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Course Catalog 2013-2014
IHA-3256 Autonomous Mobile Machines, 7 cr
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Lessons
| Study type | P1 | P2 | P3 | P4 | Summer | Lecture times and places |
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Description:
Students learn different challenges in automation of mobile machines. Course is mainly concern with hydraulic mobile machines and is composed of two parts: teaching and student work and emphasis will be on students group work. Teaching starts with commercial state of the art in automation of mobile work machines. It is followed by scientific state of the art, which addresses autonomy and robotics. We will introduce the subsystems of such autonomous machines, problems involved, and solutions. We will then learn how to simulate mechanical mechanisms special to mobile machines. We then cover sensory system used to estimate the state of the machine (location and attitude) as well as the environment (humans, obstacles,...); namely Inertial sensors, wheel odometry, GPS, range sensors, cameras. We will then give some insight to the most common sensor fusion techniques (least square and Kalman Filtering). Some basic motion control techniques are also introduced. The teaching will be concluded by introducing issues related to energy specially Hybrid. 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. Students with special interest are encouraged to work out their ideas. Subjects can also be given by the lecturers. 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.
Person responsible:
Reza Ghabcheloo
Kalevi Huhtala
Mika Hyvönen
Seppo Tikkanen
Target groups:
DI- ja arkkitehtiopiskelijat
International Students
Jatkotutkinto-opiskelijat
Konetekniikka
Signaalinkäsittely ja tietoliikennetekniikka
Tietotekniikka
Assessment scale:
Numerical evaluation scale (1-5) will be used on the course