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Robotics I Fall 2007

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Robotics I Fall 2006

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RoboticsIFall2006.Overview History

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Changed lines 75-79 from:
'''Lab 3: Sonars and Servos.'''  In this lab, you will work with a
sonar ranging sensor (which allows detection of objects at greater
distances than the optical distance sensor) and servo motors for
precise positioning.  Sep 21 – Sep 28.
to:
'''[[RoboticsIFall2006.Lab3 | Lab 3: Sonars and Servos.]]'''  In this lab, you will work with a sonar ranging sensor (which allows detection of objects at greater distances than the optical distance sensor) and servo motors for precise positioning.  Sep 21 – Sep 28.
Changed line 68 from:
'''Lab 2: Feedback including Wall-Following and Velocity Control.'''
to:
'''[[RoboticsIFall2006.Lab2 | Lab 2: Feedback including Wall-Following and Velocity Control.]]'''
Changed line 61 from:
'''Lab 1: Introduction to the Blackfin Handy Board, LabVIEW Embedded, and Braitenberg Vehicles.'''
to:
'''[[RoboticsIFall2006.Lab1 | Lab 1: Introduction to the Blackfin Handy Board, LabVIEW Embedded, and Braitenberg Vehicles.]]'''
Changed lines 120-128 from:
''Tue Sep 26:'' Class meets in the basement of McGauvran (UML South)
to demonstrate our robots to
the Graphic Design III students.

''Thu Oct 26:'' Egg Hunt contest, held in
the Olsen 3rd Floor elevator
lobby
.

''Tue Nov 7:'' Midterm, in class.

to:
''• Thu Sep 14:'' Guest lecture on LabVIEW by Andrew Watchorn. \\
''• Tue Sep 26:'' Class meets in
the basement of McGauvran (UML South) to demonstrate our robots to the Graphic Design III students. \\
''• Thu Oct 26:'' Egg Hunt contest, held in the Olsen 3rd Floor elevator lobby. \\
''•
Tue Nov 7:'' Midterm, in class.

Changed lines 45-54 from:
%lfloat% Attach:invention-db-snap.png Throughout the semester, we will participate use
[[http://inventiondb.com | Invention Database]] web site. The site is
a community-built database of resource for inventors in general and
roboticists in particular.

The Invention Database URL is http://www.inventiondb.com. Each class
member will create a personal login on the system. As part of lab
write-up and project documentation activities, directions will be
given for creating entries (known as “cubes”) on the system.
to:
%lfloat% Attach:invention-db-snap.png

Throughout
the semester, we will participate use [[http://inventiondb.com | Invention Database]] web site. The site is a community-built database of resource for inventors in general and roboticists in particular.

The Invention Database URL is http://www.inventiondb.com. Each class member will create a personal login on the system. As part of lab write-up and project documentation activities, directions will be given for creating entries (known as “cubes”) on the system.
Changed line 45 from:
Throughout the semester, we will participate use
to:
%lfloat% Attach:invention-db-snap.png Throughout the semester, we will participate use
Changed lines 55-57 from:
Attach:invention-db-snap.png

to:
[[<<]]


Changed lines 16-17 from:
%lfloat% Attach:robex-cover-tn.jpg Excerpts from my book ''Robotic Explorations'' will be handed out.
Other material will be provided online or as photocopies.
to:
%lfloat% Attach:robex-cover-tn.jpg
Excerpts from my book ''Robotic Explorations'' will be handed out. Other material will be provided online or as photocopies.
Changed lines 18-19 from:

to:
[[<<]]
Changed line 16 from:
Excerpts from my book ''Robotic Explorations'' will be handed out.
to:
%lfloat% Attach:robex-cover-tn.jpg Excerpts from my book ''Robotic Explorations'' will be handed out.
Changed lines 18-19 from:
Attach:robex-cover-tn.jpg
to:

Added lines 55-57:
Attach:invention-db-snap.png

Changed lines 18-19 from:

to:
Attach:robex-cover-tn.jpg
Changed lines 61-62 from:
'''Lab 1: Introduction to the Blackfin Handy Board, LabVIEW
Embedded, and Braitenberg Vehicles.''' This lab will introduce
to:
'''Lab 1: Introduction to the Blackfin Handy Board, LabVIEW Embedded, and Braitenberg Vehicles.'''
This lab will introduce
Changed lines 94-97 from:
[[http://www.eecs.cwru.edu/courses/lego375/ | CWRU LEGO 375/475 course
web site]]).  We will have a &#147;mock contest&#148; in lab (Oct 24)
and then a public contest (Oct 26).  Oct 17 &#150; Oct 26.
to:
[[http://www.eecs.cwru.edu/courses/lego375/ | CWRU LEGO 375/475 course web site]]).  We will have a &#147;mock contest&#148; in lab (Oct
24) and then a public contest (Oct 26).  Oct 17 &#150; Oct 26.
Changed line 137 from:
Labs will be done in groups of two students each. You may choose your
to:
Labs and robot design  will be done in groups. You may choose your
Changed lines 149-153 from:
'''[+Robots+]''' \\
Students
will work in pairs with with robot
building kits provided in lab. All robot work will be done in lab; the
robot kits are not to leave campus.
to:
'''[+Robots+]''' \\
Students will work in teams with robot building kits provided in
lab. All robot work will be done in lab; the robot kits are not to
leave campus. 
Changed lines 61-82 from:
Lab 1: Introduction to the Handy Board. This lab will introduce work with the Handy Board, a Motorola 68HC11-based robotics controller that runs Interactive C. Also, in this lab you will build the first robot for class use, called the HandyBug.

Lab 2: Introduction to Robot Programming. In this lab, we will program the Handy Bug to avoid obstacles by backing up and turning when one of the bump sensors is hit. Then we will modify the Handy Bug to include a light sensor so that it can follow a black line.

Lab 3: Braitenberg Vehicles, Emergence, Meta-Sensing and Randomness. In this lab, we will learn about Valentino Braitenberg's ideas of evolving robots with wired programs, and other topics in biologically-inspired robot control.

Lab 4: Wall-Following. In this lab, we will use a distance sensor and build a closed-loop feedback control to track the wall.

Lab 5: Shaft Encoders and Gears. In this lab, we will continue the study of closed-loop control by employing shaft encoders. Also, we will focus on geartrain design and performance evaluation.

Lab 6: Sonar Sensor and Servo Motors. In this lab, we will use the sonar sensor and a servo motor to create a robot that drives towards open space.

Robot Contest: Egg Hunt. We will run a robot contest based on Rich
Drushel's &#147;Egg Hunt&#148; design (see the CWRU LEGO 375/475
course web site). We will have a &#147;mock contest&#148; in lab and
then a public contest.

Student Projects. The last portion of the course is for open robotic
project designs. These do not have to be mobile robots &#151; any sort
of project that involves sensing, control, and action is welcome. I am
particularly interested in projects that directly involve human
interaction with robotic system.
to:
'''Lab 1: Introduction to the Blackfin Handy Board, LabVIEW
Embedded, and Braitenberg Vehicles.''' This lab will introduce
work with the Blackfin Handy Board, 32-bit DSP robotics controller
that runs LabVIEW Embedded. Also, in this lab you will configure a first
robot for class use, and get an introduction to robot programming and
Braitenberg Vehicles.  Sep 7 &#150; Sep 14.

'''Lab 2: Feedback including Wall-Following and Velocity Control.'''
This lab will introduce feedback as an organizing concept for robot
activity.  Using an optical distance sensor, you will create a control
system to drive the robot at a constant distance from the wall.  Using
built-in DC motor velocity sensors, you will create a control system
to drive the robot at constant velocity.  Sep 14 &#150; Sep 21.

'''Lab 3: Sonars and Servos.'''  In this lab, you will work with a
sonar ranging sensor (which allows detection of objects at greater
distances than the optical distance sensor) and servo motors for
precise positioning.  Sep 21 &#150; Sep 28.

'''Lab 4: Behavior-Based Robotics and Multilayered Control.'''  This
lab will explore ways of coordinating multiple, competing robot
operating modes.  Topics include emergence, meta-sensing, and
randomness; Rodney Brook's subsumption architecture, and
Behavior-based robotics.  Sep 28 &#150; Oct 5.

'''Lab 5: Vision and Object-Tracking.'''  This lab will introduce CMOS
cameras, color calibration, and simple blob-tracking algorithms.  You
will program your robot to find plastic eggs, which are the game
object to be used in the Egg Hunt contest.  You will also build some
kind of Egg Capture system.  Oct 5 &#150; Oct 17.

'''Robot Contest: Egg Hunt.'''  We will run a robot contest based on
Rich Drushel's &#147;Egg Hunt&#148; design (see the
[[http://www.eecs.cwru.edu/courses/lego375/ | CWRU LEGO 375/475 course
web site]]).  We will have a &#147;mock contest&#148; in lab (Oct 24)
and then a public contest (Oct 26).  Oct 17 &#150; Oct 26.

'''Student Projects.'''  The last portion of the course is for open
robotic project designs.  These do not have to be mobile robots &#151;
any sort of project that involves sensing, control, and action is
welcome.  I am particularly interested in projects that directly
involve human interaction with robotic system.


'''[+Multi-Disciplinary Collaboration with Graphic Design Students+]''' \\
For the 3rd consecutive year, our class is collaborating with Graphic
Design III, taught by Prof. Karen Roehr in the Art Department.

When our project teams around the contest robots are formed,
Prof. Roehr will assign groups of art students to create identity and
&#147;branding campaigns&#148; to publicize your robots.  Her students
will create business cards, pamphlets, and posters to create a buzz
around each of your robots.

As part of this work, we will visit Prof. Roehr's class on South
Campus in September, and her students will attend our Egg Hunt contest
in October.
Changed lines 120-134 from:
'''[+Exams+]'''
Midterm: Fri, Oct 14, in class

'''[+Grading+]'''
Homework and Labs 25%
Midterm Exam 25%
Contest and Writeup 25%
Final Project and Writeup 25%


'''[+Collaboration Policy+]'''
Labs will be done in groups of two
students each. You may choose your own partners, but I reserve the right to regroup people as the term progresses. For the labs, I expect that each person will do his or her own equal share of the work. To learn, you must actually build and program the robots – not watch another person do it.

Homework assignments should be written up by yourself. You may discuss
the questions with your classmates, but you must write them up individually.
to:
'''[+Exams and Other Important Dates+]''' \\
''Tue Sep 26:'' Class meets in the basement of McGauvran (UML South)
to demonstrate our robots to the Graphic Design III
students.

''Thu Oct 26:'' Egg Hunt contest
, held in the Olsen 3rd Floor elevator
lobby.

''Tue Nov 7:'' Midterm, in class.


'''[+Grading+]''' \\
Written Assignments
, Labs, and Lab Reports 25% \\
Midterm Exam 25% \\
Contest and Writeup 25% \\
Final Project and Writeup 25% \\


'''[+Collaboration Policy+]''' \\
Labs will be done in groups of two students each. You may choose your
own partners, but I reserve the right to regroup people as
the term
progresses. For the labs
, I expect that each person will do his or her
own equal share of the work. To learn, you must actually build and
program the robots &#150; not watch another person do it.

Homework assignments should be written up by yourself.  You may
discuss the questions with your classmates, but you must write them up

individually.
Changed lines 150-160 from:
'''[+Robots+]'''
Students will work in pairs with with robot building kits provided in lab. All robot work will be done in lab; the robot kits are not to leave campus.

'''[+Lab+]'''
The lab is in Olsen 306. The door has an ID lock, so you will have 24 hour access to the lab via your UML ID. You must enter with your ID.

Each group will have their own workbench with a computer for building and programming their robots. This area will occasionally be shared with other people, so it is important to keep your workspace and the lab neat.

Food policy &#151; food is permitted with the condition that all food must be cleaned up immediately at end of the work session in which it was consumed. Only bottled drinks with caps are permitted—no cans of soda. Violations will result in loss of food privileges. We have rodents in this building, so I have little tolerance for food mess.

to:
'''[+Robots+]''' \\
Students will work in pairs
with with robot
building kits provided in lab. All robot work will be done in lab; the
robot kits are not to leave campus.

'''[+Lab+]''' \\
The
lab is in Olsen 306. The door has an ID lock, so you will have 24
hour access to the lab via your UML ID. You must enter with your ID.

Each group will have their own workbench with a computer for building
and programming their robots. This area will occasionally be shared
with other people, so it is important to keep your workspace and the
lab neat.

'''Food policy''' &#151; food is permitted with the condition that all
food must be cleaned up immediately at end of the work session in
which it was consumed. Only bottled drinks with caps are permitted
&#150; no
cans of soda. Violations will result in loss of food
privileges. We have rodents in this building, so I have little
tolerance for food mess.

Changed lines 44-45 from:
'''[+Invention Database+]'''
to:
'''[+Invention Database+]''' \\
Changed line 55 from:
Project Sequence
to:
'''[+Project Sequence+]''' \\
Changed line 58 from:
Syllabus
to:
'''[+Syllabus+]''' \\
Added line 62:
Added line 64:
Added line 66:
Added line 68:
Added line 70:
Changed lines 72-73 from:
Robot Contest: Egg Hunt. We will run a robot contest based on Rich Drushel's “Egg Hunt” design (see the CWRU LEGO 375/475 course web site). We will have a “mock contest” in lab and then a public contest.
Student Projects. The last portion of the course is for open robotic project designs. These do not have to be mobile robots any sort of project that involves sensing, control, and action is welcome. I am particularly interested in projects that directly involve human interaction with robotic system.
to:

Robot Contest: Egg Hunt. We will run a robot contest based on Rich
Drushel's &#147;Egg Hunt&#148; design (see the CWRU LEGO 375/475
course web site). We will have a &#147;mock contest&#148; in lab and
then a public contest.

Student Projects. The last portion of the course is for open robotic
project designs. These do not have to be mobile robots &#151; any sort
of project that involves sensing, control, and action is welcome. I am
particularly interested in projects that directly involve human
interaction with robotic system.
Changed line 85 from:
Exams
to:
'''[+Exams+]'''
Changed line 88 from:
Grading
to:
'''[+Grading+]'''
Changed line 95 from:
Collaboration Policy
to:
'''[+Collaboration Policy+]'''
Changed line 102 from:
Robots
to:
'''[+Robots+]'''
Changed line 105 from:
Lab
to:
'''[+Lab+]'''
Changed lines 110-119 from:
Food policy food is permitted with the condition that all food must be cleaned up immediately at end of the work session in which it was consumed. Only bottled drinks with caps are permitted—no cans of soda. Violations will result in loss of food privileges. We have rodents in this building, so I have little tolerance for food mess.


'''[+Administrative+]'''


'''[+Syllabus+]'''


'''[+Grading & Policy+]'''
to:
Food policy &#151; food is permitted with the condition that all food must be cleaned up immediately at end of the work session in which it was consumed. Only bottled drinks with caps are permitted—no cans of soda. Violations will result in loss of food privileges. We have rodents in this building, so I have little tolerance for food mess.

Changed lines 23-24 from:
The course has three main "chapters":
to:
The course has three main sections:
Added lines 44-99:
'''[+Invention Database+]'''

Throughout the semester, we will participate use
[[http://inventiondb.com | Invention Database]] web site. The site is
a community-built database of resource for inventors in general and
roboticists in particular.

The Invention Database URL is http://www.inventiondb.com. Each class
member will create a personal login on the system. As part of lab
write-up and project documentation activities, directions will be
given for creating entries (known as &#147;cubes&#148;) on the system.

Project Sequence
This course together with Robotics II in the spring is a project sequence.

Syllabus
Most work will be done in labs, which are due weekly. Here is the sequence of topics and projects:

Lab 1: Introduction to the Handy Board. This lab will introduce work with the Handy Board, a Motorola 68HC11-based robotics controller that runs Interactive C. Also, in this lab you will build the first robot for class use, called the HandyBug.
Lab 2: Introduction to Robot Programming. In this lab, we will program the Handy Bug to avoid obstacles by backing up and turning when one of the bump sensors is hit. Then we will modify the Handy Bug to include a light sensor so that it can follow a black line.
Lab 3: Braitenberg Vehicles, Emergence, Meta-Sensing and Randomness. In this lab, we will learn about Valentino Braitenberg's ideas of evolving robots with wired programs, and other topics in biologically-inspired robot control.
Lab 4: Wall-Following. In this lab, we will use a distance sensor and build a closed-loop feedback control to track the wall.
Lab 5: Shaft Encoders and Gears. In this lab, we will continue the study of closed-loop control by employing shaft encoders. Also, we will focus on geartrain design and performance evaluation.
Lab 6: Sonar Sensor and Servo Motors. In this lab, we will use the sonar sensor and a servo motor to create a robot that drives towards open space.
Robot Contest: Egg Hunt. We will run a robot contest based on Rich Drushel's “Egg Hunt” design (see the CWRU LEGO 375/475 course web site). We will have a “mock contest” in lab and then a public contest.
Student Projects. The last portion of the course is for open robotic project designs. These do not have to be mobile robots – any sort of project that involves sensing, control, and action is welcome. I am particularly interested in projects that directly involve human interaction with robotic system.
 

Exams
Midterm: Fri, Oct 14, in class

Grading
Homework and Labs 25%
Midterm Exam 25%
Contest and Writeup 25%
Final Project and Writeup 25%


Collaboration Policy
Labs will be done in groups of two students each. You may choose your own partners, but I reserve the right to regroup people as the term progresses. For the labs, I expect that each person will do his or her own equal share of the work. To learn, you must actually build and program the robots – not watch another person do it.

Homework assignments should be written up by yourself. You may discuss the questions with your classmates, but you must write them up individually.

Exams are also to be an individual proposition.

Robots
Students will work in pairs with with robot building kits provided in lab. All robot work will be done in lab; the robot kits are not to leave campus.

Lab
The lab is in Olsen 306. The door has an ID lock, so you will have 24 hour access to the lab via your UML ID. You must enter with your ID.

Each group will have their own workbench with a computer for building and programming their robots. This area will occasionally be shared with other people, so it is important to keep your workspace and the lab neat.

Food policy – food is permitted with the condition that all food must be cleaned up immediately at end of the work session in which it was consumed. Only bottled drinks with caps are permitted—no cans of soda. Violations will result in loss of food privileges. We have rodents in this building, so I have little tolerance for food mess.

Changed lines 5-6 from:
Olsen 306 (lab) x2705 \\
to:
Olsen 306 (lab) x2705
Changed lines 9-10 from:
Thursday, 1 pm to 2:30 pm (lab) \\
to:
Thursday, 1 pm to 2:30 pm (lab)
Changed lines 13-14 from:
Thursday, 10:30 am - 12 noon (OS 208) \\
to:
Thursday, 10:30 am - 12 noon (OS 208)
Changed line 1 from:
'''Contact''' \\
to:
'''[+Contact+]''' \\
Changed lines 7-15 from:
'''Schedule'''\\
Tuesday, 1 pm to 2:30 pm (lecture + lab)
Thursday, 1 pm to 2:30 pm (lab)

'''Office Hours
''' \\
Tuesday, 2:30 pm - 4 pm (OS208 or OS306)
Thursday, 10:30 am - 12 noon (OS 208)

'''Text''' \\
to:
'''[+Schedule+]'''\\
Tuesday, 1 pm to 2:30 pm (lecture + lab) \\
Thursday,
1 pm to 2:30 pm (lab) \\

'''[+Office Hours+]''' \\
Tuesday, 2:30 pm - 4 pm (OS208 or OS306) \\
Thursday,
10:30 am - 12 noon (OS 208) \\

'''[+Text+]''' \\
Changed line 20 from:
to:
'''[+Discussion+]'''\\
Added lines 1-20:
'''Contact''' \\
Prof. Fred G. Martin \\
http://www.cs.uml.edu/~fredm/ \\
Olsen 208 (office) x1964 \\
Olsen 306 (lab) x2705 \\

'''Schedule'''\\
Tuesday, 1 pm to 2:30 pm (lecture + lab)
Thursday, 1 pm to 2:30 pm (lab)

'''Office Hours''' \\
Tuesday, 2:30 pm - 4 pm (OS208 or OS306)
Thursday, 10:30 am - 12 noon (OS 208)

'''Text''' \\
Excerpts from my book ''Robotic Explorations'' will be handed out.
Other material will be provided online or as photocopies.


Changed lines 42-50 from:
'''The class is open to students of Computer Science, Engineering, and any other Technical major at UML.'''  For CS students, take Robotics II in the spring to complete your project sequence.
to:
'''The class is open to students of Computer Science, Engineering, and any other Technical major at UML.'''  For CS students, take Robotics II in the spring to complete your project sequence.

'''[+Administrative+]'''


'''[+Syllabus+]'''


'''[+Grading & Policy+]'''
Changed lines 22-24 from:
'''The class is open to students of Computer Science, Engineering, and
any other Technical major at UML.'''  For CS students, take Robotics II
in the spring to complete your project sequence.
to:
'''The class is open to students of Computer Science, Engineering, and any other Technical major at UML.'''  For CS students, take Robotics II in the spring to complete your project sequence.
Changed lines 11-15 from:
This is an INTRO level course to these topics.  Prior knowledge should be mostly YOU ARE INTERESTED IN ROBOTICS OR EMBEDDED SYSTEMS and you are willing to work hard in the lab to execute your ideas.

This semester for the first time, the course will primarily be conducted using the LabVIEW Embedded visual programming environment.  C-language programming is not required (but is available for those interested).  We will be using the new "Blackfin Handy Board" 32-bit DSP controller board, which has been developed with the support of Analog Devices Inc.  See www.cs.uml.edu/blackfin for more.

THE CLASS IS OPEN TO STUDENTS OF COMPUTER SCIENCE, ENGINEERING, AND ANY OTHER TECHNICAL MAJOR AT UML.  For CS students, take Robotics II
in the spring to complete your project sequence.
to:
This is an '''intro''' level course to these topics.  Prior knowledge should
be mostly '''you are interested in robotics or embedded systems''' and you
are willing to work hard in the lab to execute your ideas.

This semester for the first time, the course will primarily be
conducted using the LabVIEW Embedded visual programming environment.
C-language programming is not required (but is available for those
interested).  We will be using the new "Blackfin Handy Board" 32-bit
DSP controller board, which has been developed with the support of
Analog Devices Inc.

'''The class is open to students of Computer Science, Engineering, and
any other Technical major at UML.'''  For CS students, take Robotics II
in
the spring to complete your project sequence.
Added lines 1-15:
This is a hands-on class with a focus on mobile robots as embedded systems.

The course has three main "chapters":

#  A series of 5 weekly labs to introduce sensors, motors, robot vision, and robot programming.

# The annual Egg Hunt contest, in which you design and build a robot to collect "good" eggs while stuffing "bad" eggs into your opponent's goal.

# Open period in which you develop your own robotic/embedded systems application.

This is an INTRO level course to these topics.  Prior knowledge should be mostly YOU ARE INTERESTED IN ROBOTICS OR EMBEDDED SYSTEMS and you are willing to work hard in the lab to execute your ideas.

This semester for the first time, the course will primarily be conducted using the LabVIEW Embedded visual programming environment.  C-language programming is not required (but is available for those interested).  We will be using the new "Blackfin Handy Board" 32-bit DSP controller board, which has been developed with the support of Analog Devices Inc.  See www.cs.uml.edu/blackfin for more.

THE CLASS IS OPEN TO STUDENTS OF COMPUTER SCIENCE, ENGINEERING, AND ANY OTHER TECHNICAL MAJOR AT UML.  For CS students, take Robotics II in the spring to complete your project sequence.
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Page last modified on September 21, 2006, at 04:23 PM