CMPUT 412 Experimental Robotics - Department of Computing ...
CMPUT 412 Experimental Robotics - Department of Computing ...
CMPUT 412 Experimental Robotics - Department of Computing ...
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<strong>CMPUT</strong> <strong>412</strong><br />
<strong>Experimental</strong> <strong>Robotics</strong><br />
Csaba Szepesvári<br />
University <strong>of</strong> Alberta
Plan for today<br />
Introduction/admin<br />
Expectations<br />
Requirements/Marking<br />
Course contents
Studies:<br />
<br />
<br />
Me..<br />
Mathematics (Stat. and Prob.)<br />
Computer Science<br />
Research<br />
<br />
<br />
Reinforcement learning (theory)<br />
Machine learning (vision, robotics,..)<br />
Experience<br />
<br />
<br />
5 years in industry (sw firm, speech, text, video)<br />
15 years <strong>of</strong> C++
You..
Schedule!<br />
Lecture: TR 15:30-16:00<br />
16:00<br />
Room: ETL E1 018 -> > CSC 229<br />
Lab: W 14:00-17:00<br />
17:00<br />
Room: CSC 229
Appointment:<br />
<br />
Office hours<br />
szepesva@cs.ualberta.ca<br />
Stop by!<br />
Room: Ath 3-113<br />
Phone: x2-8581
Information sources<br />
Course webpage:<br />
ugweb.cs.ualberta.ca/~c<strong>412</strong><br />
RLAI page:<br />
http://rlai.cs.ualberta.ca/RLAI/RLAICourse/<br />
UGExp<strong>Robotics</strong>.html<br />
Teaching Assistants:<br />
Azad Shademan, Shen Jiang<br />
Instructional group support:<br />
John Rodson (rod@ugrad.cs.ualberta.ca(<br />
rod@ugrad.cs.ualberta.ca)
Expectations
Means<br />
<br />
<br />
<br />
My expectations: Means<br />
We all will have some fun<br />
You learn how to approach robotics tasks<br />
You become interested in doing research with<br />
me in ML/<strong>Robotics</strong>
My expectations: Ends<br />
You try your best to solve the assignments<br />
(it’s s fun!)<br />
You will act in a self-initiated manner<br />
You ask questions<br />
Cooperation vs. individual work<br />
You come to the lectures<br />
You come to the labs
My contribution<br />
I act like a supervisor<br />
<br />
<br />
<br />
<br />
I define tasks<br />
I provide background material (lectures,<br />
resources)<br />
I answer questions<br />
I evaluate your performance
Marking
How to get (good) marks<br />
This is a<br />
project based course<br />
=> no final, or midterm<br />
“Just” solve the assignments
Gradings/2<br />
Scoring => %<br />
Bonus points<br />
=> use as<br />
you want<br />
You are going to evaluate your class mates’<br />
presentations<br />
No predefined grading system<br />
See course webpage
Course schedule<br />
Date<br />
Topic<br />
Assignment<br />
N<br />
o<br />
.<br />
D<br />
u<br />
e<br />
Lab<br />
9-Jan<br />
Intro<br />
Maze<br />
1<br />
LEGO<br />
11-Jan<br />
LEGO<br />
Maze<br />
1<br />
16-Jan<br />
C++<br />
Maze<br />
1<br />
18-Jan<br />
Fantom<br />
Maze<br />
1<br />
23-Jan<br />
Pres Ass1/1<br />
PC Communication<br />
2<br />
1<br />
Fantom SDK<br />
25-Jan<br />
30-Jan<br />
1-Feb<br />
6-Feb<br />
8-Feb<br />
13-Feb<br />
15-Feb<br />
20-Feb<br />
22-Feb<br />
27-Feb<br />
Pres Ass1/2<br />
Image processing<br />
Image processing<br />
Filtering<br />
Filtering<br />
Multi-view IP<br />
Multi-view IP<br />
Control<br />
Pres Ass4/1<br />
Pres Ass4/2<br />
PC Communication<br />
Laser Robot<br />
Laser Robot<br />
Detection/Tracking<br />
Detection/Tracking<br />
Detection/Tracking<br />
Detection/Tracking<br />
Detection/Tracking<br />
Image matching<br />
Image matching<br />
2<br />
3<br />
3<br />
4<br />
4<br />
4<br />
4<br />
4<br />
5<br />
5<br />
2<br />
3<br />
4<br />
Laser ptr<br />
OpenCV<br />
1-Mar<br />
6-Mar<br />
8-Mar<br />
13-Mar<br />
15-Mar<br />
20-Mar<br />
22-Mar<br />
27-Mar<br />
29-Mar<br />
3-Apr<br />
Control<br />
Control<br />
Control<br />
Pres Ass5/1<br />
Pres Ass5/1<br />
Various topics<br />
Various topics<br />
Various topics<br />
Various topics<br />
NO CLASS<br />
Image matching<br />
Image matching<br />
Control<br />
Control<br />
Control<br />
Control<br />
Control<br />
Control<br />
Control<br />
Control<br />
5<br />
5<br />
6<br />
6<br />
6<br />
6<br />
6<br />
6<br />
6<br />
6<br />
5<br />
5-Apr<br />
NO CLASS<br />
Control<br />
6<br />
10-Apr<br />
Pres Ass6/1<br />
-<br />
-<br />
6<br />
12-Apr<br />
Pres Ass6/2<br />
-<br />
-<br />
-
(Your) class presentations<br />
Be prepared<br />
Keep structure:<br />
<br />
<br />
<br />
<br />
Problem definition<br />
Proposed solution<br />
Evaluation<br />
Conclusions<br />
Use slides<br />
Keep time limits
Course contents
Robots<br />
<br />
<br />
<br />
Course contents<br />
Getting started (LEGO Mindstorm NXTs)<br />
Communicating with the PC<br />
Robot with a laser tag<br />
Image processing<br />
<br />
<br />
Detection and tracking<br />
3D image processing<br />
Control<br />
<br />
Feedback control
Technical content<br />
C++<br />
Learn to use SDKs<br />
<br />
<br />
Fantom SDK (communication)<br />
OpenCV (image processing)<br />
Image processing<br />
<br />
Low level operations, detection, tracking,<br />
particle filters, 3D vision techniques<br />
Control<br />
<br />
feedback control, adaptation
Zeroth assignment<br />
Communication:<br />
SUBSCRIBE to:<br />
http://rlai.cs.ualberta.ca/RLAI/RLAIcourse/UGExp<strong>Robotics</strong>2007.html<br />
<br />
<br />
Task #1: Form groups<br />
Task #2: Add info to the above web page
Robot videos!
![CMPUT 313 Final Exam [Harms] April 26, 2000 g L (Ilosed Book](https://img.yumpu.com/45617471/1/190x245/cmput-313-final-exam-harms-april-26-2000-g-l-ilosed-book.jpg?quality=85)
![CMPUT 379 Midterm Exam [Harms]](https://img.yumpu.com/44750568/1/190x245/cmput-379-midterm-exam-harms.jpg?quality=85)
![CMPUT 272 Midterm [B2 -- Harms]](https://img.yumpu.com/36401258/1/190x245/cmput-272-midterm-b2-harms.jpg?quality=85)
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