Topic outline

  • Welcome Note

    Welcome to Introduction to Robotics Course Spring 2021

  • Course Introduction

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    Course Delivery Plan
    Course Code: CSE444: Introduction to Robotics 

    Department of Computer Science and Engineering

    Course Code  : CSE444                                                                      Credit Hours: ­3

    Faculty: Fazle Rabbi(FR)

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


    Course Title   : Introduction to Robotics


    CSE444 Introduction to Robotics:     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: Introduction, 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; Obstacle avoidance, object tracking and motion control etc; Advance robotic control and operations.

     

    LESSON DELIVERY PLAN
    Course Intended Learning Outcome    :

    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.


    Lesson Delivery Plan:

    Week

    Course Content

    Lesson Outcomes

    Teaching Learning

    Strategy

    Assessment Strategy

    Week 1

    Theory Session 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

    Able to acquire the knowledge of introductory robotics

    Lecture and Video Sharing

    Quiz

    Week 2

    Theory Session 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)

    Able to explain the components of robots

    and sensors

     

    Lecture, Interaction and Group Discussion

    Course Project Assign

    Week 3

    Theory Session 3:

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


    Able to differentiate among the sensors and understand the working principles

    Lecture, Interaction and Group Discussion

    Class Test 1

    Week 4

    Theory Session 4:

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

    Able to explain the difference between motors and understand the working principles

    Lecture, interaction and Group Discussion

    Presentation-1 on Course Project

    Week 5

    Theory Session 5:

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

    Able to understand the necessity of interface hardware and the basics of micro-controllers

    Lecture, interaction and Group Discussion

    Class Test 2

    Week 6

    Theory Session 6:

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

    Able to acquire the knowledge of basic micro-controller programming

    Lecture, interaction and  Group Discussion

     

    Week 7

     

    Theory Session 7:

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

    Able to know the usage of ADC, interrupt and timer

    Lecture, interaction and Group Discussion

    Presentation 2 on Course Project

    Week 8

    Theory Session 8:

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

    Able to implement PWM for motor speed control

    Lecture, interaction and Group Discussion

     

    Week 9

    Theory Session 9:

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

    Able to acquire the knowledge of wireless modules and teleoperation

    Lecture, interaction and Group Discussion

     

    Week 10

    Theory Session 10:

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

    Able to understand the error-correction techniques using feedback

    Lecture, interaction and Group Discussion

    Class Test 3

    Week 11

    Theory Session 11:

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

    Able to calculate the pose of a robot and navigate the robot using differential drive strategy

    Lecture, interaction and Group Discussion

    Presentation 3 on Course Project

    Week 12

    Theory Session 12:

    Obstacle avoidance/tracking for mobile robots

    Able to understand the obstacle avoidance/tracking principle and write program according to sensor data

    Lecture, interaction and Group Discussion

    Course Project Demo

    Week 13

    Theory Session 13:

    Motion Planning Strategies for Static Environments, Implementation of Motion Planning Algorithms

    Able to acquire the knowledge of motion planning and enable the robot plan by itself

    Lecture, interaction and Group Discussion

     

    Recommended Books

    Text Books:

    1.      Introduction to Robotics: Analysis, Control, Applications, By Saeed B. Niku, 2nd Edition

    2.      ROS Robot Programming Book By Turtlebot3 Developers

    3.      Introduction to Autonomous Robots: Kinematics, Perception, Localization and Planning, By ENikolausCorrell, 1st Edition

    4.      Arduino Robotics by John David Warren, Apress, 2011

     

     

     


    • 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

    • 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)

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

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

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

    • Week 6: Week 7: Transformations to Kinematics (with background)

    • Week 7: Transformations to Kinematics (with background)

    • Week 8: Transformations to Kinematics (with background)

    • Week 9: Forward Kinematics

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

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

    • Week 12: Obstacle avoidance/tracking for mobile robots

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