robot modeling and programming course syllabus

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Page 1 of 21 AY1617 – July 15, 2016 /amagcalas

HOLY ANGEL UNIVERSITY

COLLEGE OF INFORMATION AND COMMUNICATIONS TECHNOLOGY

ROBOT MODELING AND PROGRAMMING COURSE SYLLABUS

Course Code : 6ROBOTMOD Prerequisite : 6ARTINTEL

Course Credit : 3 Units (3 hours LAB) Year Level: 3^rd year / 4^th year Degree Program : Bachelor of Science in Computer Science (BSCS)

Course Description :

This course will give a good grasp of the fundamentals of robotic systems including kinematics and dynamics as pertaining to manipulator and mobile robots, control methodologies as applied to manipulator arms, several common path-planning techniques as applied to manipulators and mobile robots. It also covers several lectures covering robots that have made a significant impact to the field. The course mainly introduces LEGO NXT Mindstorms kit to let learners build, program and test their different creations such as robot designs using NXT Programming 2.1. Students are expected to embed programs and interface them with their LEGO designs and run them successfully, satisfying PEAS (Performance measure, Environment, Actuators and Sensors) considerations.

At the end of the course, students will be able to:

Course Outcomes Graduate Outcomes aligned to

C1 Apply the fundamentals of electronics by being able to differentiate devices such as multitester/VOM, resistors, beadboard, power source, push-button switches, LEDs, alligator clips and wires and logic gates embedded on integrated circuits (ICs).

Integrate knowledge in electronics by designing a circuit with series and parallel connections with proper computations considering Ohm’s Law to present the relationship of Resistors used, Voltage and Current applied.

BSCS01: Apply knowledge of computing fundamentals, knowledge of a computing specialization, and mathematics, science, and domain knowledge appropriate for the

computing specialization to the abstraction and conceptualization of computing models from defined problems and requirements.

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C2 Design and create a circuit with logic gate(s) such as 74LS 32 and LED(s) in a breadboard being controlled by push-button switches and be able to demonstrate how to troubleshoot for its errors and discuss how it functions successfully.

BSCS02: Identify, analyze, formulate, research literature, and solve complex computing problems and requirements reaching substantiated conclusions using fundamental principles of mathematics, computing sciences, and relevant domain disciplines.

C3 Identify different components which could be found on available NXT LEGO Mindstorms development kit effectively according to the designs to be followed.

Create different LEGO designs and embed programs on them using NXT Programming 2.1 which then after series of tests will successfully run, satisfying PEAS (Performance Measure, Environment, Actuators and Sensors).

BSCS03: Design and evaluate solutions for complex computing problems, and design and evaluate systems, components, or processes that meet specified needs with appropriate consideration for public health and safety, cultural, societal, and environmental considerations.

C4 Build, program and design a LEGO creation based from group/team effort by utilizing previous knowledge on different activities using different sensors and NXT components available.

Demonstrate the LEGO creation by specifying PEAS based from guidelines and be able to provide proper documentation for this project.

Become an active team member by independently source necessary knowledge, assistance, skills and resources to complete tasks, perform tasks

independently without the need for prodding, coordinate with other business professionals and professionals from other disciplines to achieve goals and complete tasks and raise issues and concerns to the team in order to seek consensus resolutions.

BSCS06: Create, select, adapt and apply appropriate techniques, resources and modern computing tools to complex computing activities, with an understanding of the limitations to accomplish a common goal.

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Become an effective team leader by setting proper goals and timeline of activities to complete team objectives, allocate tasks according to team member capabilities, monitor task completion and performance of team members, manage resources needed by the team to achieve team goals and resolve and reduce conflicts within the team.

Learning Evidences

As proof of achievement of the above-mentioned outcomes, students are required to submit/demonstrate the following:

LE1: Series and Parallel Circuits using Breadboard C1, C2 LE2: Circuit Design with Integrated Circuit (74LS Family) C1, C2 LE3: NXT LEGO Creations and LEGO Final Project C3, C4

Measurement System:

To assess the level of performance in the learning evidences, the following rubrics will be used:

LE1: Series and Parallel Circuit using Breadboard

Area to Assess Allotted Percentage

Completeness 25%

Circuit design and neatness 20%

Troubleshooting 15%

Functionality 20%

Computation 10%

Presentation 10%

TOTAL 100%

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LE2: Circuit Design with Integrated Circuit (74LS Family)

Completeness 25%

Circuit design and neatness 20%

Troubleshooting 15%

Functionality 20%

Computation 10%

Presentation 10%

TOTAL 100%

LE3: NXT LEGO Creations and LEGO Final Project

Design and neatness 20%

Correctness of Program 20%

Functionalities 30%

Accomplishment of Goal/s 20%

Presentation and Q and A 10%

TOTAL 100%

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Learning Plan Intended Learning Outcome

Unit (Weeks)

Course Outcome

Topic Learning

Activities

Assessment Activity

Student Output Identify the

significance of the course in their field of

specialization.

Determine the history of Robotics Technology Specify why robots are more desirable than human agents Differentiate robotics applications Explain and demonstrate different NXT hardware

components such as:

 Motors

 Sensors Demonstrate LEGO creation

1 C1, C2, C3 Orientation/Course Overview

1. Introduction to Robotics Technology 1.1. History

1.2. Robotics Applications 1.3. Differences of

Robots and Human Agents

The LEGO NXT Mindstorms

 The NXT Mindstorms Hardware Kit

 The NXT Programming 2.1 Software

 NXT Hardware and Software Interfacing

Expository Mediated Lecture

Exploratory Hands-on LEGO Activity

Brainstorming

Recitation

Building, Programming, Testing

LEGO Required Creation

(6)

Outcome examples and explain how they work.

Classify the importance of mechanical means on any develop creations related to robotics technology.

Differentiate levels of autonomy.

Incorporate the underlying principles and importance of PEAS criteria.

Built, program and test NXT LEGO creation which would:

Demonstrate its mechanical means

Demonstrate the Interactive Servo Motors

2-3 C1, C2, C3 2. Mechanical and Motors

3. Levels of Autonomy 4. PEAS Criteria

4.1. Performance measure

4.2. Environment 4.3. Actuators 4.4 Sensors Familiarization and Working with NXT Motors

 Interactive Servo Motors o Top Spinner

Snowmobile

4. Motors Working Together 5.1. Directions

5.2. Speed 5.3. Rotations 5. Kinematics

6.1. Forward and inverse

kinematics

6.2. The Jacobian and

Boardwork Sharing identified facts

Seatwork1

(7)

Intended Learning Outcome

Activities

Student Output Create car

robots with multiple motors working together.

singularities 6.3. Kinematic optimization

Working with multiple NXT Motors

 Interactive Servo Motors o Express Bot

o Car Bot

Integrate the use of event handling on robotics applications.

Make use of NXT Event Handling related to touch sensors.

Use information on various

dynamics of robot manipulators and analyze their usage on different situations.

Built, program and test NXT LEGO creation

4 C1, C2, C3 7. NXT Event Handling 7.1. LEGO NXT sensors 7.1.1. Touch Sensor 7.2. Motor control 8. Dynamics of Robot 9. Manipulators

Wait for Sensors

 Touch Sensors o Mouse Trap

Recitation Groupwork

Quiz1

(8)

Outcome which would:

Demonstrate the

application of touch sensor.

Demonstrate the integration of motors and touch sensors

o Express Bot with touch sensor

Demonstrate the use of NXT Event Handling related to multiple touch sensors.

Determine the use and importance of repetitive statement.

Specify nonlinear control as a robot manipulator.

Integrate robot stability and congruency of its function.

Built, program

5 C1, C2, C3 10. Event Handling with Looping

10.1. LEGO NXT sensors

10.1.1. Touch Sensor 10.2. Motor control 6. 11. Control of Robot 7. Manipulators

11.1. Nonlinear Control 11.2. Stability

Wait for Sensors

Brainstorming

Assignment1

(9)

Activities

Student Output and test NXT

LEGO creation which would:

Demonstrate the

application of multiple touch sensors.

Demonstrate the integration of motors and touch sensors with iteration.

 Touch Sensors o Arm Control Bot o Express Bot with touch sensor

Series and Parallel Circuits using Breadboard (LE1)

6 Prelim

Examination Determine the

use of NXT Event Handling related to sound sensors.

Cite the use and importance of decision (If statement).

Differentiate adaptive and non- adaptive controls using different scenarios.

Built, program

7 C1, C2, C3 12. Event Handling with Decision

12.1. LEGO NXT sensors

- Sound Sensor 12.2. Motor control 13. Control of Robot Manipulators

13.1. Adaptive Control 13.2. Non-Adaptive Control

Wait for Sensors

Exploratory

Boardwork

Collaboration

Seatwork2

Building, LEGO Required

(10)

Outcome and test NXT LEGO creation which would:

Demonstrate the application of sound sensor with condition.

Demonstrate the integration of motors and sound sensor.

 Sound Sensor

o Express Bot with sound sensor o Voice Controlled Car

Hands-on LEGO Activity

Programming, Testing

Creation

Adapt the use of NXT Event Handling related to light sensor.

Apply the use and importance of decision (If statement) with values indicated.

Demonstrate robot’s path- planning procedures.

Demonstrate

8 C1, C2, C3 14. Event Handling w/

Decision

14.1. LEGO NXT sensors - Light Sensor 14.2. Motor control 15. Path-Planning 15.1. Configuration Space

15.2. Potential fields

Wait for Sensors

 Light Sensor o Express Bot with light sensor o Line Follower

Presentation

(11)

Activities

Student Output the

application of light sensor with condition as values.

Demonstrate the integration of motors and light sensor.

Incorporate the use of NXT Event Handling related to ultrasonic sensor.

Make use of importance of decision (If statement) with values indicated.

Determine projectile motion which could be used by a

specialized robot creation.

9 C1, C2, C3 16. Event Handling with Decision

16.1. LEGO NXT sensors - Ultrasonic Sensor 16.2. Motor control

17. Motion

17.1. Projectile Motion 17.2. Simple Harmonic Motion

Wait for Sensors

 Ultrasonic Sensor o Express Bot with

Exploratory

Boardwork

Groupwork

Quiz2

Building, Programming,

(12)

Demonstrate the

application of ultrasonic sensor with condition as values.

Demonstrate the integration of motors and ultrasonic sensor.

ultrasonic sensor o Claw Striker

Testing

Combine principles of search based operations on robotics technology.

Identify the use of NXT Event

Handling related to multiple sensors execution.

Demonstrate how gravity works as well as terminal velocity.

10 C1, C2, C3 18. Search-based Control 18.1. LEGO NXT sensors 18.2. Motor control 18.3. Decision making 18.4. Nested loops 19. Motion

19.1. Swinging with Gravity

19.2. Terminal Velocity

Collaboration

Recitation

(13)

Activities

Student Output Built, program

and test NXT LEGO creation which would:

Demonstrate the

application of multiple sensors with various conditions.

Demonstrate the integration of motors as well as

ultrasonic and touch

sensors.

Multiple Sensors Execution

 Ultrasonic Sensor

 Touch Sensor

o Maze Race Express Bot with

different sensors

Classify principles of mapping and navigation on robotics technology.

Exhibit the use of NXT Event Handling related to multiple sensors execution.

Employ the use of variables and

11 C3, C4 20. Mapping and

Navigation

16.1. LEGO NXT sensors 16.2. Motor control 16.3. Variables and Math

Operations

16.4. Combined Sensor Readings

21. Force and Motion 21.1. Gear Ratios and Speed

21.2. Gear Ratios and

Brainstorming

Presentation

Quiz3

(14)

Outcome math operations necessary to handle sensor readings.

Demonstrate the effect of different gear sizes in relation with speed and force.

Demonstrate the

application of multiple sensors with various conditions and values.

Demonstrate the integration of motors as well as ultrasonic, light and sound sensors.

Force

Multiple Sensors Execution

 Light Sensor

 Sound Sensor o Explorer Bot with different Sensors

Circuit Design with Integrated Circuit (74LS Family) LE2

12 Midterm

Examination

(15)

Activities

Student Output Specify Newton’s

Laws and investigate them to know how these rules apply to robot creations.

Measure friction and its effect on robot

motion/movement .

steers by pivoting its front wheels like a real car, and is controlled by a wired remote control.

13 C3, C4 22. Force and Motion 22.1. Newton’s Laws Demonstration 22.2. Newton’s 2^nd Law Investigation 22.3. Measuring Friction

Steering Manipulation

 Touch Sensor

 Servo Motors o Steering Rover

Brainstorming

Classification

Determine the energy being produced by a sound sensor and analyze

reductions related to it.

Use information

14 C3, C4 23. Energy

23.1. Microphone Sound Reduction 23.2. Wave Intensity versus

Distance

Collaboration

Recitation

Assignment2

(16)

Outcome

on wave intensity versus distance created by a robot.

use the sound sensor to obey the voice

commands "Go",

"Stop", "Turn Left", and "Turn Right".

Determine and investigate battery energy consumption of a particular robot creation.

Explain series circuit in terms of robot’s circuit design.

Built, program and test NXT

Sound Manipulation

 Sound Sensor

 Servo Motors

o Voice Controlled Car

24. Energy 24.1. Battery Investigation 24.2. Investigating the Solar

24.3. Cell Parallel and Series Circuits

Sight Manipulation

(17)

Activities

Student Output LEGO creation

which would:

build a rotating

“radar” using the ultrasonic sensor which scans back and forth and draws a map of objects detected on the NXT display.

 Servo Motors Radar bot

Label

systematically on how robot

provides an output based from an event and collect feedback which will control the robot

movement/motion Identify how linearization is being used by a designed robot.

15-16

Laboratory

C3, C4 25. Newton-Euler formulation

26. Single-joint control 27. Control by feedback 28. Linearization

Controlling by Feedback

Exploratory

Boardwork

Building, LEGO Required

(18)

add a pitching machine to the Baseball Batter project which when the batter sees the ball with the ultrasonic sensor, it will swing its bat to hit it.

 Servo Motors

o Pitching Machine and Batter

Programming, Testing

Creation

Determine on how robot creation adapts on its

environment and use that as a control mechanism.

Specify nonholonomic mobile robots.

Introduce

Raspberry PI and how it will be used for robot creations Built, program and test NXT

17 C3, C4 29. Adaptive/robust control 30. Nonholonomic mobile robots

31. Introduction to Raspberry PI

31.1. Robots and PI

Self-Balancing Control

 Light Sensor

Sharing identified facts Recitation

NXT LEGO Creations and LEGO Final

(19)

Activities

Student Output LEGO creation

which would:

simulate a Segway PT, which is a two- wheeled self- balancing vehicle that a rider stands on. By using the NXT light sensor as a simple proximity sensor to the ground to detect the approximate tilt angle of the robot, the robot can actually balance itself.

 Servo Motors

NXT Segway with Rider

Presentation

Project (LE3)

18 Final

Examination

(20)

A. Published Materials

 Valk, Laurens, ‘The LEGO MINDSTORMS NXT 2.0 Discovery Book: A Beginner's Guide to Building and Programming Robots’

 Niku, Saeed, ‘Introduction to Robotics : analysis, control, applications’, 2011, 2^nd Edition

 Rainer Waser, Rainer, ‘Nanoelectronics and information technology : advanced electronics materials and novel devices’

2005, 2nd Edition

B. Web References

 http://www.collegehousebooks.com/Physics%20with%20Robotics.htm (Physics with Robotics: An NXT & RCX Activity Guide)

 http://www.nxtprograms.com/index.html (Projects for your LEGO MINDSTORMS NXT)

 http://www.intechopen.com/books/serial-and-parallel-robot-manipulators-kinematics-dynamics-control-and-optimization (Serial

& Parallel Robot Manipulators)

 http://www.intechopen.com/books/robotic-systems-applications-control-and-programming (Robotic Systems-Applications, Control & Programming)

 http://www.intechopen.com/books/recent-advances-in-mobile-robotics (Recent Advances on Mobile Robotics)

 http://www.intechopen.com/books/mobile-robots-control-architectures-bio-interfacing-navigation-multi-robot-motion-planning- and-operator-training (Mobile Robots)

 http://www.raspberrypi.org/resources/teach/ (Teach Resources of Raspberry PI)

Grading System

The final grade in this course will be composed of the following items and their weights in the final grade computation:

Class Standing 60%

Major Exam 40%

FINAL GRADE = Class Standing + Major Exam

(21)

Transmutation Table:

Minimum Passing Percent Average of Subject : 50

RANGE EQUIVALENTS (COMPUTED AVERAGES & TRANSMUTED VALUES)

Range of Computed Average Range of

Transmuted Values Grade General Classification

94.0000 100.0000 97 100 1.00 Outstanding

88.0000 93.9999 94 96 1.25 Excellent

82.0000 87.9999 91 93 1.50 Superior

76.0000 81.9999 88 90 1.75 Very Good

70.0000 75.9999 85 87 2.00 Good

64.0000 69.9999 82 84 2.25 Satisfactory

58.0000 63.9999 79 81 2.50 Fairly Satisfactory

52.0000 57.9999 76 78 2.75 Fair

50.0000 51.9999 75 3.00 Passed

Below Passing Average 5.00 Failed

Failure due to absences 6.00 FA

Unauthorized Withdrawal 8.00 UW

Officially Dropped 9.00 Dropped