EE437 Introduction to Robotics
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| Course Code | Course Title | Weekly Hours* | ECTS | Weekly Class Schedule | ||||||
| T | P | |||||||||
| EE437 | Introduction to Robotics | 3 | 2 | 6 | ||||||
| Prerequisite | Senior Standing | It is a prerequisite to | None |
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| Lecturer | Tarik Namas | Office Hours / Room / Phone | Tuesday: 9:00-16:00 Wednesday: 9:00-14:00 |
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| tnamas@ius.edu.ba | ||||||||||
| Assistant | Assistant E-mail | |||||||||
| Course Objectives | This course is intended to discuss topics in robotics systems. The emphasis will be put on applied concepts and generic solutions in the robotics systems analysis (kinematics and dynamics) and control system design. The emphasis will be on mobile robots analysis and control with possible extension to functionaly related systems: robot cooperation, swarrm ... The concepts of control will discussed in the framework of SISO and MIMO systems. The introductory discussion on the functionlly related systems and haptics will be discussed as well. Students will be asked to complete a semester-long project oriented towards the realization of a robotic system and its control. Due to the expectation that the course will be taken by students with very different backgrounds (EE, ME, CS, SE) the lectures will be covering only basic ideas but sufficient reading material will be provided for more interested students. | |||||||||
| Textbook | Roland Siegwart, Illah R. Nourbakhsh, and Davide Scaramuzza, Introduction to Autonomous Mobile Robots, second edition ISBN 978-0-262-01535-6 (hardcover : alk. paper) 1 John J. Craig, Introduction to Robotics - Mechanics and Control, Third Edition, Pearson Educatipn, London, 2005, ISBN 0-13-123629-6 Bruno Siciliano, Lorenzo Sciavicco, Luigi Villiani, Guiseppe Orilo: Robotics (Modelling, Planning and Control) , 2009 Springer Verlag Limited, London, ISBN 978-1-84628-642-4, e-ISBN 978-1-84628-642-1, DOI 10.1007/978-1-84628-642-1 Support Textbooks: Asif Šabanović and Kouhei Ohnishi, Motion Control Systems, IEEE Press, John Willey & Sons (Asia) Pte Ltd, 2011, ISBN978-0-470-82573-0 V.I. Utkin, J. Guldner and J. Shi: Sliding Mode Control in Electromechanical Systems, Taylor and Francis, 1999 | |||||||||
| Additional Literature |
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| Learning Outcomes | After successful completion of the course, the student will be able to: | |||||||||
| Teaching Methods | Class discussions with examples. Team project for students in small teams that include design, realization, and control of a robot. The teamwork will be emphasized and grading will mostly depend on the project with interim grades depending on written project reports. | |||||||||
| Teaching Method Delivery | Face-to-face | Teaching Method Delivery Notes | ||||||||
| WEEK | TOPIC | REFERENCE | ||||||||
| Week 1 | Practical Information, Content of the Course | Ch 1 | ||||||||
| Week 2 | System Modeling Fundamentals | Handout (Šabanovic Ch 1) | ||||||||
| Week 3 | System Control Fundamentals | Handout (Šabanovic Ch 2) | ||||||||
| Week 4 | Kinematics _ Rigid Systems | Ch 2 | ||||||||
| Week 5 | Kinematics of Mobile Robots | Illah_Ch 3, Kelly 2.4, 2.5 | ||||||||
| Week 6 | Mobile Robots II | Illah_Ch 3, Kelly 2.4, 2.5 | ||||||||
| Week 7 | Robotics - Perception Sensors | Illah_Ch4 Sec. 4.1, Handout | ||||||||
| Week 8 | Robotics - Actuators. MIDTERM EXAM | Handout | ||||||||
| Week 9 | Robots and Obstacles, Potential Fields | Handout | ||||||||
| Week 10 | Rigid Robots, kinematics, dynamics, control | Ch 6-8, Handout | ||||||||
| Week 11 | Interactions in Robotic Systems-Haptics | Ch 9, Handout | ||||||||
| Week 12 | Soft Robotics | Handout | ||||||||
| Week 13 | Robotics Applications I | Handout | ||||||||
| Week 14 | Robotics Applications II | Handout | ||||||||
| Week 15 | Answers to Students' Questions | |||||||||
| Assessment Methods and Criteria | Evaluation Tool | Quantity | Weight | Alignment with LOs |
| Final Exam/Project Presentation | 1 | 40 | ||
| Semester Evaluation Components | ||||
| Homework/Project Progress Reports | 4 | 30 | ||
| Midterm /Oral Progress Report | 1 | 30 | ||
| *** ECTS Credit Calculation *** | ||||
| Activity | Hours | Weeks | Student Workload Hours | Activity | Hours | Weeks | Student Workload Hours | |||
| Lecture hours | 3 | 14 | 42 | Assignments | 5 | 8 | 40 | |||
| Home study | 2 | 14 | 28 | In-term exam study | 20 | 1 | 20 | |||
| Final exam study | 20 | 1 | 20 | |||||||
| Total Workload Hours = | 150 | |||||||||
| *T= Teaching, P= Practice | ECTS Credit = | 6 | ||||||||
| Course Academic Quality Assurance: Semester Student Survey | Last Update Date: 08/04/2024 | |||||||||