1	Course Title:	ROBOT DESIGN AND APPLICATIONS
2	Course Code:	BMB4019
3	Type of Course:	Optional
4	Level of Course:	First Cycle
5	Year of Study:	4
6	Semester:	7
7	ECTS Credits Allocated:	5
8	Theoretical (hour/week):	3
9	Practice (hour/week) :	0
10	Laboratory (hour/week) :	0
11	Prerequisites:	None
12	Recommended optional programme components:	None
13	Language:	Turkish
14	Mode of Delivery:	Face to face
15	Course Coordinator:	Dr. Ögr. Üyesi CEYDA NUR ÖZTÜRK
16	Course Lecturers:
17	Contactinformation of the Course Coordinator:	ceydanur@uludag.edu.tr
18	Website:
19	Objective of the Course:	To teach kinematic calculations, trajectory planning, and various control methods for designing robots of manipulator or rover type. To have theoretical information and functions of different sensors and actuators comprehended with applications to be developed on available robotic systems.
20	Contribution of the Course to Professional Development	Engineering Science: 60%, Engineering Design: 40%

21

Learning Outcomes:

1 Being able to perform forward or inverse position calculations for different robot configurations; 2 Being able to perform forward or inverse velocity calculations through differential analysis; 3 Knowing techniques that are used for trajectory planning and motion, velocity, or force control; 4 Having knowledge about types and functions of sensors and actuators; 5 Being able to program robotic systems using proper interfaces; 6 Being able to develop controller software for a robotic system to run in real-time;

22	Course Content:

Week	Theoretical	Practical
1	Robotic systems and application areas, common robot configurations
2	Fundamentals of mathematical robot modeling, homogeneous coordinates and representation of transformations with matrices
3	Forward and inverse kinematics for common robot configurations
4	Programming different robots with interfaces of robot operating system
5	Denavit-Hartenberg representation of forward and inverse kinematics
6	Differential motion analysis, forward and inverse Jacobian calculations
7	Dynamic analysis and forces
8	Path and trajectory planning, trajectory planning with high-order polynomials and via points
9	Motion, velocity, and force control, proportional, integral, and derivative controllers
10	Vision-based control methods
11	Fuzzy logic-based control methods
12	Sensors: position, velocity, acceleration, pressure, light and proximity sensors, range scanners and camera systems
13	Actuators: hydraulic and pneumatic devices, electric motors
14	Project presentations

23	Textbooks, References and/or Other Materials:	1. Niku, S. B., 2010. Introduction to Robotics Analysis, Control, Applications, John Wiley and Sons, Inc., 2nd Edition, ISBN: 978-0-470-60446-5. 2. Siegwart, R., Nourbakhsh, I. R., and Scaramuzza, D., 2011. Introduction to Autonomous Mobile Robots , MIT Press, 2nd Edition, ISBN: 978-0262015356.
24	Assesment

TERM LEARNING ACTIVITIES	NUMBER	PERCENT
Midterm Exam	1	20
Quiz	0	0
Homeworks, Performances	4	20
Final Exam	1	60
Total	6	100
Contribution of Term (Year) Learning Activities to Success Grade		40
Contribution of Final Exam to Success Grade		60
Total		100
Measurement and Evaluation Techniques Used in the Course	Programming and study assignments, project, presentation, written exams
Information

25

ECTS / WORK LOAD TABLE

Activites	NUMBER	TIME [Hour]	Total WorkLoad [Hour]
Theoretical	14	3	42
Practicals/Labs	0	0	0
Self Study and Preparation	14	2	28
Homeworks, Performances	4	8	32
Projects	1	20	20
Field Studies	0	0	0
Midtermexams	1	10	10
Others	0	0	0
Final Exams	1	14	14
Total WorkLoad			156
Total workload/ 30 hr			4,87
ECTS Credit of the Course			5

26	CONTRIBUTION OF LEARNING OUTCOMES TO PROGRAMME QUALIFICATIONS
PQ1 PQ2 PQ3 PQ4 PQ5 PQ6 PQ7 PQ8 PQ9 PQ10 PQ11 PQ12 LO1 5 5 3 3 1 2 2 1 0 1 0 0 LO2 5 5 3 3 1 2 2 1 0 1 0 0 LO3 5 5 3 3 1 2 2 1 0 1 0 0 LO4 4 2 1 3 1 2 1 1 2 0 0 0 LO5 3 1 4 5 3 5 3 3 4 3 1 0 LO6 5 3 5 5 4 5 3 3 3 3 1 1

LO: Learning Objectives

PQ: Program Qualifications

Contribution Level:

1 Very Low

2 Low

3 Medium

4 High

5 Very High