Course Syllabus for CPSC 452 Introduction to Robotics

CPSC 452 Introduction to Robotics and Spatial Intellience

Lecture time: MWF 11:20AM-12:35PM HRBB 104

Office hour: By Appointments

Course Schedule

Middle Term I will be scheduled in class on Mar. 3, 2010. No books or notes are allowed. However, you can bring a cheat sheet that is a standard letter-sized paper and handout -1 with you.

Week	Lecture Topics	Notes and Assignments
1	Intro
2	Intro, Homogeneous transformations and Coordinate frames	Lec. 1 Lec. 2
3	Homogeneous transformations and Coordinate frames, Forward kinematics	Lec. 3 [Handout 1]
4	Forward kinematics	Lec. 4 [Quiz 1 answer]
5	Forward kinematics,	Lec. 5 [Project 1]
6	Inverse kinematics	Lec. 6 [Quiz 2 anwser] [Law of Cosines] [Atan2 function]
7	Inverse kinematics/Midterm Exam I	[Quiz 3 answer]][Project 2]
8	Tele-operation and networked robots	Lec. 7 [Project 3]
9	Spring break
10	Intro to Mobile robots
11	Intro to Mobile robots Motors and sensors
12	Motors and sensors
13	Robot motion planning
14	Robot motion planning
15	In class Exam II

Expected outcomes

It is expected that successful participation in the course will allow the student to demonstrate:

· an ability to apply knowledge of mathematics, science, and engineering (3.a)

· an ability to design and conduct experiments, as well as to analyze and interpret data (3.b)

· an ability to design a system, component, or process to meet desired needs (3.c)

· an ability to function on multi-disciplinary teams (3.d)

· an ability to identify, formulate, and solve engineering problems (3.e)

· an understanding of professional and ethical responsibility (3.f)

· an ability to communicate effectively (3.g)

· an ability to use the techniques, skills, and modern engineering tools necessary for engineering practice (3.k)

Recommended Textbooks

· Introduction to Robotics: Mechanics and Control (3rd Edition) , John J. Craig, Prentice Hall; 3 edition (August 6, 2004)

· Springer Handbook of Robotics, Springer Berlin Heidelberg, [Online access]

· Behavior-Based Robotics, Ronald C. Arkin, MIT press, 1998

Relevant Links

General Notices,

If you send an email to me, please use [CPSC 452] in subject line to avoid delays.
Office hours are appointment-based.
Exams are closed-book and closed notes if not specified. You may bring a calculator and one piece of paper with notes (both sides) to the exams.
Discussion of assignment among classmates is encouraged. However, if you turn in an obviously copied assignment, you will receive a final grade of F for the course.
Assignments must be handed in on time to receive full credit. If you assignment is late, you will lose 20%. For each 24 hours past due date (Saturdays and Sundays are not counted), you will lose another 20%. Late assignments can be handed in to one of the secretaries in the CS department. You should have the secretary sign and date your work.
5 random in-class quizzes will be given during the semester. Each will count as 1% toward your final grading. If anyone who does not submit the in-class quiz, he/she will loose both attendance point and quiz point.

Grading