UCSB “Introduction to Robotics: Planning and Kinematics” ME/ECE 179P, Winter 2022 Instructor: Francesco Bullo
This is the website for the UCSB course ME / ECE 179P “Introduction to
Robotics: Planning and Kinematics”, Winter 2022. This information is
available at the URL http://motion.me.ucsb.edu/ME179P-Winter2022. A pdf version of this
documentation is available online.
Description
Motion planning and kinematics topics with an emphasis on geometric
reasoning, programming and matrix computations. Motion planning:
configuration spaces, sensor-based planning, decomposition and sampling
methods, and advanced planning algorithms. Kinematics: reference frames,
rotations and displacements, kinematic motion models.
Course Learning Outcomes
An ability to apply knowledge of geometry, graph algorithms and linear algebra to robotic systems
An ability to use a numerical computing environment, such as Matlab, to solve engineering problems
An ability to formulate and solve planning problems in robotics
An ability to formulate and solve kinematics problems in robotics
Prerequisites
Eng 3 and either ME 17 or ECE 130C (concurrent enrollment is allowed).
Knowledge of basic concepts in matrix theory (matrix multiplication,
traces, determinants, eigenvalues), differential equations, and familiarity
with Matlab and/or Python programming.
Lecture Time and Place
Tuesday and Thursday 9:30am-10:45am, HSSB 1228
(UCSB Winter quarter 2022: Tues Jan 4 - Thu Mar 10. Finals Mon Mar 14 - Fri Mar 18.)
Course credit
Units: 4, including 3 units of lecture, 1 unit of computer lab per week
Textbook
Lectures on Robotic Planning and Kinematics,
Francesco Bullo and Stephen L. Smith
v0.93, Jan 1, 2022.
Available in PDF and Slide PDF format.
Warning: the lecture notes may be updated during the course. I will inform
you if and when a new version of the notes is available. (Exercise numbers
will not change.)
Instructor
Professor Francesco Bullo
Department of Mechanical Engineering
Email: bullo-at-engineering.ucsb.edu
Website: http://motion.me.ucsb.edu
Office hours
Place: Zoom (see email for room ID)
Time: Monday, 4pm-5pm or 4pm-6pm as long as there are un-answered questions
If you have any questions about the course, please send me email. I will
try to respond as quickly as possible. Additionally, I will share
questions that are particularly good (and their answers) with the rest of
the class by broadcasting my answer to the entire class.
If you plan to come to ( = connect with my room) office hours for questions
about homework, please be prepared to show attempts at solving the problem
that you prepared before coming. Also, it would be desirable if you would
please email me at least 1 hour in advance.
Teaching Assistant
Francesco Seccamonte, fseccamonte at ucsb.edu
Office hours Time: Wednesday, 9:00am-10:00am or 9am-11am as long as there are un-answered questions
Office hours Place: Eng. II, #3361.
Please come to office hours with prepared questions. Due to time
constraints, only limited help will be given for coding and debugging problems.
Grading
Your grade will be assigned roughly according to the following percentages.
Homework and Projects = 15% and 15%
Midterm 35%
Final 35%
Partial credit might be given whenever the overall performance is low. If
answers are not accompanied by satisfactory explanations (e.g., all
intermediate steps, clearly readable handwriting), no credit will be
given.
Exams and quizzes will be closed book and closed notes. You may prepare an
exam aid (cheat sheet) in your own handwriting, consisting of one,
one-sided sheet (letter size, 8.5x11in) for the midterm and one, two-sided
sheet for the final exam. No calculators/tablets/cellphones are allowed
during the exams (they would be useless anyway).
In exceptional cases, I reserve the right to give extra points for
excellent performance on the final. Please, do not count on it as a way to
avoid doing homework assignments.
Homework will is typically due on Wednesday afternoon. No late
homework will be accepted without prior approval. Approval is
automatic the first two times you ask: to announce late homework you
must send me email by midnight the day before. Late homework will
automatically lose 20% of the grade and no late homework will be
accepted after 5pm on the following Monday.
Computer Access & Matlab vs Python
Some of the homework and all computer laboratory
assignments will require working knowledge of Matlab or Python.
I expect all of you to have access to a Matlab or Python installation.
A matlab primer is available in the handout section of the course website.
Collaboration Policy
Collaboration Policy for this course
& Academic Dishonesty @ Wikipedia
Resources for Students
The Division of Student Affairs provides a broad range of essential
support services and resources to help UCSB students handle the
challenges of university life.
Help during exams
Students with disabilities may request academic accommodations for
exams online through the UCSB Disabled Students Program at
http://dsp.sa.ucsb.edu.
Please make your requests for exam accommodations through the online
system as early in the quarter as possible to ensure arrangement.
Managing stress
Personal concerns such as stress, anxiety, relationships, depression,
cultural differences, can interfere with the ability of students to
succeed and thrive.
If you find yourself, or another student, in need of support, please
do not hesitate to reach out to Counseling and Psychological Services
(CAPS), 24/7 at (805) 893-4411. http://caps.sa.ucsb.edu
Financial crisis response team
The UCSB Financial Crisis Response Team exists to assist UCSB students
who may be facing a financial crisis or urgent financial need. In
order to apply for emergency funding, please first email
FinancialCrisis@sa.ucsb.edu. Within 1-2 business days, a Financial Aid
Advisor will contact you for your next steps.
Gender and sex discrimination policy and student support
Under Title IX, university students are protected from harassment and
discrimination based on gender and sex. If a student feels
uncomfortable or in need of support at any time related to their
gender, sex, and/or sexual orientation, please contact your TA and/or
course instructor immediately. If a student would like to disclose
information related to pronouns, name changes, or identities, we
encourage you to do so. UCSB's Resource Center for Sexual and Gender
Diversity on the 3rd floor of the Student Resource Building is also
available to advocate and be of and support to students.
Food security
If you are facing any challenges securing food or housing and believe this
may affect your performance in the class, you are urged to meet with a Food
Security and Calfresh Advocate who is aware of the broad variety of
resources that UCSB has to offer (see their drop-in hours at
food.ucsb.edu). You are also urged to contact the professor or teaching
assistant if you are comfortable doing so. Please visit food.ucsb.edu for
additional resources including Calfresh, the AS Food Bank, and more.
Responsible scholarship
Honesty and integrity in all academic work is essential for a valuable
educational experience. The Office of Judicial Affairs has policies,
tips, and resources for
proper citation use,
recognizing actions considered to be cheating or other forms of academic theft, and
students’ responsibilities.
This information is available on their website at:
http://judicialaffairs.sa.ucsb.edu. Students are responsible for
educating themselves on the policies and to abide by them.
Furthermore, for general academic support, we encourage students to
visit Campus Learning Assistance Services (CLAS) early and often. CLAS
offers instructional groups, drop-in tutoring, writing and ESL
services, skills workshops and one-on-one consultations. CLAS is
located on the third floor of the Student Resource Building, or visit
http://clas.sa.ucsb.edu.
Copyright policy
All course materials (class lectures and discussions, handouts,
examinations, web materials) and the intellectual content of the
course itself are protected by United States Federal Copyright Law,
the California Civil Code.
The UC Policy 102.23 expressly prohibits students (and all other
persons) from recording lectures or discussions and from distributing
or selling lectures notes and all other course materials without the
prior written permission of the instructor (See
Policy on Student
Conduct and Discipline).
I have made the textbook available with a copyright-friendly policy (see page 2 of the text).
Students are permitted to make notes solely
for their own private educational use. Exceptions to accommodate
students with disabilities may be granted with appropriate
documentation.
To be clear, in this class students are forbidden from
completing study guides and selling them to any person or
organization.
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