İzmir Ekonomi Üniversitesi
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  • FACULTY OF ENGINEERING

    Department of Mechanical Engineering

    MCE 412 | Course Introduction and Application Information

    Course Name
    Autonomous Robotics
    Code
    Semester
    Theory
    (hour/week)
    Application/Lab
    (hour/week)
    Local Credits
    ECTS
    MCE 412
    FALL
    3
    0
    3
    6

    Prerequisites MATH 250 (To get a grade of at least FD) or EEE 281 (To get a grade of at least FD)
    Course Language English
    Course Type ELECTIVE_COURSE
    Course Level First Cycle
    Mode of Delivery Face-to-face
    Teaching Methods and Techniques of the Course Problem Solving
    Q&A
    Simulation
    Application: Experiment / Laboratory / Workshop
    Lecture / Presentation
    National Occupational Classification Code -
    Course Coordinator
    • Doç. Dr. Pınar Oğuz Ekim
    Course Lecturer(s)
    • Doç. Dr. Pınar Oğuz Ekim
    Assistant(s)
    • Araş. Gör. Alperen Keser
    Course Objectives The objectives of this course are to provide basic information about autonomous robots and to introduce basic analysis and design methods with a curriculum enriched with application examples.
    Learning Outcomes The students who succeeded in this course;
    Name Description PC Sub * Contribution Level
    1 2 3 4 5
    LO1 Explain localization problem of a robot 1.5 X
    LO2 Describe mapping problem of a robot 2 X
    LO3 Define path planning for a robot 3.1 X
    LO4 Analyse sensors on an autonomous robot 2 X
    LO5 Design filtering algorithms for autonomous robot application 3.2 X
    Course Description Introduction to autonomous robotics, motion models of a robot, measurement models of different sensor types, filtering techniques, simultaneous localization and mapping method.
    Related Sustainable Development Goals
    -

     



    Course Category

    Core Courses
    Major Area Courses
    X
    Supportive Courses
    Media and Managment Skills Courses
    Transferable Skill Courses

     

    WEEKLY SUBJECTS AND RELATED PREPARATION STUDIES

    Week Subjects Required Materials Learning Outcome
    1 Introduction + Sheet 1 (Python Setup) Chapter 1 and Chapter 2, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010. LO1
    2 Linear Algebra Review + Sheet 2 (Linear Algebra practice in Python) Matrix Cookbook LO2
    3 Wheeled Locomotion + Sheet 3 (Locomotion-Differential Drive Kinematics in Python) Chapter 3, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010. LO3
    4 Sensors Chapter 4, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010. LO4
    5 Probabilities and Bayes Review + Sheet 4 (Bayes Rule) Chapter 2, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 LO5
    6 Probabilistic Motion Models + Sheet 5 (Motion Models in Python) Chapter 5, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 LO5
    7 Probabilistic Sensor Models + Sheet 6 (Sensor Models in Python) Chapter 6, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 LO4
    8 The Kalman Filter Chapter 3, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000. --- Chapter 4, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010. LO5
    9 The Extended Kalman Filter + Sheet 8 (Extended Kalman Filter Implementation in Python) Chapter 7, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 LO5
    10 Discrete Filters Chapter 8, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 LO5
    11 The Particle Filter + Sheet 7 (Discrete Filter, Particle Filter Implementation in Python) Chapter 8, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 LO5
    12 Mapping with Known Poses + Sheet 9 (Mapping with Known Poses in Python) Chapter 9, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 LO5
    13 SLAM Chapter 10, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 LO2
    14 Working on a Project LO1
    15 Working on a Project LO1
    16 Final Exam - -

     

    Course Notes/Textbooks Probabilistic Robotics Sebastian Thrun Wolfram Burgard and Dieter Fox MIT Press 2000
    Computational Principles of Mobile Robotics Gregory Dudek and Michael Jenkin 2nd Edition Cambridge University Press 2010.
    Suggested Readings/Materials Introduction to Autonomous Mobile Robots Roland Siegwart and Illah R. Nourbaksh 2004 Handbook of Robotics Bruno Sciilano and Oussama Khatib
    Matrix Cookbook
    Hands -on Python: A Tutorial Introduction for Beginners
    Andrew N. Harrington
    Introduction to Probability Dimitri P. Bertsekas and John N. Tsisiklis.

     

    EVALUATION SYSTEM

    Semester Activities Number Weighting LO1 LO2 LO3 LO4 LO5
    Homework / Assignments 1 50 X X X X X
    Project 1 25 X X X X X
    Final Exam 1 25 X X X
    Total 3 100

     

    ECTS / WORKLOAD TABLE

    Semester Activities Number Duration (Hours) Workload
    Participation - - -
    Theoretical Course Hours 16 3 48
    Laboratory / Application Hours - - -
    Study Hours Out of Class 16 2 32
    Field Work - - -
    Quizzes / Studio Critiques - - -
    Portfolio - - -
    Homework / Assignments 6 7 42
    Presentation / Jury - - -
    Project 1 38 38
    Seminar / Workshop - - -
    Oral Exams - - -
    Midterms - - -
    Final Exam 1 20 20
        Total 180

     

    COURSE LEARNING OUTCOMES AND PROGRAM QUALIFICATIONS RELATIONSHIP

    # PC Sub Program Competencies/Outcomes * Contribution Level
    1 2 3 4 5
    1

    Engineering Knowledge: Knowledge of mathematics, science, basic engineering, computation, and related engineering discipline-specific topics; the ability to apply this knowledge to solve complex engineering problems.

    1

    Mathematics

    2

    Science

    3

    Basic Engineering

    4

    Computation

    5

    related engineering discipline-specific topics

    LO1
    6

    the ability to apply this knowledge to solve complex engineering problems.

    2

    Problem Analysis: Ability to identify, formulate and analyze complex engineering problems using basic knowledge of science, mathematics and engineering, and considering the UN Sustainable Development Goals relevant to the problem being addressed.

    LO2 LO4
    3

    Engineering Design: The ability to devise creative solutions to complex engineering problems; the ability to design complex systems, processes, devices or products to meet current and future needs, considering realistic constraints and conditions.

    1

    Ability to design creative solutions to complex engineering problems.

    LO3
    2

    Ability to design complex systems, processes, devices or products to meet current and future needs, considering realistic constraints and conditions.

    LO5
    4

    Use of Techniques and Tools: Ability to select and use appropriate tectıniques, resources, and modern engineering and computing tools. including estimation and modeling. far the analysis and solution of complex engineering problems while recognizing their limitations.

    5

    Research and ınvestigation: Ability to use research methods ta investigate complex engineering problems, including literature research, designing and conducting experiments, collecting data, and analyzing and interpreting results.

    1

    Literature research far the study of complex engineering problems

    2

    Designing experiments

    3

    Ability to use research methods, including conducting experiments, collecting data. analyzing and interpreting results

    6

    Global lmpact of Engineering Practices: Knowledge of the impacts of engineering practices on s.ociety, health and safety. ttıe economy, sustainability and the environment \ıVlthin the context of the UN Sustainable Development GoaJs; awareness of the legal implications of engineering solutions.

    1

    Knowledge of ttıe impacts of engineering practices on society, health and safety, economy, su.stainability and the environment, within the context of the UN Sustainable Development Goals.

    2

    Awareness of the legal implications of engineering solutions

    7

    Ethical Behavlor: Acting in accordance with the principles of the engineering profession. knowledge about ethical ,esponsibility; awareness of being impartial. without discrimination, and being inclusive of diversity.

    1

    Acting in accordance with engineering professional principles. information about ethical responsibility

    2

    Awareness of being impartial and indusive of diversity, without disaiminating on any subject.

    8

    lndividual and Teamwork: Ability to work effectively individually and as a team member or leader on interdis.ciplinary and multidisciplinary teams (face-to-face, remote or hybrid).

    1

    lndividually and within the discipline

    2

    Ability to work effectivefy as a team member or leader in mutti-disciplinary teams (face-to-face, remote or hybrid)

    9

    Verbal and Written Communication: Taking into account the various differences of the target audience (such as education, language, profession) on technical issues.

    1

    Verbal

    2

    Ability to communicate effectively in writing.

    10

    Project Management: Knowledge of business practices such as project management and economic feasibility analysis; awareness of entrepreneurship and innovation.

    1

    Knowledge of business practices such as project management and economic feasibility analysis;

    2

    Awareness of entrepreneurship and innovation.

    11

    Lifelong Learning: Lifelong learning skills that include being able to learn independently and continuously, adapting to new and developing technologies. and thinking questioningly about tedınological changes

    *1 Lowest, 2 Low, 3 Average, 4 High, 5 Highest


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