CHOICE Module “Introduction to IMS”

This is an introductory module providing a strong theoretical and practical foundation for the core courses in the second year. The key components required to make man-made mobile systems intelligent are sensors, actuators, and algorithms. Students will be given an overview of basic technologies and concepts underlying each of these components. The module will cover the fundamental engineering tools to model mechanical, electrical, and mechatronic systems. A detailed introduction to linear systems theory will be provided, aided by computer simulation. Finally, you will get an introduction to basic electronics and complement your knowledge with lab exercises.


General Intelligent Mobile Systems 1

This course teaches the essentials of spatial geometry, kinematics, and modeling in the context of intelligent mobile systems. The course starts with a review of 3D vectors and their products, and then covers 3D rotation representations, including the Direction Cosines Matrix (DCM), Euler angle sequences, axis-angle, quaternions, and the exponential mapping. Subsequently, general 3D transforms are studied with applications to the specification and visualization of robot geometry. In parallel, students also learn to use Matlab for symbolic algebra and programming. The last part of the course deals with particle and rigid body kinematics using the general screw-theory formulation. In kinematics, there is an emphasis on examples relevant to automobiles and to other common mobile platforms.

  • Semester: Fall (1st semester)
  • Course Nr. CH09-320103
  • ECTS: 5
  • Instructor: Prof. Dr. Kaustubh Pathak

Introduction to Intelligent Mobile Systems Lab 1

This lab accompanies the lecture course “General Intelligent Mobile Systems 1.”  Employing a high-level systems approach, the lab teaches the student how to interface a microcontroller to commonly used sensors and actuators. A comprehensive introduction to programming the popular open-source Arduino board is given in the lab. It is recommended that this lab is taken after a lab on programming in C.

  • Semester: Fall (1st semester)
  • Course Nr. CH09-320113
  • ECTS: 2.5
  • Instructor: Prof. Dr. Kaustubh Pathak and Dr. Fangning Hu

General Intelligent Mobile Systems 2

The course offers an introduction to modeling, and design of linear control systems in terms of ordinary differential equations (ODEs). Students learn how to analyze and solve systems of ODEs using state and frequency space methods. Concepts covered include time and frequency response, stability, steady-state errors, and the root-locus method. The first part of the course culminates with the detailed design of the famous PID controller. The second part of this course deals with nonlinear ODEs which describe the motion of a system of rigid bodies. The knowledge of 3D kinematics acquired in the previous semester is  built upon to study further concepts in kinetics and dynamics of rigid bodies. These concepts are illustrated by examples pertinent to motion analysis of mechanisms and of ground, air, and underwater vehicles.

  • Semester: Spring (2nd semester)
  • Course Nr. CH09-320104
  • ECTS: 5
  • Instructor: Dr. Mathias Bode, Prof. Dr. Kaustubh Pathak

Introduction to Intelligent Mobile Systems Lab 2

This laboratory course offers intense practical experience in the analysis and the design of linear control systems. In the first part of the lab, students learn how to use Matlab and Simulink to investigate the system behavior and to study its time and frequency response. They progressively develop a detailed model of a brushed DC motor in Simulink and subsequently design and tune PID controllers for motor-speed control and for servo control. In the second part of the lab, students implement these controllers on real motors with quadrature encoder feedback. During this implementation, students also learn the use of a digital oscilloscope and advanced Arduino programming techniques.

  • Semester: Spring (2nd semester)
  • Course Nr. CH09-320114
  • ECTS: 2.5
  • Instructor: Prof. Dr. Kaustubh Pathak