2.151 Advanced System Dynamics and Control
Analytical and graphical descriptions of state-determined dynamic physical systems; time and frequency domain representations; system characteristics - controllability, observability, stability; linear and nonlinear system responses. Modification of system characteristics using feedback. State observers, Kalman filters. Modeling/performance trade-offs in control system design. Emphasis on application of techniques to physical systems.
2.032 Dynamics
Review of momentum principles. Hamilton's principle and Lagrange's equations. Three-dimensional kinematics and dynamics of rigid bodies. Study of steady motions and small deviations therefrom, gyroscopic effects, causes of instability. Free and forced vibrations of lumped-parameter and continuous systems. Nonlinear oscillations and the phase plane. Nonholonomic systems. Introduction to wave propagation in continuous systems.
16.323 Principles of Optimal Control
Basic optimization and the principles of optimal control. Deterministic and stochastic problems for both discrete and continuous systems. Solution methods include numerical search algorithms, model predictive control, dynamic programming, variational calculus, and approaches based on Pontryagin's maximum principle. Many examples and applications of the theory.
15.979 Special Seminar in Management
Group study of current topics related to management not otherwise included in curriculum.
2.152 Nonlinear Control System Design
Introduction to applied nonlinear control and estimation. Nonlinear stability theory, Lyapunov analysis, Barbalat's lemma. Feedback linearization, internal dynamics. Sliding surfaces. Adaptive nonlinear control. Contraction analysis, differential stability theory. Nonlinear observers. Stable adaptive control using multiresolution bases. Stability of nonlinear partial differential systems. Asynchronous distributed computation. Concurrent Synchronization. Emphasis on applications to physical systems (robots, aircraft, spacecraft, underwater vehicles, reaction-diffusion processes, machine vision, oscillators, internet). Term projects.
15.912 Technology Strategy
Outlines tools for formulating and evaluating technology strategy, including the interactions between competition, patterns of technological and market change, and the structure and development of organizational capabilities. Topics include making money from innovation, competition between technologies and the selection of standards, managing joint ventures, and collaborative innovation, competition between technologies and the selection of standards, managing joint ventures and collaborative innovation, organization of R&D, and theories of diffusion and adoption. Taught using a combination of readings and case studies.
18.085 Computational Science and Engineering Review of linear algebra, applications to networks, structures, estimation, finite difference and finite element solution of differential equations. Laplace's equation and potential flow, boundary-value problems, Fourier series, discrete Fourier transform, and convolution. Frequent use of MATLAB in a wide range of scientific and engineering applications.
2.75 Precision Machine Design Intensive coverage of precision engineering theory, heuristics, and applications pertaining to the design of systems ranging from consumer products to machine tools and instruments. Topics covered include: economics, project management and design philosophy; principles of accuracy, repeatability, and resolution; error budgeting; sensors; sensor mounting; systems design; bearings; actuators and transmissions; system integration driven by functional requirements and operating physics. Emphasis on developing creative designs which are optimized by analytical techniques. Problem sets and test first six weeks. Major team-based design project focus last six weeks. Students taking the graduate version complete additional assignments.
6.832 Underactuated Robotics Covers nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on computational methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, robust and optimal control, reinforcement learning/approximate optimal control, and the influence of mechanical design on control. Includes examples from biology and applications to legged locomotion, compliant manipulation, underwater robots, and flying machines. 16.422 Human Supervisory Control of Automated Systems Principles of supervisory control and telerobotics. Different levels of automation are discussed, as well as the allocation of roles and authority between humans and machines. Human-vehicle interface design in highly automated systems. Decision aiding. Trade-offs between human control and human monitoring. Automated alerting systems and human intervention in automatic operation. Enhanced human interface technologies such as virtual presence. Performance, optimization, and social implications of the human-automation system. Examples from aerospace, ground, and undersea vehicles, robotics, and industrial systems. 15.011 Economic Analysis for Business Decisions Introduces students to principles of microeconomic analysis used in managerial decision-making. Topics include demand, cost and surplus analysis, the behavior of competitive and non-competitive markets, sources and uses of market power, and game theory and competitive strategy, with applications to various business and public policy decisions. Antitrust policy and other government regulations are also discussed. 15.010 restricted to first-year Sloan master's students. 15.011 primarily for non-Sloan School students. 16.498 Cooperative Control of Unmanned Systems Cooperative control brings together a variety of methods from artificial intelligence, robotics, operations research, and the social sciences in order to develop efficient control strategies for Unmanned Vehicle (UV) systems. This course covers the fundamentals, standard research methods and current topics in cooperative control as applied to UV systems. 15.871 Introduction to System Dynamics Introduction to systems thinking and system dynamics modeling applied to strategy, organizational change, and policy design. Students use simulation models, management flight simulators, and case studies to develop conceptual and modeling skills for the design and management of high-performance organizations in a dynamic world. Case studies of successful applications of system dynamics in growth strategy, management of technology, operations, supply chains, product development, and others. Principles for effective use of modeling in the real world. 15.872 System Dynamics II Continuation of 15.871, emphasizing tools and methods needed to apply systems thinking and simulation modeling successfully in complex real-world settings. Uses simulation models, management flight simulators, and case studies to deepen the conceptual and modeling skills introduced in 15.871. Through models and case studies of successful applications students learn how to use qualitative and quantitative data to formulate and test models, and how to work effectively with senior executives to implement change successfully. Prerequisite for further work in the field.
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