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 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 1 - 2020

Term 1 - 2020 Profile
Mackay
Mixed Mode
Term 1 - 2021 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

No previous feedback available

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: Moodle student feedback survey
Feedback
Matlab and Robot Operating System (ROS) labs were very useful and effective.
Recommendation
Will carry on with these labs to provide students to simulate and interact with physical robots.
Action Taken
Similar labs with additional resources were continued.
Source: Moodle student feedback survey
Feedback
Residential school activity was very useful.
Recommendation
The 3-day residential school allows students to effectively implement their concepts on the equipment.
Action Taken
Similar activity was followed in this offering.
Source: Moodle student feedback survey
Feedback
More resources on ROS or Ubuntu system will be helpful.
Recommendation
Links to the major repository of ROS and Ubuntu codes and tutorials were already presented to students. In the future, the students will be specifically directed to the available resources.
Action Taken
Some additional resource with a special presentation at the start of the residential school guiding students where to find them was included.
Source: Moodle student feedback survey
Feedback
More weightage to labs should be given rather than the assignments.
Recommendation
The current weight will be reviewed and updated if required.
Action Taken
The original assessment distribution was followed in this offering. The content in both assignments and labs will be revisited to finalise any change in the weight distribution.
Source: 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.
Action Taken
Nil.
Source: 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.
Action Taken
Nil.
Source: 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.
Action Taken
Nil.
Source: 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.
Action Taken
Nil.
Source: 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.
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