Educational Robotics in a Systems Design Masters Program

Educational Robotics in a Systems Design Masters Program

Uwe Gerecke, Patrick Hohmann, Bernardo Wagner Learning Lab Lower Saxony (L3S), Hanover, Germany {gerecke,hohmann,wagner}@learninglab.de

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Talk Outline • Educational Robotics n Robot Platforms in Education

• Modular Educational Robotic Toolbox n What is MoRob about? n Project Aim n Topics

• Robot Curriculum + Project-based Robotics Courses n Lego n MSc. Systems Design at University of Hannover

• Evaluation n Testbeds, Progress, First Insights

• Examples • Conclusions Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

MoRob – Modular Educational Robotic Toolbox A project to develop a framework for teaching/research with Robotics Project Partners: • L3S Hannover • KTH Stockholm, Centre for Autonomous Systems • Stanford University, Robotics Laboratory

Funding: WGLN – Wallenberg Global Learning Network

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Autonomous Mobile Robots In • • •

recent years, autonomous mobile robots have.. become a very popular topic gained high visibility in media (TV, newspapers, internet) been used increasingly in research, entertainment and industry

Going along with this.. • increasing number of university robotics courses • increasing number of dissertation projects

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Educational Robotics (I) Robotics offers an excellent basis for teaching a number of different engineering disciplines and their integration into systems. For example, courses with robots on: • • • • •

Software engineering projects [Gustafson, 1998] Data structures courses [Dannelly, 2000] Genetic programming [Bianchi and La Neve, 2002] Hardware based vision [Bianchi and La Neve, 2002] Artificial Intelligence [Paul, Hafner, and Bongard, 2000]

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Educational Robotics (II) Robots can be used as a tool in many different disciplines • Teaching/Demonstrating • Exercises/Labs • Research projects (PhD. level)

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Robots in Teaching In • • • •

student projects, exercises help to develop engineering skills: Creativity Teamwork Designing Problem solving

Teaching the technical content could very easily be done in student teams through problem-based learning. This improves and increases the attractiveness of learning. Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Reasons to Use Robots • Robots as demonstration tools: abstract concepts can be turned into real-world problems and solutions [Kumar and Meeden, 1998] • Motivation improvement when real-world objects are included [Garcia and Patterson-McNeill, 2002] • Motivational factor to attract high-school students [Oppliger, 2001] • Robots are very popular and stimulating for university students [Wang, 2001]

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

What is MoRob about? Universities need robot platforms which • are flexible and modular, yet powerful • can easily be customized to the requirements of different subjects and research goals MoRob project aims: • develop such a platform • provide standard set of robot control modules + teaching units This is aimed at teaching undergraduate and graduate students as well as for PhD research. Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Why do we need MoRob? Common problems in educational robotics: • Use “primitive” system à limited platform • Construction of own system à effort requires many resources (implementation, maintenance) We do not want teachers and students to re-invent the wheel all over again!

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

What about Lego? LEGO Mindstorms: • Provides a flexible and easy to use platform • Reaches its limitations very easily (physically, programming power, sensors, scalability, etc.) So: Lego is not the best platform to be used in advanced courses.

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Educational Robotics Requirements (I) • Flexible architecture which considers mechanical, electrical and software interfaces • Layered architecture that allows interfacing to the system at all levels from motors to advanced behaviours (comprehensive API required) • Comprise a variety of basic components to allow for construction of basic mobility systems (e.g. sensor modules) • Library of standard modules for navigation, detection of obstacles, etc. • Simple set of interfaces to be used with MATLAB and Java • Comprehensive suite of documentation Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Educational Robotics Requirements (II) The platform should be • easily configurable for a particular course • interfaced to standard educational tools such as MATLAB, Java and C/C++ • sharable across a number of institutions Characteristics summary: • Scalable performance • Modular setup • Flexible interfaces • Easy configuration Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

MoRob Overview • Development of a Scalable Processing Box (SPB) • Definition of a modular robot model curriculum + Applications in Problem-Based Learning • Development of associated course materials • Demonstrator modules (Toolboxes) • Provision of an Internet framework (Repository) • Evaluation of results

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Scalable Processing Box (SPB) Core of our system: SPB, a standardized processing unit for easy experimentation with any kind of robotic platform. • • • •

Standardized Scalable Modular Several SPBs can be combined

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Educational Robotics Processing Requirements • • • • •

Simple handling of the SPB Easy configuration Robustness from hard- and software's point of view Real-time capability Understandable and praxis-oriented documentation and examples

The range of users to work with the SPB will reach from students doing their first steps in the subject of robotics to people using the SPB as base system for their scientific work. Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Curriculum Development Essential part of MoRob: provide a model curriculum for using robots in teaching and exercises. • Choice of teaching units and exercises in different subjects • Choice of approaches at different levels • In particular: promotion of Problem-Based Learning n increases the attractiveness of learning while performing student projects through learning by doing n supports the development of engineering skills like creativity, teamwork, designing and problem solving

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Associated Course Materials Development of associated course materials n n n n n

lecture notes slides videos exercises solutions

• To supplement the platform • Provision of a variety of course materials • Cater for a number of different courses within the Robotics, Computer Science and Engineering curriculum • To be easily adapted to a variety of courses Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Development of Toolboxes (Demonstrator Modules) Teaching of robotics classes requires a platform to demonstrate key concepts (different modules for different concepts). We need: library of standard modules for navigation, detection of obstacles, basic trajectory following, etc. Sample module: demonstrator for localization experiments. This demonstrator allows: n working with students in the lab n evaluation of pedagogical merit n testing of software architecture and complete system Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Internet Framework • Internet repository for sharing of material n n n n n

course materials toolboxes curricula software etc.

• WWW-portal for course material and technical documentation • Provision of a tutorial help system • Remote control of the robot through wireless LAN

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Robot Platforms in Education The quality and properties of a robot platform determine which concepts can be conveyed to the students. Platforms can be classified into three categories: 1. Introductory level, schools (eg. Lego Mindstorms, Rug Warrior) 2. Undergraduate level (eg. Evolution ER1) 3. Advanced robots for research (eg. Pioneer 2AT, RobuCar)

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Platforms at L3S

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Lego Mindstorms

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Evolution ER1

•New platform launched in 2002 • Constructed from a modular set of aluminum profiles • Laptop • SDK under MS-Windows • Limited with respect to sensing facilities and software flexibility • Extensible

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

ER1 Sensors • Camera • Optional 2nd camera • Wheel encoders • Optional Infrared

• Other groups: e.g. ultrasound sensors

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Pioneer 2AT (ActivMedia)

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Pioneer 2AT Hardware • 2AT base unit • Embedded system running Linux/RTAI • Sensors: - Laser scanner - GPS - Compass - Gyroscope - Wheel encoders Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Robot Curriculum + Project-Based Robotics Courses Mini-Project “Autonomous Service Robots” (successfully completed) n project-based learning with Lego n video n evaluation

New lab project in summer semester n localization via access points n Institute of Communications Engineering n project-based task n ER1

MSc. Systems Design n starting autumn 2003 n 3 projects Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Mini-Project “Autonomous Service Robots” • • • • • •

Hardware laboratory 5th semester BSc. “Applied Computer Science” Set exercises, then Mini-Project over 4 weeks One choice: “Autonomous Service Robots” Application scenario: burning oil springs (build fire-fighting robot) First project to be filled Teams: equipped with Lego Mindstorms kit and LeJos • Self-organized tasks, little interference by tutor • All groups achieved goals successfully • Initial evaluation Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Lab Project “Localization with Bluetooth” • Localization task • Use signal strength of Bluetooth access points • Institute of Communications Engineering • Project-based task • ER1

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

MSc. Program “Systems Design” • Start in autumn 2003 at Hanover University • Targeted at CS graduates with strong software experience • “System“: mobile phone, engine controller, mobile service robot, etc. • Series of robotics projects (3 consecutive semesters) as an essential part of the degree • Teams of 4 individual students

• Testbed for SPB • Testbed for evaluation Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

MSc. Structure and Practical Work Block I: Fundamentals (12 CP) Block II: System Design (28 CP) Block III: Practical Work (36 CP)

Block IV: Soft Skills (14 CP) Master Thesis (30 CP)

Project I

Analysis/Modelling

6 CPs

Project II

Synthesis 1 (Design)

9 CPs

Project III

Synthesis 2 (Implementation)

9 CPs

Design Skills

6 CPs

Labs/Seminars

6 CPs

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Practical Work / Projects Project I: Systems analysis and modelling of a system n Matlab/Simulink to create a simulation model of an existing system n software, electrical and mechanical components, static and dynamic properties

Project II: Synthesis and design n Prototype as a virtual model n Same tools from project I (Matlab)

Project III: Implementation and integration n n n n Uwe Gerecke

No Matlab, implemented in the real world Software development Electrical devices (sensors) Mechanical construction Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Evaluation (I) • We intend to provide information as to the suitability of project learning for engineering education concerning robotics and using our MoRob system. • To answer these questions: comparative evaluation studies.

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Evaluation (II) Our knowledge interests: • Does MoRob and the project method improve student learning in robotics, mechatronics and autonomous systems? • Is the system useful to integrate research and scientific methods better and faster in student teaching? • What is the best way to supplement the project and problem based learning by courses? • Can MoRob initiate collaboration between students from different countries? Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Evaluation (III) Evaluation of the learning process of the students: n n n n n n n n n Uwe Gerecke

Motivation Creativity Knowledge gains Collaboration Theoretical concepts used Precision Quality of results How do the students cope with technical challenges? Understanding and use of scientific and engineering methods? Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Evaluation Testbeds Main part of evaluation: • New MSc. Systems Design at Hanover • New international MSc. Robotics at KTH • Robotics Class 225 at Stanford First year evaluation: • Mini-Project "Mobile Service Robotics" in Hanover, Feb. 2003 • Autonomous Systems course at KTH, June 2003 • Experimental Robotics class at Stanford, June 2003

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

First Insights (I) • Within the problem-based learning task, students could bring in their own ideas to a large extent and had to acquire new knowledge on their own • The tutor only had to give little directions and students could organize their work freely • Teamwork and communication skills were felt to be among the most important things learned during this project • Many students felt that this was the best or most interesting project work they had ever done Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

First Insights (II) • Overall, the students judged the Lego platform and its environment as positive and appropriate • However, there were a large number of individual comments highlighting the shortcomings of this platform, for example: imprecise sensors, limited software, small memory, problems with multithreading and arithmetic • Students were highly motivated on this course and usually achieved more than was expected

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Conclusions • MoRob: robot platform for university teaching and research • Scalability, modularity, flexibility and ease of use • Exercises with robots help to develop engineering skills like creativity, teamwork, designing and problem solving • MSc. in Systems Design: problem-based learning in robotics • Students will have the tools to tackle complex design tasks • Broad range of engineering concepts can be taught • Vehicle for experimentation in a variety of courses • Standardized teaching environment for different applications

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Questions?

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Pioneer 2AT Inside

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Pioneer 2AT Sensors

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

The L3S from a Robot’s Point Of View

Uwe Gerecke

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens

Videos

Lego Mini-Project

Uwe Gerecke

Exploration with 2AT

Educational Robotics in a Systems Design Masters Program

ICALT‘2003 Athens