| Course Name |
Autonomous Robotics
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Code
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Semester
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Theory
(hour/week) |
Application/Lab
(hour/week) |
Local Credits
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ECTS
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MCE 412
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FALL
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3
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0
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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 |
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| National Occupational Classification Code | - | |||||
| Course Coordinator |
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| Course Lecturer(s) |
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| Assistant(s) |
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| 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;
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| 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 |
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Core Courses |
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| Major Area Courses |
X
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| Supportive Courses |
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| Media and Managment Skills Courses |
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| Transferable Skill Courses |
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| 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. |
| 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 |
| 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 |
| # | 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. |
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| 1 |
Mathematics |
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| 2 |
Science |
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| 3 |
Basic Engineering |
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| 4 |
Computation |
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| 5 |
Related engineering discipline-specific topics |
LO1 | |||||
| 6 |
The ability to apply this knowledge to solve complex engineering problems |
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| 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. |
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| 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 techniques, resources, and modern engineering and computing tools, including estimation and modeling, for the analysis and solution of complex engineering problems, while recognizing their limitations. |
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| 5 |
Research and Investigation: Ability to use research methods to investigate complex engineering problems, including literature research, designing and conducting experiments, collecting data, and analyzing and interpreting results. |
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| 1 |
Literature research for the study of complex engineering problems |
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| 2 |
Designing experiments |
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| 3 |
Ability to use research methods, including conducting experiments, collecting data. analyzing and interpreting results |
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| 6 |
Global Impact of Engineering Practices: Knowledge of the impacts of engineering practices on society, health and safety, economy, sustainability, and the environment, within the context of the UN Sustainable Development Goals; awareness of the legal implications of engineering solutions. |
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| 1 |
Knowledge of the impacts of engineering practices on society, health and safety, economy, sustainability, and the environment, within the context of the UN Sustainable Development Goals |
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| 2 |
Awareness of the legal implications of engineering solutions |
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| 7 |
Ethical Behavior: Acting in accordance with the principles of the engineering profession, knowledge about ethical responsibility; awareness of being impartial, without discrimination, and being inclusive of diversity. |
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| 1 |
Acting in accordance with the principles of the engineering profession, knowledge about ethical responsibility ethical responsibility |
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| 2 |
Awareness of being impartial and inclusive of diversity, without discriminating on any subject |
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| 8 |
Individual and Teamwork: Ability to work effectively, individually and as a team member or leader on interdisciplinary and multidisciplinary teams (face-to-face, remote or hybrid). |
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| 1 |
Ability to work individually and within the discipline |
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| 2 |
Ability to work effectively as a team member or leader in multidisciplinary teams (face-to-face, remote or hybrid) |
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| 9 |
Verbal and Written Communication: Taking into account the various differences of the target audience (such as education, language, profession) on technical issues. |
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| 1 |
Ability to communicate verbally |
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| 2 |
Ability to communicate effectively in writing |
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| 10 |
Project Management: Knowledge of business practices such as project management and economic feasibility analysis; awareness of entrepreneurship and innovation. |
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| 1 |
Knowledge of business practices such as project management and economic feasibility analysis |
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| 2 |
Awareness of entrepreneurship and innovation |
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| 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 technological changes. |
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*1 Lowest, 2 Low, 3 Average, 4 High, 5 Highest
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