BE Biomedical Engineering Semester 8 (BE Fourth Year)University of Mumbai
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Robotics in Medicine Semester 8 (BE Fourth Year) BE Biomedical Engineering University of Mumbai Topics and Syllabus

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CBCGS [2019 - current]
CBGS [2015 - 2018]
Old [2000 - 2014]

Topics with syllabus and resources

100.00 Module 1 - Introduction
  • Automation and Robots
  • Classification
  • Application
  • Specification
  • Notations.
200.00 Module 2 - Direct Kinematics Dot and Cross Products
  • Direct Kinematics Dot and cross products
  • Coordinate frames
  • Rotations
  • Homogeneous coordinates
  • Link coordination arm equation, (Five- axis robot, Fouraxis robot, Six-axis robot).
300.00 Module 3 - Inverse Kinematics, Workspace Analysis
  • Inverse Kinematics
  • General properties of solutions tool configuration
  • Five axis robots
  • Three-Four axis
  • Six axis robot(Inverse Kinematics).
  • Workspace analysis and trajectory planning work envelope and examples
  • Workspace fixtures
  • Pick and place operations
  • Continuous path motion
  • Interpolated motion
  • Straight-line motion.
400.00 Module 4 - Robot Vision Image Representation, Shane Analysis
  • Robot Vision Image representation
  • Template matching
  • Polyhedral objects
  • Shane analysis
  • Segmentation (Thresholding, region labeling, Shrink operators, Swell operators, Euler numbers, Perspective transformation, Structured illumination, Camera calibration).
500.00 Module 5 - Task Planning
  • Task Planning
  • Task level programming
  • Uncertainty
  • Configuration
  • Space
  • Gross motion
  • Planning
  • Grasp Planning
  • Fine-motion planning
  • Simulation of planar motion
  • Source and Goal scenes
  • Task Planner simulation.
600.00 Module 6 - Applications in Biomedical Engineering
  • Applications in Biomedical Engineering Application in rehabilitation, Clinical and Surgery
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