Cameron Devine
Cameron Devine

Robotics ME 465

Course description

The course begins with a survey of the evolving field of robotics, including major categories such as mobile and manipulation robotics. Topics surveyed include effectors, actuators, locomotion, manipulation, sensors, feedback control, control architectures, navigation, emergence, and group robotics. Upon conclusion of the survey, the focus of the course turns to a special topic chosen by the instructor. The instructor could choose, for instance, swarm robotics or robot kinematics and dynamics— or a project. Prerequisite: ME 370 or equivalent. A minimum grade of C- is required for all prerequisites.

General information

Instructor
Cameron Devine Ph.D.
Email
[email protected]
Classroom location
Panowicz 107
Times
F 5:00 - 7:50 pm
Lecture Notes
Notes

Texts

Schedule

The following schedule is tentative.

day topic reading
1/12 Snow Day  
1/19 Introduction, Probability and Markov Localization PR Ch. 2, 7
1/26 Lab 1  
2/2 Discrete Systems and Robot Motion PR Ch. 5
2/9 Kalman Filters PR Ch. 3
2/16 Lab 2  
2/23 Particle Filters PR Ch. 4, 8
3/1 Lab 3  
3/8 Spring Break  
3/15 Lab 3  
3/22 Mapping and SLAM PR Ch. 9, 10, 13
3/29 Good Friday  
4/5 Serial Kinematic Robots RM Ch. 1, 2, 3
4/12 Lab 4  
4/19 Inverse Kinematics RM Ch. 4, 5

Labs

Lab 1: Markov Localization

Lab instructions here.

Lab 2: Kalman Filters

Lab instructions here.

Lab 3: Monte Carlo Localization

Lab instructions here.

Lab 4: Inverse Kinematics

Lab instructions here.

Extra Lab (for grad students): Fast SLAM

Lab instructions here.

Graduate Students

Graduate students have additional responsibilities in this course. They must complete all the tasks from one of the following sets:

  1. perform a literature search to understand applications and extensions of the method;
  2. as part of the introduction to each report summarize your research citing least three academic sources (this will cause graduate student reports to be longer); and
  3. at the end of the semester, give a 10 minutes presentation providing an overview of one of the academic sources you cited in your lab reports.

For resources pertaining to (1), see Dr. Rico Picone’s Academic Literature Searching Tutorial.

or

Complete an additional lab exercise or project agreed upon by the student and instructor.

Lab policies

The due date for each lab is at 5:00 pm (the start of class) two weeks after the in class lab.

For each lab follow the instructions for the lab, then write a short report (a single page is fine) including:

  • an introduction,
  • an overview of the method,
  • the results,
  • a conclusion, and
  • an appendix with your code.

For your report use the IEEE journal template. A LaTeX version is available on Overleaf or a Word version here. Submit the PDF file of your report on moodle.

Working in groups on the labs is encouraged, but write your own code and report.

Grading policies

Total grades in the course may be curved, but individual labs will not be. All assignments will be weighted equally. Grades will be available on moodle.

The following grade scale is for informational purposes only. Grades may be curved rendering this scale inaccurate. All percent grades will be rounded to the nearest integer percentage before the table below is used.

Percent Grade Letter Grade
97 - 100% A+
93 - 96% A
90 - 92% A-
87 - 89% B+
83 - 86% B
80 - 82% B-
77 - 79% C+
73 - 76% C
70 - 72% C-
67 - 69% D+
65 - 66% D
Below 65% F

AI Large Language Model Policies

As assignments in this course are used to measure your knowledge of the course material, it is important that all work is your own. Therefore, using text generated by large language models such as Chat GPT and others in the work you turn in is not allowed. To ensure these policies are followed, tools for checking if content is AI generated may be used.

Academic Honesty/Professionalism

What is Academic Integrity?

Saint Martin’s University is a community of faculty, students and staff engaged in the exchange of ideas in the ongoing pursuit of academic excellence. Essential to our mission is a focused commitment to scholarly values and intellectual integrity, and a respect for the ideas, beliefs and work of others. This commitment extends to all aspects of academic performance. All members are expected to abide by ethical standards both in their conduct and their exercise of responsibility to themselves and toward other members of the community. As an expression of our shared belief in the Benedictine tradition, we support the intellectual, social, emotional, physical and spiritual nurturing of students.

What is Academic Dishonesty?

Saint Martin’s University defines academic dishonesty as violating the academic integrity of an assignment, test and/or evaluation of any coursework. This dishonest practice occurs when you seek to gain for yourself or another an academic advantage by deception or other dishonest means. You have a responsibility to understand the requirements that apply to particular assessments and to be aware of acceptable academic practice regarding the use of material prepared by others. Therefore, it is your responsibility to be familiar with the policies surrounding academic dishonesty as these may differ from other institutions.

The Acceptable Use of AI in Coursework

Any use of technology that misleads a reviewer in assessing the student’s mastery of a specific set of skills or knowledge is a type of intellectual dishonesty, that is, a type of cheating. Students who are unsure about the appropriateness of using an artificial intelligence tool (or “AI”) should check with the instructor before using it. This includes the use of tools that generate text, images, video, code, and other works. If you are permitted by your instructor to use one or more AI tools in producing your work, you should disclose the use of that tool. You should say which tool you used and how you used it. Then if you use specific AI generated content (text, images, videos, audio, code, and so on) you should cite it in the style (APA, MLA, and so on) specified by your instructor.

University-Sanctioned Activities

If you are absent from class due to university-sanctioned activities, such as sports, it is your responsibility to request that the absence be excused; otherwise, the absence will be recorded as unexcused. Absent students are responsible for catching up with the class, and if any assignments are due on the day of the absence, it is your responsibility to turn in the assignments on time.

Counseling and Wellness Center

There may be times, as a college student, when personal stressors interfere with your academic performance and your daily life. The Counseling and Wellness Center supports students by addressing mental and emotional well-being with FREE and confidential services. To schedule an appointment, call 360-412-6123 or email [email protected] or stop by the CWC (1 st floor St. Raphael Center).

If you would rather not go to the CWC or need support in the evenings and weekends, please consider using the TimelyCare app (timelycare.com/smusaints) to speak with a mental health provider, free, 24/7, from your phone or computer.

Center for Student Success

The Center for Student Success is an integrated learning assistance program that offers services for students at all levels of achievement in pursuit of intellectual growth and academic excellence. The Center offers peer tutoring, study support, first year/early major advising, and writing support. Please investigate ways in which to support your learning. The CSS is located in the lower level of O’Grady Library. You can sign up for tutoring appointments on the webpage: https://www.stmartin.edu/academics/academic-resources/center-student-success.

Religious Accommodation Statement

Saint Martin’s University, in honor of the sacredness of the individual, and being deeply rooted in the Catholic Benedictine tradition of higher education, values the many religious and spiritual practices of our campus community. Saint Martin’s University supports our students in their ongoing journey of becoming. In compliance with Washington State Law RCW 28B.137.010, Saint Martin’s University reasonably accommodates students for reasons of religious observances.

Access and Accommodations

Your experience in this class is important to me. If you have already established accommodations with Disability Support Services (DSS), please communicate your approved accommodations to me at your earliest convenience so we can discuss your needs in this course. If you have not yet established services through DSS, but have a temporary health condition or permanent disability that requires accommodations (conditions include but are not limited to mental health, attention- related, learning, vision, hearing, physical or health impacts), you are welcome to contact DSS at 360-438-4580 or [email protected] or [email protected]. DSS offers resources and coordinates reasonable accommodations for students with disabilities and/or temporary health conditions.  Reasonable accommodations are established through an interactive process between you, your instructor(s) and DSS.  It is the policy and practice of the Saint Martin’s University to create inclusive and accessible learning environments consistent with federal and state law.

Sexual Misconduct/Sexual Harrassment Reporting

Saint Martin’s University is committed to providing an environment free from sex discrimination, including sexual harassment and sexual violence. There are Title IX/sexual harassment posters around campus that include the contact information for confidential reporting and formal reporting. Confidential reporting is where you can talk about incidents of sexual harassment and gender-based crimes including sexual assault, stalking, and domestic/relationship violence. This confidential resource can help you without having to report your situation to the formal reporting process through the Dean of Students – Ms. Melanie Richardson, Associate VP of Human Resources – Ms. Cynthia Johnson, Public Safety – Ms. Sharon Schnebly, or the Office of the Provost – Dr. Tanya Smith-Brice, unless you request that they make a report. Please be aware that, in compliance with Title IX and under the Saint Martin’s University policies, educators must report incidents of sexual harassment and gender-based crimes including sexual assault, stalking, and domestic/relationship violence. If you disclose any of these situations in class, on papers, or to me personally, I am required to report it.