Robot technology innovation and practice old version outline

Specific reference ：

tianbot_mini Robots get started ROS/SLAM/Navigation How simple it is ？？？

2017-2018-2019-2020 Use this version （ With ROS1 Mainly ）.

2021-2022- According to the specific situation , Made many adjustments .

Course number

credits

2

The first semester

6

Class hours

2 Zhou

Course type

Concentrated practical courses

Course nature

Limited selection

Assessment form

Examine

Prerequisite courses

It's suitable for majors

Robot engineering

Opening College

School of electrical and robotics engineering

Suggested textbook

《ROS Robot project development 11 example 》, Mechanical industry press ,2018 year

Main reference books

（1）Aaron Martinez, Enrique FernANdez, etc. . ROS Robot programming （ The second edition ）[M]. Mechanical industry press , 2017.

Maker

Approved by

Approved by

Revision period

edition

One 、 Course description

Robot technology innovation and practice courses comprehensively apply robot related foundations 、 Automatic control theory 、 Knowledge of sensor technology and other courses . Through the training and learning of this concentrated practical course , Students complete the design of an intelligent robot project 、 The implementation of , Robot system design and control technology 、 Human computer intelligent interaction technology 、 Robot Perception and information fusion technology are integrated , It can enable students to master the basic theory of intelligent robot system 、 Technology and methods , Consolidate and deepen the understanding of theoretical knowledge 、 It enhances students' application ability , Cultivate students' ability to solve practical problems , For future engineering work 、 Scientific research and the development of new technological fields , Lay a solid foundation .

Two 、 Course objectives

1. Be able to use advanced software to complete the design and development of robot system （ Corresponding to graduation requirements 3.5： It can embody the innovation consciousness in the process of designing the advanced production line system dominated by industrial robots , Judge the existing methods 、 Improve or innovate .）

2. Master the current situation of the project at home and abroad , Clearly know the advantages and disadvantages of mainstream methods （ Corresponding to graduation requirements 10.3： Understand the development trends of the international industry , Pay attention to the international hot issues of this major .）

3. Strong adaptability to industry software updates , Have a clear understanding of the development process of general methods （ Corresponding to graduation requirements 12.2： Have the knowledge base of lifelong learning , Master the methods of autonomous learning , Understand the ways to expand knowledge and ability .）                                            

                                   

3、 ... and 、 Teaching content and basic requirements

（1） Consolidate and deepen the understanding of the theoretical knowledge learned in the classroom , And integrate theory with practice .

（2） Train students to meet their actual needs , Ability to design procedures and field commissioning procedures .

（3） Further familiar with control system analysis 、 Design and Application Technology .

（4） Cultivate students' practical and realistic working attitude , And the ability to analyze and solve practical application problems by using the knowledge learned .

（5） Cultivate students' spirit and consciousness of independent scientific research and team scientific research .

1． The teaching content of the course

This topic aims at the preliminary design and basic research of the typical robot project control system , Improve students' ability to design and develop robot software .

Yes 11 It consists of robot engineering subprojects . The contents of each project are as follows ：

• 01： Use ROS、OpenCV and Dynamixel Servos Face detection and tracking ;
• 02： stay ROS Build an image like Siri The chat robot ;
• 03： Use ROS Control embedded development board ;
• 04： Use gestures to remotely operate robots ;
• 05： Object detection and recognition ;
• 06： Use ROS and TensorFlow Deep learning of ;
• 07：MATLAB and Android Upper ROS;
• 08： Build autonomous mobile robots ;
• 09： Use ROS Create a autonomous vehicle ;
• 10： Use VR Head gear and Leap Motion Remotely operated robots ;
• 11： Control the robot through the network ;

ROS Robot project practice is a practical course of learning intelligent robot technology through practical projects . This course requires ROS Knowledge . however , without ROS Experience , Need to learn in advance . The goal of the first lesson is for beginners with zero foundation . ROS Widely used in robot companies 、 Universities and robotics research laboratories , For designing and programming robots . The basic goal of this lesson is to explain through project interaction ROS. The items we are discussing here can also be reused in academic or industrial projects . This lesson discusses the ROS Various new technologies of interface . for example , You will see how to build a prototype of a autonomous vehicle , How to use ROS Develop deep learning applications , And how to ROS Write virtual reality in （VR） Applications . These are just a few highlighted topics ; Besides , You will find that using ROS And its library about 15 Projects and Applications .

Use various items after meeting the preparatory conditions . Most projects can be completed without many dependencies . Use mainstream and viable hardware components to complete most projects . So this allows us to create almost all these projects without too many difficulties .

2． Key points of the course 、 difficulty

Development and debugging practice of intelligent robot control system , Development and debugging practice of intelligent vision system , Development and debugging practice of sensing detection and data transmission system , Relevant control system development and debugging practice , Development and debugging practice of upper computer monitoring system .

3． Course teaching requirements

（1） Have a preliminary understanding of the design steps of the production line control system , Master the system design method , Deepen the understanding of professional theoretical knowledge , Be able to comprehensively use the professional knowledge learned for equipment selection and integration .

（2） Through formulating the design scheme of intelligent robot control system , Consider development comprehensively in equipment selection and integration 、 Requirements for operation and maintenance , To understand and master the comprehensive design process and method of intelligent robot system .

（3） Carry out the training of basic design skills . Such as ： Calculation 、 mapping 、 Be familiar with and use design materials （ manual 、 Atlas 、 Standards and specifications, etc ） And use experience data 、 The ability of experience estimation, data processing and computer application .

（4） Understand the development frontier of advanced intelligent robot technology , Learn and master the composition and working principle of the control system based on robot and vision ; Further master the design method and debugging skills of industrial production line control system .

（5） Cultivate students' ability to consult materials and apply knowledge ; Improve students' ability to write and express reports ; Cultivate students' correct design ideas 、 Rigorous scientific style ; Cultivating students' innovative ability 、 Ability to use knowledge and teamwork .

Four 、 Course hour allocation

The innovation and practice of robot technology is based on the class hours specified in the teaching plan , Time 2 Zhou , The specific class hour allocation is shown in the table below , For reference .

Summary of teaching content	Class hours			Teaching methods	Corresponding course learning achievements
	lecture	experiment	practice
11. Training preparation （1） Laboratory safety education ; （2） General requirements for training ; （3） Students receive practical training tasks , Search for relevant information , Familiar with the test bench . （4） Demand analysis of intelligent robot project .	2		2	Lecture	1
2. Use ROS、OpenCV and Dynamixel Servos Face detection and tracking By using ROS and OpenCV The library implements a cool project . The project essentially creates an application for human face tracking , It realizes face tracking in the way that the camera always points to the face . We will use such as Dynamixel Such an intelligent servo system makes the robot rotate on its axis .	2		4	Lecture 、 practice	2
3. stay ROS Implement an image like Siri The chat robot It can easily improve the interaction and intelligence of robots . The project is in progress. ROS Create a chat robot that can use text or voice to communicate . If you want to create social or service robots , This project will be very useful	1		2	Lecture 、 practice	2
4. Object detection and recognition Introduce interesting items for detecting objects . Will learn to use powerful ROS Package for two-dimensional and three-dimensional object recognition ..	1		4		2
5. Use ROS and TensorFlow Deep learning This is a project developed using cutting-edge technology on robots . Use TensorFlow Kuhe ROS, It can realize interesting deep learning applications . Deep learning can be used to realize image recognition , This chapter is also about using SVM Applications for .			2	practice	3、4
6. adopt Web Control robots We will see how in ROS Use in rosbridge Develop interactive Web Applications .			2	practice	5
7. Program debugging Debug the program written .			6	practice	4、5
8. Write intelligent robot training report and defense     According to the requirements of task class and instruction class , Write training report , Prepare your defense . Each student has a separate defense , Show the control effect 、 Question answering			4	Lecture practice	6、7
close     meter	6		26

5、 ... and 、 Other teaching links

1. Training preparation （2 Class hours ）

（1） Laboratory safety education ： It can not only ensure the integrity of the experimental equipment , Ensure the implementation of practical teaching , At the same time, it also cultivates students' professional quality in electrical industry .

（2） General requirements for training ： Put forward requirements in all aspects of training , Clarify the training purpose and precautions in the training process .

2. Defence （4 Class hours ）

Each student has an independent defense , In addition to demonstrating the effect of the comprehensive training project , Also answer teachers' questions about practical training projects and related knowledge , It is beneficial for students to consolidate and master robots .

6、 ... and 、 Teaching management

1. Training items and class hour allocation ： According to the professional training plan 、 According to students' ability and acceptance , Teachers can choose the training items in the training guidance class or make certain modifications to the requirements , The class hour allocation of each practical teaching unit can be adjusted according to needs .

2. The whole teaching of this training is taught by teachers 、 Students' hands-on operation 、 The teaching method of teachers' guidance and progress .

3. This course adopts the on-site teaching method , Teachers guide students to carry out on-site practical teaching , Encourage students to study independently , Cultivate students' self-study ability , Fully mobilize students' subjective initiative in learning .

7、 ... and 、 Assessment method

1、 Assessment description

The students' grades in this course are changed from their usual grades 、 Defense Report 、 The research report consists of three parts , Among them, the usual score accounts for the total score 30%, Defense Report Of the total score 30%、 research report Of the total score 40%. The usual performance is evaluated by the usual （ Of the total score 10%）、 Periodic learning report （ Of the total score 20%） Comprehensive assessment . See the following table for specific assessment links and assessment proportion .

Assessment link	Usual results （30%）		Defense Report （30%）	research report （40%）	total
	Usual evaluation	Periodic learning report
Assessment proportion	10%	20%	30%	40%	100%

Scoring criteria for system operation demonstration ：

The assessment criteria of the comprehensive training report are shown in the table below .

Performance evaluation standard of training report

Serial number		requirement	The score is
1	Demand analysis	According to the practical training task class , According to the requirements of production process , Conduct demand analysis ;（ nothing 0 branch ; Simple 3 branch ; detailed 5 branch ） Reflect the application standards 、 standard 、 manual 、 Atlas and the ability to obtain relevant technical data by various means .（ nothing 0 branch ; Simple 3 branch ; detailed 5 branch ）	10 branch
2	Key link analysis	Be able to identify the key links of the system according to the task ;（ nothing 0 branch ; Simple 3 branch ; detailed 5 branch ）	5 branch
3	Formation and selection of preliminary scheme	Be able to determine control index requirements according to demand analysis ;（ nothing 0 branch ; Simple 3 branch ; detailed 5 branch ） There are many options for the preliminary plan , After analysis, the best scheme is determined , And determine the type selection .（ nothing 0 branch ; Simple 3 branch ; detailed 5 branch ） Be able to correctly analyze the key links , And propose solutions .（ nothing 0 branch ; Simple 3 branch ; detailed 5 branch ）	15 branch
4	Algorithm design and integration	Draw the control schematic diagram according to the specification requirements 、 Electrical wiring diagram , And connect the circuit according to the designed circuit diagram , And according to the network control requirements , Connect to the communication network .（ nothing 0 branch ; Simple 3 branch ; detailed 5 branch ） With station , Detection point , Gas path , Circuit symbol ; With measured value , Given value , Control quantity dynamic point ; controller 、 Extension module 、 Selection of sensors, etc 、 install .（ nothing 0 branch ; Simple 3 branch ; detailed 5 branch ）	10 branch
5	Software design and debugging	Draw program control flow chart , Determine the robot's I/O, Write the control program of the robot that meets the production and control requirements , And annotate and explain the program .（ nothing 0 branch ; Simple 3-5 branch ; detailed 6-10 branch ） Operating procedures 、 Safe operation 、 Emergency handling .（ nothing 0 branch ; Simple 3-5 branch ; detailed 6-10 branch ）	20 branch
6	Grouping Personal technical ability	The task of each member ;（ nothing 0 branch ; Simple 3 branch ; detailed 5 branch ） Tasks that require team members to discuss .（ nothing 0 branch ; Simple 3 branch ; detailed 5 branch ）	10 branch
7	System operation demonstration and defense	According to the production process , System installation and commissioning ; Administrator and operator login function , hand / Automatic switch .（ nothing 0 branch ; Simple 3-5 branch ; detailed 6-10 branch ） Communication and expression .（ nothing 0 branch ; Simple 3-5 branch ; detailed 6-10 branch ）	20 branch
8	Upper computer monitoring 、 System joint commissioning and improvement	Upper computer parameter setting 、 Safe start and stop 、 Run the test 、 analysis ;（ nothing 0 branch ; Simple 3-5 branch ; detailed 6-10 branch ） Operation analysis and improvement ;（ nothing 0 branch ; Simple 3-5 branch ; detailed 6-10 branch ）	10 branch

Assessment description ：《 List of course assessment schemes 》 The corresponding relation of expression , It can prove that the students have passed the examination of this course , To meet the requirements of the course objectives .

2、 List of course objective assessment scheme

Assessment description ：《 List of course objective assessment scheme 》 The corresponding relation of expression , It can prove that the students have passed the examination of this course , To meet the requirements of the course objectives .

List of course objective assessment scheme

Number of graduation requirements supported by the course	Course objective No	Assessment content	Assessment form	Check the raw materials （ explain ： The examination paper 、 Homework 、 Experimental report 、 Technical report 、 Process record 、 Practice summary, etc , Paper or electronic ）
3.5	Course objectives 1	Be able to use advanced software to complete the design and development of robot system	research report	Technical report
10.3	Course objectives 2	Master the current situation of the project at home and abroad , Clearly know the advantages and disadvantages of mainstream methods	Defense Report	Summary of the defense
12.2	Course objectives 3	Strong adaptability to industry software updates , Have a clear understanding of the development process of general methods	Study report	Technical report