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Ceg4158 PDC

This document provides information about the CEG 4158 - Computer Control in Robotics course for the Fall 2019 semester. It outlines details such as the professor, lecture and lab times, evaluation breakdown including a team project, quizzes, midterm and final exam. The course covers topics related to robotics including coordinate systems, kinematics, sensors, control and task planning. Strict policies are outlined regarding attendance, academic integrity, and use of electronics in class.

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Zichao Zhang
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228 views4 pages

Ceg4158 PDC

This document provides information about the CEG 4158 - Computer Control in Robotics course for the Fall 2019 semester. It outlines details such as the professor, lecture and lab times, evaluation breakdown including a team project, quizzes, midterm and final exam. The course covers topics related to robotics including coordinate systems, kinematics, sensors, control and task planning. Strict policies are outlined regarding attendance, academic integrity, and use of electronics in class.

Uploaded by

Zichao Zhang
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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CEG 4158 - Computer Control in Robotics

Course Outline
Fall 2019
Professor: Pierre Payeur, SITE 5066

Email: ppayeur@uottawa.ca

Lectures: Tuesday, 5:30 PM to 7:00 PM, SMD 425


Thursday, 8:30 AM to 10:00 AM, MNT 207

Tutorials: Thursday, 5:30 PM to 7:00 PM, SMD 425


(every week from September 19th, 2019)
Lab Sessions: Monday, 1:00PM to 4:00PM, STE 3040 OR
Wednesday, 7:00 PM to 10:00 PM, STE 3040 OR
Monday, 7:00PM to 10:00PM, STE 3040 (limited space)
(every week from September 30th, 2019)

Professor Consultation: Thursday, 10:15 AM to 11:30 AM, SITE 5066

Course Notes: • CEG-4158 COMPUTER CONTROL IN ROBOTICS


by P. Payeur (will be available online, via Virtual Campus)

Optional Reference Manuals: • “Introduction to Robotics, Analysis, Control, Applications”,


2nd edition, by S. B. Niku, John Wiley & Sons, 2011.
• “Introduction to Robotics, Mechanics and Control”, 3rd edition,
by J.J. Craig, Addison-Wesley, Pearson Prentice Hall, 2005.

Mandatory Tool: It is required to have a scientific calculator which is able to handle


operations on 4x4 matrices (TI-83, TI-84 series are popular models,
but other brands and models are also appropriate). It is your sole
responsibility to have one available for midterm and final exams, and
to know how to operate it.

Calendar Description: “Evolution of robotics, mobile and manipulator robots, coordinate


systems, kinematic models of manipulators, position, velocity and
force control, sensors and actuators, robotic vision, workspace
modeling, task and path planning, industrial robots, manufacturing
and autonomous systems, robot programming.” (Extract from
calendar)
Objectives: CEG4158 is a specialization course targeting students interested in
automation, robotics and autonomous systems in general. It provides
the knowledge required to understand how robots work and to apply
conceptual approaches to achieve practical implementations
involving elements of robotics, either in industry or research &
development. It also aims at developing design and integration
abilities as well as team work and project management skills, while
providing hands-on experience on real robotic and sensor systems by
transposing theory into practice.

Course Contents:
Introduction
History, definitions, robotic systems design, applications.
Coordinate systems
Cartesian coordinates, degrees of freedom, reference frames, orientation, bidimensional and
tridimensional transformation matrices, relative and general transformations, homogeneous
transformations, inverse transformations, graphs.
Robots systems and structures
Robot architectures, technical concepts of robotics, actuation.
Robot kinematics: position
Joints, members, reference frames, A matrices, direct and inverse kinematics, trigonometric
solutions, precision, efficiency/complexity of kinematic solutions.
Robot kinematics: velocity
Derivatives, velocity of rigid bodies, differential movement, Jacobian, singularities.
Sensors and perception
Internal and external sensors, sensors hierarchy, interfaces, data fusion, classification,
localization, robotic vision, applications.
Control
Classical approaches for robot control, feedback loops, position and force control,
compliance, fuzzy logic control.
Task and path planning
Action-level planning, workspace modeling, path planning, collision avoidance.
Evaluation:
Project: 20% A team-based design and implementation project in robotics will be
completed and will involve a demonstration at the end of the semester.
Intermediate milestones will also be set and evaluated during some LAB
sessions. A final report will have to be submitted for each team of 3
students. Deadlines must be respected. Late submissions/demonstrations
will be graded 0.
Dates: Milestone 1 demo: Mon., Oct. 21st, OR Wed., Oct. 23rd, 2019
Milestone 2 demo: Mon., Nov. 18th, OR Wed., Nov. 20th, 2019
Final demo: Mon., Dec. 2nd, OR Wed., Dec. 4th, 2019
Final report: Wed., Dec. 11th, 2019 before 4:00PM

Quizzes: 10% Two short closed-book quizzes will be written over the semester during
the tutorial periods. These evaluations are mandatory. No take-up will be
possible for missed quizzes. An absence will result in a mark 0 for the
quiz.
Dates: Quiz 1: Thursday, October 10th, 2019, 5:30 to 5:45PM
Quiz 2: Thursday, November 21st, 2019, 5:30 to 5:45PM

Midterm Exam: 30% A mandatory closed-book midterm examen will be written. No take-up
will be possible for the midterm. Students are responsible for bringing
their own calculator to efficiently handle operations on matrices.
Date: Tuesday, October 22nd, 2019, 5:30PM to 7:00PM (date and time
subject change).

Final Exam: 40% A closed-book final exam will be written during the exam period at the
end of the semester. Students are responsible for bringing their own
calculator to efficiently handle operations on matrices.
Date: to be determined by the faculty.

Final Mark: The final mark (FM) will be computed using the following rule (no exception):
IF [0.3*Midterm(%)+0.4*Final(%)] >= 35
THEN:
FM=0.2*Project(%)+0.05*Quiz1(%)+0.05*Quiz2(%)+0.3*Midterm(%)+0.4*Final(%)
ELSE:
FM=1.4286*[0.3*Midterm(%)+0.4*Final(%)]
(which results in D, E or F, that is a failure mark)!!!
Rules:

Note: Plagiarism and academic fraud will not be tolerated on any


component of the course. Any such situation will be brought to the
attention of the faculty and procedures will follow.
The University of Ottawa’s regulation on academic integrity which
addresses plagiarism and academic fraud can be found here:
(http://web5.uottawa.ca/mcs-smc/academicintegrity/regulation.php)

Note: In accordance with Faculty’s regulation, class attendance is


mandatory for all lectures, tutorials and laboratory sessions. Also, all
components of the course (project, lab reports, milestone and final
demos, quizzes, and exams) must be fulfilled as scheduled, otherwise
students will receive an EIN as a final mark (equivalent to a failure). This
is also valid for students who are taking the course for a second time.

Note: Cellphones must be in silent mode before entering the class. The
use of a smartphone, tablet, or any other electronic device for the
purpose of taking pictures, videos, or recording any part of lectures or
tutorial sessions is prohibited in class.

Extract from APUO policies (2018): ‘‘Recording lectures in any way,


including the taking of photographs, is prohibited in this course
unless specific permission has been granted by the professor. The
educational materials developed for this course, including, but not
limited to, lecture notes and slides, handout materials, examinations and
assignments, and any materials posted to Brightspace, are the intellectual
property of the professor. These materials have been developed for
student use only and are not intended for wider dissemination and/or
communication outside of a given course. Participation in this course
constitutes an agreement by all parties to abide by the relevant University
Policies, and to respect the intellectual property of others during and after
their association with the University of Ottawa. Students creating
unauthorized audio and/or video recordings of lectures, and/or
redistributing or providing unauthorized audio, video, photographic
or textual material of lecture content violates the professor’s
intellectual property rights, and the Canadian Copyright Act.‘‘

Update: August 22nd, 2019

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