|| CS36410 |
|| INTELLIGENT ROBOTICS |
|| 2003/2004 |
|| Dr Mark B Ratcliffe |
|| Semester 2 |
|| Dr David Barnes, Dr Mark J Neal |
|| CS16010 or CS26210, CS21120 |
| Course delivery
|| Lecture || 22 lectures |
|| Practical || 6 hours |
|Assessment Type||Assessment Length/Details||Proportion|
|Semester Exam||2 Hours A2 ||80%|
|Semester Assessment|| A1 Course Work: One piece ||20%|
|Supplementary Exam|| Will take the same form, under the terms of the Department's policy || |
|| http://www.aber.ac.uk/compsci/ModuleInfo/CS36410 |
On successful completion of this module, students should be able to:
display an understanding of the factors involved in the selection of basic robotic equipment for specific applications (A2);
demonstrate an understanding of the problems charactertistic of the discipline and particularly by selection of appropriate techniques used to solve them (A2);
have a critical understanding of how A.I. can be applied generally to robotics (A2);
appreciate and comment on the differences between computer simulations of robots and the execution of programs on a real robot (A1).
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 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.
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.
** 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
This module is at CQFW Level 6