CQUniversity Unit Profile
ENEX13004 Advanced Dynamics and Robotics
Advanced Dynamics and Robotics
All details in this unit profile for ENEX13004 have been officially approved by CQUniversity and represent a learning partnership between the University and you (our student).
The information will not be changed unless absolutely necessary and any change will be clearly indicated by an approved correction included in the profile.
Corrections

Unit Profile Correction added on 17-04-20

The lab assessments will be changed as per the details on Moodle unit website. 

Unit Profile Correction added on 17-04-20

The project based portfolio's marking criteria is updated as per the details on Moodle unit website. 

General Information

Overview

This unit will introduce you to advanced dynamics and robotics. You will learn the principle of operation of robotic manipulators, mobile robots, robotic vision systems, forward kinematics and inverse kinematics of robotic manipulators, robot dynamics and control, and programing robots using industry standard software. You will be able to program industrial robots, mobile robots and humanoid robots for a given task. You will also be able to mathematically model robotic manipulators, plan their link and joint trajectories, predict and avoid collision with objects in surrounding environment by fusing information from various sensors attached to the robotic device. Students enrolled in distance mode are required to attend a compulsory Residential School.

Details

Career Level: Undergraduate
Unit Level: Level 3
Credit Points: 6
Student Contribution Band: 8
Fraction of Full-Time Student Load: 0.125

Pre-requisites or Co-requisites

Prerequisites: ENEM12010 Engineering Dynamics AND MATH12222 Advanced Mathematical Applications AND ENEE12016 Signals and Systems

Important note: Students enrolled in a subsequent unit who failed their pre-requisite unit, should drop the subsequent unit before the census date or within 10 working days of Fail grade notification. Students who do not drop the unit in this timeframe cannot later drop the unit without academic and financial liability. See details in the Assessment Policy and Procedure (Higher Education Coursework).

Offerings For Term 1 - 2020

Mackay
Mixed Mode

Attendance Requirements

All on-campus students are expected to attend scheduled classes – in some units, these classes are identified as a mandatory (pass/fail) component and attendance is compulsory. International students, on a student visa, must maintain a full time study load and meet both attendance and academic progress requirements in each study period (satisfactory attendance for International students is defined as maintaining at least an 80% attendance record).

Residential Schools

This unit has a Compulsory Residential School for distance mode students and the details are:
Click here to see your Residential School Timetable.

Class and Assessment Overview

Recommended Student Time Commitment

Each 6-credit Undergraduate unit at CQUniversity requires an overall time commitment of an average of 12.5 hours of study per week, making a total of 150 hours for the unit.

Class Timetable

Bundaberg, Cairns, Emerald, Gladstone, Mackay, Rockhampton, Townsville
Adelaide, Brisbane, Melbourne, Perth, Sydney

Assessment Overview

1. Written Assessment
Weighting: 20%
2. Written Assessment
Weighting: 20%
3. Practical and Written Assessment
Weighting: 20%
4. Portfolio
Weighting: 40%

Assessment Grading

This is a graded unit: your overall grade will be calculated from the marks or grades for each assessment task, based on the relative weightings shown in the table above. You must obtain an overall mark for the unit of at least 50%, or an overall grade of ‘pass’ in order to pass the unit. If any ‘pass/fail’ tasks are shown in the table above they must also be completed successfully (‘pass’ grade). You must also meet any minimum mark requirements specified for a particular assessment task, as detailed in the ‘assessment task’ section (note that in some instances, the minimum mark for a task may be greater than 50%). Consult the University’s Grades and Results Policy for more details of interim results and final grades.

Previous Student Feedback

Feedback, Recommendations and Responses

Every unit is reviewed for enhancement each year. At the most recent review, the following staff and student feedback items were identified and recommendations were made.

Feedback from Unit feedback

Feedback

The integration of theoretical and practical aspect of robotics was appreciated in enhancing the learning experience.

Recommendation

Same practices will be continued with the efforts of improving them further.

Feedback from Unit feedback

Feedback

The learning outcome and course progression was much appreciated.

Recommendation

The same practices will be continued with the efforts of improving them further.

Feedback from Unit feedback

Feedback

More content on Python and Robotino coding environment is desired.

Recommendation

In addition to the sessions on Python, ROS, and Robotino coding currently in practice, some additional videos will be recorded with basic but relevant sample codes to give the students relevant understanding.

Feedback from Unit feedback

Feedback

The access to the robots were sometimes difficult.

Recommendation

The robots are available for use to on-campus students any day during the normal working hours and in a residential school for mix mode students. Access times will be communicated to the students at the start of the term through Moodle.

Feedback from Self reflection

Feedback

More detailed assessment requirements should be included.

Recommendation

More assessment details on how to attempt them and what is expected will be included in assessment write-up. Assessment requirements will also be discussed in class to make it more convenient for students.

Unit Learning Outcomes
On successful completion of this unit, you will be able to:
  1. Describe rigid body and multi-link motion dynamics, and coordinate system transformation
  2. Apply knowledge of dynamics to analyse robotic systems including robotic manipulators and predict their trajectories
  3. Develop mathematical models for robotic systems
  4. Program industrial robots using industry standard programming software
  5. Predict robot trajectories using multi sensor data fusion techniques
  6. Solve real life problems and communicate professionally using robotic engineering terminology, symbols and diagrams that conform to Australian and international standards
  7. Work individually and collaboratively in teams, communicate professionally in presenting your solutions

Learning outcomes are linked to Engineers Australia Stage 1 Competencies and also discipline capabilities. You can find the mapping for this on the Engineering Undergraduate Course website.

Alignment of Learning Outcomes, Assessment and Graduate Attributes
N/A Level
Introductory Level
Intermediate Level
Graduate Level
Professional Level
Advanced Level

Alignment of Assessment Tasks to Learning Outcomes

Assessment Tasks Learning Outcomes
1 2 3 4 5 6 7
1 - Written Assessment - 20%
2 - Written Assessment - 20%
3 - Practical and Written Assessment - 20%
4 - Portfolio - 40%

Alignment of Graduate Attributes to Learning Outcomes

Graduate Attributes Learning Outcomes
1 2 3 4 5 6 7
1 - Communication
2 - Problem Solving
3 - Critical Thinking
4 - Information Literacy
5 - Team Work
6 - Information Technology Competence
7 - Cross Cultural Competence
8 - Ethical practice
9 - Social Innovation

Alignment of Assessment Tasks to Graduate Attributes

Assessment Tasks Graduate Attributes
1 2 3 4 5 6 7 8 9
1 - Written Assessment - 20%
2 - Written Assessment - 20%
3 - Practical and Written Assessment - 20%
4 - Portfolio - 40%
Textbooks and Resources

Textbooks

Prescribed

Introduction to Robotics: Mechanics & Control Pearson New International Edition 3rd (2013)

Authors: John J. Craig
Pearson Higher Ed USA
USA
ISBN: 9781292052526
Binding: Other
Supplementary

Robotics, Vision and Control: Fundamental Algorithms in MATLAB 2nd (2017)

Authors: Peter Corke
Springer
ISBN: 978-3-319-54412-0
Binding: Paperback

Additional Textbook Information

Textbooks
************
In this unit we will be using materials from different resources to address the important aspects of robotics. The prescribed textbook would be your main resource but not all the chapters will be covered from it during the unit.
The supplementary book will be used to cover mostly the MatLab aspect of the unit. It is not mandatory to buy this book however, it is highly recommended due to its relevance to latest trends in robotics and modelling.
Your prescribed textbook is available for online purchase (as e-text) via:
http://www.pearson.com.au/9781292052526 However, if you prefer a paper text, they are still available at the CQUni Bookshop here: https//bookshop.cqu.edu.au (search on the Unit code)

Software
**********
1. MatLab with Robotics Toolbox and Vision Toolbox
(Please note that these toolboxes and the instructions on how to install them are available at the following URLs.
http://petercorke.com/wordpress/toolboxes/robotics-toolbox
http://petercorke.com/wordpress/toolboxes/machine-vision-toolbox#Downloading_the_Toolbox
For those who don’t already have MatLab can buy student edition from this link:
https://au.mathworks.com/academia/student_version/?s_tid=tb_sv

2. Autodesk Inventor (or any other 3D modelling software)
(We will use the software for just a couple of topics in the unit. It would however introduce you to a professional software for 3D solid modelling. You can check if the software is available free of charge for students at the following site. You may need to create an account using cqu mail)
http://www.autodesk.com/education/free-software/inventor-professional?_ga=1.113196420.1238353875.1479429906

3. ROS Indigo with Python and C++ (rospy and roscpp)
(It is desired that you become familiar with ROS in this unit as we will use it to interact with Baxter robots. You can keep both operating systems Ubuntu and Windows in your computers. Another way is to use Ubuntu virtual box on windows to run ROS.
http://wiki.ros.org/win_ros/Tutorials/WinRos%20and%20Virtual%20Ubuntu

The best way is to download the pre-installed virtual machine with ROS repositories loaded from Nootrix at:

https://www2.nootrix.com/downloads/#RosVM

ROS is freeware and is available at..)
http://wiki.ros.org/roscpp
http://wiki.ros.org/rospy

4. Robotino SIM
(For 3D simulation – basic level - of Robotino. Available at the following website)
http://www.festo-didactic.com/int-en/services/robotino/simulation/?fbid=aW50LmVuLjU1Ny4xNy4zNC4xNDQy

5. Robotino View 3
(For programming of Robotino. Available at the following website)
http://www.festo-didactic.com/int-en/services/robotino/programming/robotino-view/?fbid=aW50LmVuLjU1Ny4xNy4zNC4xNDI2

Note: Queries about the above software can be directed to me (unit coordinator) at u.izhar@cqu.edu.au

IT Resources
****************

  • CQUniversity Student Email
  • Internet
  • Unit Website (Moodle)
  • PC with listed (under textbooks and resources section) software installed

IT Resources

You will need access to the following IT resources:
  • CQUniversity Student Email
  • Internet
  • Unit Website (Moodle)
  • A computer with admin rights and software installed as per the software information under 'textbooks and resources'
Referencing Style

All submissions for this unit must use the referencing style: Harvard (author-date)

For further information, see the Assessment Tasks.

Teaching Contacts
Lasi Piyathilaka Unit Coordinator
l.piyathilaka@cqu.edu.au
Schedule
Week 1 Begin Date: 09 Mar 2020

Module/Topic

Robots, Joints, and D.O.F.

Chapter

Chapter 1 (Introduction to Robotics by J.J. Craig)


Events and Submissions/Topic

Week 2 Begin Date: 16 Mar 2020

Module/Topic

Robot Spatial Descriptions and Transformations - I

Chapter

Chapter 2 (Introduction to Robotics by J.J. Craig)


Events and Submissions/Topic

Week 3 Begin Date: 23 Mar 2020

Module/Topic

> Robot Spatial Descriptions and Transformations - II

> Robot Modeling

> Forward Kinematics

Chapter

Chapters 2 and 3 (Introduction to Robotics by J.J. Craig)


Events and Submissions/Topic

Week 4 Begin Date: 30 Mar 2020

Module/Topic

Forward and Inverse Kinematics

Chapter

Chapters 3 and 4 (Introduction to Robotics by J.J. Craig)


Events and Submissions/Topic

Week 5 Begin Date: 06 Apr 2020

Module/Topic

Manipulator Trajectory

Chapter

Chapter 7 (Introduction to Robotics by J.J. Craig)


Events and Submissions/Topic

Written Assessment 1 Due: Week 5 Monday (6 Apr 2020) 11:55 pm AEST
Vacation Week Begin Date: 13 Apr 2020

Module/Topic

Chapter

Events and Submissions/Topic

Week 6 Begin Date: 20 Apr 2020

Module/Topic

Programming Robots

Chapter

Chapter 12 (Introduction to Robotics by J.J. Craig)

Additional Resources


Events and Submissions/Topic

Submit 1-page project proposal with scope.

Week 7 Begin Date: 27 Apr 2020

Module/Topic

Image Processing

Chapter

Chapters 12 and 13 (Robotic Vision and Control by Peter Corke)


Events and Submissions/Topic

Week 8 Begin Date: 04 May 2020

Module/Topic

Mobile Robots

Chapter

Chapter 4 (Robotic Vision and Control by Peter Corke)


Events and Submissions/Topic

Labs 1 and 2 Due - Week 8 Friday (08 May 2020), 11:55PM AEST

Week 9 Begin Date: 11 May 2020

Module/Topic

Robot Navigation

Chapter

Chapter 5 (Robotic Vision and Control by Peter Corke)


Events and Submissions/Topic

Submit project methodology and code flowcharts

Week 10 Begin Date: 18 May 2020

Module/Topic

Manipulator Mechanism Design

Chapter

Chapter 8 (Introduction to Robotics by J.J. Craig)


Events and Submissions/Topic

Written Assessment 2 Due: Week 10 Monday (18 May 2020) 11:55 pm AEST
Week 11 Begin Date: 25 May 2020

Module/Topic

Manipulator Dynamics

Chapter

Chapters 5 and 6 (Introduction to Robotics by J.J. Craig)


Events and Submissions/Topic

Labs 3 and 4 Due - Week 11, Monday (25 May 2020, 11:55PM AEST)

Week 12 Begin Date: 01 Jun 2020

Module/Topic

Miscellaneous Topics

Chapter

Events and Submissions/Topic

Review/Exam Week Begin Date: 08 Jun 2020

Module/Topic

Chapter

Events and Submissions/Topic

Exam Week Begin Date: 15 Jun 2020

Module/Topic

Chapter

Events and Submissions/Topic

Portfolio Due - Exam Week, Tuesday (16 June 2020), 11:55PM AEST

Term Specific Information

Remember that the residential school is compulsory for this unit. See schedule for the residential school through University handbook and contact unit coordinator for any specific information about the unit. All assessments have 'minimum marks to pass conditions'. Please refer to the individual assessment for more details.

Assessment Tasks

1 Written Assessment

Assessment Title
Written Assessment 1

Task Description

This assessment will consist of numerical problems with some having MatLab implementation. The assessment questions and criteria would be available in Moodle before start of the term. Students are not expected to use word editor as a must for this task. Clear and legible scanned handwritten document in pdf format is acceptable. For questions that require scripting and coding in MatLab, students must include the script and the corresponding script output with the submission.


Assessment Due Date

Week 5 Monday (6 Apr 2020) 11:55 pm AEST


Return Date to Students

Week 7 Monday (27 Apr 2020)


Weighting
20%

Minimum mark or grade
30%

Assessment Criteria

1. Correct answers / solutions,

2. Correct format of each question attempted and the assignment as a whole,

3. All working and assumptions must be shown to obtain full marks,

4. Computer codes should be properly commented and relevant output is included,

5. Submission is neat, tidy, and legible. 


Referencing Style

Submission
Online

Submission Instructions
One pdf file including solutions, any handwritten data, code, and its output (if required).

Learning Outcomes Assessed
  • Describe rigid body and multi-link motion dynamics, and coordinate system transformation
  • Apply knowledge of dynamics to analyse robotic systems including robotic manipulators and predict their trajectories
  • Develop mathematical models for robotic systems


Graduate Attributes
  • Communication
  • Problem Solving
  • Critical Thinking
  • Information Technology Competence

2 Written Assessment

Assessment Title
Written Assessment 2

Task Description

This assessment will consist of numerical problems with some having MatLab implementation. The assessment questions and criteria would be available in Moodle before start of the term. Students are not expected to use word editor as a must for this task. Clear and legible scanned handwritten document in pdf format is acceptable. For questions that require scripting and coding in MatLab, students must include the script and the corresponding script output with the submission.


Assessment Due Date

Week 10 Monday (18 May 2020) 11:55 pm AEST


Return Date to Students

Exam Week Monday (15 Jun 2020)


Weighting
20%

Minimum mark or grade
30%

Assessment Criteria

1. Correct answers / solutions,

2. Correct format of each question attempted and the assignment as a whole,

3. All working and assumptions must be shown to obtain full marks,

4. Computer codes should be properly commented and relevant output is included,

5. Submission is neat, tidy, and legible.


Referencing Style

Submission
Online

Submission Instructions
One pdf file including solutions, any handwritten data, code, and its output (if required).

Learning Outcomes Assessed
  • Describe rigid body and multi-link motion dynamics, and coordinate system transformation
  • Apply knowledge of dynamics to analyse robotic systems including robotic manipulators and predict their trajectories
  • Develop mathematical models for robotic systems


Graduate Attributes
  • Communication
  • Problem Solving
  • Critical Thinking
  • Information Technology Competence

3 Practical and Written Assessment

Assessment Title
Practical and Written assessment - Labs

Task Description

This assessment covers computer lab sessions and practicals with robots and are distributed in four lab assessments (labs 1 to 4). You are required to use specific software environment to complete each lab. Most of the labs are pre-recorded for your reference however you need to attend the mandatory residential school for the lab sessions that require robot interaction. The submission is distributed in two parts; labs 1 & 2 should be submitted by week 8 and labs 3 & 4 by week 11.

The details of these labs/practicals will be available from the unit Moodle website at the start of the term. The lab and practicals are compulsory (you need to pass these to pass the unit). Mixed mode students complete the labs at the compulsory residential school. The lab reports have to be submitted individually and no team report will be accepted


Assessment Due Date

Labs 1 and 2 - Friday, Week 8 (08/05/2020, 11:55PM AEST). Labs 3 and 4 - Monday, Week 11 (25/05/2020, 11:55PM AEST)


Return Date to Students

Two weeks after each submission


Weighting
20%

Minimum mark or grade
Combined marks of Labs 1 to 4 need to be 50% or more to pass the unit.

Assessment Criteria

1. Correct answers including plots and figures,

2. Readability and flow of the code (should be neat, tidy, and legible),

3. Computer codes should be properly commented and formatted,



Referencing Style

Submission
Online

Submission Instructions
One folder including pdf (solutions, any handwritten data, code, and its output) and animations.

Learning Outcomes Assessed
  • Program industrial robots using industry standard programming software
  • Predict robot trajectories using multi sensor data fusion techniques
  • Solve real life problems and communicate professionally using robotic engineering terminology, symbols and diagrams that conform to Australian and international standards
  • Work individually and collaboratively in teams, communicate professionally in presenting your solutions


Graduate Attributes
  • Communication
  • Problem Solving
  • Critical Thinking
  • Team Work
  • Information Technology Competence
  • Cross Cultural Competence
  • Ethical practice

4 Portfolio

Assessment Title
Portfolio

Task Description

The portfolio assessment in this unit corresponds mainly to the project and its report. You can propose your own project or choose from a list of sample projects provided on Moodle website.


Assessment Due Date

Exam Week - Tuesday 16/06/2020 - 11:55PM AEST


Return Date to Students

This is the final assessment item and marks/feedback will be released after the grades are released.


Weighting
40%

Minimum mark or grade
50%

Assessment Criteria

1. You are allowed to work in groups of 2 (3 if necessary).

2. Portfolio will be individually submitted highlighting the individual's contribution (one portfolio per group is not allowed)

The project report should at least contain the following:

1. You will document all the assumptions, design details, code files, and results in the project report.

2. The report / portfolio should clearly indicate the individual work and contribution in the team project and also include the common report for the group.


Referencing Style

Submission
Online

Submission Instructions
One folder containing pdf report (common and individual contribution) and software code with any other video file / output file

Learning Outcomes Assessed
  • Describe rigid body and multi-link motion dynamics, and coordinate system transformation
  • Apply knowledge of dynamics to analyse robotic systems including robotic manipulators and predict their trajectories
  • Develop mathematical models for robotic systems
  • Program industrial robots using industry standard programming software
  • Predict robot trajectories using multi sensor data fusion techniques
  • Solve real life problems and communicate professionally using robotic engineering terminology, symbols and diagrams that conform to Australian and international standards
  • Work individually and collaboratively in teams, communicate professionally in presenting your solutions


Graduate Attributes
  • Communication
  • Problem Solving
  • Critical Thinking
  • Team Work
  • Information Technology Competence
  • Cross Cultural Competence
  • Ethical practice

Academic Integrity Statement

As a CQUniversity student you are expected to act honestly in all aspects of your academic work.

Any assessable work undertaken or submitted for review or assessment must be your own work. Assessable work is any type of work you do to meet the assessment requirements in the unit, including draft work submitted for review and feedback and final work to be assessed.

When you use the ideas, words or data of others in your assessment, you must thoroughly and clearly acknowledge the source of this information by using the correct referencing style for your unit. Using others’ work without proper acknowledgement may be considered a form of intellectual dishonesty.

Participating honestly, respectfully, responsibly, and fairly in your university study ensures the CQUniversity qualification you earn will be valued as a true indication of your individual academic achievement and will continue to receive the respect and recognition it deserves.

As a student, you are responsible for reading and following CQUniversity’s policies, including the Student Academic Integrity Policy and Procedure. This policy sets out CQUniversity’s expectations of you to act with integrity, examples of academic integrity breaches to avoid, the processes used to address alleged breaches of academic integrity, and potential penalties.

What is a breach of academic integrity?

A breach of academic integrity includes but is not limited to plagiarism, self-plagiarism, collusion, cheating, contract cheating, and academic misconduct. The Student Academic Integrity Policy and Procedure defines what these terms mean and gives examples.

Why is academic integrity important?

A breach of academic integrity may result in one or more penalties, including suspension or even expulsion from the University. It can also have negative implications for student visas and future enrolment at CQUniversity or elsewhere. Students who engage in contract cheating also risk being blackmailed by contract cheating services.

Where can I get assistance?

For academic advice and guidance, the Academic Learning Centre (ALC) can support you in becoming confident in completing assessments with integrity and of high standard.

What can you do to act with integrity?