Teaching

Teaching at NJIT

• Introduction to System Dynamics (ME-305)
• Course outline
  • Mathematical review: complex algebra, linear differential equations, and Laplace transforms
  • Inverse Laplace transforms and system response
  • Modeling of mechanical systems
  • Work, energy, and energy-based modeling methods
  • Block diagrams and transfer functions
  • Electromechanical systems
  • Transient response analysis and system response specifications
  • Impulse response and frequency-domain analysis
  • Frequency response, Bode plots, and vibration isolation
  • State-space modeling of dynamical systems
  • Introduction to control systems
  • Automatic controllers and controller design
  • Advanced topic: control of a UAV
  • Review

Teaching at University of Waterloo, Fall 2018, Instructor

Autonomous Mobile Robotics (MTE-544)

• Upper year undergraduate full course
• Class consisting of almost 100 students
• Course outline
  • Introduction, Probability, State Space
  • Coordinate Transforms, Motion Modeling
  • Measurement Modeling, Estimation: Bayes Filter
  • Estimation: Kalman Filter, Extended Kalman Filter
  • Estimation: Particle Filter, Mapping: Localization
  • Mapping: Mapping, EKF SLAM
  • Mapping: Graph SLAM
  • Mapping: Scan Registration
  • Control: Linear, Nonlinear
  • Planning: Motion Primitives, Graph Based
  • Planning: Probabilistic, Optimal
  • Special topics: Geometric controls
• Three lab modules involving ROS and real robots (turtle-bots)
  • lab 1: mapping
  • lab 2: localization
  • lab 3: SLAM

Teaching Assistant at University of Waterloo

• Department of Mechanical and Mechatronics Engineering,University of Waterloo, Ontario, Canada
  • ME-262: Introduction to Microprocessors and Digital Logic, Fall Term 2016.
  • ME-202: Introduction to Probability and Statistical Analysis, Winter Term 2015.
  • ME-201: Advanced Calculus, Fall Term 2014.
  • ME-262: Introduction to Microprocessors and Digital Logic, Spring Term 2014.
  • MTE-360: Introduction to Control Systems, Winter Term 2014.
  • ME-262: Introduction to Microprocessors and Digital Logic, Summer Term 2013.
  • ME-202: Introduction to Probability and Statistical Analysis, Winter Term 2013.
  • ME-262: Introduction to Microprocessors and Digital Logic, Summer Term 2012.
  • ME-360: Introduction to Control Systems, Winter Term 2012
  • ME-547: Robot Manipulators: Kinematics, Dynamics, Control, Winter Term 2012.
• Department of Electrical and Computer Engineering,University of Waterloo, Ontario, Canada.
  • ECE-380: Analog Control Systems, Winter Term 2011.
  • ECE-484: Digital Control Applications, Fall Term 2010.
  • ECE-484: Digital Control Applications, Summer Term 2010