Units

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Sample subject outline - Semester 1 2013

Note: Subject outlines often change before the semester begins. Below is a sample outline.

Rationale

Robotics is a growth area of industry with applications across diverse areas of engineering. As such, it is an attractive field of study for students in engineering and IT, and plays an important role at the core of the mechatronics discipline. This unit extends the introductory unit ENB339 and is a core part of the second major and minor in robotics.

Aims

The unit introduces the fundamental technologies and mathematical techniques that underpin modern mobile robotics. After completing this course, you will be able to choose suitable software techniques and hardware components for a mobile robot design required to implement intelligent localization, navigation and control functions.

Objectives

On completion of this unit you will be able to:
1. Design and implement motion controllers for a wheeled mobile robot.
2. Design and implement a navigation system to plan the motion of a mobile robot to a goal.
3. Design and implement a localization system to determine the position of a mobile robot with respect to its environment.
4. Apply probabilistic estimation techniques to problems in mobile robot localization and mapping.

Content

What is a mobile robot?; Motion and control of a car-like vehicle; Internal and external sensors for mobile robots; Motion to a point and along a line; Reactive navigation strategies; Map-based robot navigation strategies; Dead reckoning and map-based localization; Introduction to probabilistic estimation; Creating maps; Simultaneous Localization and Mapping.

Approaches to Teaching and Learning

Mode of Teaching
Total hours per week: 5
Lectures: 2
Tutorials: 1
Laboratory: 2

The teaching of robotics requires a careful blend of theory and practice. The unit introduces several new principles and theories that are unfamiliar to you. Each principle requires repeated engagement from different perspectives for you to gain sufficient understanding to apply the theory in appropriate practice. The unit uses a three-pronged approach to engaging you with the principles of robotics:

1. Interactive lectures: Lectures are used to provide an introduction to material, and immediate application of the material with small focussed problems to be completed in the lecture. Solutions are discussed and resolved in class, and compared to a benchmark solution. Principles are introduced, discussed and dissected in the lecture, treating each principle deeply.

2. Single problem tutorials: Tutorials focus on a single integrated problem that brings together material from multiple units. Early material is reinforced as necessary, and used as a foundation for learning the new material. Principles are integrated with material from previous modules and grounded in application scenarios.

3. Scaffolded project: Practical work is conducted as series of scaffolded experiments which centre on a single project - the design, construction and programming of a mobile robot that can navigate in an environment with obstacles. The practicals extend the repeated case study used in the textbook, which features a wheeled mobile robot. The practicals have a small equipment footprint (based around the LEGO NXT programmable brick), and are designed to work with existing lab benches and floor space. The practicals are performed regularly and in sync with the theoretical work in lectures and tutorials. You work with a partner (group of 2) in this project for supportive learning and peer interaction.

Assessment

Summative
Assessment will be based on practical performance (40%) and theory performance (60%). Practical performance will be based on practical work books that you prepare before laboratory experiments are conducted and fill out while the experiments are performed. These are assessed at the end of the semester. The theory performance is assessed in a class quiz in the middle of semester, and in the final exam. Both theory tests use multi-part integrated questions that require synthesis and application of knowledge across multiple modules. The quiz and exam are open book to increase emphasis on understanding rather than memorisation.

Formative
You are given weekly integrated theory problems in the tutorials which allow self assessment of performance and formative assessment by tutorial staff. Practical performance will be self-assessed against performance timelines and benchmarks for practical work, and further formative assessment by practical demonstrators. The mid-semester quiz gives you important feedback on your understanding of the critical early modules of the unit, before moving on to more advanced material.

Assessment name: Project (applied)
Description: Mobile Robot Systems Project
In a group of two, you will design a wheeled mobile robot. This 3 stage project continues throughout the semester in a series of scaffolded experiments recorded in the group's lab book and signed off by your prac tutor after each practical.
Relates to objectives: All
Weight: 40%
Internal or external: Internal
Group or individual: Group
Due date: Week 13

Assessment name: Quiz/Test
Description: Open Book Class Quiz
The open book quiz (conducted in the lecture) consists of a single integrated problem concerning the design of a robot that can move to a goal location.
Relates to objectives: 1, 2
Weight: 20%
Internal or external: Internal
Group or individual: Individual
Due date: Week 6

Assessment name: Examination (written)
Description: Final Examination - open book
The exam will consist of a multi-part, integrated problem requiring the development of a mathematical model for a mobile robot, and a navigation system to move the robot safely toward a goal. The exam is open book.
Relates to objectives: All
Weight: 40%
Internal or external: Internal
Group or individual: Individual
Due date: End of Semester

Academic Honesty

QUT is committed to maintaining high academic standards to protect the value of its qualifications. To assist you in assuring the academic integrity of your assessment you are encouraged to make use of the support materials and services available to help you consider and check your assessment items. Important information about the university's approach to academic integrity of assessment is on your unit Blackboard site.

A breach of academic integrity is regarded as Student Misconduct and can lead to the imposition of penalties.

Resource materials

Textbook:
J. Jones, B. Seiger, A. Flynn, Mobile Robots: Inspiration to Implementation, AK Peters
G. Dudek, M. Jenkin, Computational Principles of Mobile Robotics, Cambridge.
P. Corke, Robotics, Vision & Control, Springer

Computer software: MATLAB, Robot-C
Project: Robot kit hardware

Risk assessment statement

You will undertake lectures and tutorials in the traditional classrooms and lecture theatres. As such, there are no extraordinary workplace health and safety issues associated with these components of the unit.

You will be required to undertake practical sessions in the laboratory under the supervision of the lecturer and technical staff of the School. In any laboratory practicals you will be advised of the requirements for safe and responsible behaviour and will be required to wear appropriate protective items (e.g. closed shoes).

You will undergo a health and safety induction before the commencement of the practical sessions and will be issued with a safety induction card. If you do not have a safety induction card you will be denied access to laboratories.

Disclaimer - Offer of some units is subject to viability, and information in these Unit Outlines is subject to change prior to commencement of semester.

Last modified: 27-Sep-2012