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AIT304

Robotics And Industrial Automation (APJ Abdul Kalam Technological University)

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Year of
ROBOTICS AND Category L T P Credit
Introduction
AIT304 INTELLIGENT
SYSTEM
PCC 3 1 0 4 2022

Preamble: This course enables the learners to understand the fundamental concepts and
algorithms in Robotics and Intelligent systems. The course covers the standard hardware and
kinematic concepts for robot design. Standard algorithms for localization, mapping, path
planning, navigation and obstacle avoidance, to incorporate intelligence in robots are included in
the course. This course helps the students to design robots with intelligence in a real world
environment.
Prerequisite: Basic understanding of probability theory, linear algebra, machine learning,
artificial intelligence

Course Outcomes: After the completion of the course the student will be able to

Understand the concepts of manipulator and mobile robotics. (Cognitive Knowledge

CO1
Level: Understand)

CO2 Choose the suitable sensors, actuators and control for robot design. (Cognitive
Knowledge Level: Apply)

CO3 Developing kinematic model of mobile robot and understand robotic vision
intelligence. (Cognitive Knowledge Level: Apply)

CO4 Discover the localization and mapping methods in robotics. (Cognitive Knowledge
Level: Apply)

CO5 Plan the path and navigation of robot by applying artificial intelligence algorithm.
(Cognitive Knowledge Level: Apply)

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Mapping of course outcomes with program outcomes

PO PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO1 PO11 PO1
1 0 2

CO1

CO2

CO3

CO4

CO5

Abstract POs defined by National Board of Accreditation

PO# Broad PO PO# Broad

PO

PO1 Engineering Knowledge PO7 Environment and Sustainability

PO2 Problem Analysis PO8 Ethics

PO3 Design/Development of PO9 Individual and team work

solutions

Conduct investigations of
PO4 complex problems PO10 Communication

PO5 Modern tool usage PO11 Project Management and Finance

PO6 The Engineer and Society PO12 Life long learning

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Assessment Pattern

Continuous Assessment Tests

Bloom’s End Semester
Category Examination Marks
(%)
Test 1 Test 2
(%) (%)

Remember 30 30 30

Understand 30 30 30

Apply 40 40 40

Analyze

Evaluate

Create

Mark Distribution

Total CIE ESE Marks ESE

Marks Marks Duration

150 50 100 3

Continuous Internal Evaluation Pattern:

Attendance 10 marks
Continuous Assessment Tests(Average of Internal Tests 1 & 2) 25 marks

Continuous Assessment Assignment 15 marks

Internal Examination Pattern
Each of the two internal examinations has to be conducted out of 50 marks. First series test shall
be preferably conducted after completing the first half of the syllabus and the second series test
shall be preferably conducted after completing remaining part of the syllabus. There will be two

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parts: Part A and Part B. Part A contains 5 questions (preferably, 2 questions each from the
completed modules and 1 question from the partly completed module), having 3 marks for each
question adding up to 15 marks for part A. Students should answer all questions from Part A. Part
B contains 7 questions (preferably, 3 questions each from the completed modules and 1 question
from the partly completed module), each with 7 marks. Out of the 7 questions, a student should
answer any 5.
End Semester Examination Pattern:There will be two parts; Part A and Part B. Part A contains
10 questions with 2 questions from each module, having 3 marks for each question. Students
should answer all questions. Part B contains 2 full questions from each module of which student
should answer any one. Each question can have a maximum 2 subdivisions and carries 14 marks.

SYLLABUS
Module – 1 (Introduction to robotics)
Introduction to robotics – Degrees of freedom, Robot types- Manipulators- Anatomy of a robotic
manipulator-links, joints, actuators, sensors, controllers. Robot configurations-PPP, RPP, RRP,
RRR. Mobile robots- wheeled, legged, aerial robots, underwater robots, surface water robots .
Dynamic characteristics- speed of motion, load carrying capacity & speed of response.
Introduction to End effectors - mechanical grippers, special tools, Magnetic grippers, Vacuum
grippers, adhesive grippers, Active and Passive grippers. Ethics in robotics - 3 laws - applications
of robots.
Module - 2(Sensors, Actuators and Control)
Sensor classification- touch, force, proximity, vision sensors. Internal sensors-Position sensors,
velocity sensors, acceleration sensors, Force sensors; External sensors-contact type, non contact
type; Digital Camera - CCD camera - CMOS camera - Omnidirectional cameras
Sensor characteristics. Actuators - DC Motors - H-Bridge - Pulse Width Modulation - Stepper
Motors – Servos, Hydraulic & pneumatic actuators. Control - On-Off Control - PID Control -
Velocity Control and Position Control
Module – 3 (Robotic vision & Kinematics)
Robotic Vision: Sensing, Pre-processing, Segmentation, Description, Recognition, Interpretation,
Feature extraction -Camera sensor hardware interfacing. Representation of Transformations -
Representation of a Pure Translation - - Pure Rotation about an Axis - Combined Transformations
- Transformations Relative to the Rotating Frame.
Basic understanding of Differential-Drive Wheeled Mobile Robot, Car-Like Wheeled Mobile
Robot. Kinematic model of a differential drive and a steered mobile robot, Degree of freedom and
manoeuvrability, Degree of steerability, Degree of mobility - different wheel configurations,
holonomic and nonholonomic robots. Omnidirectional Wheeled Mobile Robots.

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Module - 4 ( Localization and Mapping)

Position and Orientation - Representing robot position. Basics of reactive navigation; Robot
Localization, Challenges in localization - An error model for odometric position estimation
Map Representation - Continuous representations - Decomposition strategies - Current
challenges in map representation. Probabilistic map-based localization (only Kalman method),
Autonomous map building, Simultaneous localization and mapping (SLAM) - Mathematical
definition of SLAM - Visual SLAM with a single camera - Graph-based SLAM - Particle filter
SLAM - Open challenges in SLAM

Module - 5 (Path Planning and Navigation)

Path Planning- Graph search, deterministic graph search - , breadth first search - depth first
search- Dijkstra’ s algorithm, A*, D* algorithms, Potential field based path planning. Obstacle
avoidance - Bug algorithm - Vector Field Histogram - Dynamic window approaches. Navigation
Architectures - Modularity for code reuse and sharing - Control localization - Techniques for
decomposition. Alternatives for navigation - Neural networks - Processing the image - Training
the neural network for navigation - Convolutional neural network robot control implementation

Text Books
1. R Siegwart, IR Nourbakhsh, D Scaramuzza, Introduction to Autonomous Mobile Robots
,, MIT Press, USA, 2011
2. Thomas Bräunl - Embedded Robotics,Mobile Robot Design and Applications with
Embedded Systems-Springer (2006)
3. S.G. Tzafestas - Introduction to Mobile Robot Control-Elsevier (2014)
4. Francis X. Govers - Artificial Intelligence for Robotics-Packt Publishing (2018)
5. Saeed B. Niku - Introduction to Robotics_ Analysis, Control, Applications

Reference Books
1. John J. Craig, Introduction to Robotics, Pearson Education Inc., Asia, 3rd Edition, 2005
2. S. K. Saha, Introduction to Robotics 2e, TATA McGraw Hills Education (2014)
3. Peter Corke - Robotics, Vision and Control_ Fundamental Algorithms in MATLAB® -
Springer-Verlag Berlin Heidelberg (2021)

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Course Level Assessment Questions

Course Outcome1 (CO1):
1. Categorise the various types of Grippers used in robot manipulators.
2. Differentiate between active and passive grippers.
3. Explain speed of motion and load carrying capacity of a mobile robot.
4. You wish to build a dynamically stable robot with a single wheel only. For each of the
four basic wheel types, explain whether or not it may be used for such a robot.
Course Outcome 2(CO2):
1. Categorise the sensors used in robotics
2. Explain any four characteristics of a sensor
3. Illustrate the sensor performance measuring parameters
4. Suggest any two mechanism to realise 360o Camera
Course Outcome 3(CO3):
1. Determine the degrees of mobility, steerability, and maneuverability for each of the
following: (a) bicycle; (b) dynamically balanced robot with a single spherical wheel (c)
automobile.
2. A frame F was rotated about the y-axis 90o, followed by a rotation about the o-axis of 30o,
followed by a translation of 5 units along the n-axis, and finally, a translation of 4 units
along the x-axis. Find the total transformation matrix.
3. Explain the camera sensor hardware interfacing.
4. What is an omni directional robot? Explain two configurations to set up an omni
directional robot.
Course Outcome 4(CO4): .
1. Explain the challenges of localization
2. How Kalman method can be used in localization of mobile robots
3. What are the Decomposition strategies in map representation
4. How Visual SLAM can be performed with a single camera
Course Outcome 5(CO5):
1. Explain Dijkstra’s algorithm with a suitable example.
2. Identify the steps of Generic temporal decomposition of a navigation architecture.
3. What is meant by control decomposition? Explain two types of control decomposition.
4. Why does SLAM work better with wheel odometer data available?

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5. In the Floor Finder algorithm, what does the Gaussian blur function does to improve the
results?

Model Question Paper

QP CODE:

Reg No: _______________

Name: _________________ PAGES : 4

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

SIXTH SEMESTER B.TECH DEGREE EXAMINATION, MONTH & YEAR

Course Code: AIT304

Course Name: ROBOTICS AND INTELLIGENT SYSTEM

Max. Marks : 100 Duration: 3 Hours

PART A

Answer All Questions. Each Question Carries 3 Marks

1. What do you mean by degrees of freedom? How many degrees of freedom are
required for a drone to achieve any position in 3D space? And how many more
DOF required for achieving any orientation as well.

2. Explain how leg configuration affects the stability of mobile robot.

3. Explain Dynamic range, Linearity and Resolution of a Sensor.

4. Explain the working of a Mechanical accelerometer with a block diagram

5. Differentiate between holonomic and nonholonomic robots.

6. What is the significance of differential drive in mobile robot?

7. How will you represent the position and orientation of a wheeled mobile robot?

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8. Identify the 2 mobile robot localization problems.

9. Explain the Bug algorithm for obstacle avoidance. .

10. What is Voronoi diagram method and its advantages? (10x3=30

)

Part B
(Answer any one question from each module. Each question carries 14 Marks)

11. (a) Explain the general features of wheeled, legged and aerial robots. (9)

(b) Explain the anatomy of a robotic manipulator with a neat diagram. (5)

OR

12. (a) Briefly explain the dynamic characteristics of robots. (9)

(b) Assume an object of mass 140 kg is to be lifted up with an acceleration of 10 (5)

m/s2. Calculate the gripper force required for the operation, if coefficient of
friction between contact surfaces is 0.2, number of fingers in gripper is 2 and
acceleration due to gravity is 9.8 m/s2

13. (a) Explain the working of an Optical Encoder. (5)

(b) A mobile robot is designed for unidirectional motion with constant velocity. (9)
Illustrate the mechanism to make the robot move in forward and reverse
direction with variable speed. Support with necessary diagrams

OR

14. (a) Compare and contrast the working of CCD and CMOS camera (9)

(b) Illustrate the significance of the PID controller with a neat block diagram (5)

15. (a) Outline the seven stages of robot vision. (14)

OR

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16. (a) Derive the kinematic model of a differential drive mobile robot. (7)

(b) A frame B was rotated about the x-axis 90o, then it was translated about the (7)
current a-axis 3 inches before it was rotated about the z-axis 90o. Finally, it
was translated about the current o–axis 5 inches.
(a) Write an equation that describes the motions.
(b) Find the final location of a point p(1,5,4)T attached to the frame relative
to the reference frame.

17. (a) Derive error model for odometric position estimation (8)

(b) Illustrate the SLAM problem with suitable diagrams (6)

OR

18. (a) Compare and Contrast graph based and particle SLAM (8)

(b) Describe the concept of mobile robot localization with suitable Block (6)
diagrams

19. (a) Compare and contrast local and global Dynamic window approaches in (7)
obstacle avoidance.

(b) Explain the concepts of floor finding Algorithm (7)

OR

20. (a) Illustrate the Incorporation of Neural network approach in Robot navigation? (6)
List its advantages

(b) Make the robot to run from start position to goal position in the Following (8 )
diagram using A* Algorithm

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TEACHING PLAN

No. of
Lecture
No Contents Hours
(45 hrs)

Module-1 (Introduction to robotics) (8 hours)

1.1 Introduction to robotics – Degrees of freedom - Robot types 1 hour

Manipulators- Anatomy of a robotic manipulator-links, joints, actuators,

1.2 1 hour
sensors, controller

1.3 Robot configurations-PPP, RPP, RRP, RRR- Mobile robots- wheeled 1 hour

1.4 Legged robots, Aerial robots, underwater robots, surface water robots - 1 hour

Dynamic characteristics of robot- speed of motion, load carrying capacity &

1.5 speed of response 1 hour

Introduction to End effectors - mechanical grippers, special tools, Magnetic

1.6 1 hour
grippers

1.7 Vacuum grippers, adhesive grippers, Active and Passive grippers 1 hour

1.8 Ethics in robotics - 3 laws - applications of robots 1 hour

Module-2 (Sensors, Actuators and Control) (9 hours)

2.1 Sensor classification- touch, force, proximity, vision sensors. 1 hour

2.2 Internal sensors-Position sensors, velocity sensors 1 hour

2.3 Acceleration sensors, Force sensors; 1 hour

2.4 External sensors-contact type, non-contact type 1 hour

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2.5 Digital Camera - CCD camera - CMOS camera 1 hour

2.6 Omnidirectional cameras - Sensor characteristics 1 hour

2.7 Actuators - DC Motors - H-Bridge - Pulse Width Modulation 1 hour

2.8 Stepper Motors – Servos - Control - On-Off Control 1 hour

2.9 PID Control - Velocity Control and Position Control 1 hour

Module-3 (Robotic vision & Kinematics) (9 hours)

3.1 Robot Vision: Sensing, Pre-processing, Segmentation, Description 1 hour

Recognition, Interpretation, Feature extraction -Camera sensor hardware

3.2 1 hour
interfacing

Representation of Transformations - Representation of a Pure Translation -

3.3 Pure Rotation about an Axis 1 hour

Combined Transformations - Transformations Relative to the Rotating

3.4 Frame 1 hour

Basic understanding of Differential Drive Wheeled Mobile Robot - Car Like

3.5 Wheeled Mobile Robot 1 hour

3.6 Kinematic model of a differential drive and a steered mobile robot. 1 hour

3.7 Degree of freedom and manoeuvrability, Degree of steerability 1 hour

3.8 Degree of mobility, Different wheel configurations 1 hour

Holonomic and Nonholonomic robots, Omnidirectional Wheeled

3.9 1 hour
Mobile Robots

Module-4 ( Localization and Mapping) (9 hours)

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Position and Orientation - Representing robot position, Basics of reactive

4.1 1 hour
navigation

4.2 Robot Localization, Challenges in localization 1 hour

4.3 An error model for odometric position estimation 1 hour

Map Representation - Continuous representations - Decomposition

4.4 1 hour
strategies

Current challenges in map representation, Probabilistic map-based

4.5 1 hour
localization (only Kalman method)

4.6 Probabilistic map-based localization (only Kalman method) 1 hour

Autonomous map building, Simultaneous localization and mapping

4.7 1 hour
(SLAM) - Mathematical definition of SLAM

4.8 Visual SLAM with a single camera - Graph-based SLAM 1 hour

4.9 Particle filter SLAM - Open challenges in SLAM 1 hour

Module-5 (Path Planning and Navigation) (10 hours)

5.1 Path Planning- Graph search 1 hour

Deterministic graph search - breadth first search - depth first search-

5.2 1 hour
Dijkstra’s algorithm

5.3 A*, D* algorithms, Potential field based path planning 1.5 hour

Obstacle avoidance - Bug algorithm - Vector Field Histogram - Dynamic

5.4 1.5 hour
window approaches

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Navigation Architectures - Modularity for code reuse and sharing - Control

5.5 1 hour
localization - Techniques for decomposition

5.6 Alternatives for navigation - Neural networks 1 hour

5.7 Processing the image - Training the neural network for navigation 1.5 hour

Training the neural network for navigation - Convolutional neural network

5.8 1.5 hour
robot control implementation

*******************

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