Ericson Mar's Robotics Site Contents
Robotics Home - MAR (Mobile Autonomous Robot)
ME412 (Autonomous Mobile Robots 2018) -ME412 (Autonomous Mobile Robots 2017) - ME436 (Autonomous Mobile Robots 2016) - ME412 (Autonomous Mobile Robots 2015) - ME412 (Autonomous Mobile Robots 2014)
ME412 (Autonomous Mobile Robots 2013) - ME412 (Autonomous Mobile Robots 2012) - ME412 (Autonomous Mobile Robots 2011) - ME412 (Autonomous Mobile Robots 2010) - ME412 (Autonomous Mobile Robots 2009)
ME412 (Autonomous Mobile Robots 2008) - ME412 (Autonomous Mobile Robots 2007) - EID111 (Self-Replicating Habitats) - ME412 (Autonomous Mobile Robots 2006) - ME412 (Autonomous Mobile Robots 2005)
ME363 (Advanced Mechatronics) - The Robotics Renaissance Project - Kiru - Dajung and Junior - Autonomous Vacuum Cleaner - Spider Robot - Mindstorms Dancing LegoBot
Robotics Related Links - My Curriculum Vitae - My resume


Contents

Robotics Home

ME412 (Autonomous Mobile Robots 2018)

ME412 (Autonomous Mobile Robots 2017)

ME436 (Autonomous Mobile Robots 2016)

ME412 (Autonomous Mobile Robots 2015)

ME412 (Autonomous Mobile Robots 2014)

ME412 (Autonomous Mobile Robots 2013)

ME412 (Autonomous Mobile Robots 2012)

ME412 (Autonomous Mobile Robots 2011)

ME412 (Autonomous Mobile Robots 2010)

ME412 (Autonomous Mobile Robots 2009)

ME412 (Autonomous Mobile Robots 2008)

ME412 (Autonomous Mobile Robots 2007)

EID111 (Self-Replicating Habitats)

ME412 (Autonomous Mobile Robots 2006)

ME412 (Autonomous Mobile Robots 2005)

ME363 (Advanced Mechatronics)

MAR (Mobile Autonomous Robot)

The Robotics Renaissance Project  

Kiru

Dajung and Junior

Autonomous Vacuum Cleaner

Spider Robot  

Mindstorms Dancing LegoBot

Robotics Related Links

My Curriculum Vitae

My resume

 

ME412: AUTONOMOUS MOBILE ROBOTS
Instructor: Ericson Mar
Semester Schedule - ME412 Details
ME412 Resources - Class Notes - Previously Used Robotics Parts Info


*** Robotics Students: I have final reports if you want to view them for educational purposes.  Email me.
*** There are assorted robot video DVD's and VCD's in the Prototyping Laboratory for your viewing pleasure.

Robot Tank Battle Videos

Tank Battle 2007 Clips

Tank Battle 2005 Clips

Tank Battle 2004 Clips
 

   

   

     

 

Semester Schedule - Schedule.xls

Week Date Topic Project Due
1 6-Sep-2006 Introduction and Overview  
2 13-Sep-2006 Sensors Formed Groups
3 20-Sep-2006 Actuators/Controllers and programming  
4 27-Sep-2006 Tools Overview/ Individual Robot Proposal Review Robot Proposal (Hand-in)
5 4-Oct-2006 68HC11 Assembler Finalized Robot Proposal (Hand-in)
6 11-Oct-2006 Behavioral Programming Concepts  
7 18-Oct-2006 Lab/Discussions Robot Construction Progress Oral Presentation
8 25-Oct-2006 Lab/Discussions Robot Construction Progress Oral Presentation
9 1-Nov-2006 Lab/Discussions Robot Construction Progress Oral Presentation
10 8-Nov-2006 Lab/Discussions Completed Robot Platform (Demo)
11 15-Nov-2006 Lab/Discussions Light Tracking behavior (Demo)
12 22-Nov-2006 Lab/Discussions Obstacle Avoidance behavior (Demo)
13 29-Nov-2006 Lab/Discussions TBD
14 6-Dec-2006 Lab/Discussions TBD
15 13-Dec-2006 Contest Running Final Projects Due (Demo + Final Paper)



ME412 Details

Course Description - ME412_Description.pdf

Text - Mobile Robots: Inspiration to Implementation, 2nd Ed.

Semester Topics / Schedule - Schedule.xls

2006 Cooper Union Robot Tank Battle Arena

2006 Cooper Union Robot Tank Battle Rules


ME412 Resources

Videos (MPeg 4) of 2004 Robot Tank Battle
Tank Battle 2004 Clips

Videos (MPeg 4) of 2005 Robot Tank Battle
Tank Battle 2005 Clips

My Robotics Home Page - http://www.cooper.edu/~mar/Welcome.html

Videos of My Robot in Action - http://www.cooper.edu/~mar/mar.htm

My Robotics Links Page - http://www.cooper.edu/~mar/robotics_links.htm

Trinity College Fire Fighting Robot Home Page - http://www.trincoll.edu/events/robot/

Andrew Louie's videos of his team's 2005 International Finals 3rd-place winning Fire-Fighting Robot - http://www.andrewlouie.com/cooper/

Robotics Competition FAQ - http://robots.net/rcfaq.html

Resistor Color Code Guide - http://www.elexp.com/t_resist.htm

Subsumption Architecture - http://ai.eecs.umich.edu/cogarch0/subsump/index.html
 

Class Notes

Sensors - sensors.pdf

Actuators - actuators.pdf

My Demo IC program - emantest.c
 

Previously Used Robotics Parts Info

Contact Sensor datasheet - http://www.mouser.com/catalog/specsheets/MS-100118.pdf

CdS Light Sensor datasheet - http://www.mouser.com/catalog/specsheets/083393.pdf

Reflective Photosensor (QRD1114) datasheet - http://www.fairchildsemi.com/ds/QR/QRD1114.pdf

IR Range Sensor (GP2D12) - http://www.acroname.com/robotics/parts/R48-IR12.html
IR Range Sensor (GP2D120) - http://www.acroname.com/robotics/parts/R146-GP2D120.html
IR Range Sensor Handy Board Application Notes - http://www.acroname.com/robotics/info/examples/GP2D12-1/GP2D12-1.html
Sharp Distance Sensors datasheets - http://www.sharpsma.com/productgroup.php?ProductGroupID=55&SubProductGroupID=39
GP2D120 Device Specification - http://www.acroname.com/robotics/parts/GP2D120_SS.pdf
Acroname Article "Demystifing the Sharp IR Rangers" - http://www.acroname.com/robotics/info/articles/sharp/sharp.html
Acroname Article "Voltage-to-Range Conversion" - http://www.acroname.com/robotics/info/articles/irlinear/irlinear.html
*info: GP2D's emit at ~ 850 +/- 70 nm

Devantec Sonar - http://www.acroname.com/robotics/parts/R271-SRF05.html
SF04 Technical Specification - http://www.robot-electronics.co.uk/htm/srf04tech.htm
SF04 Handy Board Application Notes - http://www.acroname.com/robotics/info/examples/srf04-3/srf04-3.html

Devantec Compass - http://www.acroname.com/robotics/parts/R117-COMPASS.html
CMPS03 Technical Specification - http://www.robot-electronics.co.uk/htm/cmps3doc.shtml
Andrew Chanler's CMPS03 Handy Board drivers - http://www.cs.uml.edu/~achanler/robotics/

Copal 60:1 Gearmotor - http://www.robotcombat.com/marketplace_ant_motors.html
Copal 60:1 measurements - copal_measurements60.gif

Standard Servo - http://www.acroname.com/robotics/parts/R276-S03N-SERVO.html

IR Emitting Diode (TSAL6400) - http://www.vishay.com/docs/81011/81011.pdf
IR Phototransistor (BPV11F) - http://www.vishay.com/docs/81504/81504.pdf

Handy Board Home Page - http://www.handyboard.com/
Expansion Board for the Handy Board Home Page - http://www.handyboard.com/hbexp30/
Handy Board Technical Reference - http://www.handyboard.com/techdocs/hbmanual.pdf
Handy Board H-Bridge IC datasheet (rated for 1A max motors) - http://focus.ti.com/lit/ds/symlink/sn754410.pdf
68HC11 Microprocessor Reference Manual - http://www.handyboard.com/techdocs/moto-6811-techref.pdf
Dr. Fred Martin's Introduction to 6811 Programming (assembler) - http://www.handyboard.com/techdocs/6811intr.pdf
MC68HC11A8 Programming Reference Guide - MC68HC11.pdf
Yahoo! Newsgroup on Handy Board - http://groups.yahoo.com/group/handyboard/

Interactive C 3.2 (Licensed) download site - http://www.newtonlabs.com/ic/ic_download.html
AS11_IC Assembler (Interactive C Binary compiler) -
http://www.handyboard.com/software/pcode_pc.zip

Continually updated "Botball" Interactive C download site - http://www.botball.org/educational-resources/ic.php


Copyright 2006 Ericson Mar   mar@cooper.edu      Please let me know if you have any comments.  :)
Last Updated: 09/03/2018