ENGR 450 Robotics

Introduces robotics; robot systems characteristics; robot motive power systems; geometric

structure of robots; sensors and feedback; control applications and algorithms;data acquisition and output actuation functions; robots and AI; microprocessor, applications. (3 credits) Alternate Fall

Prerequisites: ENGR 220 or permission of instructor

Textbook: Introduction to Mechatronics and Measurement System by David Alciatore & Michael Histand ISBN: 978-007-296305-2

Instructor: Dr. Matthew R. Stein, SE106 254-3489.

COURSE WEB PAGE:

COURSE OBJECTIVES:

This course will introduce students to the capabilities and the challenges of robotic devices. Students will become familiar with mechatronics principles of sensing and actuation. Students will develop robot programs for execution on a small mobile robot. Students will build their own actuators and sensors for the mobile robot for an in-class robot competition.

TOPICS COVERED:

  1. Introduction to robots. Formal definition of a robot. Robots in use today. Current research topics.
  2. Mechatronic principles. Electronic sensing of mechanical states and events. Electromechanical actuation, providing control and power to electric motors.
  3. Computer integration and closed loop control. Signal transduction and conversion.
  4. Software structures for real-time control. Loops and event programming.
  5. Robust design for autonomous robots. Sensing and actuation principles and design axioms for robot performance.

Class Schedule: Class meets three times weekly for 50 minutes.

Contribution to the Professional Component:This course is an elective course in the Mechanical Engineering area. It is an advanced class engaging students in electronics and mechanical actuation and computer programming. Course includes significant laboratory component.

Relationship to Program Outcomes: As an upper-level elective course in the student’s academic program, this class responds to the following program outcomes;

a. an ability to apply knowledge of mathematics, science, and engineering

b. an ability to design and conduct experiments, as well as to analyze and interpret data

c. an ability to design a system, component, or process to meet desired needs within realistic constraints such as economic, environmental, social, political, ethical, health and safety, manufacturability and sustainability

e. an ability to identify, formulate and solve engineering problems

g. an ability to communicate effectively

i. a recognition of the need for, and an ability to engage in lifelong learning

j. a knowledge of contemporary issues

k. an ability to use the techniques, skills and modern engineering tools necessary for engineering practice

GRADING: / Percent of total / Grade
Individual Lab Practicum 250 points / 93.33% / A
Group Lab Assignments 250 points / 90% / A-
Homework 50 points / 86.67% / B+
Project 650 points / 83.33% / B
Total 1200 points / 80% / B-
76.67% / C+
Table represents the minimum grade that will be / 73.33% / C
assigned. Instructor reserves the right to “curve” / 60% / C-
grades upwards, when appropriate, but will not / 65% / D
assign grades lower than those listed in this table. / <65% / F

Homework Format:

Most homework assignments will be submitted electronically through the Blackboard system. If necessary, you may bring assignments on electronic medium and directly transfer files to the instructor’s computer.

Assistance/Collaboration Policy:

Students are encouraged to seek assistance. No student seeking assistance will be turned away from my office if I am available. Forming study groups to work on assignments is highly encouraged. Direct copying, duplication, or submitting another’s work as your own is plagiarism and subject to disciplinary action.

School of Engineering Attendance and Lateness Policy:

Regular attendance in classes is required of all students. Because some absence is often unavoidable, all students are allowed three absences for whatever reason. Regardless of the reason, absence above three classes affects the final grade according to the following chart. There is no need to provide the instructor a note or excuse for any absence.

Unexcused absences:

Up to 3 absences / No effect on final grade
4 Absences / Final grade lowered by ½ letter grade.
5 Absences / Final grade lowered by 1 letter grade.
6 or more absences / Final grade of 0 assigned (Official withdrawal recommended).

Attendance is typically monitored using "sign-in sheets" for each class meeting. It is the responsibility of the student to sign-in during each class attended. A student is considered absent of his or her signature does not appear on the sign-in sheet. Forgery of signatures on sign-in sheets is a violation of university Academic Integrity Policies and subject to disciplinary action.

Tardiness: Each three instances of excessive tardiness (e.g. > 10 minutes) will count as one absence.

Late assignments: Assignments not submitted by the due date on Blackboard are late. A student may submit one assignment, up to two weeks late, per semester without penalty, and one assignment at any time for 50% credit.

Detailed Class Schedule:

# / Date / Homework due date / Text: assigned reading /

Content/Activity

1 / Aug 27 (W) / Light Introduction
2 / Aug29 (F) / HW1: Research / Chapter 1 / Course structure and orientation
3 / Sep 3 (W) / Book website: Sony Qiro demo, Honda Asimo demo / Introduction to Mechatronics
4 / Sep 5 (F) / HW2: Read/rank posts / Robostamp Introduction
5 / Sep 8 (M) / 9.1 – 9.3 Sensors / Robostamp Sensors
6 / Sep 10 (W) / Robostamp motors
7 / Sep 12 (F) / Milestone 1 / Sensing contact
8 / Sep 15(M) / Sensing rotation
9 / Sep 17 (W) / Sensing light
10 / Sep 19 (F) / Milestone 2 / Sensing rotation digitally
11 / Sep 22 (M) / Sensing rotation digitally
12 / Sep 24 (W) / Sensing rotation digitally
13 / Sep 26 (F) / Sensing rotation digitally
14 / Sep 29 (M) / Encoder Lab
15 / Oct 1 (W) / Encoder Lab
16 / Oct 3 (F) / Milestone 3 / Individual Lab Practicum
17 / Oct 6 (M) / Individual Lab Practicum
18 / Oct 8 (W) / Robostamp Control Lab
19 / Oct 10 (F) / Robostamp Control Lab
20 / Oct 14 (Tu) / Review
21 / Oct 15 (W) / Actuation
22 / Oct 17 (F) / Pneumatics
23 / Oct 20 (M) / 10.1-10.9
Actuators / Servo motors
24 / Oct 22 (W) / Individual Lab Practicum
25 / Oct 24 (F) / Milestone 4 / Individual Lab Practicum
26 / Oct 27 (M) / On/Off control
27 / Oct 29 (W) / H-bridge control
28 / Oct 31 (F) / Milestone 5 / Feedback control
29 / Nov 2 (M) / Gearing and power
30 / Nov 5 (W) / Motor Lab
31 / Nov 7 (F) / Motor Lab
32 / Nov 10 (M) / Rob stamp Sensors
33 / Nov 12 (W) / Rob stamp Actuators
34 / Nov 14 (F) / Milestone 6 / Project Assignment
35 / Nov 17 (M) / Mechatronics III
36 / Nov 19 (W) / Mechatronics IV
37 / Nov 21 (F) / Mechatronics V
38 / Nov 24 (M) / Mechatronics VI
39 / Dec 1 (M) / Project Demonstrations
40 / Dec 3 (W) / Project Demonstrations
41 / Dec 5 (F) / Course Critique and Summary