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