Autonomous Mobile Robots

*** Robotics Students: I have previous final papers 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 (Type) [Worth]
1	5-Sep-2007	Introduction and Overview
2	12-Sep-2007	Sensors	Formed Groups
3	19-Sep-2007	Actuators/Controllers and programming
4	26-Sep-2007	Tools Overview/ Individual Robot Proposal Review	Robot Proposal (Hand-In) [5%]
5	3-Oct-2007	68HC11 Assembler	Finalized Robot Proposal (Hand-In) [5%]
6	10-Oct-2007	Behavioral Programming Concepts
7	17-Oct-2007	Lab/Discussions	Robot Construction Progress Oral Presentation [5%]
8	24-Oct-2007	Lab/Discussions	Robot Construction Progress Oral Presentation [5%]
9	31-Oct-2007	Lab/Discussions	Robot Construction Progress Oral Presentation [5%]
10	7-Nov-2007	Lab/Discussions	Completed Robot Platform (Demo***) [10%]
11	14-Nov-2007	Lab/Discussions	Light Tracking behavior (Demo***) [10%]
12	21-Nov-2007	Lab/Discussions	Obstacle Avoidance behavior (Demo***) [10%]
13	28-Nov-2007	Lab/Discussions	TBD
14	5-Dec-2007	Lab/Discussions	TBD
15	12-Dec-2007	Contest Running	Final Projects Due (Demo + Final Paper) [45%]

*** These three "Demos" may be presented any time up to the December 5 class (and in any order and combination). Project differences may affect the feasibility of the task completion dates. However, the above schedule serves as a good guideline so be wary of falling behind. It may mean that you project is in trouble.

ME412 Details

Course Description - ME412_Description.pdf

Semester Topics / Schedule - Schedule.xls

2007 Cooper Union Robot Tank Battle Arena

2007 Cooper Union Robot Tank Battle Rules

ME412 Resources

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

Videos 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/

Alumnus 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

Previous final papers are also available. You can learn a lot from the experiences of past projects. Email me.

Wire Wrap Electronic Prototyping - http://en.wikipedia.org/wiki/Wire_wrap

Class Notes

Sensors - sensors.pdf

Actuators - actuators.pdf

My Demo IC program - emantest.c

Links to Commonly Used Devices

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

Modulated IR Proximity Detector (IS471F) - http://www.acroname.com/robotics/parts/R132-IS471F.html

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/examples/10011/10011.html
Sharp Distance Sensors datasheets - http://www.sharpsma.com/Page.aspx/americas/en/b25198ae-eeda-458b-a14f-92e2bd34f1c7/Distance_and_Air_Sensors/
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/examples/10034/10034.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/

Micro Piezo Gyro (PG2033) - http://www.acroname.com/robotics/parts/R40-PG2033.html

Gyration Two-axis Gyro - http://www.gyration.com/t-Gyro.aspx

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

Servo Modified for Continuous Rotation - http://www.acroname.com/robotics/parts/R174-CONT-RO-SERVO.html

IR Emitting Diode (TSAL6400) - http://www.vishay.com/docs/81011/tsal6400.pdf
IR Phototransistor (BPV11F) - http://www.vishay.com/docs/81505/bpv11f.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/
Using an external power source to power the motors on the Handy Board - http://www.handyboard.com/mods/hbmcut.html
Using an external power source to power the servos on the Expansion Board - http://www.handyboard.com/hbexp30/software.html
Handy Board power adapter info! - http://www.handyboard.com/faq/display.php?key=adapter
DO NOT use the wrong RJ11cable! - http://www.handyboard.com/faq/display.php?key=rj11

Interactive C 3.2 (Licensed) download site (email me for key if using) - 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