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Embedded Perception Systems, 6 credits
Inbyggda perceptionssystem, 6 hp
TSBB18
Main field of study
Computer Science and EngineeringCourse level
First cycleCourse type
Programme courseExaminer
Mårten WadenbäckDirector of studies or equivalent
Lasse AlfredssonEducation components
Preliminary scheduled hours: 10 hRecommended self-study hours: 150 h
ECV = Elective / Compulsory / Voluntary
Main field of study
Computer Science and EngineeringCourse level
First cycleAdvancement level
G2XCourse offered for
- Master of Science in Industrial Engineering and Management - International
- Master of Science in Industrial Engineering and Management
Prerequisites
Programming, Signals and Systems, Digital Circuits, Computer Systems.
Intended learning outcomes
After the course, the student is able to:
- Program integrated hardware and software systems.
- Handle a video stream from a camera.
- Perform simple operations on images.
- Explain the inverse kinematics problem and how to solve it.
- Explain what camera calibration is.
- Explain what hand-eye calibration is.
- Build a sorting robot.
- Have experience in prototype development.
Course content
The course introduces automatic image processing, sensor calibration and inverse kinematics for robot control.
In a design and development project, consisting of 3 sub-projects, each group of 3–4 students will implement an automatic sorting robot. This will be done with the help of a Raspberry Pi, a camera, an Arduino and a robotic arm with grip claw. The camera is used to provide digital images of a number of lego pieces. These should be detected and their respective positions shall be related to the coordinate system of the robot, which picks up and sorts them by color. In the three sub-projects, the overall system is gradually built up. How these sub-assignments are solved is up to the students and the training in independent problem solving is a central sub-objective of the course.
The project ends with a competition between all approved project groups/teams. The fastest robot wins and the time results are published according to rank on the prestigious results list of past and future robot competition results.
Teaching and working methods
The working method of the course is very much related to a prototype development where the students, from a concrete problem formulation, build a system that solves the problem with the help of available components and their documentation. The course has a somewhat PBL (problem-based learning) style, where students are expected to encounter sub-problems where they need to acquire new knowledge in order to solve the problem.
The students have support in the form of expert supervisors, who are available to discuss problems and recommend study material. The course starts with a lecture that introduces course objectives and working methods and gives an introduction to the area of computer vision with a focus on digital images, the imaging forming process for real cameras, image processing, homographies, hand-eye calibration and the open source libraries that are popular for image processing. The second lecture introduces inverse kinematics and how this problem can be solved. Furthermore, subject relevant seminars on e.g. system building, Linux and numerical optimisation can be held on demand.
Examination
| PRA1 | Projects | 6 credits | U, G |
The sub-projects are examined in the form of a joint demonstration where project participants should be able to account for each part of the project, which solutions are chosen and why. The examiner and/or supervisors will ask different control questions to the group members. After subprojects 1 and 2, each group must write a short report on an A4 page on how the subsystem is used, its functionality and how the subproblem was solved. Being able to write a short and concise such documentation is an intentional exercise in the course.
After the third sub-project, where the total system is assembled and the hand-eye calibration is solved, each group must also write a short documentation of the total system. In order to pass, all sub-projects and reports must be deemed approved.
Grades
Two grade scale, older version, U, GOther information
Supplementary courses:
TSEA56 Electronics Engineering – Bachelor Project
TSBB09 Image Sensors,
TSBB08 Digital Image Processing,
TSBB15 Computer Vision,
TSRT08 Optimal Control,
TSBK07 Computer Graphics
About teaching and examination language
The teaching language is presented in the Overview tab for each course. The examination language relates to the teaching language as follows:
- If teaching language is Swedish, the course as a whole or in large parts, is taught in Swedish. Please note that although teaching language is Swedish, parts of the course could be given in English. Examination language is Swedish.
- If teaching language is Swedish/English, the course as a whole will be taught in English if students without prior knowledge of the Swedish language participate. Examination language is Swedish or English (depending on teaching language).
- If teaching language is English, the course as a whole is taught in English. Examination language is English.
Other
The course is conducted in a manner where both men's and women's experience and knowledge are made visible and developed.
The planning and implementation of a course should correspond to the course syllabus. The course evaluation should therefore be conducted with the course syllabus as a starting point.
Department
Institutionen för systemteknikDirector of Studies or equivalent
Lasse AlfredssonExaminer
Mårten WadenbäckEducation components
Preliminary scheduled hours: 10 hRecommended self-study hours: 150 h
Course literature
Other
| Code | Name | Scope | Grading scale |
|---|---|---|---|
| PRA1 | Projects | 6 credits | U, G |
The sub-projects are examined in the form of a joint demonstration where project participants should be able to account for each part of the project, which solutions are chosen and why. The examiner and/or supervisors will ask different control questions to the group members. After subprojects 1 and 2, each group must write a short report on an A4 page on how the subsystem is used, its functionality and how the subproblem was solved. Being able to write a short and concise such documentation is an intentional exercise in the course.
After the third sub-project, where the total system is assembled and the hand-eye calibration is solved, each group must also write a short documentation of the total system. In order to pass, all sub-projects and reports must be deemed approved.
Other
Note: The course matrix might contain more information in Swedish.
I = Introduce, U = Teach, A = Utilize
| I | U | A | Modules | Comment | ||
|---|---|---|---|---|---|---|
| 1. DISCIPLINARY KNOWLEDGE AND REASONING | ||||||
| 1.1 Knowledge of underlying mathematics and science (G1X level) |
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| 1.2 Fundamental engineering knowledge (G1X level) |
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| 1.3 Further knowledge, methods, and tools in one or several subjects in engineering or natural science (G2X level) |
X
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PRA1
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| 1.4 Advanced knowledge, methods, and tools in one or several subjects in engineering or natural sciences (A1X level) |
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| 1.5 Insight into current research and development work |
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| 2. PERSONAL AND PROFESSIONAL SKILLS AND ATTRIBUTES | ||||||
| 2.1 Analytical reasoning and problem solving |
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| 2.2 Experimentation, investigation, and knowledge discovery |
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X
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PRA1
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| 2.3 System thinking |
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X
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X
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PRA1
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| 2.4 Attitudes, thought, and learning |
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X
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PRA1
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| 2.5 Ethics, equity, and other responsibilities |
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X
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PRA1
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| 3. INTERPERSONAL SKILLS: TEAMWORK AND COMMUNICATION | ||||||
| 3.1 Teamwork |
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X
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PRA1
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| 3.2 Communications |
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X
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PRA1
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| 3.3 Communication in foreign languages |
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| 4. CONCEIVING, DESIGNING, IMPLEMENTING AND OPERATING SYSTEMS IN THE ENTERPRISE, SOCIETAL AND ENVIRONMENTAL CONTEXT | ||||||
| 4.1 External, societal, and environmental context |
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| 4.2 Enterprise and business context |
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| 4.3 Conceiving, system engineering and management |
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X
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PRA1
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| 4.4 Designing |
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X
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PRA1
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| 4.5 Implementing |
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PRA1
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| 4.6 Operating |
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| 5. PLANNING, EXECUTION AND PRESENTATION OF RESEARCH DEVELOPMENT PROJECTS WITH RESPECT TO SCIENTIFIC AND SOCIETAL NEEDS AND REQUIREMENTS | ||||||
| 5.1 Societal conditions, including economic, social, and ecological aspects of sustainable development for knowledge development |
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| 5.2 Economic conditions for knowledge development |
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| 5.3 Identification of needs, structuring and planning of research or development projects |
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| 5.4 Execution of research or development projects |
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| 5.5 Presentation and evaluation of research or development projects |
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X
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PRA1
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