EGB339 Introduction to Robotics

Unit Outline: Semester 2 2020, Gardens Point, Internal

Overview

This unit introduces you to the components, systems and mathematical foundations of robotics and computer vision. The unit introduces the technologies and methods used in the design and programming of modern intelligent robots, and encourages critical thinking about the use of robotic technologies in various applications. The unit emphasizes the practical application of robotic theory to the design and synthesis of robotic systems that respond accurately and repeatably.

Learning Outcomes

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

1. Choose and integrate hardware components for a robotic system.
2. Design and synthesize simple software control systems for individual robotic joints.
3. Develop and implement mathematical models of multi-link robots to describe the relationship between individual joints and the position and velocity of the robot's end effector.
4. Apply computer vision techniques to control an intelligent robot.
5. Design and report the development of practical robotic systems that incorporate all of the above.

Content

Learning Approaches

Mode of Teaching
Total hours per week: 5
Lectures: 2 (1 hour on campus, 1 hour online)
Tutorials: 1
Laboratory: 2

Field trip: one half day to CSIRO Autonomous Systems Laboratory (Pullenvale) which will subsume lecture and laboratory sessions in one week (planned for one week in the range weeks 5 to 11).

The teaching of robotics requires a careful blend of theory and practice. The unit needs to introduce several new principles and theories that are unfamiliar to you. Each principle requires repeated engagement from different perspectives for you to gain sufficient understanding to apply the theory in appropriate practice. The unit uses a three-pronged approach to engaging you with the principles of robotics:

1. Interactive lectures: Lectures are used to provide an introduction to material, and immediate application of the material with small focussed problems to be completed in the lecture. Solutions are discussed and resolved in class, and compared to a benchmark solution. Principles are introduced, discussed and dissected in the lecture, treating each principle deeply. Throughout the semester, you will attend one hour of on-campus lectures and complete self paced study activities from material provided online. Weekly access to the EGB339 Blackboard site is required.

2. Single problem tutorials: The kinematic tutorials focus on a single integrated problem that brings together material from multiple units. Early material is reinforced as necessary, and used as a foundation for learning the new material. Principles are integrated with material from previous modules and grounded in application scenarios. The vision tutorials reiterate the core concepts of every week by solving focussed problems. Online tools are used to provide automated assessment of selected tutorial questions

3. Scaffolded project: Practical work is conducted as series of scaffolded experiments which centre on a single project - the programming of a vision guided robot arm. The practicals extend the repeated case study used in the teaching materials featuring a two-link planar robot arm. The practicals have a small equipment footprint and are designed to work with existing lab benches. The practicals are performed regularly and in sync with the theoretical work in lectures and tutorials. In this project you will work in a group for supportive learning and peer interaction.

Feedback on Learning and Assessment

Summative feedback
Assessment will be based on practical performance (40%) and theory performance (60%). Practical performance will be based on assessed performance of the vision system and ability of the vision guided robot to achieve a set of tasks with graded difficulty. These are assessed half way through and at the end of the semester. The theory performance is assessed in problem solving tasks througght the semester, and in the final exam. The theory test uses multi-part integrated questions that require synthesis and application of knowledge across multiple modules. The exam is open book to increase emphasis on understanding rather than memorisation.

Formative feedback
You are given weekly integrated theory problems in the tutorials which allow self assessment of performance and formative assessment by tutorial staff and automated online grading systems. Practical performance will be self-assessed against performance timelines and benchmarks for practical work, and further formative assessment by practical demonstrators.

Assessment

Unit Grading Scheme

7- point scale

Assessment Tasks

Assessment: Project (applied)

In a group of two or three, you will design software to control a robot arm, applying the computer vision and kinematics concepts covered in the unit. This 2 stage project continues throughout the semester in a series of scaffolded experiments. Assessment will be in the form of two practical demonstrations (2x20%), one midway through the semester and one in week 13.

Relates to learning outcomes
1, 2, 3, 4, 5

Assessment: Examination (written)

The exam consists of a multi-part, integrated problem requiring the selection of components and design of a control system for a robot arm.

Relates to learning outcomes
1, 2, 3, 4, 5

Assessment: Problem Solving Task

The assignments involve the development of MATLAB code to implement and evaluate some of the core algorithmic techniques that underpin computer vision.

Relates to learning outcomes
1, 4

Academic Integrity

Academic integrity is a commitment to undertaking academic work and assessment in a manner that is ethical, fair, honest, respectful and accountable.

The Academic Integrity Policy sets out the range of conduct that can be a failure to maintain the standards of academic integrity. This includes, cheating in exams, plagiarism, self-plagiarism, collusion and contract cheating. It also includes providing fraudulent or altered documentation in support of an academic concession application, for example an assignment extension or a deferred exam.

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.

Breaching QUT’s Academic Integrity Policy or engaging in conduct that may defeat or compromise the purpose of assessment can lead to a finding of student misconduct (Code of Conduct – Student) and result in the imposition of penalties under the Management of Student Misconduct Policy, ranging from a grade reduction to exclusion from QUT.

Resources

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.