Course title
7M1008001
Micro Mechatronics

hasegawa tadahiro
Course content
According to a survey by the New Energy and Industrial Technology Development Organization (NEDO), the market for service robots, including autonomous mobile robots, is expected to expand to nearly 10 trillion yen by 2035. Recently, autonomous mobile robots have been introduced into urban areas, commercial facilities, airports, hotels and so on. The strategy of design when developing an autonomous mobile robot will be lectured, using a real mobile robot "Beego".
Purpose of class
The design strategy, system design method, various kinds of sensor, and programming skill for realizing that a mobile robot can move autonomously will be lectured.
In addition, when the practical training is possible in a classroom, we also aim to realize actual autonomous driving using an educational mobile robot "Beego".
Goals and objectives
  1. The students will be able to understand the principle and how to use of various sensor that is used in an autonomous mobile robot.
  2. The students will be able to understand self-localization method that is used in an autonomous mobile robot.
  3. The students will be able to understand the motion control method and navigation that is used in an autonomous mobile robot.
Language
English
Class schedule

Class schedule HW assignments (Including preparation and review of the class.) Amount of Time Required
1. (Remote Lecture)
Guidance for this lecture (Confirming the necessary environment and knowledge for this lecture)
- Introduction of the educational mobile robot "Beego"
- Check the programming environment
- Programming language (C, C++)
- Basic mathematics needed for this lecture (Linear algebra, probability statistics, error analysis, least squares method, coordinate transformation, normal distribution, etc.)

Introduction of research examples of autonomous mobile robots at Shibaura Institute of Technology

Prerequisites for programming autonomous driving
- About system configuration, coordinate system settings, estimated parameters for autonomous driving, etc.
- About middlewares sucha as SSM, ROS, etc.
Review contents of the "Prerequisites" listed in the syllabus 90minutes
Survey of application examples of autonomous mobile robots 90minutes
Summarize the ideas discussed in the previous lecture into slides using Miro 90minutes
2. (Remote Lecture)
Self-localization method (Wheel odometry, and Inertial Measurement Unit : IMU)
- Theoretical explanations, and the practical training with programming
Review the program you have created 90minutes
3. (Remote Lecture)
Self-localization method (Gyro-odometry)
- Theoretical explanations, and the practical training with programming

Explanation of LIDAR and how to use it
- Theoretical explanations, and the practical training with programming
Review the program you have created 90minutes
4. (Remote Lecture)
Environmental Recognition Using LIDAR
- Explaining application examples of environmental recognition
- Practical training by programming a wall detection (detecting distance and angle to a wall)

Self-localization method (Scan matching)
- Explanation about the scan matching method such as ICP, particle filters, etc.
- Practical training with programming
Review the program you have created 90minutes
5. (Remote Lecture)
Self-localization method (Sensor fusion)
- Explanation about Kalman Filter
- Practical training with programming

Self-localization method (Miscellaneous)
- Explanations about GNSS and cameras, etc.
- Practical training with programing.
Review the program you have created 90minutes
6. (Face-to-face lecture are planned. However, remote lecture depending on conditions of the COVID-19 pandemic )
Motion control and Navigation
- Explanations and practical training with programming

Hands-on practice with the mobile educational robot "Beego"
- One lap around the classroom by autonomous driving
Review the program you have created 90minutes
7. Considering applications using autonomous mobile robots
- Propose an idea and consider how to implement it
- Summarize your ideas into slides using Miro

Presentation and discussion on autonomous mobile robots that each group proposed.
- Presentation using slides created in Miro
Review of Class schedule 1-7, and survey of associated journals 90minutes
8. - - 0minutes
9. - - 0minutes
10. - - 0minutes
11. - - 0minutes
12. - - 0minutes
13. - - 0minutes
14. - - 0minutes
Total. - - 810minutes
Relationship between 'Goals and Objectives' and 'Course Outcomes'

Presentation Program code Total.
1. 10% 20% 30%
2. 10% 30% 40%
3. 10% 20% 30%
Total. 30% 70% -
Evaluation method and criteria
<Criteria>
Presentation : 30%
Programming : 70%

<evaluation method>
To pass the class must earn a total score of more than 60%.
Textbooks and reference materials
Academic journal papers related to autonomous mobile robots will be handed out during lectures.
Prerequisites
1) Can prepare for an equipment that allows you to take distant lectures (remote lectures) on your own.
2) [Important] Can prepare for a C++ programming environment on your own.
 *With OS, Ubuntu is best, but Windows and Mac are also acceptable.
3) Basic knowledge for mathematics (linear algebra, probability and statistics, error analysis, least squares method, coordinate transformation, etc.) is required.
4) Basic knowledge for programming techniques (C and C++) is required
Office hours and How to contact professors for questions
  • Generally, feel free to ask any questions after the lecture
  • Otherwise, please take an appointment by e-mail (thase@shibaura-it.ac.jp).
  • Simple questions can be answered by e-mail (thase@shibaura-it.ac.jp).
Regionally-oriented
Non-regionally-oriented course
Development of social and professional independence
  • Course that cultivates an ability for utilizing knowledge
  • Course that cultivates a basic problem-solving skills
Active-learning course
About half of the classes are interactive
Course by professor with work experience
Work experience Work experience and relevance to the course content if applicable
N/A N/A
Education related SDGs:the Sustainable Development Goals
  • 9.INDUSTRY, INNOVATION AND INFRASTRUCTURE
Last modified : Tue Mar 23 04:08:16 JST 2021