Rationale
This unit will enable students to understand data structures (array, list, stack, queue, tree), the definition and significance of algorithms, algorithm design and classification, and analysis of algorithms (worst-case, estimation rules, growth rate). It will also introduce students to software engineering processes, best practices of software engineering, generic models of software development (Waterfall, Iterative, Agile), software development life cycles, Bubble Sort, elaborating modelling patterns, requirements engineering, incremental model, and evolutionary models. Students will then learn about Unified Process, Extreme Programming (XP), software requirements specification (SRS), Unified Modelling Language (UML), case diagram, sequence diagram, UML interaction diagram, state machine diagram, activity diagram, communication diagram. As part of this unit students will also gain knowledge and skills in software architecture, overall structure design, architecture design activities, architecture styles, documenting software architecture, client-server architectural patterns, broker architectural pattern, software design issues, object-oriented design principles; objects, classes, messages and methods. Finally this unit will enable students to apply object-oriented design using UML, as well as to become skilled in testing, fault-error-failure, program failure sources, testability, exhaustive testing, selective testing, white-box testing, combination testing, selective testing, control structure testing, condition testing, basis path testing, loop testing, black box testing, equivalence partitioning, boundaryvalue analysis, data flow testing, inter-class testing, behaviour testing and regression testing.
Learning Outcomes
Upon completion of this unit students will:ď‚·understand data structures and algorithms;
- Understand the concept of software engineering;
- Understand the software development life cycle and software, development models;
- Understand the concepts of software architecture;
- Understand Unified Modelling Language (UML);
- Understand object-oriented design using UML;
- understand software testing.
- Understand data structures and algorithms;;
Academic Calendar
https://moodle.mcast.edu.mt/mod/resource/view.php?id=75064
Unit Lecturer
Mario-Mallia Milanes
Rationale
Learners will first be exposed to the kinematics of rigid bodies, orthogonal coordinate transformations, finite rotations, rotation matrix, open kinematic chain, kinematics and direct and inverse kinematic problems in order to understand the more advanced topics about redundant robotic systems and resolving redundancy robot, dynamics and differential equations of motion for robotic, systems modelling, robotic systems with closed and branched kinematic chains, connection via prismatic or revolute joints. They will also learn about robot actuation and power transmission, modularity and scalability in robot design, including robot control tasks, positioning versus manoeuvring, trajectory planning, task and mission control. Industrial robots are the most complex mechatronic systems. Learners will gain basic knowledge and skills in singularity avoidance in trajectory planning, forward control, gravity compensation, friction compensation, direct and inverse dynamic control. This will be completed with the practical realisation of robot control with PLC and AC drives, including robot control via the vectoring principle. To introduce learners to the robotics system, they will be provided with the basis for running robotic systems with the emphasis on programming and deploying robots in
production. Learners need to acquire basic knowledge of self-programming robotic systems, as one of the most complex mechatronic systems. Finally, learners will be taught about the specific practical issues such as robot tools and grippers, the integration of robots with painting and welding tools, force-torque sensors for safety and assembly tasks, safety equipment in robotics and robot networking for integration, maintenance and service.
Learning Outcomes
Upon successful completion of this study unit, the learner will be able to:
1. Derive a DH notion for an industrial robot and set the inertial parameters for dynamic simulation;
2. Develop a model of an industrial robot for dynamical analysis and choose the motor drives by specified tasks in the operational space;
3. Calculate the trajectories given the velocity profile;
4. Analyse a robot workspace in order to reduce energy use.
Academic Calendar
https://moodle.mcast.edu.mt/mod/resource/view.php?id=75064
Unit Lecturer
Dr Emil Veg
Analysis and design of mechanisms is of vital importance to any machine design, particularly in mechatronics and robotics. Basic principles of linear and rotary
displacement accompanied with velocity and acceleration analysis of rigid bodies set the rules of the physical description of complex rigid bodies. These principles are used in the synthesis of cams, spurs, bevel, helical and worm gears, as well as gear trains. Furthermore, these principles are used in the analysis and synthesis of linkages, planar and spatial. Static stress analysis of linkages is followed by dynamical analysis and design rules, down to the simplest mechanical components. Typical nonlinearities, backlash and manufacturing tolerances, which are vital for the quality of design of complex mechanisms with joints and linkages, are presented in a systematic way to pave the way for the calibration procedures of mechanisms. Finally, industrial robots are given as the best examples to bridge theory and implementation in various mechatronic design examples.
Learning Outcomes
Upon successful completion of this study unit, the learner will be able to:
1. Understand the importance and elements of mechanism design, the classification of mechanisms and the concepts of mechanism analysis and synthesis;
2. Understand the practical considerations of mechanisms manufacturing;
3. Evaluate and synthesise the mechanism calibration process;
4. Recognise robots as machines, and acknowledge the processes of analysis and design;
5. Interpret robot manufacturing issues: backlash, tolerances with respect to resolution.
Academic Calendar
https://moodle.mcast.edu.mt/mod/resource/view.php?id=75064
Unit Lecturer
Dr Emil Veg
