MECHATRONICS ENGINEERING (ENGLISH, THESIS)
Master TR-NQF-HE: Level 7 QF-EHEA: Second Cycle EQF-LLL: Level 7

Course Introduction and Application Information

Course Code Course Name Semester Theoretical Practical Credit ECTS
MCH4202 Autonomous Robotics Fall
Spring
3 0 3 6
The course opens with the approval of the Department at the beginning of each semester

Basic information

Language of instruction: En
Type of course: Departmental Elective
Course Level:
Mode of Delivery: Face to face
Course Coordinator : Assoc. Prof. MEHMET BERKE GÜR
Course Lecturer(s): Assoc. Prof. MEHMET BERKE GÜR
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.

Learning Outputs

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.

Course Content

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

Weekly Detailed Course Contents

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

Sources

Course Notes: 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

Evaluation System

Semester Requirements Number of Activities Level of Contribution
Attendance 14 % 10
Laboratory % 0
Application % 0
Field Work % 0
Special Course Internship (Work Placement) % 0
Quizzes % 0
Homework Assignments % 0
Presentation % 0
Project 11 % 40
Seminar % 0
Midterms 1 % 25
Preliminary Jury % 0
Final 1 % 25
Paper Submission % 0
Jury % 0
Bütünleme % 0
Total % 100
PERCENTAGE OF SEMESTER WORK % 35
PERCENTAGE OF FINAL WORK % 65
Total % 100

ECTS / Workload Table

Activities Number of Activities Duration (Hours) Workload
Course Hours 14 3 42
Laboratory 0 0 0
Application 0 0 0
Special Course Internship (Work Placement) 0 0 0
Field Work 0 0 0
Study Hours Out of Class 14 3 42
Presentations / Seminar 0 0 0
Project 11 6 66
Homework Assignments 0 0 0
Quizzes 0 0 0
Preliminary Jury 0 0 0
Midterms 1 2 2
Paper Submission 0 0 0
Jury 0 0 0
Final 1 2 2
Total Workload 154

Contribution of Learning Outcomes to Programme Outcomes

No Effect 1 Lowest 2 Low 3 Average 4 High 5 Highest
           
Program Outcomes Level of Contribution
1) Gains an academic background and abilities for making scientific research; analysis, interpretation and application of knowledge in subjects of Mechatronics Engineering.
2) Acquires an ability to select, apply and develop modern techniques and methods for mechatronics engineering applications.
3) Develops new and innovative ideas, procedures and solutions in the design of mechatronics systems, components and processes.
4) Gains an ability for experimental design, data accumulation, data analysis, reporting and implementation.
5) Acquires abilities for individual and team-work, communication and collaboration with team members and interdisciplinary cooperation.
6) Gains an ability to communicate effectively oral and written; and a knowledge of English sufficient to follow technical developments and terminology.
7) Acquires recognition of the need for, and an ability to access and report knowledge, to engage in life-long learning.
8) Gains an understanding of universal, social and professional ethics.
9) Acquires a knowledge of business-oriented project organization and management; awareness of entrepreneurship, innovation and sustainable development
10) Gains awareness for the impact of mechatronics engineering applications on human health, environmental, security and legal issues in a global and social context.