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Michael D. M. Kutzer, Ph.D.

Teaching

Spring 2017

ES452 - Advanced Topics in Robotics

An advanced topics course focusing primarily on articulated robotics, applied computer vision, and object/pattern recognition. This course is broken into four core topic areas including path and trajectory planning in joint and task space; camera calibration, registration, and lens compensation; feedback control using visual servoing including fixed camera and eye-in-hand methods; and object/pattern recognition leveraging probabilistic and artificial neural network methods.  

This course includes mandatory labs and a course project that primarily use MATLAB and the ScorBot Toolbox

ES309 - Guided Design Experience

A laboratory based course combining prior coursework to create an automated turret system. This course applies methods from control theory, statistical analysis, fundamental circuit design, breadboard-based electronic prototyping, and code development to create a functional system. 

Project development primarily uses MATLAB and the ARM®mbed™ platform.


Fall 2016

ES450 - Introduction to Robotic Systems

An introduction to articulated and mobile robotics, primarily from a kinematics perspective leveraging homogeneous transformations and Jacobians. This course is broken into three core topic areas including articulated robots, mobile robots, and computer vision. Articulated robotics topics include manipulator nomenclature, design considerations, configurations, workspace, forward and inverse kinematics, Jacobians, movements in task space and joint space, and velocity control. Mobile robotics topics include nomenclature, configurations, drive kinematics, dead reckoning, Jacobians, and velocity control. Introductory computer vision topics include fundamental camera models, fundamental camera calibration, nomenclature, intensity and color-based segmentation, and segmented object properties.

This course includes mandatory labs and a course project that primarily use MATLAB and the ScorBot Toolbox.  


Spring 2016

ES452 - Advanced Topics in Robotics

An advanced topics course focusing primarily on articulated robotics, applied computer vision, and object/pattern recognition. This course is broken into four core topic areas including path and trajectory planning in joint and task space; camera calibration, registration, and lens compensation; feedback control using visual servoing including fixed camera and eye-in-hand methods; and object/pattern recognition leveraging probabilistic and artificial neural network methods.  

This course includes mandatory labs and a course project that primarily use MATLAB and the ScorBot Toolbox.  

ES202 - Principles of Mechatronics

An introduction to mechatronics as a multidisciplinary topic including aspects of mechanical engineering, electrical engineering, computer science, and controls. This course covers a broad range of topics including the fundamental engineering design process, applications of open and closed loop control, sensor and actuator specification, fundamental circuit design, breadboard-based electronic prototyping, system diagrams, and system calibration. Digital and analog control techniques are introduced including work with the ARM®mbed™ platform. 

This course includes mandatory labs and a course project that primarily use MATLAB and the ARM®mbed™ platform.


Fall 2015

ES450 - Introduction to Robotic Systems

An introduction to articulated and mobile robotics, primarily from a kinematics perspective leveraging homogeneous transformations and Jacobians. This course is broken into three core topic areas including articulated robots, mobile robots, and computer vision. Articulated robotics topics include manipulator nomenclature, design considerations, configurations, workspace, forward and inverse kinematics, Jacobians, movements in task space and joint space, and velocity control. Mobile robotics topics include nomenclature, configurations, drive kinematics, dead reckoning, Jacobians, and velocity control. Introductory computer vision topics include fundamental camera models, fundamental camera calibration, nomenclature, intensity and color-based segmentation, and segmented object properties.

This course includes mandatory labs and a course project that primarily use MATLAB and the ScorBot Toolbox.  


Spring 2015

ES202 - Principles of Mechatronics

An introduction to mechatronics as a multidisciplinary topic including aspects of mechanical engineering, electrical engineering, computer science, and controls. This course covers a broad range of topics including the fundamental engineering design process, applications of open and closed loop control, sensor and actuator specification, fundamental circuit design, breadboard-based electronic prototyping, system diagrams, and system calibration. Digital and analog control techniques are introduced including work with the ARM®mbed™ platform. 

This course includes mandatory labs and a course project that primarily use MATLAB and the ARM®mbed™ platform.


Fall 2014

ES450 - Introduction to Robotic Systems

An introduction to articulated and mobile robotics, primarily from a kinematics perspective leveraging homogeneous transformations and Jacobians. This course is broken into three core topic areas including articulated robots, mobile robots, and computer vision. Articulated robotics topics include manipulator nomenclature, design considerations, configurations, workspace, forward and inverse kinematics, Jacobians, and velocity control. Mobile robotics topics include nomenclature, design considerations, configurations, workspace, drive kinematics, dead reckoning, Jacobians, and velocity control. Introductory computer vision topics include nomenclature, intensity and color-based segmentation, segmented object properties, fundamental camera models, and fundamental camera calibration. 

This course includes mandatory labs that primarily use MATLAB and the Matlab Toolbox for the Intelitek Scorbot (MTIS).


Spring 2014

ES304 - Modern Control Systems

A study of linear systems modeled as continuous-time state equations. Course topics include a review of block diagrams, derivation of state-space representations, linearization, characteristic polynomials, zero-input and zero-state solutions, controllability, observability, controller design/analysis, and observer design/analysis. 

This course includes mandatory labs and a course project that primarily use MATLAB and Simulink.


Fall 2012

ES450 - Introduction to Robotic Systems

An introduction to articulated robotics, primarily from a kinematics perspective leveraging homogeneous transformations. Course topics include manipulator nomenclature, design considerations, configurations, workspace, forward and inverse kinematics, Jacobians, velocity control, and introductory computer vision including intensity and color-based segmentation.

This course includes mandatory labs and a course project that primarily use MATLAB and the Matlab Toolbox for the Intelitek Scorbot (MTIS).

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