Course Catalog 2012-2013
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Basic Pori International Postgraduate Open University

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Course Catalog 2012-2013

IHA-3256 Autonomous Mobile Machines, 7 cr

Additional information

The course is multidisciplinary and demands analytical problem solving, and programming as well. Priory knowledge about all the fields is not required. However, students must have taken at least one of the prerequisite courses. The term project will be selected based on the background of the group and their interest. The number of students is limited to 14. If the class is full and you are really interested, you can send us email to put you in the reserve list.
Suitable for postgraduate studies

Person responsible

Mika Hyvönen, Reza Ghabcheloo

Lessons

Study type P1 P2 P3 P4 Summer Implementations Lecture times and places
Lectures
Excercises
Seminar
 2 h/week
 2 h/week


+2 h/week
 2 h/week


+2 h/week



 



 
IHA-3256 2012-01 Wednesday 12 - 14, K2106

Requirements

Completion of homework, presentations, and final paper
Completion parts must belong to the same implementation

Learning outcomes

Students learn about challenges in making autonomous mobile machines (robotic mobile manipulators): sensing, planning, control and manipulation. Course is composed of two parts: teaching and student work. Teaching includes introduction to several subsystems of a robotic mobile manipulator, problems involved, and solutions. It continues by introducing the instrumented mobile machine available in IHA, and its simulator. Components of such intelligent systems are also briefly presented: sensors (Inertial sensors, wheel odometry, GPS, range sensors, cameras), navigation and perception (sensor fusion, Kalman filter, SLAM, mapping, and world modelling), vision and recognition, Kinematic modelling, motion planning and control, visual servoing, among others. Teaching will include guest speakers from Aalto University. However, most of the course will be based on term project. Students will be divided into groups of two, and each group will concentrate on certain problem. Subjects are given. Students with special interest are encouraged to work out their ideas. Students will make presentations and discuss their problems, and report the results in a paper format at the end of the course. Development of functional computer codes is the goal of this course. Course demands analytical problem solving, and programming likewise. Real data and simulator will be available, and promising results will be tested on the real machine.

Evaluation criteria for the course

20% presentations + 80 % term project paper and project delivery

Assessment scale:

Numerical evaluation scale (1-5) will be used on the course

Partial passing:

Completion parts must belong to the same implementation

Study material

Type Name Author ISBN URL Edition, availability, ... Examination material Language
Book   Computational Principles of Mobile Robotics   Gregory Dudek, Michael Jenkin            English  
Book   Introduction to Autonomous Mobile Robots   Roland Siegwart, Illah Nourbakhsh, Davide Scaramuzza            English  
Book   Probabilistic Robotics   Sebastian Thrun, Wolfram Burgard, Dieter Fox       2005      English  
Book   Robotics: Modelling, Planning and Control   Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo       Springer, 2010      English  
Book   Springer Handbook of Robotics   Bruno Siciliano, Oussama Khatib (Eds.)       2008      English  
Book   Where am I? Sensors and Methods for Mobile Robot Positioning   J. Borenstein , H. R. Everett , and L. Feng       1996      English  

Prerequisites

Course Mandatory/Advisable Description
ASE-7516 Dynamic Planning with Incomplete Information Advisable    
IHA-3506 Robotics and Teleoperation Advisable    
MAT-41176 Theory of Automata Advisable    
MAT-45807 Mathematics for Positioning Advisable    
MAT-51706 Bayesian Methods Advisable    
OHJ-2556 Artificial Intelligence Advisable    
SGN-2556 Pattern Recognition Advisable    
SGN-2607 Statistical Signal Processing Advisable    

Additional information about prerequisites
The course is multidisciplinary. Priory knowledge about all the fields is not required. However, students must have taken at least one of the courses. The term project will be selected based on the background of the group and their interest.

Prerequisite relations (Requires logging in to POP)



Correspondence of content

Course Corresponds course  Description 
IHA-3256 Autonomous Mobile Machines, 7 cr IHA-3256 Autonomous Mobile Machines, 7 cr  

More precise information per implementation

Implementation Description Methods of instruction Implementation
IHA-3256 2012-01 Students learn about challenges in making autonomous mobile machines. Course is composed of two parts: teaching and student work. Teaching includes introduction to several subsystems of a robotic mobile manipulator, problems involved, and solutions. Components of such intelligent systems are also briefly presented: sensors, navigation and perception, vision and recognition, kinematic modelling, motion planning and control, visual servoing, among others. Most of the course will be based on term project. Students will be divided into groups of two, and each group will concentrate on certain problem. Subjects are given. Students with special interest are encouraged to work out their ideas. Students will make presentations and discuss their problems, and report the results in a paper format at the end of the course. Development of functional computer codes is the goal of this course. Course demands analytical problem solving, and programming likewise. Real data and simulator will be available, and promising results will be tested on the real machine.        

Documents

Localization_and_slam_JariSaarinen.pdf WhereAmI.pdf SLAMTutorial1.pdf SLAMTutorial2.pdf ch20.pdf ch22.pdf AMM_05.10.11_-_short[1].pptx Autonomous Mobile Machines.pdf Complementary_KF_MotionControl.zip AMM_schedule.pdf

Last modified06.09.2012