Tue
Thu 5:20-6:40
Computer Science 2311
Dimitris
Samaras
The
objective of this course is to use a hands-on
approach to introduce the basic concepts in robotics, focusing on mobile robots
and illustrations of current state of the art research and applications. Course
information will be tied to lab experiments; students will work in teams to
build and test increasingly more complex LEGO-based mobile robots, culminating
in an end-of-semester robot contest.
This course introduces fundamental concepts in Robotics. In this course, basic
concepts will be discussed, including coordinate transformations, sensors, path
planning, kinematics, feedback and feedforward
control, stressing the importance of integrating sensors, effectors and
control. These topics will be exemplified with LEGO Robot Kit labs. The last
part of the course will focus on applying the knowledge from the initial lectures
to the key approaches to mobile robot control (reactive, behavior-based, and
hybrid), and briefly discuss robot learning and multi-robot systems. In the lab, robot kits will be used in
weekly exercises illustrating lecture material; the last month of the lab will
be spent in applying the learned material to a final project, in which the
students will design and build a robot for a final competition. This course is intended for
undergraduate students with interests in Robotics, Visual Computing, AI. Prerequisites include a foundation in Linear Algebra and
Calculus, and the ability to program, preferably in C/C++.
Requirement
for Graduate students will include extra work in Matlab/Simulink,
optimal and behavioral control, as well as some different questions on the
exam.
Topics:
|
Week
1. |
Introduction
Defining robotics Brief History |
|
Week 2. |
Coordinate
Transformations. Effectors and Actuators |
|
Week 3. |
Sensing.
Sensors |
|
Week 4. |
Basic
Imaging for Robotics |
|
Week 5. |
Midterm |
|
Week 6. |
Path
Planning |
|
Week 7. |
Inertial
Navigation |
|
Week 8. |
Mobile
Platforms |
|
Week 9. |
Manipulators.
Direct Kinematics |
|
Week 10. |
Dynamics.
Inverse Kinematics |
|
Week 11. |
Feedback
Control |
|
Week 12. |
Review
and Midterm |
|
Week 13. |
Behavior-based
control |
|
Week 14. |
Group
Robotics |
|
Week 15. |
Final
Projects |
There
will be homeworks, a final project, 3-4 in class 10
min quizzes and two
midterm exams .Homeworks will be 35%,
the project 30%, and the midterms
35% and the final 20%. Weights are approximate and subject to change. You are
expected to do homeworks (4 or 5) by yourselves.
Even if you discuss them with your classmates, you should turn in your own code
and write-up. Final projects can be done by one or two
people. Two people projects will be scaled accordingly.
Midterm
date: Oct. 1, 2009
Final date: Nov. 24, 2009
You can have one sheet of paper with notes in the midterm.s
Academic misconduct policy:
Don't cheat. Cheating on anything will be dealt with as academic misconduct and handled accordingly. I won't spend a lot of time trying to decide if you actually cheated. If I think cheating might have occurred, then evidence will be forwarded to the University's Academic Judiciary and they will decide. If cheating has occured, an F grade will be awarded. Discussion of assignments is acceptable, but you must do your own work. Near duplicate assignments will be considered cheating unless the assignment was restrictive enough to justify such similarities in independent work. Just think of it that way: Cheating impedes learning and having fun. The labs are meant to give you an opportunity to really understand the class material. If you don't do the lab yourself, you are likely to fail the exams. Please also note that opportunity makes thieves: It is your responsibility to protect your work and to ensure that it is not turned in by anyone else. No excuses! The University has a relevant policy:
“Each student must pursue his or her academic goals honestly and be personally accountable for all submitted work. Representing another person's work as your own is always wrong. Any suspected instance academic dishonesty will be reported to the Academic Judiciary. For more comprehensive information on academic integrity, including categories of academic dishonesty, please refer to the academic judiciary website at http://www.stonybrook.edu/uaa/academicjudiciary/ _
__________________________________________________________________________________
____________ Adopted by the Undergraduate Council September 12, 2006 __“______
Disability note:
D. Samaras, Tel. 631-632-8464
email: samaras@cs.sunysb.edu
Office Hours: Wed, Thu 2:00pm to 3:30pm, or by appointment
Computer Science room 2429