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M.SC. in Electrical and Electronics Engineering (With Thesis)
EEE 516 | Course Introduction and Application Information
| Course Name |
Autonomous Robotics and Mobile Sensing
|
|
Code
|
Semester
|
Theory
(hour/week) |
Application/Lab
(hour/week) |
Local Credits
|
ECTS
|
|
EEE 516
|
Fall/Spring
|
3
|
0
|
3
|
7.5
|
| Prerequisites |
None
|
|||||
| Course Language |
English
|
|||||
| Course Type |
Elective
|
|||||
| Course Level |
Second / Third Cycle
|
|||||
| Mode of Delivery | - | |||||
| Teaching Methods and Techniques of the Course | - | |||||
| National Occupation Classification | - | |||||
| Course Coordinator | ||||||
| Course Lecturer(s) | ||||||
| Assistant(s) | - | |||||
| Course Objectives | The objectives of this course are to provide basic knowledge on Autonomous Robotics and to introduce basic analysis and design methods with a curriculum enriched by application examples. |
| Learning Outcomes |
The students who succeeded in this course;
|
| Course Description | This course covers introduction to autonomous robotics, motion models of a robot, measurement models of different sensor types, filtering techniques, simultaneous localization and mapping method |
|
|
Core Courses | |
| Major Area Courses |
X
|
|
| Supportive Courses | ||
| Media and Management Skills Courses | ||
| Transferable Skill Courses |
WEEKLY SUBJECTS AND RELATED PREPARATION STUDIES
| Week | Subjects | Related Preparation | Learning Outcome |
| 1 | Introduction + Sheet 1 (Python Setup) | CH1 and CH2, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010, ISBN: 9780521692120 | |
| 2 | Linear Algebra Review + Sheet 2 (Linear Algebra practice in Python) | Linear Algebra and its Applications, Gill Strang, Cengage Learning ISBN-10: 0534422004 | |
| 3 | Wheeled Locomotion + Sheet 3 (Locomotion-Differential Drive Kinematics in Python) | CH3, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010, ISBN: 9780521692120 | |
| 4 | Sensors | CH4, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010, ISBN: 9780521692120 | |
| 5 | Probabilities and Bayes Review + Sheet 4 (Bayes Rule) | CH2, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000, ISBN: 9780262201629 | |
| 6 | Probabilistic Motion Models + Sheet 5 (Motion Models in Python) | CH5, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000, ISBN: 9780262201629 | |
| 7 | Probabilistic Sensor Models + Sheet 6 (Sensor Models in Python) | CH6, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000, ISBN: 9780262201629 | |
| 8 | The Kalman Filter | CH3, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000, ISBN: 9780262201629 CH4, Computational Principles of Mobile Robotics, Gregory Dudek and Michael Jenkin-2nd Edition, Cambridge University Press, 2010, ISBN: 9780521692120 | |
| 9 | The Extended Kalman Filter + Sheet 8 (Extended Kalman Filter Implementation in Python) | CH7, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000, ISBN: 9780262201629 | |
| 10 | Discrete Filters | CH8, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000, ISBN: 9780262201629 | |
| 11 | The Particle Filter + Sheet 7 (Discrete Filter, Particle Filter Implementation in Python) | CH8, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000, ISBN: 9780262201629 | |
| 12 | Mapping with Known Poses + Sheet 9 (Mapping with Known Poses in Python) | CH9, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000, ISBN: 9780262201629 | |
| 13 | SLAM | CH10, Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard and Dieter Fox, MIT Press, 2000, ISBN: 9780262201629 | |
| 14 | Working on a Project | ||
| 15 | Semester Review | ||
| 16 | Final Exam |
| Course Notes/Textbooks |
|
| Suggested Readings/Materials |
|
EVALUATION SYSTEM
| Semester Activities | Number | Weigthing |
| Participation |
1
|
10
|
| Laboratory / Application | ||
| Field Work | ||
| Quizzes / Studio Critiques | ||
| Portfolio | ||
| Homework / Assignments |
1
|
50
|
| Presentation / Jury | ||
| Project |
1
|
20
|
| Seminar / Workshop | ||
| Oral Exams | ||
| Midterm | ||
| Final Exam |
1
|
20
|
| Total |
| Weighting of Semester Activities on the Final Grade |
3
|
80
|
| Weighting of End-of-Semester Activities on the Final Grade |
1
|
20
|
| Total |
ECTS / WORKLOAD TABLE
| Semester Activities | Number | Duration (Hours) | Workload |
|---|---|---|---|
| Theoretical Course Hours (Including exam week: 16 x total hours) |
16
|
3
|
48
|
| Laboratory / Application Hours (Including exam week: '.16.' x total hours) |
16
|
0
|
|
| Study Hours Out of Class |
14
|
3
|
42
|
| Field Work |
0
|
||
| Quizzes / Studio Critiques |
0
|
||
| Portfolio |
0
|
||
| Homework / Assignments |
6
|
8
|
48
|
| Presentation / Jury |
0
|
||
| Project |
1
|
45
|
45
|
| Seminar / Workshop |
0
|
||
| Oral Exam |
0
|
||
| Midterms |
0
|
||
| Final Exam |
1
|
42
|
42
|
| Total |
225
|
COURSE LEARNING OUTCOMES AND PROGRAM QUALIFICATIONS RELATIONSHIP
|
#
|
PC Sub | Program Competencies/Outcomes |
* Contribution Level
|
||||
|
1
|
2
|
3
|
4
|
5
|
|||
| 1 | Accesses information in breadth and depth by conducting scientific research in Electrical and Electronics Engineering; evaluates, interprets and applies information |
-
|
-
|
-
|
X
|
-
|
|
| 2 | Is well-informed about contemporary techniques and methods used in Electrical and Electronics Engineering and their limitations |
-
|
-
|
X
|
-
|
-
|
|
| 3 | Uses scientific methods to complete and apply information from uncertain, limited or incomplete data; can combine and use information from different disciplines |
-
|
-
|
X
|
-
|
-
|
|
| 4 |
Is informed about new and upcoming applications in the field and learns them whenever necessary. |
-
|
-
|
X
|
-
|
-
|
|
| 5 | Defines and formulates problems related to Electrical and Electronics Engineering, develops methods to solve them and uses progressive methods in solutions. |
-
|
-
|
X
|
-
|
-
|
|
| 6 | Develops novel and/or original methods, designs complex systems or processes and develops progressive/alternative solutions in designs. |
-
|
X
|
-
|
-
|
-
|
|
| 7 | Designs and implements studies based on theory, experiments and modeling; analyses and resolves the complex problems that arise in this process. |
-
|
-
|
-
|
-
|
-
|
|
| 8 | Can work effectively in interdisciplinary teams as well as teams of the same discipline, can lead such teams and can develop approaches for resolving complex situations; can work independently and takes responsibility. |
-
|
-
|
-
|
-
|
-
|
|
| 9 | Engages in written and oral communication at least in Level B2 of the European Language Portfolio Global Scale. |
-
|
-
|
-
|
-
|
-
|
|
| 10 | Communicates the process and the results of his/her studies in national and international venues systematically, clearly and in written or oral form. |
-
|
-
|
-
|
-
|
-
|
|
| 11 | Is knowledgeable about the social, environmental, health, security and law implications of Electrical and Electronics Engineering applications, knows their project management and business applications, and is aware of their limitations in Electrical and Electronics Engineering applications. |
-
|
-
|
-
|
-
|
-
|
|
| 12 |
Highly regards scientific and ethical values in data collection, interpretation, communication and in every professional activity. Adheres to the principles of research and publication ethics. |
-
|
-
|
-
|
-
|
-
|
|
*1 Lowest, 2 Low, 3 Average, 4 High, 5 Highest
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