2024RbtInstructions

T. Matsumaru

2024/09/04.

Robotics (RBT)This course will be conducted in the form of active learning and flipped classroom using
Waseda Moodle and Zoom meeting.
# Waseda Moodle(1) Pre-learning by reading the material, watching videos, submitting the assignment
report, and so on.
(2) After-learning by submitting the supplement report on learning outcomes
concerning the lecture topic.
# Zoom meeting (Class hours)
You must attend the real-time online class from 08h50 to 10h30.
(1) Talk together the related topics between students,(2) Talk about findings and questions in pre-learning between students,(3) Present the conclusion of group works (discussions) to other students,(4) Talk with teachers and coaches,and so on.
Staff
Lecturer: Takafumi MATSUMARU (Professor, Waseda University, Japan)
Coach: Xin HE 何 鑫 (PdD student) 44212507
Coach: Vibekananda DUTTA (Warsaw University of Technology) 0000A68999
Feature+ Active learning 能動的学修+ Flipped classroom 反転授業
Requirement+ PC (screen / display, headphone / earphone, camera, microphone, etc.)+ Communication environment (high-speed, large-capacity, etc.)Procedure of each one lecture of RBT (robotics)<<1/3>> Pre-learning 事前学習<<2/3>> Classwork 授業<<3/3>> Post-learning 事後学習
Schedule[00] 2024/10/00.
[01] 2024/10/09.
[02] 2024/10/16.
[03] 2024/10/23.
[04] 2024/10/30.
[05] 2024/11/06.
[06] 2024/11/13.
[07] 2024/11/20.
[08] 2024/11/27.
[09] 2024/12/04.
[10] 2024/12/11.
[11] 2024/12/18.
[---] 2024/12/25.
[---] 2025/01/01.
[12] 2025/01/08.

00. Course guidance.
01. What is robot?
02. Robot history.
03. Robot configuration.
04. Robot mechanism.
09. Basic principles of manipulator: vector approach for kinetics (1).
10. Basic principles of manipulator: vector approach for kinetics (2).
11. Basic principles of manipulator: vector approach for kinetics (3).
12. Basic principles of manipulator: vector approach for kinetics (4).
05. Actuator.
06. Sensor (part I).
07. Sensor (part II).
Winter break.
Winter break.
08. Reduction drive and design of driving section.

[13] 2025/01/15.
[14] 2025/01/22.
[15] 2025/01/29.

13. Manipulator control (1).
14. Manipulator control (2).
15. Summary and total discussion (supplement, if necessary).

Score
1) Assignment report 課題報告書
2) Supplement report 追加報告書
3) Others
Reference:[j1] 日本ロボット学会 (編): "ロボット工学ハンドブック（第３版）", コロナ社, (2023).
https://www.coronasha.co.jp/np/isbn/9784339046793/[j2] 日本ロボット学会 (編): "ロボットテクノロジー", オーム社, (2011).
https://www.ohmsha.co.jp/book/9784274210723/[j3] 日本機械学会 (編): "ロボティクス", 丸善, (2011).
https://www.maruzen-publishing.co.jp/item/?book_no=299518[e1] M. H. Ang, O. Khatib, B. Siciliano (eds.): "Encyclopedia of Robotics", Springer,(2023). https://link.springer.com/referencework/10.1007/978-3-642-41610-1[e2] D. Herath, D. St-Onge (eds.): "Foundations of Robotics", Springer, (2022).
https://link.springer.com/book/10.1007/978-981-19-1983-1[e3] B. Siciliano, O. Khatib (eds.): "Springer Handbook of Robotics", Springer, (2016).
https://link.springer.com/book/10.1007/978-3-319-32552-1[e4] S.Y. Nof (ed.): "Springer Handbook of Automation", Springer, (2023).
http://link.springer.com/book/978-3-030-96729-1[e5] J. Baillieul, T. Samad(ed.): "Encyclopedia of Systems and Control", Springer, (2021).
https://link.springer.com/referencework/10.1007/978-3-030-44184-5[e6] A. Y. C. Nee (ed.): "Handbook of Manufacturing Engineering and Technology",
Springer, (2015). https://link.springer.com/referencework/10.1007/978-1-4471-4670-4[e7] B. Furht, A. Agarwal (eds.): "Handbook of Medical and Healthcare Technologies",
Springer, (2013). https://link.springer.com/book/10.1007/978-1-4614-8495-0[e8] R. Kramme, K-P. Hoffmann, R.S. Pozos (eds.): "Springer Handbook of Medicaltechnology", Springer, (2011). http://link.springer.com/book/10.1007/978-3-540-74658-4[e9] Lecture Notes | Introduction to Robotics - MIT OpenCourseWare
https://ocw.mit.edu/courses/mechanical-engineering/2-12-introduction-to-robotics-fall-2005/lecture-notes/[e10] Introduction to Robotics by Stanford on Apple Podcasts
https://itunes.apple.com/us/itunes-u/introduction-to-robotics/id384233063?mt=10[e11] Foundations of Robot Motion - Modern Robotics
https://modernrobotics.northwestern.edu/nu-gm-book-resource/foundations-of-robot-motion/===================================================
EXAMPLE in [01] 2024/10/09. 01. What is robot?
--------------------------------------------------------------------------------------------<<1/3>> Pre-learning 事前学習
Using Waseda Moodle.
From 2024/10/02 (Wed) 10h30 to 2024/10/09 (Wed) 08h50. --- about 1 week(01) Materials 資料
Students should access the PDF and read it carefully with taking notes while
watching videos.
R01-01, R01-11, R01-21, R01-31, R01-41
Videos explaining the contents of the PDF.

Students must watch them one by one.
(01) Assignment report 課題報告書
Prepare your assignment report while studying, exploring, considering, and so on.
Write your answer, referring not only to the lecture material, but also to various othersources (books, academic papers, interpretive articles, etc.).
Download the DOC or TXT, use it to write into your answer, and upload it before thelecture time.
Title, submitted date, ID number and Family-Given name.
The layered section structure with leading words, following the instructions.
Up to 20 files and total 50M byte.
# 2024RbtExampleAssignment.doc/txt# Reference PDF files------------------------1.
Q1)
A1)
2.
Q2)
A2)
3.
Q3)
A3)
4.
Q4)
A4)
5.
Q5)
A5)
------------------------Format:# Electric file in A4 format.
* First line: Title (RBT (01) assignment), Submitted dates (in y/m/d).
* Second line: ID number, Full name.
* Third line and followings: Your own answers.
# The body text must be in professional style.
* Sections/Items well-organized with appropriate Titles / Headings / Leading words.
* Divided into significant paragraphs, consisting of simple sentences.
* Line-space, side margin, etc. to make it easy to read for others.
* References listed in order at the end (of each section) with [num.] in body text.
Time limit: Received until the beginning of the next class.
<Aim>
1. Find out for yourself. 2. Think by yourself. 3. Express with yourself.
There is no correct answer. There may not be only one answer.
(01) Assignment PDFThe questions of the assignment report are described in the PDF, which you canaccess after watching all videos.
(01) Discussion 議論交流
If you have something to discuss while pre-learning, classwork, and post-learning,please let us know to share and talk with.
It is available until the deadline for submitting (01) Supplement report 追加報告書.
<Reason>
You may not be the single one who has the same question. Please share to discuss.
--------------------------------------------------------------------------------------------<<2/3>> Classwork 授業Using Waseda Moodle and Zoom meeting (so PC and communication environment arerequired).
During class hour, 2024/10/09 (Wed) from 08h50 to 10h30.

(01) Zoom meeting ズーム会議
Open Zoom meeting,Displaying participants name as "ID number, Family name, Given name".
(1) Greeting and short talk.
(2) Grouping, breakout room with less than five students.
(3) Group work (GW) at breakout room (about 20 min).
(4) Coming back to main room, report by each reporter, and discussions.
(5) Closing.
(01) Attendance 出欠入力
Place a check of your attendance during the lecture time.
(01) Group work グループワーク
Move to breakout room.
Read the PDF file posted, and start talks and discussions among students.
<Aim>
Presenter: Devise to convey what you want to inform in a short time.
Learn new things and others' viewpoint from questions and answers.
Audiences: Incorporate the other's good points into yourself and correct your missing.
Learn anything on writing, presentation, discussion, and so on.
Download the DOC or TXT as a worksheet in (01) Supplement report.
Title, given/submitted date, ID number, and Family-Given name.
Supplement sheet should be constructed well-organized in tree structure consists ofsections (and subsections, sub-subsections, and so on), titles, leading words (headings),and (detailed) explanations, with figures and tables if necessary.
-------------------------------------------------<First half of (01) Supplement report>
1. Group work:
1.1. Group member list (indicating chairperson and reporter):
1.2. Topic to be discussed (in your group) + Key points (of reporting from other groupsand discussion):
2. Answers to five questions (updating and adding your assignment report):--- Your study outcome + Your group work conclusions + Findings from other groups anddiscussions. * If you update or add something of your assignment report, please let us
know by indicating in different colors.
2.1. Q1-A1:
2.2. Q2-A2:
2.3. Q3-A3:
2.4. Q4-A4:
2.5. Q5-A5:-------------------------------------------------[Caution] Screenshots can be cut and pasted only for figures. However, you will needto reconstruct the information obtained from the presentations of other students in yourown words and create an original text to explain your understanding. (You need toreport your own learning outcomes in the lecture, not a simple and superficial copy, so
screenshots of the text are not graded).
<Aim>
Inform the activities and results of the Group work during the class hours.
--------------------------------------------------------------------------------------------<<3/3>> Post-learning 事後学習
Using Waseda Moodle
From 2024/10/09 (Wed) 08h50, to 2024/10/10 (Thu) 08h50. --- 24 hours.
(01) Supplement report 追加報告書
Up to 20 files and total 50M byte.
# 2024RbtExampleSupplement.doc/txt# Reference PDFs

Revise and update the DOC or TXT as a worksheet in (01) Supplement report.
Section structure with leading words following the instructions.
-------------------------------------------------<Second half of (01) Supplement report>
3. Summary of learning outcomes:--- study contents and understandings = fact part.
4. Comments and opinions:--- about this section / chapter = opinion part.
-------------------------------------------------<Aim>
Present what you have learned through your total study activities.

[EOF]