Mechatronics of Autonomous Service Robots (FSI-GMA)

Academic year 2018/2019
Supervisor: doc. Ing. Radek Knoflíček, Dr.  
Supervising institute: ÚVSSR all courses guaranted by this institute
Teaching language: Czech
Aims of the course unit:
The objective is to acquire the knowledge necessary for further work of the students in the field of intelligent mobile and service system design.
Learning outcomes and competences:
Students obtain knowledge on sensors working on the basis of various physical principles, both for monitoring of the internal condition of a service robot and providing information on the outer working environment. In laboratory, students are familiarized with microprocessor technology applied in control systems of mobile robots. Special attention is paid to the basic methods for motion control, localization, path planning, environment mapping and simulation of mobile robot behaviour.
Prerequisites:
Basic knowledge from the fields of electrical engineering, electronics and programming techniques.
Course contents:
The course presents the basic theoretical and practical knowledge from the field of construction and design of mobile robots (MR) specialized in service applications.
Teaching methods and criteria:
The course is taught through exercises which are focused on practical topics presented in lectures. According to the possibility of teaching can be organized lectures for students by practitioners and excursions to companies focused on activities related to the course content.
Assesment methods and criteria linked to learning outcomes:
Credit is awarded on the basis of attendance in seminars and term project evaluation.
Controlled participation in lessons:
Seminars are compulsory, attendance is monitored. Absence can be compensated on agreement with the teacher.
Type of course unit:
    Exercise  13 × 2 hrs. compulsory                  
Course curriculum:
    Exercise 1. Introduction to Service Robotics.
2. Various aspects of mobile robot (MR) design, morphological analysis, searching for the most optimal variant for particular task.
3. Analysis of individual constructional parts of MR.
4. Basic types of MR undercarriages and their kinematics.
5. Sensors used in mobile robotics.
6. Classification of control systems, microprocessor technology, microprocessor chips.
7. A review of basic programming techniques.
8. Approaches to MR navigation, autonomy
9. MR localization, Kalman filter, Monte Carlo localization.
10. MR path planning methods.
11. Mapping, geometrical and topological maps, data fusion.
12. MR behaviour simulation using Matlab/Simulink.
13. Practical experiments on the departmental MR in according Industry 4.0.
Literature - fundamental:
1. Flynn A.M., Jones J.L.: Mobile robots. Inspiration to implementation
2. Bradley D.A.,.. Mechatronics. Electronics in products and processes.
3. Kárník,L.-Knoflíček,R.-Novák,J.M.: Mobilní roboty
Literature - recommended:
1. Everett H. R.: Sensors for mobile robots. Theory and application. AK Peters Ltd., 1995
2. Borenstein J., Everett H. R. and Feng L.: Navigating mobile robots. Systems and Techniques. A. K. Peters, Ltd., Wellesley, MA. 1999
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
M2I-P full-time study M-VSR Production Machines, Systems and Robots P linked to branch B-SSZ GCr 3 Elective (voluntary) 2 1 S
M2I-P full-time study M-VSR Production Machines, Systems and Robots -- GCr 3 Elective (voluntary) 2 1 S