Vision and Mechatronics
Code 1123I
Credits 6
Learning outcomes
The "Vision and Mechatronics" laboratory course provides basic skills for the control of actuation systems and the acquisition of geometric, attitude and kinematic information through optoelectronic sensor systems.
The course offers the student the skills to develop the control design of robotic systems, drones or autonomous vehicles through development on microcontroller and embedded platforms. In particular, the course offers a design vision capable of covering the following aspects:
* programming and development of control codes on 32-bit ARM microcontrollers;
* drivers and control of basic actuators (such as PM-DC, Stepper, ...) in position, speed, and torque (where applicable);
* analysis and design of optoelectronic systems based on proprioceptive (e.g. encoder) and exteroceptive (cameras / lidar) sensors for the development of robotic applications.
* specification and analysis of optical sensors and acquisition models. Sensor types, data representation models, projective geometry, lenses, metric calibration of optical sensors and stereography.
The topics of the course will be presented through an applicative approach that requires the development of practical skills both through simulated environments and on electronic / optical / mechanical demonstrators used during the course. During the laboratory lessons the student is expected to acquire skills for programming on ARM microcontrollers of the STM32 family and development through a matlab / simulink environment, embedded programming of optical systems and development through a python3 / openCV environment.
The course offers the student the skills to develop the control design of robotic systems, drones or autonomous vehicles through development on microcontroller and embedded platforms. In particular, the course offers a design vision capable of covering the following aspects:
* programming and development of control codes on 32-bit ARM microcontrollers;
* drivers and control of basic actuators (such as PM-DC, Stepper, ...) in position, speed, and torque (where applicable);
* analysis and design of optoelectronic systems based on proprioceptive (e.g. encoder) and exteroceptive (cameras / lidar) sensors for the development of robotic applications.
* specification and analysis of optical sensors and acquisition models. Sensor types, data representation models, projective geometry, lenses, metric calibration of optical sensors and stereography.
The topics of the course will be presented through an applicative approach that requires the development of practical skills both through simulated environments and on electronic / optical / mechanical demonstrators used during the course. During the laboratory lessons the student is expected to acquire skills for programming on ARM microcontrollers of the STM32 family and development through a matlab / simulink environment, embedded programming of optical systems and development through a python3 / openCV environment.