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Information
| Code | BMM0051 |
| Name | Intelligent Robotics - I |
| Term | 2022-2023 Academic Year |
| Term | Spring |
| Duration (T+A) | 3-0 (T-A) (17 Week) |
| ECTS | 6 ECTS |
| National Credit | 3 National Credit |
| Teaching Language | Türkçe |
| Level | Doktora Dersi |
| Type | Normal |
| Mode of study | Yüz Yüze Öğretim |
| Catalog Information Coordinator | |
| Course Instructor |
1 |
Course Goal / Objective
The main objective of the course is to teach the advanced methods required in the design of today's autonomous, intelligent, flexible and dexterous robots with various applications.
Course Content
This course is the first part of the "Intelligent Robotics" course, which consists of two parts. Introduction to Robotics. Basic components of robotic systems. Robot Kinematics-1 (Forward kinematics) . Robot Kinematics-2 (Inverse kinematics). Robot Kinematics-3 (Velocity kinematics). Robot Dynamics-1 (Newton-Euler). Robot Dynamics-2 (Lagrangian). Force control in robots. Trajectory planning in robots. Robot environment sensing and sensor integration. Robot control structures and behavior-based decision making. Intelligent methods for robot task and motion control. Learning in robots.
Course Precondition
No prerequisite
Resources
Kevin M. Lynch and Frank C. Park, "Modern Robotics: Mechanics, Planning, and Control," Cambridge University Press, 2017.
Notes
Jazar R.N., “Theory of Applied Robotics”, Springer Inc. 2010.
Course Learning Outcomes
| Order | Course Learning Outcomes |
|---|---|
| LO01 | Apply the acquired knowledge, comprehension and problem solving skills in the field of robotics. |
| LO02 | Independently performs a specialized study in the field of robot design and analysis. |
| LO03 | Gains the skill of making literature review in the field of intelligent robotics. |
| LO04 | Independently performs a basic level study on intelligent robot design. |
Relation with Program Learning Outcome
| Order | Type | Program Learning Outcomes | Level |
|---|---|---|---|
| PLO01 | Bilgi - Kuramsal, Olgusal | To be able to reach new solutions by applying current and advanced technical approaches of mathematics, science and engineering sciences to current scientific problems encountered in the field of medicine and medical technologies. | 5 |
| PLO02 | Yetkinlikler - Öğrenme Yetkinliği | Having knowledge of the literature related to a sub-discipline of biomedical engineering, defining and modeling current problems, and being a specialist in that discipline. | 5 |
| PLO03 | Beceriler - Bilişsel, Uygulamalı | Analyzing data, making theoretical and simulation based designs, designing experiments and interpreting the results. | 4 |
| PLO04 | Beceriler - Bilişsel, Uygulamalı | Developing researched contemporary techniques, software, hardware and computational tools for engineering applications. | 3 |
| PLO05 | Beceriler - Bilişsel, Uygulamalı | To be able to analyze and design a process in line with a defined target. | 3 |
| PLO06 | Yetkinlikler - Bağımsız Çalışabilme ve Sorumluluk Alabilme Yetkinliği | To be able to carry out scientific studies with medical doctors and members of other disciplines from an engineering point of view. | 4 |
| PLO07 | Yetkinlikler - İletişim ve Sosyal Yetkinlik | Expressing one's own findings orally and in writing, clearly and concisely, writing conference and journal papers. | 4 |
| PLO08 | Yetkinlikler - Öğrenme Yetkinliği | To be able to improve oneself by embracing the importance of lifelong learning and by following the developments in science-technology and contemporary issues. | 3 |
| PLO09 | Yetkinlikler - Bağımsız Çalışabilme ve Sorumluluk Alabilme Yetkinliği | The ability to act independently, set priorities and be creative. | |
| PLO10 | Yetkinlikler - Alana Özgü Yetkinlik | Being aware of national and international contemporary scientific and social problems in the field of Biomedical Engineering. | |
| PLO11 | Yetkinlikler - Alana Özgü Yetkinlik | To be able to evaluate the contribution of engineering solutions to problems in medicine, medical technologies and health in a global and social context. |
Week Plan
| Week | Topic | Preparation | Methods |
|---|---|---|---|
| 1 | Introduction to Robotics. | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 2 | Basic components of robotic systems. | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 3 | Robot Kinematics-1 (Forward kinematics) . | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 4 | Robot Kinematics-2 (Inverse kinematics). | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 5 | Robot Kinematics-3 (Velocity kinematics). | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 6 | Robot Dynamics-1 (Newton-Euler). | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 7 | Robot Dynamics-2 (Lagrangian). | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 8 | Mid-Term Exam | Self Study by reading lecture material and problem solving | Ölçme Yöntemleri: Yazılı Sınav |
| 9 | Force control in robots. | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 10 | Trajectory planning in robots. | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 11 | Robot environment sensing and sensor fusion. | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 12 | Robot control structures and behavior-based decision making. | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 13 | Intelligent methods for robot task and motion control. | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 14 | Learning in robots. | Self Study by reading lecture material | Öğretim Yöntemleri: Anlatım |
| 15 | Student presentations | Self Study by reading lecture material | Öğretim Yöntemleri: Gösteri |
| 16 | Term Exams | Self Study by reading lecture material and problem solving | Ölçme Yöntemleri: Yazılı Sınav |
| 17 | Term Exams | Self Study by reading lecture material and problem solving | Ölçme Yöntemleri: Yazılı Sınav |
Student Workload - ECTS
| Works | Number | Time (Hour) | Workload (Hour) |
|---|---|---|---|
| Course Related Works | |||
| Class Time (Exam weeks are excluded) | 14 | 3 | 42 |
| Out of Class Study (Preliminary Work, Practice) | 14 | 5 | 70 |
| Assesment Related Works | |||
| Homeworks, Projects, Others | 0 | 0 | 0 |
| Mid-term Exams (Written, Oral, etc.) | 1 | 15 | 15 |
| Final Exam | 1 | 30 | 30 |
| Total Workload (Hour) | 157 | ||
| Total Workload / 25 (h) | 6,28 | ||
| ECTS | 6 ECTS | ||