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
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 - 2021
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).
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
Assessment Overview
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.
All University policies are available on the CQUniversity Policy site.
You may wish to view these policies:
- Grades and Results Policy
- Assessment Policy and Procedure (Higher Education Coursework)
- Review of Grade Procedure
- Student Academic Integrity Policy and Procedure
- Monitoring Academic Progress (MAP) Policy and Procedure - Domestic Students
- Monitoring Academic Progress (MAP) Policy and Procedure - International Students
- Student Refund and Credit Balance Policy and Procedure
- Student Feedback - Compliments and Complaints Policy and Procedure
- Information and Communications Technology Acceptable Use Policy and Procedure
This list is not an exhaustive list of all University policies. The full list of University policies are available on the CQUniversity Policy site.
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 'Have Your Say' feedback
The practicals with robots are interesting
The practicals will be based on robots.
Feedback from 'Have Your Say' feedback
More detailed documentation on MATLAB toolbox relevant to robot programming will be helpful.
More material on MATLAB toolbox on robot programming will be provided.
Feedback from 'Have Your Say' feedback
Further help on how to use ROS would be beneficial.
More help on ROS will be provided.
- 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
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 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 | |||||||
10 - Aboriginal and Torres Strait Islander Cultures |
Alignment of Assessment Tasks to Graduate Attributes
Assessment Tasks | Graduate Attributes | |||||||||
---|---|---|---|---|---|---|---|---|---|---|
1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | |
1 - Written Assessment - 20% | ||||||||||
2 - Written Assessment - 20% | ||||||||||
3 - Practical and Written Assessment - 20% | ||||||||||
4 - Portfolio - 40% |
Textbooks
Robotics, Vision and Control
(2017)
Authors: Peter Corke
Springer-Verlag Berlin Heidelberg
ISBN: 978-3-642-20144-8
Binding: eBook
Additional Textbook Information
In this unit, we will be using materials from different resources to learn and practice the important aspects of robotics. The prescribed textbook would be your main resource but not all the chapters will be covered in the unit.
This prescribed ebook can be downloaded free from the following link
https://link.springer.com/book/10.1007/978-3-642-20144-8
IT Resources
- CQUniversity Student Email
- Internet
- Unit Website (Moodle)
- A computer with suitable hardware resources ( 8GB Memory, Intel core i5 and above CPU, Dedicated GPU is desired) and Windows(7 or later) with admin rights to install Virtual Box software.
All submissions for this unit must use the referencing style: Harvard (author-date)
For further information, see the Assessment Tasks.
l.piyathilaka@cqu.edu.au
Module/Topic
- Introduction to Robotics
- Robotic Software Installation
- Linux Basics
- Introduction to Robotic Operating System (ROS)
Chapter
- Chapter 1 (Robotic Vision and Control by Peter Corke)
- Moodle Week 1 Learning Resources
Events and Submissions/Topic
Module/Topic
- Robot Spatial Descriptions and Transformations
- Robotic Simulation Environments
- ROS Programming with Python
- Robotic Coordinate Transformation
Chapter
- Chapter 2 (Robotic Vision and Control by Peter Corke)
- Moodle Week 2 Learning Resources
Events and Submissions/Topic
Module/Topic
- Robotic Manipulator Modeling
- Forward Kinematics
- Robotic Arm Simulation
Chapter
- Chapter 7.1 (Robotic Vision and Control by Peter Corke)
- Moodle Week 3 Learning Resources
Events and Submissions/Topic
Team formation for the robotic competition
Module/Topic
- Inverse Kinematics (IK) of Robotic Manipulators
- Programming with Inverse Kinematic Solvers
- Manipulator Motion Planning
Chapter
- Chapter 7.2 (Robotic Vision and Control by Peter Corke)
- Moodle Week 4 Learning Resources
Events and Submissions/Topic
Module/Topic
Robotic Dynamics
- Rigid Body Dynamics
- Dynamic Modelling
- Feedback Control
Chapter
- Chapter 9 (Robotic Vision and Control by Peter Corke)
- Moodle Week 5 Learning Resources
Events and Submissions/Topic
Module/Topic
Chapter
Events and Submissions/Topic
Module/Topic
Mobile Robots
- Modelling
- Kinematics
Chapter
- Chapter 4 (Robotic Vision and Control by Peter Corke)
- Moodle Week 6 Learning Resources
Events and Submissions/Topic
Module/Topic
Robotic Perception
- Robotic Sensors
- Image processing
Chapter
- Chapter 10-12 (Robotic Vision and Control by Peter Corke)
- Moodle Week 7 Learning Resources
Events and Submissions/Topic
Module/Topic
Robotic Localisation
- Map building
- Localisation algorithms
Chapter
- Chapter 6 (Robotic Vision and Control by Peter Corke)
- Moodle Week 8 Learning Resources
Events and Submissions/Topic
Submit project methodology and code flowcharts with the role of each team member
Module/Topic
Robotic Navigation
- Path planning algorithms
- Global Planner
- Local Planner
Chapter
- Chapter 5 (Robotic Vision and Control by Peter Corke)
- Moodle Week 9 Learning Resources
Events and Submissions/Topic
Module/Topic
Lab exercises
Chapter
Events and Submissions/Topic
Residential School
Practical and Written assessment - Labs Due: Week 10 Friday (21 May 2021) 11:59 pm AEST
Module/Topic
Project Help
Chapter
Events and Submissions/Topic
Module/Topic
Robotic Competion
Chapter
Events and Submissions/Topic
Robotic Competition and Project Demonstration
Wednesday 9.00 AM, 2/06/2021
Module/Topic
Chapter
Events and Submissions/Topic
Module/Topic
Chapter
Events and Submissions/Topic
The compulsory residential school will be held on week 10 at Mackay campus
1 Written Assessment
This assessment will consist of problems with software implementation using the Robotic Operating System (ROS) and Python programming language. The students are expected to learn the basics of Python programming language and ROS framework in the first 2 weeks of the course. Interactive software tutorials will be provided using ROS to get hands-on experience, and the assessment items will be extensions of tutorials. Therefore, the students are required to complete interactive tutorials before attempting the assessment items. The assessment questions and criteria will be available on the Moodle course page. This assessment will test the students' understanding of the coordinate system transformation, mathematical modelling of robotic manipulators and trajectory generation. The students are required to showcase their understanding by developing robotic models in ROS simulation environments and trajectory generation using the Python programming language. The final submission must include the scripts, the simulation outputs and the report. The report must include explanations for code outputs and simulation results.
Week 4 Friday (2 Apr 2021) 11:45 pm AEST
Week 6 Friday (23 Apr 2021)
Two weeks from submission
1. Computer codes are properly commented and relevant coding practices are used
2. Developed mathematical models are accurate and output expected results
3. Computer code should not have any compilation errors
4. Software code output should match with the report and simulation results included in the submission
5. All working and assumptions must be shown
- Communication
- Problem Solving
- Critical Thinking
- Information Technology Competence
- 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
2 Written Assessment
This assessment will test students' understanding of inverse kinematics and robotic dynamics. The students are required to develop mathematical models for multi-link robotic manipulators and to develop simulation models in the Robotic Operating System (ROS) framework. The understanding of advanced ROS concepts will be needed for the successful completion of this assignment. The weekly interactive tutorials will cover these topics and the code skeleton for this assignment will be provided. The students are expected to prepare a report that includes code outputs, explanations and simulation results. The final submission must include the scripts, the simulation outputs and the report with the submission.
Week 7 Friday (30 Apr 2021) 11:45 pm AEST
Week 9 Friday (14 May 2021)
Two weeks from submission
1. Computer codes are properly commented and relevant coding practices are used
2. Developed mathematical models are accurate and output expected results
3. Computer code should not have any compilation errors
4. Software code output should match with the report and simulation results included in the submission
5. All working and assumptions must be shown
- Communication
- Problem Solving
- Critical Thinking
- Information Technology Competence
- 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
3 Practical and Written Assessment
This assessment covers computer lab sessions and practicals with robots and is distributed in four lab assessments (labs 1 to 4). You are required to use specific software and simulation environment to complete each lab. Most of the labs can be run on the simulation environment. However, you need to attend the mandatory lab sessions that require robot interaction. The simulation work for labs needs to completed by week 9.
The details of these labs/practicals will be available from the unit Moodle website. 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.
Week 10 Friday (21 May 2021) 11:59 pm AEST
Week 12 Friday (4 June 2021)
Two weeks after each submission
- Correct answers including plots and figures
- Readability and flow of the code (should be neat, tidy, and legible)
- Computer codes should be properly commented and formatted
- Computer code should not have any compilation errors
- Software code output should match with the report and simulation results included in the submission
- All working and assumptions must be shown
- Communication
- Problem Solving
- Critical Thinking
- Team Work
- Information Technology Competence
- Cross Cultural Competence
- Ethical practice
- 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
4 Portfolio
The portfolio assessment in this unit corresponds mainly to the project and its report. The students are allowed to work in groups of 2 (3 if necessary). This project will run as a robotic completion and will be task-based. Each student group needs to program robotics platforms to complete each task and points will be given for successful completion. The students are expected to start their group project work from week 4 and the final competition will be held on week 12. The portfolio needs to be individually submitted highlighting the individual's contribution (one portfolio per group is not allowed). The Project output needs to be demonstrated either in the simulation environment or using actual robots. The final codebase needs to be submitted to the assigned code repository. Peer evaluation will be done to identify the individual contribution of each member of the project.
Exam Week Monday (14 June 2021) 11:45 pm AEST
The portfolio due in the exam Week. Robotic Competition will be held on week 12
This is the final assessment item and marks/feedback will be released after the grades are released.
1. Number of tasks completed in the robotic competition
2. The individual contribution to the group project
3. Corporation with other team members
4. Team role fulfilment
3. Computer codes are properly commented and relevant coding practices are used
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.
- Communication
- Problem Solving
- Critical Thinking
- Team Work
- Information Technology Competence
- Cross Cultural Competence
- Ethical practice
- 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
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.