*This module is one of the foundational modules for the First Year Project (FYP2023). The success of FYP2023 is inseparable from the support of this module.
About Module
This module will introduce the mobile robot systems’ architecture and critical components, such as sensor and actuator technologies. Different locomotion mechanisms adopted by robotic systems will be discussed. The module will also introduce the basic principles of robot motion control. Robot Operating System (ROS) will be utilized for simulation in virtual environments.
From: https://nusmods.com/modules/EE3305/robotic-system-design
My Reflection
What kind of robots will you design?
Prof. Chang Ee Chien asked me this question in the interview for the Science & Technology Scholarship. With a strong desire to figure out the answer to the question, I came to my first semester at NUS, enrolled in module EE3305/ME3243 at the suggestion of a senior. And that was the basis for conducting this project report, and this acknowledgment, Guoyi’s First Adventure in Robotics, is attached at the end of the report.
The senior recommended me to learn module EE3305/ME3243 because he considered that ‘improving should be your objective as you have a basic command of robotic knowledge’. Before being a student of NUS, I participated in RoboCup on behalf of my home country and used the PID control algorithm. But the PID tuning strategy used previously failed to tune the parameters systematically and strategically; rather, it was based entirely on experience and guessing. After taking module EE3305/ME3243, I constantly tested with the ROS system based on a completed consideration in the lecture contents of Prof. Vadakkepat and Dr. Andi. Finally, a more satisfactory tuning strategy was achieved. This project report is a summary of hundreds of testing details.
‘The curriculum (Computer Engineering) aims to bring real-world problems, solutions, and experiences into the university environment. ’
This is a quote from the official website of my home course1, which is also the conclusion of my research process in this module. To be specific, I pondered the mutual interference between the outputs of the control systems of Husky and TurtleBot3 as a practical problem rather than ignoring it. And support from lecturers and teaching assistants was well received in the research process. Further, I learned definitions of decoupling and coupling systems upon discussing with the teaching assistant, Dr. Guo Haoren, and the researcher, Dr. Xian Yuanjie, from the Control & Simulation Laboratory. These two new concepts helped me acquire the appropriate references in the NUS Library, in addition to constituting the title of this test report. On this basis, a tuning strategy for the coupled PID control systems was developed in combination with my driving experience in real life.
‘My aim is to bring the knowledge I learned in university to solve real-world problems.’
Like the PID control system, my aim of learning and the teaching objectives of my faculty will also turn into a closed loop. I have solved real-world problems by applying the knowledge and experience I gained from learning and thinking in module EE3305/ME3243. The project report was cited by the RoboCup national team in which I was a former member to contribute to the team developing A Robust PID Line Patrol Algorithm Based on Four Optical Sensors and also by the project report of the CG1111A final project. In the final maze project of module CG1111A, our team’s mBot succeeded in efficiently driving in a straight line with the support of the PID algorithm.
Module EE3305/ME3243 is an essential introduction module for me, and it is my First Adventure in Robotics, which also keep my resolve in the disciple of Robotics during exploration. I was pretty fortunate to get a preliminary understanding of the subject I loved in my fresh year and began to learn Core Modules according to my plan. Moreover. I will improve myself by taking advantage of projects such as the school-sponsored Coursera courses and Design Your Own Module-recommended AI Singapore courses. I am looking forward to joining the Undergraduate Research Opportunities Programme and continuing to indulge my passion for the research I am interested in after certain knowledge accumulation.
Besides, to answer the questions Prof. Chang asked me when I graduated from high school, there is still a long way to go. But I am confident I will provide a satisfactory answer through three and a half years of knowledge accumulation to finish the undergraduate course at NUS.
路漫漫其修远兮，吾将上下而求索。
The way ahead is long; I see no ending, yet high and low I will search with my will unbending.
[1] Explore CEG@NUS: https://ceg.nus.edu.sg/admissions/exploreceg/.
*请点击此处获取中文版（原版）之我对该模块的反思与致谢。To access the Chinese version of my reflection, please click here.
Resource
Warning: Plagiarism is an academic offense taken very seriously by the University, as stated in the NUS Code of Student Conduct.
All files listed on this page are under protection by CC BY-NC-ND 4.0 License.
| File | Description | Links |
| Tuning Strategy of PID Parameters for Coupled PID Control Systems and its Applications | Project Report for this module’s final projects. This version combines the project report for Part II Project I (Tuning Strategies in the Implementation of Coupled PID Control Systems) & project report for Part II Project II (Implementation of a Robust Navigation System with BFS Algorithm). | Preview(.pdf) |
| Tuning Strategies in the Implementation of Coupled PID Control Systems | Project Report for Part II Project I | ⛔ |
| A311W_PID.zip | Source Code of Husky Robot‘s Control System & Environment for Part II Project I | Link(Github) Download(.zip) |
| Implementation of a Robust Navigation System with BFS Algorithm | Project Report for Part II Project II | ⛔ |
| A311W_Path.zip | Source Code of TurtleBot3’s Control System & Environment for Part II Project II | Link(Github) Download(.zip) |
| Final_Presentation.ppt | Slides for Final Presentation | Download(.ppt) |
