|
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 2023 Clips | 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
Semester Schedule
- Schedule.xlsx
|
Week |
Date |
Topic |
Project Due (Type)
[Worth] |
| 1 |
1-Sep-26 |
Introduction and Overview |
|
| 2 |
8-Sep-26 |
Sensors |
Formed Groups |
| 3 |
15-Sep-26 |
Actuators/Controllers and programming |
|
| 4 |
22-Sep-26 |
Tools Overview/ Individual Robot Proposal Review |
Robot Proposal (Hand-In and Discussion) [5%] |
| 5 |
29-Sep-26 |
Autonomous Robots Assembler Concepts |
Finalized Robot Proposal (Hand-In and Discussion)
[5%] |
| 6 |
6-Oct-26 |
Behavioral Programming Concepts |
|
| 7 |
13-Oct-26 |
Videos, State of the Industry, Applications |
Robot Construction Progress Class Presentation [5%] |
| 8 |
20-Oct-26 |
Videos, State of the Industry, Applications |
Robot Construction Progress Class Presentation [5%] |
| 9 |
27-Oct-26 |
Videos, State of the Industry, Applications |
Robot Construction Progress Class Presentation [5%] |
| 10 |
3-Nov-26 |
Lab/Discussions |
Completed Robot Platform (Demo***) [10%] |
| 11 |
10-Nov-26 |
Lab/Discussions |
Light Tracking behavior (Demo***) [10%] |
| 12 |
17-Nov-26 |
Lab/Discussions |
Obstacle Avoidance behavior (Demo***) [10%] |
| 13 |
1-Dec-26 |
Lab/Discussions |
TBD |
| 14 |
8-Dec-26 |
Lab/Discussions |
TBD |
| 15 |
15-Dec-26 |
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%.
ME412 Details
Course Description -
ME412_2026_Flyer.pdf
Course Syllabus - ME412_2026_Syllabus.pdf
Semester Topics / Schedule - Schedule.xlsx
2026 Cooper Union Robot
Tank Battle Arena
2026 Cooper Union Robot Tank
Battle Rules
ME412 Resources
Past Videos of Robot Tank Battle
Tank
Battle 2023 Clips
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
Low-cost Vision System -
PixyCam2 - Giving Your Project Eyes
Setting up the Pi NoIR Camera with Raspberry Pi | Raspberry Pi | Maker Pro
Arducam 1080P Day/Night Vision USB Camera, 2MP Infrared Webcam with Automatic
IR-Cut Switching and IR LEDs
IR Long Range Sensor (GP2Y0A21YK0F) -
Pololu - Sharp/Socle GP2Y0A21YK0F
Analog Distance Sensor 10-80cm
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
Budget 2D Lidar RPLIDAR -
https://www.waveshare.com/wiki/RPLIDAR_A1
Melexis Anglar Rate Gyro (MLX90609) -
https://www1.futureelectronics.com/doc/MELEXIS/MLX90609EEA-N2.pdf
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
Copyright © 2026 Ericson Mar mar@cooper.edu
Please let me know if you have any comments. :)
Last Updated: 09/08/2026
| 
