Title:

Robotics (in English)

Code:ROBa
Ac.Year:2019/2020
Sem:Winter
Curriculums:
ProgrammeField/
Specialization
YearDuty
IT-MSC-2MBI-Elective
IT-MSC-2MBS-Elective
IT-MSC-2MGM-Elective
IT-MSC-2MGMe-Compulsory-Elective - group C
IT-MSC-2MIN-Compulsory-Elective - group I
IT-MSC-2MIS-Elective
IT-MSC-2MMI-Elective
IT-MSC-2MMM-Elective
IT-MSC-2MPV-Elective
IT-MSC-2MSK-Elective
MITAINADE-Elective
MITAINBIO-Elective
MITAINCPS-Elective
MITAINEMB-Elective
MITAINGRI-Elective
MITAINHPC-Elective
MITAINIDE-Compulsory
MITAINISD-Elective
MITAINISY-Elective
MITAINMAL-Elective
MITAINMAT-Elective
MITAINNET-Elective
MITAINSEC-Elective
MITAINSEN-Elective
MITAINSPE-Elective
MITAINVER-Elective
MITAINVIZ-Elective
Language of Instruction:English
News:
This course is instructed in English, and it is intended for incoming Erasmus+ students, too.

Credits:5
Completion:examination (written)
Type of
instruction:
Hour/semLecturesSeminar
Exercises
Laboratory
Exercises
Computer
Exercises
Other
Hours:2606020
 ExamsTestsExercisesLaboratoriesOther
Points:55200025
Guarantor:Orság Filip, Ing., Ph.D. (DITS)
Deputy guarantor:Rozman Jaroslav, Ing., Ph.D. (DITS)
Lecturer:Orság Filip, Ing., Ph.D. (DITS)
Rozman Jaroslav, Ing., Ph.D. (DITS)
Instructor:Kapinus Michal, Ing. (DCGM)
Faculty:Faculty of Information Technology BUT
Department:Department of Intelligent Systems FIT BUT
Schedule:
DayLessonWeekRoomStartEndLect.Gr.Groups
ThulecturelecturesM103 M104 08:0009:501EIT 1MIT 2EIT 2MIT INTE xx
 
Learning objectives:
  To inform students about current state and future of robotics. Also, to inform students about peculiarities of robotic systems and prepare them for introduction of robotic systems to industry.
Description:
  Basic components of the stationary industrial robots. Kinematic chains. Kinematics. Solution of the inverse kinematic task. Singularities. Dynamics. Equations of motion. Path planning. Robot control. Elements and structure of the mobile robots. Models and control of mobile robots. Sensoric systems of mobile robots. Localization and navigation. Environment maps. Man-machine interface, telepresence. AI in robotics. Microrobotics.
Learning outcomes and competencies:
  The students acquire knowledge of current state and trends in robotics. Also, they acquire practical knowledge from construction and use of robots.
Why is the course taught:
  Robotics experiences a big boom thanks to coming of various autonomous systems, be it autonomous vehicles or mass production. General knowledge of dealing with various tasks and basics of robotics clears the way to employment in the fields, which use robots on a daily basis.
Syllabus of lectures:
 
  1. History, evolution, and current trends in robotics. Introduction to robotics. Robotic applications. Robotic competitions.
  2. Kinematics and statics. Direct and inverse task of kinematics.
  3. Path planning in the cartesian coordinate system.
  4. Models and control of the stationary robots.
  5. Effectors,sensors and power supply of robots. Applications of the cameras, laser distance meters, and sonars.
  6. Basic parameters of the mobile robots. Model and control of the wheel mobile robots.
  7. Robotic middleware. Robot Operating System (ROS), philosophy of ROS, nodes and communication among them.
  8. Maps - configuration space and 3D models.
  9. Probability in robotics. Introduction. Bayesian filtering, Kalman and particle filters. Model of robot movements and measurement model.
  10. Methods of the global and local localization. GPS based localization, Monte Carlo method.
  11. Map building. Algorithms for simultaneous localization and mapping (SLAM).
  12. Trajectory planning in known and unknown environment. Bug algorithm, potential fields, visibility graphs and probabilistic methods.
  13. Introduction to control and regulation.
Syllabus of laboratory exercises:
 
  1. Lego Mindstorms
  2. Basics of ROS, sensor reading
  3. Advanced work in ROS
Syllabus - others, projects and individual work of students:
 Project implemented on some of the robots from FIT.
Fundamental literature:
 
  • LYNCH, Kevin M. and PARK, Frank C. Modern robotics: mechanics, planning, and control. Cambridge (Reino Unido) : Cambridge University Press, 2018.
  • GOVERS, Francis X. Artificial intelligence for robotics: buildintelligent robots that perform human tasks using AI techniques. Birmingham, UK : Packt Publishing Ltd, 2018.
  • Nolfi, S., Floreano, D.: Evolutionary Robotics : The Biology, Intelligence, and Technology of Self-Organizing Machines (Intelligent Robotics and Autonomous Agents), Bradford Books, 2004, ISBN 0262640562
  • Holland, J., M.: Designing Autonomous Mobile Robots: Inside the Mind of an Intelligent Machine, 2003, ISBN 0750676833
  • Craig, J., J.: Introduction to Robotics: Mechanics and Control, Prentice Hall, 2003, ISBN 0201543613
  • Sciavicco, L., Siciliano, B.: Modelling and Control of Robot Manipulators (Advanced Textbooks in Control and Signal Processing), Springer Verlag, 2000, ISBN 1852332212
  • Murphy, R., R.: An Introduction to AI Robotics (Intelligent Robotics and Autonomous Agents), Bradford Books, 2000,  ISBN 0262133830 
  • Spong, M., Vydyasagar, M.: Robot Dynamics and Control, J. Willey, 1989, ISBN 047161243X
Study literature:
 
  1. Craig, J., J.: Introduction to Robotics: Mechanics and Control, Prentice Hall, 2003, ISBN 0201543613
  2. Murphy, R., R.: An Introduction to AI Robotics (Intelligent Robotics and Autonomous Agents), Bradford Books, 2000,  ISBN 0262133830
Progress assessment:
  
  1. Mid-term written test.
  2. Evaluated project with a defence.
 

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