BEng Mechatronic Engineering

This unit introduces students to the key concepts underpinning mobile robots and autonomous systems. Topics that are covered include kinematic modelling of wheeled and legged robots, perception, planning & navigation and techniques for state estimation.

The unit aims to: Provide students with a broad introduction to mobile robots and autonomous systems. The key components of a mobile robot will be considered; locomotion, perception, localisation and navigation.

ILO 1 - Perform data analysis and present it in a professional format. [Developed] [Assessed]

ILO 2 - Discuss the ethical considerations that surround the use of robotics in society. [Developed] [Assessed]

ILO 3 - Formulate kinematic models for wheeled robots and leg trajectories for gaits of legged robots. [Developed] [Assessed]

ILO 4 - Create MATLAB models using either simulated or real-world data. [Developed] [Assessed]

ILO 5 - Describe different strategies for mobile robot path planning and navigation. [Developed] [Assessed]

ILO 6 - Summarize the key sub-systems of a mobile robot and illustrate them with examples. [Developed] [Assessed]

ILO 7 - Assess the benefits and limitations of different proprioceptive and exteroceptive sensing options for mobile robots. [Developed] [Assessed]

This unit is taught in the flipped style.  After the initial introductory lecture, students will study the weekly material prior to the timetabled session (notes and videos).  During the weekly session, the students will undertake practical (hardware/software-based) which will reinforce the material.

The exam/coursework split for this unit is 70/30.

Open-world online Examination

Duration: 3 hours

The examinaiton forms 70% of the total unit assessment.

Coursework

Practical laboratory with video submission

Duration: 3 hour lab + up to 7 hours self-study (10%)

Written assignment on ethics

Duration: Up to 20 hours self-study (20%)

The coursework forms 30% of the total unit assessment.

Open-world online exam - departmental feedback form after the exam board.

Practical laboratory with video submission - 3 weeks after submission, individual and group feedback is provided.

Written assignment on ethics - 3 weeks after submission, individual and group feedback is provided.

1. Introduction to autonomous mobile robots by Siegwart, Roland. MIT Press, 2011. ISBN: 9780262295321
2. Springer handbook of robotics by Siciliano, Bruno, 1959- editor.; Khatib, Oussama, editor. Springer, 2016. ISBN: 9783319325521
3. Introduction to algorithms: fourth edition by Cormen, Thomas H. The MIT Press, 2022. ISBN: 9780262367509
4. Machines That Walk: The Adaptive Suspension Vehicle by Owen, Tony. Robotica , 1989. DOI: 10.1017/S0263574700006937
5. Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots by Gonzalez de Santos, Pablo. author. Springer London, 2006. ISBN: 9781846283079
6. Trajectory Planning for Automatic Machines and Robots by Biagiotti, Luigi. author. Springer Berlin Heidelberg, 2008. ISBN: 9783540856290
7. Vehicle-Manipulator Systems: Modeling for Simulation, Analysis, and Control by From, Pål Johan. author. Springer London, 2014. ISBN: 9781447154631
8. Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration by Noureldin, Aboelmagd. author. Springer Berlin Heidelberg, 2013. ISBN: 9783642304668
9. Positioning in wireless communications systems by Sand, Stephan. Wiley, 2014. ISBN: 9781118694114
10. Fundamentals of wireless sensor networks: theory and practice by Dargie, Waltenegus. Wiley, 2010. ISBN: 9780470666395
11. Measurement and instrumentation: theory and application by Morris, Alan S. Academic Press, 2012. ISBN: 9780123819628
12. Principles of robot motion: theory, algorithms, and implementation by Choset, Howie M. MIT Press, 2005. ISBN: 026225591
13. Introduction to graph theory by Wilson, Robin J. Longman, 1996. ISBN: 0582249937
14. The Algorithm Design Manual by Skiena, Steven S. author. Springer London, 2008. ISBN: 9781848000704
15. Introduction to probability and statistics for engineers and scientists by Ross, Sheldon M. Academic, 2009. ISBN: 9780123704832