Course Objectives
(1) Understand the basic knowledge and operating principles of sensors and actuators and can control them with a computer.
(2) Understand how to fuse sensors and actuators and can create a basic system.
(3) Can make the entire system intelligent by programming.
Rubric
| Ideal Level | Standard Level | Unacceptable Level |
| Achievement 1 | Understand the basic knowledge and operating principles of sensor and actuators and can accurately control them with a computer. | Understand the basic knowledge and operating principles of sensor and actuators and can control them with a computer. | Do not understand the basic knowledge and operating principles of sensor and actuators and cannot control them with a computer. |
| Achievement 2 | Understand how to fuse sensors and actuators and can accurately create a basic system. | Understand how to fuse sensors and actuators and can create a basic system. | Do not understand how to fuse sensors and actuators and cannot create a basic system. |
| Achievement 3 | Can accurately make the entire system intelligent by programming. | Can make the entire system intelligent by programming. | Cannot make the entire system intelligent by programming. |
Assigned Department Objectives
Teaching Method
Outline:
This course will give comprehensive lectures on the basic knowledge of mechanical, electrical, electronic and information engineering necessary for mechatronics. In addition, there will be exercises using the actual machinery. Class content is based on the subject of autonomous mobile robots and focuses on their subsystems: (1) sensors, (2) actuators, and (3) control systems. The actual mechanisms and specific control methods will be explained step-by-step starting with the basics. Finally, the idea of integrating these will be explained.
Style:
Lectures will be conducted in accordance with the handouts. The course also includes exercises using robot as materials.
Notice:
This course's content will amount to 90 hours of study in total. These hours include the learning time guaranteed in classes and the standard self-study time required for pre-study / review, and completing assignment reports.
Students who miss 1/3 or more of classes will not be eligible for evaluation.
Characteristics of Class / Division in Learning
Course Plan
|
|
|
Theme |
Goals |
| 1st Semester |
| 1st Quarter |
| 1st |
An outline of mobile robots |
Understand the basic configurations for mobile robots such as hardware, software, and interfaces. Can also operate an actual mobile robot via a sample program.
|
| 2nd |
Microcomputer control |
Understand the functions and basic configurations of microcomputers that control entire robot systems. Also understand specific control methods using microcomputer programming language.
|
| 3rd |
Sensor principles and control methods |
Understand the principles and control methods of devices such as optical sensors, force sensors, visual sensors, rotary encoders, which are widely used as sensors for robots.
|
| 4th |
Infrared proximity sensor control |
Understand control circuits and interface circuits by doing infrared proximity sensors control exercises. Can use an actual infrared proximity sensor to learn about how to detect objects.
|
| 5th |
Rotary encoder control |
Understand control circuits, etc. by doing rotary encoder control exercises. Can use an actual rotary encoder to learn how to measure a motor's rotation angle, angular speed, etc.
|
| 6th |
Actuator principles and control methods |
Understand their principles and control methods of the main types of actuators of robots, such as stepping motors and DC motors.
|
| 7th |
DC motor control (1) |
Understand control circuits and interface circuits by doing DC motor control exercises. Can use an actual DC motor to learn driving methods for a motor's forward-reverse, PWMs, etc.
|
| 8th |
DC motor control (2) |
Understand PID control theory by doing DC motor control exercises. Can use an actual DC motor to learn how to control a motor's speed.
|
| 2nd Quarter |
| 9th |
DC motor control (3) |
Same as above
|
| 10th |
Position control of a mobile robot (1)
|
Understand the mechanisms and kinematics of mobile robots. Also understand position control methods that use feedforward and feedback.
|
| 11th |
Position control of a mobile robot (2)
|
Can measure position accuracy through feedforward and feedback, and discuss the results through a mobile robot's position control exercises.
|
| 12th |
Position estimation of a mobile robot
|
Understand dead reckoning, a practical method of estimating a mobile robot's position, and learn about position estimation methods that use an actual mobile robot.
|
| 13th |
Obstacle avoidance (1)
|
Learn how to guide the mobile robot to its destination while detecting and avoiding obstacles using the infrared proximity sensors mounted on it.
|
| 14th |
Obstacle avoidance (2)
|
Same as above
|
| 15th |
Obstacle avoidance (3)
|
Same as above
|
| 16th |
Final exam
|
|
Evaluation Method and Weight (%)
| Examination | Presentation | Mutual Evaluations between students | Behavior | Portfolio | Other | Exercise | Total |
| Subtotal | 50 | 0 | 0 | 0 | 0 | 0 | 50 | 100 |
| Basic Proficiency | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| Specialized Proficiency | 50 | 0 | 0 | 0 | 0 | 0 | 50 | 100 |
| Cross Area Proficiency | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |