Robotics

• Teachers
• Weekly hours
• Competences
• Objectives
• Contents
• Activities
• Teaching methodology
• Evaluation methodology
• Bibliography
• Web links
• Previous capacities

Teachers

Person in charge

• Antonio Benito Martínez Velasco ( )

Others

• Josep Fernàndez Ruzafa ( )

Weekly hours

Competences

Transversal Competences

Teamwork

• G5 [Avaluable] - To be capable to work as a team member, being just one more member or performing management tasks, with the finality of contributing to develop projects in a pragmatic way and with responsibility sense; to assume compromises taking into account the available resources.
  • G5.1 - Capacity to collaborate in a unidisciplinary environment. To identify the objectives of the group and collaborate in the design of the strategy and the working plan to achieve them. To identify the responsibilities of each component of the group and assume the personal compromise of the assigned task. To evaluate and present the own results. To identify the value of the cooperation and exchange information with the other components of the group. To exchange information about the group progress and propose strategies to improve its operation.

Appropiate attitude towards work

• G8 [Avaluable] - To have motivation to be professional and to face new challenges, have a width vision of the possibilities of the career in the field of informatics engineering. To feel motivated for the quality and the continuous improvement, and behave rigorously in the professional development. Capacity to adapt oneself to organizational or technological changes. Capacity to work in situations with information shortage and/or time and/or resources restrictions.
  • G8.3 - To be motivated for the professional development, to face new challenges and the continuous improvement. To have capacity to work in situations with a lack of information.

Technical Competences

Common technical competencies

• CT1 - To demonstrate knowledge and comprehension of essential facts, concepts, principles and theories related to informatics and their disciplines of reference.
  • CT1.1A - To demonstrate knowledge and comprehension about the fundamentals of computer usage and programming, about operating systems, databases and, in general, about computer programs applicable to the engineering.
  • CT1.1B - To demonstrate knowledge and comprehension about the fundamentals of computer usage and programming. Knowledge about the structure, operation and interconnection of computer systems, and about the fundamentals of its programming.
  • CT1.2A - To interpret, select and value concepts, theories, uses and technological developments related to computer science and its application derived from the needed fundamentals of mathematics, statistics and physics. Capacity to solve the mathematical problems presented in engineering. Talent to apply the knowledge about: algebra, differential and integral calculus and numeric methods; statistics and optimization.
  • CT1.2B - To interpret, select and value concepts, theories, uses and technological developments related to computer science and its application derived from the needed fundamentals of mathematics, statistics and physics. Capacity to understand and dominate the physical and technological fundamentals of computer science: electromagnetism, waves, circuit theory, electronics and photonics and its application to solve engineering problems.
  • CT1.2C - To use properly theories, procedures and tools in the professional development of the informatics engineering in all its fields (specification, design, implementation, deployment and products evaluation) demonstrating the comprehension of the adopted compromises in the design decisions.
• CT2 - To use properly theories, procedures and tools in the professional development of the informatics engineering in all its fields (specification, design, implementation, deployment and products evaluation) demonstrating the comprehension of the adopted compromises in the design decisions.
  • CT2.1 - To demonstrate knowledge and capacity to apply the principles, methodologies and life cycles of software engineering.
  • CT2.5 - To design and evaluate person-computer interfaces which guarantee the accessibility and usability of computer systems, services and applications.
• CT3 - To demonstrate knowledge and comprehension of the organizational, economic and legal context where her work is developed (proper knowledge about the company concept, the institutional and legal framework of the company and its organization and management)
  • CT3.5 - To identify the use possibilities and benefits which can be derived from an application in the different business software typologies and existent ICT services.
  • CT3.6 - To demonstrate knowledge about the ethical dimension of the company: in general, the social and corporative responsibility and, concretely, the civil and professional responsibilities of the informatics engineer.
• CT4 - To demonstrate knowledge and capacity to apply the basic algorithmic procedures of the computer science technologies to design solutions for problems, analysing the suitability and complexity of the algorithms.
  • CT4.1 - To identify the most adequate algorithmic solutions to solve medium difficulty problems.
  • CT4.2 - To reason about the correction and efficiency of an algorithmic solution.
  • CT4.3 - To demonstrate knowledge and capacity to apply the fundamental principles and the basic techniques of the intelligent systems and its practical application.
• CT5 - To analyse, design, build and maintain applications in a robust, secure and efficient way, choosing the most adequate paradigm and programming languages.
  • CT5.2 - To know, design and use efficiently the most adequate data types and data structures to solve a problem.
  • CT5.3 - To design, write, test, refine, document and maintain code in an high level programming language to solve programming problems applying algorithmic schemas and using data structures.
  • CT5.4 - To design the programs¿ architecture using techniques of object orientation, modularization and specification and implementation of abstract data types.
  • CT5.5 - To use the tools of a software development environment to create and develop applications.
  • CT5.6 - To demonstrate knowledge and capacity to apply the fundamental principles and basic techniques of parallel, concurrent, distributed and real-time programming.
• CT8 - To plan, conceive, deploy and manage computer projects, services and systems in every field, to lead the start-up, the continuous improvement and to value the economical and social impact.
  • CT8.1 - To identify current and emerging technologies and evaluate if they are applicable, to satisfy the users needs.

Technical Competences of each Specialization

Software engineering specialization

• CES1 - To develop, maintain and evaluate software services and systems which satisfy all user requirements, which behave reliably and efficiently, with a reasonable development and maintenance and which satisfy the rules for quality applying the theories, principles, methods and practices of Software Engineering.
  • CES1.2 - To solve integration problems in function of the strategies, standards and available technologies
  • CES1.8 - To develop, mantain and evaluate control and real-time systems.
• CES2 - To value the client needs and specify the software requirements to satisfy these needs, reconciling conflictive objectives through searching acceptable compromises, taking into account the limitations related to the cost, time, already developed systems and organizations.
  • CES2.1 - To define and manage the requirements of a software system.
  • CES2.2 - To design adequate solutions in one or more application domains, using software engineering methods which integrate ethical, social, legal and economical aspects.

Computer engineering specialization

• CEC2 - To analyse and evaluate computer architectures including parallel and distributed platforms, and develop and optimize software for these platforms.
  • CEC2.1 - To analyse, evaluate, select and configure hardware platforms for the development and execution of computer applications and services.

Computer science specialization

• CCO1 - To have an in-depth knowledge about the fundamental principles and computations models and be able to apply them to interpret, select, value, model and create new concepts, theories, uses and technological developments, related to informatics.
  • CCO1.1 - To evaluate the computational complexity of a problem, know the algorithmic strategies which can solve it and recommend, develop and implement the solution which guarantees the best performance according to the established requirements.
  • CCO1.3 - To define, evaluate and select platforms to develop and produce hardware and software for developing computer applications and services of different complexities.
• CCO2 - To develop effectively and efficiently the adequate algorithms and software to solve complex computation problems.
  • CCO2.1 - To demonstrate knowledge about the fundamentals, paradigms and the own techniques of intelligent systems, and analyse, design and build computer systems, services and applications which use these techniques in any applicable field.
  • CCO2.2 - Capacity to acquire, obtain, formalize and represent human knowledge in a computable way to solve problems through a computer system in any applicable field, in particular in the fields related to computation, perception and operation in intelligent environments.
• CCO3 - To develop computer solutions that, taking into account the execution environment and the computer architecture where they are executed, achieve the best performance.
  • CCO3.1 - To implement critical code following criteria like execution time, efficiency and security.
  • CCO3.2 - To program taking into account the hardware architecture, using assembly language as well as high-level programming languages.

Objectives

1. Know the elements that make up a robot system, the different alternatives, and how they work.
   Related competences: G7.1, CEC2.1, G7.2, G7.3, G8.3, CT1.2B,
2. Know the evolution, current state and trends of robotics.
   Related competences: G7.1, CES2.1, CES2.2, CT8.1, CT5.2, CT5.4, CT5.5, G7.2, G7.3, G8.3, CT5.3, CT5.6,
3. Know the different forms of programming of the robots and their characteristics.
   Related competences: CT5.2, CT5.4, CT5.3, CT1.1B, CT1.1A,
4. Know and be able to differentiate the different levels of planning and control of the robot's movement.
   Related competences: CEC2.1, CT1.2A, CT1.2C, CCO2.1, CT4.1, CT4.2, CCO2.2, CCO3.1, CCO3.2, CT4.3, CT5.6, CT1.2B,
5. Know the techniques that allow to define, calculate and generate suitable trajectories for robots, and their algorithmic implementation.
   Related competences: CT1.2A, CT1.2C, CCO1.1, CCO1.3, CT4.1, CT4.2, CT4.3, CT1.1B, CT1.1A,
6. Know the sensors and perception systems for interaction with the environment for the most common applications
   Related competences: G7.1, G7.2, G7.3, G8.3, CT1.2B,
7. Know the problems and strategies of guided and autonomous vehicle navigation
   Related competences: CEC2.1, CT1.2A, CT1.2C, CCO2.1, CT4.1, CT4.2, CT5.2, CT5.4, CCO2.2, CCO3.1, CCO3.2, CT4.3, CT5.3, CT5.6, CT1.1B, CT1.1A,
8. Know how planning techniques are used in the field of robotics
   Related competences: CT1.2A, CT1.2C, CT4.1, CT4.2, CT5.2, CT5.4, CT5.5, CT4.3, CT5.3, CT5.6, CT1.1B, CT1.1A,
9. Know the sensory requirements of mobile robots
   Related competences: G7.1, CT2.5, G7.2, G7.3, G8.3, CT1.2B,
10. Know the requirements of the most common applications of robotics and know how to discriminate which tasks are likely to be robotized.
    Related competences: G9.1, G9.3, CT8.1, CT5.2, CT5.4, CT5.5, G9.2, CT5.3, CT5.6,
11. Be able to identify the requirements of a task that needs to be robotized
    Related competences: G9.1, G9.3, CT5.2, CT5.4, CT5.5, G9.2, CT5.3, CT5.6, CT1.2B,
12. Know how to program and use robots to solve the proposed task
    Related competences: G9.1, G9.3, CT5.2, CT5.4, G9.2, CT5.3, CT1.1B, CT1.1A,
13. Know how to integrate the information provided by the sensors in the robot program
    Related competences: G7.1, G9.1, G9.3, CT1.2A, CT1.2C, CT2.1, G5.1, CCO1.1, CCO1.3, CT5.2, CT5.4, CT5.5, G7.2, G7.3, G9.2, CT5.3, CT1.1B, CT1.2B, CT1.1A,
14. Know how to choose the types of sensors needed for each application
    Related competences: G7.1, G9.1, G9.3, CT5.2, CT5.4, CT5.5, G7.2, G7.3, G9.2, CT5.3, CT5.6, CT1.2B,
15. Know the factors that affect the reliability of a robot and how to minimize its effect
    Related competences: G9.1, G9.3, G9.2, CT1.2B,
16. Know the aspects related to the security of robotic systems
    Related competences: G9.1, G9.3, CT5.2, CT5.4, CT5.5, G8.3, G9.2, CT5.3, CT5.6,
17. Know the methodology of the development of a robotization project
    Related competences: CES1.2, CES2.1, CES2.2, CT3.6, CES1.8, CT3.5,
18. Design of robotization projects for a specific task
    Related competences: G9.1, G9.3, CEC2.1, CES1.2, CES2.1, CES2.2, CT8.1, G5.1, CT3.6, CCO3.1, CCO3.2, G8.3, G9.2, CES1.8, CT3.5,

Contents

1. Introduction
   Robots and Robotics. Evolution of robots. Incidence of robotics in today's society.
2. Robot morphology.
   Components. Structures and characteristics of robots.
3. Kinematics of manipulating robots
   Geometric transformations. DH parameters. Direct kinematics. Reverse Kinematics. Differential kinematics.
4. Generation of trajectories
   Paths and trajectories. Trajectories in the joint space. Trajectories in Cartesian space.
5. Robot Programming and Control
   Joint space control. Manipulator control architecture. Industrial robot programming environments and languages.
6. Mobile robots
   Mechanisms of locomotion. Types of mobile robots. Direct and inverse kinematics. Maneuverability.
7. Perception of the environment
   Sensor classification. Characteristics. Depth sensors. Orientation sensors.
8. Mobile robot navigation
   Reactive navigation. Obstacle escape. Map-based planning.
9. Location of the mobile robot
   Location systems (GPS, US, IR, fixed routes). Navigation based on reference points.
10. Applications of robotics
    Industrial Robotics. Service robotics. Exploration robotics. Medical and healthcare robotics.
11. Development of a robotization project
    Requirements. Design. Ethical and social implications. Reliability and security.

Activities

Activity Evaluation act

Teaching methodology

Evaluation methodology

Bibliography

Basic:

• Robotics, vision and control: fundamental algorithms in Matlab - Corke, P.I, Springer, 2017. ISBN: 9783319544120
  https://discovery.upc.edu/discovery/fulldisplay?docid=alma991004155909706711&context=L&vid=34CSUC_UPC:VU1&lang=ca
• Introduction to autonomous mobile robots - Siegwart, Roland; Nourbakhsh, Illah R.; Scaramuzza, Davide, MIT Press, 2011. ISBN: 9780262015356
  https://discovery.upc.edu/discovery/fulldisplay?docid=alma991003957009706711&context=L&vid=34CSUC_UPC:VU1&lang=ca
• Springer handbook of robotics - Siciliano, B.; Khatib, O, Springer, 2016. ISBN: 978331932552
  https://discovery.upc.edu/discovery/fulldisplay?docid=alma991001471149706711&context=L&vid=34CSUC_UPC:VU1&lang=ca
• Fundamentos de robótica - Barrientos, A. [et al.], McGraw-Hill, 2007. ISBN: 9788448156367
  https://discovery.upc.edu/discovery/fulldisplay?docid=alma991003225419706711&context=L&vid=34CSUC_UPC:VU1&lang=ca
• Introduction to AI robotics - Murphy, R.R, MIT Press, 2019. ISBN: 9780262348157
  

Web links

• Portal de la Xarxa Europea de promoció de la Robòtica tant en l'àmbit formatiu com d'investigació. http://www.euron.org
• Federació Internacional de Robòtica. Entitat que promou, la recerca i desenvolupamnet, l'us i la coperació internacional, en tots els àmbits de la robòtica. http://www.ifr.org
• Portal que agrupa els fabricants i usuaris de sistemes i components robots. http://www.roboticsonline.com/

Previous capacities