ENEX13004 - Advanced Dynamics and Robotics

General Information

Unit Synopsis

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

Level Undergraduate
Unit Level 3
Credit Points 6
Student Contribution Band SCA Band 2
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).

Class Timetable View Unit Timetable
Residential School Compulsory Residential School
View Unit Residential School

Unit Availabilities from Term 2 - 2021

Term 1 - 2022 Profile
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).

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.

Assessment Tasks

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

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

Past Exams

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Previous Feedback

Term 1 - 2021 : The overall satisfaction for students in the last offering of this course was 4.5 (on a 5 point Likert scale), based on a 50% response rate.

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.

Source: 'Have Your Say' feedback
Feedback
The practicals with robots are interesting
Recommendation
The practicals will be based on robots.
Action Taken
Practicals with Robotic arms and mobile robotic platforms were conducted during the lab classes. Students also used them to complete their portfolio projects.
Source: 'Have Your Say' feedback
Feedback
More detailed documentation on MATLAB toolbox relevant to robot programming will be helpful.
Recommendation
More material on MATLAB toolbox on robot programming will be provided.
Action Taken
Python programing was introduced with Robotic Operating System replacing Matlab programming. This allowed students to use one programming language throughout the course. Comprehensive Python programming resources were provided on a weekly basis.
Source: 'Have Your Say' feedback
Feedback
Further help on how to use ROS would be beneficial.
Recommendation
More help on ROS will be provided.
Action Taken
ROS was introduced to students from week 1 and interactive simulation-based tutorials were provided every week. A comprehensive ROS software guide for each tutorial was provided and ROS based demonstrations were done in the class.
Source: Formal Unit Evaluation Survey
Feedback
The time provided to complete the portfolio project is not enough.
Recommendation
Encourage students to start the portfolio project early by distributing the assessment tasks with multiple soft deadlines.
Action Taken
Nil.
Source: Formal Unit Evaluation Survey
Feedback
The support for the online students during the portfolio team project needs to be improved.
Recommendation
Conduct a separate help session for the online students using Microsoft Teams and Zoom.
Action Taken
Nil.
Source: Self-reflection
Feedback
Lack of equal contribution to the portfolio project by some team members.
Recommendation
Distribute the portfolio project tasks equally among team members, and add a peer assessment task to the portfolio project.
Action Taken
Nil.
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 Assessment Tasks to Learning Outcomes
Assessment Tasks Learning Outcomes
1 2 3 4 5 6 7
1 - Written Assessment
2 - Written Assessment
3 - Practical and Written Assessment
4 - Portfolio
Alignment of Graduate Attributes to Learning Outcomes
Introductory Level
Intermediate Level
Graduate Level
Graduate Attributes Learning Outcomes
1 2 3 4 5 6 7
1 - Communication
2 - Problem Solving
3 - Critical Thinking
5 - Team Work
6 - Information Technology Competence
7 - Cross Cultural Competence
8 - Ethical practice
Alignment of Assessment Tasks to Graduate Attributes
Introductory Level
Intermediate Level
Graduate Level
Assessment Tasks Graduate Attributes
1 2 3 4 5 6 7 8 9
1 - Written Assessment
2 - Written Assessment
3 - Practical and Written Assessment
4 - Portfolio