ME412: AUTONOMOUS MOBILE ROBOTS
Instructor: Ericson Mar
Semester Schedule -
ME412 Details
ME412 Resources - Class
Notes - Links to Commonly Used
Devices
*** 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 2010 Clips
Tank Battle
2009 Clips (Part 1)
Tank Battle
2009 Clips (Part 2)
Tank Battle
2008 Clips
Tank Battle
2007 Clips
Tank Battle 2005 Clips
Tank Battle 2004 Clips
![](ME412_fall2009/Tank_Battle_Robot_Most_Awesomest_Ever_Team.jpg)
![](ME412_fall2010/Tanks_Battle_Robot_Team3.png)
![](ME412_fall2008/Tank_Battle_Robot_Epic_Fail.jpg)
![](ME412_fall2008/Tank_Battle_Robot_The_Number_One_Team_guts.jpg)
![](ME412_fall2007/Tank_Battle_Robot_Awesome.jpg)
![](ME412_fall2005/Tank_Battle_Robot_1.jpg)
Semester Schedule
- Schedule.xls
Week |
Date |
Topic |
Project Due (Type)
[Worth] |
1 |
8-Sep-10 |
Introduction and Overview |
|
2 |
15-Sep-10 |
Sensors |
Formed Groups |
3 |
22-Sep-10 |
Actuators/Controllers and programming |
|
4 |
29-Sep-10 |
Tools Overview/ Individual Robot Proposal Review |
Robot Proposal (Hand-In) [5%] |
5 |
6-Oct-10 |
68HC11 Assembler |
Finalized Robot Proposal (Hand-In) [5%] |
6 |
13-Oct-10 |
Behavioral Programming Concepts |
|
7 |
20-Oct-10 |
Lab/Discussions |
Robot Construction Progress Oral Presentation [5%] |
8 |
27-Oct-10 |
Lab/Discussions |
Robot Construction Progress Oral Presentation [5%] |
9 |
3-Nov-10 |
Lab/Discussions |
Robot Construction Progress Oral Presentation [5%] |
10 |
10-Nov-10 |
Lab/Discussions |
Completed Robot Platform (Demo***) [10%] |
11 |
17-Nov-10 |
Lab/Discussions |
Light Tracking behavior (Demo***) [10%] |
12 |
24-Nov-10 |
Lab/Discussions |
Obstacle Avoidance behavior (Demo***) [10%] |
13 |
1-Dec-10 |
Lab/Discussions |
TBD |
14 |
8-Dec-10 |
Lab/Discussions |
TBD |
15 |
15-Dec-10 |
Contest Running |
Final Projects Due (Demo + Final Paper) [45%] |
*** These three "Demos" may be presented any time up to the
December 8 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
2010 Cooper Union Robot
Tank Battle Arena
2010
Cooper Union Robot Tank Battle Rules
ME412 Resources
Video of 2004 Robot Tank Battle
Tank Battle 2004 Clips
Video of 2005 Robot Tank Battle
Tank Battle 2005 Clips
Video of 2007 Robot Tank Battle
Tank Battle
2007 Clips
Video of 2008 Robot Tank Battle
Tank Battle 2008 Clips
Videos of 2009 Robot Tank Battle
Tank Battle
2009 Clips (Part 1)
Tank Battle
2009 Clips (Part 2)
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
ME Design Studio Safety Manual -
All students must read this and pass a test prior to using any equipment.
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/cmps3tech.htm
CMPS03 Compass Module FAQ -
http://www.robot-electronics.co.uk/htm/cmpsqa.shtml
Andrew Chanler's CMPS03 Handy Board drivers -
http://www.cs.uml.edu/~achanler/robotics/
Melexis Anglar Rate Gyro (MLX90609) -
http://www.melexis.com/Prodmain.aspx?nID=582
Micro Piezo Gyro (PG2033) -
http://www.acroname.com/robotics/parts/R40-PG2033.html
PG2033 Specs -
http://www.maxxprod.com/pdf/PG2033.pdf
Gyration Two-axis Gyro -
http://www.gyration.com/t-Gyro.aspx
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/81505/81505.pdf
Handy Board Home Page -
http://www.handyboard.com/
Handy Board Software Resource -
http://handyboard.com/oldhb/software/libs.html
Expansion Board for the Handy Board Home Page -
http://handyboard.com/hb/hardware/expansion-board/
Handy Board Technical Reference -
http://handyboard.com/oldhb/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/oldhb/techdocs/moto-6811-techref.pdf
Dr. Fred Martin's Introduction to 6811 Programming (assembler) -
http://www.handyboard.com/oldhb/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/oldhb/mods/hbmcut.html
Using an external power source to power the servos on the Expansion Board -
http://www.handyboard.com/oldhb/hbexp30/software.html
Handy Board power adapter info! -
http://handyboard.com/hb/faq/hardware-faqs/compatible-adapters/
DO NOT use the wrong RJ11cable! -
http://handyboard.com/hb/faq/hardware-faqs/wrong-rj11-cable/
Interactive C 3.2 (Licensed) download site (email
me for key if using) -
http://www.newtonlabs.com/ic/ic_download.html
Note: I tried IC
3.2 on Windows Vista 64-bit. It didn't work for me. I had to use the
BotBall
version.
Please let me know if any other version you try doesn't work with Windows Vista.
Thanks.
AS11_IC Assembler (Interactive C Binary compiler) -
http://www.handyboard.com/oldhb/software/pcode_pc.zip
Continually updated "Botball" Interactive C download site -
http://www.botball.org/educational-resources/ic.php
Drivers to Sabrent USB 2.0 to Serial (9-pin) DB-9 RS-232 Adapter (Model:
SBT-USC1M) -
http://sabrent.com/drivers.php
Copyright © 2010 Ericson Mar mar@cooper.edu
Please let me know if you have any comments. :)
Last Updated: 09/02/2024
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