CIS 4930 Introduction to Robotics

-- Spring 2011



Schedule: M & W 4:35 pm - 5:50 pm
Location: PHY 13
Instructor: Yu Sun (contact information)
Office Hours: ENB 331, M, W, & F 3:30 pm - 4:30 pm
TA: Bing Lin (cosoullbx AT gmail DOT com)
TA Hours: ENB 329, M & W 12:00 pm - 1:30 pm

Objectives:
Students will be taught -
1. fundamentals of robotics
2. algorithms for designing robot motion
3. examples of robotic systems

Pre-Requisites:
Data structure, basic linear Algebra, and Matlab
Textbooks:
Required:
Robot Modeling and Control by Mark M. Spong, Seth Hutchinso, and M. Vidyasagar (ISBN: 9780471649908)

Recommended: Robotics, Modeling, Planning and Control By Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo
Principles of Robot Motion: Theory, Algorithms, and Implementations, by Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor
Introduction to AI Robotics, by Robin R. Murphy

Schedule (tentative):
Date Topics and notes Reading Homework Due
10 Jan Introduction
12 Jan Basics of Robotics and Linear algebra Chapter 1 and Appendix A
19 Jan Matlab tutorial Handout HW1
24 Jan Representing positions and rotations Chapter 2.1, 2.2
26 Jan Rotational transformations Chapter 2.3, 2.4
31 Jan Parameterizations of rotations Chapter 2.5, 2.6
2 Feb Homogeneous transformations Chapter 2.7 HW2 HW1
7 Feb Kinematic chains and DH convention Chapter 3.1 3.2
9 Feb DH convention Chapter 3.2
14 Feb Forward kinematics Chapter 3.2
16 Feb Forward kinematics Chapter 3.2 HW3 (Lab 1) HW2
21 Feb Lab 1 section 1
23 Feb Lab 1 section 2 HW4 HW3
28 Feb Inverse kinematics Chapter 4.1-5
2 Mar Angular velocity and Jacobian Chapter 4.6
7 Mar Mid-term exam
9 Mar Trajectory design Chapter 5.5 HW5 HW4
21 Mar Configuration space Chapter 5.1
23 Mar Configuration space with examples Chapter 5.1
28 Mar Motion planning -- potential field Chapter 5.2-3
30 Mar Motion planning -- PRM Chapter 5.4
4 Apr Motion planning roadmap Chapter 5 HW6 (Lab 2) HW5
6 Apr Motion planning review Chapter 5
11 Apr Lab 2 section 1
13 Apr Lab 2 section 2 HW7 HW6
18 Apr Sensors and actuators
20 Apr Mobile robot
25 Apr Robot applications
27 Apr Final review HW7


Homework:
Most of the homework has programming problems that can be completed in Matlab.


Grading:
50% homework (6% each regular assignment, 10% for each lab)
20% mid-term exam
30% final exam

Attendance assessed through pop quizzes:
Five pop quizzes will be given for total 5% extra points (1% each) adding to the final grade. They will consist each of a simple question that you should be able to answer in 2 or 3 minutes. The questions will always relate to the last lecture.


Tentative Grading Scale:
The tentative grading scale could be as follows.
97 -- 100 A+
93 -- 96 A
90 -- 92 A-

87 -- 89 B+
83 -- 86 B
80 -- 82 B-

77 -- 79 C+
73 -- 76 C
70 -- 72 C-

65 -- 69 D+
60 -- 64 D

0 -- 59 F


Procedures for Alleged Academic Dishonesty or Disruption Of Academic Process:
See current undergraduate catalog. http://www.ugs.usf.edu/catalogs/0405/adadap.htm (Or search for “cheating”)

Departmental Policy:
All students enrolled in courses taught by the Computer Science and Engineering Department are advised that unless an instructor specifies otherwise, all work done in homework, programming, or exams must be the result of a student’s individual effort.

Students who copy, or who provide material for others to copy, or who show dishonesty in their work as described in the university catalog, will be subject to disciplinary action, typically the receipt of a failing grade in the course, but also possible academic dismissal from the program.

Course Policy:
Programming homework/projects will be graded. It is OK to discuss homework/projects with other students, but outright copying is not acceptable.
  • Don’t copy anyone else’s work.
  • Don’t let anyone copy your work.
  • We will check!
  • Homework/projects must be submitted on time.
  • Late homework/projects will not be graded, get an automatic 0.
  • Departmental policy will apply to exams.

    • Communications:
  • Blackboard ( https://my.usf.edu/ ) will be used for all program submissions.

    Be sure you can log in and can find this class under the Courses tab.
    Be sure you can find Assignments for this class.

  • USF email will be used for any last-minute announcements.

    Be sure you can receive messages.
    Don’t let backlog exceed your quota.

    • Disabilities, Absences:
  • Disabilities
    Students with disabilities are encouraged to consult me as soon as possible. If accommodations are needed, a letter from the Office of Student Disability Services (SVC1133) will be required. Please inform me if there is a need for alternate format for documents or a note taker.

  • Religious Observances
    Students who anticipate the necessity of being absent from class due to the observation of a major religious observance must provide notice of the date (or dates) to me, in writing, by the second class meeting.

  • Athletic Events
    Students who must miss an exam due to participating in a varsity athletic event should contact me two weeks in advance in order to make alternative arrangements.


    • * Every part of this syllabus is subject to adjustment.