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Description of Individual Course Units

Course Unit Code Course Unit Title Type Of Course D U L ECTS MAT 5028 INTRODUCTION TO THEORETICAL KINEMATICS ELECTIVE 3 0 0 7

Offered By

Graduate School of Natural and Applied Sciences

Level of Course Unit

Second Cycle Programmes (Master's Degree)

Course Coordinator

ASSOCIATE PROFESSOR ILHAN KARAKILIÇ

Offered to

Mathematics (English) Mathematics (English)

Course Objective

The aim of this course is to introduce the fundamental concepts in Theoretical Kinematics, and also perform this topics particularly in Robot Analysis.

Learning Outcomes of the Course Unit

1   Will be able to define displacements. 2   Will be able to discuss motions. 3   Will be able to define screws. 4   Will be able to use quaternions in displacements 5   Will be able to understand some about mechanisms.

Mode of Delivery

Face -to- Face

Prerequisites and Co-requisites

None

Recomended Optional Programme Components

None

Course Contents

Week Subject Description 1 Displacements 2 Rigid Transformations, Homogeneous Transforms 3 Planar Displacements, Pole Points 4 Spherical Displacements, Cayley s Formula, Rodrigues Equation 5 Spatial Displacements 6 The Screw Axis of a Displacement 7 Motion Of a Rigid Body 8 Problem Solving MIdterm 9 Matrix Groups 10 The Derivative of a Motion 11 The Tangent Operators 12 Screw Theory 13 Screw Coordinate Transformations, Plücker Coordinates 14 Quaternions in Kinematics

Recomended or Required Reading

McCarthy, J.M., Introduction to Theoretical Kinematics, MIT Press, 1990.

Planned Learning Activities and Teaching Methods

Lecture notes Presentation Problem solving

Assessment Methods

SORTING NUMBER SHORT CODE LONG CODE FORMULA 1 ASG ASSIGNMENT 2 MTE MIDTERM EXAM 3 FIN FINAL EXAM 4 FCG FINAL COURSE GRADE ASG * 0.30 + MTE * 0.30 + FIN * 0.40 5 RST RESIT 6 FCGR FINAL COURSE GRADE (RESIT) ASG * 0.30 + MTE * 0.30 + RST * 0.40 *** Resit Exam is Not Administered in Institutions Where Resit is not Applicable.

Further Notes About Assessment Methods

None

Assessment Criteria

To be announced.

Language of Instruction

English

Course Policies and Rules

Attending at least 70 percent of lectures is mandatory.

Contact Details for the Lecturer(s)

e-mail: ilhan.karakilic@deu.edu.tr Office: (232) 301 85 89

Office Hours

To be announced.

Work Placement(s)

None

Workload Calculation

Activities Number Time (hours) Total Work Load (hours) Lectures 13 3 39 Preparations before/after weekly lectures 14 3 42 Preparation for midterm exam 1 15 15 Preparation for final exam 1 25 25 Preparing assignments 10 5 50 Midterm 1 3 3 Final 1 3 3 TOTAL WORKLOAD (hours) 177

Contribution of Learning Outcomes to Programme Outcomes

PO/LO PO.1 PO.2 PO.3 PO.4 PO.5 PO.6 PO.7 PO.8 PO.9 PO.10 PO.11 LO.1 4 3 3 2 2 2 4 3 3 3 LO.2 4 3 3 2 2 2 4 3 3 3 LO.3 4 3 3 2 2 2 4 3 3 3 LO.4 4 3 3 2 2 2 4 3 3 3 LO.5 4 3 3 2 2 2 4 3 3 3