Units

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Sample subject outline - Semester 2 2013

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

Rationale

Robotics is a fast growing field of study for students in engineering and IT, and plays an important role at the core of the mechatronics discipline. As a mechatronics engineer you need a basic understanding the technologies and methods used in the design and programming of modern robots. This unit is the introductory unit in robotics which will be followed by the advanced robotics later. This unit will be offered as a selective across the engineering majors.

Aims

The unit introduces the fundamental technologies and mathematical techniques that underpin modern robotics. After completing this course, you will be able to choose suitable hardware components for a robot design, develop mathematical models that describe the robot's motion, and implement intelligent robot control software.

Objectives

On completion of this unit you will be able to:
1.Choose and integrate hardware components for a robotic system
2.Design and synthesise simple software control systems for individual robotic joints
3.Develop and implement mathematical models of multi-link robots to describe the relationship between individual joints and the position and velocity of the robot's end effector.

4.Apply computer vision techniques to control an intelligent robot.
5.Design and report the development of practical robotic systems that incorporate all of the above

Content

What is a robot?; Internal and external sensors; Actuators; Control of a single joint; Trajectories for a single joint; Transformation matrices; Forward kinematics; Inverse kinematics; Velocity and the Jacobian; Trajectory and path planning; Computer vision; Vision based control

Approaches to Teaching and Learning

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

Field trip: one half day to CSIRO Autonomous Systems Laboratory (Pullenvale) which will subsume lecture and laboratory sessions in week 11 or 12.


The teaching of robotics requires a careful blend of theory and practice. The unit needs to introduce 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 three link planar robot arm. The practicals extend the repeated case study used in the textbook, which features a two-link planar robot arm. The practicals have a small equipment footprint (based around the LEGO NXT programmable brick), and are designed to work with existing lab benches. 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 feedback
Assessment will be based on practical performance (40%) and theory performance (60%). Practical performance will be based on assessed performance of the robot and ability of the vision guided robot to achieve a set of tasks with graded difficulty. 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 feedback
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 unequivocal feedback on your understanding of the critical early modules of the unit, before moving on to more advanced material.

Assessment name: Project (applied)
Description: In a group of two, you will design a vision controlled three link planar robot arm. 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: 1,2,3,4&5
Weight: 40%
Internal or external: Internal
Group or individual: Group
Due date: Week 13

Assessment name: Quiz/Test
Description: The open book quiz (conducted in the lecture) consists of a single integrated problem requiring the selection of components and design of a control system for a single robot joint.
Relates to objectives: 1 & 2
Weight: 20%
Internal or external: Internal
Group or individual: Individual
Due date: Week 6

Assessment name: Examination (written)
Description: The exam will consist of a multi-part, integrated problem requiring the development of a mathematical model for a robot, and a vision control system design to create a desired behaviour for the robot. The exam is open book.
Relates to objectives: 1,2,3,4 & 5
Weight: 40%
Internal or external: Internal
Group or individual: Individual
Due date: Examination period

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: Robotics, Vision & Control, P. Corke, Springer 2011.
M.W. Spong, S. Hutchinson and M. Vidyasagar, Robot Modeling and Control, Wiley, 2006
Computer software: MATLAB, Robot-C,Robotics Toolbox for MATLAB, Machine Vision Toolbox for MATLAB
Project: LEGO NXT robotics kit, webcam

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: 22-Jun-2012