Robotics in Medical Applications Syllabus for Biomedical Signal Processing and Instrumentation M.Tech first year first sem is covered here. This gives the details about credits, number of hours and other details along with reference books for the course.
The detailed syllabus for Robotics in Medical Applications M.Tech 2017-2018 (R17) first year first sem is as follows.
M.Tech. I Year I Sem.
UNIT -I : Robotics Foundation: Definition and origin of robotics – different types of robotics -various generations of robots– degrees of freedom, Kinematics: position and orientation representation -joint kinematics-inverse kinematics-forward. Instantaneous kinematics- inverse instantaneous kinematics Dynamic: Spatial vector notation, dynamic model of rigid body system, kinematic tree, and kinematic loop.
UNIT -II : Motion Planning and Control: Motion planning: Motion planning concept- sampling based planning Motion control: Introduction to motion control- join spaces verses operational space controlin dependent join control- PID control- tracking control- computed torque control- Adaptive control optimal and robust control- digital implementation- learning control- indirect force control- hybrid force control.
UNIT -III : Sensor Based Planning and Control: Force and tactile sensor- Inertial sensor- GPS and Odometry: Odometry, gyroscopic system, GPS, IMU integration- Sonar sensor: CTFM sonar- Multipulse sonarsonar ring- Bio-mimetric sonar- Range sensor- Visual servoing and visual tracking: Basic component of visual servoing- Image based visual servo- Position based visual servo- Performance optimization and planning- Estimation of 3D parameters.
UNIT- IV : Mobile and Distributed Robotics: Motion control of wheeled mobile robots- Motion planning and obstacle avoidance: Non-holonomic mobile robots-Motion planning and obstacle avoidance- Definition of Obstacle avoidance- Obstacle avoidance technique. Distributed and cellular robots: Modularity for locomotion-Modularity for manipulation- modularity for geometric configuration and robot system. Multiple mobile robot system: Architecture for multi robot system-swarm robot- heterogeneity- task allocation-learning.
UNIT -V : Automation and Medical Robotics: Introduction of medical automation-Application of automation: Bar coding- RFID and wireless tracking- Human factor issue with automation- Medical robotics and computer integrated surgery, Rehabilitation and health care robotics: Physical therapy and training robots- Aids for people with 28disability- Smart prosthesis and orthosis- Augmentation for diagnosis and monitoring safety ethics.
TEXT BOOKS:
- Brunosciliano, Oussama Khatib, “Springer Handbook of Robotics”, Springer-verlag berlin Heidelberg, 1st Edition, 2008.
- Robin felder, “System Engineering Approch to automation”, Artech House Inc, 1st Edition, 2008.
- Mikell P. Weiss G.M., Nagel R.N, Odraj N.G., “ Industrial Robotics”, McGraw-Hill Singapore,1st Edition,1996.
REFERENCE BOOKS:
- Ghosh, “Control in Robotics and Automation: Sensor Based Integration”, Allied Publishers, Chennai, 1st Edition, 1998.
- Nagrath and Mittal, “Robotics and Control”, Tata McGraw-Hill, 1st Edition 2003.
- Fu. K.S, Gonzalez, R.C., Lee, C.S.G, “Robotics, control, sensing, Vision and Intelligence”, McGraw Hill International, 1st Edition, 2008.
- Hannes Bleuler, M. Bouri, Doina Pisla, Aleksandar Rodic, Calin Vaida, Adrian Pisla, “New Trends in Medical and Service Robots: Theory and Integrated Applications” Springer link, 2014
For all other M.Tech 1st Year 1st Sem syllabus go to JNTUH M.Tech Biomedical Signal Processing and Instrumentation 1st Year 1st Sem Course Structure for (R17) Batch.
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