ME – 465:
Robotics and Automation
LECTURE 1: INTRODUCTION
Outline:
▪ My Introduction
▪ Introduction to Robotics
▪ Course Introduction
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Outline:
▪ My Introduction
▪ Introduction to Robotics
▪ Course Introduction
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Instructor:
Dr. Khawaja Fahad Iqbal
Department of Robotics and Artificial Intelligence,
SMME, NUST.
Office: 318F
Email: [email protected]
Class will be held on Wednesdays@ 1400-1550hrs in
CR-203.
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PhD (Robotics):
2017-2021
Institute: Tohoku University, Japan.
Scholarship: Japanese Government MEXT Scholarship.
Thesis Topic: Motion Planning for Collaborative Robots
Using HRI-based Cost Function.
Funding: Toyota, Japan.
Supervisors: Dr. Kazuhiro Kosuge, Dr. Yasuhisa Hirata.
The robot provides assistance to a factory worker
Key Areas: Human-Robot Interaction (HRI),
Collaborative Robots, Motion Planning, Robot Control.
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MS (Bioengineering and Robotics):
2015-2017
Institute: Tohoku University, Japan.
Scholarship: Japanese Government MEXT Scholarship.
Thesis Topic: Assembly Planning Using Rapidly
Exploring Random Trees (RRT) Method.
Funding: DENSO, Japan.
Supervisors: Dr. Kazuhiro Kosuge, Dr. Shogo Arai.
The robot performs
Key Areas: Assembly Planning, Motion Planning, peg-in-a-hole
assembly problem
Industrial Robots.
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BE (Mechatronics Engineering):
2007-2011
Institute: College of E&ME, NUST.
Scholarship: NUST High Achievers Scholarship.
Thesis Topic: Intelligent DRIving System (IDRIS).
Funding: AFIRM, Rawalpindi, Pakistan.
Supervisors: Dr. Kunwar Faraz, Dr. Yasar Ayaz.
Key Areas: Mobile Robots, Motion Planning, Neural
Our algorithm finds the optimal path between the
Networks. robot’s current position and the goal position.
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Lab Engineer (SMME, NUST):
2012-2014
Institute:
RISE Lab and Research Center, Department of Robotics and Artificial Intelligence, SMME, NUST.
Labs:
1. Logic Design and Microprocessors (ME-02), Spring 2013, with Lec. Jawad Aslam.
2. Electrical Engineering (ME-03), Spring 2013, with Dr. Mohsin Jamil.
3. Computer Systems and Programming (ME-05), Fall 2013, with Dr. Omer Gilani.
4. Mobile Robots (RIME-03), Fall 2013, with Dr. Yasar Ayaz.
5. Engineering Design and Graphics (ChE-06, MtlE-06, from SCME), Spring 2014, with Lec. Adnan Hanif.
6. Electrical Engineering (ME-04), Spring 2014, with Dr. Umar Ansari.
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Lab Engineer (SMME, NUST):
2012-2014
Projects:
1. Design and Development of a Robotic Mannequin (ME-01).
2. Perceptual Aliasing Solutions for Simultaneous Localization and Mapping - SLAM (BICSE SEECS,
batch 2014).
3. Human Tracking and Following for Service Robots (RIME-01).
4. RRT* based Motion Planning for Mobile Robots (EE SEECS, batch 2015).
5. Autonomous Robotic Wheelchair (RIME-02).
6. Robocup Standard Platform League - SPL (CE EME, batch 2014).
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Outline:
▪ My Introduction
▪ Introduction to Robotics
▪ Course Introduction
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Why Do We Need Robots?
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Why Do We Need Robots?
▪ Robots are used where the work is too labor
intensive, boring or dangerous for a human being.
▪ The three D’s of Robotics: Robots perform tasks that
are considered dull, dirty and dangerous for human
beings.
▪ Robots have a better accuracy, repeatability and work
efficiency than human workers.
▪ Robots are Coooool ! ☺
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What is a Robot?
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What is a Robot?
▪ There is no standard definition of a Robot.
▪ Joseph Engelberger, who is considered as the Father of Robotics,
famously said:
"I can't define a robot, but I know one when I see one.”
▪ As the field of Robotics keeps progressing, new definitions keep
coming up.
▪ Here is a definition that I like:
“Any automatically operated machine that replaces human effort,
though it may not resemble human beings in appearance or
perform functions in a humanlike manner.“
(Encyclopedia Brittanica
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How do we differentiate between
Robots and other machines?
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Robots vs Machines
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Characteristics of a Robot
▪ Electromechanical System
▪ Reprogrammable
▪ Multifunctional
▪ Capable of Learning
▪ Capable of Sensing its Environment
▪ Capable of making decisions
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Robotics is Multi Disciplinary
Mechanics
AI Robot Electronics
Control
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Components of a Robot
▪ Power Source: Battery, Solar Cells, Air Pressure, Engine etc.
▪ Mechanical Structure: Body and Limbs of the robot.
▪ Actuators: Muscles of the robot. Motors, Pneumatics, Hydraulics
▪ Sensors: Senses of the robot. Range, Position, Vision, Touch etc
▪ Processor: Brain of the robot. Microcontroller, Onboard Computer etc
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Types of Robots
▪ Manipulators
▪ Wheeled Robots
▪ Humanoid Robots
▪ Multi Legged Robots
▪ Aerial Robots
▪ Micro Robots
▪ Underwater Robots
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Applications of Robotics
Industrial Robots
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Applications of Robotics
Field Robots
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Applications of Robotics
Rehabilitation Robots
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Applications of Robotics
Medical Robots
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Applications of Robotics
Domestic Robots
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Applications of Robotics
Entertainment Robots
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Applications of Robotics
Military Robots
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Challenges
▪ Perception: A robot is basically a “Lakeer ka Faqeer”.
▪ Actuation: Especially in Gripping and Walking.
▪ Facing an unforeseen event: Machine Learning only improves with experience.
▪ Materials and Manufacturing: Limiting factor in achieving better performance.
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Dreams
▪ Robotic Car: Tesla, Google Car, DARPA Grand Challenge
▪ Robot Maid: Roomba, Scooba
▪ Robot Surgeon: da Vinci, ZEUS
▪ Human Level Intelligence and Movement: Robocup, DARPA Robotics Challenge
▪ Robot Army
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Outline:
▪ My Introduction
▪ Introduction to Robotics
▪ Course Introduction
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Grading Policy:
▪ Lectures (2 credit hours):
▪ 2x Assignments = 10%
▪ 4x Quizzes = 10%
▪ 2x OHTs = 30%
▪ Class Participation = 10%
▪ Final Exam (Paper + Project) = 40%
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Grading Policy:
Class Participation:
▪ This is a measure of how involved you are in the class.
▪ I will ask lots of questions in the class. If you answer these
question correctly, you will get class participation points.
▪ If you demonstrate a negative attitude towards learning or
if you cause a disturbance in the class, I will deduct class
participation points.
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Course Content
▪ The topics that we are going to cover in this course are:
1. Representing Position and Orientation
2. Time and Motion
3. Forward Kinematics
4. Inverse Kinematics
5. Velocity Relationships
6. Dynamics and Control
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Any Questions?
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That’s it for today.
See you next week!
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