ENEX13004 - Advanced Dynamics and Robotics
Term 1 - 2017


All details in this unit profile for ENEX13004 have been officially approved by CQUniversity and represent a learning partnership between the University and you (our student). The information will not be changed unless absolutely necessary and any change will be clearly indicated by an approved correction included in the profile.

Overview

This unit will introduce you to advanced dynamics and robotics. You will learn the principle of operation of robotic manipulators, mobile robots, robotic vision systems, forward kinematics and inverse kinematics of robotic manipulators, robot dynamics and control, and programing robots using industry standard software. You will be able to program industrial robots, mobile robots and humanoid robots for a given task. You will also be able to mathematically model robotic manipulators, plan their link and joint trajectories, predict and avoid collision with objects in surrounding environment by fusing information from various sensors attached to the robotic device. Students enrolled in distance mode are required to attend a compulsory Residential School.

Details

Career Level Undergraduate
Unit Level Level 3
Credit Points 6
Student Contribution Band 2
Fraction of Full-Time Student Load 0.125

Pre-requisites or Co-requisites

Prerequisites: ENEM12010 Engineering Dynamics AND MATH12222 Advanced Mathematical Applications AND ENEE12016 Signals and Systems

Residential Schools

This unit has a Compulsory Residential School for distance mode students and the details are:
Click here to see your Residential School Timetable.

Attendance Requirements

All on-campus students are expected to attend scheduled classes – in some units, these classes are identified as a mandatory (pass/fail) component and attendance is compulsory. International students, on a student visa, must maintain a full time study load and meet both attendance and academic progress requirements in each study period (satisfactory attendance for International students is defined as maintaining at least an 80% attendance record).

Offerings

Term 1 - 2017
  • Mixed Mode
  • Mackay

Website

This unit has a website, within the Moodle system, which is available two weeks before the start of term. It is important that you visit your Moodle site throughout the term. Go to Moodle

Recommended Student Time Commitment

Each 6-credit Undergraduate unit at CQUniversity requires an overall time commitment of an average of 12.5 hours of study per week, making a total of 150 hours for the unit.

Class Timetable

Assessment Overview

Assessment Task Weighting
1. Written Assessment 20%
2. Written Assessment 20%
3. Practical and Written Assessment 20%
4. Portfolio 40%

This is a graded unit: your overall grade will be calculated from the marks or grades for each assessment task, based on the relative weightings shown in the table above. You must obtain an overall mark for the unit of at least 50%, or an overall grade of ‘pass’ in order to pass the unit. If any ‘pass/fail’ tasks are shown in the table above they must also be completed successfully (‘pass’ grade). You must also meet any minimum mark requirements specified for a particular assessment task, as detailed in the ‘assessment task’ section (note that in some instances, the minimum mark for a task may be greater than 50%). Consult the University’s Grades and Results Procedures for more details of interim results and final grades.

All University policies are available on the IMPortal.

You may wish to view these policies:

  • Grades and Results Procedure
  • Assessment Policy and Procedure (Higher Education Coursework)
  • Review of Grade Procedure
  • Academic Misconduct Procedure
  • Monitoring Academic Progress (MAP) Policy and Procedure – Domestic Students
  • Monitoring Academic Progress (MAP) Policy and Procedure – International Students
  • Refund and Excess Payments (Credit Balances) Policy and Procedure
  • Student Feedback – Compliments and Complaints Policy and Procedure
  • Acceptable Use of Information and Communications Technology Facilities and Devices Policy and Procedure

This list is not an exhaustive list of all University policies. The full list of University policies are available on the IMPortal.

On successful completion of this unit, you will be able to:
  1. Describe rigid body and multi-link motion dynamics, and coordinate system transformation
  2. Apply knowledge of dynamics to analyse robotic systems including robotic manipulators and predict their trajectories
  3. Develop mathematical models for robotic systems
  4. Program industrial robots using industry standard programming software
  5. Predict robot trajectories using multi sensor data fusion techniques
  6. Solve real life problems and communicate professionally using robotic engineering terminology, symbols and diagrams that conform to Australian and international standards
  7. Work individually and collaboratively in teams, communicate professionally in presenting your solutions

Learning outcomes are linked to Engineers Australia Stage 1 Competencies and also discipline capabilities. You can find the mapping for this on the Engineering Undergraduate Course website.

Alignment of Assessment Tasks to Learning Outcomes

Assessment Tasks Learning Outcomes
1 2 3 4 5 6 7
1 - Written Assessment        
2 - Written Assessment        
3 - Practical and Written Assessment      
4 - Portfolio

Alignment of Graduate Attributes to Learning Outcomes

  • Introductory Level
  • Intermediate Level
  • Graduate Level
Graduate Attributes Learning Outcomes
1 2 3 4 5 6 7
1. Communication      
2. Problem Solving
3. Critical Thinking
4. Information Literacy              
5. Team Work          
6. Information Technology Competence
7. Cross Cultural Competence            
8. Ethical practice      

Alignment of Assessment Tasks to Graduate Attributes

  • Introductory Level
  • Intermediate Level
  • Graduate Level
Assessment Tasks Graduate Attributes
1 2 3 4 5 6 7 8
1 - Written Assessment        
2 - Written Assessment        
3 - Practical and Written Assessment  
4 - Portfolio  

Prescribed Textbooks

Introduction to Robotics: Mechanics & Control Pearson New International Edition
Author/s: John J. Craig Year: 2013
Edition: 3 Publisher: Pearson
Country: USA
View textbooks at the CQUniversity Bookshop

Other Resources

These are not compulsory, but may assist you:
Robotics, Vision and Control: Fundamental Algorithms in MATLAB
Author/s: Peter Corke Year: 2011
Edition: 1 Publisher: Springer
Country: USA
Other resources may be available at CQUniversity Library. Note:

Textbooks

In this unit we will be using materials from different resources to address the important aspects of robotics. The prescribed textbook would be your main resource but not all the chapters will be covered from it during the unit.

The supplementary book will be used to cover mostly the MatLab aspect of the unit. It is not mandatory to buy this book however, it is highly recommended due to its relevance to latest trends in robotics and modelling.

1. The prescribed book is available as an online purchase via: http://www.pearson.com.au/9781292052526

Title: Introduction to Robotics: Mechanics & Control Pearson New International Edition VitalSource eText (3e)

Author: John J. Craig

Edition: 3rd

ISBN: 9781292052526

2. The supplementary book is available for purchase at: http://www.springer.com/gp/book/9783642201431

Title: Robotics, Vision and Control: Fundamental Algorithms in MATLAB

Author: Peter Corke

Edition: 1st (2011) / or latest

ISBN - 978-3-642-20143-1

Published by Springer

The book is also availabe on Amazon:

https://www.amazon.com/Robotics-Vision-Control-Fundamental-Algorithms/dp/3642201431/ref=as_sl_pc_tf_til?tag=petercorke05-20&linkCode=w00&linkId=bf0c2242fd360a50aec0fb29ff2a0321&creativeASIN=3642201431

Software

1. MatLab with Robotics Toolbox and Vision Toolbox

(Please note that these toolboxes and the instructions on how to install them are available at the following URLs.

http://www.petercorke.com/RTB/

http://www.petercorke.com/MVTB/

For those who don’t already have MatLab can buy student edition from this link:

https://au.mathworks.com/academia/student_version/?s_tid=tb_sv

2. Autodesk Inventor (or any other 3D modelling software)

(We will use the software for just a couple of topics in the unit. It would however introduce you to a professional software for 3D solid modelling. You can check if the software is available free of charge for students at the following site. You may need to create an account using cqu mail)

http://www.autodesk.com/education/free-software/inventor-professional?_ga=1.113196420.1238353875.1479429906

3. ROS Indigo with Python and C++ (rospy and roscpp)

(It is desired that you become familiar with ROS in this unit as we will use it to interact with Baxter robots. You can keep both operating systems Ubuntu and Windows in your computers. Another way is to use Ubuntu virtual box on windows to run ROS.

http://wiki.ros.org/win_ros/Tutorials/WinRos%20and%20Virtual%20Ubuntu

ROS is freeware and is available at..)

http://wiki.ros.org/roscpp

http://wiki.ros.org/rospy

4. Robotino SIM

(For 3D simulation – basic level - of Robotino. Available at the following website)

http://www.festo-didactic.com/int-en/services/robotino/simulation/?fbid=aW50LmVuLjU1Ny4xNy4zNC4xNDQy

5. Robotino View 3

(For programming of Robotino. Available at the following website)

http://www.festo-didactic.com/int-en/services/robotino/programming/robotino-view/?fbid=aW50LmVuLjU1Ny4xNy4zNC4xNDI2

> Queries about the above software can be directed to me (unit coordinator) at u.izhar@cqu.edu.au

IT

1. CQ University Email

2. Internet

3. Course website (Moodle)

4. Windows PC with USB and LAN ports

5. PC with listed software installed

IT Resources

You will need access to the following IT resources:
  • CQUniversity Student Email
  • Internet
  • Unit Website (Moodle)
  • Software access as per the description under Software section
  • Computer with windows 7, camera / web camera for images, usb port
All submissions for this unit must use the Harvard (author-date) referencing style (details can be obtained here). For further information, see the Assessment Tasks below.
Unit CoordinatorUmer Izhar (u.izhar@cqu.edu.au)
Note: Check the Term-Specific section for any additional contact information provided by the teaching team
Week Begin Date Module/Topic Chapter Events and Submissions
Week 1 06-03-2017

Robots, Joints, and Degrees of Freedom

Chapter 1 (Introduction to Robotics by J. J. Craig)

Chapter 2 (CRO - Design of Machinery by R.L. Norton)

Lecture Slides

3D print / 2D print axis for reference

Week 2 13-03-2017

Robot Spatial Descriptions and Transformations - I

Chapter 2 (Introduction to Robotics by J. J. Craig)

Lecture Slides

Week 3 20-03-2017

Robot Spatial Descriptions and Transformations - II and Forward Kinematics

Chapter 2 and 3 (Introduction to Robotics by J. J. Craig)

Lecture Slides

Week 4 27-03-2017

Forward Kinematics

Chapter 3 (Introduction to Robotics by J. J. Craig)

Lecture Slides

Week 5 03-04-2017

Inverse Kinematics

Chapter 4 (Introduction to Robotics by J. J. Craig)

Lecture Slides

Written Assessment 1 Due Friday (07 Apr 17) 04:00 PM AEST
Vacation Week 10-04-2017
Week 6 17-04-2017

Programming Robots

Chapter 12 (Introduction to Robotics by J. J. Craig)

Study Guide

Lecture Slides

Week 7 24-04-2017

Manipulator Trajectory

Chapter 7 (Introduction to Robotics by J. J. Craig)

Lecture Slides

Week 8 01-05-2017

Mobile Robots

Chapter 4 (Robotic Vision and Control by Peter Corke)

Lecture Slides

Submit Labs 1 and 2

(1/2 of Practical and Written Assessment)

Due Friday (05 May 17) 04:00 PM AEST

Week 9 08-05-2017

Image Processing and Robot Navigation

Chapter 12 and 13 - Image Processing

Chapter 5 - Navigation

(Robotic Vision and Control by Peter Corke)

Lecture Slides

Week 10 15-05-2017

3D CAD Modeling of Robot Links

Study Guide

Lecture Slides / Video

Written Assessment 2 Due Friday (19 May 17) 04:00 PM AEST
Week 11 22-05-2017

Manipulator Mechanism Design

Chapter 8 (Introduction to Robotics by J. J. Craig)

Lecture Slides

Week 12 29-05-2017

Miscellaneous Topics and Revision

Lecture Slides

Submit Labs 3 and 4

(2/2 of Practical and Written Assessment)

Due Monday (02 Jun 17) 04:00 PM AEST

Review/Exam Week 05-06-2017
Exam Week 12-06-2017
Portfolio Due Monday (12 Jun 17) 04:00 PM AEST

In this unit we will be using materials from different resources to address the important aspects of robotics. It is highly recommended that you read information about the textbooks and software, given under textbook and resources tab. Further guidelines about the course in general can be found on Moodle course website. Students are advised and encouraged to use Q&A forum for queries about assignments, labs, software etc.

The labs and practicals are an essential part of this unit and are therefore mandatory for all students. For that matter a mandatory residential school is arranged (refer residential school schedule and course website for dates) for flex students. This residential school will be held at Mackay, Ooralea campus.

1 Written Assessment

Assessment Title Written Assessment 1
Task Description

This assessment would cover the topics from first four weeks of this unit and will consist of numerical problems. The assessment criteria would be provided with the questions well before the submission date and would be strictly followed. The students are not expected to use word editor for this task, instead they can scan a clear and legible handwritten document and submit it as a pdf file. Some questions however, require scripting and coding in MatLab, so students have to include the script with necessary script output in the submission.

Assessment Due Date Week 5 Friday (07-Apr-2017) 04:00 PM AEST
Return Date to Students In 2 weeks of submission
Weighting 20%
Assessment Criteria

1. Correct Answers,

2. Correct format of the questions and the submission itself (cover page, page orientation and numbering, file name etc.)

3. All working must be shown to obtain full marks,

4. Assignment answers must be neat, tidy and legible.

5. Computer codes should be properly commented and formatted.

Referencing Style Harvard (author-date)
Submission Online

One pdf file including solutions, any handwritten data, code and its output (if required).

Learning Outcomes Assessed
This section can be expanded to view the assessed learning outcomes

1. Describe rigid body and multi-link motion dynamics, and coordinate system transformation

2. Apply knowledge of dynamics to analyse robotic systems including robotic manipulators and predict their trajectories

3. Develop mathematical models for robotic systems

Graduate Attributes
This section can be expanded to view the assessed graduate attributes

1. Communication

2. Problem Solving

3. Critical Thinking

6. Information Technology Competence



2 Written Assessment

Assessment Title Written Assessment 2
Task Description

This assessment would cover the topics inverse kinematics and mobile robots and will consist of numerical problems. The assessment criteria would be provided with the questions well before the submission date and would be strictly followed. The students are not expected to use word editor for this task, instead they can scan a clear and legible handwritten document and submit it as a pdf file. Some questions however, require scripting and coding in MatLab, so students have to include the script with necessary script output in the submission.

Assessment Due Date Week 10 Friday (19-May-2017) 04:00 PM AEST
Return Date to Students Within 2 weeks after due date
Weighting 20%
Assessment Criteria

1. Correct Answers,

2. Correct format of the questions and the submission itself (cover page, page orientation and numbering, file name etc.)

3. All working must be shown to obtain full marks,

4. Assignment answers must be neat, tidy and legible.

5. Computer codes should be properly commented and formatted.

Referencing Style Harvard (author-date)
Submission Online

One pdf file including solutions, any handwritten data, code and its output (if required).

Learning Outcomes Assessed
This section can be expanded to view the assessed learning outcomes

1. Describe rigid body and multi-link motion dynamics, and coordinate system transformation

2. Apply knowledge of dynamics to analyse robotic systems including robotic manipulators and predict their trajectories

3. Develop mathematical models for robotic systems

Graduate Attributes
This section can be expanded to view the assessed graduate attributes

1. Communication

2. Problem Solving

3. Critical Thinking

6. Information Technology Competence



3 Practical and Written Assessment

Assessment Title Practical and Written Assessment
Task Description

This assessment corresponds to computer lab sessions and practicals with robots covering almost all topics in the unit such as robot kinematics, image processing and navigation techniques etc. You will need to use Robotics and Vision toolboxes in Matlab to complete the labs. Supervised labs with practice exercises will be held in the lab time as directed by unit website or unit coordinator.

The submission is distributed in two chunks, you have to submit labs 1 and 2 by week 8 and labs 3 & 4 by week 12. The details of these labs/practicals will be available from the unit Moodle website at the start of the term. The lab and practicals are compulsory (you need to pass these to pass the unit) for every student, for this reason Residential school is scheduled for distance students.

The lab reports have to be submitted individually and no team report will be accepted.

Assessment Due Date Labs 1-2 (Week 8 - Friday 16:00 AEST), Labs 3-4 (Week 12 - Monday 16:00 AEST)
Return Date to Students Within 2 weeks after due date
Weighting 20%
Assessment Criteria

1. Correct answers including plots and figures,

2. Readability and flow of the code (should be neat, tidy, and legible),

3. Computer codes should be properly commented and formatted.

4. Combined marks of Labs 1 to 4 need to be 50% or more to pass the unit.

Conditions Minimum mark or grade - Combined marks of Labs 1 to 4 need to be 50% or more to pass the unit.
Referencing Style Harvard (author-date)
Submission Online

One pdf file including solutions, any handwritten data, code and its output (if required).

Learning Outcomes Assessed
This section can be expanded to view the assessed learning outcomes

4. Program industrial robots using industry standard programming software

5. Predict robot trajectories using multi sensor data fusion techniques

6. Solve real life problems and communicate professionally using robotic engineering terminology, symbols and diagrams that conform to Australian and international standards

7. Work individually and collaboratively in teams, communicate professionally in presenting your solutions

Graduate Attributes
This section can be expanded to view the assessed graduate attributes

1. Communication

2. Problem Solving

3. Critical Thinking

5. Team Work

6. Information Technology Competence

7. Cross Cultural Competence

8. Ethical practice



4 Portfolio

Assessment Title Portfolio
Task Description

The portfolio assessment in this unit corresponds mainly to the project and its report. You will propose your own or choose from sample projects (a list of ideas will be given with the assessment instructions on Moodle website) that will be due in the Exam week.

Portfolio / Report Requirements

1. You are allowed to work in groups of 2 to 3.

2. Portfolio will be individually submitted highlighting the individual's contribution (one portfolio per group is not allowed)

The project report should at least contain the following:

1. You will document all the assumptions, design details, code files, and results in the project report.

2. The project report should also include the evidence of at least one activity related to each learning outcome of the unit. You will be required to include a matrix showing that you addressed the learning outcome at a specific location in the report.

3. The report / portfolio should clearly indicate the individual work and contribution in the team project.

Assessment Due Date Exam Week Monday (12-Jun-2017) 04:00 PM AEST
Return Date to Students Within 2 weeks after due date
Weighting 40%
Assessment Criteria

The portfolio will be assessed using the rubrics provided on Moodle unit website. The details are given in the rubrics however the components that will be evaluated are broadly presented here:

1. Research and investigation of the topic, scoping

2. Technical Design

3. Use of modern tools (software, hardware)

4. Project work addresses unit learning outcomes

5. Output and Results

6. 50% grade is required to pass the unit

Conditions Minimum mark or grade - 50% marks required to pass the unit
Referencing Style Harvard (author-date)
Submission Online

One folder containing pdf report and software code with any other video file / output file

Learning Outcomes Assessed
This section can be expanded to view the assessed learning outcomes

1. Describe rigid body and multi-link motion dynamics, and coordinate system transformation

2. Apply knowledge of dynamics to analyse robotic systems including robotic manipulators and predict their trajectories

3. Develop mathematical models for robotic systems

4. Program industrial robots using industry standard programming software

5. Predict robot trajectories using multi sensor data fusion techniques

6. Solve real life problems and communicate professionally using robotic engineering terminology, symbols and diagrams that conform to Australian and international standards

7. Work individually and collaboratively in teams, communicate professionally in presenting your solutions

Graduate Attributes
This section can be expanded to view the assessed graduate attributes

1. Communication

2. Problem Solving

3. Critical Thinking

5. Team Work

6. Information Technology Competence

7. Cross Cultural Competence

8. Ethical practice




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