Robotic Sensing, Perception, and Actuation
Types and characteristics of sensors and actuators in robotics. Proprioceptive sensors (GPS, AHRS / IMU, DVL, force and torque, encoders). Perceptual sensors (cameras and somatosensory systems, lasers, sonars). Sensor fusion. Centralized and decentralized fusion mode. Smart environments and robot integration into smart environments. Visual feedback. Ways to control robotic actuators based on visual feedback
- Learn and understand the characteristics of sensors and actuators used in robotics.
- Implement methods for acquiring and processing signals from sensors.
- Apply Kalman and information filters in processing signals from sensors.
- Know the principles of centralized and decentralized sensor fusion.
- aster the concept of smart environment and robot inclusion in smart environment.
- Control a robot based on the use of visual feedback
Forms of Teaching
School board, Power Point presentation, practical demonstrationsLaboratory
Five laboratory exercises
|Type||Threshold||Percent of Grade||Threshold||Percent of Grade|
|Laboratory Exercises||100 %||20 %||100 %||20 %|
|Mid Term Exam: Written||50 %||40 %||50 %|
|Final Exam: Written||50 %||40 %|
Week by Week Schedule
- GPS, AHRS (IMU); DVL
- Force and torque
- Encoders and other sensors
- Camera and somatosensory system
- Laser, Sonar
- Kalman and information filter
- Centralized sensor fusion, Decentralized sensor fusion
- Midterm exam
- End-point open-loop control, End-point closed-loop control
- Image based visual servoing
- DC motor, Servos
- Stepper and linear motors
- Biological background, Artifical muscle; Properties
- Artifical muscle technologies, McKibben muscle
- Final exam
Control Systems and Robotics (profile)(2. semester)
(.), Clarence W. de Silva, Sensors and actuators - control systems instrumentation, CRC Press, 2007.,
(.), Peter Corke, Robotics, Vision and Control - Fundamental Algorithms in MATLAB®, Springer-Verlag Berlin Heidelberg, 2011.,
(.), Ernst D. Dyckmans, Dynamic Vision for Perception and Control of Motion, Springer-Verlag London, 2007.,
(.), Ming Xie, Fundamentals of Robotics - Linking Perception to Action, World Scientific Publishing Company, 2003.,
L3 English Level
10 Laboratory exercises
75 Very Good