ROBOT PROGRAMMING (ENGLISH)

International Teaching ROBOT PROGRAMMING (ENGLISH)

0522500125
COMPUTER SCIENCE
EQF7
COMPUTER SCIENCE
2021/2022

YEAR OF COURSE 2
YEAR OF DIDACTIC SYSTEM 2016
PRIMO SEMESTRE
CFUHOURSACTIVITY
210LESSONS
432LAB
Objectives
THE COURSE OBJECTIVE INCLUDES THE INTRODUCTION OF FUNDAMENTAL PRINCIPLES AND PRACTICAL APPLICATIONS OF ROBOT SYSTEMS AND INTERNET OF ROBOTIC THINGS (IORT) SYSTEMS. IN PARTICULAR, THE COURSE PROVIDES AN OVERVIEW OF MECHANISMS OF ROBOTS AND HOW TO DESIGN AND DEVELOP DYNAMIC AND INTELLIGENT CONTROLS.

KNOWLEDGE AND UNDERSTANDING
• PROGRAMMING LANGUAGES FOR ROBOT PROGRAMMING
• TECHNIQUES FOR DESIGNING AND PROGRAMMING OF ROBOT CONTROLS
• ARCHITECTURES FOR REAL-TIME CONTROL OF ROBOTS BASED ON SENSORS AND ACTUATORS

APPLYING KNOWLEDGE AND UNDERSTANDING
THE STUDENTS WILL BE ABLE TO:
• DESIGN AND BUILD OF REAL ROBOT AND IORT SYSTEMS OR BASED ON GRAPHIC SIMULATION
• DESIGN AND DEVELOP OF APPLICATIONS FOR REAL-TIME ROBOT CONTROL RELATED TO MULTI-RIGID-BODY DYNAMICS AND PATH-TRACING PROBLEMS
Prerequisites
KNOWLEDGE OF IMPERATIVE AND OBJECT ORIENTED PROGRAMMING LANGUAGES AND, PARTICULARLY, THE C, PYTHON, JAVA LANGUAGES
Contents
THE COURSE IS PRINCIPALLY BASED ON ROBOT PROTOTYPING AND BUILDING, ROBOT PROGRAMMING AND ALGORITHMS FOR CONTROLLING A ROBOT.
IN PARTICULAR, THE FOLLOWING TOPICS ARE DEVELOPED:
• BASICS OF ROBOTS AND ROBOT PROGRAMMING
• PROTOTYPING AND ASSEMBLING A ROBOT
• BUILDING TOOLS AND SIMULATORS
• METHODOLOGIES TO PROGRAM A ROBOT: FINITE STATE MACHINES AND STATECHART MODELS
• SENSORS, REACTIVE BEHAVIOURS, ROBOT MOTION AND CONTROL
• ROBOT ALGORITHMS:
• LOCAL NAVIGATION: OBSTACLE AVOIDANCE, WALL FOLLOWING, FOLLOWING A LINE
• SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM)
• LOCALIZATION: DETERMINING POSITION (DISTANCE AND ANGLE, TRIANGULATION)
• MAPPING AND NAVIGATION: CREATING A MAP, PATH PLANNING, PATH TRACING
• INTELLIGENT CONTROL BASED ON IMAGE PROCESSING, NEURAL NETWORKS, MACHINE LEARNING AND SENSOR PROCESSING
• DECISION MAKING: ROBOT ACTION SELECTION, ROBOT DIRECTION/PATH SELECTION
• SWARM ROBOTICS AND ROBOT COLLABORATION
• KINEMATICS OF A ROBOTIC MANIPULATOR: FORWARD KINEMATICS, INVERSE KINEMATICS, ROBOT MOTION PLANNING
• ROBOT OPERATING SYSTEM (ROS) PROGRAMMING:
• SIMULATION AND VISUALIZATION IN ROS
• ROBOT, SENSOR, MOTOR IN ROS
• SLAM, NAVIGATION, MANIPULATOR IN ROS
• COMMUNICATIONS BETWEEN CONTROLLERS
Teaching Methods
•LECTURES (6 CFU, 42 HOURS)
•INDIVIDUAL STUDY AND PROJECT DEVELOPMENT IN A TEAM

THE CLASSES ARE TAKEN IN A LABORATORY SO THAT STUDENTS CAN LISTEN TO EXPLANATIONS AND DIRECTLY IMPLEMENT THEM ON A PC AND BY USING A DEDICATE HARDWARE
Verification of learning
THE EXAM CONSISTS OF A FINAL ORAL TEST WHERE THE ACQUIRED KNOWLEDGE WILL BE ASCERTAINED AND THE ACTIVITIES CARRIED OUT WILL BE DISCUSSED. THE ORAL EXAM IS A DISCUSSION ON A GROUP PROJECT CONSISTING IN THE DEVELOPMENT OF A ROBOT AND THE IMPLEMENTATION OF CONTROL SOFTWARE. IT HAS A DURATION OF ABOUT 30 MINUTES FOR EACH COMPONENT OF THE GROUP
Texts
ONLINE MATERIAL, TUTRORIALS, AND BOOKS PUBLISHED ON WEB SITES
More Information
STUDENTS WILL SPEND A QUANTITY OF TIME IN THE STUDIO OUTSIDE OF REGULAR LESSONS. ON AVERAGE TWO HOURS OF STUDY / LABORATORY ARE REQUIRED FOR EVERY HOUR SPENT IN THE CLASSROOM.
THE COURSE IS WEB ASSISTED THROUGH THE COURSE WEB SITE WHERE ALL THE ACTIVITIES AND THE MATERIAL OF THE COURSE WILL BE PUBLISHED
  BETA VERSION Data source ESSE3