Robotics is a complex subject that gathers knowledge from other areas such as mechanics, automatic control, electronics, hardware and software design, human-robot interaction, etc.

Computer studies require an introduction to robotics that allows simultaneously

- to assimilate the basic concepts and the technical language of the field of robotics, to facilitate the integration of the computer graduate in a robotics team

- to take advantage of advanced hardware and software development knowledge available to computer students, to apply them in the field of robotics, so that they can add value when integrated into a robotics team.

This subject is intended to introduce the student of computer science in both the theoretical and practical aspects of robotics. The mathematical apparatus that supports these concepts will be revised superficially.

Among its objectives are:

1) to eview the basic techniques used to control robots and intuitively introduce basic concepts, such as spatial representation and kinematic and dynamic problems

2) to study the structure and basic characteristics of mobile robots

3) to learn how to program mobile robots using advanced software techniques

4) to introduce the problems related to intelligent behaviour and with person-robot communication

The subject is based on five practices that allow applying the theoretical knowledge acquired, and giving an idea of the possibilities and limitations of the robots and their programming

THEORY

Topic 1. Introduction

- Definitions, antecedents and evolution

- Attributes, morphology and fields of application

- Types of robots. Taxonomy

- Computing and Robotics

Topic 2. Hardware and software for robots

- Real-time embedded systems

- Control software

- Simulators

Topic 3. Sensors

- Passive and active sensors characteristics

- Calibration of sensors

- Advanced techniques: sensory perception and fusion

Topic 4. Actuators

- Electric motors

- Transmissions

- Reductions

- PDI control of electric motors

Topic 5. Mobile robots

- Characteristics:

* Structure

* Locomotive system

Behavioural strategies:

* Deliberative, Reagent and Hybrid Systems

Navigation:

* Mapping: Types of maps. Absolute and relative positioning

* Planning: Path planning

* Driving: Track Tracking and Avoidance of Obstacles

Topic 6. Advanced aspects

- Portability of software for robots. ROS

- Multi-robot systems:

* Collaboration

* Social behaviour

* Distributed intelligence

- Human-robot interface



LABORATORIES

In addition to the following practices, students can propose the realization of others of their invention that, once agreed with the teacher and properly specified, will participate in the calculation of the final grade of the subject.

Laboratory 1. Introduction to hardware and software used in mobile robotics laboratories

o Raspberry Pi 2, iRobot, BAM (Bluetooth Adapter Module)

o PuTTY, NetBeans, iRobot Create, iRobot Framework

Laboratory 2. Calibration of the iRobot sensors

Laboratory 3. Navigation by dead reckoning

Laboratory 4. Navigation by means of marks and avoidance of obstacles

Laboratory 5. Navigation in a labyrinth: Planning and driving

This subject is completely developed in the Robotics Laboratory of the Faculty of Computing of the UPV / EHU. The objective is to combine the theoretical presentations with the laboratory practices. Each subject presented and developed in class is accompanied by a laboratory practice in which the proposals presented theoretically are applied.

The written and oral presentation of the results of each of the practices allows a detailed follow-up of the progress of each student.

Most of the practices take place during class hours, but students have access to the laboratory outside of class hours, to complete the practices that have not ended in class or to develop their own proposals.

• Continuous Assessment System
• Final Assessment System
• Tools and qualification percentages:
  • Los porcentajes y tipos de evaluación se especifican en los apartados posteriores (%): 100

Although the practices are carried out in pairs, the final evaluation is individual. To recognize the participation of each student to the group work, personal interviews and an examination of knowledge acquired in the practices will be carried out.

Para el caso de la convocatoria extraordinaria la nota final se calcula en base a:



- Prueba escrita a desarrollar: 40%

- Defensa oral / entrevista: 20%

- Trabajos en equipo (problemas, proyectos): 40%



Para realizar el examen de conocimientos escrito es requisito haber entregado al profesorado en las fechas pactadas al inicio del cuatrimestre los trabajos prácticos requeridos en la asignatura. Para superar la asignatura, es necesario aprobar cada una de las partes de forma independiente.



NOTA: En caso de volver al confinamiento, las pruebas de evaluación se realizarán de forma telemática a través de cuestionarios, entrevistas y/o entregas de eGela y mediante conexión BBC.

- iRobot® Create Owner’s guide. iRobot Corporation. 2006 [www.irobot.com/filelibrary/create/Create Manual_Final.pdf]
- iRobot® Command Module Owners manual. iRobot Corporation. 2007 [www.irobot.com/.../create/Command Module Manual_v2.pdf]
- iRobot® Create OPEN INTERFACE. iRobot Corporation, 2006 [https://www.irobot.com/filelibrary/create/Create Open Interface_v2.pdf]

Basic bibliography

- Siegwart R., Nourbakhsh I.R. An Introduction to Autonomous Mobile Robots. The MIT press, 204.

- Latombe J.-C. Robot Motion Planning. Kluwer Academic Pub, 1991.

- Holland J. M. Designing Autonomous Mobile Robots, 2000.

- Brugali D. (Ed). Software Engineering for Experimental Robotics. Springer, 2007

In-depth bibliography

- Ollero-Baturone A. Robotics. Manipulators and mobile robots. Marcombo, 2001
- Mitchell H.B. Multi-Sensor Data Fusion. An Introduction. Springer. 2007
- Bekey G. A. Automous Robots. From Biological Inspiration to Implementatio and Control. MIT Press, 2005.
- Murphy R. R. Introduction to AI Robotics. MIT press, 2000.
- H. Choset et al. Principles of Robot Motion. Theory, Algorithms and Implementation. MIT press, 2001.

Journals

- International Journal of Advanced Robotic Systems (free, on-line) [https://us.sagepub.com/en-us/nam/international-journal-of-advanced-robotic-systems/journal202567]
- Robotics and Autonomous Systems [https://www.journals.elsevier.com/robotics-and-autonomous-systems/]
- Advanced Robotics [http://www.tandfonline.com/loi/tadr20]

Web addresses

- iRobot for Developers and educators. http://store.irobot.com/deved/
- iRobot Create - Wikipedia. https://en.wikipedia.org/wiki/IRobot_Create
- LEGO.com MINDSTORMS NXT Home. http://mindstorms.lego.com/
- Paspberri Pi 2. https://www.raspberrypi.org/products/raspberry-pi-2-model-b/
- Wiring Pi. GPIO Interface library for the Raspberry Pi. http://wiringpi.com/