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Robotics cmput 412

This presentation will probably involve audience discussion, which will create action items. Use PowerPoint to keep track of these action items during your presentation In Slide Show, click on the right mouse button Select “Meeting Minder” Select the “Action Items” tab

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Robotics cmput 412

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  1. This presentation will probably involve audience discussion, which will create action items. Use PowerPoint to keep track of these action items during your presentation • In Slide Show, click on the right mouse button • Select “Meeting Minder” • Select the “Action Items” tab • Type in action items as they come up • Click OK to dismiss this box • This will automatically create an Action Item slide at the end of your presentation with your points entered. Roboticscmput 412 Intro to Real World Robotics Upcoming course project Martin Jagersand

  2. Where we are in the course • Done: The robot hardware and how it works • Mobile robot hardware, configurations, sensors and kinematics • Robot arm hardware, configurations, sensors and kinematics • Upcoming: How robotics is applied • Structured environments: Industrial robotics • Unstructured environments: Everything else • How to sense the world • How to improve robot accuracy through sensing • Human-Robot Interfaces • Modes of robot control: from tele-operated to Autonomous

  3. Project and labs • Done labs • Mobile robotics • Arms • Upcoming labs: • L3: Vision guided motion control (Visual Servoing) • Project Applications of Computer Vision: • Group or individual • Worth two and a half labs. • Review and proposal Tue Mar 5 • Implementation, demo and final report: End of classes.

  4. Goals of project • Learn more in depth and hands-on about one of the course topics • Read web descriptions of system and research papers • Practically experiment with an implemented system to learn how to use it and what type of images/video it works well at. • Find our what are weaknesses and how those could be addressed. • Study and implement a small addition or modification to a part of this system.

  5. Application project • Discuss ideas for interesting projects • Identify some books, web pages or papers to serve as core information sources. • Identify a handful of early classic papers to seed your literature search. I will do my best to help here also. • Tips on carrying out your projects • Balance between reading and doing

  6. Schedule • Now (reading week) good time to think about what you would be interested in doing • Find available systems (ours and on Internet) and try to use them practically. • March project proposal. • Include reference list and a start at literature review, ie. Read some papers and write a few pages summary • Include experience from trying • Throughout course in class: Keep up to date on your project progress. • End of semester: Project reports.

  7. Resources • SW: There might be useful software available • ROS: Open source Robot Operating System and has many applications • Basic vision, OpenCV, ROS, Xvision, • Geometry, Hand-eye, Robotics code • HW: • Can use lego kits • Build your own • Borrow • Research labs have arms, hands, phantoms cameras etc • Vision for motion control: Robot arms: Could be set up. • Anything else? Some resources for buying available

  8. Literature search • Goal: Find the handful to dozen most relevant and recent papers in a subarea. • Method: • Seed with a few relevant papers. • Do citation search backwards and forwards. • Find common “buzz words”. Do title and abstract text search. • Do internet search. e.g. “Cora” from justresearch • Check most recent proceedings manually. (They won’t be indexed yet)

  9. Report: • Review • Summarize the main contributions and comparing the results in the papers. • Your contribution and experiments. • Methods • Results • Discussion • Where does it fit into the bigger picture • Future work

  10. Martin’s tips • Plan incremental progress and checkpoints. • Makes it easier to identify promising directions as well as difficulties and redefine plans as needed. • Find balance between reading and doing • It is difficult to fully grasp methods by only reading • Some experiments are incomplete, results wrong • Practical trying out can add a lot of insight. • Learn how to quickly prototype in e.g. matlab

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