آشنایی با دروس دکتری رباتیک در خارج از کشور

کد:
3D Reconstruction and Mapping - Course focuses on multi-robot/multi-camera mapping and reconstruction. Topics range from SLAM, graphical model inferences, and understanding the practical issues regarding multi-platform reconstruction.





Adaptive Control - Methods of parameter estimation and adaptive control for systems with constant or slowly varying unknown parameters.

 



Advanced Dynamics - Kinematics of particles and rigid bodies, angular velocity, inertia properties, holonomic and nonholonomic constraints, generalized forces, Equations of motion, Newtonian frames, consistent linearization, energy and momentum integrals, collisions, mathematical representation of finite rotation. 





Artificial Intelligence Planning - Symbolic numerical techniques that allow intelligent systems to decide how they should act in order to achieve their goals, including action and plan representation, plan synthesis and reasoning, analysis of planning algorithms, plan execution and monitoring, plan reuse and learning, and applications. 





Autonomous Robotics - The principles and practice of autonomous robotics including behavior-based design and architectures, adaptive learning and team behavior, and the role of perception within robotic systems. 





Cognitive Engineering  - Cognitive engineering addresses a range of technologies and work environments that will support human cognitive performance, including information systems, decision support, automation, and intelligent systems.





Computational Perception - Study of statistical and algorithmic methods for sensing people using video and audio. Topics include face detection and recognition, figure tracking, and audio-visual sensing. 





Computer Vision - An introduction to computer vision and machine perception. An intensive study of the process of generating a symbolic description of the scene by interpretation of images(s). 





Digital Control - Comprehensive treatment of the representation, analysis, and design of discrete-time systems. Techniques include Z- and W- transforms, direct method, control design, and digital tracking. Prerequisite: ME 3015 or equivalent, or with the consent of the instructor. (3 semester hours)





Flexible Multi-Body Dynamics - Nonlinear, flexible multi-body dynamic systems, parameterization of finite rotations, strategies for enforcement of holonomic and non holonomic constraints, formulation of geometrically nonlinear structural elements, time-integration techniques.





Guidance and Navigation - Earth's shape and gravity. Introduction to inertial navigation. GPS aiding. Error analysis. Guidance systems. Analysis of the guidance loop. Estimation of guidance variables. Adjoint analysis. 





Human-Robot Interaction  - Survey of the state of the art in HRI research, introduction to statistical methods for HRI research, research project studio. A petition has been filed for this to be added to the permanent CS curriculum and have permanent course number. 





Intelligent Control - Principles of intelligent systems and their utility in modeling, identification, and control of complex systems; neuro-fuzzy tools applied to supervisory control; hands-on laboratory experience. 





Learning in Autonomous Agents - An in-depth look at agents that learn, including intelligent systems, robots, and humans. Design and implementation of computer models of learning and adaptation in autonomous intelligent agents. 





Machine Learning - Machine learning techniques and applications. Topics include foundational issues; inductive, analytical, numerical, and theoretical approaches; and real-world applications. 





Mobile Manipulation - The objective of the course is to gain knowledge of methods for design of mobile manipulation systems. The course covers all aspects of the problem from navigation and localization over kinematics and control to visual and force based perception.





Modern Methods of Flight Control - Linear quadratic regulator design. Model following control. Stochastic control. Fixed structure controller design. Applications to aircraft flight control. 





Multi-Robot Systems - In-depth examination of the current research on multi-robot systems. Students develop and critically analyze a multi-robot system. 





Nonlinear Control - Advanced treatment of nonlinear robust control. Lyapunov stability theory, absolute stability, dissipativity, feedback linearization, Hamilton-Jacobi-Bellman theory, nonlinear H-infinity, backstepping control, and control Lyapunov functions. 





Nonlinear Dynamics - Nonlinear vibration methods through averaging and multiple scales, bifurcation, periodic and quasi-periodic systems, transition to chaos, characterization of chaotic vibrations, thermodynamics of chaos, chaos control. 





Optimal Estimation - Techniques for signal and state estimation in the presence of measurement and process noise with the emphasis on Wiener and Kalman filtering. 





Optimal Guidance and Control - Euler-Lagrange formulation; Hamilton-Jacobi approach; Pontryagin's minimum principle; Systems with quadratic performance index; Second variation and neighboring extremals; Singular solutions; numerical solution techniques. 





Pattern Recognition - Theory and application of pattern recognition with a special application section for automatic speech recognition and related signal processing. 





PDEs in Image Processing and Computer Vision - Mathematical foundations and numerical aspects of partial-differential equation techniques used in computer vision. Topics include image smoothing and enhancement, edge detection, morphology, and image reconstruction. 





Robot Intelligence: Planning in Action - Course covers methods for planning with symbolic, numerical, geometric and physical constraints. Topics will range from classical and stochastic planning to continuous robot domains and hybrid control of dynamic systems.





Robust Control - Robustness issues in controller analysis and design. LQ analysis, H2 norm, LQR, LQG, uncertainty modeling, small gain theorem, H-infinity performance, and the mixed-norm H2/H-infinity problem, Controller analysis and design for linear and nonlinear systems with structured and non-structured uncertainty. Reduced-order control, stability, multipliers, and mixed-mu. 





Vibration of Continuous Systems - Equations of motion and oscillatory response of dynamic systems modeled as continuous media. Prerequisites: ME 6442 or equivalent, or with the consent of the instructor. (3 semester hours)