UNLV ME729 - Advanced Robotics Home Page

UNLV ME729 - Advanced Robotics Fall 2016 Home Page

ME729 is a MS/PhD-level robotics course. ME425/625 (preferably given by the instructor) is a pre-requisite. This course will use the LEGO NXT Brick (i.e. a computer) and NxC programming language (which was covered in ME425/625). The overall objective is an in-depth study of robotics and includes robot sensing, actuation, communications, control, computer vision and path planning.

paul.oh@unlv.edu

Week 01 - 08/29/16

Handouts

Course Outline me729RoboticsCourseOutline082716.pdf
Weekly Schedule Last updated 08/27/16 me729RoboticsSchedule082716.pdf
Lecture: Introduction and Course Philosophy me729AdvancedRobotics-Lecture01.pdf

Things to do

Bring $50 check made out "Paul Oh UNLV", post-dated for "12/12/16". Check canceled if all parts returned.
Meet each Monday 18:00-21:00 at 1325 E. Flamingo Rd
Bring NXT Kit (at least Brick and both USB and NXT cables) to class every week
Check NXT Kit for part completion: Lego Education Kit 9797 Parts List PDF Complete on-line XLS sheet for NXT kit inventory
Complete Back-to-School Shopping List
Configure NXT Brick and Windows PC (preferable Win7) Bricxcc. Test "Hello World" NXC program
- BricxCC Compiler Version 3.3.8.9 bricxcc_setup_3389.exe | SourceForge Site
- (If needed): NXC Firmware Version 1.31 lms_arm_nbcnxc_131.rfw | SourceForge Site
- (May need): USB Driver for NXT Brick NXT_USB_Driver_120.zip
- Primer Notes: labBricxxIntroToProgramming.pdf
- Sample Code: nxcPrimerExampleCode.zip
- (Reference) NxC Programming Guide: PDF | BricxCC Web Site URL
- (Reference) NxC Tutorial: PDF | BricxCC Web Site URL
- (Reference) NxC API: PDF | BricxCC Web Site URL

Week 02 - 09/05/16

Topic: Labor Day - No Class

Week 03 - 09/12/16

Topic: Robot Sensing

Handouts

Lecture Slides
- Numbering Systems PDF
- Electronic Components and Basic Circuits PDF
- Voltage Dividers and the NXT PDF
Lab Slides
- NXT ADC Sensing PDF
- Sample Code: code.zip ohm1_0.nxc, touch1_0.nxc, volt1_0.nxc (Password protected. For Instructor Only).
Homework: Number Systems, Basic Electronics, Programming (due next week) homework-NumberingSystems.pdf

Week 04 - 09/19/16

Topic: Robot Actuation

Handouts

Lecture Slides
- Voltage Dividers and Op-Amps PDF
Lab Slides
- NXC File and Timer Handing Review PDF
- NXC ADC Data Logging and Actuation PDF
  - Errata Correction in lab notes' Fig. 5.3 PDF
- LM35 Temperature Sensor - National Semiconductor Datasheet PDF
- Sample Code: code.zip celsiusX_Y.nxc, alias1_0.nxc, voltOut1_0.nxc (Password protected. For Instructor Only).
Homework: Op-Amps, Aliasing and Temperature Data Logging (due next week) homework-OpAmps.pdf

Week 05 - 09/26/16

Topic: Robot Communications

Handouts

Lecture Slides on Communications (PDF)
Lab Slides
- NXC Communications (PDF)
- Data sheets
  - Isolated 1-kOhm Resistor Network (Jameco #108599) (PDF)
  - 10-segment LED Bar Display (Jameco #334529) (PDF)
  - PCF8574/PDF8574A I2C Chip (PDF)
- Sample code:
  - PCF8574A Digital Output dioOutput2_0.nxc
  - NXT RS-485 (Master) 485Master1_0.nxc
  - Sample code code.zip dio*.nxc, 485*.nxc (Password protected. For Instructor Only).
- Demo Videos
  - PCF8574 Digital Output: YouTube
  - PCF8574 Digital Input: YouTube
  - PCF8574 Digital Input/Output: YouTube
Homework: Communications (due next week) homework-Communications.pdf

Week 06 - 10/03/16

Topic: Robot Interfacing Handouts

Lecture Slides on H-Bridges (PDF)
Lab Slides
- NXC Relays and Transistors (PDF)
- Data sheets
  - Reed Relay (Jameco #2238274) (PDF)
  - IRF510 MOSFET (PDF)
- Sample code:
  - Sample code code.zip dioMosfet1_0.nxc, dioRelay1_0.nxc (Password protected. For Instructor Only).
Homework: Relays and Transistors (due next week) homework-RelaysAndTransmitters.pdf

Project: hbridgeAndKeypad100316.pdf

Week 07 - 10/10/16

Topic: Project Day

Handouts: None - class time alloted for teams to work on their H-bridge/keypad project

Note: Mid-term next week: Part 1 (Closed-book Theory, 60-min) and Part 2 (Open-book Practical, 90-min)

Week 08 - 10/17/16

Topic: Mid-term

Handouts: None

Part 1 (Closed-book, 60-min) Theory. Bring paper for your answers and derivations
Part 2 (Open-book, 90-min) Practical. Make sure to bring the following:
- NXT brick with USB cable and laptop for NXC programming
- Solderless breadboard with NXT adapter and cable
- At least one NXT motor and its cable
- Circuit construction related materials including multimeter, jumpers, alligator clips, etc
- 9V battery (to power toy DC motor)
- Tackle box (which I distributed in Week 3) with its related parts e.g. relay, toy motors, potentiometer, etc
Video references
- Homemade angle sensor YouTube
- Potentiometer controlling NXT motor speed and direction YouTube
- Reed relay on/off control of toy DC motor YouTube
Project 1 on H-Bridge/Keypad Motor Control (Worth 15% of final grade) - due Next class
- Use template to guide your write-up (DOC)
- Include schematics (points deducted if no drawing program used and components are not clearly labeled). PPT is suitable. Some popular symbols:
  - symbollibraryforppt (PPT)
  - circuit symbols (PPT)
- Include photos of construction. Points deducted if photos are not clearly annotated with part names and wire functions
- Include link to YouTube video (show your face to identify you and team-mate(s)) and narrate what your demo is doing

Week 09 - 10/24/16

Topic: Robot Control Part 1 - Equations of Motion Handouts

Lecture Slides on Lagrange Method (PDF)
Lab Slides
- Lego Ball-and-Beam Build Plan (PDF)
Homework: Equations of Motion (due next week) homework-Lagrange.pdf

Week 10 - 10/31/16

Topic: Robot Control 2: Kinematics and Denavit-Hartenberg, Transformation Matrices

Handouts

Lecture: Kinematics and Denavit-Hartenberg, Transformation Matrices
- Denavit-Hartenberg (PDF)
Lab: 2-link (revolute) NXT Lego manipulator
- Build Plans: lego2dPlanarArmBuildPlan-103016.pdf
- Lab 2-link manipulator: labLegoForwardKinematics103116.pdf
- Demo Video: NXT LEGO Based 2-link planar manipulator: YouTube
- Sample code code.zip button1_x.nxc, planar1_x.nxc (Password protected. For Instructor Only).
Homework: homework-kinematics.pdf

Week 11 - 11/07/16

Topic: Robot Control 3: Inverse Kinematics and Jacobian

Handouts

Lecture: Inverse Kinematics and Jacobian
- Inverse Kinematics and Jacobian (PDF)
Lab: Inverse Kinematics for 2-link (revolute) NXT Lego manipulator
- Inverse Kinematics of LEGO NXT-based 2-link manipulator: labLegoInverseKinematics110716a.pdf
- Sample code code.zip ikPlanar1_0.nxc, ikPlanar2_0.nxc (Password protected. For Instructor Only).
Project: labLegoProject-2.pdf Due 11/21/16

Week 12 - 11/14/16

Topic: Project Day

Handouts: None - class time alloted for students to work on their 2-link planar manipulator

Week 13 - 11/21/16

Topic: Robot Path Planning and Computer Vision

Handouts

Postscript on Manipulators
- Course status PDF
- Mechatronic Camera Boom YouTube
- Stanciu, R., Oh, P.Y., "Human-in-the-Loop Camera Control for a Mechatronic Broadcast Boom," IEEE Trans Mechatronics, V12, N1, pp. 41-52, Feb. 2007 PDF
Lecture: Potential Field Path Planning
- Potential Fields (PDF)
- Open-source Matlab/Simulink (Scilab/Xcos Vers 5.5.2 64-bit): scilab-5.5.2_x64.exe | SciLab Home Page (various OS-versions available)
- SciLab Beginner's Tutorial Scilab_beginners.pdf
Lab: Lego NXT Based Potential Field and AR Toolkit
- NXT Tribot Build plan PDF. Just construct up to Step 24
- NXC Code Coordinate_Navigation.nxc
- NXC Code PFNavCalcs.nxc
- Sample grids (3-inches in x and y. Green marks start position) 1 | 2
Homework: (due next week) homework-potentialFields.pdf