DEPARTMENT OF SOFTWARE ENGINEERING (ENGLISH)
Bachelor	TR-NQF-HE: Level 6	QF-EHEA: First Cycle	EQF-LLL: Level 6

Ders Genel Tanıtım Bilgileri

Course Code:

1413002004

Ders İsmi:

Introduction to Robotics

Ders Yarıyılı:

Fall

Ders Kredileri:

Theoretical	Practical	Credit	ECTS
3	0	3	5

Language of instruction:

Ders Koşulu:

Ders İş Deneyimini Gerektiriyor mu?:

Type of course:

Department Elective

Course Level:

Bachelor

TR-NQF-HE:6. Master`s Degree

QF-EHEA:First Cycle

EQF-LLL:6. Master`s Degree

Mode of Delivery:

Face to face

Course Coordinator :

Dr.Öğr.Üyesi Adem ÖZYAVAŞ

Course Lecturer(s):

Course Assistants:

Dersin Amaç ve İçeriği

Course Objectives:	Learning the Basic Problems and Solutions in the Field of Mobile Robotics.
Course Content:	ROS operating system, mobile robot kinematics and learning the basic methods used in mobile robots and their applications, understanding the suitability of a problem with these methods.

Learning Outcomes

The students who have succeeded in this course;

Learning Outcomes

1 - Knowledge
Theoretical - Conceptual
2 - Skills
Cognitive - Practical
1) Students can recognize the main problems in the related field
2) The student knows how to create appropriate models for the current problem.
3) The student knows how to determine the appropriate solution methods for the model he/she chooses.
4) Students can understand the limitations of available tools Students will be able to interpret their results
3 - Competences
Communication and Social Competence
Learning Competence
Field Specific Competence
Competence to Work Independently and Take Responsibility

Ders Akış Planı

Week	Subject	Related Preparation
1)	Introduction to ROS operating system, basic builds, installation and basic commands	A Gentle Introduction to ROS, Chapter 1-3
2)	Kinematics - General descriptions - Calculation examples for differential drive robot	Introduction to Autonomous Mobile Robots, Chapter 1-3
3)	Kinematics - Arm kinematics - Transformation matrices - Working Area - Degrees of freedom (DOF) - Calculation examples for 2/3 joint	Introduction to Autonomous Mobile Robots, Chapter 1-3
4)	Sensors - classification and operating principles	Introduction to Autonomous Mobile Robots, Chapter 4
5)	Odometry - why is it needed, scan matching EKF - types of odometry errors and their results	Introduction to Autonomous Mobile Robots, Chapter 4
6)	Localization – What is it. Advantages of single hypothesis multiple hypothesis Markov and AMCL algorithms	Introduction to Autonomous Mobile Robots, Chapter 5.1-5.3
7)	Planning – methods of path planning and obstacle avoidance. A* and Djikstra algorithms	Introduction to Autonomous Mobile Robots, Chapter 6.1, 6.2
8)	Midterm Exam 1
9)	Midterm
10)	For Tag Recognition – SIFT, SURF and basic image processing techniques. QR code reading	Lecture Notes
11)	Discovery algorithms	Lecture Notes
12)	SLAM- Particle Based mapping methods	Introduction to Autonomous Mobile Robots, Chapter 5.4
13)	Gmapping -Hector mapping methods	Lecture Notes
14)	3D mapping methods	Lecture Notes

Sources

Course Notes / Textbooks:	Introduction to Autonomous Mobile Robots. Roland Siegwart and Illah R. Nourbakhsh. A Bradford Book. The MIT Press. A Gentle Introduction to ROS, JasonM. O’Kane
References:	Introduction to Autonomous Mobile Robots. Roland Siegwart and Illah R. Nourbakhsh. A Bradford Book. The MIT Press. A Gentle Introduction to ROS, JasonM. O’Kane

Ders - Program Öğrenme Kazanım İlişkisi

Ders Öğrenme Kazanımları	1	2	3	3
Program Outcomes
1) Competent knowledge of mathematics, science and technology, and computer engineering; ability to apply this knowledge to engineering solutions.
2) Skills to design and conduct experiments, collect data, analyze and interpret results.
3) Ability to design a complex system, process, device or product under realistic constraints and conditions to meet specific requirements; ability to apply modern design methods for this purpose.
4) Ability to develop, select and use modern techniques and tools required for analysis and solution of complex problems encountered in engineering practice; ability to use information technologies effectively.
5) Ability to design and conduct experiments, collect data, analyze and interpret results to investigate complex engineering problems or discipline-specific research topics.
6) Ability to work effectively in intra-disciplinary and multi-disciplinary teams; ability to work individually.
7) Ability to communicate effectively in Turkish, both orally and in writing; Knowledge of at least one foreign language; the ability to write and understand written reports effectively, to prepare design and production reports, to make effective presentations, to give and receive clear and understandable instructions.
8) Awareness of the necessity of lifelong learning; the ability to access information, to follow developments in science and technology, and to constantly renew oneself.
9) Acting in accordance with ethical principles, professional and ethical responsibility awareness; information about standards used in engineering applications.
10) Information about business life practices such as project management, risk management and change management; awareness of entrepreneurship, innovation; information about sustainable development.
11) Knowledge about the universal and social effects of engineering applications on health, environment and safety and the problems of the age reflected in the field of engineering; awareness of the legal consequences of engineering solutions.

Ders - Öğrenme Kazanımı İlişkisi

No Effect	1 Lowest	2 Low	3 Average	4 High	5 Highest

	Program Outcomes	Level of Contribution
1)	Competent knowledge of mathematics, science and technology, and computer engineering; ability to apply this knowledge to engineering solutions.
2)	Skills to design and conduct experiments, collect data, analyze and interpret results.
3)	Ability to design a complex system, process, device or product under realistic constraints and conditions to meet specific requirements; ability to apply modern design methods for this purpose.
4)	Ability to develop, select and use modern techniques and tools required for analysis and solution of complex problems encountered in engineering practice; ability to use information technologies effectively.
5)	Ability to design and conduct experiments, collect data, analyze and interpret results to investigate complex engineering problems or discipline-specific research topics.
6)	Ability to work effectively in intra-disciplinary and multi-disciplinary teams; ability to work individually.
7)	Ability to communicate effectively in Turkish, both orally and in writing; Knowledge of at least one foreign language; the ability to write and understand written reports effectively, to prepare design and production reports, to make effective presentations, to give and receive clear and understandable instructions.
8)	Awareness of the necessity of lifelong learning; the ability to access information, to follow developments in science and technology, and to constantly renew oneself.
9)	Acting in accordance with ethical principles, professional and ethical responsibility awareness; information about standards used in engineering applications.
10)	Information about business life practices such as project management, risk management and change management; awareness of entrepreneurship, innovation; information about sustainable development.
11)	Knowledge about the universal and social effects of engineering applications on health, environment and safety and the problems of the age reflected in the field of engineering; awareness of the legal consequences of engineering solutions.

Öğrenme Etkinliği ve Öğretme Yöntemleri

Anlatım
Problem Çözme
Seminar
Soru cevap/ Tartışma

Ölçme ve Değerlendirme Yöntemleri ve Kriterleri

Yazılı Sınav (Açık uçlu sorular, çoktan seçmeli, doğru yanlış, eşleştirme, boşluk doldurma, sıralama)
Gözlem
Bilgisayar Destekli Sunum

Assessment & Grading

Semester Requirements	Number of Activities	Level of Contribution
Quizzes	10	% 30
Midterms	1	% 30
Semester Final Exam	1	% 40
total		% 100
PERCENTAGE OF SEMESTER WORK		% 60
PERCENTAGE OF FINAL WORK		% 40
total		% 100

İş Yükü ve AKTS Kredisi Hesaplaması

Activities	Number of Activities	Duration (Hours)	Workload
Course Hours	14	3	42
Quizzes	10	4	40
Midterms	1	30	30
Final	1	40	40
Total Workload			152