Teaching

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Professors

Tutoring: at any time in the office 113, if I'm not busy, or better send me an email to get quotes.

Subject "Robotics", 2008-2009 Course

In addition to the information contained herein, the subject has an electronic forum which is the main tool of communication between students and teacher.

Methodology

The course fits within the Master of Telematics and Information Systems, as an optional subject in the first quarter, 4.5 credits. The course is divided into a theoretical component and a ppractical component that must be succeced separately. Courses are imparted in the form of weekly sessions of 3 hours, half the theoretical part, and for half the practice. The theory is imparted on Mondays from 17 to 18:30 in the classroom 204 of Vacant-III (Campus de Mostoles). The practices are in the lab building Laboratories-II 109 (Campus of Mostoles), after the class of theory.

The school attendance is not mandatory but recommended.

In the theoretical part, we will discuss the various aspects of mobile robotics, from the hardware components (sensors and actuators), the basic problems (like navigation, location, planning, etc) until the software architectures used today for programming robots. The professor conducted a presentation of the subject. Optionally we would provide basic research articles that describe the techniques which can be explained by students in a exposition.

The practices will be to develop a simulated robot to perform any autonomous task. The intelligence of autonomous robot depends exclusively on the software programs developed.

Alternativelyspecial practices are available for those who already have a more or less advanced robotic any topic.

Evaluation

To achieve the subject, the students have to do a theoretical exam (with short and test questions) and a practical demostration with he professor in the appropiate time.

Theory

  1. Meting presentation (20081006)
  2. Introduction to robotics (20081013 y 20081020)
  3. Sensors (20081020 y 20081027)
  4. Actuators (20081027)
  5. Map building (20081103)
  6. Self-Localization (20081103)
  7. Local Navigation
  8. Navigation with maps
  9. PID and Fuzzy control
  10. Robot vision
  11. Reliberative systems
  12. Reactive systems
  13. Hybrid systems
  14. Behavior based sytems
  15. Ethology based sytems

Practice

The practices consist on develop programs for a simulated robot to navigate autonomously, build maps or self-location in an environment. Most of the practices are conducted with the Pioneer robot in the simulator Stage, Gazebo, others in the simulator. Students who best solve these problems with the simulated robot can try the real Pioneer (see photo). Similarly if you want to use any other real robots, or with mechanical neck and ground truth systems, you can ask for any special practice.



BLOG

  • (2008/10/20) The initial session of practice is to settle and become familiar with the JDE + Player + Stage. This software is installed in the lab. You have basic information of several sensory and actuators in the practices of last year.
  • (2008/10/27) The first practice is to change navegación.c so that the robot to behave like a Bump and Go: While having no obstacles in front moves forward, and where is an obstacle ahead, curbs, back and a turn a random number of degrees. Just then resumed their advance. It is recommended to implement it as a finite state machine to realize this behavior without losing the iterative execution. At the end of this practice, you will be probably already familiar with the iterative nature of this software.
  • (2008/11/03) In this third session of practice the sudents will continue developing simple programs in the simulated Pioneer. We look at how to get data from the sensors in your code, how to commmand movements to the robot motors. Write a program that periodically displays the distance to the nearest obstacle that the robot is in front. Teleoperate it with the joystick while you run your modified visual scheme introrob. The sensory value should increase or decrease as the robot moves away or about any obstacle in his forehead. To practice with commands to write a program to move the robot to describe a spiral or to describe a square with his path. In fact you can combine behavior using a cronometer (gettimeofday) for the robot to first describe a spiral, and spent some time describing a square.

With this meeting we finished the period of familiarization with the basic platform of practice. Everyone should be familiar with the programming environment, should know to use and have developed a Bump and Go behavior with finite state machine. From next week we will start scheduling some technical navigation in the local robot.



REPERTORY

  • Bump and Go behavior
  • Local navigation using VFF
  • Hybrid navigation: deliberative y reactive. Competitions in the simultaed Cheste circuit


ADDITIONAL MATERIAL

End of Master Works

The Master of Information Systems and Telematics is part of the doctoral program of the Department of Telematic Systems and Computer Science. The Master includes the need of to do an End of Work Master (TFM) of 15 credits. If you want to do things on your TFM about robotics or computer vision you can contact me.


In course

urrently, several students are making their TFM in the field:

  • Jamal Bouchti: monitoring the position of the head using the Wiimote's sensors. Something similar to the work of Johnny Chung Lee at CMU.
  • Humberto Hurrutia: preparation of teaching practices with the robot LEGO-NXT.
  • Roberto Calvo: Plaque VIA domotic applications using the platform and JDE webservice.
  • David Lobato: use of ICE in a robotic distributed middleware, software architecture for robotic applications.

In previous years

In previous doctoral programs there was a subject also called Robotics, and students should develop their Labor Research guardianship (TIT) as a precursor to a doctoral thesis. Today, in the current program, this work is not necessary. Several Tits vave been developed supervised by teachers of the subject "Robotics":


Previous courses

Links to research center labs in robotics

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