Date:
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Lecture content:
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Fri September 21
handout (PDF)
full slides (PDF)
presentation (PPT)
Readings: Murphy (M) Intro, Ch 1
M 6.6-7
R & N 25.1, 25.8
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1. Introduction
- Some definitions (slides 1-3 Audio)
- Applications for robotics and vision (slides 4-7 Audio)
- The challenge (slides 8-9 Audio)
- Historical highlights (slides 10-23 Audio)
- Overview of the course
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Tues September 25
handout (PDF)
full slides (PDF)
presentation (PPT)
Readings: M: 6, 11.1-11.3
R & N Ch 24, Ch 25.2-3
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2. Sensing the world
- Why robots need sensing (slides 1-9 Audio)
- Factors that affect sensing capability (slides 10-16 Audio)
- Contact sensing (slides 17-21 Audio)
- Proximity and range sensor intro (slides 22-25 Audio)
- Occupancy grids (slides 26-28 Audio)
- Proximity and range sensing finish (slides 29-32 Audio)
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Fri September 28
handout (PDF)
full slides (PDF)
Readings: R & N 24.1-2
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3. Image and Capture
- Vision Introduction: (slides 1-4 Audio)
- Matlab example (slides 5-11 Audio)
- XV Introduction (slides 13-15 Audio)
- System 1 introduction (slides 16-18 Audio)
- Cameras and image capture (slides 19-22 Audio)
- Matlab liveimagejpg (slide 23 Audio)
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Tues October 2
handout (PDF)
full slides (PDF)
Readings: R & N 24.3
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4. Image Isolation
- Image capture problems (slides 1-7 Audio)
- Other image capture issues (slides 8-9 Audio)
- Part Isolation and lighting (slides 10-15 Audio)
- Thresholding, threshold selection (slides 16-19 Audio)
- Isolation in complex scenes (slides 20-21 Audio)
- Convolution (slides 22-26 Audio)
- Thresholding, summary (slides 27-29 Audio)
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Fri October 5
handout (PDF)
full slides (PDF)
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5. Shape Description
- Threshold selection and Matlab (slide 1-3 Audio)
- Adaptive Thresholding (slides 4-7 Audio)
- Background removal (slides 8-12 Audio)
- Colour Change Detection (slides 13-15 Audio)
- Description for recognition (slide 16-19 Audio)
- Moments (slides 20-29 Audio)
- Discussion and summary (slides 30-32 Audio)
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Tue October 9
handout (PDF)
full slides (PDF)
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6: Object Recognition
- Recognition Intro (slide 1-4 Audio)
- Bayes classifier (slides 5-9 Audio)
- Bayes classifier example (slides 10-13 Audio)
- Classifier training (slides 15-17 Audio)
- Classifier matlab (slides 18-24 Audio)
- Performance and discussion (slides 25-27 Audio)
- Projective Geometry (slides 28-31 Audio)
- Projective Transfer (slides 32-36 Audio)
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Fri October 12
handout (PDF)
full slides (PDF)
presentation (PPT)
Readings: R & N 24.6
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7. Active Vision:
- Introduction (slide 1 Audio)
- Importance of Activity (slides 2-4 Audio)
- Eye movements (slides 5-10 Audio)
- Eye movements and localisation (slides 11-12 Audio)
- Motion perception (slides 13-19 Audio)
- Structure from motion (slides 20-24 Audio)
- Attention from motion (slides 25-26 No Audio)
- Eye movements (slides 27-29 No Audio)
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Tues October 16
handout (PDF)
full slides (PDF)
presentation (PPT)
Readings: M 6.4-5
R & N: 24.6, 25.2-3
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8. Sensing self-motion:
- Why robots need self-sensing (slides 1-2 No Audio)
- Proprioception in biological systems (slides 3-8 No Audio)
- Proprioception in robots: position sensing; velocity and acceleration sensing; force sensing (slides 9-15 No Audio)
- Haptic perception (slide 16 Audio)
- Vision as proprioception, Optical Flow (slides 17-21 Audio)
- Time to Contact, Conclusion (slides 22-24 Audio)
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Fri October 19
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Guest lecture: Taku Komura
- Planning motions for humanoids to interact with others
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Tues October 23
handout (PDF)
full slides (PDF)
presentation (PPT)
Readings: R & N 25.2
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9. Effectors and Actuators:
- Mechanisms for acting on the world (slides 1-4 Audio)
- Degrees of freedom and mobility (slides 5-10 No Audio)
- Methods of locomotion: wheels, legs and beyond (slides 11-26 No Audio)
- Methods of manipulation: arms, grippers (slides 27-30 Audio)
- Methods of actuation & choices (slides 31-34 Audio)
- Control problem: mapping from signals to actuators to
desired world effects (slides 35-38 Audio)
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Fri October 26
handout (PDF)
full slides (PDF)
presentation (PPT)
Readings: R & N Ch 25.2
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10. Kinematics & Grasping:
- Introduction & 3D coordinate systems (Slides 1-4 Audio)
- 3D coordinate specification & manipulation (Slides 5-14 Audio)
- Joints (Slides 15-16 Audio)
- Configuration space (Slides 17-22)
- Grippers & grasping (Slides 23-30)
- Summary (Slide 31)
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Tues October 30
handout (PDF)
full slides (PDF)
presentation (PPT)
Readings: M 2.2, 2.5, 4.1-4.5, 6.4, II intro, 9.1-9.7, 10.1-10.4,
R & N Ch 25.3-6,7
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11. Navigation & Mapping:
- Introduction (Slides 1-2)
- Odometry (Slides 3-8)
- Navigating with beacons (Slides 9-12)
- Path planning (Slides 13-24)
- Reactive example and summary (Slides 23-25 Audio)
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Fri November 2
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Guest lecture: Sethu Vijayakumar
- Anthropomorphic Robot Control
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Tues November 6
handout (PDF)
full slides (PDF)
presentation (PPT)
Readings: M 2,4
R & N 25.6-7
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12. Control 1:
- The control problem (Slides 1-3 Audio)
- Forward models (Slides 4-6 Audio)
- Linear dynamic models (Slides 7-10 Audio)
- Process characteristics (Slides 11-13 Audio)
- Effect of gears (Slides 14-15 Audio)
- Behaviour over time (Slides 16-17 Audio)
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Fri November 9
handout (PDF)
full slides (PDF)
presentation (PPT)
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13. Control 2:
- Introduction and open loop control (Slides 1-5 Audio)
- Feed-forward control (Slides 6-8 Audio)
- Feedback control (Slides 9-11 Audio)
- Control laws + servo control (Slides 12-15 Audio)
- Complex control laws (Slides 16-19 Audio)
- Discussion (Slides 20-22 Audio)
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Tues November 13
handout (PDF)
full slides (PDF)
presentation (PPT)
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14. Control 3:
- PID Control Introduction (Slides 1-2 Audio)
- Proportional error control (Slides 3-6 Audio)
- Proportional Integral error control (Slides 7-12 Audio)
- Second order system model (Slides 13-15 Audio)
- Proportional Derivative error control (Slides 16-18 Audio)
- Combining into PID control (Slides 19-25 Audio)
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Fri November 16
handout (PDF)
full slides (PDF)
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15. Visual Servoing:
- Introduction (Slides 1-3 Audio)
- Formal Model Audio)
- Estimating joint movements (Slides 9-13 Audio)
- Results (Slides 15-17 no audio)
- Conclusions (Slide 18 Audio)
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Tues November 20
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continuation of delayed lectures
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Fri November 23
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continuation of delayed lectures
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Tues November 27
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? continuation of delayed lectures
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