F A L L | 2 0 0 8

  • Analytical Dynamics: Provided a solid foundation for how to derive equations of motion for complex multi-body systems and simulate these systems on a computer. Course included a final design project where I modeled and analyzed the dynamics of a rocket launch ascent.
  • State Variable Method In Control: In depth study of linear time invariant systems via state space modeling techniques.
S P R I N G | 2 0 0 9

  • Control System Theory: Investigated the effects of multi-variable dynamics, plant uncertainty, and nonlinear dynamics on the performance, stability properties, effects of feedback, performance conditions, and modeling. Course included a final design project on PID and LQR controller design for UAV.
  • Numerical Methods 1: Studied numerical evaluation techniques covering: root finding methods, solving sets of linear equations, interpolation methods, approximation of functions, numerical integration and differentiation, numerical methods for initial value problems, methods for 1D boundary value problem, and methods for 1D unsteady heat equation & wave equation.
F A L L | 2 0 0 9

  • Geometry of Mechanisms and Robotics 1: Investigated the kinematic analysis of serial manipulators. Topics included coordinate transformations to describe motion in multiple reference frames, forward kinematic and reverse kinematic analysis using analytical approaches, and quaternion transformations. Course included a final project for which I wrote an article on path determination for the Canadarm 2 spatial manipulator using reverse kinematic analysis. Geometry of Mechanisms and Robotics - Final Project (Paper) (Presentation)
  • Optimal Estimation: Studied the mathematical basis for parameter and state estimation as well as how to correctly apply these methods in practice. Some topics covered included least squares parameter estimation, combinatorics, probability spaces, random variables, density functions, joint density functions, Best Linear Unbiased Estimator, Recursive Least Squares, Maximum Likelihood and Maximum A-posteriori Estimators, Cramer-Rao Lower Bound, discrete time Kalman Filter, Extended Kalman Filter, and discrete time prediction and smoothing. Course included a final project for which I presented a paper on using numerical approximation techniques to improve Extended Kalman Filters for satellite position tracking. Optimal Estimation - Final Project
  • Introduction to Advanced Process Dynamics and Control: Provided a strong foundation in linear algebra, control theory, and controller applications. The major topics of the class included (1) systematic methodologies for modeling multivariable control systems, (2) alternative model-representation paradigms, (3) the assessment of stability, observability and controllability characteristics, and (4) synthesis of feedback control policies to ensure high system performance. 
  • Graduate Seminar: Attended a series of seminars given by UF faculty, faculty candidates, and visiting professors from various universities. Topics presented ranged from orthosis and orthopedics to volcanic eruption fluid mechanics.