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 robotsCorequisite:  ME 4102.

 

* 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