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 - 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 mobile mpg's in the Prototyping Laboratory for your viewing pleasure.

Robot Tank Battle Videos

Tank Battle 2015 Clips

Tank Battle 2014 Clips

Tank Battle 2012 Clips

Tank Battle 2011 Clips

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

 

 

     

       

        

  

        

                      

       

     

          

 

Semester Schedule - Schedule.xls

Week Date Topic Project Due (Type) [Worth]
1 4-Sep-18 Introduction and Overview  
2 11-Sep-18 Sensors  
3 18-Sep-18 Actuators/Controllers and programming Formed Groups
4 25-Sep-18 Tools Overview/ Individual Robot Proposal Review Robot Proposal (Hand-In, Meeting) [5%]
5 2-Oct-18 68HC11 Assembler Finalized Robot Proposal (Hand-In, Meeting) [5%]
6 9-Oct-18 Behavioral Programming Concepts  
7 16-Oct-18 Lab/Discussions Robot Construction Progress Class Presentation [5%]
8 23-Oct-18 Lab/Discussions Robot Construction Progress Class Presentation [5%]
9 30-Oct-18 Lab/Discussions Robot Construction Progress Class Presentation [5%]
10 6-Nov-18 Lab/Discussions Completed Robot Platform (Demo***) [10%]
11 13-Nov-18 Lab/Discussions Light Tracking behavior (Demo***) [10%]
12 27-Nov-18 Lab/Discussions Obstacle Avoidance behavior (Demo***) [10%]
13 4-Dec-18 Lab/Discussions TBD
14 11-Dec-18 Lab/Discussions TBD
15 18-Dec-18 Contest Running Final Projects Due (Demo + Final Paper) [45%]

*    Each of these 3 "Demos" may be presented earlier (+2% per week) or later (-2% per week) up to the December 11 class.
Past the December 11 deadline, any incomplete Demo will receive 0%.

**  The final contest is worth 12%. There will be 4 “achievements” which your robot has to succeed at once during the contest in order to get credit.
Opponent Base Hit (+3%), Opponent Robot Hit (+3%), Return Home (+3%), No Collision During a Round (+3%). The final paper is worth 33%.


ME412 Details

Course Description - ME412_Description.pdf

Course Details - ME 412_2018_Details.pdf

Semester Topics / Schedule - Schedule.xls

2018 Cooper Union Robot Tank Battle Arena

2018 Cooper Union Robot Tank Battle Rules


ME412 Resources

Videos of 2015 Robot Tank Battle
Tank Battle 2015 Clips

Videos of 2014 Robot Tank Battle
Tank Battle 2014 Clips

Videos of 2012 Robot Tank Battle
Tank Battle 2012 Clips

Videos of 2011 Robot Tank Battle
Tank Battle 2011 Clips

Videos of 2010 Robot Tank Battle
Tank Battle 2010 Clips

Videos of 2009 Robot Tank Battle
Tank Battle 2009 Clips (Part 1)
Tank Battle 2009 Clips (Part 2)

Video of 2008 Robot Tank Battle
Tank Battle 2008 Clips

Video of 2007 Robot Tank Battle
Tank Battle 2007 Clips

Video of 2005 Robot Tank Battle
Tank Battle 2005 Clips

Video of 2004 Robot Tank Battle
Tank Battle 2004 Clips

Ericson Mar's Robotics Home Page - http://faculty.cooper.edu/mar/Welcome.html

Videos of Ericson Mar's Thesis Robot in Action - http://faculty.cooper.edu/mar/mar.htm

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

Trinity College Fire Fighting Robot Home Page - https://trinityrobotcontest.org

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

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

How To: Heat Shrink Tubing - http://www.youtube.com/watch?v=T-5dsaenRig

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) - https://www.youtube.com/watch?v=0EuWAI6gFMM

IR Emitting Diode (TSAL6400) - http://www.vishay.com/docs/81011/tsal6400.pdf
IR Phototransistor (BPV11F) - http://www.vishay.com/docs/81505/bpv11f.pdf

IR Long Range Sensor (GP2D12) - http://www.robotshop.com/blog/en/effectively-using-the-sharp-gp2d12-rangefinder-4252
IR Short Range Sensor (GP2D120) - https://www.pololu.com/product/1136/
Acroname Article on Sharp IR Ranger Comparison -
https://acroname.com/blog/sharp-infrared-ranger-comparison
Acroname Article on Linearizing Sharp Ranger Data - https://acroname.com/blog/sharp-infrared-ranger-comparison
*info: GP2D's emit at ~ 850 (peak) +/- 70 nm

SF04 Technical Specification - http://www.robot-electronics.co.uk/htm/srf04tech.htm
Ultrasonic Rangers FAQ - http://www.robot-electronics.co.uk/htm/sonar_faq.htm

Devantec Compass - https://acroname.com/products/r117-compass
CMPS03 Technical Specification -
http://www.robot-electronics.co.uk/htm/cmps3tech.htm
CMPS03 Compass Module FAQ - http://www.robotshop.com/media/files/PDF/devantech-tilt-compensated-magnetic-compass-cmps09.pdf

Ultrasonic vs Infrared (IR) Sensors – Which is better?

Melexis Anglar Rate Gyro (MLX90609) - https://www.sparkfun.com/products/retired/8372
Micro Piezo Gyro (PG2033) -
http://www.maxxprod.com/pdf/PG2033.pdf

Overview of Inertial Sensors

MOSFET transitor switch tutorial video - https://www.youtube.com/watch?v=GrvvkYTW_0k

Info on Gears - http://wiki.wpi.edu/robotics/Gears
Spur vs. Planetary Gearheads - http://machinedesign.com/archive/spur-versus-planetary-gearheads-dc-servomotors

Standard Servo - https://www.servocity.com/html/hitec_servos.html
Servo Modified for Continuous Rotation - https://www.parallax.com/product/900-00008

Douglas W. Jones on Stepping Motors
Animated presentation on the Variable Reluctance Stepper Motor

Battery Comparison Table (and crash course)
Internal Resistance of Batteries
Battery Performance Curves
What's the Best Battery?

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 - http://handyboard.com/hb/software/interactive-c/
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


Drivers to Sabrent USB 2.0 to Serial (9-pin) DB-9 RS-232 Adapter (Model: SBT-USC1M) - https://www.sabrent.com/downloads/

Subsumption Architecture - http://cs.brown.edu/people/tdean/courses/cs148/02/architectures.html
Subsumption Architecture in the Roomba Vacuum Robot
Subsumption Architecture in Asimov's 3 laws of Robotics
Rodney Brooks interview on currrent state of Subsumption Architecture


Copyright © 2018 Ericson Mar   mar@cooper.edu      Please let me know if you have any comments.  :)
Last Updated: 10/15/2018