Department of Mechanical-Mechatronics Engineering

The LNM Institute of Information Technology, Jaipur

Proposal for Minor

In

Robotics & AutomationI. Overview

With the vision of facilitating skill development in Niche areas like Robotics, Artificial

Intelligence etc., imparting flexibility and outreach of students across departments and preparing

students for next generation technological development, The LNMIIT has introduced the concept

of Minor program for UG students of The LNMIIT.

Minor will be a set of 6 to 7 courses (Between 18 to 20 Credits) affiliated to any one of the niche

area, which are unique in the sense that there is no double count of courses. These courses will

be offered within the duration of the B.Tech program through regular or summer term courses.

However, flexibilities may allow even those students who may do it with spending one or two

terms over and above for completing their minors. Highly motivated students could opt for these

courses apart from the course in their curriculum and those who fulfill all the requirements of a

minor successfully will get an additional transcript stating details of the courses in the minor. The

top 25% of students selected for minor may also be offered LNM fellowship i.e. 100% tuition fee

waiver for minor only based on recommendation of competent authority.

Keeping in view the Institute’s objective of emphasis on knowledge and skill development at all

levels, the Department of Mechanical-Mechatronics Engineering (MME) is proposing a ‘Minor

in Robotics & Automation’. The details of subjects and scope of minor in Robotics and

Automation has been prepared with the help of domain experts across all engineering

departments of The LNMIIT as well as external experts of the domain.

II. Introduction

Robotics and Automation minor will enable students to gain expertise in next generation robotics

and automation systems. Minor subjects will be exposing our students to course work from

multiple disciplines and preparing them to think about robotics from a holistic approach. Our

program will prepare a skilled industry workforce as well as expert researchers who will be able

to provide leadership in a world that is increasingly dependent on technology. The students will

have career opportunities in manufacturing, research and engineering, agriculture, mining, space

exploration, power-plant maintenance and a variety of other areas. They can be employed in

laboratories, space exploration, manufacturing plants, mining and organizations after completing

the minor program.

Scope

Robotics & Automation is a field of Engineering that involves the conception, design,

manufacture, and operation of robots and Automation setups. It is a combination and overlaps

many fields of Engineering including Electronics, Computer Science, Artificial Intelligence,

Automation, Mechatronics, Nanotechnology and Bio Engineering.

Automation & Robotics plays an essential part in several modern manufacturing companies.

However, there are few positions which are readily available for an Automation & Robotics

Engineer. The following are the industries where an Automation & Robotics engineer can find

work in:

● Aerospace

● Defense contractors

● Entertainment

● Manufacturing

● Medical research (development of prosthetic parts)

Inadequate availability of Robotics & Automation expertise is one of the challenges to

realize the full potential growth of the world. There is an emergent need for developing

future talent in accordance with the changing needs of the job market. The students need to

be equipped with the new skill set to be ready for new-age job requirements.

III. Objectives

The objectives of offering the Minor programme are as follows:

1. To promote understanding of concepts, techniques and applications of Robotics &

Automation by offering related courses.

2. To demonstrate applicability of techniques to real world business, social and scientific

problems.

3. To facilitate use of various tools to realize future robotic and automation systems.

4. To enhance employability in industry hiring requiring knowledge and skills in Robotics &

Automation.

IV. Learning Outcomes

On completion of this Minor, the students will have the ability to:

1.Design & Develop the Robotic and Automation systems efficiently with careful selection of

material, sensors, controllers and other components.

2.Model, Simulate & Control the kinematics and dynamics of Robotic & Automation systems.

3.Write programs and Algorithms on various programming platforms for Robotic and

Automation systems.

4.Apply basics of AI, Machine Learning & Image processing for efficient functioning of

Robotic and Automation systems.

V. Number of seats

It is proposed that total number of seats for Minor in Robotics & Automation will be limited to

20.

VI. Selection

The eligibility criterion is based on the performance of students in key fundamental courses.

Students can apply for the Minor at beginning of 2nd semester.

a. Eligibility criteria:

● Minimum CGPA of 6.0 in First Semester.

● Minimum B grade in the following subjects:

o Computer Programming

o Basic Electronics

o Mathematics - I

b. Selection criteria:

Final merit list will be prepared on the basis of CGPA of 1st semester.

c. Tie Breaker: In case of tie breaker i.e. students with equal CGPA and also fulfilling the

eligibility criteria, the student having more marks in Computer Programming will be given

preference.

VII. Proposed Structure

While designing the course structure, considerable care was taken regarding regulatory body

guidelines, academic guidelines of the Institute and inputs from Industry and academia.

a) Factors Considered

● Compliance with AICTE regulations was taken into consideration. Accordingly, a student

is eligible for an Undergraduate degree in Engineering with a Minor, if he/she completes

additional 18-20 credits, over and above their existing curriculum courses.

● UG Curriculum structure of MME, ECE and CSE students was considered while placing

Minor Courses to ensure that restriction on maximum credit limit allowed is not violated.

● Course sequence, name and content was finalized in a series of meeting over the last 1

year including experts across all the departments of LNMIIT and external experts from

BITS Pilani, IIT Delhi and Industry.

● After that the proposed curriculum underwent various changes based on expert comments

from IIT Kanpur, IIT Roorkee etc. in India and various foreign universities like INRIA

France, Carnegie Mellon University etc.

b) Courses and Placement

The courses for Minor Program in Robotics & Automation are shown in Table 1.

Sno. Course SemCredits

L-T-P-C

1 MINOR PROJECT Summer Term After 2nd

Semester (1st year)

0-0-2-1

2 INTRODUCTION TO

AUTOMATION

3rd 3-0-2-4

3 MODELING AND

DESIGN OF ROBOTS

4th 3-0-2-4

4 PROGRAMMING

FOR AUTOMATION

AND ROBOTICS*

5th 1-0-3-3

5 CONTROL AND

OPTIMISATION OF

AUTOMATION AND

ROBOTIC

SYSTEMS*

6th 3-0-2-4

6 ARTIFICIAL

INTELLIGENCE FOR

ROBOTICS AND

AUTOMATION*

7th 3-0-2-4

7 MAJOR PROJECT 7th 3-0-0-3

Total Credits 23

Table 1: Courses for Minor in Robotics & Automation

*Course Information Forms are not available for marked courses. CIFs of these courses are

currently being developed although the content of all the courses has already been decided and is

shown in Table 2.

c) The overall content of the courses is shown in Table 2 below:

Sno

.

Course Name Content

1 MINOR

PROJECT

This project is to make students aware of the modern tools

technical skills through literature survey and their use for

doing a project in Robotics & Automation. Getting familiar

with few aspects of hardware & software right at the start of

the minor will make them more curious to go deeper into the

domain to get the best out of it. The project will attract

student to take upcoming courses seriously and they will also

understand the use of every subject in problem solving.

Minor project will also promote Creativity, Team-work,

Leadership, Professionalism, Time Management,

Presentation skills, Communication Skills, Technical Report

Writing skills.

2 INTRODUCTION

TO

AUTOMATION

AND ROBOTICS

Fundamentals of Automation and Robotics, security and

ethics. Origin of automation, Classification of robots,

Cobotics. Types of joints, work volume, classification of

robots, components of robots, sensors: Actuators, power

transmission systems, Velocity and position sensors, Force,

torque sensors. Range, proximity, touch sensors and

actuators for automation and robotics, hands-on use and

control of sensors, actuators using LabView, Atmel studio,

Proteus and Multisim.

3 MODELING AND

DESIGN OF

ROBOTS

Mathematical modeling, homogeneous transformations,

Forward and Inverse Kinematics. Rotations and translation

of vectors. Transformations and Euler angle representations,

Homogenous transformations. Velocity kinematics and

Jacobian, Statics, singularity and Manipulability, Trajectory

planning Dynamics of Robots - acceleration and force

analysis. Basic mechanical design concepts, Hands-on

sessions on CAD, Solid works, Ansys, MATLAB,

LABVIEW for various application oriented Robots.

4 PROGRAMMING

FOR

AUTOMATION

AND ROBOTICS

CAM, Electrical-Electronic, Pneumatic, electro-pneumatic,

and hydraulic systems used for automation Hands-on

sessions on PLC, SCADA, and CNC programming. Hands

on session on automation hardware kits, their interfacing

with software, Robot Programming - VAL II, Robot

programming languages, pick and place automation setup,

hydraulic kit, pneumatic and electro pneumatic kits and

process control kit.

5 CONTROL AND

OPTIMISATION

OF

AUTOMATION

AND ROBOTIC

SYSTEMS

Simulation and design of control systems of automation and

robotic systems. Control basics, Model based control,

position control, speed control, perturbation control.

Microcontrollers, Hands-on sessions on simulating

mathematical models and control designs on Matlab and

LabView. Implementation of robots and control system for

real applications. Optimization of robotic and automation

systems, Functional optimization, case studies.

6 ARTIFICIAL

INTELLIGENCE

FOR ROBOTICS

AND

AUTOMATION

Basics of artificial intelligence and machine learning for

robots and automation systems, Image recognition

(OpenCV), Robot Vision, machine vision, Image

segmentation, Template matching, Polyhedral objects, Shape

analysis hands-on sessions on python. Programming in Path

planning, localization, obstacle avoidance etc. of AGV,

Manipulators and Automation systems.

7 MAJOR

PROJECT

This project will involve immersing students in a more active

learning experience by developing an idea on their own,

applying the knowledge and skills they have learnt

beforehand, finding the best solution of the problem and then

execute it. The activities such as planning, researching,

creating, thinking critically, building, testing, and reporting

will help make student industry ready. Students will build on

their research skills and deepen their learning of applied

content beyond facts or memorization. They will learn to

look at problems with a critical thinking lens, asking

questions and coming up with possible solutions for their

project.

Table 2: Overall Content of courses for Minor in Robotics & Automation

d) Important Considerations

1. The Minor project will start in the month of June therefore students will have 20-30 days

to go home after finishing their 2nd Sem Exams.

2. A student will be offered only one extra course per semester apart from the courses in

his/her UG curriculum from 3rd semester onwards till 6th Semester. Each course will be of

maximum 4 credits.

3. In 7th Semester, student will have to take one course and one project i.e. a total of 7

credits over and above its curriculum which a student can bear because 7th semester is

comparatively low credit semester (Maximum 15 credits in The LNMIIT).

4. The expenses involved in Minor & Major Project will be financed by the institute by

incorporating these expenses in yearly budget of Relevant Labs.

5. The projects will be given in groups of 2 or 3 and special care will be taken in making

heterogeneous groups i.e. students of different engineering domains will be put together

in groups.

6. The topic of minor & major projects will be mutually finalized by students & project

guide. A topic can be proposed by anyone in the group including project guide.

7. The institute has recruited few faculty members who are experts in the domain of

Robotics & Automation in order to run the minor effectively.

8. Fees of the minor will be taken semester wise.

9. Students can exit the minor program at any stage of his/her tenure if he/she finds it hectic

or any other reason.

10. Additional program electives offered by MME Department in the area of Robotics &

Automation are given in Table 3 below. Students, who are not enrolled in minor may also

take these courses as per academic provisions of the Institute.

SNo. Course

Type

Semester Credits

(L-T-P-C)

Course Names

1. Program

Elective

5th/6th/7th/

8th

3-0-0-3

3-0-2-4

(1) Mechatronics, (2) Robotics, (3) Industrial

Automation, (4) Distributed Control systems &

(5) System Dynamics & Control are being

offered as program electives. 3 of these courses

also have lab component associated with the

subject.

Table 3: Additional Program Electives for studying Robotics & Automation

Note: Relevant Course Information Forms (CIFs) are included in Annexure A.

VIII. Backlog & Dropout Mechanism

1. If a student fails in one or more subjects of minor then he/she will only be allowed toenroll in the subsequent semester if the course to be taught in that semester doesn’trequire failed course/s as pre-requisite for taking this course.

2. All pre-requisite courses must be passed by a student to take any further course. If notthen his/her minor will come temporarily on halt until he/she passes that course.

3. However, In order to help students complete the minor program within their B.TechTenure, a student can be allowed to take up to 2 courses of minor per semester providedone of the courses is not the pre-requisite of the other.

4. A student can be allowed to enroll in Major project if he has passed at least three courses& minor project.

5. If a student is unable to pass all the courses and projects of minor even after 2 years ofcompletion of his under graduation then he will be declared incompetent and will bedropped off from minor.

IX. Criteria for award of Minor in Robotics & Automation

Upon completion of the additional 23 credits, as mentioned in Section VII, the student will be

eligible for the award of Minor in Robotics & Automation as per academic norms of the

Institute.

ANNEXURE A

COURSE INFORMATION FORMS

Programme: B. Tech Year: 2nd Semester: III

Course: Minor Program Credits: 4.0 Hours: 3-0-2

Course Context and Overview (100 words):

This is an undergraduate Minor Programme course offered to 3rd semester Engineeringstudents. The course will help the students in acquiring a mix of skills in mechanical,electronics and computing to be able to comprehend and design automation systems.Theoretical knowledge as well as hands on practice on various sensors, actuators, digitalelectronics, signal conditioning devices and circuits which are used in automation systemswill be given. Study of methods for designing and analyzing automation systems and how toeffectively interface them with controllers will also be done during this course. Practicalknowledge on various sensors, actuators, digital electronics, signal conditioning devicesand circuits which are used in mechatronic systems will be given so that students can dosynergistic integration of mechanics, electronics, control theory, and computer sciencewithin product design and manufacturing, in order to improve and/or optimize itsfunctionality. Study of programming using different software and hardware will be done toeffectively interface them with controllers.

Prerequisites Courses:

Basic Electronics

Course outcomes (COs):

On completion of this course, students will be able to:

CO1 Model and analyze automation systems for an engineering application.

CO2 Identify sensors and actuators to monitor and control the behavior ofprocess or product.

CO3 Evaluate the performance of automation systems.

CO4 Design an automation system for an engineering application.

CO5 Interface sensors and actuators with LabVIEW through MyRio.

CO6 Design and simulate Mechatronic systems on Proteus and develophardware.

CO7 Develop Microcontroller, Arduino and R-Pi programs and apply them tocontrol Hardware.

CO8 Simulate Electro-pneumatic and hydraulic logic circuits on Auto-Sim andapply them on Hardware setup.

Text Books:[1] William Bolton, “Mechatronics: Electronic Control Systems in Mechanical and

Electrical Engineering”, 4th edition, Pearson Education, 2008.[2] Devdas Shetty & Richard Kolk “Mechatronics System Design”, 3rd edition. PWS

Publishing, 2009.[3] Groover, Mikell P., et al. Industrial robotics: technology, programming, and applications.

McGraw-Hill, 2012.[4] David G Alciatore & Michael B Histand, “Introduction to Mechatronics and

Measurement systems”, 4th edition, Tata McGraw Hill, 2006.

Reference Books:[1] Fraden, Jacob, and Lawrence G. Rubin. "AIP Handbook of Modern Sensors." Physics

Today 47.6 (1994): 74.[2] Khazan, Alexander D. Transducers and their elements: design and application. Prentice

Hall, 1994.

[3] Muller, Richard S., et al. "Device electronics for integrated circuits." (1986): 54.[4] Sze, Simon M., Yiming Li, and Kwok K. Ng. Physics of semiconductor devices. John wiley

& sons, 2021.[5] R. Siegwart, et.al Introduction to Autonomus Mobile Robots, Prentice Hall of India, 3rd

Edition, 2005.[6] John Craig, Introduction to Robotics: Mechanics and Control, Pearson/Prentice Hall

Education, 3rd Edition, 2005[7] Ruocco, S. Robot sensors and transducers. Springer Science & Business Media, 2013.

Video References:[1] http://video_demos.colostate.edu/mechatronics[2] http:// mechatronics.me.wisc.edu

Additional Resources:NPTEL, MIT Video Lectures, Web Resources etc.

Course Module:

Units Course Topics Hours

Unit 1 Introduction to Automation 2

History and Fundamentals of Automation, scope and significance ofautomation systems, security and ethics of automation, elements ofautomation systems, needs and benefits of automation in Industry.Examples: Pick and place robot, Bar code, Engine Management system,Washing machine etc.

Unit 2 Robotics & Automation 2

History of Robotics, Present status and future trends in Robotics. Lawsof Robotics, Classification of robots. Specification of Robots - resolution,repeatability etc. Robot Anatomy, work volume, Cobotics, Roboticapplications. Selection of Robot-Selection based on the Application.

Unit 3 Sensors for Automation & Robotics 10

Introduction to sensors, Static and dynamic characteristics, Types ofsensors, Optical Sensors, Temperature Sensors, Magnetic andElectromagnetic Sensors, Mechanical Sensors, Pressure sensors

Unit 4 Digital Electronics 3

Number systems, BCD codes and arithmetic, Gray codes,

self-complimenting codes, Error detection and correction principles.Boolean functions using Karnaugh map, Design of combinationalcircuits, Design of arithmetic circuits. Design of Code converters,Encoders and decoders.

Unit 5 Signal Conditioning 5

Operational amplifiers, Protection circuits and devices, comparator,filters, Multiplexer, Pulse width Modulation, Counters, decoders, Dataacquisition, Analog to digital conversion, digital to analog conversion.

Unit 6 System circuits and response 6

Analysis of electric circuits and components, Amplitude Linearity,Bandwidth and Frequency Response, Phase linearity, Distortion ofSignals, Response of a zero, first and second order system, systemanalogies.

Unit 7 Actuators for Automation & Robotics 10

Electrical Actuators : Solenoids, relays, diodes, thyristors, triacs, BJT,FET, DC motor, Servo motor, BLDC Motor, AC Motor, stepper motors.Mechanical, Hydraulic & Pneumatic devices –Power supplies, valves,cylinders, sequencing.

S. No. Name of Lab Experiment Hours

1 Designing ‘PID’ Controller on LabVIEW. 2

2 Interfacing Sensors and Actuators using LabVIEW and MyRio. 2

3 Design and simulation of LED blinking circuit. Hardwaredevelopment of LED blinking circuit.

2

4 Design and simulation of timer and counter circuit. Hardwaredevelopment of timer and counter circuit and testing.

2

5 Design and simulation of Motor control and LCD Display Circuit.Hardware development of Motor Control and LCD Display circuit.

2

6 Design and simulation of Amplifier, filter and motor driver circuit.Hardware development of amplifier, filter and motor driver circuit.

2

7 Interfacing Arduino with LabVIEW for Temperature control andADC of sensor data.

2

8 Introduction to the Raspberry Pi and their initialization. Design anIoT based application with Raspberry Pi.

2

9 Designing Pneumatic Logic to control systems. 210 Designing Electro Pneumatic logic to control systems. 2

11 Final Project 4

Evaluation Methods:

Item Weightage

Mid term 20%

End term 30%

Teacher’s assessment (Assignment/ Presentation/ Project/ Quiz) 50%

Programme: B. Tech Year: 2nd Semester: IV

Course: Minor Programme Credits: 4.0 Hours: 3-0-2

Course Context and Overview (100 words):

This is a minor programme course offered to 2nd year engineering students. It covers thestudy of kinematics and dynamics of both manipulators and mobile robots. This course

presents an introduction to the fundamentals of manipulators and mobile robotics,spanning the mechanical, motor, sensory, perceptual and cognitive layers that comprise thisfield of study. One unit is also covering the robot vision, image processing and navigationtechniques to make them completely autonomous. Practical knowledge on study ofkinematics and dynamics of robot on MATLAB, LABVIEW, ATMEL and other such softwarewill be given so that students can do synergistic integration of mechanics, electronics,control theory, and computer science within a robotics system, in order to improve and/oroptimize its functionality.

Prerequisites Courses:

Basic Electronics, Introduction to automation.

Course outcomes (COs):

On completion of this course, students will be able to:

CO1 Understand the basics of manipulator grippers

CO2 Model forward and inverse kinematics of robot manipulators.

CO3 Analyze forces in links and joints of a robot

CO4 Design intelligent robots using sensors.

CO5 Programme a robot to perform tasks in industrial applications.

Text Books:

[1] John Craig, Introduction to Robotics: Mechanics and Control, Pearson/Prentice HallEducation, 3rd Edition, 2005

[2] R. Siegwart, et.al Introduction to Autonomus Mobile Robots, Prentice Hall of India, 3rdEdition, 2005.

[3] Mittal, R. K., and I. J. Nagrath. Robotics and control. Tata McGraw-Hill, 2003.

Reference Books:[1] Richard D. Klafter, Robotics Engineering, An Integrated approach, Prentice Hall of

India, 3rd Edition, 2003.

[2] Fu K S, Gomalez R C and Lee C S G, Robotics: Control, Sensing, Vision and Intelligence,McGraw Hill Book Company, 1st Edition, 1987.

[3] Groover, Mikell P., et al. Industrial robotics: technology, programming, andapplications. McGraw-Hill, 2012.

Additional Resources:NPTEL, MIT Video Lectures, Web Resources etc.

Course Module:

Units Course Topics Hours

Unit 1 Manipulators and End Effectors 2

Types of Manipulators, Manipulator Drive Systems, Manipulator ControlSystems, Types of end effectors, Grippers, Gripper joints, Gripper force.

Unit 2 Kinematics and Dynamics 21

Links & Linkage design, 3D stress & strain analysis of links and linkagemechanism. Basics of theory of machines, Manipulators Kinematics,Rotation Matrix, Homogenous Transformation Matrix, Direct and InverseKinematics for industrial robots for Position and orientation. Motiongeneration, Manipulator dynamics, Jacobean in terms of D-H matrices.Differential Kinematics and Static-Dynamics-Lagrangian Formulation,Newton-Euler Formulation for RR & RP Manipulators.Mobile Robot: Introduction, locomotion: legged and wheeled mobilerobots Mobile robot kinematics.

Unit 4 Trajectory Planning 4

Terminology, Joint Space Techniques, Cartesian Space Techniques,Comparison

Unit 5 Control Architecture 4

position, path velocity and force control systems, computed torquecontrol, adaptive control, and Servo system for robot control

Unit 6 Robot Perception, Vision and Navigation 8Introduction to robot perception, Feature extraction, Image acquisition,representation and processing. Introduction to localization, obstacle avoidanceand navigation.

Unit 7 Application of Robots 1

Application of robot in welding, machine tools, material handling, andassembly operations parts sorting and parts inspection.

Sno. Name of Lab Experiment (Any 10) Hours

1 Study of kinematics and dynamics of Manipulators. 2

2 Study of dynamics of Mobile Robots. 2

3 Study of open and closed loop motor control of Mobile Robot. 2

4 Study of kinematics of sbRIO Mobile Robot (Turning & Rotating). 2

5 Design a suitable algorithm on LabVIEW for obstacle avoidance usingsbRIO mobile Robot.

2

6 Programming of a humanoid robot for different applications. 2

7 Programming of 5-DoF Robotic Arm. 2

8 Fabrication and programming of basic RC mobile robots. 2

9 Embedded c programming of firebird V robots. 2

10 Programming of Mobile robot using ROS. 2

11 Design and Analysis of Manipulators on CAD 212 Design and Analysis of mobile Robots on CAD 2

Evaluation Methods:

Item Weightage

Mid term 20%

End term 30%

Teacher’s assessment (Assignment/ Presentation/ Project/ Quiz) 50%