ME354

Vibration & Control

Credits:

  

 

3L-0T-1P-0A (10 Credits)
 

Pre-requisite:


ESO 209.

Course Content:


Introduction to modeling of dynamical systems. Single Degree of Freedom Systems – Free undamped vibration, Free damped vibration, Forced vibration, Transmissibility, Convolution method, Mechanisms of damping. Two Degree of Freedom System (undamped vibration only) – Free and forced vibrations, vibration absorber. Multi Degree of Freedom Systems (undamped and proportional damping) – Matrix methods, Modal analysis. Approximate Methods. Vibration of continuous systems (free vibration only).
Introduction to controls. Review of Laplace transforms. Block diagrams. Root locus method. Stability – Routh-Hurwith criterion, Nyquist plots. Bode plots. Controller performance and types. Steady state errors and constants. Types of feedback control systems – Derivative error compensation, Integral error compensation, Proportional error compensation. Modern control. Digital control.

Lecturewise Breakup:


I. Introduction – modelling of dynamical systems: (1 Lecture)


II. Vibrations of single degree of freedom systems – Free undamped, Free damped, Forced vibration, Transmissibility, Convolution method, Mechanisms of damping: (9 Lectures)


III. Two Degree of Freedom System (undamped vibration only) – Free and forced vibration, vibration absorber: (5 Lectures)


IV. Multi Degree of Freedom Systems (undamped and proportional damping) – Matrix methods, Modal analysis: (4 Lectures)


V. Approximate methods – Raleigh method: (2 Lectures)


VI. Vibration of continuous systems (free vibration only): (2 Lectures)


VII. Introduction to controls: (1 Lecture)


VIII. Review of Laplace transforms: (2 Lectures)


IX. Block diagrams: (1 Lecture)


X. Root locus method: (2 Lectures)


XI. Stability – Routh-Hurwith criterion, Nyquist plots: (3 Lectures)


XII. Bode plots: (2 Lectures)


XIII. Controller performance and types: (1 Lecture)


XIV. Steady state errors and constants: (1 Lecture)


XV. Types of feedback control systems – Derivative error compensation, Integral error compensation, Proportional error compensation: (2 Lectures)


XVI. Modern control: (1 Lecture)


XVII. Digital control: (1 Lecture)

Laboratory sessions:


I(A). Study of a Beat Phenomenon of a Coupled Pendulum.


I(B). Determination of Effective Radius of Gyration of an Irregular Body through Torsional Oscillation of Trifilar Suspensi.


II. Determination of Natural Frequencies of Beams under Simply Supported and Cantilever Boundary Conditions.


III. Study of Dynamic Vibration Absorber.


IV. DC Motor Speed Control with Various Sensors.


V(A). Measurement of Linear Displacement by Potentiometer.


V(B). Speed Torque Characteristics of DC Servomotor.


VI. Balancing of Ball and Beam System through PID Control.


Demonstration (Active Vibration Control)

References:

  1. Theory of Vibrations. W. T. Thomson, Prentice Hall.

  2. Control Systems Engineering. N. S. Nise, John Wiley & Sons.

  3. Vibration Problems in Engineering. W. Weaver, S. P. Timoshenko and D. H. Young, John Wiley & Sons.

  4. Mechanical Vibration. J. P. Den Hartog, Dover Publications.

  5. Feedback Control of Dynamic Systems. G. Franklin, J. D. Powell, and A. Emami-Naeini, Prentice Hall.

  6. Modern Control Engineering. K. Ogata, Prentice Hall.
 

ME351

Design of Machine Elements

Credits:

  

 

2L-0T-2P-0A (8 Credits)
 

Pre-requisite:


ESO 202.

Course Content:


Introduction to design of systems and machine elements; Modes of failure, strength, stiffness and stability; Failure theories; Fatigue failure; Probabilistic approach to design; Design of Bolted and Welded joints, Helical compression springs and leaf springs, Spur and Helical gear sets; Selection of Rolling contact bearings; Design of shafts. Lab sessions: Detailed design of the above machine elements starting functional specifications to final sizing; Design of a subsystem involving multiple machine elements. Introduction to use of techniques like FEM for design.

Lecturewise Breakup:


I. Introduction to design of systems and machine elements, Modes of failure: (1 Lecture)


II. Yield criteria: Tresca, von-Mises, Mohr and modified Mohr, Stress concentration: (3 Lectures)


III. Failure by instability: Euler and Johnson Columns: (1 Lecture)


IV. Fatigue failure: SN-diagram, Modification factors, Fluctuating loading, Modified Goodman, Combined loading: (3 Lectures)


V. Probabilistic approach to design: (2 Lectures)


VI. Design of bolted joints and welded joints : (4 Lectures)


VII. Helical compression springs, Leaf springs: (4 Lectures)


VIII. Spur and Helical gears: (4 Lectures)


IX. Rolling contact bearings: (3 Lectures)


X. Shafts: (2 Lectures)


IX. Introduction to use of techniques like FEM for design: (1 Lecture)


Laboratory sessions:


I. Design based strength consideration (ductile and brittle material).


II. Design based on stability and yield consideration.


III. Design involving both yield and fatigue failure.


IV. Design involving material selection and probabilistic approach.


V. Design of bolted and welded connections.


VI. Design of springs.


VII. Design of Spur gear set.


VIII. Design of Helical Gear set.


IX. Selection of rolling element bearings.


X. Design of shafts (considering both yield and fatigue).


XI. Design of shafts (considering deflection).


XII. Design project involving multiple machine components: The project should expose the students to some aspects of system design such as selection and configuration of the machine elements involved considering different alternatives to developing a final system with dimensions.


XIII. Design project involving multiple machine components: The project should expose the students to some aspects of system design such as selection and configuration of the machine elements involved considering different alternatives to developing a final system with dimensions.


XIV. Design project involving multiple machine components: The project should expose the students to some aspects of system design such as selection and configuration of the machine elements involved considering different alternatives to developing a final system with dimensions.


References:

  1. Mechanical Engineering Design by J.E. Shigley, C.R. Mischke & R.G. Budynas, McGraw Hill.

  2. Machine elements in Mechanical Design by R.L. Mott, Prentice Hall.

  3. Mechanical Design by P. Childs, Elsevier.

  4. Fundamentals of Machine Component Design by R. C. Juvinall  & K. M. Marshek, Wiley.

  5. Machine Design by R.L. Norton.
 

ME371

Manufacturing Systems

Credits:

  

 

3L-0T-0P-0A (9 Credits)
 

Objectives


The main objective of this course is to acquaint students with various tools and techniques to aid in manufacturing planning and control. The course introduces students to topics such as computer aided process planning, concurrent engineering, quality control, forecasting, inventory control, material requirements planning, just in time manufacturing, cellular manufacturing and material flow and storage.

Course content


Introduction to manufacturing systems and CIM; CAPP: CAD; Variant and generative processes; Feature recognition in CAPP; Concurrent Engineering: Concepts of sequential versus concurrent engineering; LCA; QFD; Quality Engineering: Cost of quality; SQC; Introduction to DOE; TQM; PPC: Forecasting; Inventory control; Aggregate planning; Master scheduling; MRP; Sequencing; Lean Manufacturing: Push vs pull system; JIT; Kanban system design; Cellular manufacturing and GT; Automated Material Handling Systems: ASRS design principles; AGV; robots in material handling; Recent trends in manufacturing systems.

Total number of lectures: 40

Lecturewise breakup


1. Introduction to manufacturing systems and CIM: 1-2 Lectures

2. Computer Aided Process Planning: 4-6 Lectures

  • Overview of CAPP; Computer aided design; Manual experience-based planning methods; Variant and generative processes; Feature recognition in CAPP

3. Concurrent Engineering: 2-3 Lectures

  • Concepts of sequential versus concurrent engineering; relationship between design and manufacturing; Life-cycle analysis; Quality function deployment.

4. Quality Engineering: 6-10 Lectures

  • Cost of quality; Framework for quality improvement; Statistical quality control; Introduction to design of experiments; Overview of total quality management

5. Material Requirement Planning: 6-8 Lectures

  • Forecasting; Inventory control; aggregate planning; Master scheduling; MRP; Sequencing

6. Lean Manufacturing: 2-3 Lectures

  • Overview of lean manufacturing; Push vs pull system; JIT; Kanban system design

7. Cellular manufacturing and Group technology: 2-3 Lectures

8. Automated Material Handling Systems: 3 Lectures

  • ASRS design principles; AGV; robots in material handling

9. Recent trends in manufacturing systems: 2-3 Lectures

Recommended books

    1. Singh, N., Systems Approach to Computer-Integrated Design and Manufacturing, Wiley-India

    2. Groover, M. P., Automation, Production Systems, and Computer-integrated Manufacturing, Pearson

    3. Chang, T.-C., Wysk, R. A., Wang, H.-P., Computer-Aided Manufacturing, Prentice-Hall

    4. Chang, T.-C., Wysk, R. A., An Introduction to Automated Process Planning Systems, Prentice-Hall

    5. Bozarth, C., Introduction to Operations and Supply Chain Management, Pearson

    6. Grant, E. L., Leavenworth, R. S., Statistical Quality Control, Tata Mcgraw Hill Publishing Company Limited, New Delhi

Proposing instructors: Dr. V. Kumar, Dr. S. Mishra, Dr. K. Ramani, Dr. U. Roy, Dr. S. Mukhopadhyay, Dr. M. Law, Dr. A. Kumar, Dr. N. Sinha, Dr. S. Bhattacharya
 

ME381

Robotics

Credits:

  

 

2L-0T-1P-0A (7 Credits)
 

Objectives


This is a compulsory course in the fifth semester of the UG programme in Mechanical Engineering. It is intended to give the students an understanding of the basic elements of robotics. With this course, students are expected to develop the knowhow to formulate and computationally solve the typical problems arising in the operation and control of robots.

Course content


Introduction and Overview, Spatial Transformations, Forward and Inverse Position Kinematics, Velocity and Acceleration Kinematics, Robot Dynamics, Actuators and Sensors, Trajectory Planning, Robot Control.

Total number of lectures: 27

Lecturewise breakup


1. Introduction and Overview: 4 Lectures

  • Robot structures, Kinds of robots, Robot components, Robotic tasks etc

2. Spatial Transformations: 4 Lectures

  • Representation of position and orientation in space, DH parameters and homogeneous transformations, Kinematic representation of open chain serial manipulators 

3. Forward and Inverse Position Kinematics: 4 Lectures

  • Forward and Inverse Position Kinematics

4. Velocity and Acceleration Kinematics: 4 Lectures

  • Forward and inverse rate kinematics

5. Robot Dynamics: 4 Lectures

  • Newton-Euler and Euler-Lagrange formulations, Inverse and forward dynamics

6. Actuators and Sensors: 2 Lectures

  • Robotic actuators with special reference to electric motors, Sensing of position, velocity, acceleration, proximity, range, contact and force-torque 

7. Trajectory Planning: 2 Lectures

  • Joint space and task space schemes of trajectory planning

8. Robot Control: 4 Lectures

  • Basics of linear control, Modelling and control robotic joints, Model-based control

Recommended books

    1. Introduction to Robotics by J J Craig

    2. A Mathematical Introduction to Robotic Manipulation by R M Murray, Z Li and S S Sastry

    3. Robotics by A Ghosal

    4. Robotic Engineering by R D Klafter, T A Chmielewski and M Negin

    5. Robotics: Mechanics and control by K R Guruprasad

Experiments list

    1. Basics of microcontrollers like Arduino/PIC/Atmega, CPU, peripherals, programming a microcontroller for performing LDE blinking, sensors input/output, motor control, etc.

    2. Study of working principle of sensors, sensor interfacing and working with microcontrollers for the following sensors

    3. Incremental encoder

    4. Potentiometer

    5. Touch sensors

    6. Force sensors

    7. Temperature sensors

    8. Study of the basics and working principles of actuators and their control using microcontroller

    9. Control of stepper motors

    10. DC servo motors control using encoder feedback with PD/PID controllers

    11. Study of subsystems in an Industrial robot arm, assignment of DH parameters, developing transformation matrices, base to end-effecter transformations, solving forward kinematics , inverse kinematics, verifying with the robot through experiments

    12. Study of mobile robot subsystems, assignment of DH parameters, transformations, path planning and control

    13. Study and use of open source software for analysis of a robotic system forward, inverse kinematics. Matlab, RoboAnalyzer, etc

    14. Touch sensors

Remark: Due to a major overlap, ME UG students are not to be allowed the PG course ME762 as an elective. And, the present course (ME381A) is not to be given to students other than ME UG

Proposing instructors:  Dr. A. Dutta, Dr. B. Bhattacharya, Dr. K. R. Guruprasad, Dr. K. S. Ramani, Dr. B. Dasgupta