DISCRIPTION OF THE COURSE

pressdeadmancrossingΤεχνίτη Νοημοσύνη και Ρομποτική

14 Νοε 2013 (πριν από 3 χρόνια και 11 μήνες)

350 εμφανίσεις



List OS4 (
BAICE43

EСТК 5)

L4O1

Digital Control Systems

L4O
2

Analogue Electronic Measurement Instruments

L4O
3

Automation of Manufacturing Mechanisms


L4O
4

Process Modelling and Optimization

L4O
5

Biotechnological
Measurements

L4O
6

Artificial Intellige
nce


DISCRIPTION OF THE COURSE


Name of the course:

Digital
Control Systems

Code:
BAICE43


Semester:
7


Type of teaching:

Lectures
,
Laboratory work
,

Course work

Lessons per week:

L

2 hours,

LW


1.5 hours

Number of Credits:
5


LECTURER
:

Assoc. Prof.

Emil Garipov PhD. (FA)


tel.: 965 3459,
email
:
emgar@tu
-
sofia.bg

,

Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
:
Optional for the students specialty Automation,
Information and Control Engineeri
ng, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE
:
Students, which are familiar with the bases of
the control theory, have to study the main design digital controller methods and extend their
knowledge into the investigation of d
igital control systems.

DISCRIPTIONS OF THE COURSE
:
The lectures cover the tuning and implementation of digital
controllers after parameter optimization (PID controllers in various modification forms, unified
PID), Dahlin compensators, Kalman, Isermann an
d own
-
type dead
-
beat controllers, modal
controllers, minimum variance controllers, linear quadratic controllers, predictive controllers, etc.
The numerical complexity of the teaching design methods is examined and the presented algorithms
properties and ch
aracteristics depending on the different dynamic plants are drawn. The students
study the practical aspects of digital control systems operation in a condition of noise, time varying
point sets, errors after discretization, wind up effect, control signal c
onstraints, etc.

PREREQUISITES
: Control Theory, System Identification,
Control Theory
,
Systems and
Processes
Modelling

and Simulation
.

TEACHING METHODS
: Lectures supported by slides, laboratory works using the program
environment MATLAB/SIMULINK and own

program functions.

METHOD OF ASSESMENT
: Written final examination with short time discussion (70%),
laboratory report
defence
(20%), course works and personal
defence
(10%).

INSTRUCTION LANGUAGE
: Bulgarian language.

BIBLIOGRAPHY
: 1. Gar
ipov, Е. Digital Control Systems


vol. I and II, TU
-
Sofia, 2004. 2.
Velev, К. Adaptive systems, Sofia, 1995. 3. Astrom, K and T. Hagglund. PID Controllers (Sec. ed.).
Instrument Society of America, 1995.


DESCRIPTION OF THE COURSE


Name of the course:

Ana
logue
Electronic Measurement
Instruments

Code:
BAICE43

Semester: 7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈠桯畲猻s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Assoc. Prof. Ph.D. E. Yankov (FA)


tel.: 965 33 83

Technical
University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

The aim of the course is to provide
contempo
rary knowledge on the principles and metrological analyses of
analogue

electronic
measurement instruments.

DESCRIPTION OF THE COURSE:
The course includes basic working principles, theory,
schemes, design, metrological analyses of
analogue

electronic measur
ement instruments for
electrical quantities


voltage, current, power, faze shift, power factor, frequency, time delay and
their special blocks and components


instrumentation amplifiers, generators, transducers of
electrical to electrical quantities.

PRE
REQUISITES:

The course is based on
Electrical Engineering Theory
, Electric Measurements,
Analogue
Electronic Measurement Instruments
.

TEACHING METHODS
: lectures, laboratory work

METHOD OF ASSESSMENT:
Written Exam

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAP
HY:


1. Станчев, И. Б. "Електронни аналогови средства за измерване", Издателство на ТУ, С., 1994
г. 2. Станчев, И. Б., И. А. Куртев, Д. А. Самоковлийски, И. Н. Иванов и Е. А. Янков
"Електронни измервателни уреди (аналогови)", ръководство за лабораторни упражне
ния,
Издателство на ВМЕИ, 1978 г.



DESCRIPTION OF THE COURSE


Name of the course:

Automation of Manufacturing
Mechanisms

Code:
BAICE43

Semester:
7

Type of teaching:

Lectures, Laboratory works and Course
Work

Lessons per week:

L


㈠桯畲s

it


ㄮN⁨潵 s

Number of credits:
5


LECTURER:


Assoc. Prof. Ph.D. Eng. Rumen Rainov (FA), Tel: 965
-
39
-
45,
email
:
rrainov@tu
-
sofia.bg

Technical University of Sofia

COURSE STATUS ON THE CURRICULUM:

Optional for the students specialty

Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

The aim is the students to be acquainted with the
specific features of different manufacturing mechanisms, with concrete problems fo
r their
automation and specific drives and with the methods for their solving. Independent students’
activity on the discussed materials is stimulated.

DESCRIPTION OF THE COURSE:

The course is developed problematically. It gives
knowledge about typical req
uirements to the systems for drive and automation of the basic classes
of manufacturing mechanisms; mathematical description of their main quantities and processes; it’s
stressed on the specific for any class problems; possible solutions are systemised. Fo
r illustration of
up to date solutions of concrete problems, typical circuits for blocks and devices are derived.

PREREQUISITES
:

The course is based on Electromechanical Devices, Measurement of Electric
Quantities, Electromechanical Systems Control,
and S
ystems

for Control of Drives.

TEACHING METHODS:

Thee forms are used: Lectures, Laboratory works on physical and
computerised models and course work for every student. Written materials on the laboratory works
are handed up to the students.

METHOD OF AS
SESSMENT:

A written exam in the end of VII semester is carried out.

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1.
Йорданов С., К.Кутрянски, Автоматиза
ция на производстве
ните
механизми, С., Печатна база ТУ
-
София, 2001.; 2.
Йорданов С., Автоматизация н
а
производствените механизми, С., Печатна база ТУ
-
София, 1993.; 3. Йорданов С., Р.Райнов,
Ръководство за лабораторни упражнения по Авто
матизация на производствените механизми,
С., Печатна база ТУ
-
София, 1989. 4. Йорданов С., Г.Даскалов, Автоматизация на
производствените механизми (изчисли
телни експерименти и оптимизация), Ръководство за
лабораторни упражнения, Пловдив, Технически университет, 1991.


DESCRIPTION OF THE COURSE


Name of the course:

Process Modelling and Optimization

Code:
BAICE43

Semester:
7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L



O

桯畲猻h





ㄮN

桯畲h

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Ass
oc. Prof. Ph.D. Stancho Djiev
(FA)


tel.965
-
2298,
email
:
djiev@tu
-
sofia.bg

Technical University of Sofia

COURSE STATUS IN
THE CURRICULUM
: Compulsory for the students in the “Informational
and Control Engineering” B.Sc. programme of the Department of Process Automation, Faculty of
Automation."

AIMS AND OBJECTIVES OF THE COURSE:
Introduce the classical methods for process
stati
cs and dynamics theoretical modelling as related to industrial process control systems. To give
knowledge about the methods and practice of process optimization.

DESCRIPTION OF THE COURSE:
The main topics include: process statics and dynamics
theoretical m
odelling; modelling using the preservation principle; models of continuous processes
using analogy; models of discrete processes; models of conveyor processing and assembly lines;
criteria for single
-
variable optimization; methods for single
-
variable optim
ization
-

search and
gradient methods; comparison of methods for single
-
variable optimization; criteria for multivariable
optimization; methods for multivariable optimization
-

search and gradient methods; comparison of
methods for multivariable optimizati
on; optimization of multi
-
stage processes
-

dynamic
programming; multi
-
criterial optimization methods.

PREREQUISITES:

Physics, Technical Mechanics, Control Theory,
Control Instrumentation
,
Systems Identification,
Process Control Automation.

TEACHING METHOD
S
: Lectures with slides, case studies, course work, laboratory work with
laboratory manual, work in teams, protocols preparation and defence. .

METHOD OF ASSESSMENT:

One three
-
hour examination at the end of semester (80%) plus
laboratories (20%).

INSTRUCT
ION LANGUAGE:

Bulgarian

BIBLIOGRAPHY:

1.
Джиев, Ст. Моделиране и оптимизация на процеси, ТУ, София, 2001.
2.Живков, Д., Моделиране и оптимизация на производствени процеси, ТУ, София, 1989.
3.Реклейтис, Г., А. Рейвиндран, К. Рагсдейл, Оптимизация в технике, М., Мир, 1986. (прев.
англ.). 4.Вучков,
И., С.Стоянов, Математическо моделиране и оптимизация на технологични
обекти, С., Техника, 1986. 5.Стоянов, С., Оптимизация на технологични обекти, С., Техника,
1993. 6.Сотиров Г., С. Филипова, Дискретно събитийни системи
-

Методически указания за
лаборато
рни упражнения. Изд. на ТУ
-
София
.



DESCRIPTION OF THE COURSE


Name of the course:

Biotechnological
Measurements

Code:
BAICE43

Semester:
7

Type of teaching:

Lectures
,
Laboratory work
,

Course
work

Lessons per week:

L


㈠桯畲猻s

it


ㄮN⁨潵 s

乵浢k爠潦
c牥摩d猺s
5

LECTURER
:


Assoc. Prof. Ph.D. Dimitar Nenov (FA),
tel.:


965 2596,
email
:
nenov_dan@mail.bg


Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Inf
ormation and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

To teach the students the most important
knowledge of the information and metrological assurance of the biotechnological processes with
different me
thods and equipments for direct and indirect measurement of the variables and methods
of data processing.

DESCRIPTION OF THE COURSE:

The aim of the course “Biotechnological measurements” is to teach the students the most important
knowledge of the infor
mation and metrological assurance of the biotechnological processes with
different methods and equipments for direct and indirect measurement of the variables and methods
of data processing.

PREREQUISITES:

Bioelectricalengineering Fundamentals
, Electrical
engineering, Electrical
measumerents.

TEACHING METHODS
: Classical lectures with visual aids. Laboratory works using laboratory
manuals. Each student prepares a protocol for his laboratory work. Protocols are checked and
estimated by the lecturer. Multime
dia projector for lectures. Special laboratory equipment for
laboratory works. Computers for process modelling.

METHOD OF ASSESSMENT:
Written examination. Laboratory works assessment is also taken
into account

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1. Neykov A. A., Biotechnological Measurement and Control, Sofia, TU


Sofia, (textbook), 1990; 2. Neykov A. A., Radonov K., Djambasis K., Walewski, Methods,
Algorithms and Equipments for Measurement and Control in Biotechnology, Sofia, Technika, 1992;
3.
Neykov A. A., Djambasis K., Krastev K., Laboratory Exercisers of Biotechnological
Measurement and Control, Sofia, TU


Sofia (textbook) 1988; 4. Bailey J. E. D. F. Ollis,
Biochemical Engineering Fundamentals, vol. 1., vol. 2., Mir, Moscow, 1989.


DESCRIPT
ION OF THE COURSE


Name of the course:

Artificial I
n
telligence

Code:
BAICE43

Semester:
7

Type of teaching:

Lectures
,

Laboratory work,

Course work

Lessons per week:

L


O

桯畲h

it


ㄬN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:

Assoc. Prof. Ph.D
. Dimitar

Di
mitrov

(FA)
, tel. 965 2636,
email

dpd@tu
-
sofia.bg
,

Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, F
aculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

Uderstanding the essential principles of
intelligent behavior, corresponding
computational algorithms,

and
ideas for building practical
intelligent systems.
Getting practical skills in knowledge repr
esentation and reasoning, in designing
simple architectures of intelligent agents, building knowledge bases for diagnostic, decision support
and control systems.

DESCRIPTION OF THE COURSE:

This is an introductory course. The field of Artificial
Intelligen
ce (AI) is presented as unified field from the perspective of rational behavior. Both
approaches to AI
-

the symbolic (logical) and the behavioral (numerical) are presented as
complementary (not contradictory).
The main covered topics include: Intelligent
agents,
environments and
behaviors.

Principle of rationality, rational reasoning and rational acting. F
ormal
logic methods for knowledge representation and reasoning in intelligent systems. Problem solving
by searching


informed and heuristic search metho
ds. Acting logically


planning methods and
acting. Learning. Uncertain knowledge and reasoning. Robotics and AI


intelligent connection of
perception to action. Outputs: other special disciplines and diploma project.

PREREQUISITES:

Mathematics,
Programmi
ng and Computer Application,

Logic
Modelling

and
Programming.

TEACHING METHODS
: Lectures using slides, computer program handouts, laboratory
protocols preparation and defence, work in teams, discussions. The laboratory and course work is
provided with the
supporting programming language PROLOG. The basic didactic approach is
“understanding trough implementation”.

METHOD OF ASSESSMENT:

One three
-
hours final

exam (65%)
, plus laboratories (10%) plus
course work (20%), plus
class attendance, accuracy, etc. (5%)
.

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1.
Димитров, Д.Н. Никовски. Изкуствен интелект


второ преработено
издание. ISBN 954
-
438
-
252
-
6. Изд.ТУ
-

София, 1999. 2. S. Russel. P. Norvig. Artificial
Intelelgence. Prentice Hall, 2003. 3. Е. Чарнияк, Д. МакДермот. Въведение в изкуствения
интелект. София,
1997. 4. Shapiro Enciclopedia of Artificial Intelligence. Wiley, New York, Two
volumes, 1992. 5. N. Rowe. Artificial Intelligence throw Prolog. Prentice
-
Hall Int. Inc., 1990. 6. M.
R. Genesereth, N. J. Nilsson. Logical Foundations of Artificial Intelligenc
e. Morgan Kaufman
Publ. Inc., 1987.



List OS5 (
BAICE44


EСТК 5)

L5O1

Data and Signal Processing

L5O2

Electronic Measurements Transducers

L5O3

Automated Monitoring and Diagnostics

L5O4

Low
-
cost Automation Systems

L5O5

Data Analysis of Biotechnology Processes

L5O6

Control of Robots and Robotic Systems


D
ESCRIPTION OF THE COURSE


Name of the course:

Data and Signal Processing

Code:
BAICE44

Semester:
7

Type of teaching:

Lectures

Laboratory exercises

Lessons per week:

L

㈠桯畲猠

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Ass. Prof. G. Ruzhekov PhD,
tel.: 965 24 70,
email
:
rouzhekov@hotmail.com

Technical University of Sofia


COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme,

Faculty of Automation.


AIMS AND OBJECTIVES OF THE COURSE:
The main aim of the course is to get students
familiar with the methods of digital signal and data processing, as well as the special features and
applications of the signal processors.


DESCRIPTI
ON OF THE COURSE:

Described are the analogue to digital and digital to analogue
converters and their characteristics, the signal processors and the system based on them and their
advantages compared to ordinary systems. Attention of the course is mostly di
rected to processing
of digital signals in time and frequency domain and its applications. Discussed are the connections
between the characteristics of signals on the time and frequency domain and some typical
applications of the methods of signal process
ing.

PREREQUISITES:

Control Theory
, Electrical Engineering Theory,
Pulse and Digital Circuit
Technique
,
Programming and Computer Application
, Physics, Mathematics.

TEACHING METHODS
: Lectures, using slides, laboratory and course work, work in teams,
report
s and course work description preparation and defence.

METHOD OF ASSESSMENT:

Written final examination, including solving problems (60%);
laboratory reports
defence
(40%).


INSTRUCTION LANGUAGE
:

Bulgarian language.


BIBLIOGRAPHY:
1. Ruzhekov G., Signal an
d Data processing, TU
-
Sofi
a
, 2004. Ivanov R.,
Digital processing of the one
-
dimensional signals, Gabrovo, 2002., 3. Ifeachor E, B. Jerrvils, Digital
Signal Processing


A practical Approach, Addison
-
Wesley Publishing Company 1993. 4.
Ruzhekov G., Laborator
y experiments of the digital signal processing with the digital signal
processing, TU
-
Sofia, 1998.


DESCRIPTION OF THE COURSE


Name of the course:

Electronic Measurements Transducers

Code:
BAICE44

Semester: 7

Type of teaching:

Lectures and

Laboratory wor
k

Lessons per week:

L


㈠桯畲s

it


ㄬN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER:

Assoc. Prof. Ph.D. P. Tzvetkov (FA)


tel.965 2382,
email
:
tzvetkov@tu
-
sofia.bg

Technical University of Sofia

COURSE STATUS IN THE
CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

To provide fundamental theoretical and practical
knowledge of modern electronics meas
urement instruments.

DESCRIPTION OF THE COURSE:

The main topics concern electronic measurement systems
and transducers. An essential part is devoted to the modulation transducers, non
-
linearity
measurement transducers, programmable measurement amplifiers
and reference time period,
reference current and voltage sources.

PREREQUISITES:

Mathematics, Electrical Engineering Theory
.

TEACHING METHODS
: Lectures, using slides, case studies, computer demonstrations,
laboratory work from laboratory manual, work in te
ams, protocols preparation and defence.

METHOD OF ASSESSMENT:

A two
-
hour exam (total mark 80%: 40% problems + 40% theory)
plus laboratories (total 20%)

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:


1.
Йорданова С., П. Цветков. Приложно моделиране и симулиране. София, Heron Press Math
Series, 2001, 92, ISBN 954
-
580
-
105
-
0. 2. Самоковлийски, А. Нейков, И. Коджабашев,
Измервателни преобразуватели
-

лабораторни упражнения, София, Издателство на ТУ
-
София, 1980
, 82. 3. Самоковлийски Д. Електрически измервателни преобразуватели. София,
Издателство на ТУ
-
София, 1984, 95. 4. Станчев, И., Електронни аналогови измервателни
преобразуватели (проблеми от теорията и метрологичното осигуряване в етапа на
проектиране), Соф
ия, Издателство на ТУ, 1992, 256.


DESCRIPTION OF THE COURSE


Name of the course:

Automated Monitoring and Diagnostics

Code:
BAICE44

Semester:
7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


2 hours

LW


1
,
5 hours

Number of credits:
5


LECTURER
:

Assoc. Prof. Ph.D. Eng.
Zheko Bildirev

(FA), tel:
965
-
29
-
60
: e
-
mail:
jsb@tu
-
sofia.bg


Technical University of Sofia

COURSE STATUS IN THE CURRICULUM:

Optional for the students specialty Automation,
Info
rmation and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE
: Special attention is paid to the fast operational
identification of dynamic parameters in the automated systems. Special chapter on solution of
optim
al tasks by means of these identificational methods is included.

DESCRIPTION OF THE COURSE
: Looks into the general problems, ideas and definitions of
the technical diagnostics of automated systems, their capacity for work and the methods for its
evaluation

and forecasting.

PREREQUISITES:

Knowledge in the field of measurement of non
-
electrical quantities and the
theory of automatic control are needed
.

TEACHING METHODS:

Lectures, aided by diaprojector’s slides; labs on physical and computer
models. Written ma
terials and software products are given to the students.

METHOD OF ASSESSMENT:

Written examination.

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1.
Билдирев Ж., Автоматичен контрол и диагностика, учебник за ТУ
-
София (до излизането на учебника по курса ще
се ползват т.н. свитъци


“фототипни копия”
на записките по лекциите.; 2. Билдирев Ж., Контрол и оптимизация в системите за
автоматизация, хабилитационен труд,
1993.; 3. Пархоменко П. и др. Основы технической
диагностики, кн.1, М., Энергия, 1976.; 4. Пархо
менко П. и др. Основы технической
диагностики, кн.2, М., Энергия, 1976.; 5. Иофинов С. и др. Контроль работоспособности
трактора, Л., Машиностроение, 1985.; 6. Гаскаров Д., и др. Прогнозирование технического
состояния радиоэлектронной аппаратуры, М., Радио
, 1974.; 7. Киншт Н., и др. Диагностика
электрический цепей, М., Энергоатомиздат, 1983.; 8. Силин В., и др. Автоматическое
прогнозирование состояния аппаратуры управления и наблюдения, М., Энергия, 1973.




DESCRIPTION OF THE COURSE


Name of the course:

L
ow
-
cost
Automation Systems

Code:
BAICE44

Semester: 7

Type of teaching:

Lectures
,

Laboratory work


Lessons per week:


L


㈠桯畲猻s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Prof. D.Sc. Kostadin Naplatarov (FA)


tel.965 29 42 , еmail:
naplatarov@tu
-
sofia.bg


Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND
OBJECTIVES OF THE COURSE:

To study the wide spread industrial systems, aggregates, installations and technology applications to
distributed systems, dynamical systems from engineering (electrical, thermal, hydraulic,
mechanical, control) etc. Basic struct
ures, optimization and effectiveness of production are concern.
At the end of the course the students are expected to be able to apply the methodology for
investigation of continuous, discrete time and discrete
-
event processes and systems in the field of
i
ndustry based on low
-
cost components, and to have basic knowledge and skills in using software,
making decision on structure, components for building reliable automation systems models in real
live industrial systems.

DESCRIPTION OF THE COURSE:

The mai
n topics concern: industrial technology for thermal heating exchange, mass exchange,
electrical, hydraulic, mechanical, process control systems, basic structure, effectiveness measurable
criteria for optimization. With solid laboratory support the techno
logy (natural physics
-
chemical)
aspect of problems is clearly demonstrate. The knowledge received in this course via systematic
training with real technology is giving the students rational thinking about problems in industry.

PREREQUISITES:

Control Th
eory, System Identification, Process Control, Control
Instrumentation
, Physics, Technical
Mechanics
,
Electrical Measurements
.

TEACHING METHODS
: Lectures, using slides, case studies, laboratory work from laboratory
manual, work in teams, protocols prepara
tion and defence.

METHOD OF ASSESSMENT:

Two hours assessments at end of semester

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY
: 1
.
Наплатаров К. Х. Промишлени системи за нискостойностна
автоматизация. /Под печат/. 2.Хаджийски М. Б. Автоматизация на технологични процеси в
химичната и металургичната промишленост., С., Техника 1988. 3.Мумджиян Г. С.
Автоматично управление и регулиране на

топлинни процеси., С., Техника, 1987. 4.Фархи О.
А., А. М. Тодоров, Е. К .Николов. Промишлени системи за автоматизация., ВМЕИ, Варна,
1989. 5.Хаджийски М. Б., К. Д. Велев, Г. Р. Сотиров, И. Г. Калайков. Методи и алгоритми за
управление. С. Техника, 1992.


DESCRIPTION OF THE COURSE


Name of the course:

Data Analysis of Biotechnology processes

Code:
BAICE44

Semester: 7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈠桯畲猻s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Assistant Prof
. Tzanko Georgiev (FA)


tel.: 965 2408,
email
:
tzg@tu
-
sofia.bg

Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng

programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

To teach the students the most important methods
of the data analysis of the biotechnological processes: experimental design, regression analysis and
analysis of variance.

DESCRIPTION O
F THE COURSE:
The biotechnology is multi
-

branch science. This is a reason
to introduce the knowledge of the students in the area of the data analysis of the biotechnological
processes. The main topics concern primary data processing, experimental design
, linear and non
-
linear regression methods, stepwise regression, ridge regression and analysis of variance

PREREQUISITES:

Bioelectricalengineering Fundamentals
, Fermentation
Technologies
,
Biotechnological
Measurements
, System
Identification
.

TEACHING ME
THODS
: Classical lectures with visual aids. Laboratory works using laboratory
manuals. Each student prepares a protocol for his laboratory work. Protocols are checked and
estimated by the lecturer. Multimedia projector for lectures. Special laboratory equ
ipment for
laboratory works. Computers for process modelling

METHOD OF ASSESSMENT:
Written examination. Laboratory works assessment is also taken
into account

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1. Birukov W. W., W. M. Kantare, Optimisation of
the Batch Processes for
Microbial Synthesis, Moscow, Nauka, 1985 2. Bojanov E, I. Wuchkov, Statistical inferences in
Enterprises and Scientific Investigations, Technika, Sofia, 1970; 3. Wuchkov I, Experimental
Investigations and Identification, Sofia, Tec
hnika, 1990; 4. Daniel K., Application of the Statistics in
Industrial Ezperiments, Mir, Moscow,1979; 5. Draper N. R., Smith H., Applied Regression Analysis,
Moscow, vol. 1, vol. 2, Finansi I Statistika, 1986; 6. Staniskis J., Optimal Control of
Biotechnol
ogical Processes, Vilnius, Mokslas, 1984; 7. Hartman K., E Letckii, W. Shefer,
Experimental Design in Investigation of Technological Processes, Moscow, Mir, 1977.


DESCRIPTION OF THE COURSE


Name of the course:

Control of Robots and Robotic Systems

Code:
B
AICE44

Semester: 7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈠桯畲猻s

it


ㄮN†桯畲

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Assoc. Prof. Ph.D. Vassil Balavessov (FA)


tel.: 965 3258,
email

b
alaves@tu
-
sofia.bg


Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

At the end of

the course the students should
know the specific features of robots as control objects and they are expected to be able to solve
engineering problems in planning and control of motions, as well as to analyze and investigate robot
performance through
model
ling

and simulation.

DESCRIPTION OF THE COURSE:

Modern methods for control of robots and robotic systems
are studied. Special attention is paid to the problems of the planning and the control of smooth joint
and world trajectories. Main accent is put on
control and stabili
zation of a priori planned robotic
motions, including robust stabilization design and computational aspects. The main topics concern:
Planning of robotic motions: in joint and Cartesian coordinates; Design of robots trajectories by
Bezi
er

curves; Kinematic control of robots; Pseudoinvrersion and its applications; Dynamic
modelling of manipu
la
tion systems; Non
-
linear control methods: stability and practical issues; Robot
force control; Impedance control; Robot motion modelling and simul
ation.

PREREQUISITES:

Control Theory
,
Electrical Engineering Theory
, Mechanics, Robotic
Manipulators, Information and Sensor Systems in Robotics.

TEACHING METHODS
: Lectures using transparencies and multimedia, laboratory exer
cises
using computer simulati
ons, operational robot and robotized machining center.

METHOD OF ASSESSMENT:

Open book written examination during the session.

INSTRUCTION LANGUAGE
:

Bulgarian.

BIBLIOGRAPHY:

1 Fu K.S., Gonzalez R. C., Lee C. S. G. Robotics: Control, Sensing, Vision and
I
ntelligence, McGraw

Hill,. NY, 1989 (a Russian translation is available). 2 Shahinpoor, M. A
Robot Engineering Textbook, Harper&Row, NY,1990 (a Russian translation is available). 3
Zamanov W., Karastoianov D., Sotirov. Z., Mechanics and control of robots
, Sofia, 1993 (in
Bulgarian)
. 4 Asada H. and Slotine J.
-
J.E. Robot Analysis and Control, A Wiley
-
Interscience
Publication, New York, 1986. 5 Craig J. J. Introduction to Robotics: Mecha
nics & Control, Addison
Wesley , Reading, Mass, 1986. 6 The ZODIAC, Th
eory of Robot Control, C. C. de Wit, B.
Siciliano, and G. Basten (Eds), Springer
-
Verlag, 1996. 7. Paul R.P. Robot Manipulators:
Mathematics, Programming and Control, MIT Press, Cambridge, Mass., 1981.



List OS6 (
BAICE45

EСТК 5)

L6O1

Engineering Meth
ods for Nonlinear Syst. Analysis

L6O2

Electromagn. Compatib.of Measurem. and Control

L6O3

Control Systems of Electric Drives

L6O4

Switching Logic Control


L6O5

Control Systems for Biotechnological Enterprises

L6O6

Design of Robots and Robotic Systems


DESCRIPTION OF THE COURSE


Name of the course:

Engineering Methods for Nonlinear
System
s

Analysis

Code:
BAICE45

Semester:
7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈮〠桯畲s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5


LECTURER
:

Ass
oc. Prof. Elena Haralanova, PhD, (FA) tel.: 965
-
2526,
email
:
elhar@tu
-
sofia.bg

Ass. Prof. Kamen Perev, PhD , (FA) tel.: 965
-
3459,
email
:
kperev@tu
-
sofia.bg

Technical Univ
ersity of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

The goal of this course is to present the basic
models and methods for analysis and design of nonlinear systems.

DESCRIPTION OF THE COURSE:
The course considers the main nonlinear system models for
exploring the specific nonlinear phenomena like limit cycles, more than one equilibrium points,
dependence

on initial conditions and the input signals type, different types of stability and many
others. Both, the analytic methods for system analysis, as well as more applied approaches using
different types of linerization are presented. For the purpose of nonl
inear system simulation, the
course offers an introduction to the numerical procedures for solving nonlinear differential
equations. The main methods for nonlinear systems design are also discussed.

PREREQUISITES:

Mathe
matics I
-
III, Electrical Engineerin
g Theory
, Control Theory,
Engineering
Methods for Linear Systems Analysis
.

TEACHING METHODS
: Class lectures and laboratory experiments. The laboratory experiments
are performed by using the software package of MATLAB/SIMULINK.

METHOD OF ASSESSMENT:

Writte
n final examination, including solving problems (80%);
laboratory reports
defence
(20%).

INSTRUCTION LANGUAGE
:

Bulgarian language.

BIBLIOGRAPHY:

1. Ishtev, K., Automatic control theory, King Publ., 2000. 2. Slotine, J., W. Li,
Applied nonlinear control, P
rentice Hall, 1991. 3. Geldner, K., S. Kubik, Nonlinear control, systems,
Mir, 1987.


DESCRIPTION OF THE COURSE


Name of the course:

Electromagnetic Compatibility in
Measurements and Control

Code:
BAICE45

Semester:
7

Type of teaching:

Lectures and
Tutoria
ls

Lessons per week:

L


㈠桯畲猻s

q



ㄮ㔠桯畲s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Assoc. Prof. A. Lazarov, Ph.D
(FA)
, tel. 965 24 64
email
:
alazarov@tu
-
sofia.bg


Technical University of Sofia

COURSE STATUS IN THE

CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

The students to be aware of the main EMC
problems, requirements and to be able to so
lve such a problems in their further projects in order the
appropriate devices to be able to work satisfactorily in their electromagnetic environment.

DESCRIPTION OF THE COURSE:
Basic aspects of EMC and thesaurus; Electromagnetic
Environment; Planning of

the EMC measurements; Electromagnetic disturbances in the mains;
Electromagnetic disturbances in the information and control lines; Frequency analysis of the
parasitic connections; EMC design: level of elements, PCB level, level of assembling and cabling,

level of systems; Grounding; Shielding; Disturbance suppressing elements and circuits;
Electrostatic discharge; EMC regulation; Analysis of filters by PSpice.

PREREQUISITES:

Semiconductor Elements
,
Electrical Measurements
.

TEACHING METHODS
: Lectures. Sem
inars using PSpice for simulation and analysis of passive
and active filters.

METHOD OF ASSESSMENT:
Test of seminars . Written exam . The final mark is formed by a
system of points including the exam results
-

question by question, seminar's evaluation,

activity in
class, attendance.

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:


1) A. Lazarov, Electromagnetic Compatibility in measurements and control, Technical University
of Sofia, 2004, ISBN 954
-
438
-
381
-
6. 2) A. Lazarov, Measuring Electromagnetic Comp
atibility,
Avangard Prima, 2004, ISBN 954
-
323
-
009
-
9. 3) European Directive 89/336/EEC on
Electromagnetic Compatibility (methodical guidance). ISBN 954
-
438
-
380
-
8.


DESCRIPTION OF THE COURSE


Name of the course:

Control Systems of Electric Drives

Code:
BAICE
45

Semester:
7

Type of teaching:

Lectures,

L
aboratory work

Lessons per week:

L


㈠桯畲猬s

it


ㄮN⁨潵 s

Number of cre
d
its:
5

LECTURER
:

Assoc. Prof. Ph.D. Mikho Mikhov (FA), tel.: 965
-
29
-
46,
email
:
mikhov@tu
-
сofia.bg

Technical University of Sofia.

COURSE STATUS IN THE CURRICULUM

Optional for the students specialty Autom
a
tion,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES
OF THE COURSE:

To learn the design prin
ciples of main types of
electric drive control systems. To develop understanding about the specific optimiz
a
tion methods of
the respective control loops.

DESCRIPTION OF THE COURSE:

Major topics covered
:

optimization and tuning of co
n
trol
loops in electric
drive systems; ca
s
cade control structures; torque control systems; speed control
systems; control of electric drives with elastic joints; vector control of induction m
o
tors; vector
control of synchronous motors; position control systems; tracking control s
y
s
tems.

PREREQUISITES:

Electromechanical Devices,
Power Electronics in Drives
,
Electromechanical
Systems Control
, Control Theory.

TEACHING METHODS:

Lectures, illustrated by visual materials; laboratory work using real and
computer models of the studied
el
ectric drive control systems
.

METOD OF ASSESSMENT:

W
ritten

exam.

INSTRUCTION LANGUAGE:

Bulgarian.

BIBLIOGRAPHY:

1.

Mikhov M. R.
Control Systems of Electric Drives

(Lecture Notes). Techni
-
cal Unive
r
sity of Sofia, 2005;
2. Leonard W. Control of electrical
drives. ”Springer
-
Verlag“,
Berlin, 1990; 3. O'Kelly D. Performance and control of electrical machines. ”Cambridge University
Press“, Cambridge, 1991; 4. Boldea, I., S. A. Nasar, Electric drives, “CRC Press”, Boca Raton,
1999.


DESCRIPTION OF THE COURSE


Na
me of the course:

Switch
ing

Logic Control

Code:
BAICE45

Semester:
7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈠桯畲猻s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
S
:


Assoc. Prof. Ph.D. A. Todorov (FA), tel.: 965
-
3405,
email
:
a
ssent@tu
-
sofia.bg

Assist. Prof. B. Guergiev (FA), tel.: 965
-
2944,
email
:
a_bvg@abv.bg

Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Facult
y of Automation.

AIMS AND OBJECTIVES OF THE COURSE:
At the end of the course the students are
expected to be able to apply the methodology for investigation, analysis and design of continuous,
discrete time and discrete
-
event processes and systems in the f
ield of industry, management and
service, and to have basic knowledge and skills in using mathematical logic, Boolean algebra to
construct fail
-
safe, reliable control systems


DESCRIPTION OF THE COURSE:
The main topics concern:, dynamical systems from
eng
ineering (electrical, thermal, hydraulic, mechanical, control, etc. Modelling of discrete, discrete
event and queuing systems using finite automata


characteristics, statistical analysis, probability
distributions. Timed synchronous, asynchronous automata
, Switched logic, Programmable Logical
controllers. Case studies of simulation
-
based, design and control.

PREREQUISITES:

Mathematics
,
Control Theory, Identification,
Process Control Automation
,
Electrical Measurements
, Control
Instrumentation
.

TEACHING MET
HODS
: Lectures, using slides, case studies, laboratory work from laboratory
manual, work in teams, protocols preparation and defence.

METHOD OF ASSESSMENT:

Three
-
hour exam (80 %), laboratory work presentation (10 %),
class
-
work test assessments (10 %).

IN
STRUCTION LANGUAGE:

Bulgarian

BIBLIOGRAPHY: Горбатов В. А и др., Логическое управление технологическими
процессами, М, Энергия, 1978 2.Кисьов В. Техническа кибернетика, том IX, Теория на
крайните автомати, С., Техника, 1984 3.Хаскел Б. К., Основания матема
тической логики, М.,
Мир, 1969 4.Ачасова С. М., Алгоритмы синтеза автоматов, М., Радио и связь, 1987
5.Владимиров Д. А. Булевы алгебры, М., Наука, 1969 6.Горбатов В. А. и др., САПР
-

систем
логического управления, М., Энергоатомиздат, 1988


DESCRIPTION OF
THE COURSE


Name of the course:

Control Systems for Biotechnological
Enterprises

Code:
BAICE45

Semester:
7

Type of teaching:

Lectures
,
Laboratory work
,


Course project

Lessons per week:

L


㈠桯畲猻s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:

Assista
nt Prof. Lubomir Mirev

(FA), phone: 965 2408,
email
:
lmirev@tu
-
sofia.bg


Technical University

of
Sofia



COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty A
utomation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

To teach the students the most important
principals, methods, organisation, and building of the computer control systems. Special know
ledge
about hardware and software equipment of the computer control systems is given.

DESCRIPTION OF THE COURSE:
The main topics concern the basic functions and tasks,
specific structural and architecture behaviors of the computer control systems and i
ts applications.
The special knowledge about process interfaces and human interactive interfaces, and real time
operating systems are discussed too. The individual student project based on this course includes:
investigation of the real
-

life process, des
ign of some details of the computer control system
equipment, and software design.

PREREQUISITES:

Semiconductor Elements, Bioelectricalengineering Fundamentals, Electrical
Engineering Theory,
Fermentation
Technologies,
Biotechnological
Measurements,
Sy
stem
Identification.


TEACHING METHODS
: Classical lectures with visual aids. Laboratory works using laboratory
manuals. Each student prepares a protocol for his laboratory work. Protocols are checked and
estimated by the lecturer.

METHOD OF ASSESSMENT:
Written examination. Laboratory works assessment is also taken
into account

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1. Harrison T., Handbook of Control Computers, Mir, Moscow, 1975, 2.
Tzonkov St. at. all Control of Biotechnological Processes, Techni
ka, Sofia, 1992; 3. Fritch W. ,
Application of the Microprocessors in Control Systems, Mir, Moscow, 1984; 4. Popovic D and V.P.
Bhatkar, Distributed Computer Control for Industrial Automation, Marcel Dekker, Inc. 1990; 5.
Tomov I., at all Micriprocessor
s Control Systems, Technika, Sofia, 1986.


DESCRIPTION OF THE COURSE


Name of the course:

Design of
Robots
and
Robotised Systems

Code:
BAICE45

Semester:
7


Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L



2


hours,

LW



1.5 hours

Number

of credits:
5



LECTURER:

Prof. P
hD Eng. Ve
s
s
elin Pavlov, (FA), tel. 965 3679,
email
:
vpavlov@tu
-
sofia.bg
,

Technical University of Sofia


STATUS OF THE DISCIPLINE IN THE CURRICULUM
:
Optional for the students s
pecialty
Automation, Information and Control Engineering, BEng programme, Faculty of Automation.


AIMS AND OBJECTIVES OF THE COURSE:

The students should be able to make a rational
choice of the necessary structural, metric, kinematical and power parameters

and design the
mechanical system and setting into motion of robots on given technological equipment data.


DESCRIPTION OF THE COURSE:

The discipline “Design of robots and robotized systems”
introduces students to the principles of design of robots (R) an
d robotized systems (RS). This aim is
achieved on the grounds of putting into practice the
system approach

in the choice of structural
scheme of R and RS. The technical characteristics of the main structural components are analyzed.
By using certain tradit
ional functional solutions in robotics, themes for synthesis of new base
parameters for R and RS are included; these are structural, metric, kinematical and power ones
which serve for rational choice of the mechanics (mechanisms), setting into motion, cont
rol and
sensors of R and RS as a whole. Based on the functional interaction of the R with the remaining
technological equipment, the forces acting on the manipulation system, stability when performing
power technological operations, positional and trajecto
ries precision are determined. The
methodology for system projecting of different type of holders or untraditional end effectors for
performance of technological operations is examined.


PREREQUISITES
:

Mechanics
,
Robotic Manipulators
.


TEACHING METHODS
:
s
cribe
-
projector, aspectomat and the video
-
wall of the Video center at
the Technical University, Sofia.


METHOD OF ASSESSMENT:

Continuous assessment.



INSTRUCTIONAL LANGUAGE:
Bulgarian


BIBLIOGRAPHY
: 1. V.Pavlov. Design of industrial robots. TU
-
Sofia, 1993
. 2. N.Frolov, E.
Vorobev. Mechanics of industrial robots. Visshaia shkola, Moscow, 1988. 3. E.Krasovskij et all.
Design of mechanism in automation and computers. Mashinostroenie, St. Peterburg, 1972. 4. V.
Gulubov. Synthesis of mechanisms in robotics. TU
-
Sofia,1992. 5. V. Pavlov et all. Handbook for
training of robotics. 6. E. Vopilkin. Calculation and construction of mechanisms and systems.
Visshaia shkola, Moscow, 1980.



List OS7 (
BAICE46


EСТК 5)

L7O1

Applied Optimization

L7O2

Quality Control

L7O3

Control Electronics in Electro
-
mechanics

L7O4

Man
-
machine Control Systems


L7O5

Bioelectronics

L7O6

Servo control and Drives of Robots


DESCRIPTION OF THE COURSE


Name of the course:

App
lied Optimization

Code:
BAICE46


Semester:
7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈠桯畲s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5


LECTURER
:

Ass. Prof. Ivan Tsenov (FA)


tel.: 965 3419,
email
:
i
tsen@tu
-
sofia.bg

Technical University of Sofia


COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

At the end of t
he course the students are
expected to be able to apply practical optimization methods in various engineering applications,
especially in control system design area. To obtain basic knowledge of software package of
MATLAB/ SIMULINK and use it for solving e
ngineering optimization problems, analysis and
validation of the results.

DESCRIPTION OF THE COURSE:
The main topics concern: Definition of optimization
problem. Classifications; Methods for functions of one variable; Methods for functions of many
variabl
es
-

unconstrained case; Methods for functions of many variables
-

linear constraints;
Methods for functions of many variables
-

nonlinear constraints; Computer implementation of
optimization methods; Engineering usage
-

Parameter optimization of control s
ystems.

PREREQUISITES:

Mathematics
, Control Theory
, System Identification.

TEACHING METHODS
: Lectures are delivered with the support of slides. Laboratory exercises
are performed using MATLAB software system.

METHOD OF ASSESSMENT:

Continuous assessment.

Tw
o two
-
hour assessments at mid and end
of semester (80%),
laboratory reports
defence
(20%).

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1. Gill, P.E., W. Murray, M.H. Wright. Practical Optimization. Academic Press,
1981. 2. Fletcher, R. Practical Methods
of Optimization. John Wiley & Sons, 1980. 3. Grace A.
Optimization Toolbox User's Guide. The Math Works, Inc. 4. MATLAB with SIMULINK, User's
Guide. The Math Works Inc., 1992;.


DESCRIPTION OF THE COURSE


Name of the course:

Quality Control

Code:
BAICE46

S
emester: 7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈠桯畲猬

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Prof. Ph.D. N. Kolev (FA)


tel.: 965 23 24,
email
:
n_kolev@tu
-
sofia.bg

Tec
hnical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

To give knowledge about use of techni
ques to
achieve, sustain, and improve the quality of a product or service. It involves integrating the
following related techniques and activities


specifications, design of the product or service to meet
the specifications, production or installation to
meet the full intent of the specifications.

DESCRIPTION OF THE COURSE:
The course treats the Quality Control basic principles and
international systems for Quality Control. The theory of probability and statistics , which is used in
the various methods for

Quality Control, are discussed. The basic experimental methods and
techniques for evaluation of quality are treated.

PREREQUISITES:

Knowledge and skills in Electrical Measurements and Metrology.

TEACHING METHODS
: Lectures are complemented with subsid
iary materials and tutorials.
Students prepare individual reports for laboratory works.

METHOD OF ASSESSMENT:

Continuous assessment.


INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:


1
. Станчева В. Й., К. Я. Киров, Н. П. Стефанов. Управление на качеството. QM, Варна, 1995.
2. Besterfield, D., Quality Control, Prentice Hall, 1986. 3. Crosby, P., Quality js Free, McGraw
-
Hill
Book Company, 1984. 4. Doming, W., Quality, Productivity, and Co
mpetitive Position, MIT, 1982.
5. Juran, J., Quality Control Handbook, MeGraw
-
Hill Book Company, 1974. 6. Hoyle, D., ISO
-

9000 Quality Systems Handbook, Butterworth
-
Heinemann Ltd., 1994. 7. Управление на
качеството, Карайков, ПБ на РУ “Ангел Кънчев”, Ру
се, 1998.


DESCRIPTION OF THE COURSE


Name of the course:

Control
Electronics
in Electromechanics

Code:
BAICE46

Semester:
7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈠桯畲猬s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5


LECTURER
:


Assoc
. Prof. Ph.D. Todor Ionkov

(FA)


tel: 965 2950,
email
:
tsj@tu
-
sofia.bg

Technical University of Sofia

COURSE STATUS IN THE CURRICULUM

Optional for the students specialty Automation,
Information and Control Engineering, BEng

programme, Faculty of Automation.

AIMS AND OBJECTIVES
OF THE COURSE
:
Students acquire indispensable knowledge on
the use of current semiconductor converters. They also master new solution in this field and learn
how to reach to their own solutions.

DESCRI
PTION OF THE COURSE
:
Offers knowledge about: compilation of functional schemes
for control of units and blocks of power semiconductor converters and unit realization of their
functional blocks; firm specialized hybrid and integral schemes; realization of c
urrent and voltage
control loops; schemes for protection and control, as well as the necessary linear models and their
structural diagrams.

PREREQUISITES
:
Required knowledge in: Mathematics, Physics,
Electrical Engineering Theory
,
Semiconductor
Elements
,
Impulse and
Digital Devices
,
Control theory,
Electrical
Measurements
,
Electromechanical devices, Industrial
Energetics
.

TEACHING METHODS
:

The lectures include problems relating to compilation of scheme
solution by pre
-
set aims, taking into account the exis
ting equipment. The lecture material is
supported by laboratory work with real physical experiments.

METOD OF ASSESSMENT
:
Continuous assessment.

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1.

Андреев Ф.Ф., Электронные устройства автоматики и их расчет, М.,
Машиностроение, 1991.; 2. Записки; 3. Компактдискове от СИМЕНС


Германия,
СЕМИКРОН


Германия, ТОМСЪН


Франция, ИНТЕРНЕШЪНЪЛ РЕКТИФАЙЪР


САЩ.


DESCRIPTION OF THE COURSE


Name of the course
:

Man
-
machine
Control Systems

Code:
BAICE46

Semester: 7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈮〠桯畲猻s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Assoc. Prof. Ph.D. V. Galabov (FA)


tel.965 2298,
email
:
vtg@tu
-
sofia.bg

Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE
:
To present human factor problems in automated
systems.

DESCRIPTION OF THE COURSE
: The key psycho
-
physiological characteristics of man’s
receptor and effector channels are analyzed, as well as how the respective information processes
take place. Students
are to learn about various problems related to training and self
-
training, fatigue
and compensatory mechanisms, stereotypes and creative behavior. Special emphasis is placed on
various strategies and methods for man
-
machine problem solutions, delegation of

managerial
functions, design and implementation of respective interface systems.

PREREQUISITES:

Computer simulation,
Industrial Information Systems
, Decision
Making
in
Control Systems
,
Bioelectricalengineering Fundamentals
, Biotechnological
Measurements
.

TEACHING METHODS
: Lectures, using slides, case studies, laboratory work from laboratory
manual, work in teams, protocols preparation and defence.

METHOD OF ASSESSMENT:

Two one
-
hour assessments at mid and end of semester (total 72%
-

40% problem + 32% theo
ry) plus laboratories (total 28%
-

14 assignments, each carrying 2%)

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1. Гълъбов В. (2002), Човеко
-
машинни системи за управление., RADIX
AcademicBooks, С., 2002; 2. Венда, В.Ф. Инженерная психология и синтез сис
тем
отображения информации. Машиностро
е
ние, 1982, М.; 3. Инженерная психология в
применении к проектированию оборудвания. под ред. Клиффорд Т. Мо
р
ган и др.
Машиностроение, М., 1971; 4. Advances in Human
-
Computer Interaction; Springer Berlin, 1995;
5. Merze
nich
-
Hieker, Carola: Empirischer Vergleich der Effizienz sequentieller und ganzheitlicher
Trainingsmethoden beim Erwerb von Handlungswissen in der Mensch
-
Computer
-
Interaktion;
Tectum, 1995; 6. Verlässlichkeit von Mensch
-
Maschine
-
Systemen; Technische Uni Be
rlin, 1995


DESCRIPTION OF THE COURSE


Name of the course:

Bioelectronics

Code:
BAICE46

Semester: 7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈠桯畲猻s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Assoc. Prof. Ph.D. Dimitar Ne
nov (FA),
tel.:


965 2596,
email
:
nenov_dan@mail.bg


Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Fac
ulty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

The aim is to teach the students the most
important problems and application of the modern bioelectronics. The course builds classification of
the bioelectronics systems from the molecular level to the

level of the organisms. Students are
thought the transformations of the physical and chemical influences to electrical signals by the
appropriate biosensor transducers
.

DESCRIPTION OF THE COURSE:
The aim of the course “Bioelectronics” is to teach the
stu
dents the most important problems and application of the modern bioelectronics. The course
builds classification of the bioelectronics systems from the molecular level to the level of the
organisms. Students are thought the transformations of the physical
and chemical influences to
electrical signals by the appropriate biosensor transducers. The main topics concern: specific
physical fundamentals that are the basis of the design of bioelectrical devices, types and principles of
the design. The classificatio
n of the biosensor systems is discussed in relation to possible sensitive
elements, existent biosensors transducers: enzyme, microbial, tissue, receptor, et. The following
modern tendencies are represented in this course: biochips, multi
-
sensors and integr
ated systems in
the bioelectronics
.

PREREQUISITES:

Bioelectricalengineering Fundamentals
,
Electrical Engineering Theory
,
Electrical
Measurements
.

TEACHING METHODS
: Classical lectures with visual aids. Laboratory works using laboratory
manuals. Each stud
ent prepares a protocol for his laboratory work. Protocols are checked and
estimated by the lecturer.

METHOD OF ASSESSMENT:

Continuous assessment.

Laboratory works assessment is also taken
into account

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1. Iv
anitcki G. R., Biotechniques


modern tendency of the computer science,
“Theoretical and Applied Biophysic “, Moscow, Nauka, 1990; 2. Rambidy N. G., at. all , Molecular
component base advanced information and logical devices, Edited by E. Taner, I. Karube,

Jh.
Willson, Moscow, Mir, 1992; 4. Molecular electronics
-

science and technology. Ari Aviram Ed.,
AIP
-
conference proceedings N
o
262, American Institute of Phisics Publishing, New York, 1992; 5.
Carter F.L., Molecular electronic devices. NewYork, Marcel De
kker Inc.,1982; 6. Molecular
electronics: beyond the silicon chip. Emerging Technologies No.9, Technical insights, 1983; 7.
Enzyme and Microbial Biosensors. Ed. By A. Mulchandani, K.R. Rogers. Humana Press, 1998
.



DESCRIPTION OF THE COURSE


Name of the co
urse:

Servo
Control
and Drives

of Robots


Code:
BAICE46

Semester: 7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈠桯畲猬s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5


LECTURER
:


Assoc. Prof. Ph.D. Todor S. Ionkov

(FA)


tel: 965 2950,
ema
il
:
tsj@tu
-
sofia.bg

Technical University of Sofia, dep. “Electrical Drives Automation”

COURSE STATUS IN THE CURRICULUM
:

Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Fa
culty of Automation.

AIMS AND OBJECTIVES
OF THE COURSE
:
The purpose of the course is to give knowledge
about the functions, methods of control and electrical circuits of the electrical drives, which are
used in the robotics systems. The students obtained s
kills in the field of design, adjustment and
selection of ready
-
made electrical drive for robots.

DESCRIPTION OF THE COURSE
:
The main subject of the course is related to power electronic
circuits for electrical drives, influence of the clearances, dry fric
tion coefficient, elasticity and
variable inertial moments over the electrical drive system of robots. Analysis and design of
electrical and mechanical control systems for current, voltage, torque, speed, acceleration and
distance are taught. A lot of ele
ctrical control circuits are discussed, concerning servo
-
drives and
their relation to the movement quality. Stress is made over the adaptive servo
-
systems. Some
pneumatic and hydro drives are commented too.

PREREQUISITES
:
Required knowledge in: Electromec
hanical
Devices
,
Control
Theory
,
Pulse
and Digital Circuit Technique
,
Electromechanical Systems Control
.

TEACHING METHODS
:

The lectures include problems relating to compilation of scheme
solution by pre
-
set aims, taking into account the existing equipment.

The lecture material is
supported by laboratory work with real physical experiments.

METOD OF ASSESSMENT
:
Continuous assessment.

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1.
Башарин А.В. Управление электроприводами, Энергоиздат, М., 1982;
2. Ключев В
.И., Теория на електрозадвижването, Техника, С., 1989.; 3. Werner Leonard,
Control of Electrical Drives, Ed, Springer, 1996; 4. Слежановский О.В. и др. Системы
подчиненного регулирования электроприводов переменного тока с вентильными
преобразователями, Эне
ргоатомиздат, М., 1983.; 5. B.K.Bose, Power Electronics and AC
Drives, Prentice


Hall, Englewood Clifts N, J, 1986.



List OS8 (
BAICE47


EСТК 5)

L8O1

Computer Control Systems

L8
O2

Programming for Measurement

devices

L8O3

Computer Monitoring and Control

L8O4

Decision Making in Control Systems

L8O5

Analysis and Processing of Biosignals

L8O6

Mechatronics and Mechanisms in Automation


DESCRIPTION OF THE COURSE


Name of the course:

Computer
Control Systems

Code:
BAICE47

Semester:
7

Type of teaching:

Le
ctures
,

Laboratory work


Lessons per week:

L

㈠桯畲猠

it


ㄮN⁨潵

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Assistant Prof. Ivan Evgeniev

(ФА)


phone.: 965 2041,
email
:
iei@tu
-
sofia.bg

Technical University of Sofia


COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Fac
ulty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

This course introduces basic knowledge on
modern computer control systems including embedded and stand
-
alone controllers, multi
-
level
control systems, and basis of formal design methods and real
-
time o
perating systems.

DESCRIPTION OF THE COURSE:

The main topics concern: Control system’s logical
architecture; Organization and architecture of embedded and stand
-
alone controllers; software and
algorithms for control systems; Programmable
-

and State
-
logic

controllers; Input and Output
subsystems for control systems; Human
-
machine interactions; Basics of real
-
time operating systems;
Basics of industrial real
-
time networks; Formal methods for design of single and distributed control
systems.

PREREQUISITES:

Programming and Computer Application
,
Pulse and Digital Circuit Technique
,
Microprocessor Architecture
, Control Instrumentation, Digital Control Systems, Logical Control of
Processes and Systems.

TEACHING METHODS
: Lectures, using slides, case studies, lab
oratory work.

METHOD OF ASSESSMENT:
Two one
-
hour assessments at mid and end of semester.

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1.

Olsson G. and G. Piani. Computer Systems for Automation and Control.
Prentice
-
Hall, 1992. 2.

Bennet S. Real
-
Time Comp
uter Control
-

An Introduction. Prentice
-
Hall,
1988. 3.

Warnock I.G. Programmable Controllers. Operation and Application. Prentice
-
Hall 1988. 4.
Ivanov I.E. Embedded Software Engineering, 2004,
http://www.msdnaa.net/curriculum/

pfv.aspx?5961.


DESCRIPTION
OF THE COURSE


Name of the course:

Programming for
Measurement Devises

Code:
BAICE47

Semester: 7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


㈠桯畲s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:

Assoc. Prof. Ph.D. T
asho

Tashev (FA
)


tel.: 965 23 24,
email
:
t_tashev@tu
-
sofia.bg

Technical University of Sofia

COURSE STATUS IN THE CURRICULUM:

Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of

Automation.

AIMS AND OBJECTIVES OF THE COURSE:

To give knowledge about use of techniques to
programming different measurement devises. It involves integrating the following related
techniques and activities


communication between measurement devises, tre
atment of
measurement signals.

DESCRIPTION OF THE COURSE:
The course treats the programming basic principles for
measurement devises. The theory of programming , which is used in the various methods for
measurement devises, are discussed. The basic exper
imental methods and techniques of
programming are treated.

PREREQUISITES:

Knowledge and skills in
Programming and Computer Application
and
Microprocessor Architecture
.

TEACHING METHODS
: Lectures are complemented with subsidiary materials and tutorials.
Students prepare individual reports for laboratory works.

METHOD OF ASSESSMENT:

Continuous assessment.



INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:


1. Charles Petzold, Programming Windows, Microsoft Press, 1997. 2. Ben Jones, Programming
with Visual

C++, Microsoft Press, 1996. 3. Огнян Наков, Програмиране на С++, Техника, 1995.
4. LavView, National Instruments, 1994.


DESCRIPTION OF THE COURSE


Name of the course:

Computer Monitoring and Control

Code:

BAICE47

Semester:
7

Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L

㈠桯畲猻s

it

ㄮ㔠桯畲h

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:

Assoc. Prof. Ph.D. Constantin Pavlitov, (FA)


tel.965 3518,
email
:
knp@tu
-
sofia.bg

Technical University of Sofia, dep. “Electr
ical Drives Automation”

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

The main purpose of the course is to int
roduce
students in the field of industrial applicable systems for monitoring and control. The emphasis is to
the software, both on low and high level. The students have to be acquaint with the design and
exploitation problems of real computer systems for
monitoring and control , related to electrical
drives quantities.

DESCRIPTION OF THE COURSE:

The first theoretical part of the course reveals the
architecture of the input/output microcomputer subsystem explaining the methods of the
information transfer be
tween the microcomputer and outside world. A lot of examples concerning
the measurement and control of electromechanical quantities are explained. Examples are referred
to Motorola and Microchip microcontrollers. The second part of the course is devoted to

the
implementation of the industrial ready made systems for monitoring and control. Some of these
systems like those of Advantech’s , Allen’s Bradley and LabView are briefly discussed by making
some practical applications on their base. All of the example
s concern the design and exploitation
problems of real computer systems for electric drives quantities monitoring and control.

PREREQUISITES:

Electronics and Semiconductor Elements,
Pulse and Digital Circuit
Technique
,
Programming and Computer Application
,

Control Theory, Logical
Electromechanical
Systems Control
.

TEACHING METHODS
: Lectures, using overhead or multimedia projector, laboratory work
from laboratory manual, work in teams, protocols and defence of the protocols.

METHOD OF ASSESSMENT:

Continuo
us assessment.

Two

two
-
hour assessment
s

(70%) plus
laboratories (30%).

INSTRUCTION LANGUAGE:

Bulgarian

BIBLIOGRAPHY:

1.

Embedded Control Handbook, Microchip Technology Inc,1995, 2.

ST
Microelectronics Group of Companies


ST Data Disc 1
st

Edition CD
-
ROM ,
1999, 3.Stallings
William, Computer Organization and Architecture,1993
-
QA76.9.A73S73.199 4.Tanenbaum A.S.,
Structured Computer Organization, Prentice Hall International Editions,USA,1984 ISBN 0
-
13
-
854605
-
3 5. Bishop Robert H., LabVIEW 6i


Student E
dition, National Instruments, Prentice Hall


Pearson Education, 2001, ISBN 0
-
13
-
032550
-
3


DESCRIPTION OF THE COURSE


Name of the course:

Decision
-
making in
Control Systems


Code:
BAICE47


Semester:
7

Type of teaching:

Lectures
,

Laboratory work

Lessons p
er week:

L


㈠桯畲猻s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Assoc. Prof. Ph.D. Georgi SapunjievS. (FA)


tel.

965 2940
, еmail:
gensap
@tu
-
sofia.bg


Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

To d
evelop the concept of contemporary decision
-
making theory with question “What to do” is
replaced by “What must to do and why” i.e. accent is upon
decision
-
making process inner logics.
At
the end of the course the students are expected to be able to apply t
he methodology investigation of
continuous, discrete time and discrete
-
event processes and systems in the field of industry,
management and service, and to have basic knowledge and skills in using software packages for
investigations, analysis and applicat
ions of
decision
-
making systems

in practice.

DESCRIPTION OF THE COURSE:

The main topics concern: applications of decision
-
making theory in human
-
machine interactions,
modelling of business games, complex and decision
-
making systems in industry, social ser
vices in
methods to solve them.; Methods for decision
-
making in presence of definiteness, at risk and
indefiniteness with results quantity evaluation in multiple criteria is learned. Based on binary
relations and theory of usefulness methods for making cho
ices by alternatives comparison is
described. Procedure for group making decisions in conflict and coalitions in counteract interest is
concerned. Case studies of applications of decision
-
making theory in design, optimisation and
control of various sphe
re of activities.

PREREQUISITES:

Control Theory,
Process Control Automation
,
Discrete Event Systems
,
Industrial Information Systems
,
Systems Optimization.

TEACHING METHODS
: Lectures, using slides, case studies, laboratory work from laboratory
manual, work

in teams, protocols preparation and defence.

METHOD OF ASSESSMENT:

Continuous assessment.

Two one
-
hour assessments at mid and
end of semester

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY
: 1.
Сапунджиев
,

Г. Н., Вземане на решения в системите за управлени
е
/учебник/, С., Изд. ТУ
-

София, 2005 2. Стивенсон В.Д. Управление производством. М.,
Бином, 1999.


DESCRIPTION OF THE COURSE


Name of the course:

Analysis and
Processing
of
Biosignals

Code:
BAICE47

Semester:
7

Type of teaching:

Lectures
,

Laboratory wor
k

Lessons per week:

L


㈠桯畲猻s

it


ㄮN⁨潵 s

乵浢k爠潦⁣牥摩d猺s
5

LECTURER
:


Assoc. Prof. Ph.D. Dimitar Nenov (FA)
,

tel.:


965 2596,
email
:
nenov_dan@mail.bg


Technical University of Sofia

COURSE STATUS IN THE CURR
ICULUM
: Optional for the students specialty Automation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE:

The theoretical fundamentals of this course are
the coding and information theory. The bi
osignals are examined as a stationary discrete signal
sources. To teach the students the processing methods and algorithms of the speech signals, ECG
and EEG signals.

DESCRIPTION OF THE COURSE:
The theoretical fundamentals of this course are the coding
an
d information theory. The biosignals are examined as a stationary discrete signal sources. The
fundamental models of the information sources and coding methods are represented. The main topics
concern: codes with fixed and variable length, optimal codes, a
nd basic algorithms for optimal
coding. The next fundamental topics are connected with signal sources, transmission of the
biosignals, description of the biosignal channels. The processing of the biosignals which are derived
by direct and indirect methods

in case of memory and noise presented is one of the main topics. The
speech signals that are typical for this processing are discussed. Based on these signals the
fundamental processing methods of the biosignals are introduced.

PREREQUISITES:

System
I
dentification
, Control
Theory
,
Control Instrumentation
.

TEACHING METHODS
: Lectures, using slides, case studies, laboratory and course work, work in
teams, protocols and course work description preparation and defence.

METHOD OF ASSESSMENT:

Continuous
assessment.

Protocols are checked and estimated by
the lecturer

INSTRUCTION LANGUAGE
:

Bulgarian

BIBLIOGRAPHY:

1. Gallader R., Information Theory and Reliability of Connection, Moscow,
Savetskoe Radio, 1974; 2. Shwartvan W. O., Emelyanov G. A., Theory of tr
ansmit ion of digital
information, Moscow, Sways, 1979; 3. Rabinner L. R., Shafner R. W., Digital Processing of Speech
Signals, Moscow, Radio and Connection, 1984; 4. Welkov F., at all Data Transmission Systems ,
Sofia, Technika, 1974; 5. Adaptive Methods
for Image Processing, Moscow, Nauka, 1988.


DESCRIPTION OF THE COURSE

Name of the course:

Mechatronics and Mechanisms in
Automation

Code:
BAICE47


Semester:
7


Type of teaching:

Lectures
,

Laboratory work

Lessons per week:

L


2 hours;

LW


1.5 hour

Nu
mber of credits:
5

LECTURER
:

Assoc. Prof. Ph.D. Ivan Avramov
,

Tel.: 965 3991,
email
:
iavramov@tu
-
sofia.bg,

Technical University of Sofia

COURSE STATUS IN THE CURRICULUM
: Optional for the students specialty A
utomation,
Information and Control Engineering, BEng programme, Faculty of Automation.

AIMS AND OBJECTIVES OF THE COURSE
:

At the end of the course the students are expected
to be able to apply the methodology for
modelling

and simulation of mechanisms of a
utomation and
it using in solving of engineering problems of the Mecharonics and Robotics as well as analysis and
validation of the results.

DESCRIPTION OF THE COURSE
:
The main topics of theory of planar and
spatial
design
mechanisms concern: kinematic jo
ints and chains,
rigid multiple links and a chains of binary,
ternary and
quaternary
links, kinematic diagrams,
function,
path and
motion generator mechanisms,
linkage,

cam, gear, belt and pulley mechanisms, four bars,
Watt and Stephenson
six bars and eigh
t
bars

mechanisms,
degrees of freedom,
velocity, acceleration, transmission angle, animation and
optimization of mechanisms. The
robotics engineering and integrated approach of mechatronics is a
synergistic integration of mechanics, electronics, embedded c
ontrol and computer equipment in the
design and realization of intelligent products, processes and systems, are included. In the course are
learnt the basic methods and means for mechatronic systems of robotics, will be experienced in the
analysis mechanis
ms of robotics and automation, and will be obtained knowledge and practical
capabilities in the approaches and the development of the robots design. Traditional functional
solutions in robotics, themes for mechatronics design of new base parameters as stru
ctural,
kinematical and dynamical ones, which serve for rational choice of the mechanisms, setting into
motion control and sensors are included. The important issues in motion control of robot
manipulators and mobile robots, are studied. Laboratory work, e
xperience and computer
modelling

is done with software tools and languages: Watt Demo&Roberts Animator, Working Model, 20
-
SIM, RobotAssist Demo, RoboLab and SIM
-
Mechanics with MATLAB is considered helpful.

PREREQUISITES
:
Obtaining of knowledge on: Technic
al mechanics, Control Theory,
Robotic
manipulators, Control of robots and robotic systems, Design of robots and robotized systems, Sensor
Systems for Robots, Logical modelling and programming.

TEACHING METHODS
: Lectures by using of
o
verhead projector trans
parencies, video
presentations, slides,
video films
, case studies. Laboratory work including experience with
educational robots and decisions on practical problems of the mechatronics with report presentations.

METHOD OF ASSESSMENT
:
Continuous assessment.


Two written tests at the mid and the end
of the term (70%); Laboratory work with report presentations (30%).

INSTRUCTION LANGUAGE
:

Bulgarian; English
-

for main notions

BIBLIOGRAPHY
:

1. Stadler Wolfram, Analytical Robotics and Mechatronics, McGraw
-
Hill,
Inc., New
York, 1995.; 2. Waldron K., Kinzel, G., Kinematics, dynamics, and Design of Machinery, John
Wilwy&Sons. Inc. New York 1999; 3. Klafter R. D., Chmielewski T. A., Negin M., Robotic Engineering,
An Integratied Approach, Prentice
-

Hall Intern. Inc.,

London, 1989; 4. Isai, T., Simojama, I., at all.
Mechatronics, Moscow, MIR, 1988. (Russian translation from Japan). 5. Galabov, V., Synthesis of