Luleå University of Technology
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Course Catalog 1999/2000


Computer Science, Electrical Engineering

SME065 Telerobotics 6.0 ECTS credits

TIMEPERIOD:


LANGUAGE:Swedish

EXAMINER
Å Wernersson Prof


PREREQUISITES
Basic courses in Mathematical statistics, Signal processing and Automatic control.

COURSE AIM
The main topics are on methos for extracting information about shape and motion of objects in the workspace of a robot or a machine. Signals from non-contact sensors like time of flight, range cameras are modelled and used in computer simulations.

CONTENTS
Overview of robots and vehicles in factories, mines space, offshore hazardous environment.
Kinematic and dynamic motion models for robots. Rate-gyros and accelerometers for internal sensing and stabilization. Estimation of collision points.
Models of signals from non-contact sensors. Note, not sensor technology but models.
Estimating motion using Kalman filtering. The range sensor in the feedback loop. Association errors as the crucial source of system failure.
Fusing signals from multiple sensors.
Current research projects.

TEACHING


EXAMINATION

COURSE GRADE SCALE:

ITEMS/CREDITS
Seminars, requierd assignments 1.50ECTS
Laboratory work 4.50ECTS

COURSE LITERATURE


Further information: International Office

Valid for the academic year 1999/2000.

Web Editor: Karin.Lindholm@dc.luth.se


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LULEÅ UNIVERSITY OF TECHNOLOGY
University Campus, Porsön, 971 87 Luleå. Tel. +46 (0) 920-91 000, fax +46 (0) 920-91 399
Last edited 1999-12-15