Lecture notes and reading material
Preliminary lecture notes will be available in PDF format before the class (usually wednesday evening) while definitive lecture notes will be available only after the class has been held, in a timely fashion (usually, at latest a couple of days after the lecture).
Lecture notes will be complemented by possible reading material listed on the syllabus and further pointers, all available on the student area. Due to copyright issues, electronic copies of the material are only available to EPFL students officially enrolled in this course. Students interested in downloading this material can do so from the student area by logging in using with their GASPAR account.
This page will include the information relevant to each week lecture and corresponding material.
Week 1
TOPIC
Organization of the course (team, workload, credits); overview of the course content; introduction to signal processing – signals, time continuity and time discretization, analog and digital signals, baseline concepts.
LECTURERS
Alcherio Martinoli
Week 2
TOPIC
Introduction to signal processing – Fourier series and transform, convolution.
LECTURERS
Alcherio Martinoli
Week 3
TOPIC
Introduction to signal processing – sampling, reconstruction, and aliasing.
LECTURERS
Alcherio Martinoli
Week 4
TOPIC
Introduction to signal processing – additional transforms (Discrete-Time Fourier Transform, Laplace, z-Transform); transfer functions, impulse and step responses; filter analysis and synthesis.
LECTURERS
Alcherio Martinoli
Week 5
TOPIC
Introduction to signal processing – filter analysis and synthesis; introduction to programmable instruments and embedded systems; the e-puck miniature robot as example of embedded system.
LECTURERS
Alcherio Martinoli
Week 6
TOPIC
Refresh of C programming background: good practices in C programming (e.g., multi-file project organization, syntax indentation and commenting, use of debugging tools), similarities and differences between compiled (e.g., C) and interpreted (e.g., Matlab) languages.
LECTURERS
Izzet Kagan Erunsal
Week 7
TOPIC
Introduction to realistic simulation (Webots), C programming in this environment, basic concept of perception-to-action loop, controller, sensor & actuator, communication channel modeling
LECTURERS
Izzet Kagan Erunsal
Week 8
TOPIC
Introduction to communication techniques and mobile robotics; simple control architectures. Concrete example of memory, computation, and communication limitations in embedded systems based on the e-puck platform.
LECTURERS
Alcherio Martinoli
Week 9
TOPIC
Introduction to localization techniques in mobile robotics and positioning systems.
LECTURERS
Alcherio Martinoli
Week 10
TOPIC
More on localization techniques and filtering in mobile robotics: coping with uncertainties and fusing exteroceptive and proprioceptive sensing.
LECTURERS
Alcherio Martinoli
Week 11
TOPIC
Traditional field instruments for environmental engineering (wind, temperature, humidity, etc.); energy management in field instruments; advanced field instruments for environmental engineering: wireless sensor nodes and networks.
LECTURERS
Alcherio Martinoli
Week 12
TOPIC
Advanced field instruments for environmental engineering: mobile sensor nodes.
LECTURERS
Alcherio Martinoli
Week 13
TOPIC
Advanced field instruments for environmental engineering: robotic sensor nodes. Introduction to Distributed Intelligent Systems (follow-up master course) and course take home messages. Discussion of the course evaluation by the students.
LECTURERS
Alcherio Martinoli