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 5: Mobile Robot Programming using the VDK

due March 1

The primary objective this week is to (a) get your robot going, and (b) learn how to use Analog's Visual DSP++ Kernel (VDK).

Research/Writing Assignment

  1. Based on prior classwork or web/lit research that you'll do now, find two papers that describe architectures or systems for coordinating multiple, competing modes of behavior in a mobile robot. The sources must be published research papers.

  2. After getting your robot to do something interesting (see below), describe how your actual robot control program relates to the ideas in the papers you have selected.

Notes on this:

  • You can either find the sources first or build your robot first, or go back and forth between implementing and researching.
  • Make sure to cite your sources in proper format. (If you don't know what this is, copy from the cites in the published papers you've located.)
  • Focus your comments on what was particularly surprising, interesting, or unexpected.

Implementation Project

  1. Get your robot base going, so that the Blackfin HB can drive around.

  2. Add sensors: light, touch, ET-distance, etc.

  3. Program your robot to do some kind of feedback-based behavior: e.g, wall-following, line-following, etc.

  4. Develop some kind of multi-threaded robot control application. Do the literature research on robot behavior coordination/priority schemes noted above. Create a robot program that has at least 3 threads doing something meaningful and coordinated with each other.

  5. Create an identity for yourself on the Invention Database, http://inventiondb.com.

  6. Write up and turn in your work by posting your designs on the Invention DB. Include all of the following items in your iDB entry:
    • cool robot name.
    • more than one robot photo, with caption.
    • discussion explaining what your robot's purpose is and how it accomplishes that.
    • source files.

    Note: people can/should collaborate on this — the InventionDB allows multiple authors on a single project. However: the paper write-ups (Research/Writing) must be done separately.

Last modified: Wednesday, 22-Feb-2006 16:31:03 EST by fred_martin@uml.edu