From: streppel@fwi.uva.nl (Hans Streppel (Academie voor Informatica))
Subject: Course Advanced Robot Control & Autonomous Systems
Organization: FWI, University of Amsterdam
Date: Mon, 27 Jul 1992 08:02:05 GMT


Advanced Robot Control and Autonomous Systems
a 6-day course

Delft, September 23-24-25
Amsterdam, September 28-29-30

This course is aimed at university graduates working in industry and scientific 
research institutions using autonomous and/or robotic systems acquired from 
various vendors. For project leaders and post-graduate lecturers the course 
will provide a valuable overview of the field and deepen the insight in where 
critical developments are to be expected. 

Each courseday consists of tutorials taught by scientists from the Delft 
University of Technology and the University of Amsterdam; these are 
followed by case studies 
by specialists from various research institutes and industries, to show the 
pragmatic choices from practice which place theory and modelling in 
perspective. 
Classroom demonstrations and videotapes will be used throughout, and 
appropriate literature for further reference will be provided.

After having followed the course, you should be confident in formulating the 
design specifications of an autonomous system to perform a desired task; in 
understanding and identifying relevant literature; in talking to vendors and 
specialists; and in motivating your choices to your company or institute.

	
Programme 

Wednesday, September 23 (Delft)

Introduction
-  Kinematics and Dynamics
-  Robot control
-  Point to point control
-  Continuous path control

Extensions of robot kinematic models
-  Singularities of robot kinematic models
-  Coping with singularities while solving the inverse problems
-  Position, velocity and impact force control problems near singular 
    configurations
-  Kinematic redundancy
-  Solving inverse problems for redundant robot structures

Thursday, September 24 (Delft)

Computer aided robot trajectory and task planning
-  Geometrical models of robots and their environment
-  Computational models of robot kinematics and dynamics
-  Trajectory specification methods
-  Numerical methods for the inverse trajectory generation
-  Robot task planning using environmental models
-  Collision avoidance issues

Fine motion control
-  Compliance control
-  Position/force control

Case study
-  The control of a cow milking robot

Friday, September 25 (Delft)

Robot languages
-  Requirements for robot languages
-  Real-time aspects
-  General high-level languages
-  Special-purpose robot languages

Case study
-  Control of the Delft Intelligent Assembly Cell
-  Collision avoidance in the Delft Intelligent Assembly Cell
-  Guided tour of the CIM Centre Delft


Monday, September 28 (Amsterdam)
	
Models for (autonomous) control
-  Model and event driven control
-  Reference models (NASREM etc.)
-  Distinctions in functional versus operational models
-  Nominal and non-nominal feedback

Exception handling
-  Exception handling strategies
-  Structured and unstructured environments
-  Strong and weak binding models

Software development methodologies for autonomous systems
-  The role of simulation
-  Migration from simulation to the real world
-  The virtual robot approach
-  On-line and off-line environments

Case study 
-  Exception handling
-  Simulations: CARSIM and ASSIM

Tuesday, September 29 (Amsterdam)

Logical sensors and model-based sensing
-  Sensor models: analysis and synthesis
-  Examples of incorporation of model knowledge
-  Kalman filtering for sensor-data fusion

Neural Networks
-  Fundamentals and learning strategies
-  Neuro-controllers

Case study
-  Eye-hand coordination by neural nets
-  Automated handling of parcels (PTT research)

Wednesday, September 30 (Amsterdam)

Path-planning and collision avoidance
-  Configuration spaces for path-planning
-  Obstacle representation
-  Path planning algorithms
-  The control of independently operating mobile robots

Case study
-  Mobile robot  navigation system (IC/h Frog Systems)


Course Directors 
Delft Location:	Prof.ir. G. Honderd
	Ir. W. Jongkind
Amsterdam Location:  	Prof.dr.ir. F.C.A. Groen
	Prof.dr. L.O. Hertzberger
	Dr.ir. L. Dorst			

Lecturers
- Ing. H.C. Bouterse (IC/h logistics, Utrecht)
- Dr.ir. L. Dorst (UvA)
- Prof.dr.ir. F.C.A. Groen (UvA)
- Prof.dr.L.O. Hertzberger (UvA)
- Prof.ir. G. Honderd (DUT)
- Ir. W. Jongkind (DUT)
- Ir. J.W.M. Jansen (FROG systems, Utrecht)
- Dr. A.J. Kasinski (TU Poznan, Poland)
- Ir. C. Klomp (DUT)
- Dr.ir. B.J.A. Krse (UvA)
- Drs. J. Lagerberg (UvA)
- Ir. B.M. Meijer (DUT)
- Dr. G.R. Meijer (Isytec, Bremen)
- Drs. J.S.J.H. Penders (PTT Research, Leidschendam)
- Ir. Th. Rieswijk (DUT)
- Drs. P.P.P. van der Smagt (UvA)
- Drs. F. Tuynman (UvA)


Organization
This course is a joint effort of the Academy for Computer 
Science and the Delft University of Technology. 
The Academy for Computer Science, specialising in post-graduate courses 
in computer science, is run jointly by the University of Amsterdam, 
Utrecht University and the Vrije Universiteit. 


Further information:
Further details can be obtained from
Drs. J.A.J. Streppel, Academie voor Informatica
Email: avi@fwi.uva.nl
Phone: +31 20 525 75 94
Fax: +31 20 525 74 90