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CSE 444 (O7) Fall 20
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MID TERM EXAMINATION
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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
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444.O7
Week 4: Introduction and Working Principles of Actuators (DC motor, servo motor, stepper motor)
Lecture 4 in PDF
Lecture 4 in PDF
Completion requirements
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Lecture 4 in PDF.pdf
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Click Here to Start Your Mid Term Exam
Click Here to Start your Quiz
Click Here to start your marking classwork
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 Lecture Recording ( 23rd November )
Lecture 1 in PDF
A link to YouTube video for a quick introduction:
Lecture 2 in PDF
Extended reference to Basic Components of Robots
Lecture 3 in PDF
Reference to extended Basic elements of robots
Reference to actuator introduction
Lecture 5 in PDF
Lecture 6 in PDF
Lecture 7 in PDF
Lecture 8 in PDF
Lecture 9 in PDF
Control System Overview
Error Response
Linear Error Dynamics
First Order Error Dynamics
Second Order Error Dynamics
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
Obstacle Avoidance
Robot Motion Planning
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