| CODE | ARI5321 | ||||||
| TITLE | Automation and Applied Robotics | ||||||
| UM LEVEL | 05 - Postgraduate Modular Diploma or Degree Course | ||||||
| MQF LEVEL | 7 | ||||||
| ECTS CREDITS | 5 | ||||||
| DEPARTMENT | Artificial Intelligence | ||||||
| DESCRIPTION | The fields of Robotics and Automation are often intertwined. The main purpose of robots is typically to automate a specific task or process. Moreover, a robot is often an aggregation of hardware and software components, where the latter is often designed to control the former with little or no human intervention. Consequently, feedback control is also fundamental to the design of reliable autonomous robots. In this respect, this study-unit aims to first introduce the most fundamental concepts of feedback control systems, and then provide an overview of the ever-growing and diverse field of robotics. This overview covers both robotic manipulators and mobile robots, and enables the student to acquire a broad insight into the technologies involved, such as sensors and control algorithms. Study-Unit Aims: The aims of the study-unit are: Part A (Feedback Systems): - Define open-loop and closed-loop control, using practical examples; - Explain concepts of: static versus dynamic systems, system-order, system response, stability and accuracy; - Explain the concept of system modelling and its importance for control; - Describe and explain the concepts of basic feedback control systems, such as Proportional-Integral-Derivative (PID) control. Part B (Robotics): - Distinguish between robotics manipulators and mobile robots, and provide several examples of each using real-life scenarios; - Explain the concepts of forward and inverse kinematics, and robot dynamics; - Describe various sensors and actuators that are typically found on autonomous robots; - Present basic trajectory planning and feedback-control schemes for robotic manipulators; - Describe the main subsystems of robot navigation, including localization, mapping, path-planning and obstacle avoidance; - Present basic mobile robot tasks and feedback-control schemes; - Mention robot simulation and programming tools, such as V-Rep and ROS. Learning Outcomes: 1. Knowledge & Understanding: By the end of the study-unit the student will be able to: - Explain the differences between closed-loop and open-loop control; - Explains basic concepts related to feedback control, such as dynamics and stability; - Describe the purpose and function of a PID control system; - Distinguish between fixed and mobile robot configurations and forward and inverse kinematics; - Describe various sensors and actuators used in real robots; - Describe basic algorithms and control schemes used to control fixed and mobile autonomous robots. 2. Skills: By the end of the study-unit the student will be able to: - Determine the main subsystems (Sensors, actuators and control algorithms) that are required to control some physical quantity, and represent this design in block diagram form; - Derive the forward and inverse kinematics of simple 2D robotic manipulators; - Design and implement a simple autonomous mobile robotic system. Main Text/s and any supplementary readings: Main Texts: - Golnaraghi, M.F., & Kuo, B.C. (2017). Automatic Control systems. New York: McGraw-Hill Education. - Corke, P., (2017). Robotics, Vision and Control: Fundamental algoithms is Matlab. Cha,. Switzerland: Springer. - Segwart, R.Y., & Noubakhsh, I.R. (2004). Introduction to Autonomous Mobile Robotics. Cambridge Mass: MIT Press. - Thrun, S., Burgard, W. and Fox, D. (2010). Probabilistic Robotics. Cambridge, Mass: MIT Press. Supplementary Readings: - Dudek, G. (2011). Computational Principles of Mobile Robotics. New York: Cambridge University Press. - Murphy, R. (2019). Introdution to AI Robotics. 2nd ed. London: The MIT Press. - Sciavicco, L., & Siciliano B. (2000). Modelling and Control of Robot Manipulators. New York, NY: Spring –Verlag. |
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| STUDY-UNIT TYPE | Lecture and Independent Study | ||||||
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The University makes every effort to ensure that the published Courses Plans, Programmes of Study and Study-Unit information are complete and up-to-date at the time of publication. The University reserves the right to make changes in case errors are detected after publication.
The availability of optional units may be subject to timetabling constraints. Units not attracting a sufficient number of registrations may be withdrawn without notice. It should be noted that all the information in the description above applies to study-units available during the academic year 2023/4. It may be subject to change in subsequent years. |
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