Sensing And Perception

Données Générales
Programme Académique	ECAM LaSalle Mechanical and Electrical Engineering Programme			Responsable(s) Module : GIBERT Guillaume
Type d'EC : Cours	Sensing And Perception (LIIEEng06ESensPerc)
TD : 4h00 TP : 12h00 Cours : 8h00 Travail personnel : 12h00 Durée totale: 36h00	Status	Periode Semester 6	Langue d'enseignement : English

Objectifs Généraux
By the end of this course, students will be able to: 1. Understand the physics and functioning of various sensors used in robotics 2. List all the elements of the Data Acquisition Chain and their features 3. Acquire the know-how for characterizing and calibrating sensors 4. Acquire the methodology to dimensioning sensors for specific applications 5. Apply knowledge in signal processing and statistics to robotic contexts 6. Create a Data Acquisition Chain from scratch 7. Program a microcontroller to sample data accurately 8. Learn the basics of image processing 9. Develop good programming practices (documentation, test, git/gitflow)

Objectifs Généraux

By the end of this course, students will be able to:
1. Understand the physics and functioning of various sensors used in robotics
2. List all the elements of the Data Acquisition Chain and their features
3. Acquire the know-how for characterizing and calibrating sensors
4. Acquire the methodology to dimensioning sensors for specific applications
5. Apply knowledge in signal processing and statistics to robotic contexts
6. Create a Data Acquisition Chain from scratch
7. Program a microcontroller to sample data accurately
8. Learn the basics of image processing
9. Develop good programming practices (documentation, test, git/gitflow)

Contenu
-Inertial sensors, GPS and odometry / sonar sensing / vision, bio-inspired sensors, force sensors -Transformation of information into electric properties and its implication -Signal conditioning -ADC: sampling, quantization, windowing -MCU: Application of data acquisition, data analysis, data processing -Introduction to image processing

Prérequis
-Metrology -Computer programming -Object-oriented programming -Simulation and numerical calculation 1 -Simulation and numerical calculation 2 -Electronics 1 – Components and technology -Electronics 2 – Functions and applications -Digital design and embedded software 1 -Digital design and embedded software 2 -Signal processing

Bibliographie
Essential resources: None Recommended resources: Handbook of Modern Sensors, Fraden J., AIP Press, Springer Corke P. (2011) Image Processing. In: Robotics, Vision and Control. Springer Tracts in Advanced Robotics, vol 73. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-20144-8_12

Évaluation(s)
N°	Nature	Coefficient	Objectifs
1	6, 7, 8, 9	0,3	Observable objectives: labs in which students will be evaluated on their ability to define and implement the components of a Data Acquisition Chain, to program a microcontroller and to program an image processing application using good coding practices.
2	1, 2, 3, 4, 5, 9	0,3	Observable objectives: mid-term exam in which students will be evaluated on their ability to analyze a Data Acquisition Chain and all its components from the physical quantity to processing performed on the MCU.
3	Written exam	0,4	Observable objectives: final exam in which students will be evaluated on their ability to analyze a Data Acquisition Chain and all its components and to apply image processing techniques to gray/color images.