**Mechanical Engineering and Mechanics**

Subhrajit Bhattacharya

**Teaching**

**Contents:**

### Robot Motion Planning and Control (Mech 450, Fall 2018, Lehigh U.)

Catalog Description: This course will start with an introduction to the configuration spaces and kinematics of different robotic systems, including holonomic & non-holonomic mobile robots, spatial robots, and robotic manipulators.

### Dynamics (Mech 102, Fall 2018, Lehigh U.)

Particle dynamics, work-energy, impulse-momentum, impact, systems of particles; kinematics of rigid bodies, kinetics of rigid bodies in plane motion, energy, momentum, eccentric impact.

### Dynamics (Mech 102, Fall 2017, Lehigh U.)

Particle dynamics, work-energy, impulse-momentum, impact, systems of particles; kinematics of rigid bodies, kinetics of rigid bodies in plane motion, energy, momentum, eccentric impact.

### Analytical Methods in Dynamics and Vibrations (Mech 425, Spring 2017, Lehigh U.)

Topics to be covered include coordinate systems, conservation laws, equilibrium and stability, systems of particles, variable-mass systems, transport equation; basic concepts from variational calculus; generalized coordinates, holonomic & nonholonomic constraints, generalized forces, D'Alembert's principle, Hamilton's principle, Lagrange's equations, generalized momenta; 3D rigid-body motion, inertia tensors, Euler angles, axis-angle representation, Hamilton's and Lagrange's equations for rigid bodies; oscillations, free and forced response of linear systems, linearization of nonlinear systems, discrete eigenvalue problem; chaotic systems, perturbation theory; additional topics: configuration spaces, forward and inverse kinematics, Jacobian, singularities, position control,

### Dynamics (Mech 102, Fall 2016, Lehigh U.)

Particle dynamics, work-energy, impulse-momentum, impact, systems of particles; kinematics of rigid bodies, kinetics of rigid bodies in plane motion, energy, momentum, eccentric impact.

### Calculus II (Math 114-001, Spring 2016, UPenn)

Functions of several variables, vector-valued functions, partial derivatives and applications, double and triple integrals, conic sections, polar coordinates, vectors and vector calculus. Applications to physical sciences.

### Ideas in Mathematics (Math 170-001, Fall 2015, UPenn)

Topics from among the following: logic, sets, topology, graph theory, geometry, and their relevance to contemporary science and society.

### Ideas in Mathematics (Math 170-002, Fall 2014, UPenn)

Topics from among the following: logic, sets, topology, graph theory, geometry, and their relevance to contemporary science and society.

### Special Topics in Applied Mathematics: Introduction to Topology and Differential Geometry for Application in Robotics (Fall 2014, UPenn)

This is a course on applied mathematics for students in robotics, networking, and distributed systems who are interested in applications of topology and geometry to engineering problems. It is open to all doctoral students in engineering.

### Configuration Spaces and Topology (in MEAM 899, Fall 2012, UPenn)

Part of an independent study for first and second year graduate students working on Robotics