Module Identifier CS36410  
Academic Year 2000/2001  
Co-ordinator Dr Mark Ratcliffe  
Semester Semester 2  
Pre-Requisite CS16010 or CS26210, CS21020 or CS21120  
Course delivery Lecture   22 lectures  
  Practical   (Up to) 6 hours  
Assessment Exam   2 Hours   80%  
  Course work   One piece   20%  
  Supplementary examination   Will take the same form, under the terms of the Department's policy    

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.

This module presents:

Learning outcomes
On successful completion of this module, students should:

1. Introduction to Intelligent Robotics - 1 Lecture
Introduction to the nature of the robotics problem.

2. Robot Systems - 6 Lectures
Overview of the components of a robot; manipulator geometry; kinematics; drives; end effectors; compliance; gripper mechanisms. Manipulators; degrees of freedom; joint, cartesian and relative cartesian motion; dextrous work envelopes and singularities.

3. Explicit Robot Programming - 5 Lectures
Levels of task description. The manipulator level language VAL II. Consideration of the nature of the development process. Object and task level programming. The AL, RAPT and AUTOPASS systems.

4. Sensing - 1 Lecture
The perception problem.

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

6. Architectures - 1 Lecture
Introduction to reactive and deliberative architectures

7. Reactive Architectures - 3 Lectures
Outline of the concept; consideration of the benefits; examples of particular systems.

8. Deliberative Architectures - 4 Lectures
Outline of the concept; consideration of the benefits; examples of particular systems.

Reading Lists
** Recommended Text
P.J. McKerrow. (1991) Introduction to Robotics. Addison-Wesley
** Consult For Futher Information
Ronald C. Arkin. (1998) Behavior-Based Robotics. MIT Press ISBN 0-262-01165-4