Development of a Laboratory Kit for Robotics Engineering Education

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1 Development of a Laboratory Kit for Robotics Engineering Education Taskin Padir, William Michalson, Greg Fischer, Gary Pollice Worcester Polytechnic Institute Robotics Engineering Program tpadir@wpi.edu

2 Outline RBE program at WPI Unified Robotics Laboratory Kit Evaluation 2

3 Robotics at WPI B.S. in Robotics Engineering Approved by the WPI Faculty in fall M.S. in Robotics Engineering Approved by the WPI Faculty in spring Ph.D. in Robotics Engineering Due for a WPI Faculty vote on Thursday. The first RBE B.S. program in the United States. The first institution offering both B.S. and M.S. Robotics Engineering programs in the United States. 3

4 The Robotics Industry New England, and Massachusetts in particular, houses a strong and growing Robotics industry. Sales exceed $1 billion Employ 2,500 in Massachusetts 40% companies are startups or less than 6 years old Average annual growth rate 47% 90% of all hires are local hires 70% plan to hire in next 1 2 years

5 Robotics WPI 2007, 2009,

6 Unified Robotics Four core courses: RBE2001, RBE2002, RBE3001, RBE3002 Tightly integrated content from all three contributing disciplines Faculty create a truly cross-disciplinary experience Beginning with fundamental concepts in CS, ECE and ME developed in the context of basic follow the instructions mobile robots... culminating in robots that have intelligence, senses, communications and that can navigate

7 Electives CS 2303 System Programming Concepts CS 3013 Operating Systems CS 3041 Human-Computer Interaction CS 4341 Introduction to Artificial Intelligence CS 4514 Computer Networks ECE 2311 Continuous-time Signal and System Analysis ECE 2312 Discrete-time Signal and System Analysis ECE 3308 Introduction to Wireless Networks ME 3310 Kinematics of Mechanisms ME 4322 Modeling and Analysis of Mechatronic Systems ME 4815 Industrial Robots

8 Sample Program

9 RBE Curriculum Introduction to Robotics, RBE1001 Unified Robotics RBE Power RBE Sensing RBE Manipulation RBE Navigation 9

10 RBE Curriculum Software Engineering Embedded Systems Statics Control Systems Electives CS/ECE/ME Algorithms, AI, kinematics, dynamics, signal processing, microelectronics 10

11 Unified Robotics I-IV Multidisciplinary theory and practice of robotics Robot is the common platform Hands-on Project and laboratory based Demanding Rewarding 11

12 Unified Robotics kinematics, stress and strain, pneumatics electrical circuits, electric motors and drive circuits, sensors and signal conditioning embedded systems programming using C 12

13 Unified Robotics kinematics, stress and strain, pneumatics electrical circuits, electric motors and drive circuits, sensors and signal conditioning embedded systems programming using C intro to algorithms using Java 13

14 Unified Robotics 7-week terms 4 hours of lecture + 2 hours of lab per week WPI Plan: Theory and Practice project based-learning, hands-on assignments, commitment to learning outside the classroom. Team-taught 14

15 Background Courses Taken % of students Calculus I-IV % Differential Equations 64 % Linear Algebra 16 % Physics I-II (Mechanics, Electricity) % Statics 79 % Introduction to Robotics 85 % Software Packages MathCAD 6 % MATLAB 19 % Excel or equivalent 96 % Computer Programs Scheme 66 % C/C++ 43 % Basic 17 % Other 49 % I cannot write computer code. 13 % 15

16 RBE2001 Unified Robotics I Class/Lab Topic 1-4 Introduction to Kinematics, Steering Mechanisms, Position Analysis Lab 1 Introduction to Mechanisms 5-6 Introduction to Embedded C programming 7-8 Introduction to Electric Circuits and Measurement Lab 2 Introduction to Electronics 9-10 Introduction to Control Systems, PID controller Electric Motors and Drives Lab 3 Applied Kinematics More Kinematics, Velocity and Acceleration Analysis Lab 4 DC Motor Drive Circuits and PID Controller Software Engineering Dynamic Force Analysis, Virtual Work, Lumped Parameter Models Lab 5-7 Term Project: Bringing all together More C programming Electric and Mechanical Power, Batteries, DC-DC converters, 16

17 RBE2002 Unified Robotics II Class/Lab Topic 1-3 Properties and Mechanics of Materials Lab 1 Motor Current Sensing and Mechanical Force Analysis 4-5 Instrumentation for Sensors 6-8 Embedded C Programming: Structures and Pointers Lab 2 Strain Gauges and Instrumentation Amplifiers 9-10 Stepper Motors and Drive Circuits Sensor Classification and Sensor Characteristics Lab 3-4 Basebot Sensor Integration Signal Conditioning Sensors for Mobile Robots I More Programming in C: Sensing Strategies Lab 5-7 Term Project: Fire Fighting Robot Hydraulic and Pneumatic Devices A Survey on Sensor Technologies 17

18 RBE 2001 Final Projects 18

19 RBE 2002 Final Projects 19

20 20

21 Video Clip! 21

22 RBE3001 Unified Robotics III Class/Lab Topic 1-4 Introduction to Embedded Programming Lab 1 AVR Lab IO, Interrupts and Logging 5-8 Control Systems, Motors, Motor Control Lab 2 Single Link Arm 9-12 Two Link Arm Kinematics and Dynamics Lab 3 Two Link Arm Ranging Sensors Lab 4 Ranging Sensors Non-ranging Sensors Lab 5 Non-Ranging Sensors Multi Link Arm Kinematics Lab 6-7 Term Project: Bringing all together Error Propagation 22

23 3001 Lab Kit 23

24 The Daughter Board 24

25 25

26 RBE3002 Unified Robotics IV Class/Lab Topic 1-4 Introduction to Java Lab 1 Two-Link Arm (RBE 3001 Lab 3) in Java 5-8 Mobile Robot Kinematics and Locomotion Lab 2 Two-Link Arm Control (Framework Integration) 9-12 Systems Engineering Lab 3 Mobile Platform Development Environment Interaction (Hardware and Software) Lab 4 Mobile Robot Locomotion Sensor Fusion Lab 5 Sensing and Perception World Modeling Lab 6-7 Navigation Navigation Planning 26

27 3002 Platform 27

28 3002 API 28

29 Evaluation Faculty feedback Student feedback Industry feedback 29

30 Course Evaluations 30

31 Course Evaluations 31

32 Students >20 hrs ~62/72 32

33 Evaluation Content Analysis for Senior Projects Employability Graduate Surveys Employer Surveys 33

34 Conclusion Presented an overview of the RBE program at WPI. Presented an overview of the RBE lab kit. Unified Robotics courses cover the foundations of mechanical engineering, electrical engineering and computer science The focus is on robot applications. Cross-training is essential in all courses. This is still work-in-progress. 34

35 Q U E S T I O N S?? 35

36 RBE on YouTube!

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