|
|
| BIL4003 | Robot Technologies | 3+0+0 | ECTS:4 | | Year / Semester | Fall Semester | | Level of Course | First Cycle | | Status | Elective | | Department | DEPARTMENT of COMPUTER ENGINEERING | | Prerequisites and co-requisites | None | | Mode of Delivery | Face to face | | Contact Hours | 14 weeks - 3 hours of lectures per week | | Lecturer | Prof. Dr. Tuğrul ÇAVDAR | | Co-Lecturer | None | | Language of instruction | Turkish | | Professional practise ( internship ) | None | | | | The aim of the course: | | The course aims to provide the students with a general knowledge on robotics and basic components, to enable them to understand how they act, to help them use their knowledge to design basic robots with mechanical, electronic and computer components. |
| Learning Outcomes | CTPO | TOA | | Upon successful completion of the course, the students will be able to : | | | | LO - 1 : | design a simple robot. | 2,3,4,12 | 1 | | LO - 2 : | describe robotic concepts. | 2,3,4,12 | 1 | | LO - 3 : | apply various techniques to robotics. | 2,3,4,12 | 1 | | LO - 4 : | evaluate the behaviours of robotic circuits | 2,3,4,12 | 1 | | CTPO : Contribution to programme outcomes, TOA :Type of assessment (1: written exam, 2: Oral exam, 3: Homework assignment, 4: Laboratory exercise/exam, 5: Seminar / presentation, 6: Term paper), LO : Learning Outcome | | |
| Robot description, applications, types. Robot computer hardware, interfaces. Mechanical, electrical, pneumatic and hydraulic drivers for robot junctions. Sensors for robot, control structure and algorithms. Open-loop control, closed-loop control. The effect of friction and gravity, frequency domain considerations. Sensory devices, potentiometers, synchros, resolvers, optical sensors, encoders. Robot calibration. Drive systems, stepper motors, brushless dc motors, direct drive actuators. Motor driver circuits, servo amplifiers, linear and pulse width modulated amplifiers, effect of feedback in servo amplifiers. Position and movement control. Robot kinematics and dynamics. Robot software, robot languages, software requirements, homogeneous transformation. Robot vision, image acquisition, edge detection, object recognition, interface units for robot vision. |
| |
| Course Syllabus | | Week | Subject | Related Notes / Files | | Week 1 | Robot description, applications, types. | | | Week 2 | Robot computer hardware, interfaces. | | | Week 3 | Mechanical, electrical, pneumatic and hydraulic drivers for robot junctions. | | | Week 4 | Sensors for robot, control structure and algorithms. | | | Week 5 | Open-loop control, closed-loop control. | | | Week 6 | The effect of friction and gravity, frequency domain considerations. | | | Week 7 | Sensory devices, potentiometers, synchros, resolvers, optical sensors, encoders. | | | Week 8 | Mid-term exam | | | Week 9 | Robot calibration. | | | Week 10 | Drive systems, stepper motors, brushless dc motors, direct drive actuators. | | | Week 11 | Motor driver circuits, servo amplifiers, linear and pulse width modulated amplifiers, effect of feedback in servo amplifiers. | | | Week 12 | Position and movement control. | | | Week 13 | Robot kinematics and dynamics. | | | Week 14 | Robot software, robot languages, software requirements, homogeneous transformation. | | | Week 15 | Robot vision, image acquisition, edge detection, object recognition, interface units for robot vision. | | | Week 16 | End-of-term exam | | | |
| 1 | Bruno Siciliano and Oussama Khatib, Handbook of Robotics, Springer, 2008. | | | |
| Method of Assessment | | Type of assessment | Week No | Date | Duration (hours) | Weight (%) | | Mid-term exam | 8 | 17/11/2012 | 2 | 30 | | Quiz | 12 | 06/12/2012 | 1 | 20 | | End-of-term exam | 16 | 17/01/2013 | 2 | 50 | | |
| Student Work Load and its Distribution | | Type of work | Duration (hours pw) | No of weeks / Number of activity | Hours in total per term | | Yüz yüze eğitim | 3 | 14 | 42 | | Sınıf dışı çalışma | 3 | 14 | 42 | | Arasınav için hazırlık | 5 | 1 | 5 | | Arasınav | 2 | 1 | 2 | | Kısa sınav | 1 | 1 | 1 | | Dönem sonu sınavı için hazırlık | 6 | 1 | 6 | | Dönem sonu sınavı | 2 | 1 | 2 | | Diğer 2 | 3 | 1 | 3 | | Total work load | | | 103 |
|