# Syllabus for Robotics at NCIAE

Summer 2019

## Course description

This is a special short-course for NCIAE, an introduction to feedback control, part of a larger NCIAE introductory course on robotics and automation.

## General information

- SMU Instructor
- Rico AR Picone, PhD
- NCIAE Instructor
- Li Zhijie, PhD

secretssssssssss

## Textbooks

John J. Craig. *Introduction to Robotics: Mechanics and Control.* Fourth Edition. Pearson, 2017. (Required.)

M.J. Mataric. *The Robotics Primer.* Massachusetts, 2007. (Recommended, not required.)

Norman S. Nise. *Control Systems Engineering.* Seventh Edition. Wiley, 2015. (Recommended, not required.)

## Homebrew texts and notes

A *partial* text (with fill-ins) I’m writing will be posted on the Control: an introduction page.

Have this text printed before the beginning of the course. I recommend binding them such that pages can be replaced (e.g. three-ring bindable) in case there are major revisions to a section during the term. You are required to have a binder (or equivalent) ready to show by our second class to avoid a 10% deduction of your grade. (Or you can show me those lectures on your note-taking tablet, if that’s your preferred method.)

Throughout the course, you should be ready to show these (current) in any class, with threat of 10% grade deductions.

## Video lectures

Most lectures will be available online at:

https://pan.baidu.com/s/15znP8vtm0Lf2ShgoJdE8Iw

Use extraction code `nu4n`

.

The WeChat group for the course is called *Mechatronics & Robotics* and has the following QR code.

## Schedule

The following schedule is tentative.

day | topics introduced | work |
---|---|---|

introduction, Laplace transforms, transfer functions | ||

introduction to control, performance, feedback control system block diagrams | ||

stability performance, stability from a transfer function | ||

Routh-Hurwitz criterion | ||

transient response performance, transient characteristics, exact analytical transient response characteristics of first- and second-order systems | ||

approximate analytical transient response characteristics, transient response simulation | ||

steady-state response performance, steady-state error | ||

root locus analysis, sketching the root locus | ||

sketching the root locus, generating the root locus via a computer | ||

root locus design, gain from the root locus, complex functions | ||

proportional controller design | ||

final exam |

## Homework, quiz, & exam policies

### Exam policies

The final exam will be in-class. If you require any specific accommodations, please contact me.

Calculators will be allowed and their use encouraged through the course and on the exam. Only ones own notes and the notes provided by the instructor will be allowed during the exam. No communication-devices will be allowed.

The final exam will be cumulative.

### Academic integrity policy

Cheating or plagiarism of any kind is not tolerated and will result in a failing grade (“F”) in the course (at least this portion). I take this very seriously. Engineering is an academic and professional discipline that requires integrity. I expect students to consider their integrity of conduct to be their highest consideration with regard to the course material.

## English/Chinese technical terminology equivalents

Below is a list of some useful terminological equivalents. Thank you Benjamin, Dr. Xu Jingman, and Dr. Shawn Duan.

### Mechanics

- force 力
- torque 扭矩
- moment 力矩
- mass 质量
- gravity 重力
- weight 重量
- equilibrium 平衡
- static 静力
- reaction force 反作用力
- external force 外力
- force couple 力偶
- normal force 法向力
- distributed force 分布力
- pressure 压力
- position 位置
- velocity 速度
- acceleration 加速度
- momentum 动量
- center of mass 质量中心
- centroid 质心
- sign convention 符号约定

### Electronics

- charge 电荷 or 充电
- voltage 电压
- current 电流
- wire 电线
- resistance 电阻
- resistor 电阻器 or 电阻
- source 电源
- capacitance 容抗
- capacitor 电容 or 电容器
- inductance 感抗
- inductor 电感
- sign convention 符号约定
- steady-state 稳定状态or稳态
- phasor 相量
- impedance 阻抗
- transformer 变压器
- diode 二极管
- transistor 晶体管
- MOSFET 金属-氧化物半导体场效应晶体管
- operational amplifier 运算放大器

### Mathematics

- sum 和 or 总和
- product 积 or 乘积
- sinusoid 正弦 or 正弦曲线
- derivative 微分
- differential equation 微分方程
- integral 积分
- plane (geometric) 平面（几何）
- simplify 简化
- scalar 标量
- vector 矢量
- magnitude of vector 矢量的大小
- direction of vector 矢量的方向
- cross product $\textbf{x}\times\textbf{y}$ 叉乘（积）
- dot product $\textbf{x}\cdot\textbf{y}$ 点乘（积）
- coordinate system 坐标系
- projection 投影
- parallel 平行
- perpendicular 垂直