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MSc Advanced Control and Systems Engineering / Course details
Year of entry: 2021
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Course unit details:
Robotics & Autonomous Systems
| Unit code | EEEN60115 |
|---|---|
| Credit rating | 15 |
| Unit level | FHEQ level 7 – master's degree or fourth year of an integrated master's degree |
| Teaching period(s) | Semester 2 |
| Offered by | Department of Electrical & Electronic Engineering |
| Available as a free choice unit? | No |
Overview
(1) Robotic manipulators
(1.1) Introduction
(1.2) Actuators and sensors
(1.3) Kinematics and path planning
(1.4) Dynamics
(1.5) Multivariable and advanced control
(2) Autonomous Systems
(2.1) Introduction to probabilities
(2.2) Introduction to autonomous systems
(2.3) Uncertainty propagation in autonomous systems
(2.4) Map-based localization
(2.5) Mapping
(2.6) Introduction to SLAM (Simultaneous Localization and Mapping)
(2.7) Reactive navigation
(2.8) Path-planning
(2.9) Applications
Pre/co-requisites
| Unit title | Unit code | Requirement type | Description |
|---|---|---|---|
| Control Fundamentals | EEEN60108 | Pre-Requisite | Compulsory |
| State-Space and Multivariable Control | EEEN60109 | Pre-Requisite | Compulsory |
Aims
The course unit aims to:
(1) Provide students with understanding of modern autonomous systems and robotic manipulators.
(2) Enable the students to model robots.
(3) Enable the students to design linear and nonlinear controllers for robotic manipulators.
(4) Provide students with an overview on main topics encountered in autonomous systems field such as localization techniques, mapping, SLAM, navigation, path-planning.
Learning outcomes
Students will be able to:
Knowledge and understanding
(1) Demonstrate understanding of robotic manipulators, their modelling and control.
(2) Demonstrate understanding of main topics encountered in Autonomous Systems field.
Intellectual skills
(1) Use Lagrange formulation to derive equations of motion.
(2) To understand the most important question in Autonomous Systems field: “How much information and support must be provided by human to ensure that the robot is able to achieve its goals”.
Practical skills
(1) Model robot arms and design controllers
(2) Autonomy in mobile robots
Transferable skills and personal qualities
(1) Apply modelling techniques to other problems.
(2) Apply control techniques to other problems.
(3) Apply robotic techniques to other control related problems
Knowledge and understanding
(1) Demonstrate understanding of robotic manipulators, their modelling and control.
(2) Demonstrate understanding of main topics encountered in Autonomous Systems field.
Intellectual skills
(1) Use Lagrange formulation to derive equations of motion.
(2) To understand the most important question in Autonomous Systems field: “How much information and support must be provided by human to ensure that the robot is able to achieve its goals”.
Practical skills
(1) Model robot arms and design controllers
(2) Autonomy in mobile robots
Transferable skills and personal qualities
(1) Apply modelling techniques to other problems.
(2) Apply control techniques to other problems.
(3) Apply robotic techniques to other control related problems
Assessment methods
Unseen Written Examination:
Four questions, answer all questions
Length of examination: 3 hours
Calculators are permitted
The unseen written examination forms 70% of the unit assessment
Course Work:
Lab and Assignment 1: Autonomous Systems – Medium level autonomy
1.1 Motion-based Localisation
1.2 Reactive Navigation (Obstacle Avoidance)
1.3 Motion Control
Submission date: A report based in the lab must be submitted on Sunday, Week 7, Semester 2
Maximum mark for assignment 1 forms 10% of the overall unit mark
Lab and Assignment 2: Autonomous Systems – High level autonomy
2.1 Binary & Probabilistic Mapping
2.2 Mapping with Forgetting Factor
2.3 Map-based Localisation
2.4 Path-Planning
Submission date: A report based on the course work must be submitted on Sunday, Week 8, Semester 2
Maximum mark for assignment 2 forms 20% of the overall unit mark
Feedback methods
Study hours
| Scheduled activity hours | |
|---|---|
| Lectures | 32 |
| Practical classes & workshops | 15 |
| Tutorials | 12 |
| Independent study hours | |
|---|---|
| Independent study | 91 |
Teaching staff
| Staff member | Role |
|---|---|
| Martin Brown | Unit coordinator |
| Alexandru Stancu | Unit coordinator |