| MECHATRONICS ENGINEERING | |||||
| Bachelor | TR-NQF-HE: Level 6 | QF-EHEA: First Cycle | EQF-LLL: Level 6 | ||
| Course Code | Course Name | Semester | Theoretical | Practical | Credit | ECTS |
| MCH4202 | Autonomous Robotics | Fall | 3 | 0 | 3 | 6 |
| This catalog is for information purposes. Course status is determined by the relevant department at the beginning of semester. |
| Language of instruction: | English |
| Type of course: | Departmental Elective |
| Course Level: | Bachelor’s Degree (First Cycle) |
| Mode of Delivery: | Face to face |
| Course Coordinator : | Assoc. Prof. MEHMET BERKE GÜR |
| Course Lecturer(s): |
Assoc. Prof. MEHMET BERKE GÜR |
| Recommended Optional Program Components: | None. |
| Course Objectives: | The aim of this course is to provide the students with the various theoretical and practical aspects of autonomous mobile robots. The course objectives include: 1) Introducing the various sub-systems and components of mobile autonomous robots, 2) Teaching various locomotion techniques, 3) Explaining the working principles of actuation, motion transmission, and sensing components, 4) Providing the students with the mathematical theory of path planning, 4) Discussing the various applications and tasks related to path planning, 5) Providing an in-depth analysis of control strategies for mobile robots, 6) Discussing future trends in mobile and autonomous robotics, 7) Overseeing the work the students undertake in designing a functional mobile autonomous robot. |
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The students who have succeeded in this course; 1) Describes the functional components of an autonomous robot, 2) Conducts a kinematic analysis of a mobile robot, 3) Relates, applies, and extends skills gained in prerequisite robotics courses to mobile autonomous robots, 4) Devises, optimizes and maps a geometric path into computer implementable mathematical functions, 5) Determines a suitable control strategy and implements the strategy in a microcontroller, 6) Performs rudimentary calculations for the design and selection of hardware components for a mobile robot, 7) Selects actuators, sensors, and other electronic components based on a given mobile autonomous robot design, 8) Designs, builds, tests, and validates a simple mobile robot for a realistic task. |
| MCH4202 Autonomous Robotics is designed as a second course in robotics under the Mechatronics Engineering curriculum. The course focuses on autonomous mobile robots with the course content divided into three parts. The first part is related to locomotion of mobile robots which covers wheeled, legged, biped, marine, and aerial locomotion types. The second part of the course is based on sensing hardware and algorithms for mobile robots. The material under sensing is further divided into two sub-sections: non-visual and visual sensing and control. The final section focuses on advanced concepts on control strategies of single and multiple robots, path planning and its applications to localization, navigation, and mapping and robot learning. 1.Week: Introduction 2.Week: Wheeled Robots 3.Week: Legged Robots 4.Week: Other Types Locomotion 5.Week: Motors, Gears & Mechanisms 6.Week: Non-visual Sensing 7.Week: Computer Vision and Visual Sensing 8.Week: Midterm Exam 9.Week: Path Planning 10.Week: Localization, Navigation and Mapping 11.Week: Control Strategies for Mobile Robots 12.Week: Robot Learning 13.Week: Control of Multiple Robots 14.Week: Advanced Topics and Summary |
| Week | Subject | Related Preparation |
| 1) | Introduction | |
| 2) | Wheeled Robots | |
| 3) | Legged Robots | |
| 4) | Other Types Locomotion | |
| 5) | Motors, Gears & Mechanisms | |
| 6) | Non-visual Sensing | |
| 7) | Computer Vision and Visual Sensing | |
| 8) | Midterm Exam | |
| 9) | Path Planning | |
| 10) | Localization, Navigation and Mapping | |
| 11) | Control Strategies for Mobile Robots | |
| 12) | Robot Learning | |
| 13) | Control of Multiple Robots | |
| 14) | Advanced Topics and Summary |
| Course Notes / Textbooks: | 1) G. Dudek, M. Jenkin, “Computational Principles of Mobile Robots”, Cambridge, 2000, ISBN: 978-521-56876-0. 2) G. A. Bekey, “Autonomous Robots: From Biologically Inspiration to Implementation and Control”, MIT, 2005, ISBN: 0-262-02578-7. |
| References: | 1) Ders notları / Lecture notes |
| Semester Requirements | Number of Activities | Level of Contribution |
| Attendance | 14 | % 10 |
| Project | 11 | % 40 |
| Midterms | 1 | % 25 |
| Final | 1 | % 25 |
| Total | % 100 | |
| PERCENTAGE OF SEMESTER WORK | % 35 | |
| PERCENTAGE OF FINAL WORK | % 65 | |
| Total | % 100 | |
| Activities | Number of Activities | Duration (Hours) | Workload |
| Course Hours | 14 | 3 | 42 |
| Study Hours Out of Class | 14 | 3 | 42 |
| Project | 11 | 6 | 66 |
| Midterms | 1 | 2 | 2 |
| Final | 1 | 2 | 2 |
| Total Workload | 154 | ||
| No Effect | 1 Lowest | 2 Low | 3 Average | 4 High | 5 Highest |
| Program Outcomes | Level of Contribution | |
| 1) | Build up a body of knowledge in mathematics, science and Mechatronics Engineering subjects; use theoretical and applied information in these areas to model and solve complex engineering problems. | 5 |
| 2) | Identify, formulate, and solve complex Mechatronics Engineering problems; select and apply proper modeling and analysis methods for this purpose. | 5 |
| 3) | Design complex Mechatronic systems, processes, devices or products under realistic constraints and conditions, in such a way as to meet the desired result; apply modern design methods for this purpose. | 5 |
| 4) | Devise, select, and use modern techniques and tools needed for solving complex problems in Mechatronics Engineering practice; employ information technologies effectively. | |
| 5) | Design and conduct numerical or pysical experiments, collect data, analyze and interpret results for investigating the complex problems specific to Mechatronics Engineering. | 5 |
| 6) | Cooperate efficiently in intra-disciplinary and multi-disciplinary teams; and show self-reliance when working on Mechatronics-related problems. | 4 |
| 7) | Ability to communicate effectively in English and Turkish (if he/she is a Turkish citizen), both orally and in writing. Write and understand reports, prepare design and production reports, deliver effective presentations, give and receive clear and understandable instructions. | 4 |
| 8) | Recognize the need for life-long learning; show ability to access information, to follow developments in science and technology, and to continuously educate oneself. | 3 |
| 9) | Develop an awareness of professional and ethical responsibility, and behave accordingly. Be informed about the standards used in Mechatronics Engineering applications. | 2 |
| 10) | Learn about business life practices such as project management, risk management, and change management; develop an awareness of entrepreneurship, innovation, and sustainable development. | 4 |
| 11) | Acquire knowledge about the effects of practices of Mechatronics Engineering on health, environment, security in universal and social scope, and the contemporary problems of Mechatronics engineering; is aware of the legal consequences of Mechatronics engineering solutions. |