King Fahd University of Petroleum & Minerals
College of Computer Sciences and Engineering
Computer Engineering Department

INTRODUCTION TO ROBOTICS

COE 484 (3-0-3)
 

• Instructor: Dr. Mayez Al-Mouhamed, Professor, Computer Engineering Dept.
• Office: 22/400-3; Tel. # 2934 (office).
• Robotics Lab: 22-339-A with phone 3536
• Office hours: S.M.W from 9-10 am, U.T. from 10-11 am, and by appointment.
• Text Book: Instructor notes will be electronically distributed as well as extensive course material at URL:
  http://www.ccse.kfupm.edu.sa/ mayez/coe484/coe484.html
• Grading (without a course project): Homework: 10/100, Exam 1: 30/100  and Exam 2: 30/100 . and Final Exam: 30/100 (scheduled by the registrar).
• Grading (with a course project): Exam 1: 20/100, Exam 2: 20/100, Homework: 10/100, Project (presentation and report) 20/100, and Final Exam: 30/100.
• References:
  • Robot Learning - An Interdisciplinary Approach, Edited by J. Demiris (Univ. Edinburgh) and A. Birk (Vrije Universiteit Brussel), 220pp, May 2000 (ISBN: 981-02-4320-0),
    http://www.worldscientific.com/books/compsci/4436.html.

  • Associative Learning for a Robot Intelligence, By J. H. Andreae (Univ. Canterbury), 360pp, Sept 1998, (ISBN: 1-86094-132-x),
    http://www.worldscientific.com/books/compsci/p113.html,
    
  • Geometrical Foundations of Robotics, Edited by J. M. Selig (South Bank Univ. UK), 164pp, Mar 2000, (ISBN: 981-02-4113-5),
    http://www.worldscientific.com/books/compsci/4257.html,
    For more information see the Series in Robotics and Intelligent Systems Edited by C. J. Harris (Univ. Southampton),
    http://www.worldscientific.com/books/series/wssris_series.html,
    

  • Series on Machine Perception and Artificial Intelligence Edited by H. Bunke (Univ. Bern) and P. S. P. Wang (Northeastern Univ.),
    http://www.worldscientific.com/books/series/wsmpai_series.html,
    

  • Series in Intelligent Control and Intelligent Automation, Edited by F. Y. Wang (Univ. Arizona),
    http://www.worldscientific.com/books/series/sicia_series.html,
    Please also see the World Scientific and Imperial College Press
    http://www.worldscientific.com
    (Mr. Xuejun Liu)
    
  • L. Sciavicco, B. Siciliano, Modeling and control of robot manipulators (MacGraw-Hill, New York, 1996).
    

  • Robotic Explorations: A Hands-On Introduction to Engineering, by Fred Martin (Prentice Hall, 2001). An introduction to robotics from the lead designer of the Handy Board and the Cricket.
    
  • Mobile Robots : Inspiration to Implementation, by Joseph L. Jones, Anita M. Flynn, and Bruce A. Seiger. (A.K. Peters, Ltd., 1998). Contains a wealth of information on designing mobile robots.
    
  • H. Moravec, Robot: Mere machine to Transcendent Mind, Oxford University Press, 1999.
    
  • Building Robots With Lego Mindstorms : The Ultimate Tool for Mindstorms Maniacs Published in Paperback by Syngress (15 December, 2001) Authors: Mario Ferrari, Giulio Ferrari, and Ralph Hempel.
    
  • Algorithmic and Computational Robotics: New Directions Published in Hardcover by A K Peters, Ltd. (15 February, 2001) Authors: Bruce Randall Donald, Kevin M. Lynch, and Daniela Rus.
    
  • Robot Teams: From Diversity to Polymorphism Published in Hardcover by A K Peters Ltd (April, 2002) Authors: Tucker Balch and Lynne E. Parker.
    
  • Robots: Bringing Intelligent Machines to Life Published in Hardcover by Barrons Educational Series (15 October, 2002) Author: Ruth Aylett.

   

• Email: mayez@ccse.kfupm.edu.sa
• Course Information/documentation: http://www.ccse.kfupm.edu.sa/~mayez/coe484/
• Attendance: attendance is required by all students. Excuse for official authorized must be presented to the instructor no later than one week following the absence. Unexcused absences lead to a ``DEN'' grade.

Course Description:

Introduction to robotics, taxonomy of robots, Internet robotics, distributed robotics, robotic sensor networks, and applications. Linear algebra for robotics, frame of references, moving frames, robot system and models, and sensing. Motion coordination using the geometric approach, singularities, and treatment of multiple solutions. End effector representation and advanced motion coordination (tool). Robot programming languages (effector, and object levels) and examples. Motion planning and trajectory generation algorithms and examples. Introduction to Internet Telerobotics, master-slave systems, distributed components software architecture, network interfacing, client-server network programming, Internet video and data streaming, stereo visualization, network delays, flow-control for dynamic multimedia, and experimental robot task evaluation. Application to petroleum exploration, nano/micro technology and mechanisms, under-water, robotic surgery, and space.

 

Course Outline:

1. Introduction to Robotics (5 lectures)
   History of robotics, notion of motion coordination, programming paradigm, computer-controlled robot systems, robot trajectory, control, and sensing. Robotic applications, petroleum exploration, nano/micro technology and mechanisms, under-water, robotic surgery, and space.

2. Linear algebra for robotic motion (5 lectures)
   Frame, linear operators, translation, rotation, properties.

3. Motion coordination systems (10 lectures)
   Geometric model, inverse model, examples of 3 and 6 dof arms, and effector representation.

4. Robot programming (6 lectures)
   Val II Robot Programming with examples.

5. Trajectory generation and planning (6 lectures)
   Polynomial and discrete trajectories, planning, and examples.

6. Telerobotics (6 lectures)
   Telerobot, network programming, client-server in telerobotics.

7. Autonomous Robotics (9 lectures)
   Reactive, deliberative, and subsumptive architectures. Distributed-intelligence algorithms, Example of Brooks autonomous robots, Herbert, and Tom-and-Jerry.

    

Proposed Projects:

 

1. Design of a mobile Ad-Hoc client-server robot using Stragate Embedded System
2. Design of Robotic Wireless Sensor Network using Stargate Xscale Sensor Network.
3. Design of Wireless WebCam Surveillance using Stargate Xscale Sensor Network.
4. Design of Wireless Robot Control using Stargate Xscale Sensor Network.
5. Design of a Graphical Robot Using Geometric Model using Visual C, MSF DirectX, and Direct 3D.
6. Interfacing of a Graphical Robot to a 6-DOF Master arm using Visual C, MSF DirectX and Direct 3D.
7. Design of Symbolic Tool for the Automatic Design of Graphical Robot Using Geometric Model based on Visual C, MSF DirectX, and Direct 3D.
8. Design of robotic algorithms such as motion coordination and trajectory generation.
9. Free project of your choice

For more information, background, and specification, see:
http://www.ccse.kfupm.edu.sa/ mayez/protection/coe484html.html

 

Working Groups:

The instructor encourages the students to work in groups for reviewing the class lectures, preparation for exams, and discussion (only) of homework problems. Participants receive bonus grades for such activities. The organization of these groups is as follows. Any student with a GPA above 3.0 can be considered as a class leader. Each class leader is encouraged to create a Working Group of 3 or 4 students to review the course material of COE 484. A Bonus will be given to all members of a Working Group for each meeting of the group. Students with a GPA above 3.0 wishing to participate in this activity are pleased to give their name and ID to the instructor. Students wishing to participate as group members may ask the instructor about the class leaders and their groups. The class leader has the responsibility of providing the instructor the list of students who attended a meeting. This list should include the students name, date of meeting, and signatures.