The "sense-and-correct" nature of feedback controllers make them an appealing choice for systems whose actuators, or environments, are highly variable. If the system also requires high performance (e.g. an industrial robot, a car, or an aircraft), the usual approach is to use a state-space feedback controller derived from a physics-based model. And when performance is less critical (e.g. for toys and appliances), the traditional choice has been to tune a low-cost proportional-derivative-integral (PID) controller. Over the last few years, much has changed. The dramatic decline in the cost of accurate sensors and fast microcontrollers have made state-space controllers practical even for inexpensive toys. In addition, modeling approaches have become far more reliant on measurement and computation rather than physics and analysis. In this course, we examine the theory and application of this arc of alternatives to control, starting with PID, then moving to physical-modeling and state-space, and ending with state-space using measurement-based modeling. In each case, you will design and test controllers with your own copter-levitated arm, to solidify your understanding and to gain insight in to the practical issues. PLEASE NOTE: This is intended to be an advanced course and students should have a background in linear algebra and differential equations, as well as some experience with control systems. IN ADDITION: THIS IS A BETA COURSE, THINGS WILL GO WRONG. We are testing a new type of on-line class, one where students use advanced concepts to design and then examine performance results on their own hardware. There will be difficulties, and we will be updating content and focus in response to student input.

Robotics is commonly defined as the study of the intelligent connection between perception and action. As such, the full scope of robotics lies at the intersection of mechanics, electronics, signal processing, control engineering, computing, and mathematical modeling. Within this very broad framework, modeling and control play a basic role - not only in the traditional context of industrial robotics, but also for the advanced applications of field and service robots, which have attracted increasing interest from the research community in the last twenty years. Robotics foundations are dealt with in this two-part course. The first part covers robot modelling. Kinematics of robot manipulators is derived using a systematic approach based on the Denavit-Hartenberg convention and the use of homogeneous transformations. The inverse kinematics problem is analyzed and closed-form solutions are found for typical manipulation structures. The Jacobian is then introduced as the fundamental tool to describe differential kinematics, determine singular configurations, analyze redundancy, derive the statics model and even formulate inverse kinematics algorithms. The equations of motion of a robotic system are found on the basis of the dynamic model which is useful for motion simulation and control algorithm synthesis. Two approaches respectively based on Lagrange formulation and Newton-Euler formulation are pursued.

In this engineering course you will learn how to analyze bridges from three perspectives: Efficiency = calculations of forces/stresses Economy = evaluation of societal context and cost Elegance = form/appearance based on engineering principles, not decoration With a focus on some significant bridges built since the industrial revolution, the course illustrates how engineering is a creative discipline and can become art. We also show the influence of the economic and social context in bridge design and the interplay between forces and form. This is the first of three courses on the Art of Structural Engineering, each of which are independent of each other. The two other courses will be on tall buildings/towers and vaults. No certificates, statements of accomplishment, or other credentials will be awarded in connection with this course.

There is no doubt that technological innovation is one of the key elements driving human progress. However, new technologies also raise ethical questions, have serious implications for society and the environment and pose new risks, often unknown and unknowable before the new technologies reach maturity. They may even lead to radical disruptions. Just think about robots, self-driving vehicles, medical engineering and the Internet of Things. They are strongly dependent on social acceptance and cannot escape public debates of regulation and ethics. If we want to innovate, we have to do that responsibly. We need to reflect on –and include- our societal values in this process. This course will give you a framework to do so. The first part of the course focuses on ethical questions/framework and concerns with respect to new technologies. The second part deals with (unknown) risks and safety of new technologies including a number of qualitative and quantitative risk assessment methods. The last part of the course is about the new, value driven, design process which take into account our societal concerns and conflicting values. Case studies (ethical concerns, risks) for reflection and discussions during the course include – among others- the coronavirus, nanotechnology, self-driving vehicles, robots, AI, big data & health, nuclear energy and CO2 capture and coolants. Affordable (frugal) innovations for low-income groups and emerging markets are also covered in the course. You can test and discuss your viewpoint. The course is for all engineering students who are looking for a methodical approach to judge responsible innovations from a broader – societal- perspective.

In this engineering course you will learn how to analyze vaults (long-span roofs) from three perspectives: Efficiency = calculations of forces/stresses Economy = evaluation of societal context and cost Elegance = form/appearance based on engineering principles, not decoration We explore iconic vaults like the Pantheon, but our main focus is on contemporary vaults built after the industrial revolution. The vaults we examine are made of different materials, such as tile, reinforced concrete, steel and glass, and were created by masterful engineers/builders like Rafael Guastavino, Anton Tedesko, Pier Luigi Nervi, Eduardo Torroja, Félix Candela, and Heinz Isler. This course illustrates: how engineering is a creative discipline and can become art the influence of the economic and social context in vault design the interplay between forces and form The course has been created for a general audience—no advanced math or engineering prerequisites are needed.  This is the second of three courses on the Art of Structural Engineering, each of which are independent of each other. The course on bridges was launched in 2016, and another course will be developed on buildings/towers.

Have you ever wondered why ventilation helps to cool down your hot chocolate? Do you know why a surfing suit keeps you warm? Why iron feels cold, while wood feels warm at room temperature? Or how air is transferred into aqueous liquids in a water treatment plant? How can we sterilize milk with the least amount of energy? How does medicine spread in our tissue? Or how do we design a new cooling tower of a power plant? All these are phenomena that involve heat transfer, mass transfer or fluid flow. Transport Phenomena investigates such questions and many others, exploring a wide variety of applications ranging from industrial processes to environmental engineering, to transport processes in our own body and even simple daily life problems In this course we will look into the underlying concepts of these processes, that often take place simultaneously, and will teach you how to apply them to a variety of real-life problems. You will learn how to model the processes and make quantitative statements.

Electric vehicles are the future of transportation. Electric mobility has become an essential part of the energy transition, and will imply significant changes for vehicle manufacturers, governments, companies and individuals. If you are interested in learning about the electric vehicle technology and how it can work for your business or create societal impact, then this is the course for you. The experts of TU Delft, together with other knowledge institutes and companies in the Netherlands, will prepare you for upcoming developments amid the transition to electric vehicles. You'll explore the most important aspects of this new market, including state-of-the-art technology of electric vehicles and charging infrastructure; profitable business models for electric mobility; and effective policies for governmental bodies, which will accelerate the uptake of electric mobility. The course includes video lectures, presentations and exercises, which are all reinforced with real-world case studies from projects that were implemented in the Netherlands. The production of this course would not have been possible without the contributions of the Dutch Innovation Centre for Electric Road Transport (D-INCERT) and is taught by experts from both industry and academia, who share their knowledge and insights.

Have you wondered how something was manufactured? Do you want to learn what it takes to turn your design into a finished product at scale? This course introduces a wide range of manufacturing processes including machining, injection molding, casing, and 3D printing; and explains the fundamental and practical aspects of manufacturing at scale. For each process, 2.008x explains the underlying physical principles, provides several examples and demonstrations, and summarizes design for manufacturing principles. Modules are also included on cost estimation, quality and variation, and sustainability. New content added in 2020 includes multimedia examinations of product disassembly and select updated lecture videos. Together, the content will enable you to design a manufacturing process for a multi-part product, make quantitative estimates of cost and throughput, and recognize important constraints and tradeoffs in manufacturing processes and systems. The course concludes with a perspective on sustainability, digitization, and the worldwide trajectory of manufacturing.

Classical detectors and sensors are ubiquitous around us from heat sensors in cars to light detectors in a camera cell phone. Leveraging advances in the theory of noise and measurement, an important paradigm of quantum metrology has emerged. Here, ultra-precision measurement devices collect maximal information from the world around us at the quantum limit. This enables a new frontier of perception that promises to impact machine learning, autonomous navigation, surveillance strategies, information processing, and communication systems. Students in this in-depth course will learn the fundamentals about state-of-the-art quantum detectors and sensors. They will also learn about quantum noise and how it limits quantum devices. The primary goal of the course is to empower students with a critical and deep understanding of emerging applications at the quantum-classical boundary. This will allow them to adopt quantum detectors and sensors for their own endeavors.

This physics course, taught by world-renowned experts in the field, will provide you with an overview of applications in plasma physics. From the study of far distant astrophysical objects, over diverse applications in industry and medicine, to the ultimate goal of sustainable electricity generation from nuclear fusion. In the first part of this course, you will learn how nuclear fusion powers our Sun and the stars in the Universe. You will explore the cyclic variation of the Sun’s activity, how plasma flows can generate large-scale magnetic fields, and how these fields can reconnect to release large amounts of energy, manifested, for instance, by violent eruptions on the Sun. The second part of this course discusses the key role of plasma applications in industry and introduces the emerging field of plasma medicine. You will learn in detail how plasmas are generated and sustained in strong electric fields, why plasmas are indispensable for the manufacturing of today’s integrated circuits, and what the prospects are of plasma treatments in cancerology, dentistry and dermatology. In the third and most extensive part of this course, you will familiarize yourself with the different approaches to fusion energy, the current status, and the necessary steps from present-day experimental devices towards a fusion reactor providing electricity to the grid. You will learn about the key ingredients of a magnetic fusion reactor, how to confine, heat, and control fusion plasmas at temperatures of 100 million degrees Kelvin, explore the challenges of plasma wall interactions and structural materials, and the importance of superconductivity. Finally, in the fourth part of this course, you will learn about laser-created plasmas and the interaction between plasmas and high-power laser pulses. Applications range from energy production by thermonuclear fusion to laboratory astrophysics, creation of intense sources of high-energy particle and radiation beams, and fundamental studies involving high-field quantum electrodynamics. To enjoy this course on plasma applications, it is recommended to first familiarize yourself with the plasma physics basics taught in Plasma Physics: Introduction .