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

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.  Corequisite:  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

ME4102: System Dynamics:

Lumped modeling of basic physical systems, modeling of electromechanical and other combined physical systems, transient and steady state response, transfer functions, Introduction to Root Locus and PID control.  Prerequisite:  MAT 2705, Corequisite:  ME 3802, ECE6020.