CUTM1020 ROBOTIC AUTOMATION WITH ROS & C++ (1+2+1) Credits: 4

https://courseware.cutm.ac.in/courses/25657/

Course Objectives

 To upgrade knowledge levels of robotic application in modern industries

 Project based training

Learning Outcomes

 Advanced knowledge on robotic automation

 Understand different types of devices to which robotic modules are connected
 Provide the knowledge about understand various types of robotic applications.
 Industry based project & advanced learning.

Course Content:
1. Robotic Automation Introduction
2. Sensors & Controllers
3. Sequential robot control
4. ROS & C++
5. Project

Course Syllabus
Module 1: Mechanical (Basic Definitions & Brief Discussion)
Introduction to Robotics, Control System, Open Loop & Closed Loop System Role of
Mechanical Elements such as Links, Joints, Structure, Kinematics Pairs Mechanisms,
Degrees of Freedom, Gears & its types, Belt Drive, Force, Momentum of force, Inertia,
Torque, Power, Friction.

Module - 2
Sensor’s requirement in robots.
2.1 Selecting sensors as per the project.
2.2 Specification checking of sensors.
2.3 Interfacing of sensor to controllers.
Practice
P2.1 TILT, PROXIMITY, TEMPERATURE, HUMIDITY, SMOKE, FINGERPRINT
P2.2 BLUETOOTH, ESP8266, GPS, GSM

Module-3
Computer Vision, Machine Learning and Artificial Neural Network in Robotic Image
processing to Computer Vision; Image and Video - Processing; Analysis and Interpretation;
Imagery intelligence; Distinguish between Computer Vision, Machine Vision & Robot
Vision.
Introduction and Basic principle of Machine Learning; Artificial Intelligence and Neural
Network for Robotics.
Module - 4
Controllers and output port handling.
3.1 Concept of 8951 controller
3.2 Concept of Arduino and concept of Raspberry Pi.

Practice
P3.1 Port handling of 8951
P3.2 Port handling of Arduino
P3.3 Port handling of Raspberry Pi

Module- 5
Sequential robot control
4.1 Designing of sequential robot control system.
4.2 Writing of programs in different programming languages.
4.3 Controlling of input/output devices.
Practice
P4.1 Programming of controllers with different programming languages
P4.2 Designing of sequential control robot.

Module- 6
ROS & C++
5.1 What is Ubuntu & ROS.
5.2 Requirement and application of ROS.
5.3 ROS based simulation of Turtlbot.
5.4 Adding of robot with wheel & sensor. Placing robot inside Gazebo.
Practice:
P5.1 Ubuntu basic command.
P5.2 Installation of Ubuntu, ROS & Gazebo
P5.3 Turtlbot control application
P5.4 Gazebo based robot control and simulation.
P5.5 Python and C++ based programming to control robot.
Virtual LAB : Using ROBOMASTER (AWS)

Projects

1. Mobile controlled robot

2. Autonomous operated robot.
3. 3. Location targeted robot
Session Plan

Session 1
Basics of automation
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/Basics-of-
Automation.docx
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/Orientation-On-
Robotics-3.pptx
Session 2
Use of robots in industry.
Video : https://www.youtube.com/watch?v=b9HU-_XyUw0&t=2s
Video
: https://www.youtube.com/watch?v=H5GyL7nmnEY&feature=emb_rel_end
Session 3
Practice
Control System, Open Loop & Closed Loop System
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/control-
system.pptx
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/control-system-
simulation.pdf
Tool-Matlab
Session 4
Role of Mechanical Elements such as Links, Joints, Structure, Kinematics Pairs
Mechanisms
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/control-
system.pptx
Session 5
Practice
Degrees of Freedom, Gears & its types, Belt Drive
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/Degrees-of-
Freedom.pptx
Tool: Coppeliasim
Session 6
Force, Momentum of force, Inertia, Torque, Power, Friction.
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/Robot-
Dynamics.pdf

Session 7
Practice
Installation Arduino IDE
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/control-system-
simulation.pdf
Session 8
Sensor’s requirement in robots.
Session 9
Practice
Selecting sensors as per the project.
Session 10
Specification checking of sensors.
Session 11
Practice
Temperature sensor interface to controller
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/lm35-1.docx
Session 12
Interfacing of sensor to controllers.
Videos : https://www.youtube.com/watch?v=J_KoRp8SnoE&t=300s
Virtual LAB : Using Proteus https://www.youtube.com/watch?v=1S7vQubTgQg
Session 13
Practice
Proximity sensor interface to controller http://courseware.cutm.ac.in/wp-
content/uploads/2020/07/pir.docx
Session 14
Concept of 8951 controller
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/module-4_8051-
1.docx
https://www.youtube.com/watch?v=pbNEJkE7yZ4
Session 15
Practice
Installation of Arduino IDE, Keil uVision 4 and Proteus software
http://courseware.cutm.ac.in/wp-
content/uploads/2020/07/gettingstartedarduino-1.pdf
Tool:Keil uVision 4,Proteus Professonal8
Session 16
Concept of Arduino and concept of Raspberry Pi.
Video : https://www.youtube.com/watch?v=aArpCMXOn0A
Virtual LAB : Using Proteus https://www.youtube.com/watch?v=j9Ur8PautVI
Session 17
Practice
Rasberry pi introduction
http://courseware.cutm.ac.in/wp-
content/uploads/2020/07/gettingstartedarduino-1.pdf
Session 18
computer vision
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/computer-
vision.pptx
Session 19
Practice
Port handling to 8051 and design using proteus(Light Emitted
Diode) http://courseware.cutm.ac.in/wp-content/uploads/2020/07/led-to-
8051.docx
Session 20
Image Processing
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/image-
fundamental.pdf
Session 21
Practice
port handling to 8051 and design using proteus(Light Emitted
Diode) http://courseware.cutm.ac.in/wp-content/uploads/2020/07/led-to-
8051.docx
Session 22
Project
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/project-list.docx
Session 23
Video Processing
http://courseware.cutm.ac.in/wp-
content/uploads/2020/07/A_Review_on_Image_Video_Processing.pdf
Session 24
Practice
Port handling to 8051 and design using proteus(Liquid Crystal
Display) http://courseware.cutm.ac.in/wp-content/uploads/2020/07/lcd.docx
Session 25
Distinguish between Computer Vision, Machine Vision & Robot Vision
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/M4P4.pdf
Session 26
Practice
Image processing using Jupiter notebook
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/lcd.docx
Session 27
Image processing in image and find brigtness_contrast_entropy using color
using Jupyter notebook http://courseware.cutm.ac.in/wp-
content/uploads/2020/07/histogram-of-an-image.docx
Session 28
Project
Abstract presentation
Session 29
Sequential robot control
Session 30
Practice
Edge detection using python
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/lcd.docx
Session 31
Project
Review
Session 32
Robot Vision

http://courseware.cutm.ac.in/wp-content/uploads/2020/07/Robot-
Dynamics.pdf
Session 33
Practice
Image processing in image and find entropy and skewness using color using
Jupyter notebook http://courseware.cutm.ac.in/wp-
content/uploads/2020/07/histogram-of-an-image.docx
Session 34
Designing of sequential robot control system.
Session 35
Practice
Ubuntu basic command. http://courseware.cutm.ac.in/wp-
content/uploads/2020/07/ROS-installation-steps.docx
Session 36
Writing of programs in different programming languages.
Session 37
Practice
Installation of Ubuntu, ROS & Gazebo http://courseware.cutm.ac.in/wp-
content/uploads/2020/07/ROS-installation-steps.docx
Session 38
Project
Session 39
Controlling of input/output devices.
Video : https://www.youtube.com/watch?v=0dx9xsvanNA&t=10s
Session 40
Practice
Turtlbot control application
https://www.youtube.com/watch?v=R5kWKgGH_CY
Session 41
Project
Review
Session 42
What is Ubuntu & ROS.
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/ROS-installation-
steps.docx
Session 43
Practice
Gazebo based robot control and
simulation. https://www.youtube.com/watch?v=sb7FoOGzb8E
Session 45
Project
Review
Session 46
Requirement and application of ROS.
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/ROS-
presentation.pptx
Session 47
ROS based simulation of Turtlbot.
https://www.youtube.com/watch?v=R5kWKgGH_CY
Session 48
Adding of robot with wheel & sensor. Placing robot inside Gazebo.
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/Robotic-Lab-
Manual.docx
Projects
http://courseware.cutm.ac.in/wp-content/uploads/2020/07/project-list.docx

1. Mobile controlled robot

2. Autonomous operated robot.
3. Location targeted robot