UNLV ME 425/625 - Robotics Home Page

UNLV ME 425/625 - Robotics Fall 2023 Home Page

ME 425/625 is an undergrad/graduate (senior/masters) level course introducing robotics. This course will use the LEGO NXT Brick (i.e. a computer) and NxC programming language with motors and sensors (i.e. control). The overall objective is to expose students to the underlying mechanisms, electronics and algorithms needed to broadly appreciate the field of robotics.

Academic Policies Page

[email protected]

Week 01 - 08/28/23

Handouts

Course Outline Syllabus_Template_Spring 2023-me425-625-011223a.pdf
Academic Policies Page
Weekly Schedule me425RoboticsSchedule111023a.pdf (updated 11/10/23) ~~me425RoboticsSchedule081023a.pdf~~
Lecture: Introduction and Course Philosophy me425Robotics-Lecture01-082522a.pdf
Lab Slides:
- Installing BricxCC and NxC Primer
  - 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
  - (If needed): LEGO's (original NXT-G programming environment) NXT Software V. 2.1.0
  - (If needed): USB Driver for NXT Brick NXT_USB_Driver_120.zip
  - Primer Notes: labBricxxIntroToProgramming.pdf
    - (Reference): Club Engineer's Installing BricxCC YouTube Video
    - (Reference): Club Engineer's Intro NXC Programming Video
  - Primer Slides: labNxcProgramming01-082522a.pdf
  - Sample Code: nxcPrimerExampleCode.zip (Password protected. For Instructor Only)
  - (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
- Bricklink Studio Primer
  - Primer Notes: labBricklinkStudio082522a.pdf
  - Studio software package: URL | Studio+2.0.exe (DASL drive)
- Homework:
  - NXC Programming and Studio Casters (due no later than 01/30/23 start of class) - email as PDF) homeworkNxcProgrammingIntroStudioCasters-012323a.pdf
Things to do Next
Meet each Monday 16:00-18:30 at 1325 E. Flamingo Rd
Bring NXT kit and Windows-based laptop to class every week
Lego Education Kit 9797 Parts List PDF

Week 02 - 09/04/23

Topic: Labor Day - UNLV Holiday No Class

Week 03 - 09/11/23

Topic: Simple Machines I: Levers, Shafts and Cranks

Handouts

Lecture Slides:
- Levers, Shafts and Cranks PDF
Lab Slides:
- Lego Fundamentals, Levers, Shafts and Cranks PDF
  - Lego Simple Crank WMV Video | YouTube
  - Lego Crank 3-Bar WMV Video | YouTube
  - Lego Crankshaft WMV Video | YouTube
  - Lego Complex Crank WMV Video | YouTube
- NXC Programming: Strings, Buttons, Motors, and Touch Sensor labBricxxStringsMotorsTouchSensor-090922a.pdf
- Sample Code: code.zip (Password protected. For Instructor Only)
- Lego NXT Domabot and domabot0_1a.nxc legodomabotAndNxcCode091022a.pdf
- Domabot Touch Sensor Bumper Build Plan legoDomabotTouchBumper091022a.pdf
Homework:
- Slider Crank and Programming (due next week - email as PDF) homeworkLeversShaftsAndCranks-090922a.pdf
- Complete part count in your Mindstorms Kit - fill out Google sheet no later than 02/06/23 or be accountable for lost parts: NXT Inventory XLS
- List of Technic Parts from Lugnet: PDF | Lugnet Web Site URL

Week 04 - 09/18/23

Topic: Simple Machines II: Cams, Springs and Linkages

Handouts

Lecture Slides:
- Cams, Springs and Linkages PDF
- Lego NXT Domabot Line Following Part 1 (Bang-Bang) (PDF)
Lab Slides:
- Lego Cams, Springs and Linkages PDF
  - Lego Cam Follower WMV Video | YouTube
  - Lego Cam Follower Vehicle WMV Video | YouTube
  - Lego Torsional Linkage WMV Video | YouTube
  - Lego Torsional Multi-joint Linkage WMV Video | YouTube
- Tutorial: NxC Programming of Light sensor
  - Primer Notes: Light Sensor (Concept 1) labBricIrAndUsSensors.pdf
  - Lego NXT Domabot Line-Following Part 1 (Bang-Bang) (PDF)
    - YouTube Demo for calibration lfCal1_0.nxc
    - YouTube Demo Bang-bang control line following lfbb1_0.nxc
- Sample Code:
  - nxcIrAndSensorDomabotWallDocking.zip (Password protected. For Instructor Only)
  - code.zip lfCal1_0.nxc, lfbb1_0.nxc, lfp1_0.nxc (Password protected. For Instructor Only)
Homework: Concepts, Construction and Programming (due next week; email PDF) homeworkCranksCamsLinkages-020623a.pdf Updated 02/06/23

Week 05 - 09/25/23

Topic: Simple Machines III: Ratchets, Drives and Gearing

Handouts

Lecture Slides:
- Ratchets, Gears and Drives (PDF)
- Lego NXT Domabot Line Following Part 2 (PID) (PDF)
Lab Slides:
- Lego Ratchets, Gears and Drives (PDF)
- Lego NXT Domabot Line Following Part 2 (PID) (PDF)
- YouTube Demo: Proportional control line following lfp1_0.nxc
Sample Code: code.zip lfCal1_0.nxc, lfbb1_0.nxc, lfp1_0.nxc (Password protected. For Instructor Only)
Project 1: Lego NXT Robot Relay Race Semi-Finals Rules Version 1.0a (draft) me425RobotRelayCompetitionRulesVersion1_0a-100322.pdf
02/15/23 Update Rules Version 1.0c me425RobotRelayCompetitionRulesVersion1_0c-101322.pdf
- Full scale line following course mat UNLV-ThreeRobotRace-3-Relay-20220820-v04v-199416-PRODUCTION2.svg (Open SVG e,g, with InkScape for dimensions)
Homework: Concepts, Construction and Studio (due next week) homeworkRatchetsDrivesAndGearing021323a.pdf Updated 02/13/23

Week 06 - 10/02/23

Topic: Project 1 Relay Race Semi-Finals Product Design Review (PDR) - No Lecture; Team workday

Week 07 - 10/09/23

Topic: Project 1 Relay Race Semi-Finals Day

Handouts

Robot Ethics: YouTube (7-min): IEEE "How to Build a Moral Robot"
Note: Mid-term next week

Week 08 - 10/16/23

Topic: Mid-term

Notices:

Bring Mindstorms Kit and Laptop; it's needed for Mid-term Part 2 (Hands-on)

Week 09 - 10/23/23

Topic: DC Motors and Step Response

Handouts

Robot Ethics: YouTube (4-min) FW Think: "Could You Fall in Love With a Robot?"
Lecture Slides:
- DC Motor First Principles (Lorentz) and Transfer Function lectureDcMotorTheory100719.pdf
- DC Motor Differential Equations Open-Loop Step Response lectureOpenLoopStepResponse110722.pdf
Lab Slides:
- NXC File handling labBricxxFileHandling-102822a.pdf
- NXC Timers llabBricxxTimers031323a.pdf
  - stopWatch1_0a.nxc.pdf
  - stopWatch1_0b.nxc.pdf
- Open-loop Step Response Lego NXT motor labNxtMotorOlsr031423a.pdf
  - Lego Motor Stand Build Plan nxtMotorMountOlsr-031423a.pdf
  - Lego Motor Stand Studio File nxtMotorMountOlsr-031423a.io
- Primer Notes: Ultrasonic Sensor (Concept 2) labBricIrAndUsSensors.pdf
Sample Code:
- code.zip (x^2File1.0.nxc) (Password protected. For Instructor Only).
- code.zip (stopWatch1_0a.nxc, stopWatch1_0b.nxc) (Password protected. For Instructor Only).
- code.zip (nxtMotorOlsr1_0.nxc) (Password protected. For Instructor Only).
Homework:
- DC motor theory, OLSR, files and timing ( Due Next week ) homeworkDcMotorTheoryOlsrFilesAndTiming-031423a.pdf
- ~~Files and Wall-Following homeworkFileHandlingAndWallFollowingPid-102922a.pdf~~
- ~~DC motor theory, Open loop step response, and Obstacle Avoidance homeworkDcMotorTheoryAndOpenLoopStepResponseAndObstacleAvoidance-110722a.pdf~~

Week 10 - 10/30/23

Topic: Electronics: Robot Sensing, Actuation and Communication

Handouts

Robot Ethics: YouTube (4-min) FW Think: "Could You Fall in Love With a Robot?"
Lecture Slides:
- ~~Numbering Systems PDF~~
- Communications (PDF)
Lab Slides:
- NXT DIY Touch Sensor and Voltage Supply labLegoTouchSensorVoltageDividerAndVoltageSupply111222a.pdf
- ~~NXT I2C (PCF8574) Communications (PDF)~~
- NXT RS-485 Communcations nxc-rs485Communications-032223a.pdf
  - 485Master1_0.nxc.pdf
  - 485Slave1_0.nxc.pdf
- NXT Bluetooth Communications nxc-BluetoothCommunications-032223a.pdf
  - Damian Kee's NXT-to-NXT Bluetooth setup YouTube
  - NXT-to-NXT Bluetooth Message passing demo YouTube
  - protocol0_2a.h
  - btMaster0_2a.nxc.pdf
  - btSlave0_2a.nxc.pdf
Sample Code
- code.zip ohm1_0.nxc, touch1_0.nxc, volt1_0.nxc (Password protected. For Instructor Only).
- code.zip 485*.nxc, bt*.nxc, protocol0_2a.h (Password protected. For Instructor Only).
Homework:
- homework-Communications032223a.pdf

Week 11 - 11/06/23

Topic: Path-Planning (Mazes) Part 1: Wall-Following

Handouts

Domabot solves maze - motivating example

Robot Ethics: YouTube Making peace with the robots
Lecture Slides: Wall-Following Bang-bang and PID control
- Wall-Following (PDF) (conceptual)
- PID Theory lecturePidTheory110822a.pdf
Lab Slides:
- Wall Following PID: labBricxxWallFollowingPid-102922a.pdf
  - (Kp, Ki, Kd) = (0.0, 0.0, 0.0) YouTube Video i.e. Bang-Bang
  - (Kp, Ki, Kd) = (1.5, 0.0, 0.0) YouTube Video i.e. Proportional Small
  - (Kp, Ki, Kd) = (5.0, 0.0, 0.0) YouTube Video i.e. Proportional Medium
  - (Kp, Ki, Kd) = (15.0, 0.0, 0.0) YouTube Video i.e. Proportional Large
- Domabot with portside (left) and bowside (front) ultrasonic sensors: Step-by-Step Build Instructions (PDF)
Sample code:
- code.zip (wfPid1_0a.nxc, wfPidFile1_0a..nxc) (Password protected. For Instructor Only).
Homework:
- Wall-Following and PID Theory ( Due next week ) homeworkWallFollowingPid-032923a.pdf

Week 12 - 11/13/23

Topic: Path-Planning (Mazes) Part 2: Obstacle-Avoidance

Handouts

Domabot Avoids Obstacles - Motivating Example

Robot Ethics: YouTube (2.5 min) VOA News: "Robots 'Eat' Millions of Manufacturing Jobs"
Lab Slides:
- Obstacle Avoidance PID labBricxxObstacleAvoidancePid-103122a.pdf
- Domabot Maze Flowchart maze102022a.pdf
- Domabot Maze-Solving (Partial Solution) maze1_0a-AddCode.pdf
Source Code:
- code103122.zip oaPid1_0a.nxc (Password protected. For Instructor Only).
Project 2
- Robot Relay Race Finals Rules Version 2.0
- Finals Notional Arena Layout
Homework:
- Obstacle Avoidance, Maze and Prop Mount homeworkObstacleAvoidanceAndMaze-032923a.pdf

Week 13 - 11/20/23

Topic: Teams demonstrate Maze navigation with Everblock setup

No formal lecture. Teams demonstrate Domabot can solve (Everblock) maze

Handouts

Robot Ethics: YouTube "Bill Gates thinks we should tax the robot that takes your job"

Week 14 - 11/27/23

Topic: Robot Relay Race Finals PDR

No formal lecture. Instead Finals' Arena is revealed. PDF: Teams demo wall-following, obstacle-avoidance, and extinguish lit candle

Week 15 (Study Week) - 12/04/23

Topic: Study Week Begins and Robot Relay Race Finals

Handouts

Lecture: Closing Remarks
- Closing Remarks lecture-Me425Wrapup050117.pdf (PDF)

Things to do

Final Exam next week (12/11/23) in regular classroom (DASL lab) at regular time
Student Course Evaluation (see your RebelMail)
Return LEGO Mindstorms kit (please note name/quantity of missing parts)
Lego Education Kit 9797 Parts List PDF
Complete on-line XLS sheet for NXT kit inventory Return List

Resources:

Report template projectTemplate.docx
Circuit symbols circuit symbols.ppt
Circuit symbols symbollibraryforppt.ppt

Week 16 - 12/11/23

Topic: Finals

Things to do

Return Brick, cables, USB cable
Return Electronics tackle kit and contents