course: Courses at TU Dortmund

number:
140005
teaching methods:
lecture with tutorials
responsible person:
Prof. Dr.-Ing. Jan Lunze
lecturer:
Diverse (TU Dortmund) (extern)
language:
german
CP:
see examination rules
offered in:
winter term and summer term

dates in summer term

  • lecture: according to agreement

goals

Students have in-depth knowledge in robotics

content

Modeling and Control of Robotic Manipulators - Hoffmann
  • Industrial Robots
  • Actuators and Sensors
  • Kinematics
  • Differential Kinematics and Statics
  • Dynamics
  • Trajectory Planning
  • Motion Control
  • Interaction Control
  • Control Architectures, Teach-in, Learning from Demonstration
  • Visual Servoing
Mobile Robots - Hoffmann
  • Robot Operating System (ROS)
  • Sensors, actuators and kinematics of mobile robots
  • Control and programming of mobile robots
  • Local obstacle avoidance
  • Localization
  • Global navigation and trajectory planning
Learning in Robotics - Hoffmann
  • Nonlinear System Identification
  • Neural Networks
  • Deep Learning
  • Learning Robot Kinematics and Dynamics
  • Learning Visual Motor Coordination
  • Dynamic Programming
  • Reinforcement Learning
  • Evolutionary Robotics
  • Learning from Demonstration
Data-based modeling and optimization - Hoffmann
  • Data-based modeling, Regression, neuronal networks, fuzzy systems, Instance based processes, supervised Learning
  • Optimization: Gradient method, Newton method, linear Optimization, multicriteria optimization, evolutionary optimisation
  • Applications: Identification of Dynamic nonlinear systems, optimal control, optimization of complex systems, predictive control
Control-oriented modeling und identification - Bertram
  • Parameter identification, structure identification, least squares method, applications
  • Methods for frequency response measurements with deterministic or stochastic signals, applications
  • Identification of discrete-time signals, model reduction, applications
Nonlinear systems and adaptive control - Bertram
  • Nonlinear systems: Static nonlinearities characteristic curve elements, nonlinear control structures, describing function, static idle positions, bifurcations
  • Stability: Lyapunov stability, circle criterion, Popov criterion
  • Control of Nonlinear Systems: input-output linearization, sliding mode control, exact linearization, flatness-based servocontrol
  • Adaptive control: Adaptive Control structures, identification of dynamic systems, gain scheduling, self-adjusting controllers, adaptive control with reference model
Scientific Programming with Matlab in Engineering - Hofmann
  • Matlab Basics: Vectors, Matrices, Arrays, Cells
  • Functional Programming in Matlab (m-files)
  • Functional Programming (m-files)
  • Program Control Structures
  • Symbolic Computing
  • Simulink
  • Control System Design
  • Optimisation
  • Visualisation
  • Data Analysis & Statistics
  • Robotics Toolbox
Computer Vision in Robotics and Automation - Hoffmann
  • Camera Models
  • Image Segmentation
  • Object Recognition
  • Stereo Vision and PMD Cameras
  • Scan Matching and Pose Estimation
  • Visual Servoing
  • Vision Based Navigation and Localisation
  • Visual SLAM

To deepen your knowledge in robotics you can also studying the above-mentioned courses of the TU Dortmund as mandatory elective modules in the specialisation "control engineering".

Additional courses of the TU Dortmund can be accepted as elective subjects in agreement with the coordinator of the the specialisation "control engineering". More information about the individual courses and the corresponding credit points can be found on the websites of the TU Dortmund:

requirements

keine

recommended knowledge

Basic knowledge in Control engineering, higher mathematics, programming experience