EEM 343 ROBOTICS

HUMANITARIAN PROJECTS
COURSEWORK GRADING (30%)
• PROJECT CONTRIBUTION – 15%
• ASSIGNMENT 1 & ASSIGNMENT 2 (2.5%)
• TEST 1 & TEST 2- (10%)
• QUIZZES (2.5%)
PROJECT ASSESSMENT
PROJECT ASSESSMENT
MERITS:

• PROJECT COMPLETION
• PROJECT PRESENTATION/VIVA
• PROJECT REPORT
• IMPACT TO THE ENVIRONMENT AND SUSTAINABILITY
PROJECT THEME
• HUMANITARIAN
PROJECT THEME-HUMANITARIAN

Search and
rescue

Human-
Robot humanitarian
Assistive
Social technology
robotics

Entertain
ment
Robot
HOW?

We are going to use SCARA type of robot.

PROJECT DESCRIPTION
• Now, I have confined your design choice to using SCARA robot arm.
• SCARA stands for Selectively Compliant Assembly Robot Arm.
• You will need to 3D print SCARA robot arm to solve a humanitarian
problem which can be categorized as:
i. Search and rescue
ii. Assistive technology
iii. Social robotics
iv. Entertainment robotics
TASK 1
• FORMULATE A HUMANITARIAN PROBLEM WHICH CAN
CATEOGORISED INTO THESE FOUR:
i. Search and rescue
ii. Assistive technology
iii. Social robotics
iv. Entertainment robotics
• SUBMIT YOUR PROBLEM AND OBJECTIVES ONLINE VIA E-LEARNING.
TASK 2
• KINEMATIC ANALYSIS OF SCARA ROBOT ARM which includes D_H
parameter of your to-be-developed (through 3D printing) SCARA
robot arm.
• DYNAMIC ANALYSIS OF SCARA ROBOT ARM. Please refer to example
4.3 in “Introduction to Robotics; analysis, system and application” by
Saed b. Niku (your robotics text book). Study the two-link mechanism
with concentrated mass dynamics. There is an effect of gravity due to
the ceiling mounted configuration. After understanding the dynamics
for the two-link mechanism, you will need to modify the gravity
vector. For your SCARA robot arm, the gravity vector is ABSENT!
TASK 3
• MECHATRONICS DESIGN
-It requires a suitable motor
-it requires an encoder to feedback joint angular position and torque sensor
-The link needs to be 3D printed. You may refer to the following open
sources references:
https://www.thingiverse.com/thing:1241491/#files
https://www.thingiverse.com/thing:32439
https://www.3ders.org/articles/20140917-flx-arm-low-cost-scara-robotic-
arm-for-3d-printing.html
https://www.thingiverse.com/thing:948061
TASK 4
• SOFTWARE DESIGN:- this depends on the type of microcontroller that
you are going to use.
TASK 5
• HARDWARE INTEGRATION-integrating Task 3 and Task 4 altogether.
 Project plan
TASK W5 W6 W7 W8 W9 W10 W11 W12 W13 W14
IDEATION INTO
TYPE OF
HUMANITARIAN
PROBLEM
KINEMATICS
ANALYSIS
MECHATRONICS
DESIGN
SOFTWARE
DEVELOPMENT

HARDWARE
INTEGRATION
Project evaluation
COURSEWORK GRADING (30%)
• PROJECT CONTRIBUTION – 15%
• ASSIGNMENT 1 & ASSIGNMENT 2 (2.5%)
• TEST 1 & TEST 2- (10%)
• QUIZZES (2.5%)
PROJECT ASSESSMENT
MERITS:

• PROJECT COMPLETION
• PROJECT PRESENTATION/VIVA
• PROJECT REPORT
• IMPACT TO THE ENVIRONMENT AND SUSTAINABILITY
PROJECT COMPLETION EVALUATION
GIVEN
FAIL UNSATISFATORY NEEDS WORK COMPETENT EXEMPLARY SCORE
MARKS 0 1 2 3 4
COMPONENTS
INDICATORS
TASK 1: creative
sloppy clear definition
unclear definition definition and
HUMANITARIAN definition and
unclear definition and and low impact
but
high impact to
no humanitarian
PROBLEM humanitarian
no humanitarian issue humanitarian
issue is not high
the current
issue humanitarian
DEFINITION issue impact
correct issue
TASK 2: correct kinematics and correct
kinematics but dynamics kinematics and
KINEMATICS & absent incorrect kinematics erroneous derivation with dynamics
DYNAMICS kinematics and with erroneous dynamics some minor derivation for
dynamic dynamics derivation derivation for error for your your SCARA
analysis for your SCARA ROBOT your SCARA ROBOT SCARA ROBOT
good and ROBOT
TASK 3: complete comprehensive
mechatronics mechatronics mechatronics
MECHATRONICS
ability to complete a absent of design design design
DESIGN mechatronics description but description description
fully functional project
design poor mechatronics no justification of before arriving before arriving
description design description arriving final final design of final design of
your SCARA and poor final design design of your your SCARA your SCARA
ROBOT of your SCARA ROBOT SCARA ROBOT ROBOT ROBOT
TASK 4: no software software design good and
design software design description with complete comprehensive
SOFTWARE description description with missing software design software design
DESIGN with
missing system missing explanation explanation description
complete description
comprehensive
TASK 5: description system system system
with no description with description with description with
HARDWARE justification on system description poorjustification justification on justification on
INTEGRATION the choice of with no justification on the choice of the choice of the the choice of the
the integrated on the choice of the the integrated integrated integrated
design integrated design design design design
PROJECT ASSESSMENT
MERITS:

• PROJECT COMPLETION
• PROJECT PRESENTATION/VIVA
• PROJECT REPORT
• IMPACT TO THE ENVIRONMENT AND SUSTAINABILITY
PROJECT PRESENTATION(DEMO)/VIVA
Fail
Marks 0 1
Organization and Articulation The presentation is not organized at all.
Hav e all of follow ing items during the
presentation:- 1) No ey e contact 2) Hard to the presentation:- 1) No ey e contact 2)
understand or hear 3) Uses aids
Non-v erbal deliv ery
ex cessiv ely or not at all 4) Reads from
paper 5) Stands in front of screen 6)
Speaker appears uncomfortable
project
presentation
Slides are v ery poorly designed w ith all of
follow ing issues:- 1) Difficult to read 2)
Visual Aids
Poor lev el of detail 3) Missing captions or
labels 4) Mispelled w ords
Hav e one or more follow ing items during
question and answ er:- 1) Do not
Question and Answ er
understands most of the questions 2)
Unable to answ er most of the questions
Time Management Do not come in time for the presentation
Unsatisfactory
Presentation rambles. Not organized
w here key ideas are difficult to identify .
No clear introduction, supporting details
and summary .
Hav e one or more follow ing items during
Hard to understand or hear 3) Uses aids
ex cessiv ely or not at all 4) Reads from
paper 5) Stands in front of screen 6)
Speaker appears uncomfortable
Slides are poorly designed w ith at least
one of follow ing issues :- 1) Difficult to
read 2) Poor lev el of detail 3) Missing
captions or labels 4) Misspelled w ords.
The slides looks unprofessional.
Hav e one or more follow ing items during
question and answ er:- 1) Not activ ely
listen to questions 2) Do not prov ide
know ledgeable answ ers 3) Unable to
answ er questions succinctly
Presentation is unsuitablably short or
unreasonably long.
Needs w ork
2 3
The presentation has some structure. Key
ideas are identifiable. Introduction,
supporting details and summary are too
broad or too detailed.
Hav e one or more follow ing items during
the presentation:- 1) Effort to maintain ey e
contact 2) At times difficult to hear or
understand 3) Ov eruse or underuse aids
4) At times presentation seems
memorized 5) At times block screen 6)
Speaker appears tentativ e
Slides are somew hat w ell designed, used Slides are w ell designed, used and
and integrated into the presentation. The
slides looks somew hat professional.
Hav e one or more follow ing items during
question and answ er:- 1) Understands
most questions 2) Responds somew hat
know ledgeably 3) Answ ers questions
somew hat succinctly
Presentation does not quite fit w ithin the
time constraint and the presenter has to
rush or slow dow n at the end.
Competent
The presentation has a clear structure and
is easy to follow . Key ideas are clearly
and concisely articulated. There are
sufficient details on introduction, supporting
information and summary .
Hav e all of follow ing items during the
presentation :- 1) Makes ey e contact 2)
Can be heard easily 3) Speaks
comfortably w ith some aids 4) Does not
block screen 5) Speaker appears
comfortable
integrated into the presentation. The slides
look professional.
Listens to questions carefully and
responds courteously , know ledgeably
and clearly to questions.
Presentation fits w ithin the time constraint,
though presenter might hav e to subtely
rush or slow dow n.
Ex emplary
4 Giv en marks
Presentation logically and skillfully
structured. Key ideas are compelling, and
articulated w ith ex ceptional clarity and
concision. Introduction, supporting details
and summary are clearly ev ident and
memorable.
Hav e all of follow ing items during the
presentation :- 1) Sustained and
comfortable ey e contact 2) Can be clearly
heard 3) Speaks confidently w ith few aids
4) Does not block screen 5) Speaker is
polished
Slides are skillfully or creativ ely designed,
skillfully used and seamlessly integrated
into the presentation. The slides look
polished and professional.
Skillfully manages and responds to
questions and also gauges questioners'
understanding.
Presentation fits perfectly w ithin time
constraint.
PROJECT PRESENTATION(DEMO)/VIVA
INDICATOR COMPONENTS FAIL UNSATISFATORY NEEDS WORK COMPETENT EXEMPLARY GIVEN MARKS
0 1 2 3 4

Ability to PROTOTYPE
A WORKING AND IMPRESSIVE
DEMONSTRATE THE PROTOTYPE WORKING
PROTOYPYE NOT PROTOTYPE WORKING A WORKING PROTOTYPE LOOKING PROTOTYPE
PROJECT FULLY WITH MINOR GLITCHES
WORKING WITH OBVIOUS GLITCHES SHOWING SOLUTION DEMONSTRATING THE
FUNCTIONAL AS A SOLUTION
SOLUTION TO
SOLVE THE
APPLICATION AND
HUMANITARIAN
FEASIBILITY CAN BE APPLIED AND CAN BE APPLIED AND CAN BE APPLIED AND
PROBLEM NOT FEASIBLE IN FEASIBLE BUT MAY BE
FEASIBLE BUT SUBJECT FEASIBLE WITHOUT FEASIBLE AND READY TO BE
PRACTICAL SENSE COSTLY TO IMPLEMENT
TO SOME CONSTRAINT CRITICAL CONSTRAINT USED.

EXPANSION
CAN ONLY BE
CAN BE EXPANDED CAN BE EXPANDED CAN BE EXPANDED AND
RIGID AND CANNOT BE EXPANDED UNDER
SUBJECT TO SOME WITHOUT CRITICAL PROLIFERATE TO OTHER
EXPANDED CERTAIN EXPENSIVE
CONSTRAINT CONSTRAINT TYPES OF APPLICATION
AMENDMENTS
PROJECT ASSESSMENT
MERITS:

• PROJECT COMPLETION
• PROJECT PRESENTATION/VIVA
• PROJECT REPORT
• IMPACT TO THE ENVIRONMENT AND SUSTAINABILITY
PROJECT REPORT EVALUATION
INDICATOR COMPONENTS FAIL UNSATISFATORY NEEDS WORK COMPETENT EXEMPLARY GIVEN MARKS
0 1 2 3 4

Ability to define the MOTIVATION Appropriate and relevant latest

Appropriate and relevant
problem (Chapter sources are reviewed.
Introduction) However, the significance
and also the motivation of
Inappropriate or irrelevant the project have not
No background
sources are reviewed. precisely been described.
The discussion is not narrow
down from general to the
specific topic related to the
project.
PROBLEM Limitation of at least two
previous works related to
STATEMENT TO
State only generic problem the project is discussed.
SOLVE THE
or No discussion on the However, that limitation is
HUMANITARIAN No problem statement
limitation of previous works not the focus of the project
ISSUES
or No reference and not being addressed in
the objectives. Have at least
two references.
OBJECTIVES
Objectives are clear but
cannot be measured.
Moreover, the objectives
No objective Objectives are not clear. do not explicitly address
the limitation of previous
works stated in the
problem statement.
Appropriate and relevant
sources are reviewed. In
addition, the significance
and also the motivation of
the project have precisely
been described. The
discussion is narrow down
from general to the specific
topic related to the project.
Limitation of at least two
previous works related to
the project is discussed.
That limitation is the focus of
the project and is going to
be addressed in the
objectives. Have at least two
references
Objectives are clear and
can be measured. In
addition, the objectives
explicitly address the
limitation of previous
works stated in the
problem statement.
(last 2,3 years) sources are
reviewed. In addition, the
significance and also the
motivation of the project have
precisely been described. The
discussion is narrow down from
general to the specific topic
related to the project. Most of the
cited references are from the last
2 or 3 years.
Limitation of at least three latest
(last 2,3 years) previous works
related to the project is discussed.
That limitation is the focus of the
project and is going to be
addressed in the objectives. Have
at least three references.
Objectives are clear and can
be measured. In addition, the
objectives explicitly address
the limitation of previous works
stated in the problem
statement. Moreover, the
considered limitation has not
been addressed before by
previous researchers.
PROJECT REPORT EVALUATION
INDICATOR COMPONENTS FAIL UNSATISFATORY NEEDS WORK COMPETENT EXEMPLARY GIVEN
0 1 2 3 4 MARKS

ABILITY TO DEVISE Clear and concise

METHODOLOGY TO description of
SOLVE THE PROBLEM A clear description of experimental procedures Comprehensive and concise
Methodology in experimental procedures to obtain the results that description of experimental
report Weak or no description of to obtain the results that can provide judgment procedures to obtain the results that
experimental procedures can provide judgment whether the stated can provide judgment whether the
to obtain the results that whether the stated objectives are achieved stated objectives are achieved or
No experiment procedure can provide judgment objectives are achieved or not. In addition, the not. In addition, the justification of
whether the stated or not. However, the justification of the chosen the chosen procedures is clear and
objectives are achieved justification of the chosen procedures is clear and supported by valid references.
or not procedures is not clear supported by valid Furthermore, there is a comparison
and not supported by references. However, no with previous works as discussed in
valid references comparison with previous the problem statement.
works as discussed in the
problem statement.
ABILITY TO DESIGN NO DESIGN Design steps to Design steps are Design steps are Design steps are
THE SOLUTION USING Design description DESCRIPTION arrive the final clear but has weak clear with comprehensive and shows a
THE METHODOLOGY in report with solution or justification on the supportive constructive justification of
SUGGESTED TO
results development to design choice to justification on the the design choice before
SOLVE THE
solve problem is solve the problem design choice arriving the final solution to
HUMANITARIAN
PROBLEM not clear. arriving at the final solve the problem.
(PO3) solution to solve
the problem.
PROJECT REPORT EVALUATION
INDICATOR COMPONENTS FAIL UNSATISFATORY NEEDS WORK COMPETENT EXEMPLARY GIVEN
0 1 2 3 4 MARKS

ABILITY TO ADDRESS
Clear and concise
THE HUMANITARIAN A clear description of
PROBLEM AS A description in a Comprehensive and concise
Discussion in report No discussion on the weak discussion on the discussion on the
SOCIETAL AND discussion format on the description in a discussion format on
sustainability and the sustainability and the sustainability and the
ENVIRONMENTAL sustainability and the the sustainability and the
professional engineering professional engineering professional engineering
OBLIGATION USING professional engineering professional engineering work in
work in context of solving work in context of solving work in context of solving
AWARENES ON THE work in context of solving context of solving the humanitarian
SUSTAINABILITY AND the humanitarian the humanitarian the humanitarian
the humanitarian problem.
PROFESSIONAL problem. problem. Poor reflection. problem.
problem.
ENGINEERING WORK.
PROJECT ASSESSMENT
MERITS:

• PROJECT COMPLETION
• PROJECT PRESENTATION/VIVA
• PROJECT REPORT
• IMPACT TO THE ENVIRONMENT AND SUSTAINABILITY
Impact to the environment and sustainability
INDICATOR COMPONENTS FAIL UNSATISFATORY NEEDS WORK COMPETENT EXEMPLARY GIVEN
0 1 2 3 4 MARKS

ABILITY TO PROMOTE
Clear and concise
THE PROJECT AS A • Report A clear description of
SOLUTION WHICH description in a Comprehensive and concise
• Presentation No discussion on the weak discussion on the discussion on the
WILL BRING POSITIVE discussion format on the description in a discussion format on
• project sustainability and the sustainability and the sustainability and the
IMPACT TO sustainability and the the sustainability and the
professional engineering professional engineering professional engineering
ENVIRONMENT AND professional engineering professional engineering work in
work in context of solving work in context of solving work in context of solving
SUSTAINABILITY work in context of solving context of solving the humanitarian
the humanitarian the humanitarian the humanitarian
the humanitarian problem.
problem. problem. Poor reflection. problem.
problem.