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;
LECTURERS
Alcherio Martinoli
Week 6
TOPIC
Introduction to embedded systems – microcontrollers, sensors and communication channels; communication and mobility; concrete examples based on educational and field tools for simple sensing modalities (e.g., temperature, light, vision).
LECTURERS
Alcherio Martinoli
Week 7
TOPIC
Embedded systems programming (challenges and good pratices); concrete examples of memory and computation limitations in embedded systems; traditional field instruments for environmental engineering (wind, temperature, humidity, etc.); energy management in field instruments; advanced field instruments for environmental engineering: wireless sensor nodes.
LECTURERS
Alcherio Martinoli
Week 8
TOPIC
Introduction to mobile robotics, the e-puck robot, and simple control architectures.
LECTURERS
Alcherio Martinoli
Week 9
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
Alcherio Martinoli
Week 10
TOPIC
Introduction to localization techniques in mobile robotics and positioning systems.
LECTURERS
Alcherio Martinoli
Week 11
TOPIC
More on localization techniques and filtering in mobile robotics: coping with uncertainties and fusing exteroceptive and proprioceptive sensing.
LECTURERS
Alcherio Martinoli
Week 12
TOPIC
Advanced field instruments for environmental engineering: mobile sensor nodes, wireless sensor networks.
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