Difference between revisions of "Robot Lab(Spring 2009)"

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Office Hours: By appointment only<br>
 
Office Hours: By appointment only<br>
 
Course Instructor: [[William C. Regli]], Ph.D.<br>
 
Course Instructor: [[William C. Regli]], Ph.D.<br>
Teaching Assistants: Marc Winners <maw59@drexel.edu>, Chris Cannon <ctc82@drexel.edu><br>
+
Teaching Assistants: Chris Cannon <ctc82@drexel.edu>, Marc Winners <marc@drexel.edu><br>
 
Instructor Contact: Email regli (at) drexel (DOT) edu (not that this will help keep the spammers away)<br>
 
Instructor Contact: Email regli (at) drexel (DOT) edu (not that this will help keep the spammers away)<br>
 
Phone 215.895.6827; Office: UC 143
 
Phone 215.895.6827; Office: UC 143
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==Course Objectives and Outcomes==
 
==Course Objectives and Outcomes==
  
The goal of this class is to learn how to create software to interact with devices embodied in the physical world.  Students successfully completing this class will:
+
Design, analysis and implementation of multi-robot systems in simulation
 +
Robotic systems will be “virtual” and interact in a synthetic environment.  Students will have weekly programming assignments with the Player / Stage / Gazebo environment.
 +
 
 +
At the end of the course, students will
 
#understand the basic concepts of robotics (from a computer-science point of view), including kinematics, dynamics, actuators, controllers, etc;  
 
#understand the basic concepts of robotics (from a computer-science point of view), including kinematics, dynamics, actuators, controllers, etc;  
#perform software development to control mobile robots (specifically iRobot Roombas);
 
 
#design experiments for robotic platforms;  
 
#design experiments for robotic platforms;  
#measure the effectiveness of a robotic system on a given problem;
 
 
#gain experience with biologically-inspired robotics techniques (swarming, biologically inspired design, etc)
 
#gain experience with biologically-inspired robotics techniques (swarming, biologically inspired design, etc)
#employ cyber-infrastructure (wikis, web, etc) and engineering informatics tools (CAD, simulation, MATLAB, Maple, Pro/E, SolidWorks, ACIS, etc) to better understand the relationship between virtual models and the real world
+
#implement robot control algorithms, both open loop and closed loop
 
+
#Design robot modeling & simulation experiments
 +
#Develop path planning techniques and Simultaneous Location & Mapping (SLAM) algorithms
 +
#Work with Robot Teaming and Planning, including flocks, swarms, leader-follower, predator-prey, etc
 +
#Have an introduction to human-Robot Teaming
  
 
==Lectures==
 
==Lectures==
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!width="500"|Links and References
 
!width="500"|Links and References
 
|-
 
|-
|September 24
+
|April 1
 
|
 
|
 
|
 
|
 
Intro to Robot Lab
 
Intro to Robot Lab
 
|
 
|
[[Media:CS-Robot-Lab-Spring2007-Lec-1.ppt]]
+
[[Media:2009-Introduction_to_Robotics.ppt]]
 
|
 
|
 +
Player/Stage/Gazebo  [http://gicl.cs.drexel.edu/wiki/Robot_Lab(Spring_2009)/Player-Stage-Gazebo Wiki Tutorial],
 +
[[Media:Psg-tutorial.ppt]],[[Media:Psg-tutorial.pdf]],[[Media:Psg-config.zip]]
 
|-
 
|-
 
|
 
|
[[Install]]
 
 
|
 
|
 
|Introduction to Robotics
 
|Introduction to Robotics
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|
 
|
 
|-
 
|-
|September 26
+
|April 8
|
+
|[http://gicl.cs.drexel.edu/wiki/Spring2009RobotLabAssignment0 Assignment 0] due
 
|Simulation
 
|Simulation
 
|[[Media:Simulation_of_Robotic_Systems.ppt]]
 
|[[Media:Simulation_of_Robotic_Systems.ppt]]
 
|
 
|
 
|-
 
|-
|September 26
+
|April 15
|
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|[http://gicl.cs.drexel.edu/wiki/Spring2009RobotLabAssignment1 Assignment 1] due
 
|Simulation
 
|Simulation
 
|[[Media:Simulation_of_Robotic_Systems.ppt]]
 
|[[Media:Simulation_of_Robotic_Systems.ppt]]
 +
[[Media:2009-SLAM-a.ppt]]
 +
[[Media:2009-Robot-Lab-Path-Planning.ppt]]
 +
|[http://www.softhelp.ru/fileformat/xpm/xpm.htm XPM manual]
 +
[[Media:p5-goldberg-Floating-Point.pdf]] ACM Computing Surveys article on Floating point computation.
 +
|-
 +
|April 22
 
|
 
|
|-
 
|Week of October 8th
 
|[http://gicl.cs.drexel.edu/wiki/Fall2007BioInspiredRobotDesignAssignment1 Assignment 1] due
 
 
|
 
|
 
|[[Robotics Videos]]
 
|[[Robotics Videos]]
 
|
 
|
 
|-
 
|-
|Week of October 15th
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|April 29
|
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|[http://gicl.cs.drexel.edu/wiki/Spring2009RobotLabAssignment2 Assignment 2] due
 
|SLAM
 
|SLAM
 
|[[Media:SLAM.ppt]]
 
|[[Media:SLAM.ppt]]
 +
|
 +
|-
 +
|May 13
 +
|[http://gicl.cs.drexel.edu/wiki/Spring2009RobotLabAssignment3 Assignment 3] due
 +
|
 
|
 
|
 
<!--
 
<!--
 
|-
 
|-
|May 9
+
|May 6
 
|Robotics Videos Quiz
 
|Robotics Videos Quiz
 
|Playtime with Roombas
 
|Playtime with Roombas
 
|
 
|
 
|
 
|
 +
 +
-->
 
|-
 
|-
|May 16
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|May 20
 
|
 
|
|Robot Coordination: flooded out
 
|
 
-->
 
|-
 
|October 22
 
|[http://gicl.cs.drexel.edu/wiki/Fall2007BioInspiredRobotDesignAssignment2 Assignment 2] due
 
 
|Grading Assignment 2
 
|Grading Assignment 2
 
|
 
|
 
|
 
|
 
|-
 
|-
|October 29
+
|May 27
|
+
|[http://gicl.cs.drexel.edu/wiki/Spring2009RobotLabAssignment4 Assignment 4] due
 
|Path Planning
 
|Path Planning
 
|[[Media:Robot-Lab-Path-Planning.ppt]]
 
|[[Media:Robot-Lab-Path-Planning.ppt]]
 
|
 
|
 
|-
 
|-
|November 12
+
|June 3
|[http://gicl.cs.drexel.edu/wiki/Fall2007BioInspiredRobotDesignAssignment3 Assignment 3] due
+
|
 
|
 
|
 
|  
 
|  
 
|  
 
|  
 
|-
 
|-
|November 19
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|June 6
 
|
 
|
 
|
 
|
|Thanksgiving holiday, no class Wed 11/21 or Friday 11/23
 
|
 
|
 
|-
 
|November 26
 
|[[BioInspiredRobotDesignAssignment4]] is due 11/30 by 5pm
 
 
|
 
|
 
|
 
|
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# Karl Williams. Amphibionics: Build Your Own Biologically Inspired Reptilian Robot. McGraw-Hill/TAB Electronics, 2003.
 
# Karl Williams. Amphibionics: Build Your Own Biologically Inspired Reptilian Robot. McGraw-Hill/TAB Electronics, 2003.
 
# David Cook. Robot Building for Beginners. Apress, 2002.
 
# David Cook. Robot Building for Beginners. Apress, 2002.
 +
# [http://www.physics.ohio-state.edu/~dws/grouplinks/floating_point_math.pdf What Every Computer Scientist Should Know About Floating-Point Arithmetic]
  
 
==Grading==
 
==Grading==

Latest revision as of 00:14, 8 September 2009


Contents

Announcements

  • Class will meet weekly, starting April 1, 2009.

Course Logistics

Prerequisites: Permission of instructor.
Class Time: W 18:00->21:50
Class Location: TBD
Office Hours: By appointment only
Course Instructor: William C. Regli, Ph.D.
Teaching Assistants: Chris Cannon <ctc82@drexel.edu>, Marc Winners <marc@drexel.edu>
Instructor Contact: Email regli (at) drexel (DOT) edu (not that this will help keep the spammers away)
Phone 215.895.6827; Office: UC 143

Course Objectives and Outcomes

Design, analysis and implementation of multi-robot systems in simulation Robotic systems will be “virtual” and interact in a synthetic environment. Students will have weekly programming assignments with the Player / Stage / Gazebo environment.

At the end of the course, students will

  1. understand the basic concepts of robotics (from a computer-science point of view), including kinematics, dynamics, actuators, controllers, etc;
  2. design experiments for robotic platforms;
  3. gain experience with biologically-inspired robotics techniques (swarming, biologically inspired design, etc)
  4. implement robot control algorithms, both open loop and closed loop
  5. Design robot modeling & simulation experiments
  6. Develop path planning techniques and Simultaneous Location & Mapping (SLAM) algorithms
  7. Work with Robot Teaming and Planning, including flocks, swarms, leader-follower, predator-prey, etc
  8. Have an introduction to human-Robot Teaming

Lectures

Date Assignment Topic Summary Notes Links and References
April 1

Intro to Robot Lab

Media:2009-Introduction_to_Robotics.ppt

Player/Stage/Gazebo Wiki Tutorial, Media:Psg-tutorial.ppt,Media:Psg-tutorial.pdf,Media:Psg-config.zip

Introduction to Robotics Media:Introduction_to_Robotics.ppt
April 8 Assignment 0 due Simulation Media:Simulation_of_Robotic_Systems.ppt
April 15 Assignment 1 due Simulation Media:Simulation_of_Robotic_Systems.ppt

Media:2009-SLAM-a.ppt Media:2009-Robot-Lab-Path-Planning.ppt

XPM manual

Media:p5-goldberg-Floating-Point.pdf ACM Computing Surveys article on Floating point computation.

April 22 Robotics Videos
April 29 Assignment 2 due SLAM Media:SLAM.ppt
May 13 Assignment 3 due
May 20 Grading Assignment 2
May 27 Assignment 4 due Path Planning Media:Robot-Lab-Path-Planning.ppt
June 3
June 6

Texts

Relevant texts and readings:

  1. Intelligence without Representation, Rodney Brooks.
  2. Flesh and Machines: How Robots Will Change Us (Paperback) by Rodney Brooks, Publisher: Vintage (February 4, 2003); ISBN-10: 037572527X.
  3. Introduction to the Kalman Filter from UNC.
  4. SLAM for Dummies
  5. J.J. Craig. Introduction to Robotics: Mechanics and Control. Prentice Hall; 3rd edition, 2003.
  6. Kiyoshi Toko. Biomimetic Sensor Technology. Cambridge University Press, 2000.
  7. Karl Williams. Amphibionics: Build Your Own Biologically Inspired Reptilian Robot. McGraw-Hill/TAB Electronics, 2003.
  8. David Cook. Robot Building for Beginners. Apress, 2002.
  9. What Every Computer Scientist Should Know About Floating-Point Arithmetic

Grading

The due dates are listed on the week by week breakdown of the course below. When an assignment is due on a particular date, that means the assignment is really due that week.


Software

This class will be nearly entirely executed in simulation using Play/Stage/Gazebo. Students not comfortable with software development, hacking and programming will find this course difficult, if not impossible. We will not be providing remedial programming or operating systems tutorials in this course. All information needed to execute the assignments is available (or will be made available) on the web, either at the course wiki page or using services like http://lmgtfy.com/.

Miscellaneous Resources

Wiki page for Winter 2007 Roomba Lab: [1]

Page from Spring 2007 Robotics Lab: [2]

iRobot Create Forums: [3]

Robotics Primer Workbook based around the Create [4]