Biologically Inspired Robotics (1st year)
Integrated robotics (2nd year)
Intelligent robotics (3rd year)
Advanced robotics and factory automation (3rd year)
Biologically Inspired Robotics (1st year)
To create robots that mimic creatures, we must have a basic understanding of what makes animals behave the way they do. Realistic behaviours can be simulated with a combination of sensors, a clever program, and a motor. This module will give the student an introduction to programming basic mobile robot systems to create lifelike behaviour culminating in a demonstration of each creation.
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Wk |
Lecture |
Student centred learning guidance |
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1 SW WC 27/9 |
Mobile robot history |
design cleaning or gardening robot wiring in vehicles style + flowchart and post on to blackboard discussion forum. |
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Ghengis, walter grey, lego, languages, controllers, braiteberg vehicles, sea slug, vacuum cleaner sensor, what we have:pig, robotino, SUE, DRK8000 |
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2 SW |
Intro lego, development & history, sensors (light, bump, encoder), motors, power, communication, programming), where to buy, competitions using lego (first lego league), school involvement. |
Line following using NXT software |
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3 SW |
Feedback and advanced line following-proportional control. Block diagrams of a closed loop system. Adding two sensors |
Light finding and following |
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4 SW |
Multiple IF statements, parallel processing, limitations of NXT language, communications, |
Practical work using communication:-get two NXTs to communicate |
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5 SW |
Kinematics (where am I?),straight line motion, following (interchange of kinematic information) |
Complete kinematic assignment. |
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6 IM + DM |
Braitenberg vehicles. Introduction to Labview for NXT programming. |
Directed reading, Labview practical. |
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7 IM |
Flocking, swarming and multi-robot collaboration. Following (interchange of kinematic information) |
Simulation software |
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8 IM |
Subsumption-conflicting tasks |
Paper:-‘Fast, Cheap, and Out of Control’ |
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9 IM |
Implementation of Subsumption, Report writing, layout, referencing and how to present ideas. Compressing images, saving pdf format. (Latex?) |
Practical subsumption. |
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10 IM |
Introduction to Microsoft RobotStudio. |
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11 SW+IM |
Locomotion strategies (legs, pendulum). |
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12 SW +IM + all robotics levels. |
Robotics gala: Presentation & demo:-Students to present and demonstrate their assignment work |
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Robot Programming (1st year)
Robots follow sequences of instructions from a program. This module will enable the student to investigate how robots are programmed and exactly what goes on in the robot controller when following the instructions. Industrial robot simulation will be introduced along with example applications including economics and safety.
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Week |
Lecture |
Lab and own study |
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1 17/1 SW |
Introduction to C for the NXT robot
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C programming |
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2 24/1 SW |
Path planning
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Using 2D matrices in C |
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3 31/1 SW |
Path planning implementation, simulation using XL.
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Kinematics in C, encoders |
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4 7/2 SW |
Intro to the RTX robot arm. Industrial robot arms, teach pendent etc
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Programming task using arm. ABB RobotStudio |
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5 14/2 DM |
Labview interfacing NXT. NI Robot Toolbox
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Labview robotics |
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6 21/2 DM |
Labview robotics
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Labview robotics |
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7 28/2 SW |
The DR Robot, Serializer and programming C#
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The DR Robot and serializer application |
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8 7/3 IM |
Feedback vs open loop systems. Transfer functions
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9 14/3 IM |
Stewert platform kinematics
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Excel simulations |
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10 21/3 IM |
Using the Stewert platform
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Implementation of the Stewert platform |
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11 28/3 SW |
Path planning implementation
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Assignment work |
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12 4/4 IM SW |
Path planning demonstration and exam revision
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Cybernetic systems (2nd year)
Cybernetics is the study of the role of feedback and control. Feedback is essential in the creation of intelligent robots that can adapt to their surroundings. This module underpins the theory of feedback as applied to actuators, each concept is demonstrated in a practical and useful way. Proportional Integral Derivative (PID) control will also be studied along with a suitable application.
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Wk |
Lecture |
Student Centred Guidance |
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1 SW |
Computers in control. A/D, resolution, digitization, quantization, serial cards , I/O cards pinouts, Labview language, encoders. Introduce all the hardware we will use in 12 weeks and how it works |
Resolution questions. I/O connection circuit. |
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2 DM |
Labview basics. Front end, code view. Led, button. Gauge, multiplication. IO interface DI,DO,AI,AO, pinouts and datasheet. While loop. Timers:-delay, deterministic. Maths equation block |
Read LV manual Read ADC manual and pinouts |
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3 DM |
Labview, virtual dial to virtual output While loop Using I/O card Measurement and automation explorer Analogue input Digital input Timed loop Get speed of input using shift registers Deterministic loop |
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4 SW |
Logbook Computer as controller COM ports (baud USB etc) USB Servo driver Ethernet control Labview controlling Stewert platform |
Design LV program to drive stepper motor |
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5 SW |
Feedback control theory. Simple heater, heater with thermistor. Motor-simple. FB from pot. Overshoot. Tacho FB.MATLAB introduction |
Model electric motor questions |
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6 SW |
Damping control. Motor modelling. Closed loop equs. Steady state and gain calc for desired state. Effect increase P. Damping calcs for zeta, omega. KD modelling and proving zero overshoot. Get motor characteristics from PIG motor response. |
Closed loop equs. Find zeta, damping, steady state. Calc KD for zero OS |
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7 SW |
Modelling of motor and potentiometer review. Modelling of pendulum. |
Model motor from step response Qs. Read PID Umich. Prove I gives zero ss error. Manual step through of digital PID implementation. PID tuning questions. MATLAB Qs for PID implement. Find example of CL system for next week report. |
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Review q's with zeta, omega and optimal Kd for zeta=1 |
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I control for zero SS error. Digital implementation of PID. Helicopter system. PID Tuning. ZN methods. Implementation of PID using MATLAB. Simulation |
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8 TB |
MATLAB control of the NXT robots over Bluetooth |
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9 IM |
Applications of PID Practical implementation of control systems. |
Working model applications |
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10 IM |
Signal processing |
Practical considerations and systems |
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11 IM |
End effectors. |
Calculating grip strength and Shunk software for gripper design |
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12 IM + SW |
Robotics gala: presentation of helicopter control |
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Integrated robotics (2nd year)
This module will introduce the student to computer interfacing with the specific application to robotics. Methods of motor speed control and how to read sensors will be used along with a microcontroller running a program-demonstrating robot control basics. Computer vision will also be introduced as an advanced form of sensor. The current trends in entertainment robots will be discussed along with the integration into society.
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Week |
Lecture |
Lab and self-study |
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1 21/1
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Microcontrollers on the market. Intro to PIC: family,MPLAB, assembler, clock rate of execution, I/O, Pickit programmer, bootloaders, PIC circuit Ports A-E
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C programming, led control |
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2 28/1 |
Datasheets, libraries and forums. C18 keywords Latches Variable types Debugging and watch windows.
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Debug mode |
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3 4/2 |
Timers and interrupts
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Interrupts |
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4 11/2 |
Inputs, pullups (setting config bits from datasheet), edge counting and debouncing. Reading an encoder. RS232
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Interfacing an encoder |
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5 18/2 |
L298 motor driver, PWM, delays, clock options and configuration
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Driving a motor |
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6 25/2 |
A/D reading, use non-volatile memory, RC servo driving
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Read A/D and demonstrate non-volatile memory. |
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7 4/3 |
Ultrasonic sensors. Using Sharp GP2D12
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8 11/3 |
I2C communication. Current source limits, opto isolators, transistor driving
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Motor I2C driving-use 3 wheel robot base using MD22. |
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9 18/3 |
USB and PIC communication. CMU cam and vision for microcontrollers 1hr
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10 25/3 |
mBed system CMU cam and vision for microcontrollers 1hr
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11 1/4 TB |
CMU cam and vision for microcontrollers 1hr
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12 8/4 |
Demonstrations of project work
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Intelligent robotics (3rd year)
The student will be introduced to the mathematics essential to robot
systems enabling extremely accurate and powerful machines to perform a
variety of dexterous tasks. A practical approach will be undertaken to
ensure the understanding of these advanced control techniques.
Ethical considerations will also be investigated regarding the effects
of robots in society.
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Week |
Lecture |
Resources |
Lab |
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1-SW |
Manipulator types, programming (joint motion, xyz motion). FK, IK intro (how xyz works). Motion (PTP,CP). Teach pendant |
ABB Robot studio tutorials. Handouts on intro robotics. Using the RTX robot. |
ABB Robot studio lessons 1-4 |
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2-SW |
Forward kinematics (FK) to DH matrices |
Robot toolbox manuals. Intro to RT |
MATLAB Robot toolbox |
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3-SW |
Inverse kinematics of manipulators |
Robot toolbox manuals. |
Robot toolbox IK + ABB Robot Studio |
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4-SW |
Trajectory control. Continuous path motion. Dynamics and jacobean matrices |
Robot toolbox and Excel demonstrations |
Robot toolbox and Excel simulation |
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5-SW |
Applications of manipulators in the factory Kinematics of mobile robots (SW) |
Videos in factory. State of the art and future challenges robotics handbook. Path planning on-line book |
State of the art and future challenges robotics handbook tutorial questions. Tutorial on path planning. Excel simulation on path planning. |
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6-TB |
MATLAB control of the NXT Robot |
http://www.mindstorms.rwth-aachen.de/ |
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7-TB |
MATLAB, NXT Robot and vision |
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8-SW |
Writing academic papers, advanced Word, Ethics (IM) |
Hand outs |
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9-IM |
Robots in surgery |
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10-IM |
Flocking behaviours using NXT/labview |
Lego NXT |
NXT blue tooth communications |
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11-IM |
Control using NXT/labview |
Lego NXT |
NXT programming |
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12-SW+IM |
Exam revision questions |
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Advanced robotics and factory automation (3rd year)
Robots have become commonplace in the fabrication industry and are just gaining entry into ‘soft’ industry such as food handling. This module looks not just at the robot, but at all the critical systems that are used to interface it to the rest of the production line. Practical work involving PLC programming and human computer interaction will strengthen the knowledge gained in analysing real industrial applications of robots.
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Week who date |
Lecture (1 hr) |
Lab (2 hrs) and self guided study |
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1 SW 17/1 |
Overview of mobile robots on the market. Robot components available for self-build Programming robots: DRK8080, Serializer, Robotino, PIG (Labview and C#)
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Investigation of robot components Practical programming |
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2 SW 24/1 |
Vision systems and robot control
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Practical programming |
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3 TB 31/1 |
Fundamentals of image processing (image representation, greyscale and colour images, image histogram, smoothing, colour models)
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Image processing a corridor. C# using AForge.net |
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4 TB 7/2 |
Morphological image processing (Dilation, erosion, opening, closing, reconstruction) – theory and practical session. Image segmentation (thresholding, edge detection) – theory and practical session. Development of robot application using computer vision (initial requirement, project planning, algorithm development, system testing)
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5 SW 14/2 |
Implementation of vision systems as applied to robot control. Further path planning and an introduction to SLAM
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Moving through the corridor using a mobile robot |
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6 DM 21/2 |
Introduction to PLCs
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PLC hardware and programming |
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7 DM 28/2 |
Further PLC programming
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PLC hardware and programming |
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8 DM 7/3 |
PLC control of the water tank level system
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PLC hardware and programming |
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9 IM 14/3 |
Factory Planning |
Operations Scheduling
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10 IM 21/3 |
Flow Production
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Precedence diagrams
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11 IM 28/3 |
Manufacturing
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Company Visit |
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12 SW IM 4/4 |
Demonstrate robot systems and presentations
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Presentations |
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