Biomedical Engineering Minor

Associate Department Head of Undergraduate Education

Professor Conrad M. Zapanta

The minor program is designed for engineering students who desire exposure to biomedical engineering but may not have the time to pursue the Biomedical Engineering additional major. The program is also open to students of all colleges and is popular among science majors. In conjunction with other relevant courses, the program may provide a sufficient background for jobs or graduate studies in biomedical engineering. Students interested in a medical career may also find this program helpful.

The Biomedical Engineering minor curriculum is comprised of three core courses and three electives. Students pursuing the minor may contact BME Associate Head for Undergraduate Education for advice. Students interested in declaring Biomedical Engineering minor should contact either the Associate Department Head for Undergraduate Education or the Biomedical Engineering Undergraduate Program Advisor.


Minimum units required for minor:57
03-121Modern Biology9
42-101Introduction to Biomedical Engineering
(co-req. or pre-req. 03-121)
(pre-req. 03-121 or permission of instructor)
42-xxxBME Elective (>= 9 units), Any course offered by the Department of Biomedical Engineering numbered 42-300 or higher and worth at least 9 units
xx-xxxElective I (>= 9 units) #
xx-xxxElective II (>= 9 units) +

Some Special Topics, newly offered or intermittently offered 42-xxx may be acceptable as electives.  Students should consult with their advisors and petition the Biomedical Engineering Undergraduate Affairs Committee for permission to include such courses.



Engineering Studies Minor

(for non-engineering students)

Kurt Larsen, Director
Office: Scaife Hall 120

Carnegie Mellon undergraduate students enrolled in colleges other than engineering can complete a Minor in Engineering Studies in addition to their regular majors. Students pursuing this minor are required to complete courses from at least two different engineering departments in order to assure some breadth of exposure to engineering. In addition, the minor provides students the opportunity to pursue an in-depth concentration in a particular field of engineering.

For the Minor in Engineering Studies, students must complete five engineering courses as follows and must earn a cumulative QPA of 2.00 in these five courses. Students may declare the minor by contacting the Director after they have successfully completed two introductory engineering courses (from list #1 below).

Double counting of core courses in student’s primary major is not permitted.

Because of the nature of the courses offered by Engineering and Public Policy, only two EPP courses (including 19-101) can be used toward the minor requirements. Students need special permission to use an Engineering and Public Policy course (EPP-19-xxx) toward minor requirements. Students interested in EPP coursework should consider the Technology and Policy minor instead. 


  1. Two of the following:
    12-100Introduction to Civil and Environmental Engineering12
    18-100Introduction to Electrical and Computer Engineering12
    19-101Introduction to Engineering and Public Policy12
    24-101Fundamentals of Mechanical Engineering12
    27-100Engineering the Materials of the Future12
    42-101Introduction to Biomedical Engineering12
    06-100Introduction to Chemical Engineering12
  2. Three courses of at least 9 units each from one or more CIT departments
  3. Up to one of the following Robotics courses can count toward the ES minor. But it cannot be double-counted with the Robotics minor or double major.
    16-311Introduction to Robotics12
    16-362Mobile Robot Algorithms Laboratory12
    16-384Robot Kinematics and Dynamics12
    16-385Computer Vision9
    16-421Vision Sensors12
    16-474Robotics Capstone12

4. NOTE: The following courses may NOT be included as part of the Minor in Engineering Studies. In addition to the courses listed, most EPP courses (19-xxx) are not permissible for the minor and students should contact the Director for prior approval of EPP courses. 

06-262Mathematical Methods of Chemical Engineering12
15-213Introduction to Computer Systems12
18-090Twisted Signals: Multimedia Processing for the Arts10
18-099Special Topics: Mobile App Design & Development12
18-200ECE Sophomore Seminar1
18-202Mathematical Foundations of Electrical Engineering12
18-213Introduction to Computer Systems12
24-311Numerical Methods12
39-200Business for Engineers9

Technology and Policy Minor

(for non-engineering students)

Deanna H. Matthews, Director
Office:  Baker Hall 129

The Technology and Policy Minor is administered by the Department of Engineering and Public Policy (EPP) for students who are majoring in areas other than engineering.  The Technology and Policy Minor is designed to give students a basic understanding of the interactions between technology, society and policy and some project experience in problems involving technology and policy.


Students should have prerequisite knowledge in economics (73-102 Principles of Microeconomics or higher level economics course) and statistics (36-202 Statistics & Data Science Methods or higher level statistics course) in order to pursue the Technology and Policy Minor.

Course Requirements

19-101Introduction to Engineering and Public Policy12
19-301Decision Making Methods for Engineers and Scientists
or other approved Decision Science course
or 19-351 Applied Methods for Technology-Policy Analysis
19-451EPP Projects12
or 19-452 EPP Projects
xx-xxxTwo EPP Technology-Policy Electives18

EPP Technical Electives include courses in CIT, MCS, or SCS that address problems at the society-technology interface and the means of analyzing these issues.  A list of qualifying Technology-Policy electives is assembled each semester and is available from the EPP Department. Example Technology-Policy electives include:

19-211Ethics and Policy Issues in Computing9
19-365Water Technology Innovation and Policy9
19-402Telecommunications Technology and Policy for the Internet Age12
19-411Global Competitiveness: Firms, Nations and Technological Change9
19-424Energy and the Environment9

Students must earn a cumulative QPA of 2.0 in all courses taken for the minor. Required courses taken for a student’s primary major may not be counted toward the Technology and Policy Minor. Elective courses for a student’s primary major or courses fulfilling general education requirements may be counted, however. 

Robotics Minor

Director: Dr. Howie Choset
Administrative Coordinator: Barbara (B.J.) Fecich

The Minor in Robotics provides an opportunity for undergraduate students at Carnegie Mellon to learn the principles and practices of robotics through theoretical studies and hands-on experience with robots. The Minor is open to students in any major of any college at Carnegie Mellon. Students initially learn the basics of robotics in an introductory robotics overview course. Additional required courses teach control systems and robotic manipulation. Students also choose from a wide selection of electives in robotics, perception, computer vision, cognition and cognitive science, or computer graphics. Students have a unique opportunity to undertake independent research projects, working under the guidance of Robotics Institute faculty members; this provides an excellent introduction to robotics research for those considering graduate studies.

All Robotics Minors are required to take Introduction to Robotics (16-311). This course is designed to help students understand the big picture of what is going on in robotics through topics such as kinematics, mechanisms, motion planning, sensor based planning, mobile robotics, sensors, and vision.  The minor also requires students to take a controls class and a kinematics class.  These courses provide students with the necessary intuition and technical background to move on to more advanced robotics courses. In addition to the required courses, students must take 2 electives. The student must have course selection approved by the Director during the application submission process. 

A 2.5 QPA in the Minor curriculum is required for graduation. Courses that are taken Pass/Fail or audited cannot be counted for the Minor.


Admission to the Undergraduate Minor in Robotics is limited to current Carnegie Mellon students. Students interested in signing up for the minor should fill out the application form available on the program website.


Successful candidates for the Robotics Minor will have prerequisite knowledge of C language, basic programming skills, and familiarity with basic algorithms. Students can gain this knowledge by taking 15-122 Principles of Imperative Computation.

Required Courses
Overview: Units
16-311Introduction to Robotics12
Controls (choose one of the following):
06-464Chemical Engineering Process Control9
24-451Feedback Control Systems12
18-370Fundamentals of Control12
16-299Introduction to Feedback Control Systems
(Computer Science)
16-xxxUpper-level RI course with instructor and Program Director's permission
Kinematics (choose one of the following):
16-384Robot Kinematics and Dynamics12
16-xxxUpper-level RI course with instructor and Program Director's permission
Two Electives (chosen from the following): Units
10-401Introduction to Machine Learning (Undergrad)
(or 10-601 Introduction to Machine Learning)
11-344Machine Learning in Practice12
15-381Artificial Intelligence: Representation and Problem Solving9
15-424Logical Foundations of Cyber-Physical Systems12
15-462Computer Graphics12
15-463Computational Photography12
15-491Special Topic: CMRoboBits: AI and Robots for Daily-Life Problems12
15-494Cognitive Robotics: The Future of Robot Toys12
16-362Mobile Robot Algorithms Laboratory12
16-385Computer Vision9
16-421Vision Sensors12
16-423Designing Computer Vision Apps12
16-597Undergraduate Reading and ResearchVar.
18-342Fundamentals of Embedded Systems12
18-349Introduction to Embedded Systems12
18-578Mechatronic Design12
85-395Applications of Cognitive Science9
85-412Cognitive Modeling9
85-419Introduction to Parallel Distributed Processing9
85-426Learning in Humans and Machines9

Graduate level Robotics courses may be used to meet the elective requirement with permission from the Program Director. Graduate level Mechanical Engineering and Electrical and Computer Engineering courses that are relevant to robotics may be used to meet the elective requirement with permission from the Program Director.

Students may count up to 12 units of 16-597 Undergraduate Reading and Research towards the minor requirements.

Double-Counting Restriction

Courses being used to satisfy the requirements for the Robotics Minor may not be counted towards another minor. Students are permitted to double count a maximum of two courses from their Major (excluding General Education requirements) towards the Minor in Robotics. Free electives are not subject to the double counting policy.