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## BI2RM16-Robots and Mechanics

Module Provider: School of Biological Sciences
Number of credits: 10 [5 ECTS credits]
Level:5
Terms in which taught: Spring term module
Pre-requisites: SE1CA11 Computer Applications or SE1FA15 Fundamentals and Applications of Computing
Non-modular pre-requisites:
Co-requisites:
Modules excluded:
Module version for: 2016/7

Module Convenor: Dr Yoshikatsu Hayashi

Email: y.hayashi@reading.ac.uk

Summary module description:

Aims:
Physics is a tool to describe the changing environment, and is a tool to describe motion of robotic hands.
The aims of the module is to understand the laws to describe motion through space and time, along with the casual relationship between force and acceleration, and to understand robotics structure and dynamics as embodied physics laws.
The emphasis is on the analytical skills based on differentiation and integration, understanding of concepts as well as intuitive imagination over physical phenomena.

Assessable learning outcomes:
Since individual mile stones to understand the concepts and to train the analytical skills are highly correlated with each other in the logical flow, students are expected to attend all the lectures and to do self-studay at home.
By the end of the module the students will understand the basic of classical mechanics, and apply the knowledge in physics for kinematics and statics of the robotic arms. This module serves as a basis to gain the fundamental knowledge to develop the robotic structure and dynamics.

Additional outcomes:
EA1 topics: Robotics and Mechanics

Outline content:
We first introduce the concept of coordinates, and their transformation, and secondly, derive velocity and acceleration to understand kinematics. The causality between force and acceleration is discussed by Newtonâ€™s law. As a next step, by applying the fundamental laws in physics, the coordinates transformation between joint and work space are derived to calculate the Jacobian matrix. The aim in robotics to understand how to describe the geometry of robotic arm and motion of joint in relation to the work space. The lab practical is also included, using Baxter which is designed to work in direct cooperation with a human within a defined workspace.

Mechanics -
Coordinates transformation, Kinematics: Definition of velocity and acceleration, Kinematic and potential energies, Newton's Laws, Rotational motion. Moments of inertia

Robotics -
Forward and inverse kinematics, Jacobian matrix, Equilibrium forces, Statics, lab practical, safety regulations of robots

Brief description of teaching and learning methods:
The module comprises 2 lectures per week.

Contact hours:
 Autumn Spring Summer Lectures 20 Guided independent study 76 4 Total hours by term 96.00 4.00 Total hours for module 100.00

Summative Assessment Methods:
 Method Percentage Written exam 100

Other information on summative assessment:

Formative assessment methods:

Penalties for late submission:
The Module Convenor will apply the following penalties for work submitted late, in accordance with the University policy.

• where the piece of work is submitted up to one calendar week after the original deadline (or any formally agreed extension to the deadline): 10% of the total marks available for the piece of work will be deducted from the mark for each working day (or part thereof) following the deadline up to a total of five working days;
• where the piece of work is submitted more than five working days after the original deadline (or any formally agreed extension to the deadline): a mark of zero will be recorded.

• The University policy statement on penalties for late submission can be found at: http://www.reading.ac.uk/web/FILES/qualitysupport/penaltiesforlatesubmission.pdf
You are strongly advised to ensure that coursework is submitted by the relevant deadline. You should note that it is advisable to submit work in an unfinished state rather than to fail to submit any work.

Length of examination:
One 2-hour examination paper in May/June.

Requirements for a pass:
40%

Reassessment arrangements:
Examination only.
One 2-hour examination paper in August/September.

Additional Costs (specified where applicable):
1) Required text books:
2) Specialist equipment or materials:
3) Specialist clothing, footwear or headgear:
4) Printing and binding:
5) Computers and devices with a particular specification:
6) Travel, accommodation and subsistence:

Last updated: 21 December 2016