Intelligent Systems

Master Project Intelligent Systems

Exercise  (infMPInS-01a)

 

4 SWS, ECTS-Credits: 10
suitable for ERASMUS / exchange students, language of instruction: English
Time and place: by arrangement
 

Turtle Bot

Scope

This project is offered as a master project – a modified variant for bachelor students is possible (please ask)!

 

Group

This project is offered as a group task; a team of 3 to 6 students is required (deliverables are adjusted based on a number of participants).

 

Language

The project is available in English and German, depending on the participants.

Motivation: Robots are a perfect testbed for intelligent systems technology – and autonomous learning techniques in particular. Their mobility, their heterogeneity, and their different application areas define a variety of use cases where learning capabilities are required to initially solve and afterwards improve certain tasks.

 

Task

What is your task as a group?

  • Set up the basic robot operating system for the robots, assemble robots (i.e., attach sensors, access sensor information, process sensor information).
     
  1.  We have the turtle bot 3 platform available at our group, which is used for this module. This includes the “TurtleBot3 Waffle Pi” and the “TurtleBot3 Burger” platforms with additional sensor/actuator equipment.
  2. There are a very popular framework and API available that need to be adapted for the scope of this project (framework and API come with comprehensive documentation, tutorials, and community).
  3. The API / framework are available in Python and C++, experimental libraries are also available in JAVA. The programming language is subject to negotiations.
     
  • Design and implement a framework for autonomous robot behaviour:
     
  1. Works on heterogeneous robots (i.e., waffle and burger bots with varying sensor and actuator equipment)
  2. Is modular in a way that novel intelligent behaviours can easily be added (and switched on/off)
  3. Follows the design concepts for intelligent systems and provides basic functionality for robot operation tasks
  4. Provides continuous logging of system states, environmental conditions, and actions taken for analysis purposes
  5. Consists of a variable set of autonomous robots and a “base station” with which the robots communicate and share their experiences

 

  • Use case: classification and novelty detection of environmental conditions
  1. Realise (hardware) scenarios for novel behaviour
    a) Here: environmental behaviour is modelled as different flooring/surface conditions
    b) Set up courses with changing conditions (carpet, stones, tiles, etc)
     
  2. Classification and novelty detection techniques
    a) Implement classification of floor conditions based on sensor information representations
    b) Implement techniques for novelty detection (abnormal behaviour) that generate an alarm in case of inappropriate classification (i.e., unknown floor)
    c) Apply techniques online and classify floor conditions with different robots
    d) Evaluate the success of the classification

     

Fundamentals of the module

  • Besides the actual development of the software, the module aims at practical experiences in the following aspects:
    - Specification and definition of “product” using standard software engineering tools
    - (Self-)Organisation as a team, management of the process, deadline supervision
    - Entire software development process until delivery to the customer
    - Documentation of the product
  • Your supervisors are continuously monitoring the process in the role of a customer, i.e. you are expected to regularly demonstrate the progress.
     

Registration

Interested students may contact the group (i.e., Prof. Tomforde at st@informatik.uni-kiel.de) for more details.

There will be an initial appointment begin of the summer term, where the project is set up and students are registered for the module.