Dr. Hashem Ashrafiuon
Graduate Courses:
ME 7204: Computer-Aided Analysis of Multibody Systems:
The objective of this course is to teach students about the computer methods in kinematic
and dynamic analysis and design of mechanical systems. The methods are applied
specifically for simulation and design of multibody systems such as automobiles, engines,
compressors, satellites, robots, etc.
Prerequisite: ME 7000 or instructor’s approval
ME 7205: Advanced Dynamics:
The objective of the course is to introduce students to basic theory of kinematics and
dynamics in a general manner. The emphasis is in the development of the equations of
motion and energy and momentum equations. In addition, motion stability is discussed
throughout the course.Prerequisite: ME
7000 or instructor’s approval
ME 8204: Robotics - Analysis
and Control:
Forward and inverse kinematics of non-redundant
and redundant robotic arms; trajectory planning; dynamics and control of robotic
arms; kinematics and dynamics of wheeled robots; path planning and control of
mobile robots; alternative locomotion mechanisms. Prerequisite: ME 7000
or instructor’s approval
ME 8409 / EGR 8309:
Advanced Topics in Dynamics and
Control:
Advanced treatment of various aspects of nonlinear dynamics & control.
Prerequisite: Depends on topic covered each semester. Contact instructor for
specific details. Prerequisite: ME 7000
and ME 8402 / EGR 8301
Undergraduate Courses:
ME 5421: Introduction to Robotics:
Basic
principles of robotics; kinematic and dynamic concepts; actuators, sensors and
practical issues; forward and inverse kinematics and dynamics of simple robotic
arms; kinematics and dynamics of wheeled robots; alternative locomotion for
mobile robots
* Sample Videos from student projects in ME5421 (Senior undergraduate Robotics course):
Fall 2004: Seal-Walker, Rope-Climber, Column-Climber
Spring 2007
a): Three-leg-robot, Four-leg-robot, Fast-four-leg-robot, Crab-robot, Frog-robot, Gorilla-robot, Plowing-robot, Racer-robot
b): Step_Walker 1, Step_Walker 2, Step_Walker 3, Step_Walker 4, Step_Walker 5, Step_Walker 6
Copyright 2003 Villanova University Department of Mechanical Engineering
Last updated 10/2/08 HA