Module Identifier CS36410  
Module Title INTELLIGENT ROBOTICS  
Academic Year 2001/2002  
Co-ordinator Dr Mark Ratcliffe  
Semester Semester 2  
Other staff Dr Myra Wilson  
Pre-Requisite CS16010 or CS26210, CS21020 or CS21120  
Course delivery Lecture   22 lectures  
  Practical   6 hours  
Assessment Supplementary examination   Will take the same form, under the terms of the Department's policy    
  Course work   A1 One piece   20%  
  Exam   2 Hours A2   80%  
Further details http://www.aber.ac.uk/compsci/ModuleInfo/CS36410  

General description


This course introduces the important elements of robotics through automated flexible assembly and mobile robots. The emphasis of the material is to provide an understanding of the software aspects of robotic systems and other computer-based automation. The particular challenges of this area are presented along with the techniques currently available to tackle them, including the application of several Artificial Intelligence techniques.

Aims


This module is intended for students with no prior robotics experience, but with some knowledge of Artificial Intelligence. Students are introduced to the important elements of robotic hardware and software through mobile robots and manipulator arms.


The emphasis of the material is to provide an undestanding of the software component of robotic systems along with an appreciation of the hardware aspects, and the interaction of the two. Current programming control architectures are introduced and examined.


The supervised practical sessions are designed to investigate the transferral of robot programs from a simulated environment to a real robot. This gives the students an important appreciation of the inherent problems of programming in the real world. The practical also allows the application and critical evaluation of A.I. techniques in a physical environment.

Learning outcomes


On successful completion of this module, students should be able to:

Syllabus


1. Introduction to Intelligent Robotics - 2 Lectures
Introduction to the nature of the robotics problem, with current example systems.


2. Mobile Robots - 2 Lectures
Overview of mobile robots; methods of locomotion and control.


3. Sensors and Perception - 2 Lectures
Current sensing technologies and the perception problem.


4. The Khepera Robot - 1 Lecture
Intorduction to the Khepara robot; components, control, programming and simulator.


5. Manipulator Arms - 2 Lectures
Overview of manipulator arms; arm components, control, end effectors and wrists.


6. Control Architectures -7 Lectures
Reactive, deliberative and hybrid architectures; concepts, benefits and example systems.


7. Case study - 1 Lecture
Study of robots in real world applications.


8. Explicit Robot programming - 5 Lectures
Level of task description. Joint manipulator, object and task level programming. Descriptions and example systems.

Reading Lists

Books
** Recommended Text
R. R. Murray. (2000) Introduction to A.I. Robotics. MIT Press ISBN 0-262-13383-0
** Consult For Futher Information
Ronald C. Arkin. (1998) Behavior-Based Robotics. MIT Press ISBN 0-262-01165-4
P.J. McKerrow. Introduction to Robotics. 1991. Addison-Wesley ISBN 0-201-18240-8