Pre-requisite: CSE260, CSE341, CSE360
This course introduces robotics by discussing basic laws, architectures, control systems, perceiving techniques, and communication. It will also investigate kinematics, motor action, mechanical engineering issues, advanced communication protocols and uses of AI in robotics.
This course aims to introduce the exciting multi-disciplinary field of robotics to CSE students. We aim to guide the students through the electrical, mechanical, and software aspects of robotics to help them understand the basic principles and the science behind robotics and teach them how to design and develop the hardware and software parts of a basic robot. The objective of CSE461 is to develop the knowledge necessary to understand the theory behind the design of robots and provide hands-on practice on implementing that knowledge. Our goal is to teach the students the following topics that will help them understand robotics and pave the way for future research in advanced robotics.
The main objectives of this course are:
1. Introduce basic laws, architectures, control systems, perceiving techniques, and communication.
2. Introduce kinematics, motor action, mechanical engineering issues, advanced communication protocols, and uses of AI in robotics.
3. Teach how to implement different algorithms to 4DOF arm control, including forward and reverse kinematics, robot control system, and navigation.
4. Introduce camera vision, sensors, machine learning, deep learning, and other AI algorithms related to robot vision.
5. Introduce robot communication protocols including I2C, UART, USB, SPI, RS 485, Canbus, Modbus, LoRa, Bluetooth, RF, Zigbee, Wifi, and other modern protocols.
6. Teach how to design, develop, experiment, and document a robotics project.
1. Intelligent systems and robotics, George W. Zobrist and C.Y. Ho., 2000
2. Springer Handbook of Robotics Bruno Siciliano, Oussama Khatib, 2016
3. Robotics, Vision and Control: Fundamental Algorithms In MATLAB, Second Edition, Peter Corke, 2017.
4. Modern Robotics: Mechanics, Planning, and Control, Kevin M. Lynch, 2017.
5. Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard, Dieter Fox, 2005.
6. Introduction to Robotics, S K Saha, 2010
7. Robotics: Control, Sensing, Vision, and Intelligence, K S Fu, Rafael C. Gonzalez, C S G Lee, 2010.
Text and Reference Books, Lecture Notes and other material made available on buX.
| # | Description | Weight | Edit |
|---|---|---|---|
|
CO1 |
Understand basic robotics that includes the law of robotics, uses of a robot, mechanical aspect of robot, type of primitive architecture, perceiving the environment, motor action, and different types of processing. |
25 |
|
|
CO2 |
Implement different algorithms to 4DOF arm control, including forward and reverse kinematics. Examine Robot Control system and Navigation |
20 |
|
|
CO3 |
Relate camera vision, sensors, machine learning, deep learning, and other AI algorithms with robot vision. |
20 |
|
|
CO4 |
Categorize robot communication protocols (I2C, UART, USB, SPI, RS 485, Canbus, Modbus, LoRa, Bluetooth, RF, Zigbee, Wifi) |
15 |
|
|
CO5 |
Investigating different types of robots, their characteristics, features, and applications, Design and Develop a Robot to solve a real-life problem. |
20 |
| Week | Lecture | CO Map |
|---|---|---|
|
Week 1 |
Introduce basic robotics that include the law of robotics, uses of robot, mechanical aspect of robot, type of primitive architecture, perceiving the environment, motor action, mechanical design, different types of processing and recent robotic trends. |
CO1 |
|
Week 2 |
Review on Linear algebra and trigonometry, Robot Arm Forward Kinematics, Robot Arm Inverse Kinematics |
CO2 |
|
Week 5 |
Robot Vision and Perception including vision sensors, visual servoing, physical sensors and LIDAR. |
CO3 |
|
Week 7 |
Control Theory: Classic Feedback Diagram, First-Order and Second-Order Systems, PID Controller Navigation: Basics of Navigation, Localization techniques and Mapping |
CO3 |
|
Week 9 |
Applications of AI and Machine Learning in Computer |
CO2 |
|
Week 10 |
Introduce robot communication protocols including I2C, UART, USB, SPI, RS 485, Canbus, Modbus, LoRa, Bluetooth, RF, Zigbee, Wifi and other modern protocols. |
CO4 |
|
Week 11 |
Case Study and Presentation. |
CO5 |
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