a relaxation of up to 10%
attendance will be given subject to the
condition that these students take prior
approval from the officer –in-charge. All
such applications should be
recommended by the concerned HOD
and forwarded to Director(Academic)
within seven instructional days after the
programme/activity.
14. Assessment Procedure
14.1. The Academic Council will decide
from time to time the system of tests and
examinations in each subject in each
semester.
14.2. For each theory course, the
assessment will be done on a continuous
basis as follows:
Test / Exam
Weightag
e
Duration
of Test /
Exam
First Periodical
Test*
10% 2 Periods
Second Periodical
Test*
10% 2 Periods
Model exam 20% 3 hours
Seminar/
Assignments/Quiz
20%
End – semester
examination
50% 3 Hours
* Best out of the two tests will be
considered.
14.3. For practical courses, the assessment
will be done by the subject teachers as
below:
(i) Weekly assignment/Observation note
book / lab records – weightage 60%.
(ii) End semester examination of 3 hours
duration including viva – weightage 40%.
15. Make up Examination/model
examination
15.1. Students who miss the end-semester
examinations / model examination for valid
reasons are eligible for make-up
examination /model examination. Those
who miss the end-semester examination /
model examination should apply to the Head
of the Department concerned within five
days after he / she missed examination,
giving reasons for absence.
15.2 Permission to appear for make-up
examination / model exam will be given
under exceptional circumstances such as
admission to a hospital due to illness.
Students should produce a medical
certificate issued by a Registered Medical
Practitioner certifying that he/she was
admitted to hospital during the period of
examination / model exam and the same
should be duly endorsed by parent /
guardian and also by a medical officer of
the University within 5 days.
16. Project evaluation
16.1. For Project work, the assessment
will be done on a continuous basis as
follows:
Review / Examination Weightage
First Review 10%
Second Review 20%
Third Review 20%
End semester
Examination
50%
For end semester exam, the student will
submit a Project Report in a format
specified by the Director(Academic). The
first three reviews will be conducted by a
Committee constituted by the Head of the
Department. The end – semester
examination will be conducted by a
Committee constituted by the Controller of

5
Examinations. This will include an
external expert.
17. Declaration of results
17.1 A candidate who secures not less
than 50% of total marks prescribed for a
course with a minimum of 50% of the
marks prescribed for the end semester
examination shall be declared to have
passed the course and earned the
specified credits for the course.
17.2 After the valuation of the answer
scripts, the tabulated results are to be
scrutinized by the Result Passing Boards
of PG programmes constituted by the
Vice-Chancellor. The recommendations of
the Result Passing Boards will be placed
before the Standing Sub Committee of the
Academic Council constituted by the
Chancellor for scrutiny. The minutes of
the Standing Sub Committee along with
the results are to be placed before the
Vice-Chancellor for approval. After
getting the approval of the Vice-
Chancellor, the results will be published
by the Controller of
Examination/Registrar.
17.3 If a candidate fails to secure a pass
in a course due to not satisfying the
minimum requirement in the end semester
examination, he/she shall register and re-
appear for the end semester examination
during the following semester. However,
the sessional marks secured by the
candidate will be retained for all such
attempts.
17.4 If a candidate fails to secure a pass
in a course due to insufficient sessional
marks though meeting the minimum
requirements of the end semester
examination, wishes to improve on his/her
sessional marks, he/she will have to
register for the particular course and
attend the course with permission of the
HOD concerned and the Registrar. The
sessional and external marks obtained by
the candidate in this case will replace the
earlier result.
17.5 A candidate can apply for the
revaluation of his/her end semester
examination answer paper in a theory
course within 2 weeks from the
declaration of the results, on payment of a
prescribed fee through proper application
to the Registrar/Controller of
Examinations through the Head of the
Department. The Registrar/ Controller of
Examination will arrange for the
revaluation and the results will be
intimated to the candidate concerned
through the Head of the Department.
Revaluation is not permitted for practical
courses and for project work.
18. Grade Card
18.1. After results are declared, grade
sheet will be issued to each student,
which will contain the following details:
(i) Program and branch for which the
student has enrolled.
(ii) Semester of registration.
(iii) List of courses registered during
the semester and the grade
scored.
(iv) Semester Grade Point Average
(GPA)
(v) Cumulative Grade Point Average
(CGPA).
19. Class / Division
19.1 Classification is based on CGPA and
is as follows:
CGPA≥8.0: First Class with distinction
6.5 ≤CGPA < 8.0: First Class
5.0 ≤CGPA < 6.5: Second Class.

6
19.2 (i) Further, the award of ‘First class
with distinction’ is subject to the candidate
becoming eligible for the award of the
degree having passed the examination in
all the courses in his/her first appearance
within the minimum duration of the
programme.
(ii) The award of ‘First Class’ is further
subject to the candidate becoming eligible
to the award of the degree having passed
the examination in all the courses within
the below mentioned duration of the
programme.
Program
No. of
Semester
s
M.Tech
(Full - time)
5
M.Tech
(Part - time)
7
M.B.A. (Full
Time)
5
M.B.A. (Part
Time)
7
M.C.A.
(Full - Time)
7
M.C.A
(Part –Time)
9
(iii) The period of authorized
discontinuation of the programme (vide
clause 11.1) will not be counted for the
purpose of the above classification.
20. Transfer of credits
20.1. Within the broad framework of these
regulations, the Academic Council, based
on the recommendation of the transfer of
credits committee so constituted by the
Chancellor may permit students to earn
part of the credit requirement in other
approved institutions of repute and status
in the country or abroad.
21. Eligibility for the award of (M.TECH
/ M.B.A. / M.C.A.) Degree
21.1. A student will be declared to be
eligible for the award of the (M.TECH /
M.B.A. / M.C.A.) Degree if he/she has
i) registered and successfully credited
all the core courses,
ii) successfully acquired the credits in
the different categories as specified
in the curriculum corresponding to
the discipline (branch) of his/her
study within the stipulated time,
iii) has no dues to all sections of the
Institute including Hostels, and
iv) has no disciplinary action pending
against him/her.
The award of the degree must be
recommended by the Academic Council
and approved by the Board of
Management of the University.
22. Power to modify
22.1. Notwithstanding all that has been
stated above, the Academic Council has
the right to modify any of the above
regulations from time to time subject to
approval by the Board of Management.

1
HINDUSTAN UNIVERSITY
HINDUSTAN INSTITUTE OF TECHNOLOGY AND SCIENCE
DEPARTMENT OF ELECTRONICS AND INSTRUMENTATION ENGINEERING
M.TECH. ROBOTICS AND CONTROL ENGINEERING
M.TECH. CURRICULUM – 2014-2015
SEMESTER I
S.No
Course
Code
Course Title L T P C TCH
Theory
1. PMA106 Advanced Applied Mathematics * 3 1 0 4 4
2. PRC101 Sensors and instrumentation 3 1 0 4 4
3. PES102 Embedded System Design # 3 1 0 4 4
4. PRC102 Basics of Mechatronics 3 1 0 4 4
5. Bridge Course 3 1 0 4 4
6. Bridge Course 3 1 0 4 4
Practical
7. PPC104 Embedded System Design Laboratory 0 0 3 1 3
Total 25 27
Bridge Course Subjects
S.No
Course
Code
Theory
1. PPC103
Communication Protocols for
Instrumentation $ 3 1 0 4 4
2. PPC101 Analog & Digital Instrumentation $
3 1 0 4 4
3. PRC103 Mechanical Design For Robotics $$
3 1 0 4 4
4. PRC104 Fundamentals of Robotics $$
3 1 0 4 4
* Common to M.Tech (ES/PCI/CS/AE/CCE/VLSI)
** Common to M.Tech (ES/PCI/EC)
# Common to M.Tech (CS/ES/VLSI/PC&I/AE/EC)
$ Bridge Course for students with B Tech – Mechanical Engineering/Automobile
$$ Bridge Course for students with B Tech – Electrical/Electronics/Instrumentation

2
SEMESTER II
S.No
Course
Code
Theory
1. PRC201
Design and Manufacturing of MEMS and
Micro Systems
3 1 0 4 4
2. PPC201
Programmable Logic Controller &
Distributed Control Systems
3 1 0 4 4
3. PIA201 Advanced Control System 3 1 0 4 4
4. PRC202 Artificial Intelligence 3 1 0 4 4
5 PRC203 Robotic systems and programming 3 1 0 4 4
6. PRC204 Kinematics And Dynamics Of Robots 3 1 0 4 4
Practical
PRC211
Robotics Laboratory 1 0 0 3 1 3
7.
PRC212
Robotics laboratory II 0 0 3 1 3
Total 26 30
*---Common to M.Tech (PCI/PED)
SEMESTER III
S.No
Course
Code
Theory
1 PRCxxx Elective - I 3 1 0 4 4
2 PRCxxx Elective - II 3 1 0 4 4
3 PRCxxx Elective - III 3 1 0 4 4
Practical
PRC305 Project Phase- I 0 0 12 6 12
Total 18 24
Elective - I
1 PRC321 CNC Technology 3 1 0 4 4
2 PRC322 Design of Mechatronics system 3 1 0 4 4
3 PRC323 Introduction to Machine Vision 3 1 0 4 4
Elective - II
1 PRC324 Applications of Robots 3 1 0 4 4
2 PRC325 Design of Intelligent Robotics Systems 3 1 0 4 4
3 PRC326 Applied Hydraulics and Pneumatics 3 1 0 4 4
Elective - III
1 PRC327 Industrial Robots 3 1 0 4 4
2 PRC328 Automation System Design 3 1 0 4 4
3 PRC329 Non Destructive Testing 3 1 0 4 4
4 PRC330 Industrial Automation 3 1 0 4 4

3
SEMESTER IV
S.No
Course
Code
Practical
1. PRC406 Project Phase-II 0 0 24 12 24
Total 12 24
Total Credits: 81
*- Common Subjects

4
SEMESTER I
[Common to M.Tech (ES/PCI/CS/AE/CCE and VLSI)]
PMA106
ADVANCED APPLIED MATHEMATICS
4 Credits
Goal Develop the Mathematical skills to formulate certain practical problems, solve them and
physically interpret the results
Objectives Outcomes
The course should enable the student to
1. Understand the techniques to solve the
system of equations using direct method
and indirect methods. Learns to
decompose the matrix in the LU form
and to find the Eigen value of a matrix
using power and Jacobi methods.
2. Learn to classify the initial and boundary
value problems. Understands the
D'Alemberts solution of the one
dimensional wave equation. Learn
significance of characteristic curves.
3. Learn series solutions of Bessel’s and
Legendre equations. Understand
recurrence relation, generating functions
and orthogonal properties.
4. Learn basics of probability, addition and
multiplication, Baye’s theorems.
Understands the concept of random
variable, moment generating function
and their properties. Learn standard
distributions in discrete and continuous
cases
5. Learns the different Markovian models
with finite and infinite capacity and
understands to classify them.
The students should be able to:
1. Able to write the algorithm for solving the
simultaneous equations for direct and indirect
methods. Identifies the Eigen values using
conventional method and compares with
numerical solutions. Able to write the
algorithm to find the Eigen values of a matrix.
2. Able to form the wave equations with initial
conditions and solve them using D'Alemberts
solutions. Solves the wave equations using
Laplace transform for displacements in long
string – long string under its weight and free
and forced vibrations.
3. Solves the Bessel’s equation and Legendre
equations. Using Bessel’s function solves
many practical problems that arise in
electrical transmission problems and vibration
of membranes as in loudspeakers.
4. Evaluates the probability using addition and
multiplication theorem. Applies Baye’s for
practical problems to find the probability.
Verifies whether a given function is a
probability mass or density function. Applies
the discrete and continuous distributions for
solving practical problems. Evaluates the
moments of the distributions using moment
generating function.
5. Able to analyze and classify the models, M /
M / 1, M / M / C, finite and infinite capacity
and solves practical problems related to the
queuing models.

5
UNIT I LINEAR ALGEBRAIC EQUATION AND EIGEN VALUE PROBLEMS 12
System of Equations – Solution by Gauss Elimination and Gauss Jordan methods – LU decomposition
method – Indirect methods – Gauss Jacobi and Gauss Seidel methods – Eigen values of a matrix using Jacobi
and power methods.
UNIT II WAVE EQUATION 12
Solution of initial and boundary value problems - Characteristics - D'Alembert's solution - Significance of
characteristic curves - Laplace transform solutions for displacement in a long string, in a long string under its
weight - a bar with prescribed force on one end - Free vibrations of a string.
UNIT III SPECIAL FUNCTIONS 12
Series solutions - Bessel's equation - Bessel functions - Legendre's equation - Legendre polynomials -
Rodrigue's formula - Recurrence relations - Generating functions and orthogonal property for Bessel
functions of the first kind - Legendre polynomials.
UNIT IV PROBABILITY AND RANDOM VARIABLE 12
Discrete and Continuous random variables – Moments – Moment generating functions - Standard
distributions - Binomial, Poisson, Geometric, Negative Binomial, Uniform, Normal ,Exponential, Gamma
and Weibull distributions – Two dimensional random variables – Joint, Marginal and Conditional
distributions. Correlation and Regression.
UNIT V QUEUING THEORY 12
Markovian models – Birth and death queuing models – Steady state – Single and Multiple servers – M/M/1 –
Finite and infinite capacity – M/M/C – finite and infinite capacity.
L = 45 T = 15 TOTAL: 60
REFERENCE BOOK
1) Taha, H.A., “Operations Research - An Introduction ", Prentice Hall of India Ltd., 6th Edition, New
Delhi, 1997.
2) Dr.Singaravelu A., Dr.Siva Subramanian S., and Dr.Ramachandran C., “Probability and Queuing
Theory”, Meenakshi agency, 20th
edition, January 2013.
3) Veerarajan T., “Probability, Statistics and Random Processes”, Tata McGraw-Hill, second edition,
2004.
4) Grewal B.S., “Higher Engineering Mathematics”, Khanna Publishers, 34th
edition.
5) Sankara Rao K., “Introduction to Partial Differential Equations”, PHI, 1995.
6) Veerarajan T., “Mathematics IV”, Tata McGraw-Hill, 2000.

6
PRC101
SENSORS AND INSTRUMENTATION
4 Credits
Goal To understand the characteristics and signal conditioning techniques of various
transducers.
Objectives Outcomes
1.Understand the characteristics of various
transducers.
2.Understand the techniques of sensor signal
conditioning.
3.Learn about high impedance sensors.
4.Learn about micro and smart sensors.
1.Classify the various types of transducers.
2.Design high performance sensor signal
conditioning.
3.Devise high impedance sensors.
4.Construct and analyze micro and smart sensors.
UNIT I CLASSIFICATION OF INSTRUMENTS 9
Transducers: Input and output characteristics of various transducers, variable resistance transducer
and its equivalent circuit, potentiometers, their construction and performance, variable inductance
and variable capacitance transducers, their construction and performance, Piezoelectric transducer.
UNIT II DESIGN TECHNIQUES FOR SENSOR SIGNAL CONDITIONING 9
Sensor and signal conditioning for strain, force, pressure, flow and temperature measurement, Bridge
configurations, Amplifying and linearising bridge outputs, Driving bridge circuits. Ratiometric
techniques.
UNIT III HIGH IMPEDANCE SENSORS 9
Photodiodes and high impedance charge output sensors, Signal conditioning of high impedance
sensors
UNIT IV POSITIONING, MOTION AND TEMPERATURE SENSORS 9
LVDT, Hall effect magnetic sensors, optical encoders Accelerometer, RTDs, thermistors,
thermocouples, semiconductors temperature sensors and their signal conditioning
UNIT V MICRO-SENSORS AND SMART SENSORS 9
Construction, characteristics, and applications.
L =45 Total = 45
REFERENCES:
1) H.K.P Neubert “Instrument Transducers Oxford Herman University Press Eighth Impression
2008.
2) Ramon Pallas-Arenyand Johan G. Webster “Sensor And Signal Conditioning” John Wiley,
New York 1991.

7
3) Dan Sheingold-Editior “Transducer Interfacing Handbook”, Analog Devices Inc 1980
4) “High Speed Design Technique” Analog Device Inc 1996 5) Jacoba Fraden “Handbook Of
Modern Sensors “2nd Edition ,Springer-Verlag.New York 1996
6) Jerald G.Graeme “Photodiode Amplifiers And Op-Amp Solution”, Mc Graw Hill 1995
7) Harry L. Trietly , “Transducers In Mechanical And Electronic Design”, Marcel Dekker Inc
1986. .
PES102 EMBEDDED SYSTEM DESIGN 4 CREDITS
Goal The aim of this course is to expose the concepts of Embedded system principles and software
development tools and introducing PIC and Motorola microcontrollers and interfacing.
Objectives Outcome
The course should enable the students to:
1.Understand the use of review in Embedded
hardware,
2. Understand basic concepts of design of
Embedded software system,
3. Understand the Software architecture and
Developments tools
4.Understand the Operation of PIC
microcontroller and interfacing
5. Understand the Operation of Embedded
Microcomputer systems
At the end of the course the student should be able to:
1. Use of hardware fundamentals.Gates.timing
diagram, DMA, interrupts, built ins on the
microprocessor and microprocessor
architecture,
2. Explain the concept of Tasks, States, Data,
Semaphores, more operating system services
IR in RTOS environment, Basic design using
RTOS,
3. Develop through basic knowledge on the
behavior and the characteristics of Round-
Robin techniques, Functions, Queue, Host and
Target machine and Debugging techniques,
4. Learn the usage of Architecture, instruction
sets of PIC, Loop time subroutine, I/O port
expansion,I2C for peripherals chip access,
ADC and UART special features,
5. Acquire knowledge on the configuration of
Motorola, Registers, addressing modes,
interfacing methods, ISR, Timing generations
and measurements
.
.
UNIT I INTRODUCTION: REVIEW OF EMBEDDED HARDWARE 9
Hardware Fundamentals: Terminology- Gates- Timing Diagram- Microprocessors- Buses- Direct Memory
Access- Interrupts- Other Common Parts- Built-Ins on the Microprocessor-Conventions Used on Schematics.
Interrupts: Microprocessor Architecture - Interrupts Basics-Shared-Data Problem- Interrupt Latency,
Examples of Embedded System.
UNIT II DESIGN OF EMBEDDED SOFTWARE SYSTEM 9
Introduction: Tasks and Task States- Tasks and Data- Semaphores and Shared Data. More Operating System
Services: Message Queues- Mailboxes and Pipes- Timer Functions- Events- Memory Management- Interrupt
Routines in an RTOS Environment, Basic Design Using a Real-Time Operating System.
UNIT III SOFTWARE ARCHITECTURES AND DEVELOPMENT AND TOOLS 9
Software Architectures: Round-Robin- Round-Robin with Interrupts- Function-Queue-
Scheduling Architecture- Real-Time Operating System Architecture, Development Tools: Host and Target
Machines- Linker/Locators for Embedded Software, Debugging Techniques.

8
UNIT IV PIC MICROCONTROLLER AND INTERFACING 9
Introduction- CPU Architecture and Instruction Set- Loop Time Subroutine- Timer2 and
Interrupts- Interrupts Timing- I/O Port Expansion- I2C Bus for Peripheral Chip Access- Analog-to- Digital
Converter- UART- Special Features.
UNIT V EMBEDDED MICROCOMPUTER SYSTEMS 9
ARM 7 Family Architecture - Registers- Addressing Modes. Interfacing Methods: Parallel I/O Interface-
Parallel Port Interfaces- Memory Interfacing- High Speed I/O interfacing-Analog interfacing, Interrupts,
Interrupts Service Routine- Features of Interrupts- Interrupt Vector and Priority, Timing Generation and
Measurements: Input Capture- Output Compare- Frequency Measurement, Serial I/O Devices: RS232-
RS485.
L = 45, T = 15, TOTAL= 60
REFERENCE BOOK
1. David E Simon, An Embedded Software Primer, Pearson Education Asia, 2001
2. John B. Peat man , Design with Microcontroller, Pearson Education Asia, 1998
3. Jonarthan W. Valvano Brooks/Cole ,Embedded Micro Computer Systems, Real Time Interfacing,
Thomson Learning 2001
4. Burns, Alan and Wellings, Andy, Real-Time Systems and Programming Languages, Second Edition,
Harlow: Addison-Wesley-Longman, 1997
5. Raymond J.A. Bhur and Donald L.Bialey, An Introduction to Real Time Systems: Design to
Networking with C/C++, Prentice Hall Inc, New Jersey, 1999
6. Grehan Moore, and Cyliax, Real Time Programming: A Guide to 32 Bit Embedded Development.
Reading: Addison-Wesley-Longman, 1998
7. Heath, Steve, Embedded Systems Design. Newnes , 1997
PRC102 BASICS OF MECHATRONICS 4 CREDITS
Goal To make students understand about application of integrating Electronics, Electrical, Mechanical and
Computer System for controlling electro-mechanical systems
Objectives Outcome
The course will enable the students:
(i) To understand the interdisciplinary applications of
Electronics, Electrical, Mechanical and Computer
Systems for the Control of Mechanical and Electronic
Systems.
(i) Analyze and apply basic control circuits in
pneumatic, hydraulic and electrical systems,
integrate them and troubleshoot
electromechanical systems.
UNIT- I:-INTRODUCTION 9
Mechatronics – definition and key issues – evolution – elements – Mechatronics approach to modern
engineering design.
UNIT- II:-SENSORS AND TRANSDUCERS 9
Types – displacement, position, proximity and velocity sensors – signal processing – data display.
UNIY- III:-ACTUATION SYSTEMS 9
Introduction– electrical types – applications – pneumatic and hydraulic systems – applications –
selection of actuators
UNIT- IV:-CONTROL SYSTEMS 9

9
Types of controllers – programmable logic controllers – applications – ladder diagrams –
microprocessor applications in Mechatronics – programming interfacing – computer applications
UNIT V:-RECENT ADVANCES 9
Manufacturing Mechatronics – automobile Mechatronics - medical Mechatronics – office automation
– case studies.
L = 45 TOTAL = 45
TEXT BOOKS
1 . Bolton, N., Mechatronics: Electronic Control system for Mechanical and Electrical Engineering,
Longman, 2005.
2. Dradly, D.A. Dawson., D, Burd, N.C., and Loader, A.J., Mechatronics: Electronics in products and
processes, Chapman & Hall, 1993.
REFERENCE BOOKS
1. HMT Mechatronics, Tata McGraw Hill, New Delhi, 2004.
2.Galip Ulsoy, A., and Devires, W.R. microcomputer Applications in manufacturing John Wiley, USA 2006.
3. James Harter, Electro mechanics : Principles, concepts and devices – Prentice Hall – New Jersey 2006.
PPC103 COMMUNICATION PROTOCOLS FOR
INSTRUMENTATION
4 CREDITS
Prerequisite Computer Interfacing
Goal The aim of this course is to give exposure to Hierarchical Structure of networks used in
Automation and Control Systems and Understand the ISO OSI Seven Layer
Communication Structure, Communication interfaces, Ethernet, Communication protocols.
Objectives Outcome
The course should enable the students :
1. To understand the use of Communication
Model for recent Industry Networks.
2. To widen the knowledge on Communication
Protocols.
3. To learn about the Network Architectures.
4. To expand knowledge on Field Bus.
5. To enrich expertise on the commissioning of
Industrial Networks. systems
At the end of the course the student should be able
to:
1. Explain the concept of communication
model, OSI reference model, Recent
Industry networks.
2. Classify the Network selection applicable
for specific industrial needs.
3. Differentiate the Network Architecture and
understand the concepts of Industrial
protocols like Ethernet, Modbus, Modbus
Plus.
4. Design and install Field Bus oriented
Industrial Communication Networks.
5. Calibrate the smart devices using Profibus
and Field Bus of any Industrial Application
UNIT-I: - INTRODUCTION 9
An Introduction to Networks in process automation: Information flow requirements, Hierarchical
communication model, Data Communication basics, OSI reference model, Industry Network, Recent
networks.

10
UNIT-II: - COMMUNICATION PROTOCOLS 9
Introduction to Communication Protocols: Communication basics, Network Classification, Device
Networks, Control Networks, Enterprise Networking, Network selection.
UNIT-III: - NETWORK ARCHITECTURES 9
Proprietary and open networks: Network Architectures, Building blocks, Industry open protocols
(RS-232C, RS- 422, and RS-485), Ethernet, Modbus, Modbus Plus, Data Highway Plus, Advantages and
Limitations of Open networks, IEEE 1394.
UNIT-IV: -FIELD BUS 9
Field bus: Field bus Trends, Hardware selection, Field bus design, Installation, Documentation, Field
bus advantages and limitations. HART: Introduction, Design, Installation, calibration, commissioning,
Application in Hazardous and Non-Hazardous area.
UNIT-V: - PLANNING AND COMMISSIONING 9
Foundation Field bus & Profibus: Introduction, Design, Calibration, Commissioning, Application in
Hazardous and Non-Hazardous area. Introduction to wireless Protocols: WPAN, Wi-Fi, Bluetooth, ZigBee,
Z-wave.
L = 45 T 15 Total = 45
REFERENCE BOOK
1. B.G. Liptak, ‘Process Software and Digital Networks, CRC Press ISA-, 2002.
2. Romilly Bowden , ‘HART Communications Protocol’, Fisher-Rosemount, 2003.
3. User Manuals of Foundation Field bus, Profibus, Modbus, Ethernet, Device net, Control net.
PPC101 ANALOG AND DIGITAL INSTRUMENTATION 4 CREDITS
Goal The goal of the programme is to provide a thorough knowledge about different types of Data
Acquisition systems and about different communication systems used in industry.
Objectives Outcome
1. To study the different type of A/D
converters.
2. To make them understand the building
blocks of Automation systems and various
Data Acquisition Systems& Data loggers.
3. To assist the learners in understanding
about different types of interfacing and
transmission systems.
4. To learn the different types of
communication protocols such as HART,
Field bus, General field bus architecture,
Instrumentation buses, Mod bus, GPIB,
Network buses, Ethernet, TCP/IP
protocols.
5. To learn the real time Data Acquisition
system applications for the case studies.
1. The learners will have the confidence on how to
select the A/D converter for different application.
2. The learners will be able to know the difference
between single channel and multi channel Data
Acquisition Systems and can use this knowledge
in sensor based acquisition systems.
3. The learners will be able to understand TDM,
Digital Modulation, Pulse Modulation and
different interfacing system standards.
4. The learners will be able to understand the
different communication protocols that industries
are following.
5. The learners will have the basic idea of PC based
industrial process measurements like flow,
temperature, pressure and level systems.

11
UNIT-I: - BASIC BLOCKS 9
Overview of A/D converter, types and characteristics-Understanding Data acquisition, A/D and S/H
terms-passive support and Active support components-Single and Multi-slope, Low cost A/D conversion
techniques, types-Electromechanical A/D converter.
UNIT-II: - DATA ACQUISITION SYSTEMS 9
Objective - Building blocks of Automation systems – Multi, Single channel Data Acquisition
systems, PC based DAS, Data loggers- Sensors based computer data systems.
UNIT-III: - INTERFACING AND DATA TRANSMISSION 9
Data transmission systems- 8086 Microprocessor based system design - Peripheral Interfaces – Time
Division Multiplexing (TDM) – Digital Modulation – Pulse Modulation – Pulse Code Format – Interface
systems and standards – Communications.
UNIT-IV: - PC BASED INSTRUMENTATION 9
Introduction - Evolution of signal Standard - HART Communication protocol -
Communication modes - HART networks - control system interface - HART commands -HART field
controller implementation - HART and the OSI model - Field bus –Introduction - General field bus
architecture - Basic requirements of field bus standard -field bus topology - Interoperability –
interchangeability - Instrumentation buses-Mod bus - GPIB - Network buses – Ethernet - TCP/IP protocols
UNIT-V: - CASE STUDIES 9
PC based industrial process measurements like flow, temperature, pressure and level – PC based
instruments development system.
L = 45 T = 15 TOTAL: 60
REFERENCE BOOK
1. Kevin M. Daugherty, “Analog – to – Digital conversion – A Practical Approach”, McGraw Hill
International Editions, 1995
2. N. Mathivanan, “Microprocessors, PC Hardware and Interfacing”, Prentice – Hall of India Pvt.
Ltd., 2003.
3. Krishna Kant “Computer- based Industrial Control” ,Prentice- Hall of India Pvt. Ltd., 2004.
4. H S. Kalsi, “Electronic Instrumentation”, Technical Education Series Tata McGraw-Hill, 2004.
5. Buchanan, “Computer busses”, Arnold, London, 2000.

12
PRC103
MECHANICAL DESIGN FOR ROBOTICS
4 Credits
Goal To provide a thorough knowledge about different types of Gears Belts, Bearings and
Chain systems used in industry.
Objectives Outcomes
1. Study the fundamentals of types of
gears.
2. Understand the various forces acting on
shafts and gear components.
3. Understand about selection of V Belts
and Chains.
4. Learn the different types of Bearings.
5. Understand the functioning of clutches
and friction drives. .
1. Classify the types of gears.
2. Design and estimate drives using shafts and
gear components.
3. Classify and select V Belts and Chains.
4. Analyze of Static and dynamic behaviors of
Bearings.
5. Design applications involving clutches and
friction drives. .
DESIGN OF GEARS: 9
Review of gear fundamentals, interference, gear forces, determining dimensions of a spur gear pair. Design of
helical gears-parallel axis helical gear, normal and transverse planes, helix angles, equivalent number of teeth,
determining dimension of helical gear pair, nomenclature of straight and bevel gears.
DESIGN OF SHAFTS AND COUPLINGS: 9
Forces on shafts due to gears, belts and chains, estimation of shaft size based on strength and critical speed.
Couplings-types and applications, Design of square keys-use of standards, rigid couplings, flexible flange
couplings - selection.
SELECTION OF V BELTS AND CHAINS: 9
V belts for given power and velocity ratio, selection of micro V-belts, timing belts. Selection of roller chain
and power speed ratio, silent chain.
ROLLING CONTACT BEARINGS: 9
Static and dynamic load capacity, cubic mean load, variable load, probability of survival, selection of deep
groove and angular contact ball bearings.
FRICTION DRIVES: 9
Clutches - role of clutches, positive and gradually engaged clutches, toothed claw clutches, design of single
plate and multiple plate clutches, variable speed drives, types and selection.
Total = L: 45 + T: 15 = 60
TEXT BOOKS:
1. Robert L Mott, "Machine Elements in Mechanical Design", Macmillan Publishing Co., London, 1992.
2. Shigley and Mische, “Mechanical Engineering Design”, McGraw Hill, Inc., New Delhi, 2000.
REFERENCES:
1. Bandari V B, "Design of Machine Elements ", Tata McGraw Hill Publishers Co. Ltd., New Delhi, 2003.
2. Robert L Nortan, “Machine Design-An Integrated Approach”, Pearson Publishers, New Delhi, 2003.
3. Maitra G M, “Handbook of Gear Design”, Tata McGraw Hill, New Delhi, 1998
Faculty of Mechanical Engineering, PSG College of Technology, "Design Data Book".

13
PRC104
FUNDAMENTALS OF ROBOTICS
4 Credits
Goal To provide a basic knowledge about construction, kinematics and path planning of
Robotic systems..
Objectives Outcomes
The course will enable the students to:
(i) Get introduced to basics to build robotic
system.
(ii) Learn about the robotic kinematics and
dynamics..
(iii) Learn the techniques of robot drives and
transmission
(iv) Learn the techniques used in manipulator
designs
(v) write efficient programs on robot path
planning
After completion of the course the students are
expected to be able to:
(i) Understand Basic building blocks of robotic
systems
(ii) Understand robot kinematics and dynamics
(iii) Interface Robot drive mechanism with robotic
systems.
(iv) Design a manipulator for a particular application.
(v) Execute and design a robot for any application.
UNIT I INTRODUCTION 9
Specifications of Robots- Classifications of robots – Work envelope - Flexible automation versus Robotic
technology – Applications of Robots
UNIT II ROBOT KINEMATICS AND DYNAMICS 9
Positions, Orientations and frames, Mappings: Changing descriptions from frame to frame, Operators:
Translations, Rotations and Transformations - Transformation Arithmetic - D-H Representation - Forward
and inverse Kinematics Of Six Degree of Freedom Robot Arm – Robot Arm dynamics
UNIT III ROBOT DRIVES AND POWER TRANSMISSION SYSTEMS 9
Robot drive mechanisms, hydraulic – electric – servomotor- stepper motor - pneumatic drives, Mechanical
transmission method - Gear transmission, Belt drives, cables, Roller chains, Link - Rod systems - Rotary-to-
Rotary motion conversion, Rotary-to-Linear motion conversion, Rack and Pinion drives, Lead screws, Ball
Bearing screws.
UNIT IV MANIPULATORS 9
Construction of Manipulators, Manipulator Dynamic and Force Control, Electronic and Pneumatic
manipulators, Classification of End effectors – Tools as end effectors. Drive system for grippers-Mechanical-
adhesive-vacuum-magnetic-grippers. Hooks &scoops. Gripper force analysis and gripper design. Active and
passive grippers.
UNIT V PATH PLANNING & Programming 9
Trajectory planning and avoidance of obstacles, path planning, skew motion, joint integrated motion –
straight line motion-Robot languages -.computer control and Robot software.

14
ROBOT APPLICATIONS: Material transfer, Machine loading, Assembly, inspection, processing
operations and service robots. Mobile Robots, Robot cell
Total = L: 45 + T: 15 = 60
TEXT BOOKS
1. S. R. Deb and S. Deb, ‘Robotics Technology and Flexible Automation’, Tata McGraw Hill Education
Pvt. Ltd, 2010.
2. John J.Craig , “Introduction to Robotics”, Pearson, 2009.
3. Mikell P. Groover et. al., "Industrial Robots - Technology, Programming and Applications",
McGraw Hill, New York, 2008.
REFERENCES
1. Richard D Klafter, Thomas A Chmielewski, Michael Negin, "Robotics Engineering – An Integrated
Approach", Eastern Economy Edition, Prentice Hall of India P Ltd., 2006.
2. Fu K S, Gonzalez R C, Lee C.S.G, "Robotics : Control, Sensing, Vision and Intelligence", McGraw
Hill, 1987.
PPC104 EMBEDDED SYSTEM DESIGN
LABORATORY
1 CREDITS
Goal The aim of this course is to train students with skills in Designing of Embedded based
systems required for Industrial Automation and Control Systems.
Objectives Outcome
1. To understand the register architecture of
Atmel 8051,PIC 16f877A Microcontroller.
2. To widen the knowledge on interfacing
various serial Communication Protocols.
3. To learn about interfacing various parallel
communication protocols.
4. To expand knowledge on Interfacing Digital
Input and Output.
5. To develop expertise on Interfacing the
Analog input and output.
At the end of the course the student should be
able to:
1. Explain the organization of Registers, Memory
and Instruction set with the knowledge of
Addressing modes which help the student to
develop program sequence for any industrial
application.
2. Communicate with any device using USART
Configurable Communication Interface.
3. Interface the Parallel/Serial LCD Interface and
Alphanumerical Keyboard Interface.
4. Design a complete Data acquisition system with
Analog sensor interface and Digital sensors.
5. Simulate the complete embedded application
using Virtual Simulation Software (Proteus)
LIST OF EXPERIMENTS
1. System Design Study using Atmel, PIC Microcontrollers.
2. System Design for interfacing various parallel communication protocols.
3. System Design for interfacing various serial communication protocols.
4. System Design for Digital Input and Output ( includes Virtual Simulation)
5. System design for Analog input and output. ( includes Virtual Simulation)
P=45 TOTAL=45

15
PRC201 DESIGN AND MANUFACTURING OF
MEMS AND MICRO SYSTEMS
4 Credits
Goal To Understand the fundamentals of materials ,design of micro system fabrication
process.
Objectives Outcomes
1. Study the fundamentals of MEMS .
2. Understand the scaling laws required for
miniaturization.
3. Understand about materials used for
MEMS.
4. Understand the fundamentals of micro
system fabrication process.
1. Evaluate the design techniques of MEMS .
2. Specify the laws required for
miniaturization.
3. Classify the different types of materials used
for MEMS.
4. Design a MEMS system using Microsystems
fabrication process.
3 0 0 3
UNIT I MEMS AND MICROSYSTEMS: MEMS and microsystem products, evaluation of micro
fabrication, microsystems and microelectronics, applications of Microsystems, working principles of
Microsystems, microsensors, microactuators, MEMS and microactuators, microaccelerometers (5)
UNIT II SCALING LAWS IN MINATURIZATION: Introduction, scaling in geometry, scaling in rigid
body dynamics, the trimmer force scaling vector, scaling in electrostatic forces.Electromagnetic forces,
scaling in electricity and fluidic dynamics, scaling in heat conducting and heat convection. (5)
UNIT III MATERIALS FOR MEMS AND MICROSYSTEMS: Substrates and wafers, silicon as a
substrate material, ideal substrates for MEMS, single crystal silicon and wafers crystal structure, mechanical
properties of Si, silicon compounds, SiO2, SiC, Si3N4 and polycrystalline Silicon, silicon piezoresistors,
gallium aresenside, quartz, piezoelectric crystals, polymers for MEMS, conductive polymers. (8)
UNIT IV ENGINEERING MECHANICS FOR MICROSYSTEMS DESIGN: Introduction, static
bending of thin plates, circular plates with edge fixed, rectangular plate with all edges fixed and square plates
with all edges fixed. Mechanical vibration, resonant vibration, microaccelerometers, design theory and
damping coefficients. Thermomechancis, thermal stresses. Fracture mechanics, stress intensity factors,
fracture toughness and interfacial fracture machines. (7)
UNIT V BASICS OF FLUID MECHANICS IN MACRO AND MESO SCALES: Viscosity of fluids,
flow patterns Reynolds number. Basic equation in continuum fluid dynamics, laminar fluid flow in circular
conduits, computational fluid dynamics, incompressible fluid flow in micro conducts, surface tension,
capillary effect and micropumping. Fluid flow in submicrometer and nanoscale, rarefield gas, kundsen and
mach number and modeling of microgas flow, heat conduction in multilayered thin films, heat conduction in
solids in submicrometer scale. Thermal conductivity of thin films, heat conduction equation for thin films.
(8)
MICROSYSTEM FABRICATION PROCESS: Photolithography, photoresist and applications, light
sources. Ion implantation, diffusion process, oxidation, thermal oxidation, silicon diode, thermal oxidation
rates, oxide thickness by colour. Chemical vapour deposition, principle, reactants in CVD, enhanced CVD
physical vapour deposing, sputtering, deposition by epitaxy etching, chemical and plasma etching (6)
Total = L:45=45

16
TEXT BOOK:
1. Tai-Ran Hsu, “MEMS and Microsystems Design and Manufacture”, Tata McGraw-Hill Publishing Co.
Ltd., New Delhi, 2002.
REFERENCES:
1. Mark Madou, “Fundamentals of Micro fabrication”, CRC Press, New York, 1997.
2. Julian W Gardner, “Microsensors: Principles and Applications”, John Wiley & Sons, 1994
3. Sze S M, “Semiconductor Sensors”, McGraw-Hill, New Delhi, 1994.
4. Chang C Y and Sze S M, “VLSI Technology”, McGraw-Hill, New York, 2000.
PPC201 PROGRAMMABLE LOGIC CONTROLLER
&DISTRIBUTED CONTROL SYSTEMS
4 CREDITS
Goal The goal of the programme is to acquaint the student with basic programming skills of PLC and
DCS so that they will be able get an insight of industrial Process Control scenario.
Objectives Outcome
1. To get a sound knowledge on digital
data acquisition devices and digital
controllers.
2. To learn about the basic building
blocks of PLC, basic commands and
functions.
3. To know the various functions for
programming PLC
4. To know about the various interfacing
devices Bus Standards to PLC and
DCS.
5. To know the basic concepts in DCS
1. Design digital acquisition devices and digital
controllers
2. Program PLC for simple applications using Timers
and Counters.
3. Program PLC using Intermediate functions
4. Design interfacing system for PLC and DCS.
5. Understand the architectures of DCS environment.
Unit I :-Review of computers in process control: 12
Data loggers, Data Acquisition Systems (DAS),Direct Digital Control (DDC). Supervisory Control and Data
Acquisition Systems (SCADA), sampling considerations. Functional block diagram of computer control
systems. alarms, interrupts. Characteristics of digital data, controller software,linearization. Digital controller
modes: Error, proportional, derivative and composite controller modes.
Unit II:- Programmable logic controller (PLC) basics: 12
Definition, overview of PLC systems,input/output modules, power supplies, isolators. General PLC
programming procedures,programming on-off inputs/ outputs. Auxiliary commands and functions: PLC Basic
Functions: Register basics, timer functions, counter functions.
Unit III:-PLC intermediate functions: 12
Arithmetic functions, number comparison functions, Skip and MCR functions, data move systems. PLC
Advanced intermediate functions: Utilizing digital bits, sequencer functions, matrix functions. PLC Advanced
functions: Alternate programming languages, analog PLC operation, networking of PLC, PLC-PID functions,

17
PLC installation, troubleshooting and maintenance, design of interlocks and alarms using PLC. Creating
ladder diagrams from process control descriptions.
Unit IV :- Interface and backplane bus standards for instrumentation systems Field bus: 12
Introduction, concept. HART protocol: Method of operation, structure, operating conditions and applications.
Smart transmitters, examples, smart valves and smart actuators.
Unit V:- Distributed control systems (DCS): 12
Definition, Local Control (LCU) architecture, LCU languages, LCU - Process interfacing issues,
communication facilities, configuration of DCS, displays, redundancy concept- case studies in DCS.
L = 45 T = 15 Total = 60
REFERENCE BOOK
1. John. W.Webb Ronald A Reis , Programmable Logic Controllers – Principles and
Applications, Third edition, Prentice Hall Inc., New Jersey, 1995.
2. Lukcas M.P Distributed Control Systems, Van Nostrand Reinhold Co., New York, 1986.
3. Deshpande P.B and Ash R.H, Elements of Process Control Applications, ISA Press, New York, 1995.
4. Curtis D. Johnson, Process Control Instrumentation Technology, Fourth edition, Prentice Hall of
India, New Delhi, 1999.
PIA201 ADVANCED CONTROL SYSTEM 4 CREDITS
Goal The goal of the programme is to review Process Modeling and Classical Control Theory
concepts, analyze and design of control schemes in the discrete-time domain.
Objectives Outcome
1. To study the State Space analysis of
continuous time multivariable
systems.
2. To make them understand the concept
of controllability and Observability.
3. To assist the learners in understanding
Controllability and Observability
tests: Kalman's test matrix, Gilbert's
test, Popov-Belevitch-Hautus test,
stability
4. To learn the state space analysis of
discrete time multivariable systems.
5. To learn the Smith-McMillan form of
a transfer function matrix and Matrix-
fraction description (MFD) of a
transfer function.
6. To learn the Controller
parameterization for different
systems.
1. The learners will have the confidence to develop a state
space model for a given transfer function and be able to
convert into controllable canonical or observable
canonical or diagonal canonical form.
2. The learners will be able to know the whether the
system is controllable, observable or not.
3. The learners will be able to do the Controllability,
Observability and stability tests.
4. The learners will be able to do the discretization of
State equations for dynamic systems and solve the
discrete state equation.
5. The learners will be able to understand the Smith-
McMillan form of a transfer function matrix and
Matrix-fraction description (MFD) of a transfer
function.
6. The learners will have the idea of affine
parameterization for stable systems, PID synthesis
using affine parameterization and affine
parameterization, affine parameterization for systems
with dead time and multivariable’s.

18
Unit I: Linear Dynamic Models for Advanced Control: 12
Dynamic models in chemical engineering and linearization. Linear continuous time state space
models and Laplace. Transfer function matrix representation. Computer oriented (or discrete time)
state space models and z-transfer function matrix representation. Development of discrete time state
space models from input-output data (development of OE and ARMAX models, state realizations)
Unit II: Analysis of State Space Models: 12
State transformations, poles and zeros, characteristic equation. Solution of unforced and forced
linear differential and difference equations and asymptotic behavior of solutions. Lyapunov stability
analysis.
Unit III: Observer design: 12
Observability and observervable canonical form, Luenberger (SISO) observer and pole placement
design, Prediction and current state observer, reduced order observer. Observer design in presence of
state and measurement noise, Kalman filtering and optimal state estimation, convergence of observer
error connection between Kalman filter and linear time series models.
Unit IV: State feedback controller design: 12
Controllability, reachability and controllable canonical form. State feedback controller for SISO
systems design by pole placement, difficulties in extending to multivariable systems. Linear
quadratic optimal control (Derivation of Riccati equations, set point tracking and disturbance
rejection, stability analysis). Separation Principle and state feedback control using state observers.
Examples of state LQ and LQG.
Unit V: Model Predictive Control: - 12
Limitations of LQ control and operating constraints. Dynamic matrix control (state space
formulation, nconstrained solution, QP formulation), Internal Model Control. Model predictive
control (MPC) based on state estimation (Kalman filtering). Nominal stability and robustness of
MPC. MPC case study. Beyond linear multivariable control.
References:
1. Astrom, K. J. and B. Wittenmark, Computer Controlled Systems, Prentice Hall, 1990.
2. Franklin, G. F. and J. D. Powell, Digital Control of Dynamic Systems, Addison-Wesley, 1989.
3. Graham C. Goodwin, Stefan F. Graebe, Mario E. Salgado, Control System Design, Prentice Hall,
2000.

19
PRC202 ARTIFICIAL INTELLIGENCE 4 CREDITS
Goal The goal of the programme is expose the students to artificial Intelligence concepts
Objectives Outcome
1. To acquaint the students with language
processing and search strategies.
2. To give basic knowledge in reasoning
concepts
3. to gain knowledge of basic of planning
and learning of AI
4. To know about the expert systems
1. Understand the concepts in language processing
and search techniques
2. Understand the different reasoning concepts
3. design planning and leaning environments for AI
4. understand the Knowledge Representation in
expert systems and expert system tools
UNIT-I: - INTRODUCTION 9
Introduction to AI: Intelligent agents – Perception – Natural language processing – Problem – Solving
agents – Searching for solutions: Uniformed search strategies – Informed search strategies.
UNIT-II: - KNOWLEDGE AND REASONING 9
Adversarial search – Optimal and imperfect decisions – Alpha, Beta pruning – Logical agents:
Propositional logic – First order logic – Syntax and semantics – Using first order logic – Inference in first
order logic.
UNIT-III: - UNCERTAIN KNOWLEDGE AND REASONING 9
Uncertainty – Acting under uncertainty – Basic probability notation – Axioms of probability – Baye’s
rule – Probabilistic reasoning – Making simple decisions.
UNIT-IV: - PLANNING AND LEARNING 9
Planning: Planning problem – Partial order planning – Planning and acting in non-deterministic
domains – Learning: Learning decision trees – Knowledge in learning – Neural networks – Reinforcement
learning – Passive and active.
UNIT-V: - EXPERT SYSTEMS 9
Definition – Features of an expert system – Organization – Characteristics – Prospector – Knowledge
Representation in expert systems – Expert system tools – MYCIN – EMYCIN.
L =45 Total = 45
REFERENCE BOOK
1. Stuart Russel and Peter Norvig, ‘Artificial Intelligence A Modern Approach’, Second Edition,
Pearson Education, 2003.
2. Donald A.Waterman, ‘A Guide to Expert Systems’, Pearson Education, 1995.
3. George F.Luger, ‘Artificial Intelligence – Structures and Strategies for Complex Problem Solving’,
Fourth Edition, Pearson Education, 2002.
4. Elain Rich and Kevin Knight, ‘Artificial Intelligence’, Second Edition Tata McGraw Hill, 1995.
5. Janakiraman, K. Sarukesi, P.Gopalakrishnan, ‘Foundations of Artificial Intelligence and Expert
Systems’, Macmillan Series in Computer Science, 2005.
6. W. Patterson, ‘Introduction to Artificial Intelligence and Expert Systems’, Prentice Hall of India,
2003.

20
PRC203
ROBOTICS SYSTEM PROGRAMMING
4 Credits
Goal The goal of the programme is to expose the students about the programming concepts of
Robotic systems.
Objectives Outcomes
1. Learn the basics of robot programming
2. Write programs using VAL language
3. Write programs using RAPID language
4. Understand Virtual Robot cycle time
analysis
5. Execute simple applications using VAL
VAL and RAPID language.
1. Develop algorithms for robot requirements.
2. Execute simple robot programming.
exercises using VAL language
3. Execute simple robot programming.
exercises using RAPID language
4. Design and evaluate simple robotic
applications
UNIT I-BASICS OF ROBOT PROGRAMMING 9
Robot programming-Introduction-Types- Flex Pendant- Lead through programming, Coordinate systems of
Robot, Robot controller- major components, functions-Wrist Mechanism-Interpolation-Interlock
commandsOperating mode of robot, Jogging-Types, Robot specifications- Motion commands, end effectors
and sensors commands.
UNIT II-VAL LANGUAGE 9
Robot Languages-Classifications, Structures- VAL language commands- motion control, hand control,
program control, pick and place applications, palletizing applications using VAL, Robot welding application
using VAL program-WAIT, SIGNAL and DELAY command for communications using simple applications.
UNIT III-RAPID LANGUAGE 9
RAPID language basic commands- Motion Instructions-Pick and place operation using Industrial robot-
manual mode, automatic mode, subroutine command based programming. Move master command language
Introduction, syntax, simple problems.
UNIT IV-PRACTICAL STUDY OF VIRTUAL ROBOT 9
Robot cycle time analysis-Multiple robot and machine Interference-Process chart-Simple problems-Virtual
robotics, Robot studio online software Introduction, Jogging, components, work planning, program modules,
input and output signals-Singularities-Collision detection-Repeatability measurement of robot-Robot
economics.
UNIT V-VAL-II AND AML 9
VAL-II programming-basic commands, applications- Simple problem using conditional statements-Simple
pick and place applications-Production rate calculations using robot. AML Language-General description,
elements and functions, Statements, constants and variables-Program control statements- Operating systems,
Motion, Sensor commands-Data processing.
REFERENCES

21
1. Deb. S. R. “Robotics technology and flexible automation”, Tata McGraw Hill publishing company limited,
1994
2. Mikell. P. Groover, “Industrial Robotics Technology”, Programming and Applications, McGraw Hill Co,
1995.
3. Klafter. R.D, Chmielewski.T.A. and Noggin’s., “ Robot Engineering : An Integrated Approach”, Prentice
Hall of India Pvt. Ltd.,1994.
4. Fu. K. S., Gonzalez. R. C. & Lee C.S.G., “Robotics control, sensing, vision and intelligence”, McGraw
Hill Book co, 1987
5. Craig. J. J. “Introduction to Robotics mechanics and control”, Addison- Wesley, 1999.
6. Robotcs Lab manual, 2007.
7. www.wpi.edu .
PRC204 KINEMATICS AND DYNAMICS OF ROBOTS 4 Credits
Goal To understand the concepts of kinematics and dynamics of various objects and design
robotic applications.
Objectives Outcomes
1. To acquaint the students with kinematics
and dynamics of various objects .
2. To give basic knowledge in reasoning
Direct Kinematics.
3. to gain knowledge of basics of inverse
Kinematics
4. To know about the Dynamics of
Manipulators.
1. Familiarize about design issues of robotic
manipulators.
2. Analyze the robot using D-H Representation.
3. Perform the Inverse kinematics of multi axis robot.
4. Model Two-axis planar robot and manipulators.
UNIT I-INTRODUCTION 9
Introduction, position and orientation of objects, objects coordinate frame Rotation matrix, Euler angles Roll, pitch and
yaw angles coordinate Transformations, Joint variables and position of end effector, Dot and cross products, coordinate
frames, Rotations, Homogeneous coordinates.
UNIT II-DIRECT KINEMATICS 9
Link coordinates D-H Representation, The ARM equation. Direct kinematic analysis for Four axis, SCARA Robot and
three, five and six axis Articulated Robots.
UNIT III-INVERSE KINEMATICS 9
The inverse kinematics problem, General properties of solutions. Tool configuration, Inverse kinematics of four axis
SCARA robot and three and five axis, Articulated robot.
UNIT IV-WORKSPACE ANALYSIS AND TRACJECTORY PLANNING 9
Workspace Analysis, work envelope of a Four axis SCARA robot and five axis articulated robot workspace fixtures, the
pick and place operations, Joint space technique - continuous path motion, Interpolated motion, straight line motion and
Cartesian space technique in trajectory planning.

22
UNIT V-MANIPULATOR DYNAMICS 9
Introduction, Lagrange's equation kinetic and potential energy. Link inertia Tensor, link Jacobian Manipulator inertia
tensor. Gravity, Generalized forces, Lagrange-Euler Dynamic model, Dynamic model of a Two-axis planar robot,
Newton Euler formulation, Lagrange - Euler formulation, problems.
REFERENCES
1. Robert J. Schilling, Fundamentals of Robotics Analysis and Control, PHI Learning., 2009.
2. Richard D. Klafter, Thomas .A, Chri Elewski, Michael Negin, Robotics Engineering an Integrated Approach, Phi
Learning., 2009
3. P.A. Janaki Raman, Robotics and Image Processing An Introduction, Tata Mc Graw Hill Publishing company Ltd.,
1995.
4. Francis N-Nagy Andras Siegler, Engineering foundation of Robotics, Prentice Hall Inc., 1987.
5. Bernard Hodges, Industrial Robotics, Second Edition, Jaico Publishing house, 1993.
6. Tsuneo Yohikwa, Foundations of Robotics Analysis and Control, MIT Press., 2003.
7. John J. Craig, Introduction to Robotics Mechanics and Control, Third Edition, Pearson, 2008.
8. Bijay K. Ghosh, Ning Xi, T.J. Tarn, Control in Robtics and Automation Sensor – Based integration, Academic Press,
1999.
PRC211 ROBOTICS LAB 1 1 Credits
Goal To expose the students about the Design of hydraulic pneumatic circuits
Objectives Outcome
1. Study of hydraulic and pneumatic
circuits
2. Understand the modeling and analysis
of basic electrical, hydraulic, and
pneumatic systems using
MATLAB/LABVIEW software
3. Understand the basics of simulation of
hydraulic, pneumatic and electrical
circuits using Automation studio
software.
1. Develop the concept of designing
hydraulic and pneumatic circuits
2. Test the various hydraulic and
pneumatic circuits.
3. Model and analyse the basic electrical,
hydraulic, and pneumatic systems in
MATLAB/LABVIEW
4. Simulate basic hydraulic, pneumatic
and electrical circuits usingAutomation
studio software
LIST OF EXPERIMENTS
1. Design and testing of hydraulic circuits such as
i) Pressure control
ii) Flow control
iii) Direction control

23
iv) Design of circuit with programmed logic sequence, using an optional PLC in
hydraulic Electro hydraulic Trainer.
2. Design and testing of pneumatic circuits such as
i) Pressure control
ii) Flow control
iii) Direction control
iv) Circuits with logic controls
v) Circuits with timers
vi) Circuits with multiple cylinder sequences in Pneumatic Electro pneumatic Trainer.
1. Modeling and analysis of basic electrical, hydraulic, and pneumatic systems using
MATLAB/LABVIEW software.
2. Simulation of basic hydraulic, pneumatic and electrical circuits using Automation
studio software.
TOTAL : 45
LIST OF EQUIPMENT
(For a batch of 30 students)
S.No Equipments Qty
1
2
3
4
5
6
7
8
9
10
11
1
2
3
4
5
6
7
8
Hydraulic equipments
Pressure relief valve
Pressure reducing valves
Flow control valves
Pressure switch
Limit switches
Linear actuator
Rotory actuator
Double solenoid actuated DCV
Single solenoid actuated DCV
Hydraulic power pack with 2 pumps
PLC
Pneumatics Equipments
Pneumatic trainer kit with FRL Unit, Single acting
cylinder, push buttons
Pneumatic trainer kit with FRL unit, Double acting
cylinder, manually actuated DCV
Pneumatic training kit with FRL unit, Double acting
cylinder, pilot actuated DCV
Pneumatic trainer kit with FRL unit, Double acting
cylinder, Double solenoid actuated DCV, DCV with
Sensors/ magnetic reed switches
PLC with Interface card
LABVIEW Software
Automation studio software
4
2
2
1
2
1
1
2
1
1
2
1
1
1
1
1
1
1
1

24
MH1404 Robotics Laboratory II 1 Credits
Goal
To expose the students about the kinematics, control and programming of
robots
Objectives Outcome
1. Learn about different types of robots
2. Learn about different types of of
links and joints used in robots
3. Understanding about Robots and
Programming
4. Learn the applications of vision
system in robot
1. Know about different types of robots
and their applications
2. Know about different types of
kinematics and select a suitable robot
for a specific application.
3. Do basic programming in Robots
4. Use vision for assembly and inspection
LIST OF EXPERIMENTS
1. Study of different types of robots based on configuration and application.
2. Study of different type of links and joints used in robots
3. Study of components of robots with drive system and end effectors.
4. Determination of maximum and minimum position of links.
5. Verification of transformation (Position and orientation) with respect to gripper and world
coordinate system
6. Estimation of accuracy, repeatability and resolution.
7. Robot programming exercises
(Point-to-point and continuous path programming)
8. Study of vision system and use it for assembly and inspection
LIST OF EQUIPMENT
(For a batch of 30 students)
S.No Name of the Equipment/components No. of Items
1
2
3
4
5
Any one type of robot configuration with at least five degree
of freedom.( ABB Make)
Robot programming software inclusive of computer system.
Models of different types of end effectors drive systems
Links and Joints.
Models of different configuration robots
Instruments for measuring accuracy
Basic Vision System
1 set
15 licenses
5 each
5 each
5 sets

25
SEMESTER III
PRC321 CNC TECHNOLOGY 4 Credits
Goal To expose the students to different types of machining methods adopted recently
with the present technologies which provides lesser manufacturing lead-time and
accuracy to the components. Therefore studying the fundamentals, construction
details and other controls are very much essential for the Mechatronics
engineering students
Objectives Outcomes
1. Learn the fundamentals of CNC
machines.
2. Understand the constructional features
of CNC machines and Retrofitting.
3. Learn the concepts of control systems,
Feed back devices and tooling.
4. Understand the CNC part programming
5. Learn about the economics and
maintenance of CNC machines
1. Develop knowledge on the hardware of
CNC machines.
2. Know the concepts of constructional
features CNC machines.
3. Know the different controls, Feedback
devices, tooling and their selection.
4. Develop the CNC part programming for
different profiles and to get the knowledge in
maintenance of CNC machines.
UNIT I FUNDAMENTALS OF CNC MACHINES 9
Introduction to Computer Numerical Control: CNC Systems – An Overview of Fundamental aspects
of machine control, Different types of CNC machines – Advantages and disadvantages of CNC
machines.
UNIT II CONSTRUCTIONAL FEATURES OF CNC MACHINES AND RETROFITTING 10
Features of CNC Machines: Structure, Drive Mechanism, gearbox, Main drive, feed drive, Spindle
Motors, Axes motors. Timing belts and pulleys, Spindle bearing – Arrangement and installation.
Slide ways. Re - circulating ball screws – Backlash measurement and compensation, linear motion
guide ways. Tool magazines, ATC, APC, Chip conveyors. Retrofitting of Conventional Machine
Tools: Modification to be carried out on conventional machines for retrofitting.
UNIT III CONTROL SYSTEMS, FEED BACK DEVICES AND TOOLING 10
Description of a simple CNC control system. Interpolation systems. Features available in a CNC
system – introduction to some widely used CNC control systems.
Types of measuring systems in CNC machines – Incremental and absolute rotary encoders, linear
scale – resolver – Linear inductosyn – Magnetic Sensors for Spindle Orientation.
Qualified and pre-set tooling – Principles of location – Principles of clamping – Work holding
devices.

26
UNIT IV CNC PART PROGRAMMING 9
Part Program Terminology-G and M Codes – Types of interpolation Methods of CNC part
programming – Manual part programming – Computer Assisted part programming – APT language
– CNC part programming using CAD/CAM-Introduction to Computer Automated Part
Programming.
UNIT V ECONOMICS AND MAINTENANCE 7
Factors influencing selection of CNC Machines – Cost of operation of CNC Machines – Practical
aspects of introducing CNC machines in industries – Maintenance features of CNC Machines –
Preventive Maintenance, Other maintenance requirements.
Total = L: 45 + T: 15 = 60
TEXT BOOK
1. Yoreur Koren, Computer Control of Manufacturing Systems, Pitman, London, 1987.
REFERENCES
1. Radhakrishnan P., Computer Numerical Control Machines, New Central Book Agency,
1992.
2. Berry Leatham – Jones, Computer Numerical Control, Pitman, London, 1987.
3. Steave Krar and Arthur Gill, CNC Technology and Programming, McGraw–Hill Publishing
Company, 1990.
4. Hans B.Kief And T.Frederick Waters, Computer Numerical Control Macmillan/McGraw-
Hill, 1992.
5. G.E.Thyer, Computer Numerical Control of Machine Tools. Second Edition, B/H Newnes,
1993.
6. Groover, M.P., Automation, Production Systems and Computer Integrated Manufacturing,
Prentice Hall, 1998.
7. Mike Mattson, CNC Programming Thomson Learning, 2003.

27
PRC322 DESIGN OF MECHATRONICS SYSTEM 4 Credits
Goal Toexpose the students to an integrated approach to the design of complex
engineering systems involving Electrical, Mechanical and Computer
Engineering.
Objectives Outcome
1. Introduce the Mechatronics system.
2. Learn real time interfacing.
3. Understand case studies on Data
Acquisition and control.
4. Learn about advanced applications in
Mechatronics.
1. Know the difference between traditional
and mechatronics system.
2. Get knowledge in real time interfacing.
3. Solve case studies on data acquisition
and control.
4. Gain the knowledge on advanced
applications in mechatronics.
UNIT I INTRODUCTION TO MECHANICS SYSTEM DESIGN 10
Introduction to Mechatronics system – Key elements – Mechatronics Design process – Types of
Design – Traditional and Mechatronics designs – Advanced approaches in Mechatronics - Man
machine interface, industrial design and ergonomics, safety.
UNIT II INTERFACING AND DATA ACQUISITION 7
Real-time interfacing – Introduction - Elements of data acquisition and control - Overview of
I/O process, Analog signals, discrete signals, and Frequency signals – Overframing.
UNIT III CASE STUDIES – FORCE AND DISPLACEMENT 10
Case studies on Data Acquisition: Introduction – Cantilever Beam Force Measurement system–
Testing of Transportation bridge surface materials – Transducer calibration system for Automotive
applications – Strain gauge weighing system – Solenoid Force-Displacement calibration system –
Rotary optical encoder – Controlling temperature of a hot/cold reservoir – pick and place robot.
UNIT IV CASE STUDIES – TEMPERATURE AND MOTION 10
Case studies on Data Acquisition and control: Introduction – Thermal cycle fatigue of a ceramic
plate – pH control system – Dc-Icing Temperature Control system – Skip control of a CD Player –
Autofocus Camera, exposure control. Case studies of design of mechatronic products – Motion
control using D.C.Motor & Solenoids – Car engine management systems.

28
UNIT VARTIFICIAL INTELLIGENCE 8
Advanced applications in Mechatronics: Sensors for condition Monitoring – Mechatronic Control in
Automated Manufacturing – Artificial intelligence in Mechatronics – Fuzzy Logic Applications in
Mechatronics – Microsensors in Mechatronics
Total = L: 45 + T: 15 = 60
TEXT BOOK
1. Devdas shetty, Richard A. Kolk, Mechatronics System Design, Thomson Learning
Publishing Company, Vikas publishing house, 2001.
REFERENCES
1. Bolton, -Mechatronics - Electronic Control systems in Mechanical and Electrical
Engineering-, 2nd Edition, Addison Wesley Longman Ltd., 1999.
1. Brian Morriss, Automated Manufacturing Systems - Actuators, Controls, Sensors and
Robotics, Mc Graw Hill International Edition, 1995.
2. Bradley, D.Dawson, N.C. Burd and A.J. Loader, Mechatronics: Electronics in Products and
Processes, Chapman and Hall, London, 1991.
PRC323
INTRODUCTION TO MACHINE VISION
4 Credits
Goal To Learn the fundamentals and applications of vision systems
Objectives Outcomes
1. Learn the fundamentals of vision systems
2. Understand the image recognition and
retrieval algorithms .
3. Learn the concepts of object recognition.
4. Understand the applications using vision
systems.
5. Learn about the basics of robotic vision
1. Device basic vision systems with computer
interface..
2. Develop the vision algorithms..
3. Recognize and edit the image objects.
4. Design and Develop the robotic applications
using vision systems.
UNIT I VISION SYSTEM: 9
Basic Components – Elements of visual perception, Lenses: Pinhole cameras, Gaussian Optics – Cameras –
Camera-Compute interfaces
UNIT II VISION ALGORITHMS: 9
Fundamental Data Structures: Images, Regions, Sub-pixel Precise Contours – Image Enhancement : Gray
value transformations, image smoothing, Fourier Transform – Geometric Transformation - Image
segmentation – Segmentation of contours, lines, circles and ellipses – Camera calibration – Stereo
Reconstruction.

29
UNIT III OBJECT RECOGNITION: 9
Object recognition, Approaches to Object Recognition, Recognition by combination of views – objects with
sharp edges, using two views only, using a single view, use of dept values.
UNIT IV APPLICATIONS: 9
Transforming sensor reading, Mapping Sonar Data, Aligning laser scan measurements - Vision and Tracking:
Following the road, Iconic image processing, Multiscale image processing, Video Tracking - Learning
landmarks: Landmark spatiograms, K-means Clustering, EM Clustering.
UNIT V ROBOT VISION: 9
Basic introduction to Robotic operating System (ROS) - Real and Simulated Robots - Introduction to
OpenCV, Open NI and PCL, installing and testing ROS camera Drivers, ROS to OpenCV - The cv_bridge
Package.
Total = L:45+T:15= 60
TEXTBOOKS:
1 . Carsten Steger, Markus Ulrich, Christian Wiedemann, “ Machine Vision Algorithms and Applications”,
WILEY-VCH, Weinheim,2008.
2 . Damian m Lyons,“Cluster Computing for Robotics and Computer Vision”, World Scientific, Singapore,
2011.
REFERENCES:
1 . Rafael C. Gonzalez and Richard E.woods, “Digital Image Processing”, Addition - Wesley Publishing
Company, New Delhi, 2007.
2. Shimon Ullman, “High-Level Vision: Object recognition and Visual Cognition”, A Bradford Book, USA,
2000.
3. R.Patrick Goebel, “ ROS by Example: A Do-It-Yourself Guide to Robot Operating System – Volume I”, A
Pi Robot Production, 2012.
PRC324
APPLICATIONS OF ROBOTS
4 Credits
Goal To Design various Specific applications of Robots for Industrial Applications
Objectives Outcomes
(i) Acquire adequate knowledge about
service and field Robots.
(ii) Learn about the concept of Localization
involved in various systems. To provide
adequate knowledge about Robots for
various applications.
(iii) Acquire Comprehensive knowledge
about Performance, Interaction, Safety
and robustness, Applications of
Humanoids and Industrial Robots
(i) Classify the different requirements for
service and field Robots.
(ii) Understand the concept and Challenges of
Localization.
(iii) Design various Specific applications based
Field, Humanoids and Industrial Robots.
UNIT I 9

30
Introduction : History of service robotics – Present status and future trends – Need for service robots -
applications- examples and Specifications of service and field Robots. Non conventional Industrial robots.
UNIT 2 9
LOCALIZATION: Introduction-Challenges of Localization- Map Representation- Probabilistic Map based
Localization- Monte carlo localization- Landmark based navigation-Globally unique localization- Positioning
beacon systems- Route based localization.
UNIT III 9
FIELD ROBOTS: Ariel robots- Collision avoidance-Robots for agriculture, mining, exploration,
underwater, civilian and military applications, nuclear applications, Space applications.
UNIT IV 9
HUMANOIDS: Wheeled and legged, Legged locomotion and balance, Arm movement, Gaze and auditory
orientation control, Facial expression, Hands and manipulation, Sound and speech generation, Motion
capture/Learning from demonstration, Human activity recognition using vision, touch, sound,
Vision, Tactile Sensing, Models of emotion and motivation. Performance, Interaction, Safety and robustness,
Applications, Case studies
UNIT V 9
INDUSTRIAL ROBOTS: Material transfer, Machine loading, Assembly, NDE inspection & applications,
Mobile Robots
Total = L: 45 + T: 15 = 60
TEXT BOOKS:
1. Roland Siegwart, Illah Reza Nourbakhsh, Davide Scaramuzza, ‘Introduction to Autonomous Mobile
Robots”, Bradford Company Scituate, USA, 2004
2. Riadh Siaer, ‘The future of Humanoid Robots- Research and applications’,Intech Publications, 2012.
REFERENCES:
1. Richard D Klafter, Thomas A Chmielewski, Michael Negin, "Robotics Engineering – An Integrated
Approach", Eastern Economy Edition, Prentice Hall of India P Ltd., 2006.
2. Kelly, Alonzo; Iagnemma, Karl; Howard, Andrew, "Field and Service Robotics ", Springer, 2011.

31
PRC325 DESIGN OF INTELLIGENT ROBOTIC SYSTEMS 4 Credits
Goal To Design, Model and write Algorithms for various Specific applications for
Intelligent Automated Manufacturing Process.
Objectives Outcomes
Computer Integrated Manufacturing
Systems.
(ii) Learn about the concept of Knowledge
Based System
about Machine Learning and Automated
Process Planning.
(i) Classify the different techniques for
Computer Integrated Manufacturing Systems
Structure and functional areas of CIM
system.
(ii) Model a Knowledge Based System.
(iii) Design, Models and write Algorithms for
various Specific applications for Intelligent
Automated Manufacturing Process.
UNIT I: 9
Computer Integrated Manufacturing Systems Structure and functional areas of CIM system, - CAD, CAPP,
CAM, CAQC, ASRS. Advantages of CIM. Manufacturing Communication Systems - MAP/TOP, OSI
Model, Data Redundancy, Top- down and Bottom-up Approach, Volume of Information. Intelligent
Manufacturing System Components, System Architecture and Data Flow, System Operation.
UNIT II: 9
Components of Knowledge Based Systems - Basic Components of Knowledge Based Systems, Knowledge
Representation, Comparison of Knowledge Representation Schemes, Interference Engine, Knowledge
Acquisition.
UNIT III: 9
Machine Learning - Concept of Artificial Intelligence, Conceptual Learning, Artificial Neural Networks -
Biological Neuron, Artificial Neuron, Types of Neural Networks, Applications in Manufacturing.
UNIT IV: 9
Automated Process Planning - Variant Approach, Generative Approach, Expert Systems for Process
Planning, Feature Recognition, Phases of Process planning. Knowledge Based System for Equipment
Selection (KBSES) - Manufacturing system design. Equipment Selection Problem, Modeling the
Manufacturing Equipment Selection Problem, Problem Solving approach in KBSES, Structure of the
KRSES.
UNIT V: 9
Group Technology: Models and Algorithms Visual Method, Coding Method, Cluster Analysis Method,
Matrix Formation - Similarity Coefficient Method, Sorting-based Algorithms, Bond Energy Algorithm, Cost
Based method, Cluster Identification Method, Extended CI Method. Knowledge Based Group Technology -
Group Technology in Automated Manufacturing System. Structure of Knowledge based system for group
technology (KBSCIT) — Data Base, Knowledge Base, Clustering Algorithm.
Total = L: 45 + T: 15 = 60
REFERENCES:
1.Intelligent Manufacturing Systems/ Andrew Kusiak/Prentice Hall.
2. Artificial Neural Networks/ Yagna Narayana/PHI/2006
3. Automation, Production Systems and CIM / Groover M.P./PHI/2007
4. Neural networks: A comprehensive foundation/ Simon Hhaykin/ PHI.
5. Artificial neural networks/ B.Vegnanarayana/PHI
6. Neural networks in Computer intelligence/ Li Min Fu/ TMH/2003
7. Neural networks/ James A Freeman David M S kapura/ Pearson education/2004

32
8. Introduction to Artificial Neural Systems/Jacek M. Zurada/JAICO Publishing House Ed. 2006.
PRC326 APPLIED HYDRAULICS & PNEUMATICS 4 Credits
Goal To expose the students in Hydraulic and Pneumatic Power Systems, its various
components and methods of designing.
Objectives Outcome
1. Know the advantages and applications of
Fluid Power Engineering and Power
Transmission Systems.
2. LearntheApplicationsofFluidPowerSystemin
automationofMachineToolsandothers
equipments.
1. Understand the advantages of Fluid Power
Systems and various components of Fluid
Power Systems.
2. Differentiate the merits between the
Hydraulic and Pneumatic Power Systems.
3. Design the Fluid Power Systems applicable
in automation of Machine Tools and other
Equipments.
UNIT I FLUID POWER SYSTEMS AND FUNDAMENTALS 9
Introduction to fluid power,Advantages of fluid power,Application of fluid power system. Types of
fluid power systems,Properties of hydraulic fluids–General types of fluids–Fluid power
symbols.Basics of Hydraulics-Applications of Pascal’sLaw-Laminar and Turbulent flow–
Reynolds number – Darcy’s equation – Losses in pipe, valves and fittings.
UNIT II HYDRAULIC SYSTEM & COMPONENTS 9
Sources of Hydraulic Power:Pumping theory–Pump classification–Gear pump,VanePump, Piston
pump, construction and working of pumps – pump performance – Variable displacement pumps.
Fluid Power Actuators:Linear hydraulic actuators– Types of hydraulic cylinders–Single acting,
Doubleacting, special cylinders like Tanden, Rodless, Telescopic, Cushioning mechanism,
Construction of double acting cylinder, Rotary actuators – Fluid motors, Gear, Vane and Piston
motors.
UNIT III DESIGN OF HYDRAULIC CIRCUITS 9
Construction of Control Components:Direction control valve–3/2wayvalve–4/2way valve –
Shuttle valve – check valve – pressure control valve – pressure reducing valve, sequence valve,
Flow control valve – Fixed and adjustable, electrical control solenoid valves, Relays, ladder
diagram. Accumulators and Intensifiers: Types of accumulators–Accumulators circuits, sizing of
accumulators, intensifier –Applications of Intensifier – Intensifier circuit.

33
UNIT IV PNEUMATIC SYSTEMS AND COMPONENTS 9
Pneumatic Components: Properties of air–Compressors–Filter, Regulator, Lubricator Unit –Air
control valves, Quick exhaust valves, pneumatic actuators.
Fluid Power Circuit Design, Speed control circuits, synchronizing circuit, Pneumatic and
Hydraulic circuit, Sequential circuit design for simple applications using cascade method.
UNIT V DESIGN OF PNEUMATIC CIRCUITS 9
Servo systems – Hydro Mechanical servo systems, Electro hydraulic servo systems and
proportional valves. Fluidics–Introduction to fluidic devices, simple circuits, Introduction to
Electro Hydraulic Pneumatic logic circuits, ladder diagrams, PLC applications in fluid power
control. Fluid power circuits; failure and troubleshooting.
Total = L: 45 + T: 15 = 60
TEXT BOOK
1 . AnthonyEsposito, Fluid Power with Applications,Pearson Education 2000.
2. Majumdar S.R., Oil Hydraulics,Tata McGraw-Hill, New Delhi 2009.
REFERENCES
1.Majumdar S.R., Pneumatic systems – Principles and maintenance,Tata McGraw Hill, New Delhi 2005.
2.Anthony Lal, Oil hydraulics in the service of industry,Allied publishers, 1982.
3. HarryL.StevartD.B, Practical guide to fluid power,Taraoealasons and Port Ltd. Broadey, 1976.
4.Michael J, Prinches andAshby J. G, Power Hydraulics, Prentice Hall, 1989.
5.Dudelyt,A. Pease and JohnT. Pippenger, Basic Fluid Power, Prentice Hall.
PRC327 INDUSTRIAL ROBOTICS 4 Credits
Goal To Design, Model and write Algorithms for various Specific applications for Material
Handling robots.
Objectives Outcomes
Industrial Robots and its control
systems..
(ii) Learn about the concept of Manipulator
kinematics and dynamics.
about Robot programming for vision system
and Robot cell design and control.
(i) Configure and analyze the robot activation and
feedback components.
(ii) Design End Effectors with suitable sensor
interface.
(iii) Design, Models and write Algorithms for
various Specific applications for Material
Handling robots.
UNIT - I INTRODUCTION: 9
Automation and Robotics, Robot anatomy, robot configuration, motions joint notation work volume, robot drive system,
control system and dynamic performance, precision of movement.
CONTROL SYSTEM AND COMPONENTS: basic concept and modals controllers control system analysis,
robot activation and feedback components. Positions sensors, velocity sensors, actuators sensors, power transmission
system.

34
UNIT - II MOTION ANALYSIS AND CONTROL: 9
Manipulator kinematics, position representation forward transformation, homogeneous transformation, manipulator path
control, robot dynamics, configuration of robot controller.
UNIT - III END EFFECTORS: 9
Grippers-types, operation, mechanism, force analysis, tools as end effectors consideration in gripper selection and
design. SENSORS: Desirable features, tactile, proximity and range sensors, uses sensors in robotics. MACHINE
VISION: Functions, Sensing and Digitizing-imaging, Devices, Lighting techniques, Analog to digital single conversion,
image storage, Image processing and Analysis-image data reduction, Segmentation feature extraction. Object
recognition, training the vision system, Robotics application.
UNIT - IV ROBOT PROGRAMMING: 9
Lead through programming, Robot programming as a path in space, Motion interpolation, WAIT, SINONAL AND
DELAY commands, Branching capabilities and Limitations. ROBOT LANGUAGES: Textual robot Languages,
Generation, Robot language structures, Elements in function.
UNIT - V ROBOT CELL DESGIN AND CONTROL: 9
Robot cell layouts-Robot centered cell, In-line robot cell, Considerations in work design, Work and control, Inter locks,
Error detect ion, Work wheel controller. ROBOT APPLICATION: Material transfer, Machine loading/unloading.
Processing operation, Assembly and Inspection, Feature Application.
Total = L: 45 + T: 15 = 60
REFERENCES:
1. Industrial Robotics / Groover M P /Pearson Edu.
2. Introduction to Robotic Mechanics and Control by JJ Craig, Pearson, 3rd edition.
3. Robotics / Fu K S/ McGraw Hill. 4. Robotic Engineering / Richard D. Klafter, Prentice Hall
5. Robot Analysis and Intelligence / Asada and Slotine / Wiley Inter-Science.
6. Robot Dynamics & Control – Mark W. Spong and M. Vidyasagar / John Wiley & Sons (ASIA) Pte
Ltd.
7. Robotics and Control / Mittal R K & Nagrath I J / TMH.
PRC328 AUTOMATION SYSTEM DESIGN 4 Credits
Goal To Design and Develop Hydro-Mechanical servo systems.
Objectives Outcomes
1. Learn the fundamentals of Industrial
automation
2. Understand the concepts of pneumatic
control system.
3. Learn the concepts of CNC systems.
4. Understand the applications using
Hydraulic system.
1. Device basic automated assembly systems.
2. Develop the pneumatic control system
application.
3. Design a Mechatronics based application
using CNC.
4. Design and Develop Hydro-Mechanical servo
systems.
UNIT I 9
FUNDAMENTAL CONCEPTS OF INDUSTRIAL AUTOMATION: Fundamental concepts in
manufacturing and automation, definition of automation, reasons for automating. Types of production and
types of automation, automation strategies, levels of automation.
TRANSFER LINES AND AUTOMATED ASSEMBLY: General terminology and analysis, analysis of transfer
lines without storage, partial automation. Automated flow lines with storage buffers. Automated assembly-
design for automated assembly, types of automated assembly systems, part feeding devices, analysis of multi-
station assembly machines. AS/RS, RFID system, AGVs, modular fixturing. Flow line balancing.

35
UNIT II 9
PNEUMATIC CONTROL: Components, constructional details, filter, lubricator, regulator, constructional
features, types of cylinders, control valves for direction, pressure and flow, air motors, air hydraulic
equipments.
PNEUMATIC CONTROL SYSTEM DESIGN: General approach to control system design, symbols and
drawings, schematic layout, travel step diagram, circuit, control modes, program control, sequence control,
cascade method, Karnaugh-Veitch mapping.
UNIT III 9
PROGRAMMABLE AUTOMATION: Special design features of CNC systems and features for lathes
and machining centers. Drive system for CNC machine tools. Introduction to CIM; condition monitoring of
manufacturing systems.
Design for high speed automatic assembly: Introduction, Design of parts for high speed feeding and
orienting, high speed automatic insertion. Analysis of an assembly. General rules for product design for
automation.
UNIT IV 9
DESIGN OF MECHATRONIC SYSTEMS: Stages in design, traditional and mechatronic design, possible
design solutions. Case studies-pick and place robot, engine management system.
ELEMENTS OF HYDRAULIC SYSTEMS: Pumps and motors- types, characteristics. Cylinders, types,
typical construction details. Valves for control of direction, flow and pressure, types, typical construction
details.
UNIT V 9
HYDRAULIC SYSTEM DESIGN: Power pack–elements, design. Pipes- material, pipe fittings. seals and
packing. maintenance of hydraulic systems. Selection criteria for cylinders, valves, pipes. Heat generation in
hydraulic system
ADVANCED TOPICS IN HYDRAULICS AND PNEUMATICS: Electro pneumatics, ladder diagram.
Servo and Proportional valves - types, operation, application. Hydro-Mechanical servo systems. PLC-
construction, types, operation, programming
Total = L: 45 + T: 15 = 60
TEXT BOOKS:
1. Mikell P Groover, “Automation Production Systems and Computer- Integrated Manufacturing” Pearson
Education, New Delhi,2001.
2. Wemer Depper and Kurt Stoll, “Pneumatic Application”, Kemprath Reihe, Vogel Buch Verlag Wurzbutg,
1987.
3. Bolton W, “Mechatronics“, Pearson Education, 1999.
REFERENCES:
1. Mikell P Groover, "Industrial Robots – Technology Programmes and Applications” , McGraw Hill ,
New York, USA. 2000.
2. Wemer Deppert and Kurt Stoll, “Pneumatic Application”, Kemprath Reihe, Vovel Verlag , Wurzburg,
1976.
3. Steve F Krar, “Computer Numerical Control Simplified“, Industrial Press, 2001.
4. Joffrey Boothroyd, Peter Dewhurst and Winston A. Knight, “Product Design for manufacture and
Assembly”, CRC Press, 2011.

36
PRC329 NON-DESTRUCTIVE TESTING METHODS 4 Credits
Goal To impart knowledge on Non Destructive Testing procedures
Objectives Outcome
1. Understand principle behind various
NDT techniques and study about NDT
equipments and accessories.
2. Learn working procedures of various
NDT techniques
3. Learn materials that could be inspected –
codes, standards, specifications.
1. Know about NDT equipments and
accessories.
2. Develop the NDT techniques in practical
applications.
3. Compare and select of various NDT
techniques based on the applications
UNIT I NON-DESTRUCTIVE TESTING: AN INTRODUCTION 9
Introduction to various non destructive methods- Comparison of Destructive and Non destructive Tests,
Visual Inspection, Optical aids used for visual inspection, Applications.
UNIT II LIQUID PENETRANT TESTING, MAGNETIC PARTICLE TESTING 9
Physical principles, procedure for penetrant testing,
Penetrant Testing materials, Penetrant testing methods – water washable, post – Emulsifiable methods,
Applications
Principle of MPT, procedure used for testing a component , Equipment used for MPT, Applications
UNIT III EDDY CURRENT TESTING, ACOUSTIC EMISSION 9
Principles, Instrumentation for ECT, Absolute - differential probes, Techniques – High sensitivity
Techniques, Applications
Principle of AET, Instrumentation, Applications - testing of metal pressure vessels, Fatigue crack
detection in aerospace structures.
UNIT IV ULTRASONIC TESTING 9
Principle , Ultrasonic transducers ,Inspection Methods, Normal Inscudent Pulse – Echo Inspection , Through
– transmission Testing , angle Beam Pulse – Echo testing , Techniques for Normal Beam Ispection ,
Ultrasonic Flaw detection Equipment , Modes of display A- scan , B-Scan , C- Scan ,Applications.
UNIT V RADIOGRAPHY ,COMPARISON AND SELECTION OF NDT METHODS 9
Basic principle, Effect of radiation on Flim, Radiographic imaging , Inspection Techniques – Single wall
single image , Double wall Penetration , Multiwall Penetration technique.
Comparison and selection of various NDT techniques
L 45 T 15 TOTAL : 60
TEXT BOOK:
1. Baldev raj, T Jeyakumar, M. Thavasimuthu Practical Non Destructive Testing Narosa publishing house,
New Delhi, 2002
REFERENCES:
1 Krautkramer. J., Ultra Sonic Testing of Materials, 1st
Edition, Springer Verlag Publication, New
York, 1996.
2 Peter J. Shull Non Destructive Evaluation: Theory, Techniques and Application Marcel Dekker, Inc.,
New York, 2002
3 www.ndt.net
4 Birchan.B, Non-Destructive Testing, Oxford, London, 1975
5 Baldev Raj and B.Venkataraman, Practical Radiology, Narosa Publishing House, 2004.

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