Bio-Robotics Lab (Fall 2007)

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[[Category:Bio Robots (Fall 2007)]]
 
[[Category:Bio Robots (Fall 2007)]]
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[[Category:Fall 2007 classes]]
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==Announcements==
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* Here is the 5x10 Map. It is oriented vertically: http://gicl.cs.drexel.edu/wiki/Image:Cs_final_map_5_10_rect.txt
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* 2007-12-05: Assignment 4, the LAST assignment, will be due (and demoed) on Friday, December 14th in the Hill Conference Room (Lebow 240) at 12:00pm
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* 2007-11-14: [[BioInspiredRobotDesignAssignment4|Assignment 4]] is up and '''due Friday November 30, no later than 5pm'''.  A sample map is here <!--GICL Bot edit:-->[[CS485-Assignment4.zip Contents|CS485-Assignment4.zip]]
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** Some sample code from Gary Flake's Computational Beauty of Nature <!--GICL Bot edit:-->[[cbn-java.zip Contents|cbn-java.zip]]
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** The environment is [[media:environment.txt|here]]
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* 2007-11-09: There is an EXTENSION on Assignment #3. It is now due on Monday Nov. 12th, no later than 5:00pm.
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* 2007-11-07: [[Fall2007BioInspiredRobotDesignAssignment3|Assignment 3]] is due at the end of this week 11/09
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* 2007-10-23: Some sample code for XPM format is [[XPMSample|here]].  For more in-depth, you can read about it from [http://www.cs.drexel.edu/%7Edavid/Classes/CS430/HWs/Assignment1.html CS430/536 Graphics Assignment 1].
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* 2007-10-15: [[Fall2007BioInspiredRobotDesignAssignment2|Assignment 2]] is up it is due anytime the week of '''October 22nd.'''
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* 2007-10-15: Thanks to Brian Lutz for writing up some instructions for setting up [[Connecting_Roomba_to_Your_Computer#Linux|Bluetooth with Linux]]
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* 2007-10-01: There is a small bug in roombacomm.jar where goBackward(dist) did not go backward.  It is fixed in the jar file included in this '''[[Media:RoombaComm.zip |Roombacomm.zip file]]'''.
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==Course Logistics==
 
==Course Logistics==
  
 
Prerequisites: Permission of instructor.<br>
 
Prerequisites: Permission of instructor.<br>
 
Class Time: M-W-F 14:00->14:50<br>
 
Class Time: M-W-F 14:00->14:50<br>
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Class Location: TBD<br>
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Class Location: UCross Rm 149<br>
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Office Hours: TBD and by appointment<br>
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Office Hours: UCROSS147 Wed and Fri 12-2pm and by appointment<br>
 
Course Instructor: [[William C. Regli]], Ph.D.<br>
 
Course Instructor: [[William C. Regli]], Ph.D.<br>
 
Teaching Assistants: Peter Thai <pwt23@drexel.edu> and Duc Nguyen <dn53@drexel.edu> <br>
 
Teaching Assistants: Peter Thai <pwt23@drexel.edu> and Duc Nguyen <dn53@drexel.edu> <br>
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!width="500"|Links and References
 
!width="500"|Links and References
 
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|September 24
 
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|Introduction to Robotics
 
|Introduction to Robotics
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|April 18
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|September 26
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|[http://gicl.cs.drexel.edu/wiki/Spring2007RobotLabAssignment0.5 Assignment 0.5] due
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|Simulation
 
|Simulation
 
|[[Media:Simulation_of_Robotic_Systems.ppt]]
 
|[[Media:Simulation_of_Robotic_Systems.ppt]]
 
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|April 25
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|September 26
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|[http://gicl.cs.drexel.edu/wiki/Spring2007RobotLabAssignment1 Assignment 1] due
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|No Class
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|Simulation
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|[[Media:Simulation_of_Robotic_Systems.ppt]]
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|-
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|Week of October 8th
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|[http://gicl.cs.drexel.edu/wiki/Fall2007BioInspiredRobotDesignAssignment1 Assignment 1] due
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|[[Robotics Videos]]
 
|[[Robotics Videos]]
 
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|May 2
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|Week of October 15th
 
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|SLAM
 
|SLAM
 
|[[Media:SLAM.ppt]]
 
|[[Media:SLAM.ppt]]
 
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|Robot Coordination: flooded out
 
|Robot Coordination: flooded out
 
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|May 23
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|October 22
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|[http://gicl.cs.drexel.edu/wiki/Spring2007RobotLabAssignment2 Assignment 2] due
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|[http://gicl.cs.drexel.edu/wiki/Fall2007BioInspiredRobotDesignAssignment2 Assignment 2] due
 
|Grading Assignment 2
 
|Grading Assignment 2
 
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|May 30
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|October 29
 
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|Path Planning
 
|Path Planning
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|June 6
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|November 12
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|[http://gicl.cs.drexel.edu/wiki/Spring2007RobotLabAssignment3 Assignment 3] due
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|[http://gicl.cs.drexel.edu/wiki/Fall2007BioInspiredRobotDesignAssignment3 Assignment 3] due
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|No Class
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|November 19
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|Thanksgiving holiday, no class Wed 11/21 or Friday 11/23
 
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|November 26
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|[[BioInspiredRobotDesignAssignment4]] is due 11/30 by 5pm
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==Text==
 
==Text==
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# [http://gicl.cs.drexel.edu/wiki-data/images/a/af/Brooks-representation.pdf Intelligence without Representation], Rodney Brooks.
 
# [http://gicl.cs.drexel.edu/wiki-data/images/a/af/Brooks-representation.pdf Intelligence without Representation], Rodney Brooks.
 
# Flesh and Machines: How Robots Will Change Us (Paperback) by Rodney Brooks, Publisher: Vintage (February 4, 2003); ISBN-10: 037572527X.
 
# Flesh and Machines: How Robots Will Change Us (Paperback) by Rodney Brooks, Publisher: Vintage (February 4, 2003); ISBN-10: 037572527X.
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#  [http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf Introduction to the Kalman Filter]
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#  [http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf Introduction to the Kalman Filter] from UNC.
 
# [http://ocw.mit.edu/NR/rdonlyres/Aeronautics-and-Astronautics/16-412JSpring-2005/9D8DB59F-24EC-4B75-BA7A-F0916BAB2440/0/1aslam_blas_repo.pdf SLAM for Dummies]
 
# [http://ocw.mit.edu/NR/rdonlyres/Aeronautics-and-Astronautics/16-412JSpring-2005/9D8DB59F-24EC-4B75-BA7A-F0916BAB2440/0/1aslam_blas_repo.pdf SLAM for Dummies]
  
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Depending on the evolution of the class, students may have an opportunity to gain experience with a variety of computational tools, including MATLAB, SolidWorks, Pro/ENGINEER, ACIS, MAPLE, etc.  Several research prototype tools may also be introduced for physics-based modeling, kinematics, etc.
 
Depending on the evolution of the class, students may have an opportunity to gain experience with a variety of computational tools, including MATLAB, SolidWorks, Pro/ENGINEER, ACIS, MAPLE, etc.  Several research prototype tools may also be introduced for physics-based modeling, kinematics, etc.
  
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[[Processing]] Setup
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* A skeleton <!--GICL Bot edit:-->[[CS511.zip Contents|Eclipse Project]] to write full-fledged Java instead of Processing.  Some directions [[Roomba/Eclipse|here]]
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* [[Media:RoombaProject.zip |Another Eclipse Project]] - includes some classes from Lego Mindstorms [http://lejos.sourceforge.net Lejos Project] concerning subsumption architecture.
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* Download Eclipse [http://www.eclipse.org here]
  
 
==Miscellaneous Resources==
 
==Miscellaneous Resources==
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[http://gicl.cs.drexel.edu/wiki/Category:Roomba_Design_Lab_%28Winter_2007%29]
 
[http://gicl.cs.drexel.edu/wiki/Category:Roomba_Design_Lab_%28Winter_2007%29]
  
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[[Processing]] Setup
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iRobot Create Forums:  [http://createforums.irobot.com/]
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A skeleton [[Media:CS511.zip|Eclipse Project]] to write full-fledged Java instead of Processing. Some directions [[Roomba/Eclipse|here]]
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Download Eclipse here [http://www.eclipse.org]
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Robotics Primer Workbook based around the Create [http://roboticsprimer.sourceforge.net/workbook/Main_Page]

Latest revision as of 19:04, 17 March 2009


Contents

Announcements


  • 2007-12-05: Assignment 4, the LAST assignment, will be due (and demoed) on Friday, December 14th in the Hill Conference Room (Lebow 240) at 12:00pm
  • 2007-11-14: Assignment 4 is up and due Friday November 30, no later than 5pm. A sample map is here CS485-Assignment4.zip
    • Some sample code from Gary Flake's Computational Beauty of Nature cbn-java.zip
    • The environment is here
  • 2007-11-09: There is an EXTENSION on Assignment #3. It is now due on Monday Nov. 12th, no later than 5:00pm.
  • 2007-11-07: Assignment 3 is due at the end of this week 11/09
  • 2007-10-23: Some sample code for XPM format is here. For more in-depth, you can read about it from CS430/536 Graphics Assignment 1.
  • 2007-10-15: Assignment 2 is up it is due anytime the week of October 22nd.
  • 2007-10-15: Thanks to Brian Lutz for writing up some instructions for setting up Bluetooth with Linux
  • 2007-10-01: There is a small bug in roombacomm.jar where goBackward(dist) did not go backward. It is fixed in the jar file included in this Roombacomm.zip file.

Course Logistics

Prerequisites: Permission of instructor.
Class Time: M-W-F 14:00->14:50
Class Location: UCross Rm 149
Office Hours: UCROSS147 Wed and Fri 12-2pm and by appointment
Course Instructor: William C. Regli, Ph.D.
Teaching Assistants: Peter Thai <pwt23@drexel.edu> and Duc Nguyen <dn53@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

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:

  1. understand the basic concepts of robotics (from a computer-science point of view), including kinematics, dynamics, actuators, controllers, etc;
  2. perform software development to control mobile robots (specifically iRobot Roombas);
  3. design experiments for robotic platforms;
  4. measure the effectiveness of a robotic system on a given problem;
  5. gain experience with biologically-inspired robotics techniques (swarming, biologically inspired design, etc)
  6. 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


Lectures

Date Assignment Topic Summary Notes Links and References
September 24

Intro to Robot Lab

Media:CS-Robot-Lab-Spring2007-Lec-1.ppt

Introduction to Robotics Media:Introduction_to_Robotics.ppt
September 26 Simulation Media:Simulation_of_Robotic_Systems.ppt
September 26 Simulation Media:Simulation_of_Robotic_Systems.ppt
Week of October 8th Assignment 1 due Robotics Videos
Week of October 15th SLAM Media:SLAM.ppt
October 22 Assignment 2 due Grading Assignment 2
October 29 Path Planning Media:Robot-Lab-Path-Planning.ppt
November 12 Assignment 3 due
November 19 Thanksgiving holiday, no class Wed 11/21 or Friday 11/23
November 26 BioInspiredRobotDesignAssignment4 is due 11/30 by 5pm

Text

Required 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


Interested students may wish to examine the following textbooks:

  • J.J. Craig. Introduction to Robotics: Mechanics and Control. Prentice Hall; 3rd edition, 2003.
  • Kiyoshi Toko. Biomimetic Sensor Technology. Cambridge University Press, 2000.
  • Karl Williams. Amphibionics: Build Your Own Biologically Inspired Reptilian Robot. McGraw-Hill/TAB Electronics, 2003.
  • David Cook. Robot Building for Beginners. Apress, 2002.

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. You must arrange a time one of the TAs for this class, during the week the assignment is due in order to have your assignment evaluated and graded. As there are limited slots per TA session, it is best to schedule a time slot sooner rather than later. You also will have the opportunity to have your work graded after the lecture during the due week.


Software

Depending on the evolution of the class, students may have an opportunity to gain experience with a variety of computational tools, including MATLAB, SolidWorks, Pro/ENGINEER, ACIS, MAPLE, etc. Several research prototype tools may also be introduced for physics-based modeling, kinematics, etc.

Processing Setup

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]

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