GUC
MATH103
For Engineering
Winter 2015
Lecture # 1
1
Instructor and Textbooks
Lecturer: Dr. Hany El-Sharkawy
Office:
C3.106
E- mail: [email protected]
Textbooks:
Lecture notes your main sour
Department of Mathematics
Dr. Tarek Emam
Mathematics
for Management Sciences (Math 101)
Assignments Nr. 9
Name :
Application Nr.
Group:
Note: Exercises labeled (I) are to be solved by Instructors in c
Department of Mathematics
Dr. Tarek Emam
Mathematics
for Management Sciences (Math 101)
Assignments Nr. 8
Name :
Application Nr.
Group:
Note: Exercises labeled (I) are to be solved by Instructors in c
Department of Mathematics
Dr. Tarek Emam
Mathematics
for Management Sciences (Math 101)
Assignments Nr. 7
Name :
Application Nr.
Group: M
Note: Exercises labeled (I) are to be solved by Instructors in
Department of Mathematics
Dr. Tarek Emam
Mathematics
for Management Sciences (Math 101)
Assignments Nr. 6
Name :
Application Nr.
Group:
Note: Exercises labeled (I) are to be solved by Instructors in c
Department of Mathematics
Dr. Tarek Emam
Mathematics
for Management Sciences (Math 101)
Assignments Nr. 5
Name :
Application Nr.
Group:
Note: Exercises labeled (I) are to be solved by Instructors in c
Department of Mathematics
Dr. Tarek Emam
Mathematics
for Management Sciences (Math 101)
Assignments Nr. 4
Name :
Application Nr.
Group:
Note: Exercises labeled (I) are to be solved by Instructors in c
Department of Mathematics
Dr. Tarek Emam
Mathematics
for Management Sciences (Math 101)
Assignments Nr. 3
Name :
Application Nr.
Group: M
Note: Exercises labeled (I) are to be solved by Instructors in
Department of Mathematics
Dr. Tarek Emam
Mathematics
for Management Sciences (Math 101)
Assignments Nr. 2
Name :
Application Nr.
Group: M
Note: Exercises labeled (I) are to be solved by Instructors in
Department of Mathematics
Dr. Tarek Emam
Mathematics
for Management Sciences (Math 101)
Assignments Nr. 1
Name :
Application Nr.
Group: T
Note: Exercises labeled (I) are to be solved by Instructors in
Robotics
Islam S. M. Khalil
German University in Cairo
Islam S. M. Khalil
Hill Climbing using Newton-Raphson Method
Outline
Hill climbing
Newton-Raphson method
Newton-Raphson in optimization
Islam S.
Robotics
Islam S. M. Khalil
German University in Cairo
October 1, 2016
Islam S. M. Khalil
Kinematics
Position and Orientation of Rigid Bodies
Position: A pAB R31 in A.
Orientation: A RB R33 in A.
RT =
1
Modeling of a Pantograph Haptic Device
Islam S. M. Khalil and Mohamed Abu Seif
Kinematics of the Pantograph Haptic Device
The pantograph haptic device consists of 5 links with lengths li for i = 1,
Robotics
Islam S. M. Khalil
German University in Cairo
September 18, 2016
Islam S. M. Khalil
Kinematics
Vector Functions
A vector v in a reference frame A depends on a scalar verifiable q.
We can say
Robotics
Islam S. M. Khalil
German University in Cairo
September 19, 2016
Islam S. M. Khalil
Kinematics
Angular Velocity
Let bl , b2 , and b3 form a right-handed set of mutually
perpendicular unit vec
Robotics
Islam S. M. Khalil
German University in Cairo
Islam S. M. Khalil
Homogeneous Transformations
ZX 0 Z 00 Euler angles
Rotation around Z -axis
cos sin 0
Rz () = sin cos 0
0
0
1
Rotation around X
Robotics
Islam S. M. Khalil
German University in Cairo
September 6, 2016
Islam S. M. Khalil
Kinematics
Outline
Motivation
Agenda
Generalized pseudoinverse
Over- and under-determined systems
Islam S. M
a < U ( Department of Mathematics
0 Dr. Tarek Emam
German University in Cairo
I Mathematics
for Management Sciences (Math 101) . _
Assignments Nr. 9
Name : Application Nr. - Group:
3
No
Department of Mathematics
Dr. Tarek Emam
@GUC
German University in Cairo
Mathematics 1
for Management Sciences (Math 101)
Assignme'hftis Nr. 8
Name : pplication Nr. Group:
Note: Exercise