EGB439 Advanced Robotics

Unit Outline: Semester 1 2024, Gardens Point, Internal

Overview

• In this unit, you will develop your skills in the theory and practice of mobile robotics.
• The theory part includes advanced topics on motion models, motion control, motion planning,localisation, and simultaneous localisation and mapping (SLAM).
• Practice requires the translation of theory to working software which is evaluated using online tools.
• This unit builds on skills developed in EGB339.

Learning Outcomes

On successful completion of this unit you will be able to:

1. Apply the principles of motion models and control in mobile robotics at a developed level.
2. Apply the principle of probabilistic estimation techniques to problems in mobile robot localisation and mapping at a developed level.
3. Demonstrate a well-developed and coherent knowledge of the theory and concepts in mobile robotics covered in this unit at a mastered level.
4. Design and implement motion controllers, a navigation system to plan the motion and a localisation system for a wheeled mobile robot at a mastered level.
5. Design a self-assigned project where you implement, evaluate and analyse results at a mastered level.

Content

Learning Approaches

 
The teaching of robotics requires a blend of theory and practice. This unit introduces several new principles and theories that may be unfamiliar to you. Each principle requires engagement from different perspectives for you to gain sufficient understanding to apply the theory in appropriate practice. This unit uses a four-pronged approach to engaging you with the principles of mobile robotics:

In this unit you can expect to experience the following timetable activities:

1. In this unit, the lectures are delivered asynchronously via short, focused videos that provide an
introduction to principles that are discussed, dissected and treated deeply. Each week, an interactive
online consultation session provides a venue for you to engage with the lecturer and discuss the content
of the week's videos.

2. Tutorials: Tutorials focus on problems that bring together material from multiple units. Assumed
knowledge is reinforced as necessary, and used as a foundation for learning new material. Principles are
integrated with material from previous modules and grounded in application scenarios. Online tools are
used to provide an automated assessment of selected tutorial questions.

3. Practicals: Practical work consists of series of tasks, which centre on the programming of a) a
simulated mobile robot that can navigate in a virtual environment with obstacles as well as b) using data
collected from a real mobile robot. The practicals depend on and are synchronized with, the theoretical
work in lectures and tutorials. Assessment is via an automated marking system (AMS).

In addition to the above, the unit includes a self-assigned research project the allows you to further explore topics of interest that are mention in the lectures so you can go beyond what is covered in the practical tasks or the problem-solving questions in the tutorials. You will be able to explore a topic of your choice and conduct experiments using a real robot or by simulation and present analysis and discussion of results in a video format.
Academic expectations
In this unit, you are expected to demonstrate the attributes and behaviours of the professional engineer you will soon become. You are responsible for your learning and are expected to keep up with lectures and tutorials, undertake background reading, research and problem solving during additional hours of study. In the laboratory, you will put your learning into practice and are expected to be self-reliant, demonstrate the ability to troubleshoot and reason about problems, devise solutions and put them into practice.

Feedback on Learning and Assessment

• You are given weekly practical tasks which allow self-assessment of practical performance against timelines and benchmarks given to you in the description of each task.
• You are given integrated theory problems in the tutorials which allow self-assessment of performance and formative feedback by tutorial staff and automated online grading systems. These problem-solving tasks give you important feedback on your understanding of the material as you progress.
• The self-assigned project is assessed based on criteria that will be shared with you at the beginning of the semester.

Assessment

Overview

Assessment will be based on practical and theory performance in the form of Practical Tasks(40%) and Problem Solving Tasks (50%) and Research Project (10%).The practical performance will be assessed throughout the semester based on demonstrated robot performance using an automated marking system at specific milestones. Theory performance is assessed in problem-solving tasks throughout the semester and assessed via an online grading tool.

Unit Grading Scheme

7- point scale

Assessment Tasks

Assessment: Practical Tasks

• You will program a simulated wheeled mobile robot as well as use real data logs to perform a set of task demonstrations. This is a staged project that continues throughout the semester in a series of scaffolded experiments, which are graded before and up to the end of each stage.  

Assessment: Problem Solving Task

The assignments involve the development of Python software to implement and evaluate some of the core algorithmic techniques that underpin mobile robotics.

Assessment: Self-assigned project

For this assignment, you will expand on a topic of your interest from the lectures and demonstrate a depth of research and understanding by conducting a mini-research project about it and articulate your findings in a video format.

Academic Integrity

Students are expected to engage in learning and assessment at QUT with honesty, transparency and fairness. Maintaining academic integrity means upholding these principles and demonstrating valuable professional capabilities based on ethical foundations.

Failure to maintain academic integrity can take many forms. It includes cheating in examinations, plagiarism, self-plagiarism, collusion, and submitting an assessment item completed by another person (e.g. contract cheating). It can also include providing your assessment to another entity, such as to a person or website.

You are encouraged to make use of QUT’s learning support services, resources and tools to assure the academic integrity of your assessment. This includes the use of text matching software that may be available to assist with self-assessing your academic integrity as part of the assessment submission process.

Further details of QUT’s approach to academic integrity are outlined in the Academic integrity policy and the Student Code of Conduct. Breaching QUT’s Academic integrity policy is regarded as student misconduct and can lead to the imposition of penalties ranging from a grade reduction to exclusion from QUT.

Resources

Resource Materials

Reference book(s)

P. Corke, Robotics, Vision & Control, Springer 2011 (available as eBook).

S. Thrun, W. Burgard, D. Fox, Probabilistic Robotics, MIT Press.

Software

MATLAB, open-source toolboxes.

Python, programming language

Robot simulator CoppeliaSim.

Other

Hardware: You have access to a small wheeled robot.

Risk Assessment Statement

You will undertake lectures and tutorials in the traditional classrooms and lecture theatres. As such, there are no extraordinary workplace health and safety issues associated with these components of the unit. You will be required to undertake practical sessions in the laboratory under the supervision of the lecturer and technical staff of the School. In any laboratory practicals you will be advised of the requirements for safe and responsible behaviour and will be required to wear appropriate protective items (e.g. closed shoes). You will undergo a health and safety induction before the commencement of the practical sessions and will be issued with a safety induction card. If you do not have a safety induction card you will be denied access to laboratories.

Standards/Competencies

This unit is designed to support your development of the following standards\competencies.

Engineers Australia Stage 1 Competency Standard for Professional Engineer

1: Knowledge and Skill Base

1. 
   Relates to: Practical Tasks, Problem Solving Task
2. 
   Relates to: Practical Tasks, Problem Solving Task, Self-assigned project
3. 
   Relates to: Self-assigned project

2: Engineering Application Ability

1. 
   Relates to: Practical Tasks
2. 
   Relates to: Practical Tasks, Problem Solving Task
3. 
   Relates to: Practical Tasks
4. 
   Relates to: Practical Tasks

3: Professional and Personal Attributes

1. 
   Relates to: Practical Tasks
2. 
   Relates to: Self-assigned project
3. 
   Relates to: Practical Tasks
4. 
   Relates to: Self-assigned project

Course Learning Outcomes

EN50 Master of Engineering

1. Apply advanced discipline knowledge, concepts and practices in engineering systems and processes.
   Relates to: Practical Tasks, Self-assigned project
2. Critically analyse and evaluate complex engineering problems to achieve research informed solutions.
   Relates to: Problem Solving Task, Self-assigned project
3. Apply systematic approaches to plan, design, execute and manage an engineering project.
   Relates to: Practical Tasks, Problem Solving Task, Self-assigned project
4. Communicate complex information effectively and succinctly, presenting high level reports, arguments and justifications in oral, written and visual forms to professional and non-specialist audiences.
   Relates to: Practical Tasks, Problem Solving Task, Self-assigned project
5. Organise and manage time, tasks and projects independently, and collaboratively demonstrating the values and principles that shape engineering decision making and professional accountability.
   Relates to: Self-assigned project

EN55 Master of Professional Engineering

1. Apply advanced and specialist knowledge, concepts and practices in engineering design, analysis management and sustainability.
   Relates to: Practical Tasks, Problem Solving Task, Self-assigned project
2. Critically analyse and evaluate complex engineering problems to achieve research informed solutions.
   Relates to: Practical Tasks, Problem Solving Task, Self-assigned project
3. Apply systematic approaches to plan, design, execute and manage an engineering project.
   Relates to: Problem Solving Task, Self-assigned project
4. Communicate complex information effectively and succinctly, presenting high level reports, arguments and justifications in oral, written and visual forms to professional and non specialist audiences.
   Relates to: Self-assigned project
5. Organise and manage time, tasks and projects independently, and collaboratively demonstrating the values and principles that shape engineering decision making and professional accountability.
   Relates to: Practical Tasks, Self-assigned project