| School/Faculty/Institute | Graduate School | ||||
| Course Code | MECH 506 | ||||
| Course Title in English | Robotics and Vision | ||||
| Course Title in Turkish | Robotik ve Görü | ||||
| Language of Instruction | EN | ||||
| Type of Course | Flipped Classroom | ||||
| Level of Course | Select | ||||
| Semester | Spring | ||||
| Contact Hours per Week |
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| Estimated Student Workload | 178 hours per semester | ||||
| Number of Credits | 7.5 ECTS | ||||
| Grading Mode | Standard Letter Grade | ||||
| Pre-requisites | None | ||||
| Expected Prior Knowledge | Basic knowledge of electric and electronic engineering, and prior knowledge or some experience in linear algebra, feedback control systems, differential and integral calculus, system analysis, signal processing, embedded system programming, computer vision, MATLAB, Python, and C/C++ are expected. | ||||
| Co-requisites | None | ||||
| Registration Restrictions | Only Graduate Students | ||||
| Overall Educational Objective | To learn the basic principles of analysis, design, and control of robotic manipulators and mobile robots | ||||
| Course Description | This course will introduce the fundamental concepts of control, sensing, and intelligence of robotic systems by taking advantage of machine vision. The course will briefly discuss trajectory planning, control, and programming of robotic manipulators as well as visual and navigational sensors, pose estimation, navigation, and reasoning in mobile robots. Students will gain experience by carrying out projects, simulating the behaviors of robotic arms and mobile robots as well as working on them for hardware implementations. | ||||
| Course Description in Turkish | Bu ders, yapay görmeden de yararlanarak robotik sistemlerin kontrol, algılama ve zeka temel kavramlarını tanıtacaktır. Ders, robotik aygıtların yörünge planlaması, kontrolü ve programlamasının yanı sıra görsel ve navigasyon sensörlerini, mobil robotlarda poz kestirimi, navigasyonu ve muhakemeyi kısaca tartışacaktır. Öğrenciler, robotik kolların ve mobil robotların davranışlarını simüle ederek ve onlar üzerine donanım dahil olmak üzere projeler geliştirerek deneyim kazanacaklardır. |
Course Learning Outcomes and CompetencesUpon successful completion of the course, the learner is expected to be able to:1) analyze kinematics of robotic manipulators and apply principles of trajectory generation methods 2) design and implement a robotic project on a physical robot platform 3) understand, use, and apply localization and mapping techniques with the aid of sensors and vision 4) understand, use, and apply navigation and path planning techniques |
| Program Learning Outcomes/Course Learning Outcomes | 1 | 2 | 3 | 4 |
|---|---|---|---|---|
| 1) | ||||
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| N None | S Supportive | H Highly Related |
| Program Outcomes and Competences | Level | Assessed by | |
| 1) | H | Exam,HW,Participation,Project | |
| 2) | H | Exam,HW,Participation,Project | |
| 3) | H | Exam,HW,Participation,Project | |
| 4) | S | Exam,HW,Participation,Project | |
| 5) | S | Project | |
| 6) | N | ||
| 7) | S | Project | |
| 8) | S | Project | |
| 9) | S | Presentation,Project | |
| 10) | N |
| Prepared by and Date | , |
| Course Coordinator | YUSUF AYDIN |
| Semester | Spring |
| Name of Instructor | Dr. Öğr. Üyesi YUSUF AYDIN |
| Hafta | Konu |
| 1) | Introduction to Manipulators |
| 2) | Spatial Descriptions and Transformations |
| 3) | Manipulator Kinematics |
| 4) | Inverse Manipulator Kinematics |
| 5) | Jacobians: Velocities and Static Forces |
| 6) | Trajectory Generation and Path Planning |
| 7) | Control of Manipulators |
| 8) | Introduction to Mobile Robots |
| 9) | Sensing, Vision, and Perception |
| 10) | Sensing, Vision, and Perception |
| 11) | Reasoning |
| 12) | Locomotion |
| 13) | Mapping |
| 14) | Path Planning and Navigation |
| 15) | Final Examination Period |
| 16) | Final Examination Period |
| Required/Recommended Readings | Recommended: Introduction to Robotics: Mechanics and Control, John J. Craig, 3rd Edition, Pearson Robotics, Vision & Control. Fundamental Algorithms in MATLAB, Peter Corke, 2nd Ed. Springer Robotics: Modelling, Planning and Control, B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Springer Computational Principles of Mobile Robotics, Gregory Dudek, Michael Jenkin, Cambridge University Press, 2010. Autonomous Robots, George A. Bekey, MIT Press, 2005 Introduction to Autonomous Mobile Robots, 2nd Edition, Roland Siegwart, Illah R. Nourbakhsh and Davide Scaramuzza, MIT Press, 2011 | ||||||||||||||||||
| Teaching Methods | Flipped Classroom/Exercise/Laboratory/Active Learning | ||||||||||||||||||
| Homework and Projects | |||||||||||||||||||
| Laboratory Work | There will be | ||||||||||||||||||
| Computer Use | Required | ||||||||||||||||||
| Other Activities | None | ||||||||||||||||||
| Assessment Methods |
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| Course Administration |
aydiny@mef.edu.tr 02123953600 |
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| Activity | No/Weeks | Hours | Calculation | ||||
| No/Weeks per Semester | Preparing for the Activity | Spent in the Activity Itself | Completing the Activity Requirements | ||||
| Ders Saati | 14 | 2 | 3 | 2 | 98 | ||
| Proje | 3 | 12 | 1 | 1 | 42 | ||
| Ara Sınavlar | 2 | 15 | 2 | 2 | 38 | ||
| Total Workload | 178 | ||||||
| Total Workload/25 | 7.1 | ||||||
| ECTS | 7.5 | ||||||