Section: Week 2: Key Components of a Robot, Introduction and Working Principles of Sensors (vision sensor, force sensor, light-dependent resistor (LDR), temperature sensor, smoke sensor, accelerometer gyroscope, laser sensor, tilt sensor, compass) | CSE 444 (O7) Fall 20

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CSE Fall 20

Mohammad Kaosain Akbar (MKR)

Section outline

- Select activity Lecture 2 in PDF
  
  Lecture 2 in PDF File
- Select activity Extended reference to Basic Components of Robots
  
  Extended reference to Basic Components of Robots URL

General

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MID TERM EXAMINATION

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Quiz Examination

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Online Marking Classwork

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Online Class Lectures and Discussion Recordings

Online Class Lecture Recording ( 27th September )

Online Class Lecture Recording ( 29th September )

Online Class Lecture Recording ( 06th October )

Online Class Lecture Recording ( 11th October )

Online Class Lecture Recording ( 15th October )

Online Class Lecture Recording ( 19th October )

Online Class Lecture Recording ( 20th October )

Online Class Lecture Recording ( 27th October )

Online Class Lecture Recording ( 31st October )

Online Mid Term Exam Review Lecture

Online Class Lectures and Discussion Recordings FINAL TERM

Online Class Lecture Recording ( 23rd November )

Week 1: Definition of Robot, Types of Robots (manipulator, legged robot, wheeled robot, autonomous underwater vehicles, unmanned aerial vehicles), Use of Robots, Asimov’s Laws of Robotics, History of Robotics

Lecture 1 in PDF

A link to YouTube video for a quick introduction:

Week 2: Key Components of a Robot, Introduction and Working Principles of Sensors (vision sensor, force sensor, light-dependent resistor (LDR), temperature sensor, smoke sensor, accelerometer gyroscope, laser sensor, tilt sensor, compass)

Lecture 2 in PDF

Extended reference to Basic Components of Robots

Week 3: Introduction and Working Principles of Sensors (infrared transmitter-receiver, infrared sensor array, PIR sensor, sonar sensor)

Lecture 3 in PDF

Reference to extended Basic elements of robots

Week 4: Introduction and Working Principles of Actuators (DC motor, servo motor, stepper motor)

Lecture 4 in PDF

Reference to actuator introduction

Week 5: Interfacing Hardware (Motor Driver, ADC, Op-Amp) and Micro-controllers

Lecture 5 in PDF

Week 6: Robot Programming (loop, register, signal, rule-based modelling)

Lecture 6 in PDF

Week 7: Robot Programming (analogue to digital conversion (ADC), interrupt, timer)

Lecture 7 in PDF

Week 8: Robot Programming (Pulse Width Modulation (PWM) and motor speed control using PWM)

Lecture 8 in PDF

Week 9: Wireless Communication (RC module and Bluetooth module interfacing with micro-controller, Teleoperation of Robot)

Lecture 9 in PDF

Week 10: Control Theory of Robotic Systems (feedback control, PID controller)

Control System Overview

Error Response

Linear Error Dynamics

First Order Error Dynamics

Second Order Error Dynamics

Week 11: Control Theory of Robotic Systems (robot odometry, differential drive and navigation)

Motion Control with Velocity Inputs

Motion Control with Velocity Inputs

Motion Control with Torque or Force Inputs (Part 1 of 3)

Motion Control with Torque or Force Inputs (Part 2 of 3)

Motion Control with Torque or Force Inputs (Part 3 of 3)

Force Control

Hybrid Motion-Force Control

Week 12: Obstacle avoidance/tracking for mobile robots

Obstacle Avoidance

Week 13: Motion Planning Strategies for Static Environments, Implementation of Motion Planning Algorithms

Robot Motion Planning

Section outline