Courses 2024-25

Mechatronics is the multi-disciplinary design of electro-mechanical systems. This course is intended to give the student a basic introduction to such systems. The course will focus on the implementations of sensor and actuator systems, the mechanical devices involved and the electrical circuits needed to interface with them. The class will consist of lectures and short labs where the student will be able to investigate the concepts discussed in lecture. Topics covered include motors, piezoelectric devices, light sensors, ultrasonic transducers, and navigational sensors such as accelerometers and gyroscopes. Graded pass/fail.

This course examines the range of concepts and engineering approaches applicable to robotics. This includes tools from mechanical design and fabrication, mathematical analysis of mechanisms, a variety of sensors, programming at all levels, algorithms to interpret visual images, and planners to determine actions. Robots also act in a larger context, involving human-robot interactions, social cues, and even raising ethical questions. The course will explore these topics through hardware and software mini-projects. Lab work will combine instructor-led, mandatory sessions with additional self-paced times. Open only to first-year students. Sophomore students by permission of the instructor.

A series of weekly seminars by practicing engineers in industry and academia to introduce students to principles and techniques useful for Mechanical Engineering. The course can be used to learn more about the different areas of study within Mechanical Engineering. Topics will be presented at an informal, introductory level. Required for ME undergraduates. Graded pass/fail.

An introduction to classical thermodynamics and transport with engineering applications. First and second laws; closed and open systems; properties of a pure substance; availability and irreversibility; generalized thermodynamic relations; gas and vapor power cycles; propulsion; mixtures; combustion and thermochemistry; chemical equilibrium; momentum and heat transfer including boundary layers with applications to internal and external flows. Not offered on a pass/fail basis.

An introduction to statics and dynamics of rigid bodies, deformable bodies, and fluids. Equilibrium of force systems, principle of virtual work, distributed force systems, friction, static analysis of rigid and deformable structures, hydrostatics, kinematics, particle dynamics, rigid-body dynamics, Euler's equations, ideal flow, vorticity, viscous stresses in fluids, dynamics of deformable systems, waves in fluids and solids. Not offered on a pass/fail basis.

Enrollment is limited and is based on responses to a questionnaire available in the Registrar's Office. Introduction to the technologies and practices needed to fabricate mechanical prototypes. Students will acquire the fundamental skills necessary to begin using 3D Computer-Aided Design (CAD) software. Students will learn how to build parametric models of parts and assemblies and learn how to generate detailed drawings of their designs. Students will also be introduced to manual machining techniques, as well as computer-controlled prototyping technologies, such as three-dimensional printing, laser cutting, and water jet cutting. Students will receive safety-training, instruction on the theories underlying different machining methods, and hands-on demonstrations of machining and mechanical assembly methods. Several prototypes will be constructed using the various technologies available in the Mechanical Engineering Machine Shop.

Enrollment is limited and is based on responses to a questionnaire available in the Registrar's office. Introduction to mechanical engineering design, fabrication, and visual communication. Principles of mechanical engineering design are taught through a series of lectures and short group-based design projects with an emphasis on formal design reviews and team competitions. Course lectures address the strength properties of engineering materials, statistical descriptions of stress and strength, design safety factors, static and variable loading design criteria, engineering case studies, and the design of mechanical elements. Group-based projects include formal design reviews and involve substantial use of the machine shop and maker-space facilities, for the construction of working prototypes. Not offered on a pass/fail basis.

Enrollment is limited and is based on responses to a questionnaire available in the Registrar's office. Introduction to computer numerical control machining. Students will learn to create Gcode and Mcode using Computer-Aided Manufacturing (CAM) software; they will be instructed on how to safely prepare and operate the machine's functions; and will be taught how to implement programmed data into several different types of CNC equipment. The class will cover the parts and terminology of the equipment, fixturing materials, setting workpiece, and tool offsets. Weekly assignments will include the use of CAM software, machine operation demonstrations, and machining projects.

A faculty mentor will oversee a student proposed, independent research or study project to meet the needs of undergraduate students. Graded pass/fail. The consent of a faculty mentor and a written report is required for each term of work.

Fundamentals of fluid mechanics. Microscopic and macroscopic properties of liquids and gases; the continuum hypothesis; review of thermodynamics; general equations of motion; kinematics; stresses; constitutive relations; vorticity, circulation; Bernoulli's equation; potential flow; thin-airfoil theory; surface gravity waves; buoyancy-driven flows; rotating flows; viscous creeping flow; viscous boundary layers; introduction to stability and turbulence; quasi one-dimensional compressible flow; shock waves; unsteady compressible flow; and acoustics.

Introduction to continuum mechanics: kinematics, balance laws, constitutive laws with an emphasis on solids. Static and dynamic stress analysis. Two- and three-dimensional theory of stressed elastic solids. Wave propagation. Analysis of rods, plates and shells with applications in a variety of fields. Variational theorems and approximate solutions. Elastic stability.

Thermodynamics and statistical mechanics, with emphasis on gases, liquids, materials, and condensed matter. Effects of heat, pressure, and fields on states of matter are presented with both classical thermodynamics and with statistical mechanics. Conditions of equilibrium in systems with multiple degrees of freedom. Applications include ordered states of matter and phase transitions. The three terms cover, approximately, thermodynamics, statistical mechanics, and phase transitions.

Special laboratory work or experimental research projects may be arranged by members of the faculty to meet the needs of individual students as appropriate. A written report is required for each term of work.

Examines the Earth's resources including fresh water, nitrogen, carbon and other biogeochemical cycles that impose planetary constraints on engineering; systems approaches to sustainable development goals; fossil fuel formation, chemical composition, production and use; engineering challenges and opportunities in decarbonizing energy, transportation and industry; global flows of critical elements used in zero-carbon energy systems; food-water-energy nexus; analysis of regional and local systems to model effects of human activities on air, water and soil.

Introduction to the mechanical behavior of solids, emphasizing the relationships between microstructure, architecture, defects, and mechanical properties. Elastic, inelastic, and plastic properties of crystalline and amorphous materials. Relations between stress and strains for different types of materials. Introduction to dislocation theory, motion and forces on dislocations, strengthening mechanisms in crystalline solids. Nanomaterials: properties, fabrication, and mechanics. Architected solids: fabrication, deformation, failure, and energy absorption. Biomaterials: mechanical properties of composites, multi-scale microstructure, biological vs. synthetic, shear lag model. Fracture in brittle solids and linear elastic fracture mechanics.

Energy technologies and the impact of government policy. Fossil fuels, nuclear power, and renewables for electricity production and transportation. Resource models and climate change policies. New and emerging technologies.

Fundamentals of Classical Thermodynamics. Basic laws of thermodynamics, work and heat, entropy and available work, and thermal systems. Equations of state, compressibility functions, and the Law of Corresponding States. Thermodynamic potentials, phase equilibrium, phase transitions, and thermodynamic properties of solids, liquids, and gases. Examples will be drawn from fluid dynamics, solid mechanics, energy systems, and thermal-science applications.

Transport properties, conservation equations, conduction heat transfer, convective heat and mass transport in laminar and turbulent flows, phase change processes, thermal radiation.

The course develops the core concepts of robotics. The first quarter focuses on classical robotic manipulation, including topics in rigid body kinematics and dynamics. It develops planar and 3D kinematic formulations and algorithms for forward and inverse computations, Jacobians, and manipulability. The second quarter transitions to planning, navigation, and perception. Topics include configuration space, sample-based planners, A* and D* algorithms, to achieve collision-free motions. Course work transitions from homework and programming assignments to more open-ended team-based projects.

This course builds up, and brings to practice, the elements of robotic systems at the intersection of hardware, kinematics and control, computer vision, and autonomous behaviors. It presents selected topics from these domains, focusing on their integration into a full sense-think-act robot. The lectures will drive team-based projects, progressing from building custom robotic arms (5 to 7 degrees of freedom) to writing all necessary software (utilizing the Robotics Operating system, ROS). Teams are required to implement and customize general concepts for their selected tasks. Working systems will autonomously operate and demonstrate their capabilities during final presentations.

Students attend a graduate seminar each week of each term and submit a report about the attended seminars. At least four of the attended seminars each term should be from the Mechanical and Civil Engineering seminar series. Students not registered for the M.S. and Ph.D. degrees must receive the instructor's permission. Graded pass/fail.

Elements of Cartesian tensors. Configurations and motions of a body. Kinematics-study of deformations, rotations and stretches, polar decomposition. Lagrangian and Eulerian strain velocity and spin tensor fields. Irrotational motions, rigid motions. Kinetics-balance laws. Linear and angular momentum, force, traction stress. Cauchy's theorem, properties of Cauchy's stress. Equations of motion, equilibrium equations. Power theorem, nominal (Piola-Kirchoff) stress. Thermodynamics of bodies. Internal energy, heat flux, heat supply. Laws of thermodynamics, notions of entropy, absolute temperature. Entropy inequality (Clausius-Duhem). Examples of special classes of constitutive laws for materials without memory. Objective rates, corotational, convected rates. Principles of materials frame indifference. Examples: the isotropic Navier-Stokes fluid, the isotropic thermoelastic solid. Basics of finite differences, finite elements, and boundary integral methods, and their applications to continuum mechanics problems illustrating a variety of classes of constitutive laws. part b not offered 2024-25

The mechanical response of brittle materials (ceramics, glasses and some network polymers) will be treated using classical elasticity, energy criteria, and fracture mechanics. The influence of environment and microstructure on mechanical behavior will be explored. Transformation toughened systems, large-grain crack-bridging systems, nanostructured ceramics, porous ceramics, anomalous glasses, and the role of residual stresses will be highlighted. Strength, flaw statistics and reliability will be discussed.

Mobile robots need to perceive their environment and localize themselves with respect to maps thereof. They further require planners to move along collision-free paths. This course builds up mobile robots in team-based projects. Teams will write all necessary software from low-level hardware I/O to high level algorithms, using the robotic operating system (ROS). The final systems will autonomously maneuver to reach their goals or track various objectives.

Climate change has already begun to impact life on the planet, and will continue in the coming decades. This class will explore particular causes and impacts of climate change, technologies to mitigate or adapt to those impacts, and the economic and social costs associated with them - particular focus will be paid to distributional issues, environmental and racial justice and equity intersections. The course will consist of 3-4 topical modules, each focused on a specific impact or sector (e.g. the electricity or transportation sector, climate impacts of food and agriculture, increasing fires and floods). Each module will contain lectures/content on the associated climate science background, engineering/technological developments to combat the issue, and an exploration of the economics and the inequities that exacerbate the situation, followed by group discussion and synthesis of the different perspectives.

A faculty mentor will oversee a student proposed, independent research or study project to meet the needs of graduate students. Graded pass/fail. The consent of a faculty mentor and a written report is required for each term of work.

The faculty will prepare courses on advanced topics to meet the needs of graduate students.

Heterogenous materials. Notion of effective properties. Homogenization theory and applications to linear conductivity, elasticity and viscoelasticity. Effective properties in non-linear setting and instabilities. Wave propagation and meta-materials. Bandgaps.

Development and analysis of algorithms used in the solution of fluid mechanics problems. Numerical analysis of discretization schemes for partial differential equations including interpolation, integration, spatial discretization, systems of ordinary differential equations; stability, accuracy, aliasing, Gibbs and Runge phenomena, numerical dissipation and dispersion; boundary conditions. Survey of finite difference, finite element, finite volume and spectral approximations for the numerical solution of the incompressible and compressible Euler and Navier-Stokes equations, including shock-capturing methods.

Advanced topics in robotic motion planning and navigation, including inertial navigation, simultaneous localization and mapping, Markov Decision Processes, Stochastic Receding Horizon Control, Risk-Aware planning, robotic coverage planning, and multi-robot coordination. Course work will consist of homework, programming projects, and labs. Given in alternate years.

Introduction to elastodynamics and waves in solids. Fracture theory, energy concepts, cohesive zone models. Friction laws, nucleation of frictional instabilities, rupture of frictional interfaces. Radiation from moving cracks. Thermal effects during dynamic fracture and faulting. Interaction of faulting with fluids. Applications to engineering phenomena a physics and mechanics of earthquakes.

Research in the field of mechanical engineering. By arrangement with members of the faculty, properly qualified graduate students are directed in research.