TMHP33	Autonomous Robots, ECTS-points /SENSORSTYRDA AUTONOMA ROBOTAR/ Advancement level: C
	Aim: Extensive international research work is in progress regarding conditions of different kinds of "robots",( in very a wide sense), in aspects of natural science and information technology. The aim of the course is to choose such part of this research that can be presented to students of technology. The models and methods of the course are general - how to extract information about the movements and shape of an object from sensor signals. Prerequisites: Basic courses in mathematic statistics, automatic control and engineering mechanics are compulsory. The course in modelling and simulation should be studied in parallel. Course organization: Instruction is carried out in the form of lectures, classes and laboratory exercises. Course content: (to be chosen form the list below) Summary of different kinds of robots, craft for offshore, dangerous environments, space and different experimental robots. The concept of autonomy and some examples of system functions/part tasks. Motion models for robots. Number of degree of freedom. Rategyros and accelerometers as absolute sensors, principles for inertial navigation. Rategyro recoupling. Estimation of collision point and collision signatures from accelerometer in prehensive tools. Models of signals from sensors measuring geometric magnitudes; Pulsed laser, Doppler laser, "distant camera", computer vision, coherent ultra sound, radar , collision sensors. Stocastic geometry for modelling of form of object. Not a course in sensor technology but in sensor modelling. Estimation of motion from non-contact sensors (by use of Kalman filters among other things). The qualities of estimates as a function of physicalic parameters. The relations between shape of object and accuracy with the motion estimate. Principles for feed back of sensors at gripping/docking and at curve/contour following. Beacon-navigation: "Luleå Turbo Turtle". Modelling of geometric ˆ priori information and description of the task of the robot: Numeric/symbolic information. Different types of adaptivity. "Intelligent" surviellance systems and signal interpretation when multiple sensors. Some recent research projects. Course literature: Commented articles from journals, compendium.
UPG1	Compulsory tasks to be handed in, oral presentation.

Course language is Swedish.