This document provides a course description for an Introduction to Robotics class at Université Catholique de Louvain for the 2013-2014 academic year. The 5 ECTS course is taught in English and covers various topics in robotics including historical applications, modeling, trajectory planning, sensors, control, and ethics. Assessment includes online quizzes, a group project, a lab, and a final exam. Lectures introduce concepts in kinematics, dynamics, and control with applications to industrial, mobile, and humanoid robots. A lab on a humanoid robot is also included.
DEPARTMENT OF COMPUTER SCIENCE & ENGINEERING JUBAIL UNIV.docxsimonithomas47935
DEPARTMENT OF COMPUTER SCIENCE & ENGINEERING
JUBAIL UNIVERSITY COLLEGE
CS 206 : Digital Logic Design
ASSIGNMENT 1: Research on Embedded System and Project Proposal
Page 1 of 2
Write a report based on research about embedded system based on one of the following
topics:
1. Internet of Things (IoT)
2. Intelligent Devices
3. Smart Agriculture
REPORT WRITING ON LITERATURE REVIEW:
The details should be included in this report are:
Cover Page must have:
o Course Code and Course Name
o Assignment title
Table of Content (apply the IEEE style format)
Content arrangement:
PART I
Literature Review (survey the works of other researchers)
Instructions:
Journals or articles must be taken from year 2011 onwards
Journals or articles must be retrieved from the IEEE or ACM
At least 5 papers should be reviewed
At least 3 existing systems should be reviewed
Abstract (overview and purpose of the research)
Introduction (to the research ideas)
Introduce the broad context of the research and explain why this is an interesting area to
work in
Definition (define all the concepts apply to the project)
*** details and clear explanation
Methodology (identify the methodology that will be used in project)
*** details and clear explanation
Existing System Analysis (identify pro and cons of the existing system)
*** details and clear explanation
Page 2 of 2
PART II
Proposal for digital project (Discuss with your team members)
*** details and clear explanation
Team Members
Hardware Requirements
SUBMISSION AND DUE DATE:
Due Dates: Sunday (Week 9)
What to submit:
o 1 hardcopy of the assignment
o Softcopy with the references files or links in the blackboard.
RUBRIC
The following rubric will be used to mark your assignment:
Criteria:
** E: Fulfil the requirement G: Partial requirement are done
N: Did not fulfil the requirement
Criteria N [0] G [1] E [2]
Overall Report
Part I
1. Cover Page
2. Report is Neat and Organized
3. Apply the required format
4. Table of Content
5. Own words Summary
6. References
7. Submit on time
Part II
8. Complete Proposal
Total Marks (16)
MKT660_U4IP_6.docx
APA Papers 1
4
Unit 4 Individual Project
American Intercontinental University
MKT 660 -International Marketing
Unit 4 Individual Project
Abstract
This is a single paragraph, no indentation is required. The next page will be an abstract; “a brief, comprehensive summary of the contents of the article; it allows the readers to survey the contents of an article quickly” (Publication Manual, 2010). The length of this abstract should be 35-50 words (2-3 sentences). NOTE: the abstract must be on page 2 and the body of the paper will begin on page 3.
Introduction
Remember to always indent the first line of a paragraph (use the tab key). The introduction s.
DEPARTMENT OF COMPUTER SCIENCE & ENGINEERING JUBAIL UNIV.docxsimonithomas47935
DEPARTMENT OF COMPUTER SCIENCE & ENGINEERING
JUBAIL UNIVERSITY COLLEGE
CS 206 : Digital Logic Design
ASSIGNMENT 1: Research on Embedded System and Project Proposal
Page 1 of 2
Write a report based on research about embedded system based on one of the following
topics:
1. Internet of Things (IoT)
2. Intelligent Devices
3. Smart Agriculture
REPORT WRITING ON LITERATURE REVIEW:
The details should be included in this report are:
Cover Page must have:
o Course Code and Course Name
o Assignment title
Table of Content (apply the IEEE style format)
Content arrangement:
PART I
Literature Review (survey the works of other researchers)
Instructions:
Journals or articles must be taken from year 2011 onwards
Journals or articles must be retrieved from the IEEE or ACM
At least 5 papers should be reviewed
At least 3 existing systems should be reviewed
Abstract (overview and purpose of the research)
Introduction (to the research ideas)
Introduce the broad context of the research and explain why this is an interesting area to
work in
Definition (define all the concepts apply to the project)
*** details and clear explanation
Methodology (identify the methodology that will be used in project)
*** details and clear explanation
Existing System Analysis (identify pro and cons of the existing system)
*** details and clear explanation
Page 2 of 2
PART II
Proposal for digital project (Discuss with your team members)
*** details and clear explanation
Team Members
Hardware Requirements
SUBMISSION AND DUE DATE:
Due Dates: Sunday (Week 9)
What to submit:
o 1 hardcopy of the assignment
o Softcopy with the references files or links in the blackboard.
RUBRIC
The following rubric will be used to mark your assignment:
Criteria:
** E: Fulfil the requirement G: Partial requirement are done
N: Did not fulfil the requirement
Criteria N [0] G [1] E [2]
Overall Report
Part I
1. Cover Page
2. Report is Neat and Organized
3. Apply the required format
4. Table of Content
5. Own words Summary
6. References
7. Submit on time
Part II
8. Complete Proposal
Total Marks (16)
MKT660_U4IP_6.docx
APA Papers 1
4
Unit 4 Individual Project
American Intercontinental University
MKT 660 -International Marketing
Unit 4 Individual Project
Abstract
This is a single paragraph, no indentation is required. The next page will be an abstract; “a brief, comprehensive summary of the contents of the article; it allows the readers to survey the contents of an article quickly” (Publication Manual, 2010). The length of this abstract should be 35-50 words (2-3 sentences). NOTE: the abstract must be on page 2 and the body of the paper will begin on page 3.
Introduction
Remember to always indent the first line of a paragraph (use the tab key). The introduction s.
Water scarcity is the lack of fresh water resources to meet the standard water demand. There are two type of water scarcity. One is physical. The other is economic water scarcity.
Hybrid optimization of pumped hydro system and solar- Engr. Abdul-Azeez.pdffxintegritypublishin
Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
Terzaghi's soil bearing capacity theory, developed by Karl Terzaghi, is a fundamental principle in geotechnical engineering used to determine the bearing capacity of shallow foundations. This theory provides a method to calculate the ultimate bearing capacity of soil, which is the maximum load per unit area that the soil can support without undergoing shear failure. The Calculation HTML Code included.
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
Hierarchical Digital Twin of a Naval Power SystemKerry Sado
A hierarchical digital twin of a Naval DC power system has been developed and experimentally verified. Similar to other state-of-the-art digital twins, this technology creates a digital replica of the physical system executed in real-time or faster, which can modify hardware controls. However, its advantage stems from distributing computational efforts by utilizing a hierarchical structure composed of lower-level digital twin blocks and a higher-level system digital twin. Each digital twin block is associated with a physical subsystem of the hardware and communicates with a singular system digital twin, which creates a system-level response. By extracting information from each level of the hierarchy, power system controls of the hardware were reconfigured autonomously. This hierarchical digital twin development offers several advantages over other digital twins, particularly in the field of naval power systems. The hierarchical structure allows for greater computational efficiency and scalability while the ability to autonomously reconfigure hardware controls offers increased flexibility and responsiveness. The hierarchical decomposition and models utilized were well aligned with the physical twin, as indicated by the maximum deviations between the developed digital twin hierarchy and the hardware.
1. Université Catholique de Louvain - COURSES DESCRIPTION FOR 2013-2014 - LMECA2732
UCL - LMECA2732 - page 1/3
LMECA2732
2013-2014
INTRODUCTION TO ROBOTICS
5.0 ECTS credits 30.0 h + 30.0 h 2q
Teacher(s) : Ronsse Renaud ;
Language : Anglais
Place of the course Louvain-la-Neuve
Inline resources:
iCampus ( > http://icampus.uclouvain.be/claroline/course/index.php?cid=MECA2732) is used for:
Managing/answering the small on-line evaluations related to each mandatory reading.
Broadcasting general information related to the course.
Providing all lecture slides and necessary references.
Managing a forum discussing/answering the questions asked by the students.
Prerequisites : --
LELEC2811 (Instrumentation and sensors)
--
LINMA1510 (Linear Control (optional)
--
LMECA2755 (Industrial automation)
Main themes : Robotics is a field requiring the integration of multiple expertises. Robot design requires indeed integrating a mechanical structure,
one or several actuators, one or several sensrs, and a controller governing the robot behavior. This controller has also to be
implemented by using the dedicated IT tools.
Historical robotics applications were mostly developed for the industry, in the late 70s. The goal of industrial robotics is
automatization of fabrication processes, targeting the increase of productivity.
From more than one decade, robotics further penetrated other application fields, characterized by unpredictable environments
(while an industrial operation zone is usually unchanging and predictable). Therefore, these robots have to adapt their behavior in
response to changes in the interactions with the environment. Such applications are:
--
Mobile robots (wheeled and legged robots), evolving on unknown and potentially irregular terrains.
--
Surgical robots, assisting the surgeon to reach difficult body regions, to perform very accurate gestures (out of standard human
capacities), etc'
--
Rehabilitation robots, assisting patients with motor deficits to recover part of their autonomy.
--
Companion robots, providing various services like load transport, guide in a museum, etc' to one or several persons.
The goal of this course is to provide a global vision of robotics challenges to Master students, both in classical applications (industrial
robotics) and in more avant-gardist applications.
Aims : LMECA2732 implements an integration of different concepts covered in other courses (basic geometry, industrial automation, linear
control, instrumentation and sensors, etc') in the field of industrial and mobile robotics. This course opens the perspectives to the
broad field of robotics, giving access to more advanced courses and/or Master thesis.
--
AA1.1, AA1.2, AA1.3
--
AA2.4
--
AA3.1, AA3.3
--
AA4.2, AA4.3, AA4.4
--
AA5.2, AA5.5
--
AA6.1, AA6.2
a. Disciplinary Learning Outcomes
At the end of this course, students will be able to:
Integrate and synthetize concepts and knowledge acquired in other courses to the field of robotics. Example: designing a typical
linear controller for a simple robot whose kinematic and dynamic models have to be derived, and choosing the sensors to implement
this controller.
2. Université Catholique de Louvain - COURSES DESCRIPTION FOR 2013-2014 - LMECA2732
UCL - LMECA2732 - page 2/3
Derive a geometrical, kinematic, and dynamic model (both forward and inverse) of a simple industrial or mobile robot, and establish
some features related to these models (e.g. singularities).
Propose a trajectory planning method, and some classical control design approaches, taking these models into account.
Implement fundamental concepts like localization and trajectory planning to the particular field of mobile robotics.
Describe and explain the working principle of typical robot sensors.
Have a critical opinion regarding ethical questions related to robotics, both in industry and service robots.
Describe the specific features of different robot morphologies (e.g. serial industrial robots, parallel robots, mobile robots, service
robots), and make links between them.
b. Transversal Learning Outcomes
At the end of this course, students will be able to:
Quickly read a book chapter or a scientific paper and answer basic questions (multiple choices) about it.
Write down a lab report in a concise and efficient way (max. 1 page), possibly including multimedia material (video').
The contribution of this Teaching Unit to the development and command of the skills and learning outcomes of the programme(s)
can be accessed at the end of this sheet, in the section entitled “Programmes/courses offering this Teaching Unit”.
Evaluation methods : The final mark is obtained as following :
10% is awarded based on the small questionnaires (MCQ) related to the mandatory readings, to read before each lecture. There
is a mandatory reading and MCQ for all lectures but 3: the introduction (S1), the course on ethics and the concluding (Q& mp;A)
lecture (S14). A bonus is offered such that each student can skip one questionnaire (or two questions) without losing chance to
get the maximum score.
A problem-based learning project in mobile robotics has to be completed by groups of 4-5 students, to apply the theoretical concepts
to a concrete example. The mark obtained in this project will count for 30% of the final mark.
One lab in humanoid robotics counts for 10% of the final mark.
Finally, the final written exam counts for 50% of the mark. It lasts for about 4 hours, containing both theoretical questions, and
exercises, similar to those covered during the lectures and in the PBL problem. No reference is allowed during this exam.
Teaching methods : Process organization
The course follows a straight path, starting with trajectory planning, the derivation of models, and ending with lectures on control.
The lectures specific to mobile robots are given early enough to be useful for the integrated project in mechatronics (LMECA2845).
One course on robot ethics given by a colleague from ESP (Prof. Mark Hunyadi) is organized around S10. More open lectures on
service robots, etc' are given at the end of the course.
In sum, the course covers the following chapters:
Introduction
Recap of LMECA2755: kinematic modeling, and independent joint control
Trajectory planning
Mobile robot planning and navigation
Mobile robot kinematics and control
Mobile robot localization
Robot sensors
Dynamics
Robot control
Force and impedance control
Ethics in robotics
Humanoid robotics
Parallel robots (optional)
Q& mp;A and conceptual map
On top of that, one lab is organized on humanoid robotics with the "NAO" robot (http://www.aldebaran-robotics.com). This lab is
completed by groups of 2 students. A small report (one page max.) is asked. 10% of the final mark is given on the basis of the
lab completion.
Content : Introduction: robotics history; technico-econominal motivations; robot classification.
Change of coordinates and associated problems: geometrical, kinematic, and dynamic models (direct/inverse); homogenous
transformations; singularities.
Parallel robots, mobile robots, humanoid robots, medical robots: specificities, associated components (actuators/sensors) and
controllers.
Concepts introduced during the course will be illustrated with two laboratories:
--
One giving the students a chance to steer and program a real industrial robot.
--
One giving the students a chance to steer and program a small humanoid robot.
Bibliography :
Media
The two main references for the course are the books
--
"Robot Modeling and Control" (http://eu.wiley.com/WileyCDA/WileyTitle/productCd-EHEP000518.html) by Mark W. Spong et al.
--
Introduction to Autonomous Mobile Robots (http://www.mobilerobots.ethz.ch/) by Roland Siegwart et al.;
Several samples of these two books are available at the library (BST).
Chapters from other books are provided as complementary material for some specific lectures. The main reference for complementary
materials is:
--
Springer Handbook of Robotics (the "bible" of robotics, http://www.springerlink.com/content/978-3-540-23957-4) by Bruno Siciliano
and Oussama Khatib (Eds.).
This book is available on-line (from the UCL network).
3. Université Catholique de Louvain - COURSES DESCRIPTION FOR 2013-2014 - LMECA2732
UCL - LMECA2732 - page 3/3
Other infos : The lecture on ethics in robotics (S10) is given by Mark Hunyadi (http://www.uclouvain.be/260169.html), in French.
Cycle and year of
study :
> Master [120] in Electro-mechanical Engineering
> Master [120] in Mathematical Engineering
> Master [120] in Mechanical Engineering
Faculty or entity in
charge:
MECA