INTRODUCTION TO AUTOMATION

UNIT-I
Introduction: Automation in Production System, Principles and Strategies of Automation, Basic
Elements of an Automated System, Advanced Automation Functions, Levels of Automations.
Production.

UNIT-II
Detroit-Type Automation: Automated Flow lines, Methods of Work part Transport, Transfer
Mechanism, Buffer Storage, Control Functions, and Automation for Machining Operations, Analysis
of Automated Flow Lines, Computer Simulation of Automated Flow Lines.

UNIT-III
Material handling and Identification Technologies: The material handling function, Types of
Material Handling Equipment, Analysis for Material Handling Systems, Design of the System,
Conveyor Systems, Automated Guided Vehicle Systems. Automated Storage Systems: Storage
System Performance, Automated Storage/Retrieval Systems.

UNIT-IV
Control Technologies in Automation: Industrial Control Systems, Process Industries Verses Discrete
Manufacturing Industries, Continuous Verses Discrete Control, Computer Process Control and its
Forms. Computer Based Industrial Control: Introduction & Automatic Process Control, Building
Blocks of Automation System: LAN, Analog & Digital I/O Modules, SCADA System & RTU.

UNIT-V
Automated Inspection and Testing: Inspection and testing, Statistical Quality Control, Automated
Inspection Principles and Methods, Sensor Technologies for Automated Inspection, Coordinate
Measuring Machines, Other Contact Inspection Methods, Machine Vision, Other optical Inspection
Methods.

Text Book:
● William Bolton, Mechatronics: Electronic Control Systems in Mechanical and Electrical
Engineering, 4th edition, Pearson Education, 2008.
● Groover, Mikell P., et al., Industrial robotics: technology, programming, and applications.
McGraw-Hill, 2012.
Reference books:
● Fraden, Jacob, and Lawrence G. Rubin, AIP Handbook of Modern Sensors, Physics Today 47.6
(1994): 74.
● Khazan, Alexander D., Transducers and their elements: design and application, Prentice Hall, 1994.
 MODELLING AND DESIGN OF ROBOTS
UNIT-I
Manipulators and End Effectors: Types of Manipulators, Manipulator Drive Systems, Manipulator
Control Systems, Types of end effectors, Grippers, Gripper joints, Gripper force, Applications of
robots

UNIT-II
Kinematics and Dynamics: Kinematics and Dynamics: Basics of theory of machines, Rotation Matrix,
Homogenous Transformation Matrix, Direct and Inverse Kinematics for industrial robots,
Manipulator dynamics, Manipulator Jacobean.

UNIT-III
Trajectory Planning: Terminology, Joint Space Techniques, Cartesian Space Techniques, Comparison

UNIT-IV
Control Architecture: position, path velocity and force control systems, computed torque control,
adaptive control, and Servo system for robot control

UNIT-V
Robot Perception, Vision and Navigation: Introduction to robot perception, Feature extraction,
Image acquisition, representation and processing. Introduction to localization, obstacle avoidance
and navigation.

Text Book:
● John Craig, Introduction to Robotics: Mechanics and Control, Pearson/Prentice Hall Education, 3rd
Edition, 2005
● R. Siegwart, et.al Introduction to Autonomous Mobile Robots, Prentice Hall of India, 3rd Edition,
2005. ● Mittal, R. K., and I. J. Nagrath. Robotics and control. Tata McGraw-Hill, 2003.

Reference books:
● Richard D. Klafter, Robotics Engineering, An Integrated approach, Prentice Hall of India, 3rd
Edition, 2003.
● Fu K S, Gomalez R C and Lee C S G, Robotics: Control, Sensing, Vision and Intelligence, McGraw Hill
Book Company, 1st Edition, 1987.
● Groover, Mikell P., et al. Industrial robotics: technology, programming, and applications.
McGrawHill, 2012
 ROBOT PROGRAMMING
UNIT-I
Introduction: Introduction to Automated Systems, Hardware and Software components, PLC,
SCADA, CNC, Robots, Pneumatic, Hydraulic, Electrical-Electronic, ElectroPneumatic systems.

UNIT-II
Programming of PLC, SCADA, and CNC: PLC fundamentals – Input/Output devices, Digital systems,
I/O Processing, Programming methods, Timers and counters, Sequencer, Shift registers, Wiring
diagram. SCADA fundamentals.

UNIT-III
CNC fundamentals – Absolute and Incremental Coordinates, Axes, Motion, CNC systems, CNC
controls, DNC, Adaptive Control, Program planning, Manual Part Program and APT Programming

UNIT-IV
Programming for robots: Robot fundamentals – Methods of robot programming, Motion
Interpolation, Robot programming languages- Generation, VAL II, MATLAB, Python etc.,

UNIT-V
Electrical-Electronic, Pneumatic, Electro-pneumatic, and Hydraulic systems: Fundamentals –
Pneumatic, Hydraulic, Electrical-Electronic, Electro-Pneumatic systems, Elements, Actuators and
valves, Examples

Text Book:

1. W. Bolton, Programmable Logic Controller, Sixth Edition, Newnes Publisher, 2015.

2. M. P. Groover, M. Weiss, R. N. Nagel, N. G. Odrey, A. Dutta, Industrial Robotics: Technology,
Programming, and Applications, 2nd edition, 2017.
Reference books:
1. J. R. Hackworth and F. D. Hackworth (Jr), Programmable Logic Controllers: Programming Methods
and Applications, 1st edition, 2006.
2. F. D. Petruzella, Programmable Logic Controllers, McGraw Hill, 5th edition, 2019
 AI & ML APPLICATIONS IN ROBOTICS

Unit - I
Introduction to Artificial Intelligence Introduction, Philosophy of AI, Definitions, History, Typical AI
problems, Intelligent behavior, Practical Impact of AI, Approaches to AI, Limits of AI, Need for AI in
Robotics. Introduction to Agents, Agent Performance, Examples of Agents, Intelligent Agents, Agent
architectures.

Unit - II
Problem Solving using Search Introduction to State Space Search, Uninformed Search, Breadth First
Search, Depth First Search, Iterative Deepening, A-star etc. Knowledge Representation and
Reasoning.

Unit - III
Planning Planning with forward and backward state space search, partial order planning, planning
graphs, planning with propositional logic, planning and acting in real world.

Unit - IV
Reasoning with Uncertainty Introduction, uncertainty, probabilistic reasoning, filtering and
prediction, Hidden Markov models, Kalman filters, Dynamic Bayesian Networks, making decisions.
Fuzzy Logic, Introduction, Fuzzy sets, Fuzzy model, Fuzzy rule generation Fuzzy inference system,

Unit - V
Machine Learning Introduction to machine learning, learning input- output functions, types of
learning, Supervised Learning, Unsupervised Learning and Reinforcement Learning, Real life
examples of Machine Learning. Decision trees and inductive bias. Fundamentals of Artificial Neural
Networks.

Text Books
1. Stuart Russell, Peter Norvig, “Artificial Intelligence: A modern approach”, Pearson Education,
India,2016.

2. Michalski, Carbonell, Tom Mitchell, ‘Machine Learning’, Springer, 2014

 CONTROL AND OPTIMIZATION OF ROBOTIC SYSTEMS
Unit - I
Introduction: Introduction to control systems, Brief History, Examples of control systems.
Automated vehicles, human-in-the-loop control, humanoid robots, unmanned aerial vehicles,
industrial control systems, Control system design, Future evolution of control systems, Different
types of controls: Model-based control, position control, speed control, perturbation control

Unit - II
Microcontrollers: Introduction, Embedded versus external memory devices, Evolution of
microcontrollers, Applications of microcontrollers, 8-bit and 16-bit microcontrollers, Architecture of
microcontrollers, Memory Organization, Pin diagram, Timer & Counter, Comparison between
Microprocessor and microcontroller.

Unit - III
Mathematical models and control designs: Differential Equations of Physical Systems, Linear
approximations of physical systems, Laplace transform, Transfer function of linear systems, block
diagram models, Signal-flow graph models.

Unit - IV
Implementation of robots and control system for real applications: Application areas, Factors to
consider, Associated challenges, Financial considerations, Implementation process for robotic
systems, Benefits to the system integrator and end-users, Basics of MATLAB & LabVIEW, PID control
with MATLAB and LABVIEW.

Unit - V
Optimization of robotic and Automation systems: Optimal control systems, Determination of an
optimal system, Computational approach for optimal sets of parameters, Solving quadratic optimal
control with MATLAB, Functional Optimization and Performance Evaluation.

Text Book:
1. R. C. Dorf and R. H. Bishop, Modern Control Systems, 13th edition, Pearson Publication.
2. 2. F. Golnaraghi and B. C. Kuo, Automatic Control Systems, 9th edition, John Wiley & Sons INC.

Reference books:
1. G.F. Frenklin, J. D. Powell, A. Emami-Naeini, Feedback Control of Dynamic Systems, 7th edition,
Pearson Publication.
2. D. E. Kirk, Optimal Control Theory: An Introduction, Illustrated edition, Dover Publications Inc.,
2004.