DEPARTMENT OF SOFTWARE ENGINEERING (ENGLISH) | |||||
Bachelor | TR-NQF-HE: Level 6 | QF-EHEA: First Cycle | EQF-LLL: Level 6 |
Course Code: | 1413002004 | ||||||||
Ders İsmi: | Introduction to Robotics | ||||||||
Ders Yarıyılı: | Spring | ||||||||
Ders Kredileri: |
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Language of instruction: | EN | ||||||||
Ders Koşulu: | |||||||||
Ders İş Deneyimini Gerektiriyor mu?: | No | ||||||||
Type of course: | Department Elective | ||||||||
Course Level: |
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Mode of Delivery: | Face to face | ||||||||
Course Coordinator : | Dr.Öğr.Üyesi Adem ÖZYAVAŞ | ||||||||
Course Lecturer(s): | |||||||||
Course Assistants: |
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. |
The students who have succeeded in this course;
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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 |
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 Öğrenme Kazanımları | 1 |
2 |
3 |
3 |
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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. |
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. |
Anlatım | |
Problem Çözme | |
Seminar | |
Soru cevap/ Tartışma |
Yazılı Sınav (Açık uçlu sorular, çoktan seçmeli, doğru yanlış, eşleştirme, boşluk doldurma, sıralama) | |
Gözlem | |
Bilgisayar Destekli Sunum |
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 |
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 |