91.548 home

mtg 13: Course Review
• mtg 13 html

mtg 12: Research Papers
• mtg 12 html

mtg 7: Robot Vision
• lab 7 html

mtg 6: LabVIEW Embedded for Blackfin
• lab 6 html

mtg 5: VDK (visual dsp++ kernel)
• lab 5 html
• VDK manual index html

mtg 4: laser cutter
• lab 4 html

mtg 3: FPGA design/implementation
• lab 3 html
• control eng 1800-1930, pp. 96–152 no link
• Xilinx Spartan 3E XC3S250E
  – promo pdf
  – homepage html
  – data sheet pdf
• Xilinx Quick Start pdf

mtg 2: sensors/motors/arch/control
• lab 2 html
• control eng 1800-1930, pp. 51–95 no link
• dynamic pwr mgm't, from BF537 data home page html • sensors html

mtg 1: intro
• syllabus html
• BF-HB manual & schems no link
• BF537 manual (pages 1-13) pdf
• DSP guide zip
• control eng 1800-1930, pp. 1-50 no link
• lab 1 html files

91.548 Lab 4: The Laser Cutter

due February 22


Items with a bullet (•) require something to be turned in.

Reading/Writing Assignment

  1. Make sure you've read through page 152 (chapter 4 – “The development of servomechanisms”) of S. Bennett's A history of control engineering, 1800–1930.

  2. Choose one system mentioned in the book [from any chapter that's been handed out] and do additional research on it. Write a short paper -- 500 words or so, not more than 2 pages -- that describes its significance, history, technical details, or some combination of the above.

    Please find at least two sources of information about the system, and cite your sources. Web cites are OK.

    Focus your comments on what was particularly surprising, interesting, or unexpected.

Implementation Project

  1. Another week is being provided for people to pursue FPGA stuff. We will have code to interface with the Blackfin, so that you can read and write FPGA registers from the Blackfin.

  2. This week, people should learn how to use the laser cutter and develop some kind of robot base capable of carrying the Handy Board. Two specific resources are available:

    • 42 lbs. of acrylic sheet plastic (a.k.a., Plexiglas) has been ordered. It will be delivered tomorrow (Thursday Feb 17).

    • 10 high power gear motors are here in the lab. This is enough for 5 robot bases. So people should team up. More motors will be ordered if there is demand.

  3. An HOWTO guide for the laser cutter is available on the course wiki. Here are some highlights regarding its use:

    • The basic toolchain is: Design in CorelDraw. Print to Trotec print-driver. Position your job using Trotec's "Job Control", and then run the job.

    • Prototype designs on cardboard before using the plastic.

    • If anything catches fire, open the cover. This will shut off the laser immediately.

    • Never cut PVC (poly vinyl chloride). This will release chloride gas, which is toxic.

  4. Write up and turn in your work by posting your designs on the Wiki, including Corel files and photographs of the resulting robots. These can be jointly authored. There is an index page for listing the robot designs (Lab4RobotDesigns), and information as to where the files should go (HOWTOUploadFiles).

Last modified: Wednesday, 15-Feb-2006 17:16:06 EST by fr...@...uml.edu