Autonomous Mobile Robots

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ME412 (Autonomous Mobile Robots 2024)

My Curriculum Vitae

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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)

ME363 (Advanced Mechatronics)

MAR (Mobile Autonomous Robot)

The Robotics Renaissance Project

Kiru

Dajung and Junior

Autonomous Vacuum Cleaner

Spider Robot

Mindstorms Dancing LegoBot

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

Semester Schedule - Schedule.xlsx

Week	Date	Topic	Project Due (Type) [Worth]
1	3-Sep-24	Introduction and Overview
2	10-Sep-24	Sensors	Formed Groups
3	17-Sep-24	Actuators/Controllers and programming
4	24-Sep-24	Tools Overview/ Individual Robot Proposal Review	Robot Proposal (Hand-In and Discussion) [5%]
5	1-Oct-24	Autonomous Robots Assembler Concepts	Finalized Robot Proposal (Hand-In and Discussion) [5%]
6	8-Oct-24	Behavioral Programming Concepts
7	15-Oct-24	Videos, State of the Industry, Applications	Robot Construction Progress Class Presentation [5%]
8	22-Oct-24	Videos, State of the Industry, Applications	Robot Construction Progress Class Presentation [5%]
9	29-Oct-24	Videos, State of the Industry, Applications	Robot Construction Progress Class Presentation [5%]
10	5-Nov-24	Lab/Discussions	Completed Robot Platform (Demo***) [10%]
11	12-Nov-24	Lab/Discussions	Light Tracking behavior (Demo***) [10%]
12	19-Nov-24	Lab/Discussions	Obstacle Avoidance behavior (Demo***) [10%]
13	3-Dec-24	Lab/Discussions	TBD
14	10-Dec-24	Lab/Discussions	TBD
15	17-Dec-24	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 10 class.
Past the December 10 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%.

ME412 Details

Course Description - ME412_2024_Flyer.pdf

Course Syllabus - ME412_2024_Syllabus.pdf

Semester Topics / Schedule - Schedule.xlsx

2023 Cooper Union Robot Tank Battle Arena

2023 Cooper Union Robot Tank Battle Rules

ME412 Resources

Past Videos of Robot Tank Battle
Tank Battle 2022 Clips
Tank Battle 2021 Clips
Tank Battle 2019 Clips
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 - http://www.trincoll.edu/~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 Chart – Electronix Express (elexp.com)

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

How and WHY to Solder Correctly (video) - Clip from Curious Inventor on the basics of eletronics soldering - https://www.youtube.com/watch?v=IpkkfK937mU

How to SMD with basic iron (video) - Clip from MikesRadioRepair - Desoldering and soldering SMD components with a minimum of equipment.

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

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) - 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 (GP2Y0A21YK0F) - https://www.robotshop.com/products/sharp-gp2y0a21yk0f-ir-range-sensor
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 - https://www.robot-electronics.co.uk/htm/cmpsqa.htm

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

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 (for motors) - http://machinedesign.com/archive/spur-versus-planetary-gearheads-dc-servomotors

Standard Servo - https://www.sparkfun.com/servos
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

What Is an Encoder?
Rotary Encoder FAQ

Disposable Battery Choices
Alkaline Battery (Zn/MnO2) - e91_max_na.pdf (energizer.com)
Lithium Battery (Li/FeS2) - l91.pdf (energizer.com)
Rechargeable Battery Comparison Table
Nickel-Cadmium Battery (NiCd) - 20102_datasheet.pdf (tenergy.com)
Nickel-Metal Hydride Battery (NiMH) - nh15-2300.pdf (energizer.com)
Internal Resistance of Batteries
Battery Performance Curves

Handy Board Home Page - http://www.handyboard.com/
Handy Board Software Resources (uml.edu)
The Handy Board Expansion Board (uml.edu)
Handy Board Technical Reference - hbmanual.pdf (uml.edu)
Handy Board H-Bridge IC datasheet (rated for 1A max motors) - http://focus.ti.com/lit/ds/symlink/sn754410.pdf
68HC11 Microprocessor Reference Manual - moto-6811-techref.pdf (uml.edu)
Dr. Fred Martin's Introduction to 6811 Programming (assembler) - 6811intr.pdf (uml.edu)
MC68HC11A8 Programming Reference Guide - MC68HC11.pdf

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 Two Paradigms of Mobile Robot Control
Rodney Brooks interview on currrent state of Subsumption Architecture