Print View: METR7202 - Sem 2 2015 - St Lucia

2. Aims, Objectives & Graduate Attributes

2.1 Course Aims

The objective of this this course is to understand robotic systems in a principled and algorithmic manner, chiefly by using the advanced tools of kinematics and state-space control.
Student will:
1. Be familiar with sensor technologies relevant to robotic systems,
2. Understand homogeneous transformations and be able to apply them to robotic systems,
3. Understand conventions used in robot kinematics and dynamics,
4. Understand the dynamics of mobile robotic systems and how they are modeled,
5. Understand state-space and its applications to the control of structured systems (e.g., manipulator arms),
6. Have implemented sensing and control algorithms on a practical robotic system
7. Apply a systematic approach to the design process for robotic systems,
8. Understand the practical application of robotic systems in to intelligent mechatronics applications (e.g., manufacturing, automobile systems and assembly systems),
9. Develop the capacity to think creatively and independently about new design problems; and,
10. Undertake independent research and analysis and to think creatively about engineering problems.

2.2 Learning Objectives

After successfully completing this course you should be able to:

1. ROBOTICS
1.1  Model (analyze) robotic systems
1.2  Design (synthesize) and control robotic systems
1.3  Be able to explain and describe basic image sensing and processing as it applies to automation and robotic systems
1.4  Discuss and demonstrate motion planning as part of a robot motion pipeline

2. CONTROL
2.1  Design linear control systems using state-space methods such that it allows for regulation and/or tracking (particularly in the presence of delay).

2.3. Graduate Attributes

Successfully completing this course will contribute to the recognition of your attainment of the following UQ (Postgrad Coursework) graduate attributes:

GRADUATE ATTRIBUTE	LEARNING OBJECTIVES
*A. IN-DEPTH KNOWLEDGE OF THE FIELD OF STUDY*
A2. A broad understanding of the field of study, including how other disciplines relate to the field of study.	1.1, 1.2, 1.3, 2.1
A3. A comprehensive and in-depth knowledge in the field of study.	1.1, 1.2, 1.3, 2.1
A5. An international perspective on the field of study.	1.1, 1.2, 1.3, 1.4, 2.1
A7. An appreciation of the link between theory and practice.	1.1, 1.2, 1.3, 2.1
*B. EFFECTIVE COMMUNICATION*
B1. The ability to collect, analyse and organise information and ideas and to convey those ideas clearly and fluently, in both written and spoken forms.	1.1, 1.2, 1.3, 1.4, 2.1
B2. The ability to interact effectively with others in order to work towards a common outcome.	1.1, 1.2, 1.3, 2.1
B3. The ability to select and use the appropriate level, style and means of communication.	1.1, 1.2, 1.3, 1.4, 2.1
B4. The ability to engage effectively and appropriately with information and communication technologies.	1.1, 1.2, 1.3, 2.1
B5. The ability to practise as part of an interdisciplinary team.	1.1, 1.2, 1.3, 2.1
*C. INDEPENDENCE AND CREATIVITY*
C2. The ability to work and learn independently and effectively.	1.1, 1.2, 1.3
C3. The ability to generate ideas and adapt innovatively to changing environments.	1.1, 1.2, 1.4
C5. The ability to formulate and investigate problems, create solutions, innovate and improve current practices.	1.1, 1.2, 1.3
C6. The abilities and skills that provide a foundation for future leadership roles.	1.1, 1.2, 2.1
*D. CRITICAL JUDGEMENT*
D2. The ability to apply critical reasoning to issues through independent thought and informed judgement.	1.1, 1.2, 1.3, 1.4, 2.1
D4. The ability to process material and to critically analyse and integrate information from a wide range of sources.	1.1
D5. The ability to evaluate opinions, make decisions and to reflect critically on the justifications for decisions using an evidence-based approach.	1.1, 1.2, 1.3, 2.1
*E. ETHICAL AND SOCIAL UNDERSTANDING*
E1. An understanding of social and civic responsibility.	1.1, 1.2, 1.3
E3. An appreciation of the philosophical and social contexts of a discipline.	1.1, 2.1
E4. A knowledge and respect of ethics and ethical standards in relation to a major area of study.	1.1, 1.2, 1.3
E5. A knowledge of other cultures and times and an appreciation of cultural diversity.	1.1, 1.2, 1.3, 2.1
E7. The ability to work effectively and sensitively across all areas of society.	1.2
E8. An understanding of and respect for the roles and expertise of associated disciplines.	1.2, 1.3, 2.1

5. Assessment

5.1 Assessment Summary

This is a summary of the assessment in the course. For detailed information on each assessment, see 5.5 Assessment Detail below.

Assessment Task	Due Date	Weighting	Learning Objectives
Laboratory Kinematics Lab	22 Aug 15	10%	1.1, 1.2, 1.3, 1.4
Laboratory Sensing & Control Lab	19 Sep 15	15%	1.1, 1.2, 1.3, 1.4
Laboratory Systems Lab	31 Oct 15	25%	1.1, 1.2, 1.3, 1.4, 2.1
Paper Research Paper in Robotics	9 Nov 15 23:59	50%	1.1, 1.2, 1.3, 1.4, 2.1

5.2 Course Grading

Grade X: No assessable work received.

Grade 1, Fail: Fails to demonstrate most or all of the basic requirements of the course: Total marks from and including 0 up to but not including 20.

The minimum percentage required for a grade of 1 is: 0%

Grade 2, Fail: Demonstrates clear deficiencies in understanding and applying fundamental concepts; communicates information or ideas in ways that are frequently incomplete or confusing and give little attention to the conventions of the discipline: Total marks from and including 20 up to but not including 45.

Grade 3, Fail: Demonstrates superficial or partial or faulty understanding of the fundamental concepts of the field of study and limited ability to apply these concepts; presents undeveloped or inappropriate or unsupported arguments; communicates information or ideas with lack of clarity and inconsistent adherence to the conventions of the discipline: Total marks from and including 45 up to but not including 50.

Grade 4, Pass: Demonstrates adequate understanding and application of the fundamental concepts of the field of study; develops routine arguments or decisions and provides acceptable justification; communicates information and ideas adequately in terms of the conventions of the discipline: Total marks from and including 50 up to but not including 65.

Grade 5, Credit: Demonstrates substantial understanding of fundamental concepts of the field of study and ability to apply these concepts in a variety of contexts; develops or adapts convincing arguments and provides coherent justification; communicates information and ideas clearly and fluently in terms of the conventions of the discipline: Total marks from and including 65 up to but not including 75.

Grade 6, Distinction: As for 5, with frequent evidence of originality in defining and analysing issues or problems and in creating solutions; uses a level, style and means of communication appropriate to the discipline and the audience: Total marks from and including 75 up to but not including 85.

Grade 7, High Distinction: As for 6, with consistent evidence of substantial originality and insight in identifying, generating and communicating competing arguments, perspectives or problem solving approaches; critically evaluates problems, their solutions and implications: Total marks from and including 85 up to and including 100.

Other Requirements & Comments : Please note that for all grade levels, standard algebraic rounding will be exercised. For example, a 49.49% will be recorded as a 49 (a 3 or fail), where as a 49.51 is a 50 (a 4 or pass). In extenuating circumstances, the course coordinator may adjust marks to reflect the achievement of the student.

All the laboratories will be identity-verified. You must be present and pass each and every laboratory in order to pass the course. If you do not pass all the laboratories then you final mark will be capped at 49% and your final grade will be capped at a 3.

5.3 Late Submission

Students must attend their demonstrations to receive marks for the demonstration. Students with unexplained absences will receive no marks for demonstrations.

Late Policy: 0 - 24 hours late means half marks, > 24 hours late means no marks. i.e. a report handed in 0 - 24 hours late receiving 10/15 will be penalised for late hand-in to 5/15.

No extensions will be granted except in exceptional personal circumstances (documented medical reason or family emergency). Personal hardware or computer failures are not grounds for extension (therefore please backup your data regularly).

All requests for extension must be submitted on the UQ Application for Extension of Progressive Assessment form (http://www.uq.edu.au/myadvisor/forms/exams/progressive-assessment-extension.pdf) no later than 48 hours prior to the submission deadline. The application and supporting documentation (e.g. medical certificate) must be submitted to the ITEE Coursework Studies office (78-425) or by email to enquiries@itee.uq.edu.au. If submitted electronically, you must retain the original documentation for a minimum period of six months to provide as verification should you be requested to do so.

5.5 Assessment Detail

Kinematics Lab

Type: Laboratory
Learning Objectives Assessed: 1.1, 1.2, 1.3, 1.4
Due Date:
22 Aug 15
Weight: 10%
Task Description:

Demonstrate a robot arm mechanism in the laboratory.

Criteria & Marking:

The demonstration will be marked based on the criteria itemised on the Kinematics Lab Sheet available for download from the course web page.

Submission: At the time of demonstration

Sensing & Control Lab

Type: Laboratory
Learning Objectives Assessed: 1.1, 1.2, 1.3, 1.4
Due Date:
19 Sep 15
Weight: 15%
Task Description:

Implement navigation, sensing and control algorithms on a simulation of a practical robotic system

Criteria & Marking:

The demonstration will be marked based on the criteria itemised on the Sensing & Control Lab Sheet available for download from the course web page.

Submission: At the time of demonstration

Systems Lab

Type: Laboratory
Learning Objectives Assessed: 1.1, 1.2, 1.3, 1.4, 2.1
Due Date:
31 Oct 15
Weight: 25%
Task Description:

A synthesis of kinematics, sensing, and state-space control

Criteria & Marking:

The demonstration will be marked based on the criteria itemised on the Systems Lab Sheet available for download from the course web page.

This is an identity-verified assessment item. You must be present at the demonstration.

Submission: At the time of demonstration. Additional reports to be submitted via the Platypus system.

Research Paper in Robotics

Type: Paper
Learning Objectives Assessed: 1.1, 1.2, 1.3, 1.4, 2.1
Due Date:
9 Nov 15 23:59
Weight: 50%
Task Description:

A research paper formatted in the ACRA Robotics Conference style (and page length/format). The individually written paper has to describe a robotics research topic, preferably based around original research conducted by the individual student.

Submission: Papers must be submitted as a PDF via the Platypus course software system.

6. Policies & Guidelines

This section contains the details of and links to the most relevant policies and course guidelines. For further details on University Policies please visit myAdvisor and the Policy and Procedures Library.

6.1 Assessment Related Policies and Guidelines

University Policies & Guidelines

An overview of the University’s assessment-related policies can be found on myAdvisor (http://www.uq.edu.au/myadvisor/index.html?page=2910).

Academic Integrity
It is the University's task to encourage ethical scholarship and to inform students and staff about the institutional standards of academic behaviour expected of them in learning, teaching and research. Students have a responsibility to maintain the highest standards of academic integrity in their work. Students must not cheat in examinations or other forms of assessment and must ensure they do not plagiarise.

Plagiarism
The University has adopted the following definition of plagiarism:

Plagiarism is the act of misrepresenting as one's own original work the ideas, interpretations, words or creative works of another. These include published and unpublished documents, designs, music, sounds, images, photographs, computer codes and ideas gained through working in a group. These ideas, interpretations, words or works may be found in print and/or electronic media.

Students are encouraged to read the UQ Student Integrity and Misconduct policy (http://ppl.app.uq.edu.au/content/3.60.04-student-integrity-and-misconduct) which makes a comprehensive statement about the University's approach to plagiarism, including the approved use of plagiarism detection software, the consequences of plagiarism and the principles associated with preventing plagiarism.

Applications for Extensions

Medical grounds: Applications for extension on medical grounds shall be made by lodging the Application for Extension of Progressive Assessment form and supporting documentation at the location outlined in Section 5.3 of the Electronic Course Profile for the course concerned.
Exceptional circumstances: Applications for extension on the grounds of exceptional circumstances shall be made to the relevant Course Coordinator/Program Director by lodging the Application for Extension of Progressive Assessment form and a personal statement outlining the grounds for the application at the location and by the due date outlined in Section 5.3 of the Electronic Course Profile for the course in which this application is made. If the exceptional circumstances are such that the student cannot reasonably be expected to have complied with these conditions, a case should be made as to why these conditions could not be met.
Outcome of application: Students will be advised of the outcome of their application via their student email.

Feedback on Assessment
Feedback is essential to effective learning and students can expect to receive appropriate and timely feedback on all assessment. For a detailed explanation of the feedback you are entitled to, you should consult the policy on Student Access to Feedback on Assessment. (https://ppl.app.uq.edu.au/content/3.10.02-assessment)

As a student you have a responsibility to incorporate feedback into your learning; make use of the assessment criteria that you are given; be aware of the rules, policies and other documents related to assessment; and provide teachers with feedback on their assessment practices.

There are certain steps you can take if you feel your result does not reflect your performance. Please refer to the myAdvisor web site. (http://www.uq.edu.au/myadvisor/index.html?page=2953)

School of Information Technology and Electrical Engineering Assessment Guidelines

Misconduct

Further to the statement on academic integrity and plagiarism above, students are required to read and understand the ITEE policy on Student Misconduct (http://www.itee.uq.edu.au/itee-student-misconduct-including-plagiarism).

Examination Conduct

Examinations will be conducted in accordance with section 1A Division 2 of the University’s General Award Rules (http://www.uq.edu.au/myadvisor/university-rules).

Non-attendance at Examinations

If you miss a mid-semester or final examination due to exceptional circumstances, you may be entitled to a deferred examination. For information on deferred examinations, refer to myAdvisor http://www.uq.edu.au/myadvisor/index.html?page=2995.

Examination Feedback

Students wishing to view examination answer scripts and/or question papers should consult with the School office (Room 425, General Purpose South Building [78], St Lucia) regarding arrangements. The ITEE policy on exam script viewing is available at http://www.itee.uq.edu.au/script-viewing.

Supplementary Assessment

If you fail this course you may be eligible for supplementary assessment - see the general award rules and/or your program rules for details. You should note that even though you may be eligible for supplementary assessment under these rules, in some circumstances there may be no practical assessment that can be offered to allow you to meet the minimum passing requirements. These circumstances may include failure based on:

group or team based assessment;
attendance or class participation requirements;
laboratory-based assessment, where laboratories can't practically be made available after classes have finished;
project or thesis-based assessment, where a significant period of time would be required to undertake supplementary assessment;
progressive assessment, where subsequent assessment items build on earlier assessment items; or
multiple assessment items, where it is impractical to offer multiple supplementary assessment items.

If the course coordinator determines that there is no practical supplementary assessment that can be offered to allow you to improve your grade, then you will not be offered supplementary assessment and your grade will remain unchanged.

6.2 Other Policies and Guidelines

University Policies and Guidelines

Placement Courses
Students on a placement course – also known as a work placement, internship, industry study, industry experience, clinical practice, clinical placement, practical work, practicum, fieldwork, teaching practice – should refer to the University policy, Placement Courses (https://ppl.app.uq.edu.au/content/3.10.04-placement-courses) for detailed information.

Working with Children
Students whose studies include a professional/work placement, internship, clinical practice, teaching practice or other similar activity which involves them in regular contact with children should refer to the University policy, Working with Children Check - "blue card" (http://ppl.app.uq.edu.au/content/1.60.07-working-children) to find out how to apply for a ‘blue card’.

Students with a Disability
Any student with a disability who may require alternative academic arrangements, including assessment, in the course/program is encouraged to seek advice at the commencement of the semester from a Disability Advisor at Student Services. Refer to the University policy, Students with a Disability (Disability Action Plan) (https://ppl.app.uq.edu.au/content/3.50.08-alternative-academic-arrangements-students-disability) and to the policy on Special Arrangements for Examinations for Students with a Disability (https://ppl.app.uq.edu.au/content/3.50.09-arrangements-reasonable-adjustments-examinations-students-disability#Procedures).

While it is the responsibility of the relevant faculty to liaise with professional and registration bodies regarding the acceptability of any adjustment to an academic program, the University Health Service can arrange appropriate advice and assistance on personal and public health issues.

Occupational Health and Safety
Undergraduate and Postgraduate Students should be familiar with the University policies on occupational health and safety in the laboratory (https://ppl.app.uq.edu.au/content/2.30.14-occupational-health-and-safety-laboratory).

Other School of Information Technology and Electrical Engineering Guidelines

Workplace (Occupational) Health & Safety (WH&S; OH&S) in ITEE

The School of ITEE takes its obligations to WH&S very seriously. WH&S is everybody’s responsibility, both the School’s and the students’. The School has worked to ensure that WH&S processes are effective and that assessments are kept up to date. Students must take the time to familiarise themselves with these procedures and assessments.

Before entering any ITEE lab, students must read the student edition of ‘OH&S in the Laboratory’ and complete the Safety Declaration Form to be found there. In addition, students must complete the ‘Student OH&S Induction’ on Blackboard (under "My Communities").

Other relevant information on WH&S in the School is to be found at the School's WH&S website including links from that page to the Risk Assessment Register and Electrical Safety.

Students, please ensure, by reading the information just referenced and completing the OH&S Induction and Safety Declaration Form as appropriate, that you are an active participant in a safe learning environment.

Medical Conditions that may affect safety

Persons suffering from any condition likely to compromise their own safety or the safety of others whilst in an Engineering Lab (such as colour blindness, epilepsy etc) must inform the school before access to labs is sought.

Ethical Clearance

If your course involves assignment or project work involving human subjects or human-related materials, you must investigate the need for ethical clearance and obtain it when required. Information on ethical clearance can be found at http://www.uq.edu.au/research/rid/human-guidelines .

Grievances

If you have a grievance about this course you should, in the first instance, contact the course coordinator. If a satisfactory reply is not received, please contact the ITEE Director of Coursework Studies - A/Prof Peter Sutton.

Other Course Guidelines

Supplementary assessment may not be available for the practical/laboratory assessment items because of the resources and infrastructure involved.

Learning Summary

Below is a table showing the relationship between the learning objectives for this course and the broader graduate attributes developed, the learning activities used to develop each objective and the assessment task used to assess each objective.

Learning Objectives

After successfully completing this course you should be able to:

1. ROBOTICS
1.1  Model (analyze) robotic systems
1.2  Design (synthesize) and control robotic systems
1.3  Be able to explain and describe basic image sensing and processing as it applies to automation and robotic systems
1.4  Discuss and demonstrate motion planning as part of a robot motion pipeline
2. CONTROL
2.1  Design linear control systems using state-space methods such that it allows for regulation and/or tracking (particularly in the presence of delay).

Assessment & Learning Activities

	Learning Objectives
	1.1	1.2	1.3	1.4	2.1
Learning Activities
Lecture 1 (Lecture)
Lecture 2 (Lecture)
Kinematics Lab (Laboratory)
Lecture 3 (Lecture)
Lecture 4 (Lecture)
Lecture 5 (Lecture)
Sensing Lab (Laboratory)
Lecture 6 (Lecture)
Lecture 7 (Lecture)
Lecture 8 (Lecture)
Systems Lab (Laboratory)
Lecture 9 (Lecture)
Lecture 10 (Lecture)
Lecture 11 (Lecture)
Lecture 12 (Lecture)
Lecture 13 (Lecture)
Assessment Tasks
Kinematics Lab
Sensing & Control Lab
Systems Lab
Research Paper in Robotics

Graduate Attributes

Successfully completing this course will contribute to the recognition of your attainment of the following UQ (Postgrad Coursework) graduate attributes:

	Learning Objectives
	1.1	1.2	1.3	1.4	2.1
Graduate Attributes
*A IN-DEPTH KNOWLEDGE OF THE FIELD OF STUDY*
A2. A broad understanding of the field of study, including how other disciplines relate to the field of study.
A3. A comprehensive and in-depth knowledge in the field of study.
A5. An international perspective on the field of study.
A7. An appreciation of the link between theory and practice.
*B EFFECTIVE COMMUNICATION*
B1. The ability to collect, analyse and organise information and ideas and to convey those ideas clearly and fluently, in both written and spoken forms.
B2. The ability to interact effectively with others in order to work towards a common outcome.
B3. The ability to select and use the appropriate level, style and means of communication.
B4. The ability to engage effectively and appropriately with information and communication technologies.
B5. The ability to practise as part of an interdisciplinary team.
*C INDEPENDENCE AND CREATIVITY*
C2. The ability to work and learn independently and effectively.
C3. The ability to generate ideas and adapt innovatively to changing environments.
C5. The ability to formulate and investigate problems, create solutions, innovate and improve current practices.
C6. The abilities and skills that provide a foundation for future leadership roles.
*D CRITICAL JUDGEMENT*
D2. The ability to apply critical reasoning to issues through independent thought and informed judgement.
D4. The ability to process material and to critically analyse and integrate information from a wide range of sources.
D5. The ability to evaluate opinions, make decisions and to reflect critically on the justifications for decisions using an evidence-based approach.
*E ETHICAL AND SOCIAL UNDERSTANDING*
E1. An understanding of social and civic responsibility.
E3. An appreciation of the philosophical and social contexts of a discipline.
E4. A knowledge and respect of ethics and ethical standards in relation to a major area of study.
E5. A knowledge of other cultures and times and an appreciation of cultural diversity.
E7. The ability to work effectively and sensitively across all areas of society.
E8. An understanding of and respect for the roles and expertise of associated disciplines.

feedback

Control system design : an introduction to state-space methods by Bernard Friedland. (HIGHLY Recommended) Available online via Knovel [https://library.uq.edu.au/record=b3292552~S7]

Robot Analysis: The Mechanics of Serial and Parallel Manipulators, L.-W. Tsai. John Wiley & Sons, 1999

Control Systems Engineering 5e (Prescribed) N.S. Nise, Wiley, 2008 UQ Library: TJ213 .N497 2008

Robot Analysis and Control, H. Asada and J.-J. E. Slotine, Wiley-Interscience, 1986

Echo360 (Lectopia on Blackboard) is not supported

METR7202 - Sem 2 2015 - St Lucia - Internal

1. General Course Information

1.1 Course Details

1.2 Course Introduction

1.3 Course Staff

1.4 Timetable

2. Aims, Objectives & Graduate Attributes

2.1 Course Aims

2.2 Learning Objectives

2.3. Graduate Attributes

3. Learning Resources

3.1 Required Resources

3.2 Recommended Resources

3.3 University Learning Resources

3.4 School of Information Technology and Electrical Engineering Learning Resources

4. Teaching & Learning Activities

4.1 Learning Activities

5. Assessment

5.1 Assessment Summary

5.2 Course Grading

5.3 Late Submission

5.5 Assessment Detail

6. Policies & Guidelines

6.1 Assessment Related Policies and Guidelines

University Policies & Guidelines

School of Information Technology and Electrical Engineering Assessment Guidelines

6.2 Other Policies and Guidelines

University Policies and Guidelines

Other School of Information Technology and Electrical Engineering Guidelines

Other Course Guidelines

Learning Summary

Learning Objectives

Assessment & Learning Activities

Graduate Attributes