Professor: Marek A. Perkowski, Electrical and Computer Engineering.
ROBOT LEARNING, VISION AND PERCEPTION
This class is the same as Intelligent Robotics 2.
Just this new title reflects better what is our concentration in the class. We cover also topics not directly related to vision and perception.
We start with easy and very practical methods for early robot vision.
We present basic Machine Learning methods used in robotics.
Class covers also Neural Nets, Deep Learning and search.
Next, more advanced methods of Machine Learning and Robot Vision are covered,
that can possibly lead to thesis, for instance advanced topics such as Fast Fourier Transforms and Radon Transforms.
All these theories are used in practical robot vision projects.
The last part of the class is robot navigation and localization, but this may be not finished this term and will continue to the next term.
Goal of the class.
Students should learn elementary, medium and some advanced topics in robot vision and perception
to be used in software, hardware and integration/robotic projects.
Students shoul continue learning about robot design and some
Machine Learning aspects of robotics. See the syllabus.
Official Syllabus.
This is the second class in robotics but can be taken with no prerequisities in case
that the students knows programming.
Students should get practical understanding how robot vision and navigation algorithms are used in robot systems.
They should also learn fundaments of probabilistic.
Where is this knowledge useful?
Previous students who have done projects found this class useful to find industrial positions in the
following areas: embedded systems, robot vision, flexible automation systems with vision, medical image processing,
hardware design of image processors, bank image processing,
general software design, industrial boardlevel design, design automation, industrial robotics.
Software.
Software used in class depends on every year projects. This quarter the projects
will use Matlab, Python, OpenCV, Visual Basic and C/C++.
Grading.
Grading is based in 85% on project. Project is splitted to three "homeworks".
The remaining 15% are based on quizzes, class attendance and presentations.
Class attendance is expected and checked.
This time I already allocated students to project teams. In most cases they follow the Fall projects.
SLIDES AND INFORMATION FOR CLASS.
 PROJECTS RELATED MATERIALS
 PROJECTS FINAL.docx
 1. Funny Robot Communicator Monster.docx
This is a prototype paper to be implemented in secveral projects of this class and completed. Students have to present this to me and others, so I will be
sure that everything is clear and everybody understands the project.
 2. Robot Theatre.docx
This is a prototype paper to be implemented in secveral projects of this class and completed. Students have to present this to me and others, so I will be
sure that everything is clear and everybody understands the project.
Similar to the above paper.
 Team 7 Frankenstein Monster.docx
Old report that will be enhanced.
 Dancing_Hexapod_Final_Report (2).docx
For the teams working on Monster and Copernicus.
 quantum robots for teenagers.pdf
For the teams working on Monster and Copernicus.
 theoretical advances AIS.pdf This is a paper for the Team A of Mohammed.
 85.Leo_DengExtended_Abstract.pdf
For all teams, example of a paper written by a high school student, good quality.
 PROGRAMMING RELATED MATERIALS

GOOD_AI in PROLOG, LISP, JAVA  Luger_0136070477_1.pdf Great source of codes and ideas.

GOOD_Russel=Norvig=Artificial Intelligence A Modern Approach (3rd Edition).pdf Famous textbook, many ideas.
 CLASS OVERVIEW
 2017_0002_Overview of vision.ppt No details. What are the problems and ideas in vision.
 MATLAB RELATED MATERIALS
 This material is auxiliary for students who want to improve their knowledge of Matlab.
 writing fast Matlab code tutorial.pdf
 2017_0010_Matlab_tutorial 1.ppt
 2017_0011_Matlab_tutorial 2.ppt
 2017_0012_other files in Matlab.pptx
 2017_0017_Matlab for vision.pptx
 external interfaces to Matlab tutorial.pdf
 Math review for Matlab users.pdf
 Matlab programming_tips.pdf
 matlab_programming_tutorial.pdf
 MORPHOLOGICAL METHODS
 Class material. Some will be skipped, use it only if project related.
 2017_0022_intro binary morphologicaldilation_erosion.ppt
 2017_0027_big example.ppt
 2017_0028_hit and miss  thinning  thickening.ppt
 2017_0029_Thinning  advanced.ppt
 2017_0034_morphology mathematics Theory.ppt
 2017_0035_MATLAB MORPHOLOGICAL FILTERING.ppt
 2017_0054_Advanced Morphology.ppt
 2017_0122_grey scale morphological (1).pptx
 MACHINE LEARNING
 Decisiontrees.ppt
this is example of one ML method but with discussion of general methods, useful for projects even if you will use only Decision Trees.
 Occam Razor vs Vapnik in ML with Kmaps.pptx
Here we show how to explain ML concepts using Kmaps.
 logic synthesis approach to ML.ppt
Here avarious ML ideas are explained and illustrated with simple examples. SOP algorithms.
This can be used in advanced projects and MS/PHD theses.
 brief survey of ML.ppt
Survery of all ML methods, just to give you hints about more advanced software that you may used in projects.
 Intro Decomposition.ppt
Introduction to AshenhurstCurtis Decomposition and similar methods.
 Column Multiplicity  Coloring and Decomposition.ppt
 AC decompositionforML advanced.ppt
 review of probability.pptx
These are mandatory slides about probabillity and its use in several ML methods.
 probability exercises.ppt
 naive Bayes classifier.ppt
 naive Bayes 2.ppt
Additional Reading.
 basic Probability and Bayes  Criticism.pptx
Additional Reading.
 QUIZZ theoretical
 QUIZZ software
AUXILIARY SLIDES AND INFORMATION.
MORPHOLOGICAL ALGEBRA AND IMAGE PROCESSING

2015_0003_Introduction_to_Morphological_Operators.ppt The most basic introduction to morphological image processing.

0002. Mathematics of Binary Morphology. ppt

0002_A. Binary Morphology and Use in Robotic Path Planning. ppt

0003.A. Big Example of morpology and measurements on image. ppt
LOW LEVEL IMAGE PROCESSING

0004. Introduction to edge detection feature extraction. ppt

0005. Labeling and sequential algorithms. Robot Soccer. ppt

0006. Quad Trees and Octtrees. ppt

0007. Partitioning and Thresholding. ppt
SHAPES, COLORS AND HISTOGRAMS

0008. Shape Representation1. ppt

0009. Image Processing for Melanoma Cancer. ppt

0010. Histogramming socccer vision. ppt

0011. Matlab Image Processing. ppt

0012. Introduction to color image processing. ppt

0014. Matlab Image Examples with color processing. ppt

0015. Matlab hit and miss binary. ppt
EDGES and CONVOLUTION.

0020. Edge Detection Algorithm by Canny. pptx

0021. Edge Detection with Sobel Algorithm. ppt

0022. Edge Enhancement. ppt

0024. Convolution low pass filtering. ppt
FUNDAMENTS OF SPECTRAL METHODS

1001. B. Introduction to Fourier Transform, 1D continuous. pptx

1001. C. Sampling and frequencies. ppt

1002. A. Continuous Fourier Transform Notations and theorems. pptx

1002. B. Sampling Fourier Transform. ppt

1003. B. Shift Invariant Linear Systems. ppt

1004. A. Orthogonal, Separable and Fourier Mathematics. ppt
SPECTRAL TRANSFORMS FOR IMAGES.

1006. 2D spectral transforms. Examples. ppt

1007. Combination of Classifiers for Indoor Room Recognition. pptx

1008. Introduction to Generalized Hough Transform.ppt

1009 Generalized Hough Transform. 1. ppt

1009. A. Generalized Hough Transform 2. ppt

1010. Radon Transform. Easy principles. ppt

1011. Medical Imaging  acquisition and Radon Transform. ppt

1012. Biometry and terrorists. pdf
PROBABILISTIC ROBOTICS AND BAYES CLASSIFIERS
 2014_0010_basic Probability and Bayes.pptx
 2014_0011_probability exercises.ppt
 2014_0021_Sensing planning prob BN HMM.ppt
 2014_0095_Example of Bayes Classifier.ppt
 2014_0096_more on Bayes classifiers.ppt
 2014_0097_basic Probability and Bayes  Criticism.pptx
 2014_0098.Decisiontrees.ppt
 2014_0100. treesdiagrams.ppt
MOBILE ROBOTS, KALMAN FILTERS AND SLAM
 2014_0124_Stochastic Dynamic Models.pptx
 2014_0181_Localization Mobile Robot Example  Vertical lines.ppt
 2014_0181_Robot Learning and Optimization.pptx
 2014_0182_intro localization and mapping.pptx
 2014_0183_Uncertainty Representation. Feature extraction.pptx
 2014_0187_intro to robot mapping.pptx
 2014_0188_Bayes filters for mobile robots.pptx
 2014_0210_Examplestateestimationrobots.ppt
 2014_0211_using perception in localization and mapping.pptx
 2014_0212_intro Kalman.pptx
 2014_0213_EKF SLAM.pptx
 2014_0214_UKF.pptx
BAYES NETWORKS and PARTICLE FILTERS.
 2014_0287_Bayes Networks.ppt
 2014_0288_MonteCarloGA.pptx
 2014_0880_MonteCarlo_Particle filters  Intro.ppt
 2014_0908_Particle filters  Resampling.ppt
 2014_9102_Particle filters  examples 1.ppt
 2014_9103_Particle Filters  Example 2.pptx
 2014_9180_stochastic robotic control.pptx
 2014_9993_Dynamic Window Approach.pptx
 2014_9993_Occupancy grid maps.pptx
ROBOT THEATRE AT PSU
Individual reading, not covered in class.

Text of the play "Quantum Consciousness" for our robot theatre.
We are realizing Act1 of this play in Winter quarter.

Text of research paper about robot theatre, written by Marek Perkowski and Dorota Zukowska.
Some futuristic ideas of robot theatre. We will realize some of them during this and next quarters.

Text of PhD dissertation proposal of Mathias Sunardi. Do not share it outside the class.
This is a theory behind artistic emotional robot motions and behaviors.

Intervewiew with Marek Perkowski for the international magazine about puppet art.
State of the art of robot theatre from my perspective. Other interesting papers about robot theatres in Poland.
Every paper is in both Polish and English language.
 2015_0047_Some Plays of Portland CyberTheatre.pptx
 2015_0050_Towards Future Robot Theatres.ppt
HISTORY AND TYPES OF ROBOT THEATRES WORLDWIDE

2015_0003_Robot Theatre Design for absolute beginners.pptx
 2015_0015_Theoreticians of robot theatre.pdf
 2015_0016_Robotic Pageants.pdf
 2015_0017_Commercial Robot Puppets.pdf
 2015_0020_Early Ideas on Oregon Cyber Theatre.pdf
 2015_0030_Humanoid Robots 1.pdf
 2015_0032_Humanoid Robots 2.pdf
 2015_0033_Walking robots and their design.pdf
 2015_0034_MCECSBOT.pptx
 2015_0037_History of robot theatre until 2002.pptx

2015_0038_History of robot theatre 2 and our robot theatre = TWO.ppt
 2015_0039_Animatronic Theatre = Perception = Motion = THREE.pptx
 2015_0040_The complete theatre as a single robot.ppt
 2015_0041_Theatre of emotional robots = FOUR.pptx
QUANTUM ROBOTS
 2015_0042_Quantum Robot = CSP = Quantum Emotional.ppt
 2015_0043_Arushi Quantum Fuzzy Robot  ismvl20087.ppt
 2015_0044_Robot C complete example  robot_head_1.pdf
 2015_0045_Example of programming a quantum robot.pptx
 2015_0046_Event Expressions for motion and behavior.pptx
EXAMPLES OF SIMPLE CODES
 2015_1006_C codes  morphological.pptx
 2015_1007_C codes  Canny Operator.pptx
 2015_1009_Line following  Braitenberg, robot examples.ppt
 2015_1010_Simple programming in ROBOTC  Joystick.ppt
SCHROEDINGER CAT DOCUMENTATION
 Final Report
 Final report about Schreoedinger cat in PDF. It was old Einstien.
ARMS FOR HUMANOID ROBOTS
 Humanoid Robot example.pptx
Here are the examples of how to describe kinematics for your robot. FOR HOMEWORK 1.
 Examples of Humanoid Robot armshandsex.pptx Just to enthuse your imagination.
 About Levers. Screws. Wedges. Principle of MA.ppt
HighSchool stuff to be refreshed. If you work on robot design this quarter: think how you can use this knowledge practically on your robot.
 Power, Torque and robot Arms.ppt Helps to design a good robot arm of small cost.
 Pulleys.ppt">
CEILING CAMERAS FOR ROBOT THEATRE
 Preliminary project assignments for this quarter. Will be updated.

2015_0001_Vision for Curie and soccer.ppt The explanation of some vision projects for this quarter.

2015_0004_Homework 1 for Class.ppt Morphological processing, edge detection and other simple algorithms for
ceiling and front cameras for robot theatre