Topic outline

  • Welcome to CSE-444 Introduction to Robotics


    Faculty: Fazle Rabbi(FR)

    Contact:  01521 223611                                        Email: fazle.cse@diu.edu.bd



    • Course Rationale:

      Definition of Robot, Types of Robots (manipulator, legged robot, wheeled robot, autonomous underwater vehicles), Use of Robots, Asimov’s Laws of Robotics, History of Robotics, Key components of Robot, Sensors: Introductions, working principles and use of sensors (vision, force, LDR, temperature, smoke, accelerometer gyroscope, laser, tilt, compass, PIR, Infrared etc), Actuators and different actuators (DC motor, servo motor, stepper motor etc) working principles and usage, Robot programming with AD conversion and interfacing different hardware, sensors etc, Control theory of robotics; Object tracking and motion control etc; Advance robotic control and operations.


      Course Objective:

      By the end of the course, the student will be able to:
      • Explain what robots are and what they can do;
      • Knowledgeably discuss the ethical considerations of using robots to help solve societal challenges;
      • Reflect on the future role and development of robotics in human society;
      • Intuitively explain what do sensors and actuators do and how they can be used according to the specifications of the problem and nature of the environments;
      • Write appropriate robot programs by understanding the nature of the sensors, and actuators
      • Implement state-of-the-art algorithms for solving robotic tasks;
      • Describe mathematically the odometry and the control mechanism for robot manipulation;
      • Apply the mathematical, algorithmic, and control principles of autonomous mobile robots to implement a working robot through physical construction and software development.


      Course Outcomes:

      By the end of the course, the student will be able to
      • Explain what robots are and what they can do.
      • Knowledgeably discuss the ethical considerations of using robots to help solve societal challenges.
      • Reflect on the future role and development of robotics in human society.
      • Intuitively explain what does sensors and actuators do and how they can be used according to the specifications of the problem and nature of the environments.
      • Write appropriate robot programs by understanding the nature of the sensors, and actuators.
      • Implement state-of-the-art algorithms for solving robotic tasks.
      • Describe mathematically the odometry and the control mechanism for robot manipulation.
      • Apply the mathematical, algorithmic, and control principles of autonomous mobile robots to implement a working robot through physical construction and software development.


      Text Books:

      • Introduction to Robotics: Analysis, Control, Applications, By Saeed B. Niku, 2nd Edition
      • ROS Robot Programming Book By Turtlebot3 Developers
      • Introduction to Autonomous Robots: Kinematics, Perception, Localization, and Planning, By ENikolausCorrell, 1st Edition
      • Arduino Robotics by John David Warren, Apress, 2011
      • Download Books

    • Grading Scheme

      Theory Class
      • Attendance: 7%
      • Class Tests/Quizzes: 15%
      • Assignment: 5%
      • Presentation (using video/ppt): 8%
      • Midterm Exam: 25%
      • Final Exam: 40%



    • Navigation
      Class Test: CT1, CT2, CT3      Assignment: ASN1, ASN2, ASN3       Presentation        Mid Exam       Final Exam
      Week2Go:   WK1    WK2    WK3    WK4    WK5    WK6   WK7    WK8    WK9    WK10    WK11    WK12    WK13    WK14

    • Believe in your infinite potential. Your only limitations are those you set upon yourself. Believe in yourself, your abilities and your own potential. Never let self-doubt hold you captive. You are worthy of all that you dream of and hope for.

      ― Roy T. Bennett, The Light in the Heart




  • Week 1

  • Week 2

    • Topics of discussion

      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)

      Expected Learning Outcome

      Able to explain the components of robots and sensors

  • Week 3

    • Topics of discussion

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

      Expected Learning Outcome

      Able to differentiate among the sensors and understand the working principles

  • Week 4

    • Topics of discussion
      Kinematics of Robots: Position Analysis, Spatial Descriptions and Transformations, Computer Graphics (Recap), Basic Terminologies, Representation of a Point in Space, Representation of a Vector in Space.

      Expected Learning Outcome
      Gain knowledge on the basic concepts of mechanisms, cam, gear train and their kinematics. Understand the effects of friction in machine components

    • Week 4 (Q/A Discussion) [Hand Written] Assignment
      Make a submission

      A robot is a machine capable of physical motion for interacting with the environment. Physical interactions include manipulation, locomotion, and any other tasks changing the state of the environment or the state of the robot relative to the environment. A robot has some form of mechanisms for performing a class of tasks. A rich variety of robot mechanisms has been developed in the last few decades.

      Q1: What do you understand about Robots as Mechanisms?


      Reference: Introduction to Robotics by Saeed B. Niku [Chapter 2 - Page 34]

  • Week 5

    • Topics of discussion
      Understand the fundamentals of the theory of kinematics and dynamics of machines. Understand techniques for studying motion of machines and their components.

      Expected Learning Outcome
      Apply vector mechanics as a tool for solving kinematic problems. Use graphical and analytic methods to study the motion of a planar mechanism.

    • Week 5: (Q/A) Discussion [Hand Written] Assignment
      Make a submission

      Q1: What is the degree of freedom?

      Q2: What is the importance of Spatial Transformation? 

    • Week 5: Discussion Forum
      Discuss on Week's content if you have any problem and confusion.

  • Week 6

  • Mid Term Exam

    • mid term

      There is nothing in this world that can hinder you from excelling if you allow confidence and determination to accompany you wherever you go. We, all believe the excellence, which you are going to achieve in your exams is only just the beginning of greater things in your life. 

      All the best.

    • Mid Term Syllabus:

      • Introduction to Robotics
      • History of Robotics
      • Sensors and Applications
      • Actuators and Applications
      • Transformations
      • Inverse Transformations

  • Week 7

  • Assignment (5 Marks) and Presentation (8 Marks)

    • Week 8

      • Topics of discussion
        Forward Kinematics Examples

        Expected Learning Outcome
        Student will be able to design Robot and know the kinematics configurations of a robot.

    • Week 9

      • Topics of discussion
        Forward Kinematics Examples

        Expected Learning Outcome
        Student will be able to design Robot and know the kinematics configurations of a robot.

    • Week 10

      • Topics of discussion
        * Make and interpret a basic Routh table to determine the stability of a system
        * Make and interpret a Routh table where either the first element of a row is zero or an
        the entire row is zero


    • Week 11

      • Topics of discussion
        Understand the fundamentals of the theory of kinematics and dynamics of machines. Understand techniques for studying motion of machines and their components.

        Expected Learning Outcome
        Apply vector mechanics as a tool for solving kinematic problems. Use graphical and analytic methods to study the motion of a planar mechanism.

    • Week 12

      • Topics of discussion
        Quiz Solution and Presentation Topics Selection

        Expected Learning Outcome
        Hands-on exercise problems solving ability

      • Discussion Forum
        Make forum posts: 1

        Write a brief discussion on what you have learned? Write the problems you are facing (If any).

    • Final Exam

      • Final