Sign-in Links
Department Head B. Surgenor
Undergraduate Chair K. Hashtrudi-Zaad
Undergraduate Assistant L. Hare
Office 112 Beamish-Munro Hall
Telephone (613) 533-6000 Ext. 75369
E-mail mre.undergrad@queensu.ca
Departmental Web Site https://smithengineering.queensu.ca/mre/index.html
The Mechatronics and Robotics Engineering (MRE) program addresses the emerging disciplines of mechatronics and robotics engineering, and integrates the traditional disciplines of computer, electrical, and mechanical engineering, with key elements of automatic control, mechanics, electronics, intelligent systems, signal processing and telecommunications systems. This multidisciplinary approach recognizes the ever-increasing complexity of engineering systems, and the societal need for skilled engineers. The MRE program addresses the need for a truly integrated approach to mechatronics and robotics across four years of study. A sequence of experiential project-based design courses will progressively build the students’ foundational knowledge and culminate in a capstone design project that could lead to participation in an external design competition. Following a common two years of study (with the first year being direct-entry from high-school), in their third year students can pursue either an electrical or a mechanical stream. In their final year, students will select eight technical electives, with the option of completing one of four recommended concentrations: automation, robotics, biomedical and intelligent systems. This will give them the opportunity to tailor the curriculum to their own interests.
Courses
MREN 103 Mechatronics and Robotics Design I Units: 4.00
This course introduces students to basic engineering design methods and tools that are employed for developing mechatronic and robotic systems. In the first part of the course, a client-based team design project will further develop skills that include communication, teamwork, project management, professionalism and ethics. The nature of the projects will be such that students will be required to reflect on the impact of their work on society and the environment. The second part of the course consists of a series of laboratories followed by a hands-on project that will introduce students to elements of mechatronic and robotic hardware and software. The course encourages a sense of creativity and curiosity about mechatronics and robotics engineering.
K4(Lec: Yes, Lab: Yes, Tut: No)
K4(Lec: Yes, Lab: Yes, Tut: No)
Requirements: Prerequisites: APSC 101
Corequisites:
Exclusions:
Offering Term: W
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 26
Engineering Science 6
Engineering Design 16
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Work effectively and harmoniously with different learning styles and personalities.
- Apply project management principles and concepts to planning, implementing and delivering a client-based project.
- Develop a process that follows established design principles to generate a solution to mechatronics design problems.
- Describe key concepts in applied sustainability with respect to engineering design criteria.
- Communicate concisely, articulately and effectively using a variety of mediums (technical writing, presentations, graphics, formal and informal communications).
- Recognize the functionality of different components in a mechatronic and robotic system.
- Work with a simple mechatronic and robotic system using basic components and prototyping techniques.
- Evaluate and reflect on one’s own knowledge, skills and learning.
MREN 104 Mechatronics and Robotics Design Project Units: 2.00
This course introduces students to basic engineering design methods and tools that are employed for developing mechatronic and robotic systems.
The course consists of a series of laboratories and a hands-on project that introduce students to elements of mechatronic and robotic hardware and software. The course encourages a sense of creativity and curiosity about robotics and mechatronics engineering. This course covers the content and objectives of MREN 103, that are not covered by APSC 103 and is intended for transfer students into the second year of the MRE program. Students will use their knowledge of engineering graphics as acquired in APSC 162. Note: this course is only open to students transferring into year 2 of the MRE program.
K2(Lec: Yes, Lab: Yes, Tut: No)
The course consists of a series of laboratories and a hands-on project that introduce students to elements of mechatronic and robotic hardware and software. The course encourages a sense of creativity and curiosity about robotics and mechatronics engineering. This course covers the content and objectives of MREN 103, that are not covered by APSC 103 and is intended for transfer students into the second year of the MRE program. Students will use their knowledge of engineering graphics as acquired in APSC 162. Note: this course is only open to students transferring into year 2 of the MRE program.
K2(Lec: Yes, Lab: Yes, Tut: No)
Requirements: Prerequisites: APSC 101, APSC 151 and permission of the instructor.
Corequisites:
Exclusions:
Offering Term: F
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 8
Engineering Science 4
Engineering Design 12
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- CLOs coming soon; please refer to your course syllabus in the meantime.
MREN 178 Data Structures and Algorithms Units: 4.00
This course introduces fundamental structures and algorithms for storing, managing, manipulating and analyzing data. Topics covered include structures, such as multidimensional arrays, linked lists, stacks, queues, deques, asymptotic notation, hash and scatter tables, trees and search trees, heaps and priority queues, graphs, and algorithms such as recursion, branch-and-bound methods, searching, sorting, and probabilistic algorithms. Microcontroller-based laboratory exercises will explore applications of data structures and algorithms, using examples drawn from mechatronics and robotics engineering.
(Lec: 3, Lab: 0.5, Tut: 0.5)
(Lec: 3, Lab: 0.5, Tut: 0.5)
Requirements: Prerequisites: APSC 142 or APSC 143 or MNTC 313
Corequisites:
Exclusions: ELEC 278 or CISC 235
Offering Term: W
CEAB Units:
Mathematics 12
Natural Sciences 0
Complementary Studies 0
Engineering Science 24
Engineering Design 12
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Proficiently implement fundamental data structures and algorithms using the C programming language on a microcontroller.
- Identify and describe the standard data structures and algorithms.
- Describe fundamental techniques for comparing alternative data structures and algorithms.
- Select the appropriate data structure or algorithm to correctly and efficiently solve a given computational problem.
- Analyze a given computational problem and correctly implement it using suitable data structures and algorithms.
- Examine solutions using critical thinking to increase efficiency and robustness of a given computational problem solution.
- Identify legal requirements, liabilities, commitments, and risks associated with software design and development.
- Evaluate performance of a design, using criteria that incorporate specifications, limitations, assumptions, and other relevant factors.
MREN 203 Mechatronics and Robotics Design II Units: 4.00
In this course, students will apply their growing technical knowledge of mechatronics and robotics, and the engineering design process, to solve an open-ended design problem. Working in teams, students will be provided with a kit of components from which they are required to design, build and test a mechatronics or robotics device that performs a certain task. The problem will be posed as an internal design competition. Prototyping and
alternate design methodologies are presented to iteratively execute, evaluate and correct designs in an efficient way. Working prototypes are to be demonstrated before an audience at the end of the term. Teams will demonstrate advanced communication skills by documenting the design process and their project management. Elements of professionalism and ethics are addressed.
K4(Lec: Yes, Lab: Yes, Tut: No)
alternate design methodologies are presented to iteratively execute, evaluate and correct designs in an efficient way. Working prototypes are to be demonstrated before an audience at the end of the term. Teams will demonstrate advanced communication skills by documenting the design process and their project management. Elements of professionalism and ethics are addressed.
K4(Lec: Yes, Lab: Yes, Tut: No)
Requirements: Prerequisites: MREN 103, APSC 199 or have passed the English Proficiency Test
Corequisites:
Exclusions:
Offering Term: W
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 24
Engineering Science 0
Engineering Design 33
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Develop and apply engineering communication skills (verbal, written, and presentation).
- Apply code version control and technical documentation systems to create traceable engineering designs.
- Apply principles of math and engineering to analyze and generate solutions to technical design problems as applied to robotic systems engineering.
- Apply creativity and the engineering design process to generate solutions to open-ended design problems in robotics.
- Demonstrate principles of project economics, management, and leadership in a team setting.
- Recognize engineering as a regulated profession, including reference to relevant engineering regulations/codes/standards, ethical considerations, health and safety, economic, and project risks.
- Describe the impact of technical decisions on key stakeholders in an engineering project, including society and the environment.
MREN 223 Signals and Systems Units: 4.00
This course covers the basic concepts and techniques for the modeling and analysis of signals and systems. Topics include signals, system properties, linear time-invariant systems, convolution, impulse response in continuous-time and discrete-time domains; Fundamentals of Fourier series; Fourier transforms, spectral analysis; Laplace transforms, and frequency response; sampling, reconstruction, and digitization; z transform and frequency response; fundamental concepts of filtering in continuous-time and discrete-time domains; Computational realizations of the analysis tools and their applications are explored in the laboratory.
(Lec: 3, Lab: 0.5, Tut: 0.5)
(Lec: 3, Lab: 0.5, Tut: 0.5)
Offering Term: W
CEAB Units:
Mathematics 12
Natural Sciences 0
Complementary Studies 0
Engineering Science 36
Engineering Design 0
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Classify systems based on their properties: in particular, to understand and exploit the implications of linearity, time-invariance, causality, memory, and bounded-input, bounded-out (BIBO) stability.
- Apply the concepts of convolution, impulse response and transfer function to linear time-invariant systems.
- Determine, interpret and plot Fourier transform magnitude and phase for continuous- and discrete-time functions.
- Apply Laplace transform and its inverse to solve differential equations and to determine the response of linear time-invariant systems to known inputs.
- Use Z transform and its inverse to solve difference equations and to determine the response of linear time-invariant systems to known inputs.
- Derive the Fourier Transforms and use it as a tool for frequency-domain analysis.
- Simulate signals and systems using modern computer software packages.
- Use linear systems tools, especially transform analysis and convolution, to analyze and predict the behavior of linear systems.
- Investigate sampling theorem, aliasing and eth effect of quantization.
MREN 230 Thermodynamics and Heat Transfer Units: 3.75
This course introduces fundamental thermodynamics and heat transfer concepts needed to analyze thermal systems including: ideal gas laws; work and heat; conservation of energy; thermodynamic properties of pure substances; equations of state; applications to open and closed systems; heat transfer by conduction, convection and radiation. Theory will be complemented with a series of labs that introduce temperature measurement devices and thermal circuit analysis.
(Lec: 3, Lab: 0.25, Tut: 0.5)
(Lec: 3, Lab: 0.25, Tut: 0.5)
Requirements: Prerequisites: MREN 241
Corequisites:
Exclusions:
Offering Term: W
CEAB Units:
Mathematics 0
Natural Sciences 30
Complementary Studies 0
Engineering Science 15
Engineering Design 0
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Define the basic concepts of thermodynamics.
- Define the thermodynamic properties of pure substances.
- Apply the First Law to energy balances in open and closed systems such as compressors, turbines and equipment enclosures.
- Apply the First and Second Laws to the analysis of simple vapour power and refrigeration cycles.
- Identify and analyze engineering problems involving the three basic modes of heat transfer, i.e., conduction, convection and radiation.
- Conduct experiments to measure and analyze heat transfer and thermal systems.
MREN 241 Fluid Mechanics and Fluid Power Units: 3.75
An introductory course in fluid mechanics with application to fluid power systems. Topics include properties of fluids, fluids at rest, dimensional analysis, the laws of conservation of mass and momentum, Bernoulli's equation for incompressible flow and the energy equation, flow measurements, elementary pipe flow problems including losses due to pumps, valves etc. Laboratories will introduce students to pressure and flow measuring devices, pneumatic and hydraulic components and actuators, and circuit analysis of fluid power systems.
(Lec: 3, Lab: 0.25, Tut: 0.5)
(Lec: 3, Lab: 0.25, Tut: 0.5)
Requirements: Prerequisites: APSC 111
Corequisites:
Exclusions:
Offering Term: F
CEAB Units:
Mathematics 0
Natural Sciences 30
Complementary Studies 0
Engineering Science 15
Engineering Design 0
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Define fluid properties and basic concepts of fluid flow and scaling.
- Determine forces applied by fluids at rest.
- Apply energy and momentum balance to analyze fluid power systems using integral equations and balances.
- Analyze flow through piping systems with friction, minor losses, valves, pumps and cylinders.
- Identify and assemble components necessary for the design of fluid power systems.
- Solve flow system performance problems using Bernoulli with friction, minor losses, pump and fan performance curves.
- Conduct experiments to measure and analyze fluid and fluid power systems.
MREN 303 Mechatronics and Robotics Design III Units: 4.00
In this course, students will apply their growing technical knowledge of mechatronics and robotics, and the engineering design process, to solve an open-ended design problem. Working in teams, students will be provided with a kit of components from which they are required to design, build and test a mechatronics or robotics device that performs a certain task. The problem will be posed as an internal design competition. Prototyping and alternate design methodologies are presented to iteratively execute, evaluate and correct designs in an efficient way. Working prototypes are to be demonstrated before an audience at the end of the term. Teams will demonstrate advanced communication skills by documenting the design process and their project management. Elements of professionalism and ethics are addressed.
K4(Lec:Yes, Lab: Yes, Tut: No)
K4(Lec:Yes, Lab: Yes, Tut: No)
Requirements: Prerequisites: MREN 203
Corequisites:
Exclusions:
Offering Term: W
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 15
Engineering Science 0
Engineering Design 33
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Develop and apply advanced communication skills (verbal, written, presentation)
- Apply principles of engineering to analyze and generate solutions to advanced design problems.
- Understand design as a process and apply that process to generate a solution to the design of mechatronic components and mechatronic systems.
- Understand advanced principles of project management and apply to a mechatronics design problem in a team setting.
- Consider financial factors, environmental factors and social factors as they relate to the design of mechatronic systems.
- Apply sustainable design principles in the design and development of mechatronic and robotic systems.
- Identify health and safety risks and applicable standards in the design and manufacturing of mechatronic and robotic systems.
- Demonstrate professional conduct and integrity, the principles of fairness, and the capacity to integrate diverse and alternative viewpoints in decision-making.
MREN 318 Sensors and Electric Actuators Units: 4.50
This course introduces the basic technologies, structures and operation principles of sensors and electric actuators used in mechatronic systems. The topics include methods for signal collection, conditioning and analysis; physical principles for the measurement of motion, force, torque, pressure, flow and temperature using analog and digital transducers; actuating principles and steady-state characteristics of dc, induction, synchronous, and special motors. Various components will be experimentally tested and analyzed.
(Lec: 3, Lab: 1, Tut: 0.5)
(Lec: 3, Lab: 1, Tut: 0.5)
Offering Term: F
CEAB Units:
Mathematics 0
Natural Sciences 14
Complementary Studies 0
Engineering Science 26
Engineering Design 14
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Explain the basic transduction mechanisms in different types of sensors, and the evolution of emerging sensor and actuator technologies.
- Explain the concepts behind converting electrical power into a mechanical output (actuators), and describe different types of motors.
- Explain the operation of commonly used sensors and actuators, recognizing their limitations.
- Test and calibrate different sensors and actuators, and be able to read and understand their datasheets.
- Analyze and identify the most appropriate sensors and actuators for an application in a mechatronic system.
- Work collaboratively on team tasks to design, build and test an integrated system involving sensors and actuators, and demonstrate system operation.
- Investigate, describe, and demonstrate appropriate safety considerations required in the build and testing of an integrated system involving systems and actuators.
MREN 320 Industrial Automation Units: 3.50
Industrial automation is about the design of machines used in autonomous systems for the production of goods and services. It is an interdisciplinary subject concerning areas of machine design, sensors, actuators and control systems. This course covers central concepts of automation including hardware components for automation, mechanical actuation systems, automation design synthesis, logic design for automation processes, electro-pneumatic actuation, PLC programming and PLC-based applications of PID. Students will get hands-on experience with a PLC controlled automation machine through a series of labs.
(Lec: 2, Lab: 1, Tut: 0.5)
(Lec: 2, Lab: 1, Tut: 0.5)
Requirements: Prerequisites: MREN 318, ELEC 443 or MECH 350, or permission of the instructor.
Corequisites:
Exclusions:
Offering Term: W
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 0
Engineering Science 16
Engineering Design 26
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- CLOs coming soon; please refer to your course syllabus in the meantime.
MREN 348 Introduction to Robotics Units: 4.00
Robotics is an interdisciplinary subject concerning areas of mechanics, electronics, information theory, control systems and automation. This course provides an introduction to robotics and covers fundamental aspects of modeling and control of robot manipulators. Topics include history and application of robotics in industry, rigid body kinematics, manipulator forward, inverse and differential kinematics, workspace, singularity, redundancy, manipulator dynamics, trajectory generation,
actuators, sensors, and manipulator position and contact force control strategies. Applications studied using MATLAB/Simulink software simulation and laboratory experiments.
(Lec: 3, Lab: 0.5, Tut: 0.5)
actuators, sensors, and manipulator position and contact force control strategies. Applications studied using MATLAB/Simulink software simulation and laboratory experiments.
(Lec: 3, Lab: 0.5, Tut: 0.5)
Requirements: Prerequisites: ELEC 443 or MECH 350, or permission of the instructor.
Corequisites:
Exclusions:
Offering Term: W
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 0
Engineering Science 22
Engineering Design 26
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Derive minimal representation of rotation matrices and transform coordinates.
- Assign coordinate frames to robot manipulators according to DH convention and derive their kinematic equations.
- Derive geometric Jacobian of robot manipulators and analyze the manipulator singularity.
- Derive the dynamics of robot manipulators and simulate them in MATLAB Simulink.
- Design and evaluate position and force controllers for robot manipulators.
- Numerically validate coordinate transformations, and manipulator kinematic equations, geometric Jacobian and singularity using MATLAB.
- Investigate the effect of singularity on path following and gravity on set-point tracking.
- Describe appropriate safety considerations in working with robotic equipment.
MREN 403 Mechatronics and Robotics Design IV Units: 8.00
In this course, students culminate their learning of mechatronics and robotics, and engineering design, through a team-based capstone design project focused on solving a real-world, industry-level technical challenge, which includes a detailed design phase, as well as robust building and iterative design testing, leading to participation in and external design competition. The course is conducted over two terms. In addition to the design, build and testing of a mechatronics or robotics system, each team is required to demonstrate communication, teamwork, and management skills at a professional level by preparing a formal design proposal, which includes a project management plan, providing regular progress reports, and submitting a final design report, together with a formal presentation on the project and its results. Elements of professionalism and ethics are addressed.
K8(Lec: Yes, Lab: Yes, Tut: No)
K8(Lec: Yes, Lab: Yes, Tut: No)
Requirements: Prerequisites: MREN 303, MREN 318, MREN 348, MECH 350, ELEC 353, ELEC 371 or permission of the program.
Corequisites:
Exclusions:
Offering Term: FW
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 28
Engineering Science 0
Engineering Design 68
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- CLOs coming soon; please refer to your course syllabus in the meantime.
MREN 410 Intelligent Machines and Autonomous Systems Units: 3.50
This course provides students with a working knowledge of methods for design and analysis of robotic and intelligent machines that can think, learn and act in uncertain conditions. Topics include basic principles and methods of machine vision, machine learning and identification, decision-making, and their applications in the design of an autonomous system.
(Lec: 3, Lab: 0.5, Tut: 0)
(Lec: 3, Lab: 0.5, Tut: 0)
Requirements: Prerequisites: MREN 178, MREN 223 and ELEC 371, or permission of the instructor
Corequisites:
Exclusions:
Offering Term: W
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 0
Engineering Science 24
Engineering Design 18
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- CLOs coming soon; please refer to your course syllabus in the meantime.