National Mission on ICT in Education IIT Bombay

What is Project OSCAR? Project OSCAR (Open Source Courseware Animations Repository) aims: Create a large repository of web-based, interactive animations for teaching various concepts and technologies. This could be useful not only for classroom teaching but also for enabling independent-learning and distance education. So far been working on creating school level animations(Classes 8 -12) We had however also created some animations of Under-graduate levels in Mechanical Engineering and Computer Science Example: Six-bar Linkage: http: //oscar. iitb. ac. in/available. Proposals. Action. do? type=av&id=167&language=english

Current goal of Project OSCAR Focus on developing animations on concepts at Under-Graduate

National Mission on ICT in Education Launched by the Ministry of Human Resources Development (MHRD), Government of India Goal is to raise the levels of education in Indians can avail of free of cost e-knowledge contents Spread of digital literacy to create teacher empowerment

Are animations really useful? No formal study has been conducted yet. Opportunity for education researchers! Anecdotal evidence of usefulness Enthused response from faculties & students. Case in point: A professor had hired an animation company to make animations for his lectures. He was surprised to get an animation for free and that too with payment for his TA.

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Current OSCAR statistics Total no. of animations currently in OSCAR repository = 114

Aren't animations already available? Yes, lots of animations/videos available on the web. You may be using them in your courses already. So, why yet another effort? Most animations are proprietary and/or have some licensing issues. Can only be viewed online. Cannot be downloaded. Cannot be distributed to remote colleges. Most efforts are in bits and pieces; typically a group working in a particular discipline creates animations for their courses. So. . .

What is different about this work? Creative Commons license – can be freely distributed. Open Source code – can be reviewed/extended etc. Supported by MHRD's National Mission. This is perhaps the first effort to create supporting material for courses on such a large scale. Current Target – All of NPTEL and CDEEP courses. MHRD's goal – All of higher education courses.

How do we plan to do this? Creating animations is manpower intensive: Requires domain expertise (knowledge of subject) Requires design expertise (visual communication) Requires programming expertise (Java/Flash/Blender) So far: We trained programmers to also become subject experts and designers! Going forward: We need to scale (and replicate) the animation creation process. Can be done. . . with your participation!

Process overview OSCAR PROCESS MODEL 1 Concept proposal Submission 5 2 Storyboard Development Approved Animation Reviewer Animation 3 Design Development 4 Animation Applet Coding Animation 6 Inducted In OSCAR Repository

Faculty: How can you participate? Propose idea Review Instructional Design Document Review the animation

Faculty: why should you participate? You will have an animation to use in your class the next time you

Faculty who have already participated as Concept Proposers/Reviewers 1. Prof. C. Amarnath 8. Prof. K. Chebrolu 2. Prof. P. S. Gandhi 9. Prof. S. Chakrabarty 3. Prof. U. Gaitonde 10. Prof. P. Bhattacharya 4. Prof. S. Kedare 11. Prof. S. Mahajani 5. Prof. M. Atrey 6. Prof. U. Bhandarkar 7. Prof. A. Agrawal

Faculty who have expressed interest to participate 1. Prof. Pradeep P. I. 8. Prof. N. N. Viswanathan 2. Prof. A. Contractor 9. Prof. K. Ramasubramanian 3. Prof. H. Pillai 10. Prof. R. Banerjee 4. Prof. P. Sunthar 11. Prof. K. Narayanan 5. Prof. A. Dutta 12. Prof. A. K. Pani 6. Prof. R. Sunoj 13. Prof. I. N. N. Nambothiri 7. Prof. B. Tembe

Students: How can you participate? Research Scholars / Teaching Assistants /Research Assistants Propose a concept to animate Fill up the Instructional Design Document (IDD) Your IDD should contain instructions of how the concept will be explained to novice viewers Your IDD should also contain instructions of what to show for animators for e. g. Color coding, boundary conditions etc. Mail us your filled up IDD at: oscar@it. iitb. ac. in On final approval you will earn decent honorarium

Students: How can you participate? Programmers Register yourself as Developer at http: //oscar. iitb. ac. in/OSCARPPsignupdescription. do You are to choose an approved 'Instructional Design Document' from the list shown online Submit the Animation Design and your source code for review. On final approval , you will paid a decent honorarium Your approved animation will be uploaded at OSCAR site with developer attribution going to you

Students: why should you participate? Research Scholars / Teaching Assistants /Research Assistants: Contribute to MHRD's National Mission of ICT in Education Earn decent honorarium for each of your approved IDDs Get attribution as concept proposer in OSCAR website Programmer s: Contribute to MHRD's National Mission of ICT in Education Earn decent honorarium for each of your approved animation designs In addition, win decent honorariums for each of your approved animation coding Get attribution as developer in OSCAR website

Details and Examples

OSCAR Process Stage 1: Proposal Stage

Stage 2: Storyboard Stage

Stage 3. 1: Implementation Stage

Stage 3. 2: Implementation Stage

Stage 2 IDD template and example

Instruction Slide This is a template to create an Instructional Design Document of the concept you have selected for creating animation. This will take you through a 5 section process to provide the necessary details to the animator before starting the animation. The legend on the left will indicate the current status of the document. The Black coloured number will denote the current section, the Turquoise color would denote the completed sections, and the Sky blue color would denote the remaining sections. The slides having 'Instructions' would have a Yellow box, as shown on the top of this slide.

Write the Title of the concept here Add Instructor/Instructors name here

1 2 Definitions and Keywords Add the keywords with definitions which are used in this concept 3 4 5 Add more slides if required

1 Concept details: 2 sample below). 5 Please fill in the steps of the explanation of the concepts in the table format available in the slides to follow (see the 3 4 In this section, provide the stepwise detailed explanation of the concept. Resize the table dimensions as per your requirements.

1 2 3 4 5 Concept details

1 Interactivity and Boundary limits expected in the animation 2 In this section provide, interactivity options for all the parameters/components of the concept. For example: 3 4 Numerical values to change the state of the component: By providing input boxes Drag and drop of components: To test the comprehension of the users Movement of objects: To explain the action of the components Provide the boundary limits of the parameters, which will enable correctness of the results of the experiment. 5 gas

1 2 3 4 5 Interactivity and Boundary limits

1 Questionnaire to test the user 2 3 4 5 A small, (5 questions) questionnaire can be created in the next slide, to test the user's comprehension. This can be an objective type questionnaire. It can also be an exercise, based on the concept taught in this animation.

1 Questionnaire Answers: a) b) c) d) b) c) d) 2. 2 Answers: a) 3 4. Answers: a) 4 5 5. Answers: a)

1 Links for further reading 2 In the subsequent slide, you can provide links, which can be relevant for the user to understand the concept further. 3 4 5 Add more slides in necessary

1 Links for further reading 2 ADD LINKS HERE 3 4 5

ROBOT DYNAMICS & CONTROL SUBJECT : MECHANICAL ENGINEERING NAME: PROF P S GANDHI Title of the concept, subject. Name of the author 5

Animation Medium : 2 D Software : JAVA Mention what will be your animation medium: 2 D or 3 D Mention the software to be used for animation development: JAVA, Flash, Blender, Shikav, Maya. . etc 4

1. PID Controller Simulation 2. Regulation 3. Tracking PID Controller : Combining all three modes of control(proportional, integral and derivative) enables a controller to be produced which has no offset error and reduces the tendency for oscillations. Regulation : User selects two points (if non interactive: point is already specified) and robot takes end effector from one point to another in two or three different ways without bothering about path to go from A to B Tracking : User selects two points and robot takes end effector from one point to another in a straight line (specified) fashion. Or one point is considered centre and another on the circle that the end effector draws. Definitions of the keywords used in the animation 6

PID Controller Let us consider the Close Loop System e R + Controller u Plant Y - Where, Plant: A system to be controlled Controller: Provides the excitation for the plant; Designed to control the overall system behavior 7

- The transfer function of the PID controller looks like the following: Kp = Proportional gain KI = Integral gain Kd = Derivative gain - The variable (e) represents the tracking error, the difference between the desired input value (R) and the actual output (Y). This error signal (e) will be sent to the PID controller, and the controller computes both the derivative and the integral of this error signal. The signal (u) just past the controller is now equal to the proportional gain (Kp) times the magnitude of the error plus the integral gain (Ki) times the integral of the error plus the derivative gain (Kd) times the derivative of the error. - This signal (u) will be sent to the plant, and the new output (Y) will be obtained. This new output (Y) will be sent back to the sensor again to find the new error signal (e). The controller takes this new error signal and computes its derivative and its integral again. This process goes on and on. 8

The Close Loop System with PID Control Where, KP : Proportional Gain KD: Derivative Gain KI: Integral Gain 9

1. To explain how PID Controller controls manipulator ( Slides 11 to 15) - As gain is varied animation can display how the robot links along with end effector will behave. Graph on the simulation window can be generated as the robot motion evolves in time. Interactive version: Users can change the PID gains, robot parameters interactively and observe the variation in the behavior. 2. Regulation : End effector can reach target through different paths (Slide 18) - User selects two points (if non interactive: point is already specified) and robot takes end effector from one point to another in two/ three different ways without bothering about path to go from A to B 3. Tracking : End Effector can follow specified path (Slide 19) - User selects two points and robot takes end effector from one point to another in a straight line (specified) fashion. Or one point is considered centre and another on the circle that the end effector draws. Describe the concept chosen and clearly illustrate how you want to explain the concept in the animation. 10

Let 2 DOF manipulator shown below are required to be moved from position 1 to position 2. In this case if we use different gains we will get different outputs, which we want to demonstrate. 2 Y 1 Manipulator X 11

For example, if we give only proportional gain, then manipulator will not reach its desired position. It will start vibrating there as shown below 2 Y 2 1 Y Manipulator X Fig: Manipulator at initial position, Position 2 => desired output X Fig: Output due to proportional gain alone 12

When the input is proportional and derivative gain, then it will stop vibrating but there will be some offset between position of end effector & desired position 2. 2 Y Steady State Error time X Fig. : PD Output ( Steady State offset) 13

If we use PID controller then it will not vibrate , not even if there is any offset in position. It will reach its desired position. 2 Y X 14

Brief: -(a) => given Position of manipulator -(b) => if press P (vibration) -(c ) => if press PD (no vibration but offset) -(d) => if press PID (no vibration & offset) (a) (b) (c) (d) 15

Plots If PD Controller used, there will always be some offset. Here for different derivative gains we can show its output 16

The variation with integral gain can also be plotted. Here user will specified specific value. 17

Regulation : User selects two points (if non interactive: point is already specified) and robot takes end effector from one point to another in two /three different ways without bothering about path to go from A to B Figure => 1 Y 2 B & 2 => User Defined Positions A => manipulator end effector moves from 1 to 2 through path A 1 A B => same manipulator end effector moves from 1 to 2 through path B One manipulator can take number of paths to reached desired target. => Path B X => Path A Note: It is single manipulator following different paths to reach same targets 18

Tracking: User selects two points and robot takes end effector from one point to another in a straight line (specified) fashion. Or one point is considered centre and another on the circle that the end effector draws. 2 Y Y θ 2' θ 1' 1 θ 2 θ 1 X CASE II X Case I => User defines any two points (let 1 & 2), then manipulator end effector will move from 1 to 2 through straight line by adjusting angles θ 1 & θ 2 Case II=> manipulator end effector will move along circumference of adjusting angles θ 1 & θ 2 Note: Points and circle are within reachable workplace 19 circle by

User should be able to see how different gains have different outputs. If we combine all gains like proportional, derivative and integral , then how the system performs? In slide 15, as mentioned the three press buttons indicates the activation of required gain. User will simply press it with the mouse click and then be able to see its output through animation. Regulation: Case 1: manipulator should be showed on desktop with given link and joint parameters. User can select any two points on desktop. If points are within reachable workspace then manipulator will work as explained in slides. Case 2: If points are not within workspace then there should be certain option to ask for changing link parameters to bring points within workspace. Tracking: User will select two points or required path. Manipulator will follow that path as explained in slide i. e. either straight line or circular etc. List out user interactions that will be there to enhance the understanding of the concept in the animation. 20

After going through this animation, the viewer should be able to answer simple questions like: 1) What is PID controller? A) Proportional Integral Derivative (Slide 7 to 9) 2) What will be the output if only proportional controller implements? A) Vibration (slide 12) 3) What will be the output if only proportional & Derivative controller implements? A) Steady state offset (Slide 13) 4) What is Regulation? A) Slide No. : 18 5) What is Tracking? A) Slide No. : 19 A small questionnaire with answers based on the concept. 21

http: //nptel. iitm. ac. in/ - link : - NPTEL courses>>Mechanical Engg. >> Robotics(web)>>course content>> Robot Dynamics and control (Lecture 33) 1. http: //decibel. ni. com/content/docs/DOC-2781 1. http: //www. engin. umich. edu/group/ctm/PID. html Links for further reading/references 22

1. Audio support required. 2. Colour changes to be shown. 4. Clear Demonstration of PID Controller output on manipulator 5. Plots for different gains. 6. Theory will come in the left panel of the animation or in response to pressing a 'Theory' button. 7. Keywords should come in 'Glossary' section. 8. 'Help' button should give stepwise instruction of how to operate the animation. (User Friendly Desktop) Further User Specification 23

Stage 3 Programming process Select from the list of approved “Instruction Design Documents”

Examples of animation created by Java

Examples of animation created by Flash

Examples of animation created by Blender

Examples of animation created by Shikav

Facets of Project OSCAR 3. Curriculum and Teacher Support 1. Contribution to Open Source 4. Adaptation of content to local needs 2. Training Students 5. Research Offshoots

What to do next? For Faculties: a. If you have a concept in mind right now, please fill out the “Concept Definition Form” b. Also please give contact details of your TA/RA/RS c. In case, you want to send the concepts to animate later, please email them to : gargi@it. iitb. ac. in d. We will contact you and your TA/RA/RS to get the animation made

What to do next? For TA/RA/RS: If you have a concept in mind, fill up the “Instruction Design Document Form” If approved by your faculty, you will then have to mail us at : oscar@it. iitb. ac. in the filled “Instruction Design Document”(IDD) ppt we have already mailed you by September 20, 2009 to avail of the prizes. In case, you want to send the concepts later, email the “Instruction Design Document” ppt, already mailed to you, directly to : oscar@it. iitb. ac. in by September 20, 2009 to avail of the prizes. Reviewers' decision will be final and binding.

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