Suchergebnis: Katalogdaten im Frühjahrssemester 2022
Maschineningenieurwissenschaften Bachelor  | ||||||
 6. Semester | ||||||
| Fokus-Vertiefung | ||||||
| Mechatronics and Robotics Fokus-Koordinator: Prof. Marco Hutter | ||||||
| Nummer | Titel | Typ | ECTS | Umfang | Dozierende | |
|---|---|---|---|---|---|---|
| 151-0206-00L | Energy Systems and Power Engineering | W | 4 KP | 2V + 2U | R. S. Abhari, A. Steinfeld | |
| Kurzbeschreibung | Introductory first course for the specialization in ENERGY. The course provides an overall view of the energy field and pertinent global problems, reviews some of the thermodynamic basics in energy conversion, and presents the state-of-the-art technology for power generation and fuel processing. | |||||
| Lernziel | Introductory first course for the specialization in ENERGY. The course provides an overall view of the energy field and pertinent global problems, reviews some of the thermodynamic basics in energy conversion, and presents the state-of-the-art technology for power generation and fuel processing. | |||||
| Inhalt | World primary energy resources and use: fossil fuels, renewable energies, nuclear energy; present situation, trends, and future developments. Sustainable energy system and environmental impact of energy conversion and use: energy, economy and society. Electric power and the electricity economy worldwide and in Switzerland; production, consumption, alternatives. The electric power distribution system. Renewable energy and power: available techniques and their potential. Cost of electricity. Conventional power plants and their cycles; state-of-the-art and advanced cycles. Combined cycles and cogeneration; environmental benefits. Solar thermal; concentrated solar power; solar photovoltaics. Fuel cells: characteristics, fuel reforming and combined cycles. | |||||
| Skript | Vorlesungsunterlagen werden verteilt | |||||
| 151-0540-00L | Experimentelle Mechanik | W | 4 KP | 2V + 1U | J. Dual, T. Brack | |
| Kurzbeschreibung | 1. Allgemeines: Messkette, Frequenzgang, Schwingungen und Wellen in kontinuierlichen Systemen, Modalanalyse, Statistik, Digitale Signalanalyse, Phasenregelkreis 2. Optische Methoden 3. Piezoelektrizität 4. Elektromagnetische Erzeugung und Messung von Schwingungen und Wellen 5. Kapazitive Messaufnehmer | |||||
| Lernziel | Verständnis, quantitative Modellierung und praktische Anwendung von experimentellen Methoden zur Erzeugung und Messung von mechanischen Grössen (Bewegung, Deformation, Spannungen) | |||||
| Inhalt | 1. Allgemeines: Messkette, Frequenzgang, Frequenzgangmessung, Schwingungen und Wellen in kontinuierlichen Systemen, Modalanalyse, Statistik, Digitale Signalanalyse, Phasenregelkreis 2. Optische Methoden (Akustooptische Modulation, Interferometrie, Holographie, Spannungsoptik, Schattenoptik, Moiré Methoden) 3. Piezoelektrische Materialien: Grundgleichungen, Anwendungen Beschleunigungsaufnehmer, Verschiebungsmessung) 4. Elektromagnetische Erzeugung und Messung von Schwingungen und Wellen 5. Kapazitive Messaufnehmer, Praktika und Uebungen | |||||
| Skript | ja | |||||
| Voraussetzungen / Besonderes | Voraussetzungen: Mechanik I bis III, Physik, Elektrotechnik | |||||
| 151-0630-00L | Nanorobotics | W | 4 KP | 2V + 1U | S. Pané Vidal | |
| Kurzbeschreibung | Nanorobotics is an interdisciplinary field that includes topics from nanotechnology and robotics. The aim of this course is to expose students to the fundamental and essential aspects of this emerging field. | |||||
| Lernziel | The aim of this course is to expose students to the fundamental and essential aspects of this emerging field. These topics include basic principles of nanorobotics, building parts for nanorobotic systems, powering and locomotion of nanorobots, manipulation, assembly and sensing using nanorobots, molecular motors, and nanorobotics for nanomedicine. | |||||
| 151-0640-00L | Studies on Mechatronics Die Professoren, die Studies on Mechatronics betreuen, sind im myStudies bei Belegung des Fachs wählbar. Für Ausnahmen bitte den Fokus Koordinator und info@mavt.ethz.ch kontaktieren. Dieser Kurs steht für Austauschstudierende nicht zur Verfügung. | W | 5 KP | 11A | Betreuer/innen | |
| Kurzbeschreibung | Overview of Mechatronics topics and study subjects. Identification of minimum 10 pertinent refereed articles or works in the literature in consultation with supervisor or instructor. After 4 weeks, submission of a 2-page proposal outlining the value, state-of-the art and study plan based on these articles. After feedback on the substance and technical writing by the instructor, project commences. | |||||
| Lernziel | The goal of this class is to familiarize the students with this fascinating but rapidly evolving engineering discipline. The students learn to find, read and critically evaluate the pertinent literature and methods through in depth studying, presenting, debating of and writing about selected topics or case studies addressing mechatronics engineering. | |||||
| Inhalt | Overview of Mechatronics topics and study subjects. Identification of minimum ten pertinent refereed articles or works in the literature in consultation with supervisor orinstructor. After four weeks, submission of a 2-page proposal outlining the value, state-of-the art and study plan based on these articles. After detailed feedback on the substance and technical writing on the proposal by the instructor, project commences. Three to four weeks prior to the end of the semester, a 15 minute oral progress report (presentation) is given by the student that is critiqued by the instructor with detailed comments on substance and effectiveness of lecture and response on questions from audience. At the last day of the semester the student submits a written report that is no longer than 10-pages text following the format of a representative journal article. Throughout the semester the student attends and actively participates in the interactive class lectures given in the form of seminars and debates with active question and answer sessions inviting student and instructor participation. | |||||
| Literatur | Will be available. | |||||
| Voraussetzungen / Besonderes | Language: English or German - depending on the lecturer. | |||||
| 151-0641-00L | Introduction to Robotics and Mechatronics  Number of participants limited to 60. Enrollment is only valid through registration on the MSRL website (www.msrl.ethz.ch). Registrations per e-mail is no longer accepted! | W | 4 KP | 2V + 2U | B. Nelson | |
| Kurzbeschreibung | The aim of this lecture is to expose students to the fundamentals of mechatronic and robotic systems. Over the course of these lectures, topics will include how to interface a computer with the real world, different types of sensors and their use, different types of actuators and their use. | |||||
| Lernziel | An ever-increasing number of mechatronic systems are finding their way into our daily lives. Mechatronic systems synergistically combine computer science, electrical engineering, and mechanical engineering. Robotics systems can be viewed as a subset of mechatronics that focuses on sophisticated control of moving devices. The aim of this course is to practically and theoretically expose students to the fundamentals of mechatronic and robotic systems. Over the course of the semester, the lecture topics will include an overview of robotics, an introduction to different types of sensors and their use, the programming of microcontrollers and interfacing these embedded computers with the real world, signal filtering and processing, an introduction to different types of actuators and their use, an overview of computer vision, and forward and inverse kinematics. Throughout the course, students will periodically attend laboratory sessions and implement lessons learned during lectures on real mechatronic systems. By the end of the course, you will be able to independently choose, design and integrate these different building blocks into a working mechatronic system. | |||||
| Inhalt | The course consists of weekly lectures and lab sessions. The weekly topics are the following: 0. Course Introduction 1. C Programming 2. Sensors 3. Data Acquisition 4. Signal Processing 5. Digital Filtering 6. Actuators 7. Computer Vision and Kinematics 8. Modeling and Control 9. Review and Outlook The lecture schedule can be found on our course page on the MSRL website (www.msrl.ethz.ch) | |||||
| Voraussetzungen / Besonderes | The students are expected to be familiar with C programming. | |||||
| 151-0854-00L | Autonomous Mobile Robots | W | 5 KP | 4G | R. Siegwart, M. Chli, N. Lawrance | |
| Kurzbeschreibung | The objective of this course is to provide the basics required to develop autonomous mobile robots and systems. Main emphasis is put on mobile robot locomotion and kinematics, environment perception, and probabilistic environment modeling, localization, mapping and navigation. Theory will be deepened by exercises with small mobile robots and discussed across application examples. | |||||
| Lernziel | The objective of this course is to provide the basics required to develop autonomous mobile robots and systems. Main emphasis is put on mobile robot locomotion and kinematics, environment perception, and probabilistic environment modeling, localization, mapping and navigation. | |||||
| Skript | This lecture is enhanced by around 30 small videos introducing the core topics, and multiple-choice questions for continuous self-evaluation. It is developed along the TORQUE (Tiny, Open-with-Restrictions courses focused on QUality and Effectiveness) concept, which is ETH's response to the popular MOOC (Massive Open Online Course) concept. | |||||
| Literatur | This lecture is based on the Textbook: Introduction to Autonomous Mobile Robots Roland Siegwart, Illah Nourbakhsh, Davide Scaramuzza, The MIT Press, Second Edition 2011, ISBN: 978-0262015356 | |||||
| 151-1224-00L | Ölhydraulik und Pneumatik | W | 4 KP | 2V + 2U | J. Lodewyks | |
| Kurzbeschreibung | Vermittlung der physikalischen und technischen Grundlagen ölhydraulischer und pneumatischer Systeme und ihrer Bauelemente wie Pumpen, Motoren, Zylinder und Ventile, mit Schwergewicht auf der Servo- und Proportionaltechnik und der Regelung fluidischer Antriebe. Überblick über Anwendungsbeispielen aus dem Maschinenbau. | |||||
| Lernziel | Der Student - kann die Funktionsweise eines ölhydraulischen oder pneumatischen Systems interpretieren und kann einfache Schaltungen entwerfen - kann den Aufbau und die Funktionsweise der Bauelemente erklären und kann sie nach Anforderungen dimensionieren und auswählen - kann das dynamische Verhalten eines servohydraulischen Zylinder- antriebes simulieren und kann eine optimale Zustandsregelung mit Beobachter auslegen. | |||||
| Inhalt | Bedeutung der Oelhydraulik und Pneumatik, Begriffe, Anwendungsbeispiele, Repetitorium der wichtigsten strömungstechnischen Grundlagen u.a. Kompressibilität eines Fluides, Durchfluss durch Drosseln und Spalten und Reibungsverluste in Leitungen. Aufbau und Elemente hydraulischer und pneumatischer Anlagen, Funktion und Bauformen von Pumpen, Motoren und Zylinder, Druck-, Mengen-, Sperr-, Wege-, Proportional- und Servoventile, Grundschaltungen hydraulischer und pneumatischer Systeme. Dynamisches Verhalten und Zustandsregelung hydraulischer und pneumatischer Servoantriebe. Übungen Rechenübungen zur Auslegung fluidischer Antriebe Aufnahme der Kennlinien von Drosseln, Ventilen und Pumpen Aufbau eines pneumatisch gesteuerten Antriebes Simulation und experimentelle Untersuchung eines zustandsgeregelten servohydraulischen Zylinderantriebes. | |||||
| Skript | Autographie Oelhydraulik Manuskript Zustandsregelung eines Servohydraulischen Zylinderantriebes Manuskript Elemente einer Druckluftversorgung Manuskript Modellierung eines Servopneumatischen Zylinderantriebes | |||||
| 252-0220-00L | Introduction to Machine Learning Limited number of participants. Preference is given to students in programmes in which the course is being offered. All other students will be waitlisted. Please do not contact Prof. Krause for any questions in this regard. If necessary, please contact studiensekretariat@inf.ethz.ch | W | 8 KP | 4V + 2U + 1A | A. Krause, F. Yang | |
| Kurzbeschreibung | The course introduces the foundations of learning and making predictions based on data. | |||||
| Lernziel | The course will introduce the foundations of learning and making predictions from data. We will study basic concepts such as trading goodness of fit and model complexitiy. We will discuss important machine learning algorithms used in practice, and provide hands-on experience in a course project. | |||||
| Inhalt | - Linear regression (overfitting, cross-validation/bootstrap, model selection, regularization, [stochastic] gradient descent) - Linear classification: Logistic regression (feature selection, sparsity, multi-class) - Kernels and the kernel trick (Properties of kernels; applications to linear and logistic regression); k-nearest neighbor - Neural networks (backpropagation, regularization, convolutional neural networks) - Unsupervised learning (k-means, PCA, neural network autoencoders) - The statistical perspective (regularization as prior; loss as likelihood; learning as MAP inference) - Statistical decision theory (decision making based on statistical models and utility functions) - Discriminative vs. generative modeling (benefits and challenges in modeling joint vy. conditional distributions) - Bayes' classifiers (Naive Bayes, Gaussian Bayes; MLE) - Bayesian approaches to unsupervised learning (Gaussian mixtures, EM) | |||||
| Literatur | Textbook: Kevin Murphy, Machine Learning: A Probabilistic Perspective, MIT Press | |||||
| Voraussetzungen / Besonderes | Designed to provide a basis for following courses: - Advanced Machine Learning - Deep Learning - Probabilistic Artificial Intelligence - Seminar "Advanced Topics in Machine Learning" | |||||
| 227-0518-10L | Design and Control of Electric Machines | W | 6 KP | 4G | D. Bortis | |
| Kurzbeschreibung | This course covers modeling and control concepts of modern drive systems and provides a deeper understanding of the dynamic operation of electric machines. Different aspects arising in the design of electric drive systems are investigated. The exercises are used to consolidate the concepts discussed. | |||||
| Lernziel | The objective of this course is to convey knowledge on control strategies of different types of electric machines and on design principles of variable speed drive systems. A dynamic modeling of the electromechanical system is investigated, enabling the proper design of cascaded speed, torque/current controllers. Further objectives are the identification of machine parameters and a short insight into basic inverter circuits applied in advanced motor drive systems. Exercises are used to consolidate the presented theoretical concepts. | |||||
| Inhalt | 1. Introduction to variable speed motor drive systems consisting of: - Electromechanical system - Power electronic system - Control system - Measurement system 2. Control structures and strategies of DC Machine/Synchronous machine/Asynchronous machine/Brushless DC machine. - Cascaded control - U/f Control - Slip Control - Field-oriented control 3. Dynamic Operation of electric machines - Dynamic modeling of electromechanical system - Controller types and design - Current/torque control - Speed control (Voltage control / Flux weakening) 4. Power electronic inverter circuits in variable speed drive systems - Voltage and current source inverter systems - Basic operation and pulse width modulation 5. Identification of machine parameters 6. Design principles of variable speed motor drives systems | |||||
| Skript | Lecture notes and associated exercises including correct answers | |||||
| Voraussetzungen / Besonderes | Prerequisites: Fundamentals of Electric Machines | |||||
Seite
1
von
1
