CyberPhysical Laboratory (2017/2018)

Course code
4S007380
Name of lecturers
Andrea Calanca, Domenico Daniele Bloisi
Coordinator
Andrea Calanca
Number of ECTS credits allocated
6
Other available courses
Academic sector
NN - -
Language of instruction
Italian
Period
II sem. dal Mar 1, 2018 al Jun 15, 2018.

Lesson timetable

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Learning outcomes

The course aims at providing tools for programming and controlling cyber-physical systems (e.g. mechatronic systems) using an unified approach between theory and practice. At the end of the course the student will have to demonstrate knowledge and ability to understand issues related to the physical modeling and control of cyber-physical systems taking into consideration the interaction between the cybernerical and the physical parts of a system; will have the ability to apply physical and control sciences (in particular mechanics, elactromagnetism and control theory) for the control of cyber-physical systems; will know how to develop the skills necessary to independently pursue the study in control algorithms for cyber-physical systems with awareness of the related technical and practical implications.

Syllabus

- Foundations of embedded system programming: peripherals management, scheduling, acquisition and control loops
- Analog sensors, digital sensors, physical principles, communication and management software
- Actuators: principles of operation and control
- Control theory in practice
- Control of physical quantities such as positions, speed and forces
- Control of robotic joints
- Implementation aspects

- Mobile Robots
- Robot Operating System (ROS)
- Information exchange mechanisms in cyber-physics systems (ROS publish / subscribe)
- Transform and sensors in ROS
- ROS bag
- Simulators in ROS
- version control tools (Git)
- Navigation (move_base)
- Image processing (OpenCV)
- 3D data (PCL)
- Actions in ROS

Assessment methods and criteria

The final grade is achieved by presenting homeworks (maximum score 24) and an optional team project (maximum score 30L). The projects will consist of an extension of the examples presented during the course.

STUDENT MODULE EVALUATION - 2017/2018