ME412 (Autonomous Mobile Robots 2024)
Past Projects
ME412 (Autonomous Mobile Robots 2023)
ME412 (Autonomous Mobile Robots 2022)
ME412 (Autonomous Mobile Robots 2021)
ME412 (Autonomous Mobile Robots 2020)
ME412 (Autonomous Mobile Robots 2019)
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)
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.
Robot Tank Battle Videos
Tank
Battle 2018 Clips - Tank
Battle 2017 Clips -Tank
Battle 2016 Clips - 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 | 1-Sep-20 | Introduction and Overview | |
| 2 | 8-Sep-20 | Sensors | Formed Groups |
| 3 | 15-Sep-20 | Actuators/Controllers and programming | |
| 4 | 22-Sep-20 | Tools Overview/ Individual Robot Proposal Review | Robot Proposal (Hand-In and Discussion) [5%] |
| 5 | 29-Sep-20 | 68HC11 Assembler | Finalized Robot Proposal (Hand-In and Discussion) [5%] |
| 6 | 6-Oct-20 | Behavioral Programming Concepts | |
| 7 | 13-Oct-20 | Videos, State of the Industry, Applications | Robot Construction Progress Class Presentation [5%] |
| 8 | 20-Oct-20 | Videos, State of the Industry, Applications | Robot Construction Progress Class Presentation [5%] |
| 9 | 27-Oct-20 | Videos, State of the Industry, Applications | Robot Construction Progress Class Presentation [5%] |
| 10 | 3-Nov-20 | Lab/Discussions | Completed Robot Platform (Demo***) [10%] |
| 11 | 10-Nov-20 | Lab/Discussions | Light Tracking behavior (Demo***) [10%] |
| 12 | 17-Nov-20 | Lab/Discussions | Obstacle Avoidance behavior (Demo***) [10%] |
| 13 | 1-Dec-20 | Lab/Discussions | TBD |
| 14 | 8-Dec-20 | Lab/Discussions | TBD |
| 15 | 15-Dec-20 | 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 8 class.
Past the December 8 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%) – Score a hit on the enemy base.
Opponent Robot Hit (+3%) – Score a hit on the enemy robot.
Return Home (+3%) – Traverse at least halfway across arena before returning to
dock.
-OR-
Score a hit prior to returning to dock.
No Collision During a Round (+3%) – Traverse at least halfway across arena
during a round with no collision penalty.
-OR-
Score a hit without any collision penalty during a round.
***The final paper is worth 33%.
Course Description - ME412_2020_Description.pdf
Course Details - ME412_2020_Details.pdf
Semester Topics / Schedule - Schedule.xls
2020 Cooper Union Robot Tank Battle Arena
2020 Cooper Union Robot Tank Battle Rules
Past Videos of Robot Tank Battle
Tank
Battle 2018 Clips
Tank
Battle 2017 Clips
Tank
Battle 2016 Clips
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
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
Ericson Mar's 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.
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) - https://learn.sparkfun.com/tutorials/qrd1114-optical-detector-hookup-guide/all
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/linearizing-sharp-ranger-data
*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
CMPS03 Technical Specification -
http://www.robot-electronics.co.uk/htm/cmps3tech.htm
Devantec Compass 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?
Inexpensive VL53L0X based Time-of-Flight Laser Ranging Sensor - https://www.pololu.com/product/2490
Melexis Anglar Rate Gyro (MLX90609) -
https://www.sparkfun.com/products/retired/8372
Micro Piezo Gyro (PG2033) -
http://www.maxxprod.com/pdf/PG2033.pdf
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/
*Can be used for the green
mutimeters in Mechatronics Laboratory.
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
Video of Conventional
Architecture (Robot - I) Vs. Subsumption Architecture (Robot - II)
Rodney Brooks interview on currrent state of Subsumption Architecture
Copyright © 2020 Ericson Mar mar@cooper.edu
Please let me know if you have any comments. :)
Last Updated: 09/02/2024