mtg 1: DC circuits html
mtg 2: Handy Cricket
lab 2 html
mtg 3: LogoChip
lab 3 lab 3 html
Lang Ref pdf
PIC 16F876 docs pdf
mtg 4: Project Ideas
assignment 4 html
mtg 5: Bus Projects
lab 5 html
mtg 6: PCB and CAD
lab 6 html
EAGLE home page
EGX-300 Manual pdf
tangible bricks html
project plan html
PCB tutorial html
project report html
Doll Talk pdf
Clay illustration pdf
Navig. Blocks pdf
Cognitive Cubes pdf
Physical Programming pdf
Folk Computing pdf
91.548 Robotics I Spring 2003
Prof. Fred G. Martin
Olsen 208 (office)
Olsen 306 (lab)
978/9341964 (office phone)
Thursday evenings, 5:30 pm 8:15 pm, OS 414 and OS 306
We will typically meet first in 414 for lecture/discussion and then
move to 306 for lab during class hours.
The class is scheduled for 2.5 hours. We will take a 15 minute
break in the middle. The break does not count toward the
Schedule to be announced.
Course Web Site URL
The class will make use of two books:
There will be additional handouts of reading and reference material.
Discussion Site URL
There will be a discussion site / bulletin board for the class.
It will be linked from the course home page.
This class takes a broad view of what robotics means.
For our purposes, robotic systems are systems that interact with
people, each other, and the world around them, using sensors,
actuators, communications, and a control program.
The term robot, is too mentally confining. The images
that come to mind when someone says robot is likely one or
the other of: factory automation (assembly lines and mechanical arms),
humanoid robotics (e.g., C3PO), and mobile robots (BattleBots and the
While all of these things clearly are robots, by my
definition and thinking, so too are:
- musical light shows, particularly ones that may incorporate
environmental sensing or sound processing into their control the
equipment's movement and illumination;
- highway monitoring and control systems, with distributed nets of
traffic sensors, ways of redirecting traffic, and human-supervised
- hydroponic farms, with chemical sensors and environmental
- exercise machines, which incorporate body sensors and other features
to monitor and guide human performance.
The course will be a combination of a hands-on, project-based class
and a graduate reading and discussion seminar.
The specific concepts, technologies, and methods which will be
- Embedded development, including use of the Cricket (a simple yet powerful
embedded controller), the LogoChip,
a unique programming environment for PIC code development, and PIC
assembly language. Students will also be free to choose other
processors for their own projects.
- Writing drivers for interfacing to various sensors and
actuators, including assembly language coding, circuit design, and
networking of physically separate devices
- Circuit design, including theory and practical approaches,
Ohm's law, voltage dividers, sensors, op-amps, transistors, diodes,
H-bridge circuits, inductance, power supplies. Also construction
techniques including prototyping, electronic CAD, and printed-circuit
board design and fabrication.
- Mechanical design, including use of 2- and 3-D CAD software;
rapid prototyping tools (Roland
EGX-300 desktop engraving machine).
- Communications, including serial RS-232, 40 kHz modulated
infrared (e.g., Sony consumer remotes), IrDA, i2c, and Cricket Bus,
including implementation methods with UARTs, bit-banging code, level
shifters, and drivers from conventional high-level languges. Students
will be invited to also explore USB, radio, TCP/IP and other relevant
The course has no specific prerequisites (other than good standing
in the Department), but you must be willing to deal with a course that
involves as much problem-finding as it does problem-solving.
In other words, the class will introduce you to a rich set of
methods, tools, and techniques, but it will be up you to generate
interesting projects and then carry them forward.
In practice, this will mean a solid six to ten hour time commitment
per week, outside of classroom hours, for practical work in the
Engaging Computing Lab (OS306).
In addition to introducing the aforementioned technologies, the
class will explore a number of applications areas, including:
- Toy design including audio I/O, sensor I/O (including object
detection), actuators (lights, movement), interaction with
screen-based computer or TV.
- Interpersonal communication based on wearable computational
- Environmental installations such as museum exhibits,
spatially distributed computation (e.g., Pinwheels),
- Ubiquituous computing such as traffic sensing
nteworks, process control, and distributed data collection.
- Artistic applications such as the Cabaret Mechanical Theatre and
the ArtBots exhibition.
Students are expected to create/present the following
- Two substantial projects. The first is to be exhibited at UML Botfest on March 29, 2003; the
second is due at the end of the term.
- Two detailed project write-ups. One of these will be a web site;
the other will be a publication-quality paper in the style of a short
- One researched technology analysis, which will include an in-class
presentation and an executive summary/user guide handed
out to the class.
- Various small labs assigned (all must be completed).
Thursday, 17-Apr-2003 21:41:47 EDT