PROGRAMMAZIONE DIDATTICA COORTE A.A. 2020/2021
CORSO DI LAUREA MAGISTRALE in 10635 ROBOTICS ENGINEERING (classe LM-32)

SCHEDA INFORMATIVA

Sede amministrativa:  GE
Classe delle lauree in: 

Classe delle lauree magistrali in INGEGNERIA INFORMATICA (classe LM-32)

Durata:  2 anni
Indirizzo web:  http://www.roboticsengineering.dibris.unige.it/
Dipartimento di riferimento:  SEZIONE INTERSCUOLA POLITECNICA DEL DIBRIS

PIANO DI STUDI

1° anno (coorte 2020/2021)

Codice Disciplina Settore CFU Tipologia/Ambito Obiettivi Formativi Propedeuticità
56846 MODELING AND CONTROL OF MANIPULATORS ING-INF/04 6 6 CFU CARATTERIZZANTI Ingegneria Informatica
This course presents the fundamentals of the modeling and control techniques of serial manipulators. Topics include robot architectures, geometric modeling, kinematic modeling, dynamic modeling and its applications, as well as the classical PID controller and computed torque controller.

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80514 MECHANICS OF MECHANISMS AND MACHINES ING-IND/13 5 5 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
Fundamentals of theory of mechanisms and machines: synthesis, analysis, modelling, singularities. Kinematics and elements of dynamics. Serial and parallel architectures. Compliant mechanisms. Architectures for robotics. The Lie group of rigid body displacement. Screw theory.

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104729 RESEARCH TRACK 1 5 5 CFU ALTRE ATTIVITA' Tirocini Formativi e di Orientamento
Robotics is a multi-disciplinary field characterised by a high degree of research. Research Track 1 and Research Track 2 are aimed at developing a series of must-have know-how and expertise that any researcher in Robotics must be acquainted to. In particular, Research Track 1 will lay the basis of software development for robots, as well as practical insights in robot architectures. These knowledges will be of fundamental importance for later courses and the practice classes therein.

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104730 RESEARCH TRACK 2 5 5 CFU ALTRE ATTIVITA' Tirocini Formativi e di Orientamento
Robotics is a multi-disciplinary field characterised by a high degree of research. Research Track 1 and Research Track 2 are aimed at developing a series of must-have know-how and expertise that any researcher in Robotics must be acquainted to. In particular, Research Track 2 will consider subjects related to project design, development, assessment, reporting, as well as ancillary knowledge as experimental methodologies, data visualisation, bibliography research, pitch presentations.

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30 CFU tra i seguenti insegnamenti:
86736 ADVANCED AND ROBOT PROGRAMMING ING-INF/05 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
The goal of the course is to give the students the fundamentals of POSIX programming, concurrent programming, inter-process communication (i.e., interrupts, signals, pipes, publish/subscribe). The course leverages the ROS environment to build up advanced examples and use cases.

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104734 ARTIFICIAL INTELLIGENCE FOR ROBOTICS I ING-INF/05 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
The goal of the course is to provide the foundations of knowledge-based intelligent autonomous agents.

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80181 CONTROL OF LINEAR MULTI-VARIABLE SYS. ING-INF/04 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
The aim of the course is to give a methodology for the design of a control law for multivariable linear time invariant systems (MIMO LTI systems)

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80158 HUMAN COMPUTER INTERACTION ING-INF/05 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
The course faces theories and techniques for the design of interactive systems and multimodal systems.

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86739 MOBILE ROBOTS ING-INF/04 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
The class first develops the kinematic modeling and motorization of mobile robots, illustrated by the full study of the differential drive robot. Then localization based on the Extended Kalman Filter is addressed, is illustrated by a lab which uses real data and presents a tuning methodology. Observability issues are also addressed, with practical examples. Planning methods applicable to mobile robots are studied, in particular potential field methods and the Rapidly exploring Random Tree. Control then focuses on direct applications to mobile robots: static and dynamic feedback control and Lyapunov based control, illustrated on the case of the differential drive robot.

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86738 NONLINEAR CONTROL TECHNIQUES ING-INF/04 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
Students are introduced to basic concepts from differential geometry and differential algebra which are instrumental for controllability and observability criteria. The course features control algorithms as the computed torque, popular in robotics, or feedback linearization. Basics from Lyapunov theory are reviewed and applied to control Lyapunov functions which are instrumental for practical robust control algorithms as sliding modes or backstepping.

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80169 REAL-TIME OPERATING SYSTEMS ING-INF/05 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
By attending the course, the student will learn how to deal with issues concerning real-time applications and real-time operative systems, real-time design and programming, embedded systems.

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86805 SOFTWARE ARCHITECTURES FOR ROBOTICS ING-INF/05 5 5 CFU CARATTERIZZANTI Ingegneria Informatica
A robot is a multi-purpose, multi-form and multi-function machine. It exhibits completely new and unique characteristics with respect to what it is for, how it is structured and what it is able to do. In order to cope with this diversity in form and function, software architectures for robots must be grounded on top of a model enforcing flexibility and efficiency well beyond those developed in other domain applications.

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10 CFU tra i seguenti insegnamenti:
104731 ARTIFICIAL INTELLIGENCE FOR ROBOTICS II ING-INF/05 5 5 CFU A SCELTA A Scelta dello Studente
Artificial Intelligence for Robotics 2 is the logic follow-up of Artificial Intelligence for Robotics 1. In this course, the students will be introduced to concepts related to knowledge representation and reasoning (ontologies, description logics, OWL, subsumption, instance checking), planning for hybrid domains (with a particular focus on discrete/continuous domains), as well as AI-based robot motion algorithms (es., RRTs, probabilistic roadmaps, belief-space planning).

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86735 COMPUTER VISION INF/01 5 5 CFU A SCELTA A Scelta dello Studente
The course aims at providing knowledge on theory and tools on the basics of Computer Vision, for the extraction of semantic and geometric information about a scene from an image or a sequence of images. Topics of interest include: camera models and image formation; camera calibration; connection between 2D images and 3D scene structures; image processing basics as image filtering, local features extraction (edge, corner, blob), including the use of multi-scale image representations; image matching, with reference to classification and retrieval problems; stereo vision and scene depth estimation; motion detection in image sequences, including change detection and optical flow estimation.

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86746 ITALIAN LANGUAGE (FOR FOREIGN STUDENTS) - BRIEF L-FIL-LET/12 4 4 CFU A SCELTA A Scelta dello Studente
The course allows the student to achieve a sufficient oral and written comprehension of the local language, as well as an introduction to country culture.

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52164 ITALIAN LANGUAGE (FOR FOREIGN STUDENTS) - LONG L-FIL-LET/12 5 5 CFU A SCELTA A Scelta dello Studente
The course allows the student to achieve a sufficient oral and written comprehension of the local language, as well as an introduction to country culture.

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86928 MACHINE LEARNING FOR ROBOTICS I INF/01 5 5 CFU A SCELTA A Scelta dello Studente
The goal of the class is to present Artificial Neural Networks and other well-known Machine Learning techniques as systems for solving supervised and unsupervised learning problems, with a specific emphasis on Robotics applications. Such learning systems can be applied to pattern recognition, function approximation, time-series prediction and clustering problems. Some mention will be made to the use of ANNs as static systems for information coding, and dynamical systems for optimization and identification.

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80183 MECHANICAL DESIGN METHODS IN ROBOTICS ING-IND/13 5 5 CFU A SCELTA A Scelta dello Studente
This course presents the overview of the design process-specification, conceptual design, product design. The students will learn basic principles of industrial robot design.

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86733 OPTIMISATION TECHNIQUES MAT/09 5 5 CFU A SCELTA A Scelta dello Studente
The lecture presents different theoretical and computational aspects of a wide range of optimization methods for solving a variety of problems in engineering and robotics.

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105038 SIGNAL PROCESSING IN ROBOTICS ING-IND/31 5 5 CFU A SCELTA A Scelta dello Studente
Signal Processing in Robotics provides the necessary background for the analysis of data typically used in robots, which is useful for many other subjects in the course. Different information types, as well as approaches, techniques, and algorithms, will be introduced.

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80186 SYSTEM IDENTIFICATION ING-INF/04 5 5 CFU A SCELTA A Scelta dello Studente
The goal of the course is to provide methodologies and tools for designing systems’ models to be used for control, estimation, diagnosis, prediction, etc. Different identification methods are considered, both in a “black box” context (where the structure of the system is unknown), as well as in a “grey box” (uncertainty on parameters) one. Methods are provided for choosing the complexity of the models, for determining the values of their parameters, and to validate them. Moreover, state estimation problems are addressed and their connections with control and identification are considered.

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2° anno (coorte 2020/2021)

Codice Disciplina Settore CFU Tipologia/Ambito Obiettivi Formativi Propedeuticità
60452 MASTER THESIS 30 30 CFU PROVA FINALE Per la Prova Finale
The MSc thesis must be elaborated by the student in an original fashion and under the guidance of one or more supervisors. It will have to exhibit an appropriate understanding of fundamental principles, an adequate use of resources and bibliography, as well as rational and argumentation-related capabilities. It must be developed with a clear English language, be based on well-defined design and experimental practices, as well as on critical thinking.

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86732 RESEARCH METHODOLOGY ING-IND/13 1 1 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
This course is intended to provide the student with the necessary skills and tools to carry out and present a research topic. It presents the profession of university staff, researchers in research institutions, and in R&D departments in enterprises and how to apply for them. This course includes also the beginning of the bibliographical study and collect information part for the MSc thesis topic.

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12 CFU tra i seguenti insegnamenti:
80188 AMBIENT INTELLIGENCE ING-INF/05 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
The goal of the course is to enable students to understand the Ambient Intelligence computing paradigm, which envisions a world where people (and possibly robots) are surrounded by intelligent sensors/actuators and interfaces embedded in the everyday objects around them.

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98457 COOPERATIVE ROBOTICS ING-INF/04 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
The goal of the course is to first introduce a modern task-priority based control of robotic systems such as dual arm robots, mobile manipulators, floating underwater vehicle-manipulator systems, which are all characterized by a high number of degrees of freedom. The framework is extended to the case where multiple robots need to work together, for example to manipulate and transport objects cooperatively.

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80190 EMBEDDED SYSTEMS ING-INF/04 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
This course presents the fundamentals of embedded systems. After a brief review of the most relevant architectures, the course focuses on microcontroller programming for control applications, with a particular attention on peripheral configuration, real time and event-based programming techniques.

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94864 EXPERIMENTAL ROBOTICS LABORATORY ING-INF/04 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
The course's aim is to put into action the theoretical knowledge acquired in other courses, providing some robotic setups for specific implementations. The course will also include methodological information on experiments design and validation of results.

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104855 MACHINE LEARNING FOR ROBOTICS II ING-INF/05 4 This course, which is made up of two separate modules, aims at providing students with theoretical insights into machine learning and data analysis, with a specific emphasis on Robotics-related use cases.

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  86798 - MACHINE LEARNING AND DATA ANALYSIS ING-INF/05 3 3 CFU CARATTERIZZANTI Ingegneria Informatica
Students will be provided with advanced skills related to machine learning and data analysis with particular reference to the statistical learning theory and its application to real world problems. Students will learn practical and theoretical insights on machine learning and data analysis methodologies.

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  104856 - ROBOTICS USE CASES ING-INF/05 1 1 CFU CARATTERIZZANTI Ingegneria Informatica
In this module, students will focus on the study of use cases specifically related to Robotics, on the basis of methodologies and insights discussed in the accompanying main module.

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94866 SOCIAL ROBOTICS ING-INF/05 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
The objective of the course is to make students aware about the most relevant issues in the fields of social robotics, including: verbal and nonverbal human-robot interaction; cultural factors in the design of social robots; anthropomorphic and zoomorphic robots and robot behaviours; sensors for human-robot interaction; methodology and constraints in making experiments with robots and human participants; application scenarios. The student will face these problems both from a theoretical perspective and through practical assignments, by exploring in depth one of the topics above on real robots for social interaction.

-

80186 SYSTEM IDENTIFICATION ING-INF/04 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
The goal of the course is to provide methodologies and tools for designing systems’ models to be used for control, estimation, diagnosis, prediction, etc. Different identification methods are considered, both in a “black box” context (where the structure of the system is unknown), as well as in a “grey box” (uncertainty on parameters) one. Methods are provided for choosing the complexity of the models, for determining the values of their parameters, and to validate them. Moreover, state estimation problems are addressed and their connections with control and identification are considered.

-

104737 VIRTUAL REALITY FOR ROBOTICS ING-INF/05 4 4 CFU CARATTERIZZANTI Ingegneria Informatica
Starting from the knowledge on the fundamentals of graphics, modeling and animation of 3D digital objects, the aim of the course is to get to the programming skills necessary to build applications and systems based on simulation in virtual / mixed / augmented / extended reality (VR / AR / MR / XR). The fundamental objectives of this course are to make students aware of the necessary interdisciplinarity of VR for Robotics: from mobile programming to biomechanics, sensory perception, humanoid robotics and video games, in order to manage complex interactions between simulated and / or physical objects and actors (both FPV first-person view and TPV third-person view).

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4 CFU tra i seguenti insegnamenti:
80192 ADVANCED MODELLING AND SIMULATION TECHNIQUES FOR ROBOTS ING-IND/13 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
The present course is intended for providing the students with the fundamental mechatronic concepts and related modelling and simulation technologies enabling the realization of reconfigurable, soft, dexterous manipulating and mobile, modular robotic structures. Modelling and simulation of distributed sensorial, actuation and control systems are as well included in the course educational targets.

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66044 FLEXIBLE AUTOMATION ING-IND/13 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
This course provides a general intersectoral introduction to applications, scopes and development of flexible automation, including robotics, for industrial and non-industrial sectors. Technologies, means and methods, socio-economic issues related with different domains are presented and discussed. In greater detail, design and development techniques are proposed for intelligent flexible automation of industrial production systems with a view to Factory 4.0.

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12 CFU tra i seguenti insegnamenti:
80188 AMBIENT INTELLIGENCE ING-INF/05 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
The goal of the course is to enable students to understand the Ambient Intelligence computing paradigm, which envisions a world where people (and possibly robots) are surrounded by intelligent sensors/actuators and interfaces embedded in the everyday objects around them.

-

98454 BIOMEDICAL ROBOTICS ING-INF/06 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
The purpose of this course is to provide a perspective on robotic technologies applied to (and inspired by) themes of biomedical research and practice.

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98457 COOPERATIVE ROBOTICS ING-INF/04 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
The goal of the course is to first introduce a modern task-priority based control of robotic systems such as dual arm robots, mobile manipulators, floating underwater vehicle-manipulator systems, which are all characterized by a high number of degrees of freedom. The framework is extended to the case where multiple robots need to work together, for example to manipulate and transport objects cooperatively.

-

80190 EMBEDDED SYSTEMS ING-INF/04 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
This course presents the fundamentals of embedded systems. After a brief review of the most relevant architectures, the course focuses on microcontroller programming for control applications, with a particular attention on peripheral configuration, real time and event-based programming techniques.

-

94864 EXPERIMENTAL ROBOTICS LABORATORY ING-INF/04 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
The course's aim is to put into action the theoretical knowledge acquired in other courses, providing some robotic setups for specific implementations. The course will also include methodological information on experiments design and validation of results.

-

86746 ITALIAN LANGUAGE (FOR FOREIGN STUDENTS) - BRIEF L-FIL-LET/12 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
The course allows the student to achieve a sufficient oral and written comprehension of the local language, as well as an introduction to country culture.

-

52164 ITALIAN LANGUAGE (FOR FOREIGN STUDENTS) - LONG L-FIL-LET/12 5 5 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
The course allows the student to achieve a sufficient oral and written comprehension of the local language, as well as an introduction to country culture.

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104748 LINGUISTICS AND PHYLOSOPHY OF LANGUAGE M-FIL/05 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
In Robotics, a computational perspective on the study of language is gaining much attention both in research and in real-world applications, such as vocal assistants, smart speakers, intelligent avatars. However, often these devices do not exploit the whole corpus of knowledge developed in the past decades in linguistics. This subject will provide students with solid theoretical foundations on the subject.

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104855 MACHINE LEARNING FOR ROBOTICS II ING-INF/05 4 This course, which is made up of two separate modules, aims at providing students with theoretical insights into machine learning and data analysis, with a specific emphasis on Robotics-related use cases.

-

  86798 - MACHINE LEARNING AND DATA ANALYSIS ING-INF/05 3 3 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
Students will be provided with advanced skills related to machine learning and data analysis with particular reference to the statistical learning theory and its application to real world problems. Students will learn practical and theoretical insights on machine learning and data analysis methodologies.

-

  104856 - ROBOTICS USE CASES ING-INF/05 1 1 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
In this module, students will focus on the study of use cases specifically related to Robotics, on the basis of methodologies and insights discussed in the accompanying main module.

-

104749 PSYCHOLOGY OF PERCEPTION AND ACTION M-PSI/01 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
For a robot, perception and actions are fundamental, defining features of stereotyped or purposive behaviour. Especially when interacting with humans, robots must be capable of employing mental models of the human they are interacting with, perceiving the environment and their actions using common, shared categories, and act in a credible manner. This subject will provide advanced knowledge and theoretical insights about these matters.

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94866 SOCIAL ROBOTICS ING-INF/05 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
The objective of the course is to make students aware about the most relevant issues in the fields of social robotics, including: verbal and nonverbal human-robot interaction; cultural factors in the design of social robots; anthropomorphic and zoomorphic robots and robot behaviours; sensors for human-robot interaction; methodology and constraints in making experiments with robots and human participants; application scenarios. The student will face these problems both from a theoretical perspective and through practical assignments, by exploring in depth one of the topics above on real robots for social interaction.

-

80186 SYSTEM IDENTIFICATION ING-INF/04 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
The goal of the course is to provide methodologies and tools for designing systems’ models to be used for control, estimation, diagnosis, prediction, etc. Different identification methods are considered, both in a “black box” context (where the structure of the system is unknown), as well as in a “grey box” (uncertainty on parameters) one. Methods are provided for choosing the complexity of the models, for determining the values of their parameters, and to validate them. Moreover, state estimation problems are addressed and their connections with control and identification are considered.

-

104737 VIRTUAL REALITY FOR ROBOTICS ING-INF/05 4 4 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
Starting from the knowledge on the fundamentals of graphics, modeling and animation of 3D digital objects, the aim of the course is to get to the programming skills necessary to build applications and systems based on simulation in virtual / mixed / augmented / extended reality (VR / AR / MR / XR). The fundamental objectives of this course are to make students aware of the necessary interdisciplinarity of VR for Robotics: from mobile programming to biomechanics, sensory perception, humanoid robotics and video games, in order to manage complex interactions between simulated and / or physical objects and actors (both FPV first-person view and TPV third-person view).

-