HOLY ANGEL UNIVERSITY COLLEGE OF INFORMATION AND COMMUNICATIONS TECHNOLOGY ROBOT MODELING AND PROGRAMMING COURSE SYLLABUS

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1 HOLY ANGEL UNIVERSITY COLLEGE OF INFORMATION AND COMMUNICATIONS TECHNOLOGY ROBOT MODELING AND PROGRAMMING COURSE SYLLABUS Code : 6ROBOTMOD Prerequisite : 6ARTINTEL Credit : 3 s (3 hours LAB) Year Level: 3 rd year / 4 th year Degree Program : Bachelor of Science in Computer Science (BSCS) Description : This course will give a good grasp of the fundamentals of robotic systems including kinematics and dynamics as pertaining to manipulator and mobile robots, control methodologies as applied to manipulator arms, several common path-planning techniques as applied to manipulators and mobile robots. It also covers several lectures covering robots that have made a significant impact to the field. The course mainly introduces LEGO NXT Mindstorms kit to let learners build, program and test their different creations such as robot designs using NXT Programming 2.1. s are expected to embed programs and interface them with their LEGO designs and run them successfully, satisfying PEAS (Performance measure, Environment, Actuators and Sensors) considerations. At the end of the course, students will be able to: s C1 Apply the fundamentals of electronics by being able to differentiate devices such as multitester/vom, resistors, beadboard, power source, push-button switches, LEDs, alligator clips and wires and logic gates embedded on integrated circuits (ICs). Integrate knowledge in electronics by designing a circuit with series and parallel connections with proper computations considering Ohm s Law to present the relationship of Resistors used, Voltage and Current applied. Graduate s aligned to BSCS01: Apply knowledge of computing fundamentals, knowledge of a computing specialization, and mathematics, science, and domain knowledge appropriate for the computing specialization to the abstraction and conceptualization of computing models from defined problems and requirements. Page 1 of 21

2 C2 Design and create a circuit with logic gate(s) such as 74LS 32 and LED(s) in a breadboard being controlled by push-button switches and be able to demonstrate how to troubleshoot for its errors and discuss how it functions successfully. BSCS02: Identify, analyze, formulate, research literature, and solve complex computing problems and requirements reaching substantiated conclusions using fundamental principles of mathematics, computing sciences, and relevant domain disciplines. C3 C4 Identify different components which could be found on available NXT LEGO Mindstorms development kit effectively according to the designs to be followed. Create different LEGO designs and embed programs on them using NXT Programming 2.1 which then after series of tests will successfully run, satisfying PEAS (Performance Measure, Environment, Actuators and Sensors). Build, program and design a based from group/team effort by utilizing previous knowledge on different activities using different sensors and NXT components available. the by specifying PEAS based from guidelines and be able to provide proper documentation for this project. Become an active team member by independently source necessary knowledge, assistance, skills and resources to complete tasks, perform tasks independently without the need for prodding, coordinate with other business professionals and professionals from other disciplines to achieve goals and complete tasks and raise issues and concerns to the team in order to seek consensus resolutions. BSCS03: Design and evaluate solutions for complex computing problems, and design and evaluate systems, components, or processes that meet specified needs with appropriate consideration for public health and safety, cultural, societal, and environmental considerations. BSCS06: Create, select, adapt and apply appropriate techniques, resources and modern computing tools to complex computing activities, with an understanding of the limitations to accomplish a common goal. Page 2 of 21

3 Become an effective team leader by setting proper goals and timeline of activities to complete team objectives, allocate tasks according to team member capabilities, monitor task completion and performance of team members, manage resources needed by the team to achieve team goals and resolve and reduce conflicts within the team. Evidences As proof of achievement of the above-mentioned outcomes, students are required to submit/demonstrate the following: LE1: Series and Parallel Circuits using Breadboard C1, C2 LE2: Circuit Design with Integrated Circuit (74LS Family) C1, C2 LE3: NXT LEGO s and LEGO Final Project C3, C4 Measurement System: To assess the level of performance in the learning evidences, the following rubrics will be used: LE1: Series and Parallel Circuit using Breadboard Area to Assess Allotted Percentage Completeness 25% Circuit design and neatness 20% Troubleshooting 15% Functionality 20% Computation 10% Presentation 10% TOTAL 100% Page 3 of 21

4 LE2: Circuit Design with Integrated Circuit (74LS Family) Area to Assess Allotted Percentage Completeness 25% Circuit design and neatness 20% Troubleshooting 15% Functionality 20% Computation 10% Presentation 10% TOTAL 100% LE3: NXT LEGO s and LEGO Final Project Area to Assess Allotted Percentage Design and neatness 20% Correctness of Program 20% Functionalities 30% Accomplishment of Goal/s 20% Presentation and Q and A 10% TOTAL 100% Page 4 of 21

5 Plan Identify the significance of the course in their field of specialization. Determine the history of Robotics Technology Specify why robots are more desirable than human agents 1 C1, C2, C3 Orientation/ Overview 1. Introduction to Robotics Technology 1.1. History 1.2. Robotics Applications 1.3. Differences of Robots and Human Agents Brainstorming Recitation Differentiate robotics applications Explain and demonstrate different NXT hardware components such as: Motors Sensors The LEGO NXT Mindstorms The NXT Mindstorms Hardware Kit The NXT Programming 2.1 Software NXT Hardware and Software Interfacing LEGO Page 5 of 21

6 examples and explain how they work. Classify the importance of mechanical means on any develop creations related to robotics technology. Differentiate levels of autonomy. Incorporate the underlying principles and importance of PEAS criteria. 2-3 C1, C2, C3 2. Mechanical and Motors 3. Levels of Autonomy 4. PEAS Criteria 4.1. Performance measure 4.2. Environment 4.3. Actuators 4.4 Sensors Familiarization and Working with NXT Motors Interactive Servo Motors o Top Spinner Snowmobile Boardwork Sharing identified facts Seatwork1 its mechanical means the Interactive Servo Motors 4. Motors Working Together 5.1. Directions 5.2. Speed 5.3. Rotations 5. Kinematics 6.1. Forward and inverse kinematics 6.2. The Jacobian and LEGO Page 6 of 21

7 Create car robots with multiple motors working together. singularities 6.3. Kinematic optimization Working with multiple NXT Motors Interactive Servo Motors o Express Bot o Car Bot Integrate the use of event handling on robotics applications. 4 C1, C2, C3 7. NXT Event Handling 7.1. LEGO NXT sensors Touch Sensor 7.2. Motor control Recitation Groupwork Make use of NXT Event Handling related to touch sensors. 8. Dynamics of Robot 9. Manipulators Quiz1 Use information on various dynamics of robot manipulators and analyze their usage on different situations. Wait for Sensors Touch Sensors o Mouse Trap LEGO Page 7 of 21

8 the application of touch sensor. the integration of motors and touch sensors o Express Bot with touch sensor the use of NXT Event Handling related to multiple touch sensors. Determine the use and importance of repetitive statement. 5 C1, C2, C3 10. Event Handling with Looping LEGO NXT sensors Touch Sensor Motor control 11. Control of Robot Manipulators Nonlinear Control Stability Brainstorming Assignment1 Specify nonlinear control as a robot manipulator. Integrate robot stability and congruency of its function. Wait for Sensors LEGO Page 8 of 21

9 the application of multiple touch sensors. the integration of motors and touch sensors with iteration. Touch Sensors o Arm Control Bot o Express Bot with touch sensor Series and Parallel Circuits using Breadboard (LE1) Determine the use of NXT Event Handling related to sound sensors. Cite the use and importance of decision (If statement). Differentiate adaptive and nonadaptive controls using different scenarios. 6 Prelim Examination 7 C1, C2, C3 12. Event Handling with Boardwork Decision LEGO NXT sensors Collaboration - Sound Sensor Motor control 13. Control of Robot Manipulators Adaptive Control Non-Adaptive Control Seatwork2 Wait for Sensors Page 9 of 21

10 the application of sound sensor with condition. Sound Sensor o Express Bot with sound sensor o Voice Controlled Car LEGO the integration of motors and sound sensor. Adapt the use of NXT Event Handling related to light sensor. Apply the use and importance of decision (If statement) with values indicated. robot s pathplanning procedures. 8 C1, C2, C3 14. Event Handling w/ Decision LEGO NXT sensors - Light Sensor Motor control 15. Path-Planning Configuration Space Potential fields Wait for Sensors Light Sensor o Express Bot with light sensor o Line Follower LEGO Presentation Page 10 of 21

11 the application of light sensor with condition as values. the integration of motors and light sensor. Incorporate the use of NXT Event Handling related to ultrasonic sensor. Make use of importance of decision (If statement) with values indicated. Determine projectile motion which could be used by a specialized robot creation. 9 C1, C2, C3 16. Event Handling with Decision LEGO NXT sensors - Ultrasonic Sensor Motor control 17. Motion Projectile Motion Simple Harmonic Motion Boardwork Groupwork Quiz2 Wait for Sensors Ultrasonic Sensor o Express Bot with Page 11 of 21

12 the application of ultrasonic sensor with condition as values. the integration of motors and ultrasonic sensor. ultrasonic sensor o Claw Striker LEGO Combine principles of search based operations on robotics technology. 10 C1, C2, C3 18. Search-based Control LEGO NXT sensors Motor control Decision making Nested loops Collaboration Recitation Identify the use of NXT Event Handling related to multiple sensors execution. 19. Motion Swinging with Gravity Terminal Velocity how gravity works as well as terminal velocity. Page 12 of 21

13 the application of multiple sensors with various conditions. the integration of motors as well as ultrasonic and touch sensors. Classify principles of mapping and navigation on robotics technology. Exhibit the use of NXT Event Handling related to multiple sensors execution. Employ the use of variables and Multiple Sensors Execution Ultrasonic Sensor Touch Sensor o Maze Race Express Bot with different sensors 11 C3, C4 20. Mapping and Navigation LEGO NXT sensors Motor control Variables and Math Operations Combined Sensor Readings 21. Force and Motion Gear Ratios and Speed Gear Ratios and LEGO Brainstorming Presentation Quiz3 Page 13 of 21

14 math operations necessary to handle sensor readings. Force the effect of different gear sizes in relation with speed and force. the application of multiple sensors with various conditions and values. the integration of motors as well as ultrasonic, light and sound sensors. Multiple Sensors Execution Ultrasonic Sensor Light Sensor Sound Sensor o Explorer Bot with different Sensors LEGO Circuit Design with Integrated Circuit (74LS Family) LE2 12 Midterm Examination Page 14 of 21

15 Specify Newton s Laws and investigate them to know how these rules apply to robot creations. Measure friction and its effect on robot motion/movement. 13 C3, C4 22. Force and Motion Newton s Laws Demonstration Newton s 2 nd Law Investigation Measuring Friction Brainstorming Classification steers by pivoting its front wheels like a real car, and is controlled by a wired remote control. Determine the energy being produced by a sound sensor and analyze reductions related to it. Use information Steering Manipulation Touch Sensor Servo Motors o Steering Rover 14 C3, C4 23. Energy Microphone Sound Reduction Wave Intensity versus Distance LEGO Collaboration Recitation Assignment2 Page 15 of 21

16 on wave intensity versus distance created by a robot. use the sound sensor to obey the voice commands "Go", "Stop", "Turn Left", and "Turn Right". Determine and investigate battery energy consumption of a particular robot creation. Sound Manipulation Sound Sensor Servo Motors o Voice Controlled Car 24. Energy Battery Investigation Investigating the Solar Cell Parallel and Series Circuits LEGO Explain series circuit in terms of robot s circuit design. Sight Manipulation Ultrasonic Sensor Page 16 of 21

17 build a rotating radar using the ultrasonic sensor which scans back and forth and draws a map of objects detected on the NXT display. Servo Motors Radar bot Label systematically on how robot provides an output based from an event and collect feedback which will control the robot movement/motion C3, C4 25. Newton-Euler formulation 26. Single-joint control 27. Control by feedback 28. Linearization Boardwork Identify how linearization is being used by a designed robot. Laboratory Controlling by Feedback Page 17 of 21

18 add a pitching machine to the Baseball Batter project which when the batter sees the ball with the ultrasonic sensor, it will swing its bat to hit it. Ultrasonic Sensor Servo Motors o Pitching Machine and Batter LEGO Determine on how robot creation adapts on its environment and use that as a control mechanism. 17 C3, C4 29. Adaptive/robust control 30. Nonholonomic mobile robots 31. Introduction to Raspberry PI Robots and PI Sharing identified facts Recitation Specify nonholonomic mobile robots. Introduce Raspberry PI and how it will be used for robot creations Self-Balancing Control Light Sensor LEGO NXT LEGO s and LEGO Final Page 18 of 21

19 simulate a Segway PT, which is a twowheeled selfbalancing vehicle that a rider stands on. By using the NXT light sensor as a simple proximity sensor to the ground to detect the approximate tilt angle of the robot, the robot can actually balance itself. Ultrasonic Sensor Servo Motors NXT Segway with Rider Presentation Project (LE3) 18 Final Examination Page 19 of 21

20 References: A. Published Materials Valk, Laurens, The LEGO MINDSTORMS NXT 2.0 Discovery Book: A Beginner's Guide to Building and Programming Robots Niku, Saeed, Introduction to Robotics : analysis, control, applications, 2011, 2 nd Edition Rainer Waser, Rainer, Nanoelectronics and information technology : advanced electronics materials and novel devices 2005, 2nd Edition B. Web References (Physics with Robotics: An NXT & RCX Guide) (Projects for your LEGO MINDSTORMS NXT) (Serial & Parallel Robot Manipulators) (Robotic Systems-Applications, Control & Programming) (Recent Advances on Mobile Robotics) (Mobile Robots) (Teach Resources of Raspberry PI) Grading System The final grade in this course will be composed of the following items and their weights in the final grade computation: Class Standing 60% Major Exam 40% FINAL GRADE = Class Standing + Major Exam Page 20 of 21

21 Transmutation Table: Minimum Passing Percent Average of Subject : 50 RANGE EQUIVALENTS (COMPUTED AVERAGES & TRANSMUTED VALUES) Range of Computed Average Range of Transmuted Values Grade General Classification Outstanding Excellent Superior Very Good Good Satisfactory Fairly Satisfactory Fair Passed Below Passing Average 5.00 Failed Failure due to absences 6.00 FA Unauthorized Withdrawal 8.00 UW Officially Dropped 9.00 Dropped Page 21 of 21