Search result: Catalogue data in Autumn Semester 2022
Mechanical Engineering Bachelor  
Bachelor Studies (Programme Regulations 2010)  
Focus Specialization  
Energy, Flows and Processes Focus Coordinator: Prof. Christoph Müller In order to achieve the required 20 credit points for the Focus Specialization Energy, Flows and Processes you need to choose at least 2 core courses (W+) (HS/FS) and at least 2 of the elective courses (HS/FS), according to the presentation of the Focus Specialisation (see Link). One course can be selected among all the courses offered by DMAVT (Bachelors and Masters).  
Number  Title  Type  ECTS  Hours  Lecturers  

151012300L  Experimental Methods for Engineers  W+  4 credits  2V + 2U  D. J. Norris, F. Coletti, M. Lukatskaya, A. Manera, G. Nagamine Gomez, B. Schuermans, O. Supponen, M. Tibbitt  
Abstract  The course presents an overview of measurement tasks in engineering environments. Different concepts for the acquisition and processing of typical measurement quantities are introduced. Following an initial inclass introduction, laboratory exercises from different application areas (especially in thermofluidics, energy, and process engineering) are attended by students in small groups.  
Objective  Introduction to various aspects of measurement techniques, with particular emphasis on thermofluidic, energy, and processengineering applications. Understanding of various sensing technologies and analysis procedures. Exposure to typical experiments, diagnostics hardware, data acquisition, and processing. Study of applications in the laboratory. Fundamentals of scientific documentation and reporting.  
Content  Inclass introduction to representative measurement techniques in the research areas of the participating institutes (fluid dynamics, energy technology, process engineering) Student participation in 810 laboratory experiments (study groups of 35 students, dependent on the number of course participants and available experiments) Lab reports for all attended experiments have to be submitted by the study groups. A final exam evaluates the acquired knowledge individually.  
Lecture notes  Presentations, handouts, and instructions are provided for each experiment.  
Literature  Holman, J.P. "Experimental Methods for Engineers," McGrawHill 2001, ISBN 0073660558 Morris, A.S. & Langari, R. "Measurement and Instrumentation," Elsevier 2011, ISBN 0123819604 Eckelmann, H. "Einführung in die Strömungsmesstechnik," Teubner 1997, ISBN 3519023792  
Prerequisites / Notice  Basic understanding in the following areas:  fluid mechanics, thermodynamics, heat and mass transfer  electrical engineering / electronics  numerical data analysis and processing (e.g. using MATLAB)  
151029300L  Combustion and Reactive Processes in Energy and Materials Technology  W+  4 credits  2V + 1U + 2A  N. Noiray, F. Ernst, C. E. Frouzakis  
Abstract  This course will provide an introduction to the fundamentals and the applications of combustion in energy conversion and nanoparticles synthesis. The content is highly relevant for technologies which cannot be electrified such as long distance aviation and shipping, and which will more and more rely on carbonneutral synthetic fuels.  
Objective  The main learning objectives of this course are: 1. Understand the thermodynamic, fluiddynamic and chemical kinetics fundamentals of combustion processes. 2. Predict relevant parameters for combustion systems, such as laminar and turbulent flame speeds, adiabatic flame temperature or quenching distance. 3. Understand the causal relations of relevant combustion parameters such as the pressure influence on the laminar flame speed. 4. Analyze the challenges of developing sustainable combustion technologies based on carbonneutral synthetic fuels.  
Content  Reaction kinetics, fuel oxidation mechanisms, premixed and diffusion laminar flames, twophaseflows, turbulence and turbulent combustion, pollutant formation, development of sustainable combustion technologies for power generation, shipping and aviation. Synthesis of materials in flame processes: particles, pigments and nanoparticles. Fundamentals of design and optimization of flame reactors, effect of reactant mixing on product characteristics.  
Lecture notes  No script available. Instead, material will be provided in lecture slides and the following text book (which can be downloaded for free) will be followed: J. Warnatz, U. Maas, R.W. Dibble, "Combustion:Physical and Chemical Fundamentals, Modeling and Simulation, Experiments, Pollutant Formation", SpringerVerlag, 1997. Teaching language, assignments and lecture slides in English  
Literature  J. Warnatz, U. Maas, R.W. Dibble, "Combustion:Physical and Chemical Fundamentals, Modeling and Simulation, Experiments, Pollutant Formation", SpringerVerlag, 1997. I. Glassman, Combustion, 3rd edition, Academic Press, 1996.  
151022100L  Introduction to Modeling and Optimization of Sustainable Energy Systems  W  4 credits  4G  G. Sansavini, A. Bardow  
Abstract  This course introduces the fundamentals of energy system modeling for the analysis and the optimization of the energy system design and operations.  
Objective  At the end of this course, students will be able to:  define and quantify the key performance indicators of sustainable energy systems;  select and apply appropriate models for conversion, storage and transport of energy;  develop mathematical models for the analysis, design and operations of multienergy systems and solve them with appropriate mathematical tools;  select and apply methodologies for the uncertainty analysis on energy systems models;  apply the acquired knowledge to tackle the challenges of the energy transition. In the course "Introduction to Modeling and Optimization of Sustainable Energy Systems", the competencies of process understanding, system understanding, modeling, concept development, data analysis & interpretation and measurement methods are taught, applied and examined. Programming is applied.  
Content  The global energy transition; Key performance indicators of sustainable energy systems; Optimization models; Heat integration and heat exchanger networks; Lifecycle assessment; Models for conversion, storage and transport technologies; Multienergy systems; Design, operations and analysis of energy systems; Uncertainties in energy system modeling.  
Lecture notes  Lecture slides and supplementary documentation will be available online. Reference to appropriate book chapters and scientific papers will be provided.  
151010900L  Turbulent Flows  W  4 credits  2V + 1U  P. Jenny  
Abstract  Contents  Laminar and turbulent flows, instability and origin of turbulence  Statistical description: averaging, turbulent energy, dissipation, closure problem  Scalings. Homogeneous isotropic turbulence, correlations, Fourier representation, energy spectrum  Free turbulence: wake, jet, mixing layer  Wall turbulence: Channel and boundary layer  Computation and modelling of turbulent flows  
Objective  Basic physical phenomena of turbulent flows, quantitative and statistical description, basic and averaged equations, principles of turbulent flow computation and elements of turbulence modelling  
Content   Properties of laminar, transitional and turbulent flows.  Origin and control of turbulence. Instability and transition.  Statistical description, averaging, equations for mean and fluctuating quantities, closure problem.  Scalings, homogeneous isotropic turbulence, energy spectrum.  Turbulent free shear flows. Jet, wake, mixing layer.  Wallbounded turbulent flows.  Turbulent flow computation and modeling.  
Lecture notes  Lecture notes are available  
Literature  S.B. Pope, Turbulent Flows, Cambridge University Press, 2000  
151091300L  Introduction to Photonics  W  4 credits  2V + 2U  R. Quidant, J. Ortega Arroyo  
Abstract  This 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.  
Objective  Photonics, 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 cuttingedge science, allowing for instance to image nanospecimens, detect diseases or sense very tiny forces. The purpose of this course is threefold: (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, antireflection 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.  
Content  I 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 HuygensFresnel 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) Multiwave 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) Scatteringbased 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  
Lecture notes  Class notes and handouts  
Literature  Optics (Hecht)  Pearson  
Prerequisites / Notice  Physics I, Physics II  
151091700L  Mass Transfer  W  4 credits  2V + 2U  S. E. Pratsinis, V. Mavrantzas, C.‑J. Shih  
Abstract  This 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.  
Objective  This 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.  
Content  Fick'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; StokesEinstein equation; mass transfer coefficients (Nu and Sh numbers); mass transfer across interfaces; Analogies for mass, heat, and momentum transfer in turbulent flows; film, penetration, and surface renewal theories; simultaneous mass, heat and momentum transfer (boundary layers); homogeneous and heterogeneous reversible and irreversible reactions; diffusioncontrolled reactions; mass transfer and first order heterogeneous reaction. Applications.  
Literature  Cussler, E.L.: "Diffusion", 3nd edition, Cambridge University Press, 2009.  
Prerequisites / Notice  Students attending this highlydemanding course are expected to allocate sufficient time within their weekly schedule to successfully conduct the exercises.  
151097300L  Introduction to Process Engineering  W  4 credits  2V + 2U  F. Donat, C. Müller  
Abstract  Overview of process engineering; fundamentals of process engineering; processes and balances; overview of thermal separation processes and multiphase systems; overview of mechanical separation processes and granular systems; introduction into reaction engineering, reactors and residence times.  
Objective  We teach the fundamentals of process engineering using practical examples as well as concrete process engineering problems in the areas of process control and balancing, thermal separation processes, mechanical separation processes and reaction engineering.  
Content  Overview of process engineering; fundamentals of process engineering; processes and balances; overview of thermal separation processes and multiphase systems; overview of mechanical separation processes and granular systems; introduction into reaction engineering, reactors and residence times. In addition to teaching basic theoretical knowledge, the focus is on solving typical problems in various subdisciplines of process engineering.  
Lecture notes  A script is provided (German language).  
Literature  Further literature will be announced during the course. For the successful completion of the course, the lecture notes, the slides of the lecture and the exercise materials are sufficient.  
Mechatronics and Robotics Focus Coordinator: Prof. Marco Hutter  
Number  Title  Type  ECTS  Hours  Lecturers  
151050900L  Acoustics in Fluid Media: From Robotics to Additive Manufacturing Note: The previous course title until HS21 "Microscale Acoustofluidics"  W  4 credits  3G  D. Ahmed  
Abstract  The course will provide you with the fundamentals of the new and exciting field of ultrasoundbased microrobots to treat various diseases. Furthermore, we will explore how ultrasound can be used in additive manufacturing for tissue constructs and robotics.  
Objective  The course is designed to equip students with skills in the design and development of ultrasoundbased manipulation devices and microrobots for applications in medicine and additive manufacturing.  
Content  Linear 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  
Lecture notes  Yes, incl. Chapters from the Tutorial: Microscale Acoustofluidics, T. Laurell and A. Lenshof, Ed., Royal Society of Chemistry, 2015  
Literature  Microscale Acoustofluidics, T. Laurell and A. Lenshof, Ed., Royal Society of Chemistry, 2015  
Prerequisites / Notice  Solid and fluid continuum mechanics. Notice: The exercise part is a mixture of presentation, lab sessions ( both compulsary) and hand in homework.  
Competencies 
 
151057501L  Signals and Systems  W  4 credits  2V + 2U  A. Carron  
Abstract  Signals 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.  
Objective  Master the basics of signals and systems. Apply this knowledge to problems in the homework assignments and programming exercise.  
Content  Discretetime signals and systems. Fourier and zTransforms. Frequency domain characterization of signals and systems. System identification. Time series analysis. Filter design.  
Lecture notes  Lecture notes available on course website.  
Prerequisites / Notice  Control Systems I is helpful but not required.  
151060100L  Theory of Robotics and Mechatronics Does not take place this semester.  W  4 credits  3G  to be announced  
Abstract  This 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.  
Objective  Robotics 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.  
Content  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.  
Lecture notes  available.  
151060400L  Microrobotics  W  4 credits  3G  B. Nelson  
Abstract  Microrobotics 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 endofsemester examination.  
Objective  The 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, bioinspired design, and applications of the field.  
Content  Main 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 notes  The powerpoint slides presented in the lectures will be made available as pdf files. Several readings will also be made available electronically.  
Prerequisites / Notice  The lecture will be taught in English.  
151062100L  Microsystems I: Process Technology and Integration  W  6 credits  3V + 3U  M. Haluska, C. Hierold  
Abstract  Students are introduced to the fundamentals of semiconductors, the basics of micromachining and silicon process technology and will learn about the fabrication of microsystems and devices by a sequence of defined processing steps (process flow).  
Objective  Students are introduced to the basics of micromachining and silicon process technology and will understand the fabrication of microsystem devices by the combination of unit process steps ( = process flow).  
Content   Introduction to microsystems technology (MST) and micro electro mechanical systems (MEMS)  Basic silicon technologies: Thermal oxidation, photolithography and etching, diffusion and ion implantation, thin film deposition.  Specific microsystems technologies: Bulk and surface micromachining, dry and wet etching, isotropic and anisotropic etching, beam and membrane formation, wafer bonding, thin film mechanical properties. Application of selected technologies will be demonstrated on case studies.  
Lecture notes  Handouts (available online)  
Literature   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  
Prerequisites / Notice  Prerequisites: Physics I and II  
151064000L  Studies on Mechatronics The supervising professors can be selected in myStudies during registration of the course. For exceptions please contact the focus coordinator and Link. This course is not available to incoming exchange students.  W  5 credits  11A  Supervisors  
Abstract  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 2page proposal outlining the value, stateofthe art and study plan based on these articles. After feedback on the substance and technical writing by the instructor, project commences.  
Objective  The students are familiar with the challenges of the fascinating and interdisciplinary field of Mechatronics and Mikrosystems. They are introduced in the basics of independent nonexperimental scientific research and are able to summarize and to present the results efficiently.  
Content  The 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. stateoftheart, 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.  
Literature  will be available  
151091300L  Introduction to Photonics  W  4 credits  2V + 2U  R. Quidant, J. Ortega Arroyo  
Abstract  This 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.  
Objective  Photonics, 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 cuttingedge science, allowing for instance to image nanospecimens, detect diseases or sense very tiny forces. The purpose of this course is threefold: (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, antireflection 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.  
Content  I 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 HuygensFresnel 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) Multiwave 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) Scatteringbased 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  
Lecture notes  Class notes and handouts  
Literature  Optics (Hecht)  Pearson  
Prerequisites / Notice  Physics I, Physics II  
227011300L  Power Electronics  W  6 credits  4G  J. W. Kolar  
Abstract  Fields of application of power electronic converters; basic concept of switchmode voltage and current conversion; derivation of circuit structures of nonisolated and isolated DC/DC converters, AC/DC and DC/AC converter structures; analysis procedure and analysis of the operating behaviour and operating range; design criteria and design of main power components.  
Objective  Fields of application of power electronic converters; basic concept of switchmode voltage and current conversion; derivation of circuit structures of nonisolated and isolated DC/DC converters, AC/DC and DC/AC converter structures; analysis procedure and analysis of the operating behaviour and operating range; design criteria and design of main power components.  
Content  Fields of application and application examples of power electronic converters, basic concept of switchmode voltage and current conversion, pulsewidth modulation (PWM); derivation and operating modes (continuous and discontinuous current mode) of DC/DC converter topologies, buck / boost / buckboost converter; extension to DC/AC conversion using differences of unipolar output voltages varying over time; singlephase diode rectifier; boosttype PWM rectifier featuring sinusoidal input current; tolerance band AC current control and cascaded output voltage control with inner constant switching frequency current control; local and global averaging of switching frequency discontinuous quantities for calculation of component stresses; threephase AC/DC conversion, centertap rectifier with impressed output current, thyristor function, thyristor centertap and fullbridge converter, rectifier and inverter operation, control angle and recovery time, inverter operation limit; basics of inductors and singlephase transformers, design based on scaling laws; Isolated DCDC converter, flyback and forward converter, singleswitch and twoswitch circuit; singlephase DC/AC conversion, fourquadrant converter, unipolar and bipolar modulation, fundamental frequency model of ACside operating behaviour; threephase DC/AC converter with starconnected threephase load, zero sequence (commonmode) and current forming differentialmode output voltage components, fundamental frequency modulation and PWM with singe triangular carrier and individual carrier signals of the phases.  
Lecture notes  Lecture notes and associated exercises including correct answers, simulation program for interactive selflearning including visualization/animation features.  
Prerequisites / Notice  Prerequisites: Basic knowledge of electrical engineering / electric circuit analysis and signal theory.  
Competencies 
 
227012400L  Embedded Systems  W  6 credits  4G  M. Magno, L. Thiele  
Abstract  An 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.  
Objective  Understanding specific requirements and problems arising in embedded system applications. Understanding architectures and components, their hardwaresoftware interfaces, the memory architecture, communication between components, embedded operating systems, realtime scheduling theory, shared resources, lowpower and lowenergy 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.  
Content  An 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, internetofthings, 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 computerbased 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, hardwaresoftware interfaces and memory architecture, software design methodology, communication, embedded operating systems, realtime scheduling, shared resources, lowpower and lowenergy design, hardware architecture synthesis. More information is available at Link .  
Lecture notes  The following information will be available: Lecture material, publications, exercise sheets and laboratory documentation at Link .  
Literature  P. Marwedel: Embedded System Design, Springer, ISBN 9783319560458, 2018. G.C. Buttazzo: Hard RealTime Computing Systems. Springer Verlag, ISBN 9781461406761, 2011. Edward A. Lee and Sanjit A. Seshia: Introduction to Embedded Systems, A CyberPhysical Systems Approach, Second Edition, MIT Press, ISBN 9780262533812, 2017. M. Wolf: Computers as Components – Principles of Embedded System Design. Morgan Kaufman Publishers, ISBN 9780128053874, 2016.  
Prerequisites / Notice  Prerequisites: Basic knowledge in computer architectures and programming.  
227051710L  Fundamentals of Electric Machines  W  6 credits  4G  D. Bortis, R. Bosshard  
Abstract  This 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.  
Objective  The 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.  
Content  ‐ 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 (dqtransformation). ‐ Loss components in electric machines, scaling laws of electromechanical actuators. ‐ Mechanical and thermal modelling.  
Lecture notes  Lecture notes and associated exercises including correct answers  
376150400L  Physical Human Robot Interaction (pHRI)  W  4 credits  2V + 2U  O. Lambercy  
Abstract  This course focuses on the emerging, interdisciplinary field of physical humanrobot interaction, bringing together themes from robotics, realtime control, human factors, haptics, virtual environments, interaction design and other fields to enable the development of humanoriented robotic systems.  
Objective  The 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 handson 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 humanrobot 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 humanrobot 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 humaninteractive 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.  
Content  This course provides an introduction to fundamental aspects of physical humanrobot interaction. After an overview of human haptic, visual and auditory sensing, neurophysiology and psychophysics, principles of humanrobot 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 humanrobot 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 (Link), 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.  
Lecture notes  Will be distributed on Moodle before the lectures.  
Literature  Abbott, J. and Okamura, A. (2005). Effects of position quantization and sampling rate on virtualwall 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 humanrobot 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 zwidth 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 userspecific 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). Timedomain passivity control of haptic interfaces. Robotics and Automation, IEEE Transactions on, 18(1):1  10. HashtrudiZaad, 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 RESEARCHINTERNATIONAL SYMPOSIUM, volume 7, pages 195206. 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). Passivitybased highfidelity 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 forcefeedback joystick to teach dynamic systems. JOURNAL OF ENGINEERING EDUCATIONWASHINGTON, 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 zwidth 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 zwidth of a haptic device using acceleration feedback. Haptics: Perception, Devices and Scenarios, pages 157162.  
Prerequisites / Notice  Notice: 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. Link  
Microsystems and Nanoscale Engineering Focus Coordinator: Prof. Christofer Hierold  
Number  Title  Type  ECTS  Hours  Lecturers  
151062100L  Microsystems I: Process Technology and Integration  W+  6 credits  3V + 3U  M. Haluska, C. Hierold  
Abstract  Students are introduced to the fundamentals of semiconductors, the basics of micromachining and silicon process technology and will learn about the fabrication of microsystems and devices by a sequence of defined processing steps (process flow).  
Objective  Students are introduced to the basics of micromachining and silicon process technology and will understand the fabrication of microsystem devices by the combination of unit process steps ( = process flow).  
Content   Introduction to microsystems technology (MST) and micro electro mechanical systems (MEMS)  Basic silicon technologies: Thermal oxidation, photolithography and etching, diffusion and ion implantation, thin film deposition.  Specific microsystems technologies: Bulk and surface micromachining, dry and wet etching, isotropic and anisotropic etching, beam and membrane formation, wafer bonding, thin film mechanical properties. Application of selected technologies will be demonstrated on case studies.  
Lecture notes  Handouts (available online)  
Literature   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  
Prerequisites / Notice  Prerequisites: Physics I and II  
151050900L  Acoustics in Fluid Media: From Robotics to Additive Manufacturing Note: The previous course title until HS21 "Microscale Acoustofluidics"  W  4 credits  3G  D. Ahmed  
Abstract  The course will provide you with the fundamentals of the new and exciting field of ultrasoundbased microrobots to treat various diseases. Furthermore, we will explore how ultrasound can be used in additive manufacturing for tissue constructs and robotics.  
Objective  The course is designed to equip students with skills in the design and development of ultrasoundbased manipulation devices and microrobots for applications in medicine and additive manufacturing.  
Content  Linear 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  
Lecture notes  Yes, incl. Chapters from the Tutorial: Microscale Acoustofluidics, T. Laurell and A. Lenshof, Ed., Royal Society of Chemistry, 2015  
Literature  Microscale Acoustofluidics, T. Laurell and A. Lenshof, Ed., Royal Society of Chemistry, 2015  
Prerequisites / Notice  Solid and fluid continuum mechanics. Notice: The exercise part is a mixture of presentation, lab sessions ( both compulsary) and hand in homework.  
Competencies 

 Page 1 of 4 All