16.31 Feedback Control Systems ( ) (Subject meets with 16.30 ) Prereq: 16.06 or 16.060 Units: 3-0-9 Lecture: MWF11 ( 33-419 ) +final Graduate-level version of 16.30; see description under 16.30. Includes additional homework questions, laboratory experiments, and a term project beyond 16.30 with a particular focus on the material associated with state-space realizations of MIMO transfer function (matrices); MIMO zeros, controllability, and observability; stochastic processes and estimation; limitations on performance; design and analysis of dynamic output feedback controllers; and robustness of multivariable control systems. J. P. How
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16.322 Stochastic Estimation and Control ( ) Prereq: 16.06 or 16.060 ; 6.041 or 6.431 Units: 3-0-9 Estimation and control of dynamic systems. Brief review of probability and random variables. Classical and state-space descriptions of random processes and their propagation through linear systems. Frequency domain design of filters and compensators. The Kalman filter to estimate the states of dynamic systems. Conditions for stability of the filter equations. S. R. Hall
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16.323 Principles of Optimal Control ( ) Prereq: 18.085 , 16.31 Units: 3-0-9 Studies basic optimization and the principles of optimal control. Considers 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. Includes many examples and applications of the theory. J. P. How
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16.333 Aircraft Stability and Control ( ) Prereq: 16.31 or permission of instructor Units: 3-0-9 Brief review of applied aerodynamics and modern approaches in aircraft stability and control. Static stability and trim. Stability derivatives and characteristic longitudinal and lateral-directional motions. Physical effects of wing, fuselage, and tail on aircraft motion. Flight vehicle stabilization by classical and modern control techniques. Time and frequency domain analysis of control system performance. Human pilot models and pilot-in-the-loop control with applications. V/STOL stability, dynamics, and control during transition from hover to forward flight. Parameter sensitivity and handling quality analysis of aircraft through variable flight conditions. Brief discussion of motion at high angles-of-attack, roll coupling, and other nonlinear flight regimes. E. Frazzoli
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16.343 Spacecraft and Aircraft Sensors and Instrumentation ( ) Prereq: Permission of instructor Units: 3-0-9 Covers fundamental sensor and instrumentation principles in the context of systems designed for space or atmospheric flight. Systems discussed include basic measurement system for force, temperature, pressure; navigation systems (Global Positioning System, Inertial Reference Systems, radio navigation), air data systems, communication systems; spacecraft attitude determination by stellar, solar, and horizon sensing; remote sensing by incoherent and Doppler radar, radiometry, spectrometry, and interferometry. Also included is a review of basic electromagnetic theory and antenna design and discussion of design considerations for flight. Alternate years. R. J. Hansman, D. W. Miller
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16.346 Astrodynamics ( ) Prereq: 18.03 Units: 3-0-9 Lecture: MW11-12.30 ( 33-319 ) Fundamentals of astrodynamics; the two-body orbital initial-value and boundary-value problems with applications to space vehicle navigation and guidance for lunar and planetary missions with applications to space vehicle navigation and guidance for lunar and planetary missions including both powered flight and midcourse maneuvers. Topics include celestial mechanics, Kepler's problem, Lambert's problem, orbit determination, multi-body methods, mission planning, and recursive algorithms for space navigation. Selected applications from the Apollo, Space Shuttle, and Mars exploration programs. R. H. Battin
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16.35 Real-Time Systems and Software ( ) Prereq: 1.00 , 6.01 , or 6.005 Units: 3-0-9 Concepts, principles, and methods for specifying and designing real-time computer systems. Topics include concurrency, real-time execution implementation, scheduling, testing, verification, real-time analysis, and software engineering concepts. Additional topics include operating system architecture, process management, and networking. N. Roy
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16.355J Concepts in the Engineering of Software ( ) (Same subject as ESD.355J ) Prereq: 16.35 , 16.880J / ESD.33J , or permission of instructor Units: 3-0-9 Lecture: F8.30-11.30 ( 9-057 ) A reading and discussion subject on issues in the engineering of software systems and software development project design. Includes the present state of software engineering, what has been tried in the past, what worked, what did not, and why. Topics may differ in each offering, but are chosen from the software process and lifecycle; requirements and specifications; design principles; testing, formal analysis, and reviews; quality management and assessment; product and process metrics; COTS and reuse; evolution and maintenance; team organization and people management; and software engineering aspects of programming languages. N. G. Leveson
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16.36 Communication Systems Engineering ( ) Prereq: 16.004 , 16.04 , or 6.003 ; 6.041 Units: 3-0-9 Introduces the fundamentals of digital communications and networking. Topics include elements of information theory, sampling and quantization, coding, modulation, signal detection and system performance in the presence of noise. Study of data networking includes multiple access, reliable packet transmission, routing and protocols of the internet. Concepts discussed in the context of aerospace communication systems: aircraft communications, satellite communications, and deep space communications. E. H. Modiano
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16.37J Data-Communication Networks ( ) (Same subject as 6.263J ) Prereq: 6.041 or 18.313 Units: 3-0-9 Lecture: TR1-2.30 ( 32-124 ) Modeling of the control processes in conventional and high-speed data communication networks. Develops and utilizes elementary concepts from queueing theory, algorithms, linear and nonlinear programming to study the problems of line and network protocols, distributed algorithms, quasi-static and dynamic routing, congestion control, deadlock prevention. Treats local and wide-area networks, and high-speed electronic and optical networks. D. P. Bertsekas, E. Modiano
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16.391J Statistics for Engineers and Scientists ( ) (Same subject as 6.434J ) Prereq: Calculus II (GIR) , 18.06 , 6.431 , or permission of instructor Units: 3-0-9 Lecture: TR1-2.30 ( 33-319 ) Provides a rigorous introduction to fundamentals of statistics motivated by engineering applications and emphasizing the informed use of modern statistical software. Topics include sufficient statistics, exponential families, estimation, hypothesis testing, measures of performance, and notion of optimality. M. Win, J. N. Tsitsiklis
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16.395 Principles of Wide Bandwidth Communication ( ) Prereq: A strong background in digital communication, e.g. 6.011 , 16.36 , or permission of instructor Units: 3-0-9 TBA. Introduction to the principles of wide bandwidth wireless communication, with a focus on ultra-wide bandwidth (UWB) systems. Topics include the basics of spread-spectrum systems, impulse radio, Rake reception, transmitted reference signaling, spectral analysis, coexistence issues, signal acquisition, channel measurement and modeling, regulatory issues, and ranging, localization and GPS. Consists of lectures and technical presentations by students. M. Z. Win
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16.398 Advanced Special Subject in Information and Control ( , , ) Prereq: Permission of instructor Units arranged TBA. 16.399 Advanced Special Subject in Information and Control ( , ) Prereq: Permission of instructor Units arranged Organized lecture or laboratory subject consisting of material not available in regularly scheduled subjects. Consult D. L. Darmofal
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16.400 Human Factors Engineering ( ) (Subject meets with 16.453J , ESD.773J ) Prereq: None. Coreq: 16.06 Units: 3-3-6 Lecture: TR11-12.30 ( 37-212 ) Accidents associated with human error often reflect the failure to recognize human factors in the design stage. Interaction of humans with aircraft and other complex machines. Manual control and human-computer interaction in semi-automated vehicles. Reviews sensory, motor, and cognitive performance characteristics and derives human engineering design criteria. Principles of displays, controls and ergonomics applied in various class design exercises. Students taking graduate version complete different assignments. M. L. Cummings
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16.401 Special Subject in Communication and Software ( , , ) Prereq: Permission of department Units arranged TBA. Provides credit for student work on undergraduate-level material in communications and/or software outside of regularly scheduled subjects. Intended for study abroad under either the department's Year Abroad Program or the Cambridge-MIT Exchange Program. Credit may be used to satisfy specific SB degree requirements. Consult department. B. C. Williams
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16.405J Robotics: Science and Systems I ( ) (Same subject as 6.141J ) Prereq: Permission of instructor Units: 2-6-4 Presents concepts, principles, and algorithms for computation related to the physical world. Topics covered are: motion planning, geometric reasoning, kinematics and dynamics, state estimation, tracking, map building, manipulation, human-robot interaction, fault diagnosis, and embedded system development. Students specify and design a small-scale yet complex robot capable of real-time interaction with the natural world. Students may continue content in 6.142. Prior knowledge of one or more of the following areas would be useful: control (2.004, 6.302, or 16.30); software (1.00, 6.005, or 16.35); electronics (6.002, 6.070, 6.111, or 6.115); mechanical engineering (2.007); or independent experience such as MasLAB, 6.270, or a relevant UROP. Students engage in extensive written and oral communication exercises. Enrollment limited. N. Roy, D. Rus, S. Teller
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16.406J Robotics: Science and Systems II ( ) (Same subject as 6.142J ) Prereq: 6.141 or permission of instructor Units: 2-6-4 Lecture: F10-12 ( 32-124 ) Implementation and operation of the embedded system designed in 6.141. Addresses open research issues such as sustained autonomy, situational awareness, and human interaction. Students carry out experiments to assess their design and deliver a final written report. Prior knowledge of one or more of the following areas would be useful: control (2.004, 6.302, or 16.30), software (1.00, 6.005, or 16.35), electronics (6.002, 6.070, 6.111, or 6.115), mechanical engineering (2.007), independent experience (MasLAB, 6.270, or a UROP). D. Rus, S. Teller, N. Roy
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16.410 Principles of Autonomy and Decision Making ( ) (Subject meets with 16.413 ) Prereq: 1.00 or 6.01 Units: 4-0-8 Lecture: MW9.30-11 ( 33-319 ) Recitation: F10 ( 33-319 ) +final Survey of reasoning, optimization and decision making methodologies for creating highly autonomous systems and decision support aids. Focus on principles, algorithms, and their application, taken from the disciplines of artificial intelligence and operations research. Reasoning paradigms include logic and deduction, heuristic and constraint-based search, model-based reasoning, planning and execution, and machine learning. Optimization paradigms include linear programming, integer programming, and dynamic programming. Decision-making paradigms include decision theoretic planning, and Markov decision processes. B. C. Williams, E. Frazzoli
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16.412J Cognitive Robotics ( ) (Same subject as 6.834J ) Prereq: 6.041 or 6.042 ; and 16.410 , 16.413 , 6.034 , or 6.825 Units: 3-0-9 Algorithms and paradigms for creating a wide range of robotic systems that act intelligently and robustly, by reasoning extensively from models of themselves and their world. Examples range from autonomous Mars explorers and cooperative air vehicles, to everyday embedded devices. Topics include deduction and search in real-time; temporal, decision-theoretic and contingency planning; dynamic execution and re-planning; reasoning about hidden state and failures; reasoning under uncertainty, path planning, mapping and localization, and cooperative and distributed robotics. 8 Engineering Design Points. B. C. Williams
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16.413 Principles of Autonomy and Decision Making ( ) (Subject meets with 16.410 ) Prereq: 1.00 or 6.01 Units: 3-0-9 Lecture: MW9.30-11 ( 33-319 ) Recitation: F10 ( 33-319 ) +final Graduate-level version of 16.410; see description under 16.410. Additional material on reasoning under uncertainty and machine learning, including hidden Markov models, graphical models and Bayesian networks, computational learning theory, reinforcement learning, decision tree learning and support vector machines. Assignments include the application of autonomy algorithms to practical aerospace systems, as well as more advanced programming assignments. B. C. Williams, E. Frazzoli
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16.420 Planning Under Uncertainty ( ) Prereq: 16.413 Units: 3-0-9 Concepts, principles, and methods for planning with imperfect knowledge. Topics include state estimation, planning in information space, partially observable Markov decision processes, reinforcement learning and planning with uncertain models. Students will develop an understanding of how different planning algorithms and solutions techniques are useful in different problem domains. Previous coursework in artificial intelligence and state estimation strongly recommended. N. Roy
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16.422J Human Supervisory Control of Automated Systems ( ) (Same subject as ESD.774J ) Prereq: Permission of instructor Units: 3-1-8 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. M. L. Cummings
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16.423J Aerospace Biomedical and Life Support Engineering ( ) (Same subject as ESD.65J , HST.515J ) Prereq: 16.400 , 16.06 , 16.060 , or permission of instructor Units: 3-1-8 URL: http://weightless.mit.edu/ Fundamentals of human performance, physiology, and life support impacting engineering design and aerospace systems. Topics include effects of gravity on the muscle, skeletal, cardiovascular, and neurovestibular systems; human/pilot modeling and human/machine design; flight experiment design; and life support engineering for extravehicular activity (EVA). Case studies of current research are presented. Assignments include a design project, quantitative homework sets, and quizzes emphasizing engineering and systems aspects. D. J. Newman
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16.430J Sensory-Neural Systems: Spatial Orientation from End Organs to Behavior and Adaptation ( ) (Same subject as HST.514J ) Prereq: Neuroscience or systems engineering or permission of instructor Units: 3-0-9 Introduces sensory systems,and multi-sensory fusion using the vestibular and spatial orientation systems as a model. Topics range from end organ dynamics to neural responses, to sensory integration, to behavior, and adaptation, with particular application to balance, posture and locomotion under normal gravity and space conditions. Depending upon the background and interests of the students, advanced term project topics might include motion sickness, astronaut adaptation, artificial gravity, lunar surface locomotion, vestibulo-cardiovascular responses, vestibular neural prostheses, or other topics of interest. L. Young, C. Oman, D. Merfeld, C. Wall
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16.453J Human Factors Engineering ( ) (Same subject as ESD.773J ) (Subject meets with 16.400 ) Prereq: None. Coreq: 16.06 or 2.010 Units: 3-1-8 Lecture: TR11-12.30 ( 37-212 ) Accidents associated with human error often reflect the failure to recognize human factors in the design stage. Interaction of humans with aircraft and other complex machines. Manual control and human-computer interaction in semi-automated vehicles. Reviews sensory, motor, and cognitive performance characteristics and derives human engineering design criteria. Principles of displays, controls and ergonomics applied in various class design exercises. Students taking graduate version complete different assignments. M. L. Cummings
Score: 6.2746572 Details | Listing | Web page
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