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Mobile Autonomous Systems Laboratory >> Content Detail



Lecture Notes



Lecture Notes

SES #TOPICSLECTURE NOTES
1Overview

Welcome, Staff, Logistics, Course Policies/Philosophy, Contest Preview: The Game, The Kit

Orc API and maslab.jar, OrcPad, PegBot, Soldering Tutorial
Overview (PDF)
2Mechanical

Sensors and Cables
Mechanical (PDF)

Sensors and Cables (PDF)
3Software Engineering

On MIT Server and your robot (make, Ant, CVS), Design Principles, Threading in Java® (more mechanics than theory), Pitfalls

Vision

Quick Review: Colors (HSV, Maslab colors, this year), Blue line (motivation), Determining color (thresholds on HSV, hysteresis, region support), See the tutorial!

Feature Detection: Methods (Template matching, Region growing, Clustering), Maslab features (What they are, Why they're useful) How to locate them (corner detector, symbol decoder): Possible algorithm, Describe feature detection lab
Software Engineering (PDF)

Vision (PDF)
4Mapping

Coordinate frames (image->robot->world), Image formation, ranging (image->robot, relative orientation), Odometry (robot->world, absolute orientation), Correspondence problem (we've solved it for you), Modeling uncertainty, Dealing with ambiguity, Possible algorithm
Mapping (PDF)
5Control

Motors/PWM/H-bridge

Simple Feedback (low-level control): Example: Korea-era smart bomb, Bang-bang control, Proportional control

State Machine (high-level control): Abstract definition and examples, Used for control of robot (6.004-style maze example, Brooks-style subsumption architecture), In Java® with threading: Leverage info covered in previous lecture, Full example, make code available
Control (PDF)
6Advanced Vision

Clustering, Hough Transform, Stereo and Optical Flow, Statistical Models, Dealing with Noise, Performance

Advanced Control

PID, Kalman, Whatever you want (maybe some high-level stuff?)

Activity: Mapping activity, purely software activity
Advanced Vision (PDF)
7Design Review
8Activity: Work on Checkpoint 2
9Activity: Checkpoint 2: Score a Point
10Activity: Mock Contest 1
11Programming 27 Robots: Distributed Algorithms for Robot Swarms and Engineering Creativity: Exercises for your Right Brain
12Activity: Mock Contest 2
13Learning in Robots
14Activity: Impounding
15Activity: Contest Day

 








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