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Topic outline
- Welcome to CSE-444 Introduction to Robotics
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:
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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:
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Introduction to Robotics: Analysis, Control, Applications, By Saeed B. Niku, 2nd Edition
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ROS Robot Programming Book By Turtlebot3 Developers
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Introduction to Autonomous Robots: Kinematics, Perception, Localization, and Planning, By ENikolausCorrell, 1st Edition
-
Arduino Robotics by John David Warren, Apress, 2011
Grading Scheme
Theory Class
- Attendance: 7%
- Class Tests/Quizzes: 15%
- Assignment: 5%
- Presentation (using video/ppt): 8%
- Midterm Exam: 25%
- Final Exam: 40%
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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
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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 1
Topics of discussion
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
Expected Learning Outcome
Able to acquire the knowledge of introductory robotics
- Week 2
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
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
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
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
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.
Q1: What is the degree of freedom?
Q2: What is the importance of Spatial Transformation?
Discuss on Week's content if you have any problem and confusion.
- Week 6
Week 6
Topics of discussion
Exercise problems related to Transformations
Expected Learning Outcome
Hands on exercise problems solving ability
- Mid Term Exam
Mid Term Exam
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
Week 7
Topics of discussion
Robot Design, Forward Kinematics Introduction
Expected Learning Outcome
Student will be able to design Robot and know the kinematics configurations of a robot.
Q1: What are the steps of designing a limbed systems?
- Assignment (5 Marks) and Presentation (8 Marks)
Assignment (5 Marks) and Presentation (8 Marks)
- Week 8
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
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
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
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
Week 12
Topics of discussion
Quiz Solution and Presentation Topics Selection
Expected Learning Outcome
Hands-on exercise problems solving ability
Write a brief discussion on what you have learned? Write the problems you are facing (If any).
- Final Exam