FACULTY OF ENGINEERING
Department of Mechatronics 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/Spring
|
2
|
2
|
3
|
6
|
Prerequisites |
|
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Course Language |
English
|
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Course Type |
Elective
|
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Course Level |
First Cycle
|
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Mode of Delivery | - | |||||||||
Teaching Methods and Techniques of the Course | - | |||||||||
Course Coordinator | ||||||||||
Course Lecturer(s) | ||||||||||
Assistant(s) |
Course Objectives | 1. To provide basic knowledge on Autonomous Robotics 2. To introduce basic analysis and design methods with a curriculum enriched by application examples. |
Learning Outcomes |
The students who succeeded in this course;
|
Course Description | Introduction to Autonomous Robotics, motion models of a robot, measurement models of different sensor types, filtering techniques, simultaneous localization and mapping method |
|
Core Courses |
X
|
Major Area Courses | ||
Supportive Courses | ||
Media and Management Skills Courses | ||
Transferable Skill Courses |
WEEKLY SUBJECTS AND RELATED PREPARATION STUDIES
Week | Subjects | Related Preparation |
1 | Introduction + Sheet 1 (Python Setup) | CH1 and CH2, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010. |
2 | Linear Algebra Review + Sheet 2 (Linear Algebra practice in Python) | Matrix Cookbook |
3 | Wheeled Locomotion + Sheet 3 (Locomotion-Differential Drive Kinematics in Python) | CH3, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010. |
4 | Sensors | CH4, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010. |
5 | Probabilities and Bayes Review + Sheet 4 (Bayes Rule) | CH2, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 |
6 | Probabilistic Motion Models + Sheet 5 (Motion Models in Python) | CH5, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 |
7 | Probabilistic Sensor Models + Sheet 6 (Sensor Models in Python) | CH6, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 |
8 | The Kalman Filter | CH3, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000. --- CH4, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010. |
9 | The Extended Kalman Filter + Sheet 8 (Extended Kalman Filter Implementation in Python) | CH7, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 |
10 | Discrete Filters | CH8, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 |
11 | The Particle Filter + Sheet 7 (Discrete Filter, Particle Filter Implementation in Python) | CH8, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 |
12 | Mapping with Known Poses + Sheet 9 (Mapping with Known Poses in Python) | CH9, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 |
13 | SLAM | CH10, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000 |
14 | Working on a Project | |
15 | Working on a Project | |
16 | Working on a Project |
Course Notes/Textbooks |
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Suggested Readings/Materials |
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EVALUATION SYSTEM
Semester Activities | Number | Weigthing |
Participation |
10
|
10
|
Laboratory / Application | ||
Field Work | ||
Quizzes / Studio Critiques | ||
Portfolio | ||
Homework / Assignments |
6
|
50
|
Presentation / Jury | ||
Project |
1
|
20
|
Seminar / Workshop | ||
Oral Exams | ||
Midterm | ||
Final Exam |
1
|
20
|
Total |
Weighting of Semester Activities on the Final Grade |
17
|
80
|
Weighting of End-of-Semester Activities on the Final Grade |
1
|
20
|
Total |
ECTS / WORKLOAD TABLE
Semester Activities | Number | Duration (Hours) | Workload |
---|---|---|---|
Theoretical Course Hours (Including exam week: 16 x total hours) |
16
|
3
|
48
|
Laboratory / Application Hours (Including exam week: '.16.' x total hours) |
16
|
0
|
|
Study Hours Out of Class |
16
|
2
|
32
|
Field Work |
0
|
||
Quizzes / Studio Critiques |
0
|
||
Portfolio |
0
|
||
Homework / Assignments |
6
|
7
|
42
|
Presentation / Jury |
0
|
||
Project |
1
|
40
|
40
|
Seminar / Workshop |
0
|
||
Oral Exam |
0
|
||
Midterms |
0
|
||
Final Exam |
1
|
20
|
20
|
Total |
182
|
COURSE LEARNING OUTCOMES AND PROGRAM QUALIFICATIONS RELATIONSHIP
#
|
Program Competencies/Outcomes |
* Contribution Level
|
||||
1
|
2
|
3
|
4
|
5
|
||
1 | To have knowledge in Mathematics, science, physics knowledge based on mathematics; mathematics with multiple variables, differential equations, statistics, optimization and linear algebra; to be able to use theoretical and applied knowledge in complex engineering problems |
X | ||||
2 | To be able to identify, define, formulate, and solve complex mechatronics engineering problems; to be able to select and apply appropriate analysis and modeling methods for this purpose. |
X | ||||
3 | To be able to design a complex electromechanical system, process, device or product with sensor, actuator, control, hardware, and software to meet specific requirements under realistic constraints and conditions; to be able to apply modern design methods for this purpose. |
X | ||||
4 | To be able to develop, select and use modern techniques and tools necessary for the analysis and solution of complex problems encountered in Mechatronics Engineering applications; to be able to use information technologies effectively. |
X | ||||
5 | To be able to design, conduct experiments, collect data, analyze and interpret results for investigating Mechatronics Engineering problems. |
X | ||||
6 | To be able to work effectively in Mechatronics Engineering disciplinary and multidisciplinary teams; to be able to work individually. |
X | ||||
7 | To be able to communicate effectively in Turkish, both in oral and written forms; to be able to author and comprehend written reports, to be able to prepare design and implementation reports, to present effectively, to be able to give and receive clear and comprehensible instructions. |
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8 | To have knowledge about global and social impact of engineering practices on health, environment, and safety; to have knowledge about contemporary issues as they pertain to engineering; to be aware of the legal ramifications of engineering solutions. |
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9 | To be aware of ethical behavior, professional and ethical responsibility; information on standards used in engineering applications. |
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10 | To have knowledge about industrial practices such as project management, risk management and change management; to have awareness of entrepreneurship and innovation; to have knowledge about sustainable development. |
X | ||||
11 | Using a foreign language, he collects information about Mechatronics Engineering and communicates with his colleagues. ("European Language Portfolio Global Scale", Level B1) |
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12 | To be able to use the second foreign language at intermediate level. |
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13 | To recognize the need for lifelong learning; to be able to access information; to be able to follow developments in science and technology; to be able to relate the knowledge accumulated throughout the human history to Mechatronics Engineering. |
*1 Lowest, 2 Low, 3 Average, 4 High, 5 Highest