ROBOTIC CONTROL
| Title | ΡΟΜΠΟΤΙΚΟΣ ΕΛΕΓΧΟΣ / ROBOTIC CONTROL |
| Code | NNA-08-08 |
| Faculty | Sciences |
| School | Informatics |
| Cycle / Level | 1st / Undergraduate |
| Teaching Period | Spring |
| Coordinator | Konstantinos(constantine) Kotropoulos |
| Common | No |
| Status | Active |
| Course ID | 600018373 |
Programme of Study: PPS-Tmīma Plīroforikīs (2019-sīmera)
Registered students: 12
| Orientation | Attendance Type | Semester | Year | ECTS |
|---|---|---|---|---|
| GENIKĪ KATEUTHYNSĪ | YPOCΗREŌTIKO KATA EPILOGĪ | 8 | 4 | 5 |
| Academic Year | 2020 – 2021 |
| Class Period | Spring |
| Faculty Instructors | |
| Weekly Hours | 3 |
| Total Hours | 39 |
| Class ID | 600180129
|
Course Type 2011-2015
Knowledge Deepening / Consolidation
Mode of Delivery
- Face to face
Digital Course Content
- e-Study Guide https://qa.auth.gr/en/class/1/600180129
Erasmus
The course is also offered to exchange programme students.
Language of Instruction
- Greek (Instruction, Examination)
- English (Instruction, Examination)
Prerequisites
General Prerequisites
Prior exposition to linear algebra and signals and systems facilitates to grasp faster the concepts introduced.
Learning Outcomes
Cognitive: Το introduce you to basics of of modeling, design, planning, and control of robot systems. To get acquainted with relevant results from geometry, kinematics, statics, dynamics, and control.
Skills: To appy the theory by programming in Matlab/Python.
General Competences
- Apply knowledge in practice
- Retrieve, analyse and synthesise data and information, with the use of necessary technologies
- Adapt to new situations
- Make decisions
- Work autonomously
- Generate new research ideas
- Be critical and self-critical
- Advance free, creative and causative thinking
Course Content (Syllabus)
Introduction. Rigid motions and homogeneous transformations. Forward and inverse kinematics. Velocity kinimatics - The manipulator of Jacobians. Path and trajectory planning. Dynamics. Perception. Control. Multivariate control. Vision-based control. Mobile robot localization (Probabilistic map-based localization. Simultaneous localization and mapping using Kalman filters).
Keywords
motion, kinematics, dynamics, perception, automatic control, localization, mapping
Educational Material Types
- Notes
- Slide presentations
- Book
Use of Information and Communication Technologies
Use of ICT
- Use of ICT in Course Teaching
- Use of ICT in Communication with Students
Description
Computer-based applications in matlab, Rasberry-Pi, Arduino and python
Course Organization
| Activities | Workload | ECTS | Individual | Teamwork | Erasmus |
|---|---|---|---|---|---|
| Lectures | 60 | ✓ | ✓ | ✓ | |
| Reading Assigment | 15 | ✓ | ✓ | ||
| Tutorial | 30 | ✓ | ✓ | ✓ | |
| Project | 27 | ✓ | ✓ | ||
| Written assigments | 15 | ✓ | ✓ | ||
| Exams | 3 | ✓ | ✓ | ||
| Total | 150 |
Student Assessment
Description
a1) Lecture attendance and active participation in them is compulsory. Absence at most 30% of the total educational activities is tolerated. Failure to comply with this requirement implies immediate failure in the course.
a2) Compulsory computer-based homeworks are assigned to students. The computer-based homeworks aim at developing and understanding robotic systems. The students are asked to develop applications using matlab, Rasberry-Pi, Arduino, and python.
a3) Hourly mid-term and final progress exams are organized in the course. During these exams, the students are requested to provide short answers in 10-15 questions/problems covering the topics taught in the course. The mid-term exam is scheduled for the 8th week and the final progress exam will take place during the exam period.
The final grading results by 40% from the computer-project assessment (including project presentation), and 60% from paper grading in the mid-term and final exams. The students pass the course, if their total grade is greater than or equal to five (5).
Student Assessment methods
- Written Exam with Short Answer Questions (Formative, Summative)
- Written Assignment (Formative, Summative)
- Performance / Staging (Formative, Summative)
- Written Exam with Problem Solving (Formative, Summative)
Bibliography
Course Bibliography (Eudoxus)
Ζωή Δουλγέρη, Ρομποτική. ΕΚΔΟΣΕΙΣ ΚΡΙΤΙΚΗ ΑΕ, 1η έκδοση 2007. ISBN: 978-960-218-502-5. Κωδικός 11768
Sicilianο, Sciavicco, Villiani,Oriolo, Ρομποτική. Εκδόσεις Φουντάς, 2013. ISBN : 9789603307488. Κωδικός 32997955
Sebastian Thrun, Wolfram Burgard, and Dieter Fox, Πιθανοτική Ρομποτική. Εκδόσεις Κλειδάριθμος, 2011. ISBN: 978-960-461-459-2. Κωδικός 12858802
Additional bibliography for study
M. W. Spong, Seth Hutchinson, and M. Vidyasagar, Robotic Modeling and Control, Wiley 2005. ISBN-13: 978-0471649908.
J. Cicolani, Beginning Robotics with Raspberry Pi and Arduino: Using Python and OpenCV, Apress, 1st ed., 2018.
D. B. Marghitu,, Mechanisms and Robots Analysis with Matlab, Springer 2009. ISBN 978-1-84800-390-3.
Last Update
05-10-2020
