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This page is located in a preparation section till 20.09.2021.

Annotation BRUTE Forum Schedule MS Teams

*,,Drahá slečno Gloryová, Roboti nejsou lidé. Jsou mechanicky dokonalejší než my, mají úžasnou rozumovou inteligenci, ale nemají duši. Ó, slečno Gloryová, výrobek inženýra je technicky vytříbenější než výrobek přírody.“* - Karel Čapek, R.U.R.

[*“Miss Glory, robots are not people. They are mechanically much better than we are, they have an amazing ability to understand things, but they don't have a soul. Young Rossum created something much more sophisticated than Nature ever did - technically at least!”*]

We will explain some fundamental notions appearing in advanced robotics. We shall, e.g., explain how to solve the inverse kinematics task of a general serial manipulator with 6 degrees of freedom. There is a general solution to this problem but it can't easily be obtained by elementary methods. We shall present some more advanced algebraic tools for solving algebraic equations. We will also pay special attention to representing and parameterizing rotations and motions in 3D space. We will solve simulated problems as well as problems with real data in labs and in assignments.

**Course material:** PRO-Lecture-2021.pdf.

Lecturers: Tomáš Pajdla Broadcast via MS Teams

Week | Date | Content |
---|---|---|

01 | 20.09 | TP: Introduction, algebraic equations and eigenvalues (video) |

02 | 27.09 | TP: Motion as a transformation of coordinates, rotation matrix R (pdf,video) |

03 | 04.10 | TP: Denavit-Hartenberg Convention (pdf:1,2,video) |

04 | 11.10 | TP: R's eigenvalues, eigenvectors, rotation axis and angle (pdf,video) |

05 | 18.10 | TP: Axis of motion (pdf,video) |

06 | 25.10 | TP: Rodriguez parameterization, Angle-axis representation (pdf,video) |

07 | 01.11 | TP: Quaternions, Cayley parameterization, Rational rotations (pdf,video) (Videos: how Quaternios do Rotate 3D Vectors) |

08 | 08.11 | TP: Monomial ordering & polynomial division & "F4-like" algorithm for solving Polynomial equations (pdf,video) |

09 | 15.11 | TP: Groebner basis and Buchberger algorithm I (pdf,video) |

10 | 22.11 | TP: Groebner basis and Buchberger algorithm II (pdf) |

11 | 29.11 | TP: Inverse kinematics computation (pdf 1,pdf 2,video) |

12 | 06.12 | TP: Singularities of mechanisms I (video) |

13 | 13.12 | TP: Singularities of mechanisms II |

14 | 03.01 | TP: The review |

Teachers: Kateryna Zoryna, Viktor Korotynskiy

See Labs for details.

- All homework must be submitted via BRUTE and accepted.
- At least 50% of points in total for the homework.
- At least 50% of points in total from the tests.
- Regular submission of homework
**ends on January 14, 2022**. Later submissions are possible only by an agreement with the assistants. - All the above conditions have to be fulfilled, and the results have to be recorded in the Submission system before the exam.

The exam consists of a written and an oral part. It is required to achieve at least 50% of points from the written exam to be admitted to the oral exam. The grade depends on the exam (40%), tests (30%), and homework (30%). You may skip the oral exam if you are satisfied with the result after the written exam.

Exam content:

- Linear algebra [7,8,9,10]: linear space, basis, coordinates, linear dependence/independence, matrices, rank, determinant, eigenvalues, and eigenvectors, solving systems of linear equations, Frobenius theorem and linear independence, linear function, affine function, linear mapping, and its matrix, computing roots of a polynomial via eigenvalues of its companion matrix, dual space, dual basis, change of the dual basis corresponding to a change of a basis, vector product and derived linear mappings, SVD, dual space, and dual basis.
- -
**Course material:**PRO-Lecture-2021.pdf.

Written ONLINE exam organization:

- The written exam will be done online via MS Teams.
- You MUST have your CAMERAS ON, and we need to be able to SEE and HEAR you all the time during the exam.
- While solving your assignment, you may use your MOUSE, but you MUST NOT USE your KEYBOARD.
- You may use any material, but you MUST NOT COMMUNICATE with anyone during the exam.

Written In-Person exam organization:

- The written exam is sat at the last lab.

Oral exam organization:

- You may skip the oral exam if you are satisfied with the result after the written exam.
- The oral face-to-face exam will be done online via MS Teams and will take about 30 mins.

**Lecture:**It is very**difficult**to pass the course without attending lectures.**Labs:**It is**impossible**to pass the course without attending labs.**Homework:**Homework is assigned at a lab where it can be discussed with teaching assistants. Students work out homework**individually**(rulesin Czech). The deadline for submitting homework via BRUTE is on Monday at 6:00 in the morning two weeks after the assignment. Late submissions are penalized (10% for each commenced**day**of delay but not more than 50% of points).**Assessment:**see above.**Tests:**Students work out test**independently**.

- Northwestern University Coursera Course Modern Robotics, Course 1: Foundations of Robot Motion
- Northwestern University Coursera Course Modern Robotics, Course 2: Robot Kinematics
- Math Doctor Bob. Math Instruction Online. In Plain Language.
- Lung-Wen Tsai. Robot Analysis And Design: The Mechanics of Serial And Parallel Manipulators, John Wiley and Sons, 1999.
- G Sanderson Essence of Linear Algebra from 3Blue1Brown
- J Strom, K Astrom, T Akenine-Moller Interactive Linear Algebra Course
- P. Pták. Introduction to Linear Algebra. Vydavatelství ČVUT, Praha, 2007.
- E. Krajník. Maticový počet. Vydavatelství ČVUT, Praha, 2000.
- D. Cox, J. Little, D. O'Shea. Ideals, Varieties, and Algorithms. 2nd edition, Springer, 1998.

- A0B01LAG Linear Algebra (must have)
- A3B33ROB Robotics (nice to have)

Tomáš Pajdla | Viktor Korotynskiy | Kateryna Zorina |

`pajdla@cvut.cz` | `viktor.korotynskiy@cvut.cz` | `kateryna.zorina@cvut.cz` |

CIIRC B-638 | CIIRC B-640A | CIIRC B-642B |

courses/pro/start.txt · Last modified: 2021/09/17 18:56 by pajdla