AME 50650 Applied Nonlinear Analysis & Control - Nonlinear analysis with emphasis on applications to controls. Nonlinear phenomena, describing functions, linearization, nonlinear stability, Lyapunov stability, Lyapunov control functions, adaptive control, stability of nonautonomous systems, boundedness, center manifold theory, bifurcations, feedback linearization, and hybrid systems.
AME 60551 Introduction to Robotics - A broad introduction to robots as machines capable of sensing, decision making, and acting, focusing on the mathematical principles and tools underlying motion and force application of 2-D and 3-D robotic manipulators. Topics include kinematics, statics, dynamics, design considerations, actuators, sensors, and control fundamentals.
AME 60553 Wearable Robotics - The principles guiding design and evaluation of wearable robots to improve quality of life for human users, including compliant actuation, dynamic modeling of the human body and wearable robot, hierarchical control, optimization for mechanical design, real-time estimation; and methods for evaluating health outcomes.
AME 60556 Soft Robotics - Recent research in the design, modeling, control, and fabrication of soft robots to allow them to reach their potential to be safer, more adaptable to unknown environments, lower cost, and more capable of shape change than traditional rigid robots.
AME 60619 Fractional Calculus for Engineering - Application of fractional calculus to engineering applications. Mathematics of generalizing integer-order calculus to fractional-order calculus, fractional-order differential equations, numerical methods for fractional-order differential equations, modeling applications of fractional calculus in engineering, and control applications of fractional calculus.
AME 60621 Optimization-Based Robotics - Design, control, and estimation problems for robotic systems through the lens of optimization. Robot modeling and system identification, optimal control, trajectory optimization (shooting, collocation, differential dynamic programming), model-predictive control, and state estimation. Emphasis on applications within legged robotics.
AME 60623 Analytical Dynamics - Fundamental principles and analytical methods in dynamics with applications to machine design, robot analysis, and spacecraft control.
AME 60627 Computational Mechanism Design - Representations of planar, spherical, and spatial motions are reviewed. Mechanisms are studied from the standpoint of forward, inverse, and synthesis problems. Solution techniques for solving design problems are introduced. Applications for mechanism design are considered.
AME 60650 Digital Control Systems - Design and analysis of digital feedback compensators for dynamic systems. Z transform, difference equations, discrete equivalents, system response, transfer functions and state space models, steady state errors, stability, frequency response, compensator design, system identification, quantization, sample rate selection, and building real time control loops.
AME 60652 Intermediate Controls - Feedback and feedforward principles. Dynamic system modeling with linear and nonlinear differential equations. Analysis of dynamic systems: Solution to differential equations and stability. Linear systems: Matrix exponential and linearization. State feedback: Controllability and linear quadratic regulators. Output feedback: Observability, State estimation, Kalman filtering, and state space controller design. Transfer functions. PID control: Tuning and digital implementation
AME 60654 Advanced Kinematics - Curvature theory of general planar one-degree-of-freedom motion and the special case of first-order translations. Development of Freudenstein's equation. Applications to synthesis of one-degree-of-freedom mechanisms for path tracking, rigid body guidance and function generation.
AME 60673 Kinematics of Human Motion - Overview of human motion focusing on kinematics and dynamics. Introduction material on muscle actuation, the sensory system, and motor coordination is applied to upper limb reaching, standing balance, walking and running.
EE 60550 Linear Systems - State variable descriptions of linear dynamical systems. Solution of state equations for continuous-time and discrete-time systems. Input-output descriptions: impulse response and transfer function. Controllability, observability, canonical forms, stability. Realizations of input-output descriptions. State feedback and state observers. Polynomial matrix and matrix fraction descriptions of linear, time-invariant systems.
EE 60551 Optimization - Theory of constrained optimization complemented by comprehensive computing exercises. Linear programming and convexity. Simplex algorithm. Optimality conditions for nonlinear optimization. Convergence of algorithms. Interior point methods in linear programming.
EE 60655 Advanced Control Systems - Advanced topics in the control of systems, including modeling and identification, optimal control, nonlinear, adaptive, networked control and topics from switched control systems.
EE 60673 Advanced Robotics - Rigorous introduction to the classical theory of robotics, including kinematics, dynamics and feedback control, motion planning, trajectory optimization, SLAM, decision theory and task planning.
EE 67070 Introduction to Bioinspired Robotics - Discovery of useful principles from natural systems to create physical models, engineering systems, and technological designs. Exploration of nature to obtain insights for the development of new robotic components/systems that are functional, cost-effective, safer, and collaborative. Topics span biomechanics, robotic component design, control systems integration, rapid fabrication, and experimental instrumentation.
EE 67074 AI Planning: From Graph Search to Reinforcement Learning - Introduction to the field of AI planning and decision-making, with a focus on robotic applications. Deterministic decision-making: graph search, AI planning & automated planning, dynamic programming, model predictive control. Decision-making under uncertainty: Markov Chain, Markov Decision Processes, Hidden Markov Chain, Partially Observable Markov Decision Processes. Reinforcement Learning: model-based RL, policy gradients, value function-based methods, actor-critic methods.
EE 87030 Cyber-Physical Systems - Introduction to computational systems integrated with physical processes with emphasis on building high confidence systems with real-time and concurrent behaviors. Basic formal verification of computational systems that can be modeled as finite state machines and advanced topics in the verification of CPSs, including timed automated modeling and verification, bi-simulation, approximate bi-simulation, symbolic model checking, compositional model checking, hybrid programs and differential dynamic logic.
EE 87040 Formal Methods - Mathematically based techniques for the specification, synthesis and verification of software and hardware systems. Automata theory, temporal logic, model checking and reactive synthesis.
CSE 60424 Human-Computer Interaction - Theories of interaction (e.g., conceptual models, stages of execution, error analysis, constraints, memory by affordances), design methods (e.g., user-centered design, task analysis, prototyping tools), visual design principles (e.g., visual communication, digital typography, color, motion), evaluation techniques (e.g., heuristic evaluations, model-based evaluations), and emerging topics (e.g., affective computing, natural user interfaces, brain-computer interfaces).
CSE 60427 Human-Centered Computing Research - Introduction to the different types of contributions, the foundational theories, and the core methods for research in Human-Computer Interaction (HCI) and human-centered research.
CSE 60625 Advanced Topics in Machine Learning - Introduction to machine learning, including the basics of learning theory, supervised learning, unsupervised learning, semi-supervised learning, and various advanced topics such as deep learning, sequential learning, active learning, relational learning, and graphical models. Recent applications in big data, healthcare, personalization, environmental sciences, and networks.
CSE 60773 Software Development for UAS - Design, development, testing, and deployment of drone-based software applications. Communication between drones and ground stations via the mavlink protocol. Development of mobile and/or server-side applications that utilize drones in a variety of scenarios such as the delivery of medical supplies or aerial reconnaissance.
CSE 60868 Neural Networks - Bio-inspired modeling of neurons (inputs, activation function) and construction of artificial networks (connections, layers). Structures used in supervised learning - static networks (Rosenblatt perceptron, Adaline, multi-layer perceptron, radial networks, deep networks including recently popular convolutional nets) and dynamic networks (recurrent networks, associative memory, Hopfield's and Boltzman's machines). Unsupervised learning with self-organizing maps, Kohonen's networks and structures based on adaptive resonance theory (ART). Applications in approximation and classification tasks and dynamic systems. Learning strategies such as gradient estimation and minimization techniques.