Suchergebnis: Katalogdaten im Herbstsemester 2022

Maschineningenieurwissenschaften Bachelor Information
Bachelor-Studium (Studienreglement 2010)
Fokus-Vertiefung
Mechatronics and Robotics
Fokus-Koordinator: Prof. Marco Hutter
NummerTitelTypECTSUmfangDozierende
151-0509-00LAcoustics in Fluid Media: From Robotics to Additive Manufacturing
Note: The previous course title until HS21 "Microscale Acoustofluidics"
W4 KP3GD. Ahmed
KurzbeschreibungThe course will provide you with the fundamentals of the new and exciting field of ultrasound-based microrobots to treat various diseases. Furthermore, we will explore how ultrasound can be used in additive manufacturing for tissue constructs and robotics.
LernzielThe course is designed to equip students with skills in the design and development of ultrasound-based manipulation devices and microrobots for applications in medicine and additive manufacturing.
InhaltLinear and nonlinear acoustics, foundations of fluid and solid mechanics and piezoelectricity, Gorkov potential, numerical modelling, acoustic streaming, applications from ultrasonic microrobotics to surface acoustic wave devices
SkriptYes, incl. Chapters from the Tutorial: Microscale Acoustofluidics, T. Laurell and A. Lenshof, Ed., Royal Society of Chemistry, 2015
LiteraturMicroscale Acoustofluidics, T. Laurell and A. Lenshof, Ed., Royal Society of Chemistry, 2015
Voraussetzungen / BesonderesSolid and fluid continuum mechanics. Notice: The exercise part is a mixture of presentation, lab sessions ( both compulsary) and hand in homework.
Geförderte KompetenzenGeförderte Kompetenzen
Fachspezifische KompetenzenKonzepte und Theoriengeprüft
Verfahren und Technologiengeprüft
Methodenspezifische KompetenzenAnalytische Kompetenzengeprüft
Entscheidungsfindungnicht geprüft
Medien und digitale Technologiennicht geprüft
Problemlösunggeprüft
Projektmanagementnicht geprüft
Soziale KompetenzenKommunikationgeprüft
Kooperation und Teamarbeitgeprüft
Kundenorientierungnicht geprüft
Menschenführung und Verantwortungnicht geprüft
Selbstdarstellung und soziale Einflussnahmegeprüft
Sensibilität für Vielfalt nicht geprüft
Verhandlungnicht geprüft
Persönliche KompetenzenKritisches Denkengeprüft
Integrität und Arbeitsethikgeprüft
Selbststeuerung und Selbstmanagement geprüft
151-0575-01LSignals and Systems Information W4 KP2V + 2UA. Carron
KurzbeschreibungSignals arise in most engineering applications. They contain information about the behavior of physical systems. Systems respond to signals and produce other signals. In this course, we explore how signals can be represented and manipulated, and their effects on systems. We further explore how we can discover basic system properties by exciting a system with various types of signals.
LernzielMaster the basics of signals and systems. Apply this knowledge to problems in the homework assignments and programming exercise.
InhaltDiscrete-time signals and systems. Fourier- and z-Transforms. Frequency domain characterization of signals and systems. System identification. Time series analysis. Filter design.
SkriptLecture notes available on course website.
Voraussetzungen / BesonderesControl Systems I is helpful but not required.
151-0601-00LTheory of Robotics and Mechatronics Information
Findet dieses Semester nicht statt.
W4 KP3GNoch nicht bekannt
KurzbeschreibungThis 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.
LernzielRobotics 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.
InhaltAn 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.
Skriptavailable.
151-0604-00LMicrorobotics Information W4 KP3GB. Nelson
KurzbeschreibungMicrorobotics 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, the students apply these concepts in assignments. The course concludes with an end-of-semester examination.
LernzielThe 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.
InhaltMain 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
SkriptThe powerpoint slides presented in the lectures will be made available as pdf files. Several readings will also be made available electronically.
Voraussetzungen / BesonderesThe lecture will be taught in English.
151-0621-00LMicrosystems I: Process Technology and IntegrationW6 KP3V + 3UM. Haluska, C. Hierold
KurzbeschreibungDie Stundenten werden in die Grundlagen der Mikrosystemtechnik, der Halbleiterphysik und der Halbleiterprozesstechnologie eingeführt und erfahren, wie die Herstellung von Mikrosystemen in einer Serie von genau definierten Prozessschritten erfolgt (Gesamtprozess und Prozessablauf).
LernzielDie Stundenten sind mit den Grundlagen der Mikrosystemtechnik und der Prozesstechnologie für Halbleiter vertraut und verstehen die Herstellung von Mikrosystemen durch die Kombination von Einzelprozesschritten ( = Gesamtprozess oder Prozessablauf).
Inhalt- Einführung in die Mikrosystemtechnik (MST) und in mikroelektromechanische Systeme (MEMS)
- Grundlegende Siliziumtechnologie: thermische Oxidation, Fotolithografie und Ätztechnik, Diffusion und Ionenimplantation, Dünnschichttechnik.
- Besondere Mikrosystemtechnologien: Volumen- und Oberflächenmikromechanik, Trocken- und Nassätzen, isotropisches und anisotropisches Ätzen, Herstellung von Balken und Membranen, Waferbonden, mechanische Eigenschaften von Dünnschichten.
Die Anwendung ausgewählter Technologien wird anhand von Fallstudien nachgewiesen.
SkriptHandouts (online erhältlich)
Literatur- S.M. Sze: Semiconductor Devices, Physics and Technology
- W. Menz, J. Mohr, O.Paul: Microsystem Technology
- Hong Xiao: Introduction to Semiconductor Manufacturing Technology
- M. J. Madou: Fundamentals of Microfabrication and Nanotechnology, 3rd ed.
- T. M. Adams, R. A. Layton: Introductory MEMS, Fabrication and Applications
Voraussetzungen / BesonderesVoraussetzung: Physik I und II
151-0640-00LStudies on Mechatronics Belegung eingeschränkt - Details anzeigen
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.
W5 KP11ABetreuer/innen
KurzbeschreibungOverview 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.
LernzielThe students are familiar with the challenges of the fascinating and interdisciplinary field of Mechatronics and Mikrosystems. They are introduced in the basics of independent non-experimental scientific research and are able to summarize and to present the results efficiently.
InhaltThe students work independently on a study of selected topics in the field of Mechatronics or Microsystems. They start with a selection of scientific papers to continue literature research. The results (e.g. state-of-the-art, methods) are evaluated with respect to predefined criteria. Then the results are presented in an oral presentation and summarized in a report, which takes the discussion of the presentation into account.
Literaturwill be available
151-0913-00LIntroduction to PhotonicsW4 KP2V + 2UR. Quidant, J. Ortega Arroyo
KurzbeschreibungThis course introduces students to the main concepts of optics and photonics. Specifically, we will describe the laws obeyed by optical waves and discuss how to use them to manipulate light.
LernzielPhotonics, the science of light, has become ubiquitous in our lives. Control and manipulation of light is what enables us to interact with the screen of our smart devices and exchange large amounts of complex information. Photonics has also taken a preponderant role in cutting-edge science, allowing for instance to image nanospecimens, detect diseases or sense very tiny forces. The purpose of this course is three-fold: (i) We first aim to provide the fundamentals of photonics, establishing a solid basis for more specialised courses. (ii) Beyond theoretical concepts, our intention is to have students develop an intuition on how to manipulate light in practise. (iii) Finally, the course highlights how the taught concepts apply to modern research as well as to everyday life technologies (LCD screens, polarisation sun glasses, anti-reflection coating etc...). Content, including videos of laboratory experiments, has been designed to be approachable by students from a diverse set of science and engineering backgrounds.
InhaltI- BASICS OF WAVE THEORY
1) General concepts
2) Differential wave equation
3) Wavefront
4) Plane waves and Fourier decomposition of optical fields
5) Spherical waves and Huygens-Fresnel principle

II- ELECTROMAGNETIC WAVES
1) Maxwell equations
2) Wave equation for EM waves
3) Dielectric permittivity
4) Refractive index
5) Nonlinear optics
6) Polarisation and polarisation control

III- PROPAGATION OF LIGHT
1) Waves at an interface
2) The Fresnel equations
3) Total internal reflection
4) Evanescent waves
5) Dispersion diagram

IV- INTERFERENCES
1) General considerations
2) Temporal and spatial coherence
3) The Young double slit experiment
4) Diffraction gratings
5) The Michelson interferometer
6) Multi-wave interference
7) Antireflecting coating and interference filters
8) Optical holography

V- LIGHT MANIPULATION
1) Optical waveguides
2) Photonic crystals
3) Metamaterials and metasurfaces
4) Optical cavities

VI- INTRODUCTION TO OPTICAL MICROSCOPY
1) Basic concepts
2) Direct and Fourier imaging
3) Image formation
4) Fluorescence microscopy
5) Scattering-based microscopy
6) Digital holography
7) Computational imaging

VII- OPTICAL FORCES AND OPTICAL TWEEZERS
1) History of optical forces
2) Theory of optical trapping
3) Atom cooling
4) Optomechanics
5) Plasmonic trapping
6) Applications of optical tweezers
SkriptClass notes and handouts
LiteraturOptics (Hecht) - Pearson
Voraussetzungen / BesonderesPhysics I, Physics II
227-0113-00LLeistungselektronik Information W6 KP4GJ. W. Kolar
KurzbeschreibungEinsatzbereiche leistungselektronischer Konverter; Grundkonzept leistungselektronischer Spannungs- und Stromkonversion; Ableitung von DC/DC- (mit und ohne Potentialtrennung), AC/DC-, DC/AC- Konverterstrukturen; Methodik der Analyse sowie Analyse und Berechnung der Funktion; Betriebsverhalten und Betriebsbereich, Dimensionierungskriterien und Dimensionierung der Hauptkomponenten.
LernzielVerständnis des Grundkonzeptes leistungselektronischer Spannungs- und Stromkonversion, der Ableitung von DC/DC- (mit und ohne Potentialtrennung), AC/DC-, DC/AC- Konverterstrukturen, der Methodik der Analyse und der Berechnung der Funktion leistungselektronischer Konverter, des Betriebsbereiches, und der Dimensionierungskriterien und der Dimensionierung der Hauptkomponenten.
InhaltEinsatzbereiche und Anwendungsbeispiele leistungselektronischer Konverter;
Grundkonzept leistungselektronischer Spannungs- und Stromkonversion, Pulsbreitenmodulation, Ableitung der Schaltungsstrukturen; DC/DC Konverter / Tiefsetzsteller, Hochsetzsteller, Hoch-Tiefsetzsteller mit kontinuierlicher und diskontinuierlicher Stromführung, Erweiterung auf DC/AC Konversion basierend auf der Erzeugung von AC Spannungen durch zeitliche Änderung der Differenz unipolarer Ausgangsgleichspannungen; Einphasen-Diodenbrückenschaltung; Aktiver Hochsetz-Einphasengleichrichter mit Sinuseingangsstrom, Toleranzbandstromregelung und kaskadierte Ausgangsspannungs- und unterlagerte Stromregelung mit konstanter Schaltfrequenz, lokale und globale Mittelung pulsfrequent diskontinuierlicher Grössen zur Berechnung der Beanspruchung von Leistungskomponenten; Dreiphasen-AC/DC-Konversion, Diodengleichrichter-Mittelpunktsschaltung mit eingeprägtem Ausgangsstrom, Thyristorfunktion, Tyristorstromrichter (Mittelpunkts- und Vollbrückenschaltung), Zündwinkel, Gleich- und Wechselrichterbetrieb, Kippgrenze; Induktivitäten und Einphasentransformatoren, Wachstumsgesetze und Dimensionierung; Potentialgetrennte DC/DC Konverter, Sperrwandler und Durchflusswandler, Einschalter- und Zweischalterausführung; Einphasen DC/AC Konversion, Vierquadrantensteller, unipolare und bipolare Modulation, Grundschwingungsmodell des Netzverhaltens; Dreiphasen DC/AC Konverter mit Last in Dreiphasen-Sternschaltung, Nullspannungsanteil und strombildender Ausgangsspannungsanteil, Grundfrequenztaktung und Pulsbreitenmodulation mit gemeinsamem Dreieckträgersignal und phasenbezogenen Trägersignalen.
SkriptSkript und Simulationsprogramm für interaktives Lernen und Visualisierung, Uebungen mit Musterlösungen
Voraussetzungen / BesonderesVoraussetzungen: Grundkenntnisse der Elektrotechnik / Schaltungsanalyse und Signaltheorie.
Geförderte KompetenzenGeförderte Kompetenzen
Fachspezifische KompetenzenKonzepte und Theoriengeprüft
Verfahren und Technologiennicht geprüft
Methodenspezifische KompetenzenAnalytische Kompetenzengeprüft
Entscheidungsfindungnicht geprüft
Medien und digitale Technologiennicht geprüft
Problemlösunggeprüft
Projektmanagementnicht geprüft
Soziale KompetenzenKommunikationnicht geprüft
Kooperation und Teamarbeitnicht geprüft
Kundenorientierungnicht geprüft
Menschenführung und Verantwortungnicht geprüft
Selbstdarstellung und soziale Einflussnahmenicht geprüft
Sensibilität für Vielfalt nicht geprüft
Verhandlungnicht geprüft
Persönliche KompetenzenAnpassung und Flexibilitätnicht geprüft
Kreatives Denkennicht geprüft
Kritisches Denkennicht geprüft
Integrität und Arbeitsethiknicht geprüft
Selbstbewusstsein und Selbstreflexion nicht geprüft
Selbststeuerung und Selbstmanagement nicht geprüft
227-0124-00LEmbedded Systems Information Belegung eingeschränkt - Details anzeigen W6 KP4GM. Magno, L. Thiele
KurzbeschreibungAn embedded system is some combination of computer hardware and software, either fixed in capability or programmable, that is designed for a specific function or for specific functions within a larger system. The course covers theoretical and practical aspects of embedded system design and includes a series of lab sessions.
LernzielUnderstanding specific requirements and problems arising in embedded system applications.

Understanding architectures and components, their hardware-software interfaces, the memory architecture, communication between components, embedded operating systems, real-time scheduling theory, shared resources, low-power and low-energy design as well as hardware architecture synthesis.

Using the formal models and methods in embedded system design in practical applications using the programming language C, the operating system ThreadX, a commercial embedded system platform and the associated design environment.
InhaltAn embedded system is some combination of computer hardware and software, either fixed in capability or programmable, that is designed for a specific function or for specific functions within a larger system. For example, they are part of industrial machines, agricultural and process industry devices, automobiles, medical equipment, cameras, household appliances, airplanes, sensor networks, internet-of-things, as well as mobile devices.

The focus of this lecture is on the design of embedded systems using formal models and methods as well as computer-based synthesis methods. Besides, the lecture is complemented by laboratory sessions where students learn to program in C, to base their design on the embedded operating systems ThreadX, to use a commercial embedded system platform including sensors, and to edit/debug via an integrated development environment.

Specifically the following topics will be covered in the course: Embedded system architectures and components, hardware-software interfaces and memory architecture, software design methodology, communication, embedded operating systems, real-time scheduling, shared resources, low-power and low-energy design, hardware architecture synthesis.

More information is available at https://pbl.ee.ethz.ch/education/embedded-systems.html .
SkriptThe following information will be available: Lecture material, publications, exercise sheets and laboratory documentation at https://pbl.ee.ethz.ch/education/embedded-systems.html .
LiteraturP. Marwedel: Embedded System Design, Springer, ISBN 978-3-319-56045-8, 2018.

G.C. Buttazzo: Hard Real-Time Computing Systems. Springer Verlag, ISBN 978-1-4614-0676-1, 2011.

Edward A. Lee and Sanjit A. Seshia: Introduction to Embedded Systems, A Cyber-Physical Systems Approach, Second Edition, MIT Press, ISBN 978-0-262-53381-2, 2017.

M. Wolf: Computers as Components – Principles of Embedded System Design. Morgan Kaufman Publishers, ISBN 978-0-128-05387-4, 2016.
Voraussetzungen / BesonderesPrerequisites: Basic knowledge in computer architectures and programming.
227-0517-10LFundamentals of Electric Machines Information W6 KP4GD. Bortis, R. Bosshard
KurzbeschreibungThis course introduces to different electric machine concepts and provides a deeper understanding of their detailed operating principles. Different aspects arising in the design of electric machines, like dimensioning of magnetic and electric circuits as well as consideration of mechanical and thermal constraints, are investigated. The exercises are used to consolidate the concepts discussed.
LernzielThe objective of this course is to convey knowledge on the operating principles of different types of electric machines. Further objectives are to evaluate machine types for given specifications and to acquire the ability to perform a rough design of an electrical machine while considering the versatile aspects with respect to magnetic, electrical, mechanical and thermal limitations. Exercises are used to consolidate the presented theoretical concepts.
Inhalt‐ Fundamentals in magnetic circuits and electromechanical energy
conversion.
‐ Force and torque calculation.
‐ Operating principles, magnetic and electric modelling and design
of different electric machine concepts: DC machine, AC machines
(permanent magnet synchronous machine, reluctance machine
and induction machine).
‐ Complex space vector notation, rotating coordinate system (dq-transformation).
‐ Loss components in electric machines, scaling laws of
electromechanical actuators.
‐ Mechanical and thermal modelling.
SkriptLecture notes and associated exercises including correct answers
376-1504-00LPhysical Human Robot Interaction (pHRI) Belegung eingeschränkt - Details anzeigen W4 KP2V + 2UO. Lambercy
KurzbeschreibungThis course focuses on the emerging, interdisciplinary field of physical human-robot interaction, bringing together themes from robotics, real-time control, human factors, haptics, virtual environments, interaction design and other fields to enable the development of human-oriented robotic systems.
LernzielThe objective of this course is to give an introduction to the fundamentals of physical human robot interaction, through lectures on the underlying theoretical/mechatronics aspects and application fields, in combination with a hands-on lab tutorial. The course will guide students through the design and evaluation process of such systems.

By the end of this course, you should understand the critical elements in human-robot interactions - both in terms of engineering and human factors - and use these to evaluate and de- sign safe and efficient assistive and rehabilitative robotic systems. Specifically, you should be able to:

1) identify critical human factors in physical human-robot interaction and use these to derive design requirements;
2) compare and select mechatronic components that optimally fulfill the defined design requirements;
3) derive a model of the device dynamics to guide and optimize the selection and integration of selected components into a functional system;
4) design control hardware and software and implement and test human-interactive control strategies on the physical setup;
5) characterize and optimize such systems using both engineering and psychophysical evaluation metrics;
6) investigate and optimize one aspect of the physical setup and convey and defend the gained insights in a technical presentation.
InhaltThis course provides an introduction to fundamental aspects of physical human-robot interaction. After an overview of human haptic, visual and auditory sensing, neurophysiology and psychophysics, principles of human-robot interaction systems (kinematics, mechanical transmissions, robot sensors and actuators used in these systems) will be introduced. Throughout the course, students will gain knowledge of interaction control strategies including impedance/admittance and force control, haptic rendering basics and issues in device design for humans such as transparency and stability analysis, safety hardware and procedures. The course is organized into lectures that aim to bring students up to speed with the basics of these systems, readings on classical and current topics in physical human-robot interaction, laboratory sessions and lab visits.
Students will attend periodic laboratory sessions where they will implement the theoretical aspects learned during the lectures. Here the salient features of haptic device design will be identified and theoretical aspects will be implemented in a haptic system based on the haptic paddle (https://relab.ethz.ch/downloads/open-hardware/haptic-paddle.html), by creating simple dynamic haptic virtual environments and understanding the performance limitations and causes of instabilities (direct/virtual coupling, friction, damping, time delays, sampling rate, sensor quantization, etc.) during rendering of different mechanical properties.
SkriptWill be distributed on Moodle before the lectures.
LiteraturAbbott, J. and Okamura, A. (2005). Effects of position quantization and sampling rate on virtual-wall passivity. Robotics, IEEE Transactions on, 21(5):952 - 964.
Adams, R. and Hannaford, B. (1999). Stable haptic interaction with virtual environments. Robotics and Automation, IEEE Transactions on, 15(3):465 - 474.
Buerger, S. and Hogan, N. (2007). Complementary stability and loop shaping for improved human-robot interaction. Robotics, IEEE Transactions on, 23(2):232 - 244.
Burdea, G. and Brooks, F. (1996). Force and touch feedback for virtual reality. John Wiley & Sons New York NY.
Colgate, J. and Brown, J. (1994). Factors affecting the z-width of a haptic display. In Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on, pages 3205 -3210 vol. 4.
Diolaiti, N., Niemeyer, G., Barbagli, F., and Salisbury, J. (2006). Stability of haptic rendering: Discretization, quantization, time delay, and coulomb effects. Robotics, IEEE Transactions on, 22(2):256 - 268.
Gillespie, R. and Cutkosky, M. (1996). Stable user-specific haptic rendering of the virtual wall. In Proceedings of the ASME International Mechanical Engineering Congress and Exhibition, volume 58, pages 397 - 406.
Hannaford, B. and Ryu, J.-H. (2002). Time-domain passivity control of haptic interfaces. Robotics and Automation, IEEE Transactions on, 18(1):1 - 10.
Hashtrudi-Zaad, K. and Salcudean, S. (2001). Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators. The International Journal of Robotics Research, 20(6):419.
Hayward, V. and Astley, O. (1996). Performance measures for haptic interfaces. In ROBOTICS RESEARCH-INTERNATIONAL SYMPOSIUM, volume 7, pages 195-206. Citeseer.
Hayward, V. and Maclean, K. (2007). Do it yourself haptics: part i. Robotics Automation Magazine, IEEE, 14(4):88 - 104.
Leskovsky, P., Harders, M., and Szeekely, G. (2006). Assessing the fidelity of haptically rendered deformable objects. In Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2006 14th Symposium on, pages 19 - 25.
MacLean, K. and Hayward, V. (2008). Do it yourself haptics: Part ii [tutorial]. Robotics Automation Magazine, IEEE, 15(1):104 - 119.
Mahvash, M. and Hayward, V. (2003). Passivity-based high-fidelity haptic rendering of contact. In Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, volume 3, pages 3722 - 3728.
Mehling, J., Colgate, J., and Peshkin, M. (2005). Increasing the impedance range of a haptic display by adding electrical damping. In Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint, pages 257 - 262.
Okamura, A., Richard, C., and Cutkosky, M. (2002). Feeling is believing: Using a force-feedback joystick to teach dynamic systems. JOURNAL OF ENGINEERING EDUCATION-WASHINGTON, 91(3):345 - 350.
O'Malley, M. and Goldfarb, M. (2004). The effect of virtual surface stiffness on the haptic perception of detail. Mechatronics, IEEE/ASME Transactions on, 9(2):448 - 454.
Richard, C. and Cutkosky, M. (2000). The effects of real and computer generated friction on human performance in a targeting task. In Proceedings of the ASME Dynamic Systems and Control Division, volume 69, page 2.
Salisbury, K., Conti, F., and Barbagli, F. (2004). Haptic rendering: Introductory concepts. Computer Graphics and Applications, IEEE, 24(2):24 - 32.
Weir, D., Colgate, J., and Peshkin, M. (2008). Measuring and increasing z-width with active electrical damping. In Haptic interfaces for virtual environment and teleoperator systems, 2008. haptics 2008. symposium on, pages 169 - 175.
Yasrebi, N. and Constantinescu, D. (2008). Extending the z-width of a haptic device using acceleration feedback. Haptics: Perception, Devices and Scenarios, pages 157-162.
Voraussetzungen / BesonderesNotice:
The registration is limited to 26 students
There are 4 credit points for this lecture.
The lecture will be held in English.
The students are expected to have basic control knowledge from previous classes.
http://www.relab.ethz.ch/education/courses/phri.html
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