BI2NR21-Natural and artificial robotics

Module Provider: School of Biological Sciences
Number of credits: 20 [10 ECTS credits]
Level:5
Terms in which taught: Autumn / Spring term module
Pre-requisites:
Non-modular pre-requisites:
Co-requisites:
Modules excluded:
Current from: 2021/2

Module Convenor: Prof William Harwin
Email: w.s.harwin@reading.ac.uk

Type of module:

Summary module description:

Students will study the mathematics of robotics and see this mathematics in action by building and programming simple robotic, prosthetic, orthotic or assistive devices. The concept of a robot is built on the mathematics of forward and inverse kinematics by describing the geometry of the two link planar arm and relating the values of position, velocity and acceleration of the robotic arm. This mathematical description of the robotic linkage (arm/legs/hands) is a necessary step to control the robotic endpoint, for example, to reach a target, hit a ball, walk, grasp a light bulb etc.  This mathematics is important in bioengineering areas such as prosthetics, haptics, exoskeletons and rehabilitation robotics. It is also widely used in other disciplines such as virtual reality and computer games. This experience will be expanded in the context of engineering design to allow students to create and prototype new ideas in the field of robotics, medical robotics, assistive robotics, prosthetics, orthotics and exoskeletons.

Aims:

The course aims to introduce students to kinematics of serial chains, and the forces and accelerations associated with moving bodies. Actuators to apply torques will be considered from their performance characteristics and will include animal muscle, pneumatic, hydraulic and electrical machines. Students will also be introduced to the sensory and reflex mechanisms in both human and artificial linkages and will be able to extend these ideas to consider the needs of the higher level controller (the brain and/or concepts of supervisory control). There will be a case studies in biomechanics, assistive technologies and robotics.

Assessable learning outcomes:

Students will develop mathematic and analytic skills in the area of mechanics and see how these skills can be applied in two apparently dissimilar domains where in practice there is considerable similarity of operation. Students will also be able to consider both simplified mathematical simulations and compare these with standard packages for forward and inverse dynamic problems in biomechanics.  Parallels will be drawn between biological linkages (arms/legs/fingers etc) and mechanical l inkages

Additional outcomes:

Outline content:

Elementary mechanism theory, actuators and power transmission mechanisms, kinematics, 4-bar linkages, engineering design, selection of engineering materials, rapid prototyping, 3D printing.

Free-form-fabrication methods, legged machines

Statics, including Newton-Euler backward recursive algorithm

Definition of accelerating co-ordinate frames

Closed form inverse dynamics

Introduction to position and force control of manipulators

Haptic controller architectures

Computer aided design and 3D printing.

Simple PID control

Application of serial linkage mathematics to a serial linkage designed by the students.

Brief description of teaching and learning methods:

Lectures, laboratory practicals, and flipped classrooms.

Contact hours:

	Autumn	Spring	Summer
Lectures	10	10
Practicals classes and workshops	10	10
Supervised time in studio/workshop	20	20
Guided independent study:
Wider reading (independent)	10	10
Wider reading (directed)	10	10
Exam revision/preparation		15
Peer assisted learning	10	10
Preparation for presentations	4	4
Preparation of practical report	1	15
Carry-out research project	5	6
Reflection	10
Total hours by term	90	110	0
Total hours for module	200

Summative Assessment Methods:

Method	Percentage
Written exam	50
Portfolio	40
Oral assessment and presentation	10

Summative assessment- Examinations:

One 3 Hour exam

Summative assessment- Coursework and in-class tests:

One portfolio

One research project assessed by presentation

Formative assessment methods:

A small competition demonstrating skills at constructing and programming a robot arm will be used to reinforce concepts in robotics such as the force and velocity jacobian, inverse kinematics, path planning etc.

Penalties for late submission:

The Support Centres will apply the following penalties for work submitted late:

• where the piece of work is submitted after the original deadline (or any formally agreed extension to the deadline): 10% of the total marks available for that piece of work will be deducted from the mark for each working day (or part thereof) following the deadline up to a total of five working days;
• where the piece of work is submitted more than five working days after the original deadline (or any formally agreed extension to the deadline): a mark of zero will be recorded.

The University policy statement on penalties for late submission can be found at: http://www.reading.ac.uk/web/FILES/qualitysupport/penaltiesforlatesubmission.pdf
You are strongly advised to ensure that coursework is submitted by the relevant deadline. You should note that it is advisable to submit work in an unfinished state rather than to fail to submit any work.

Assessment requirements for a pass:

40%

Reassessment arrangements:

Examination

Additional Costs (specified where applicable):

1) Required text books:  None

2) Specialist equipment or materials:  None

3) Specialist clothing, footwear or headgear:  None

4) Printing and binding:  None

5) Computers and devices with a particular specification:  None

6) Travel, accommodation and subsistence:  None

Last updated: 28 June 2021