Suchergebnis: Katalogdaten im Herbstsemester 2016

Rechnergestützte Wissenschaften Bachelor Information
Bachelor-Studium (Studienreglement 2012)
Vertiefungsgebiete
Robotik
NummerTitelTypECTSUmfangDozierende
151-0601-00LTheory of Robotics and Mechatronics Information W4 KP3GP. Korba, S. Stoeter, B. Nelson
KurzbeschreibungThis course provides an introduction and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. It’s a requirement for the Robotics Vertiefung and for the Masters in Mechatronics and Microsystems.
LernzielRobotics is often viewed from three perspectives: perception (sensing), manipulation (affecting changes in the world), and cognition (intelligence). Robotic systems integrate aspects of all three of these areas. This course provides an introduction to the theory of robotics, and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. This course is a requirement for the Robotics Vertiefung and for the Masters in Mechatronics and Microsystems.
InhaltAn introduction to the theory of robotics, and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control.
Skriptavailable.
Voraussetzungen / BesonderesThe course will be taught in English.
252-0535-00LMachine Learning Information W8 KP3V + 2U + 2AJ. M. Buhmann
KurzbeschreibungMachine learning algorithms provide analytical methods to search data sets for characteristic patterns. Typical tasks include the classification of data, function fitting and clustering, with applications in image and speech analysis, bioinformatics and exploratory data analysis. This course is accompanied by practical machine learning projects.
LernzielStudents will be familiarized with the most important concepts and algorithms for supervised and unsupervised learning; reinforce the statistics knowledge which is indispensible to solve modeling problems under uncertainty. Key concepts are the generalization ability of algorithms and systematic approaches to modeling and regularization. A machine learning project will provide an opportunity to test the machine learning algorithms on real world data.
InhaltThe theory of fundamental machine learning concepts is presented in the lecture, and illustrated with relevant applications. Students can deepen their understanding by solving both pen-and-paper and programming exercises, where they implement and apply famous algorithms to real-world data.

Topics covered in the lecture include:

- Bayesian theory of optimal decisions
- Maximum likelihood and Bayesian parameter inference
- Classification with discriminant functions: Perceptrons, Fisher's LDA and support vector machines (SVM)
- Ensemble methods: Bagging and Boosting
- Regression: least squares, ridge and LASSO penalization, non-linear regression and the bias-variance trade-off
- Non parametric density estimation: Parzen windows, nearest nieghbour
- Dimension reduction: principal component analysis (PCA) and beyond
SkriptNo lecture notes, but slides will be made available on the course webpage.
LiteraturC. Bishop. Pattern Recognition and Machine Learning. Springer 2007.

R. Duda, P. Hart, and D. Stork. Pattern Classification. John Wiley &
Sons, second edition, 2001.

T. Hastie, R. Tibshirani, and J. Friedman. The Elements of Statistical
Learning: Data Mining, Inference and Prediction. Springer, 2001.

L. Wasserman. All of Statistics: A Concise Course in Statistical
Inference. Springer, 2004.
Voraussetzungen / BesonderesThe course requires solid basic knowledge in analysis, statistics and numerical methods for CSE as well as practical programming experience for solving assignments.
Students should at least have followed one previous course offered by the Machine Learning Institute (e.g., CIL or LIS) or an equivalent course offered by another institution.
263-5902-00LComputer Vision Information W6 KP3V + 1U + 1AL. Van Gool, V. Ferrari, A. Geiger
KurzbeschreibungThe goal of this course is to provide students with a good understanding of computer vision and image analysis techniques. The main concepts and techniques will be studied in depth and practical algorithms and approaches will be discussed and explored through the exercises.
LernzielThe objectives of this course are:
1. To introduce the fundamental problems of computer vision.
2. To introduce the main concepts and techniques used to solve those.
3. To enable participants to implement solutions for reasonably complex problems.
4. To enable participants to make sense of the computer vision literature.
InhaltCamera models and calibration, invariant features, Multiple-view geometry, Model fitting, Stereo Matching, Segmentation, 2D Shape matching, Shape from Silhouettes, Optical flow, Structure from motion, Tracking, Object recognition, Object category recognition
Voraussetzungen / BesonderesIt is recommended that students have taken the Visual Computing lecture or a similar course introducing basic image processing concepts before taking this course.
151-0563-01LDynamic Programming and Optimal Control Information W4 KP2V + 1UR. D'Andrea
KurzbeschreibungIntroduction to Dynamic Programming and Optimal Control.
LernzielCovers the fundamental concepts of Dynamic Programming & Optimal Control.
InhaltDynamic Programming Algorithm; Deterministic Systems and Shortest Path Problems; Infinite Horizon Problems, Bellman Equation; Deterministic Continuous-Time Optimal Control.
LiteraturDynamic Programming and Optimal Control by Dimitri P. Bertsekas, Vol. I, 3rd edition, 2005, 558 pages, hardcover.
Voraussetzungen / BesonderesRequirements: Knowledge of advanced calculus, introductory probability theory, and matrix-vector algebra.
151-0851-00LRobot Dynamics Information Belegung eingeschränkt - Details anzeigen W4 KP2V + 1UM. Hutter, R. Siegwart, T. Stastny
KurzbeschreibungWe will provide an overview on how to kinematically and dynamically model typical robotic systems such as robot arms, legged robots, rotary wing systems, or fixed wing.
LernzielThe primary objective of this course is that the student deepens an applied understanding of how to model the most common robotic systems. The student receives a solid background in kinematics, dynamics, and rotations of multi-body systems. On the basis of state of the art applications, he/she will learn all necessary tools to work in the field of design or control of robotic systems.
InhaltThe course consists of three parts: First, we will refresh and deepen the student's knowledge in kinematics, dynamics, and rotations of multi-body systems. In this context, the learning material will build upon the courses for mechanics and dynamics available at ETH, with the particular focus on their application to robotic systems. The goal is to foster the conceptual understanding of similarities and differences among the various types of robots. In the second part, we will apply the learned material to classical robotic arms as well as legged systems and discuss kinematic constraints and interaction forces. In the third part, focus is put on modeling fixed wing aircraft, along with related design and control concepts. In this context, we also touch aerodynamics and flight mechanics to an extent typically required in robotics. The last part finally covers different helicopter types, with a focus on quadrotors and the coaxial configuration which we see today in many UAV applications. Case studies on all main topics provide the link to real applications and to the state of the art in robotics.
Voraussetzungen / BesonderesThe contents of the following ETH Bachelor lectures or equivalent are assumed to be known: Mechanics and Dynamics, Control, Basics in Fluid Dynamics.
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