Search result: Catalogue data in Autumn Semester 2016

Mechanical Engineering Master Information
Core Courses
Robotics, Systems and Control
NumberTitleTypeECTSHoursLecturers
151-0104-00LUncertainty Quantification for Engineering & Life Sciences Restricted registration - show details
Does not take place this semester.
Number of participants limited to 60.
W4 credits3GP. Koumoutsakos
AbstractQuantification of uncertainties in computational models pertaining to applications in engineering and life sciences. Exploitation of massively available data to develop computational models with quantifiable predictive capabilities. Applications of Uncertainty Quantification and Propagation to problems in mechanics, control, systems and cell biology.
ObjectiveThe course will teach fundamental concept of Uncertainty Quantification and Propagation (UQ+P) for computational models of systems in Engineering and Life Sciences. Emphasis will be placed on practical and computational aspects of UQ+P including the implementation of relevant algorithms in multicore architectures.
ContentTopics that will be covered include: Uncertainty quantification under
parametric and non-parametric modelling uncertainty, Bayesian inference with model class assessment, Markov Chain Monte Carlo simulation, prior and posterior reliability analysis.
Lecture notesThe class will be largely based on the book: Data Analysis: A Bayesian Tutorial by Devinderjit Sivia as well as on class notes and related literature that will be distributed in class.
Literature1. Data Analysis: A Bayesian Tutorial by Devinderjit Sivia
2. Probability Theory: The Logic of Science by E. T. Jaynes
3. Class Notes
Prerequisites / NoticeFundamentals of Probability, Fundamentals of Computational Modeling
151-0107-20LHigh Performance Computing for Science and Engineering (HPCSE) IW4 credits4GM. Troyer, P. Chatzidoukas
AbstractThis course gives an introduction into algorithms and numerical methods for parallel computing for multi and many-core architectures and for applications from problems in science and engineering.
ObjectiveIntroduction to HPC for scientists and engineers
Fundamental of:
1. Parallel Computing Architectures
2. MultiCores
3. ManyCores
ContentProgramming models and languages:
1. C++ threading (2 weeks)
2. OpenMP (4 weeks)
3. MPI (5 weeks)

Computers and methods:
1. Hardware and architectures
2. Libraries
3. Particles: N-body solvers
4. Fields: PDEs
5. Stochastics: Monte Carlo
Lecture noteshttp://www.cse-lab.ethz.ch/index.php/teaching/42-teaching/classes/615-hpcse1
Class notes, handouts
151-0532-00LNonlinear Dynamics and Chaos I Information W4 credits2V + 2UG. Haller, F. Kogelbauer
AbstractBasic facts about nonlinear systems; stability and near-equilibrium dynamics; bifurcations; dynamical systems on the plane; non-autonomous dynamical systems; chaotic dynamics.
ObjectiveThis course is intended for Masters and Ph.D. students in engineering sciences, physics and applied mathematics who are interested in the behavior of nonlinear dynamical systems. It offers an introduction to the qualitative study of nonlinear physical phenomena modeled by differential equations or discrete maps. We discuss applications in classical mechanics, electrical engineering, fluid mechanics, and biology. A more advanced Part II of this class is offered every other year.
Content(1) Basic facts about nonlinear systems: Existence, uniqueness, and dependence on initial data.

(2) Near equilibrium dynamics: Linear and Lyapunov stability

(3) Bifurcations of equilibria: Center manifolds, normal forms, and elementary bifurcations

(4) Nonlinear dynamical systems on the plane: Phase plane techniques, limit sets, and limit cycles.

(5) Time-dependent dynamical systems: Floquet theory, Poincare maps, averaging methods, resonance
Lecture notesThe class lecture notes will be posted electronically after each lecture. Students should not rely on these but prepare their own notes during the lecture.
Prerequisites / Notice- Prerequisites: Analysis, linear algebra and a basic course in differential equations.

- Exam: two-hour written exam in English.

- Homework: A homework assignment will be due roughly every other week. Hints to solutions will be posted after the homework due dates.
151-0563-01LDynamic Programming and Optimal Control Information W4 credits2V + 1UR. D'Andrea
AbstractIntroduction to Dynamic Programming and Optimal Control.
ObjectiveCovers the fundamental concepts of Dynamic Programming & Optimal Control.
ContentDynamic Programming Algorithm; Deterministic Systems and Shortest Path Problems; Infinite Horizon Problems, Bellman Equation; Deterministic Continuous-Time Optimal Control.
LiteratureDynamic Programming and Optimal Control by Dimitri P. Bertsekas, Vol. I, 3rd edition, 2005, 558 pages, hardcover.
Prerequisites / NoticeRequirements: Knowledge of advanced calculus, introductory probability theory, and matrix-vector algebra.
151-0567-00LEngine Systems Information W4 credits3GC. Onder
AbstractIntroduction to current and future engine systems and their control systems
ObjectiveIntroduction to methods of control and optimization of dynamic systems. Application to real engines. Understand the structure and behavior of drive train systems and their quantitative descriptions.
ContentPhysical description and mathematical models of components and subsystems (mixture formation, load control, supercharging, emissions, drive train components, etc.).
Case studies of model-based optimal design and control of engine systems with the goal of minimizing fuel consumption and emissions.
Lecture notesIntroduction to Modeling and Control of Internal Combustion Engine Systems
Guzzella Lino, Onder Christopher H.
2010, Second Edition, 354 p., hardbound
ISBN: 978-3-642-10774-0
Prerequisites / NoticeCombined homework and testbench exercise (air-to-fuel-ratio control or idle-speed control) in groups
151-0569-00LVehicle Propulsion Systems Information W4 credits3GC. Onder, P. Elbert
AbstractIntroduction to current and future propulsion systems and the electronic control of their longitudinal behavior
ObjectiveIntroduction to methods of system optimization and controller design for vehicles. Understanding the structure and working principles of conventional and new propulsion systems. Quantitative descriptions of propulsion systems
ContentUnderstanding of physical phenomena and mathematical models of components and subsystems (manual, automatic and continuously variable transmissions, energy storage systems, electric drive trains, batteries, hybrid systems, fuel cells, road/wheel interaction, automatic braking systems, etc.).

Presentation of mathematical methods, CAE tools and case studies for the model-based design and control of propulsion systems with the goal of minimizing fuel consumption and emissions.
Lecture notesVehicle Propulsion Systems --
Introduction to Modeling and Optimization
Guzzella Lino, Sciarretta Antonio
2013, X, 409 p. 202 illus., Geb.
ISBN: 978-3-642-35912-5
Prerequisites / NoticeLectures of Dr. Ch. Onder are also possible to be held in German
151-0573-00LSystem Modeling Information W4 credits2V + 2UG. Ducard, C. Onder
AbstractGeneric modeling approaches for control-oriented models based on first principles, Lagrangian formalism and experimental data. Model parametrization and estimation techniques. Analysis of linear systems, model scaling, linearization, order reduction, and balancing. Basic analysis of nonlinear models.
ObjectiveIntroduction to system modeling for control. Parameter identification. Analysis of linear and nonlinear systems. Case studies.
ContentIntroduction to generic system modeling approaches for control-oriented models based on first principles and on experimental data.
Examples: mechatronic, thermodynamic, chemistry, fluid dynamic, energy, and process engineering systems. Model scaling, linearization, order reduction, and balancing. Estimation techniques (least-squares methods).
Class case studies: Loud-speaker, Water-propelled rocket, geostationary satellites, etc.
The exercises address practical examples. One larger case study is to be solved.
Lecture notesThe handouts in English will be sold in the first lecture.
LiteratureA list of references is included in the handouts.
151-0593-00LEmbedded Control SystemsW4 credits6GJ. S. Freudenberg, M. Schmid Daners, C. Onder
AbstractThis course provides a comprehensive overview of embedded control systems. The concepts introduced are implemented and verified on a microprocessor-controlled haptic device.
ObjectiveFamiliarize students with main architectural principles and concepts of embedded control systems.
ContentAn embedded system is a microprocessor used as a component in another piece of technology, such as cell phones or automobiles. In this intensive two-week block course the students are presented the principles of embedded digital control systems using a haptic device as an example for a mechatronic system. A haptic interface allows for a human to interact with a computer through the sense of touch.

Subjects covered in lectures and practical lab exercises include:
- The application of C-programming on a microprocessor
- Digital I/O and serial communication
- Quadrature decoding for wheel position sensing
- Queued analog-to-digital conversion to interface with the analog world
- Pulse width modulation
- Timer interrupts to create sampling time intervals
- System dynamics and virtual worlds with haptic feedback
- Introduction to rapid prototyping
Lecture notesLecture notes, lab instructions, supplemental material
Prerequisites / NoticePrerequisite courses are Control Systems I and Informatics I.

This course is restricted to 33 students due to limited lab infrastructure. Interested students please contact Marianne Schmid (E-Mail: marischm@ethz.ch)
After your reservation has been confirmed please register online at www.mystudies.ethz.ch.

Detailed information can be found on the course website
http://www.idsc.ethz.ch/education/lectures/embedded-control-systems.html
151-0601-00LTheory of Robotics and Mechatronics Information W4 credits3GP. Korba, S. Stoeter, B. Nelson
AbstractThis course provides an introduction and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. It’s a requirement for the Robotics Vertiefung and for the Masters in Mechatronics and Microsystems.
ObjectiveRobotics is often viewed from three perspectives: perception (sensing), manipulation (affecting changes in the world), and cognition (intelligence). Robotic systems integrate aspects of all three of these areas. This course provides an introduction to the theory of robotics, and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. This course is a requirement for the Robotics Vertiefung and for the Masters in Mechatronics and Microsystems.
ContentAn introduction to the theory of robotics, and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control.
Lecture notesavailable.
Prerequisites / NoticeThe course will be taught in English.
151-0604-00LMicrorobotics Information
Does not take place this semester.
W4 credits3GB. Nelson
AbstractMicrorobotics is an interdisciplinary field that combines aspects of robotics, micro and nanotechnology, biomedical engineering, and materials science. The aim of this course is to expose students to the fundamentals of this emerging field. Throughout the course students are expected to submit assignments. The course concludes with an end-of-semester examination.
ObjectiveThe objective of this course is to expose students to the fundamental aspects of the emerging field of microrobotics. This includes a focus on physical laws that predominate at the microscale, technologies for fabricating small devices, bio-inspired design, and applications of the field.
ContentMain topics of the course include:
- Scaling laws at micro/nano scales
- Electrostatics
- Electromagnetism
- Low Reynolds number flows
- Observation tools
- Materials and fabrication methods
- Applications of biomedical microrobots
Lecture notesThe powerpoint slides presented in the lectures will be made available in hardcopy and as pdf files. Several readings will also be made available electronically.
Prerequisites / NoticeThe lecture will be taught in English.
151-0623-00LETH Zurich Distinguished Seminar in Robotics, Systems and Controls Information
Students for other Master's programmes in Department Mechanical and Process Engineering cannot use the credit in the category Core Courses
W1 credit1SB. Nelson, J. Buchli, M. Chli, R. Gassert, M. Hutter, W. Karlen, R. Riener, R. Siegwart
AbstractThis course consists of a series of seven lectures given by researchers who have distinguished themselves in the area of Robotics, Systems, and Controls.
ObjectiveObtain an overview of various topics in Robotics, Systems, and Controls from leaders in the field. Please see Link for a list of upcoming lectures.
ContentThis course consists of a series of seven lectures given by researchers who have distinguished themselves in the area of Robotics, Systems, and Controls. MSc students in Robotics, Systems, and Controls are required to attend every lecture. Attendance will be monitored. If for some reason a student cannot attend one of the lectures, the student must select another ETH or University of Zurich seminar related to the field and submit a one page description of the seminar topic. Please see Link for a suggestion of other lectures.
Prerequisites / NoticeStudents are required to attend all seven lectures to obtain credit. If a student must miss a lecture then attendance at a related special lecture will be accepted that is reported in a one page summary of the attended lecture. No exceptions to this rule are allowed.
151-0632-00LVision Algorithms for Mobile Robotics Information Restricted registration - show details
Number of participants limited to 50
W4 credits2V + 2UD. Scaramuzza
AbstractFor a robot to be autonomous, it has to perceive and understand the world around it. This course introduces you to the fundamental computer vision algorithms used in mobile robotics, in particular: feature extraction, multiple view geometry, dense reconstruction, object tracking, image retrieval, event-based vision, and visual-inertial odometry (the algorithm behind Google Tango).
ObjectiveLearn the fundamental computer vision algorithms used in mobile robotics, in particular: feature extraction, multiple view geometry, dense reconstruction, object tracking, image retrieval, event-based vision, and visual-inertial odometry (the algorithm behind Google Tango).
ContentFor a robot to be autonomous, it has to perceive and understand the world around it. This course introduces you to the fundamental computer vision algorithms used in mobile robotics, in particular: feature extraction, multiple view geometry, dense reconstruction, object tracking, image retrieval, event-based vision, and visual-inertial odometry (the algorithm behind Google Tango).
Lecture notesLecture slides will be available after each lecture on the course official website: http://rpg.ifi.uzh.ch/teaching.html
Literature[1] Computer Vision: Algorithms and Applications, by Richard Szeliski, Springer, 2010.
[2] Robotics Vision and Control: Fundamental Algorithms, by Peter Corke 2011.
Prerequisites / NoticeBasics of algebra and geomertry, matrix calculus.
151-0655-00LSkills for Creativity and InnovationW4 credits3GI. Goller, C. Kobe, M. Meboldt
AbstractThis lecture aims to enhance the knowledge and competency of students regarding their innovation capability. An overview on prerequisites of and different skills for creativity and innovation in individual & team settings is given. The focus of this lecture is clearly on building competencies - not just acquiring knowledge.
Objective- Basic knowledge about creativity and skills
- Knowledge about individual prerequisites for creativity
- Development of individual skills for creativity
- Knowledge about teams
- Development of team-oriented skills for creativity
- Knowledge and know-how about transfer to idea generation teams
ContentBasic knowledge about creativity and skills:
- Introduction into creativity & innovation: definitions and models

Knowledge about individual prerequisites for creativity:
- Personality, motivation, intelligence

Development of individual skills for creativity:
- Focus on creativity as problem analysis & solving
- Individual skills in theoretical models
- Individual competencies: exercises and reflection

Knowledge about teams:
- Definitions and models
- Roles in innovation processes

Development of team-oriented skills for creativity:
- Idea generation and development in teams
- Cooperation & communication in innovation teams

Knowledge and know-how about transfer to idea generation teams:
- Self-reflection & development planning
- Methods of knowledge transfer
Lecture notesSlides, script and other documents will be distributed via moodle.ethz.ch
(access only for students registered to this course)
LiteraturePlease refer to lecture script.
151-0727-00LColloquium on Manufacturing TechnologyW4 credits3KK. Wegener, F. Kuster
AbstractFuture training on selected current topics of the manufacturing technology. Per afternoon a selected topic is presented in several lectures, by the majority by experts from the industry. The students prepare a summary of the lectures given and prepare themselves on the basis of these lectures and own information search.
ObjectiveContious further training to current topics of the manufacturing technique. Exchange of experience and knowledge with the industry and other universities.
ContentSelected actual topics on manufacturing methods and tools, machine tools, NC-control and drives, components and measuring methods and devices. Topics are changing every year.
Lecture notesno Script
Prerequisites / Notice- Students must have participated and passed the courses Manufacturing, Production Machines I and Forming Technology III - Forming Processes.

- Further training with specialized lectures and large participation from the industry.
Language: Help for English speaking students on request.
151-0851-00LRobot Dynamics Information Restricted registration - show details W4 credits2V + 1UM. Hutter, R. Siegwart, T. Stastny
AbstractWe will provide an overview on how to kinematically and dynamically model typical robotic systems such as robot arms, legged robots, rotary wing systems, or fixed wing.
ObjectiveThe primary objective of this course is that the student deepens an applied understanding of how to model the most common robotic systems. The student receives a solid background in kinematics, dynamics, and rotations of multi-body systems. On the basis of state of the art applications, he/she will learn all necessary tools to work in the field of design or control of robotic systems.
ContentThe course consists of three parts: First, we will refresh and deepen the student's knowledge in kinematics, dynamics, and rotations of multi-body systems. In this context, the learning material will build upon the courses for mechanics and dynamics available at ETH, with the particular focus on their application to robotic systems. The goal is to foster the conceptual understanding of similarities and differences among the various types of robots. In the second part, we will apply the learned material to classical robotic arms as well as legged systems and discuss kinematic constraints and interaction forces. In the third part, focus is put on modeling fixed wing aircraft, along with related design and control concepts. In this context, we also touch aerodynamics and flight mechanics to an extent typically required in robotics. The last part finally covers different helicopter types, with a focus on quadrotors and the coaxial configuration which we see today in many UAV applications. Case studies on all main topics provide the link to real applications and to the state of the art in robotics.
Prerequisites / NoticeThe contents of the following ETH Bachelor lectures or equivalent are assumed to be known: Mechanics and Dynamics, Control, Basics in Fluid Dynamics.
151-0917-00LMass TransferW4 credits2V + 2UR. Büchel, S. E. Pratsinis
AbstractThis course presents the fundamentals of transport phenomena with emphasis on mass transfer. The physical significance of basic principles is elucidated and quantitatively described. Furthermore the application of these principles to important engineering problems is demonstrated.
ObjectiveThis course presents the fundamentals of transport phenomena with emphasis on mass transfer. The physical significance of basic principles is elucidated and quantitatively described. Furthermore the application of these principles to important engineering problems is demonstrated.
ContentFick's laws; application and significance of mass transfer; comparison of Fick's laws with Newton's and Fourier's laws; derivation of Fick's 2nd law; diffusion in dilute and concentrated solutions; rotating disk; dispersion; diffusion coefficients, viscosity and heat conduction (Pr and Sc numbers); Brownian motion; Stokes-Einstein equation; mass transfer coefficients (Nu and Sh numbers); mass transfer across interfaces; Reynolds- and Chilton-Colburn analogies for mass-, heat-, and momentum transfer in turbulent flows; film-, penetration-, and surface renewal theories; simultaneous mass, heat and momentum transfer (boundary layers); homogenous and heterogenous reversible and irreversible reactions; diffusion-controlled reactions; mass transfer and first order heterogenous reaction. Applications.
LiteratureCussler, E.L.: "Diffusion", 2nd edition, Cambridge University Press, 1997.
Prerequisites / NoticeTwo tests are offered for practicing the course material. Participation is mandatory.
151-1116-00LIntroduction to Aircraft and Car AerodynamicsW4 credits3GJ. Wildi
AbstractAircraft aerodynamics: Atmosphere; aerodynamic forces (lift, drag); thrust.
Vehicle aerodynamics: Aerodynamic and mass forces, drag, lift, car aerodynamics and performence. Passenger cars, trucks, racing cars.
ObjectiveAn introduction to the basic principles and interrelationships of aircraft and automotive aerodynamics.
To understand the basic relations of the origin of aerodynamic forces (ie lift, drag). To quantify the aerodynamic forces for basic configurations of aercraft and car components.
Illustration of the intrinsic problems and results using examples.
Using experimental and theoretical methods to illustrate possibilities and limits.
ContentAircraft aerodynamics: atmosphere, aerodynamic forces (ascending force: profile, wings. Resistance, residual resistance, induced resistance); thrust (overview of the propulsion system, aerodynamics of the propellers), introduction to static longitudinal stability.

Automobile aerodynamics: Basic principles: aerodynamic force and the force of inertia, resistance, drive, aerodynamic and driving performance. Cars commercial vehicles, racing cars.
Lecture notes1.) Grundlagen der Flugtechnik (Basics of flight science, script in german language)
2.) Einführung in die Fahrzeugaerodynamik (Introduction in car aerodynamics, script in german language)
LiteratureEnglish literature covering the content of the course:
- Anderson Jr, John D: Introduction to Flight, Mc Graw Hill, Ed 06, 2007; ISBN: 9780073529394
- Mc Cormick, B.W.: Aerodynamics, Aeronautics and Flight Mechanics, John Wiley and Sons, 1979
- Hucho, Wolf-Heinrich: Aerodynamics of Road Vehicles, SAE International, 1998
227-0225-00LLinear System TheoryW6 credits5GM. Kamgarpour
AbstractThe class is intended to provide a comprehensive overview of the theory of linear dynamical systems, their use in control, filtering, and estimation and their applications to areas ranging from avionics to systems biology.
ObjectiveBy the end of the class students should be comfortable with the fundamental results in linear system theory and the mathematical tools used to derive them.
Content- Rings, fields and linear spaces, normed linear spaces and inner product spaces.
- Ordinary differential equations, existence and uniqueness of solutions.
- Continuous and discrete time, time varying linear systems. Time domain solutions. Time invariant systems treated as a special case.
- Controllability and observability, canonical forms, Kalman decomposition. Time invariant systems treated as a special case.
- Stability and stabilization, observers, state and output feedback, separation principle.
- Realization theory.
Lecture notesF.M. Callier and C.A. Desoer, "Linear System Theory", Springer-Verlag, 1991.
Prerequisites / NoticePrerequisites: Control Systems I (227-0103-00) or equivalent and sufficient mathematical maturity.
227-0447-00LImage Analysis and Computer Vision Information W6 credits3V + 1UL. Van Gool, O. Göksel, E. Konukoglu
AbstractLight and perception. Digital image formation. Image enhancement and feature extraction. Unitary transformations. Color and texture. Image segmentation and deformable shape matching. Motion extraction and tracking. 3D data extraction. Invariant features. Specific object recognition and object class recognition.
ObjectiveOverview of the most important concepts of image formation, perception and analysis, and Computer Vision. Gaining own experience through practical computer and programming exercises.
ContentThe first part of the course starts off from an overview of existing and emerging applications that need computer vision. It shows that the realm of image processing is no longer restricted to the factory floor, but is entering several fields of our daily life. First it is investigated how the parameters of the electromagnetic waves are related to our perception. Also the interaction of light with matter is considered. The most important hardware components of technical vision systems, such as cameras, optical devices and illumination sources are discussed. The course then turns to the steps that are necessary to arrive at the discrete images that serve as input to algorithms. The next part describes necessary preprocessing steps of image analysis, that enhance image quality and/or detect specific features. Linear and non-linear filters are introduced for that purpose. The course will continue by analyzing procedures allowing to extract additional types of basic information from multiple images, with motion and depth as two important examples. The estimation of image velocities (optical flow) will get due attention and methods for object tracking will be presented. Several techniques are discussed to extract three-dimensional information about objects and scenes. Finally, approaches for the recognition of specific objects as well as object classes will be discussed and analyzed.
Lecture notesCourse material Script, computer demonstrations, exercises and problem solutions
Prerequisites / NoticePrerequisites:
Basic concepts of mathematical analysis and linear algebra. The computer exercises are based on Linux and C.
The course language is English.
227-0517-00LElectrical Drive Systems IIW6 credits4GP. Steimer, G. Scheuer, C. A. Stulz
AbstractIn the course "Drive System II" the power semiconductors are repeated. The creation of converters based on the combination of switches/cells and based topologies is explained. Another main focus is on the 3-level inverter with its switching and transfer functions. Further topics are the control of the synchronous machine, of line-side converters and issues with converter-fed machines
ObjectiveThe students establish a deeper understanding in regards of the design of the main components of an electrical drive system. They establish knowledge on the most important interaction with the grid and the machine and their related high dynamic control.
ContentConverter topologies (switch or cell based), multi-pulse diode rectifiers, system aspects of transfomer and electrical machines, 3-level inverter with its switching and transfer functions, grid side harmonics, modeling and control of synchronous machines (including permanent magnet machines), control of line-side converters, reflection effects with power cables, winding isolation and bearing stress. Field trip to ABB Semionductors.
Lecture notesSkript is sold at the beginning of the lectures or can be downloaded from Ilias
LiteratureSkript of lecture; References in skript to related technical publications and books
Prerequisites / NoticePrerequisites: Electrical Drive Systems I (recommended), Basics in electrical engineering, power electronics, automation and mechatronics
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