Robotic Systems

EEEN62011 Robotic Systems 15 Semester 1 Postgraduate Taught Level 6 Xiaoxiao Cheng Unit coordinator Guido Herrmann Unit coordinator 1 FHEQ level (Framework for Higher Education Qualifications) ' Masters/Integrated Masters P4 ' European Credit Transfer & Accumulation System Rating : 7.5 Robotic systems are already embedded in our everyday life through industrial manufacturing and automation. However, they will become even more important in the future as they are adopted into sectors such as agriculture, net zero energy generation, health and social care. This unit will introduce students to the broad range of application areas where robotic systems are being adopted and discuss associated ethical considerations. Students will understand the key sub-systems that make up a robot and be able to assess the performance characteristics and capabilities of sensors and actuators commonly used. They will learn the mathematical foundations that underpin the modelling, control, and estimation of robotic systems. 1. Introduction of Robotic System<ul><li>Classification of types of robot</li><li>Key sub-systems</li><li>Robotic appilcations</li></ul>2. Linear Algebra<ul><li>Rules for matrix operation</li><li>Eigenvalues and Eigenvectors</li><li>Linear transformation</li></ul>3. Rigid Body Poses<ul><li>Rigid body</li><li>Representing Positions and Rotations</li><li>Rotational transformation</li></ul>4. Kinematics<ul><li>Links and joints</li><li>Forward kinematics</li><li>Inverse kinematics</li></ul>5. Probability<ul><li>Probability of an event</li><li>Expected value</li><li>Bayes Theorem</li></ul>6. Statistics in Robotics<ul><li>Statistics basics</li><li>Normal distributions</li><li>Linear regression</li></ul>7. State Estimation<ul><li>State-space representation</li><li>Kalman filter</li></ul>8. PID Control<ul><li>Control system structure and design procedure</li><li>Components of PID control</li><li>Parameters tuning methods</li><li>Anti-windup scheme</li></ul>9. Trjectory Tracking Control<ul><li>Challenges in robot trajectory tracking </li><li>Trajectory tracking control algorithm</li></ul>10. Motion Planning<ul><li>Configuration space</li><li>Overview of motion planning algorithms</li><li>Rapidly Exploring Random Trees (RRT)</li></ul> 1. Introduction of Robotic System<ul><li>Classification of types of robot</li><li>Key sub-systems</li><li>Robotic appilcations</li></ul>2. Linear Algebra<ul><li>Rules for matrix operation</li><li>Eigenvalues and Eigenvectors</li><li>Linear transformation</li></ul>3. Rigid Body Poses<ul><li>Rigid body</li><li>Representing Positions and Rotations</li><li>Rotational transformation</li></ul>4. Kinematics<ul><li>Links and joints</li><li>Forward kinematics</li><li>Inverse kinematics</li></ul>5. Probability<ul><li>Probability of an event</li><li>Expected value</li><li>Bayes Theorem</li></ul>6. Statistics in Robotics<ul><li>Statistics basics</li><li>Normal distributions</li><li>Linear regression</li></ul>7. State Estimation<ul><li>State-space representation</li><li>Kalman filter</li></ul>8. PID Control<ul><li>Control system structure and design procedure</li><li>Components of PID control</li><li>Parameters tuning methods</li><li>Anti-windup scheme</li></ul>9. Trjectory Tracking Control<ul><li>Challenges in robot trajectory tracking </li><li>Trajectory tracking control algorithm</li></ul>10. Motion Planning<ul><li>Configuration space</li><li>Overview of motion planning algorithms</li><li>Rapidly Exploring Random Trees (RRT)</li></ul> On successful completion of the course, a student will be able to:ILO 1: Discuss the use of robotic systems in a range of applications and assess any ethical considerations that may arise from their use.ILO 2: Design and implement closed-loop controllers for simple robotic systems and analyse the control-system performance against appropriate metrics.ILO 3: Present scientific data to professional engineering and/or lay audiences.ILO 4: Assess the performance and capabilities of sensors and actuators commonly used in robotic systems using a range of testing and analysis techniques.ILO 5: Formulate appropriate mathematical models of robotic systems to allow for the development of closed-loop controllers and state-estimation.ILO 6: Summarise the key subsystems of a robotic system, illustrate them with examples and discuss any considerations with respect to robot life-cycle sustainability. The unit will make use of blended learning teaching styles with asynchronous materials such as videos, notes and formative quizzes and synchronous interactive activities such as interactive tutorial questionsand simulation exercises. 1 Written exam 50% 2 Written assignment (inc essay) 25% 3 Report 25% Exam - Departmental feedback form after the exam board.Coursework 1 (Ethics and Sustainability) - 3 weeks after submission, individual and group feedback is provided.Coursework 2 (Experimental Report) - 3 weeks after submission, individual and group feedback is provided. N <ol><li>Robot modeling and control by Spong, Mark W. John Wiley & Sons Inc, 2020. ISBN: 9781119523994</li><li>Introduction to autonomous mobile robots [electronic resource] by Siegwart, Roland. MIT Press, 2011. ISBN: 9780262295321</li><li>Introduction to probability and statistics for engineers and scientists by Ross, Sheldon M. Academic Press, 2021. ISBN: 9780128177471</li><li>MECHANICAL DESIGN AND MANUFACTURING OF ELECTRIC MOTORS by Tong, Wei. CRC PRESS, 2022. ISBN: 9781000555042</li><li>Robotics: Modelling, Planning and Control by Siciliano, Bruno. Springer London, 2009. ISBN: 9781846286421</li><li>Probabilistic robotics by Thrun, Sebastian. MIT, 2005. ISBN: 0262201623</li></ol> Assessment practical exam 2 Assessment written exam 2 eAssessment 36 Lectures 32 Practical classes & workshops 8 Tutorials 10 0 60