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++.
Requirements
for Graduate students will include extra work in Matlab/Simulink,
probabilistic robotics, optimal and behavioral control, as well as some
different questions on the exam.
Topics:
|
Week
1. |
Introduction
Defining robotics Brief History |
|
Week 2. |
Basic
Imaging for Robotics. Coordinate Transformations. |
|
Week 3. |
Effectors
and Actuators |
|
Week 4. |
Sensing.
Sensors |
|
Week 5. |
Mobile
Platforms |
|
Week 6. |
Path
Planning |
|
Week 7. |
Inertial
Navigation |
|
Week 8. |
Midterm |
|
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%. Weights are approximate and subject to change. You are expected to do homeworks (4) 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. 26,
2010
Midterm date: Nov. 23, 2010
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: Tue 1pm to 2:30 & Wed, 2:30pm to 4pm, or
by appointment
Computer Science room 2429