UNLV ME 425/625 - Robotics Home Page

UNLV ME 425/625 - Robotics Spring 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.

paul.oh@unlv.edu

Week 01 - 01/23/23

Handouts

Course Outline Syllabus_Template_Spring 2023-me425-625-011223a.pdf Fixed broken linked 01/24/23
Weekly Schedule me425RoboticsSchedule011223a.pdf Fixed broken linked 01/24/23
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 - 01/30/23

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
Week 03 - 02/06/23

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 04 - 02/13/23

Topic: Simple Machines III: Ratchets, Drives and Gearing
Handouts
- Homework: Concepts, Construction and Studio (due next week) homeworkRatchetsDrivesAndGearing021323a.pdf Updated 02/13/23
  
  Week 05 - 02/20/23
  
  Topic: Presidents Day - UNLV Holiday No Class
  
  Week 06 - 02/27/23
  
  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 07 - 03/06/23
  
  Topic: Mid-term
  Notices:
  - Bring Mindstorms Kit; it's needed for Mid-term Part 2 (Hands-on)
  Week 08 - 03/13/23
  
  Topic: Spring Break - UNLV Holiday No Class
  
  Week 09 - 03/20/23
  
  Topic: Path-Planning (Mazes) Part 1: Wall-Following
  Handouts
  - Robot Ethics: YouTube (4-min) FW Think: "Could You Fall in Love With a Robot?"
  - Lecture Slides:
    - Wall-Following Bang-bang and PID control (conceptual)
      
      Domabot solves maze - motivating example YouTube
      Wall-Following (PDF)
    - Motor Theory lectureDcMotorTheory100719.pdf
    - Open-Loop Step Response lectureOpenLoopStepResponse110722.pdf
  - Lab Slides:
    - Primer Notes: Ultrasonic Sensor (Concept 2) labBricIrAndUsSensors.pdf
    - Wall Following PID: labBricxxWallFollowingPid-102922a.pdf
    - Domabot with portside (left) and bowside (front) ultrasonic sensors: Step-by-Step Build Instructions (PDF)
    - Timer Notes (includes notes on Motor Open-Loop Step Response): labBricxxTimers.pdf
  - Sample Code:
    - code.zip (nxtMotorOlsr1_0.nxc) (Password protected. For Instructor Only).
    - code.zip (x^2File1.0.nxc, wfPid1_0a.nxc, wfPidFile1_0a..nxc) (Password protected. For Instructor Only).
  - Homework:
    - Files and Wall-Following homeworkFileHandlingAndWallFollowingPid-102922a.pdf
    - DC motor theory, Open loop step response, and Obstacle Avoidance ( Due Next week ) homeworkDcMotorTheoryAndOpenLoopStepResponseAndObstacleAvoidance-110722a.pdf
  Week 10 - 03/27/23
  
  Topic: Path-Planning (Mazes) Part 2: Obstacle-Avoidance and Electronics 1: Robot Sensing
  Handouts
  - Robot Ethics: YouTube (4-min) FW Think: "Could You Fall in Love With a Robot?"
  - Lecture Slides:
    - PID Theory lecturePidTheory110822a.pdf
    - Numbering Systems PDF
  - Lab Slides:
    - Domabot avoids obstacles YouTube
    - Obstacle Avoidance PID labBricxxObstacleAvoidancePid-103122a.pdf
    - NXT ADC Sensing PDF
  - Sample Code
    - code.zip ohm1_0.nxc, touch1_0.nxc, volt1_0.nxc (Password protected. For Instructor Only).
    - code103122.zip oaPid1_0a.nxc (Password protected. For Instructor Only).
  - Homework:
    - DC motor theory, Open loop step response, and Obstacle Avoidance homeworkDcMotorTheoryAndOpenLoopStepResponseAndObstacleAvoidance-110722a.pdf
    - Number Systems, Basic Electronics, Programming homework-NumberingSystems102518.pdf
  Week 11 - 04/03/23
  
  Topic: Mazes and Electronics 2: Robot Actuation
  Handouts
  - Robot Ethics: YouTube Making peace with the robots
  - Lecture Slides:
    - Voltage Dividers and the NXT PDF
    - Communications (PDF)
  - Lab Slides:
    - Domabot Maze Flowchart maze102022a.pdf
    - Domabot Maze-Solving (Partial Solution) maze1_0a-AddCode.pdf
    - NXC Communications (PDF)
  - Sample code:
    - code.zip maze1_0a.nxc; ohm1_0a.nxc; touch1_0.nxc; volt1_0.nxc (Password protected. For Instructor Only).
    - PCF8574A Digital Output dioOutput2_0.nxc
    - NXT RS-485 (Master) 485Master1_0.nxc
    - code.zip dio*.nxc, 485*.nxc (Password protected. For Instructor Only).
  - Homework:
    - homework-Communications.pdf
    - PID Theory, Motorized Prop Mount (due next week) homeworkPidTheoryAndMotorizedPropMount-111222a
    - homeworkMazeSolving-112122a.pdf
  Week 12 - 04/10/23
  
  Topic: Electronics 3: Robot Interfaces (Serial, ASCII, RS485)
  Handouts
  - Robot Ethics: YouTube (2.5 min) VOA News: "Robots 'Eat' Millions of Manufacturing Jobs"
  - Lecture Slides:
    - To be determined TBD
  - Lab Slides:
    - RS-485 Communications PDF
      
      Software/Freeware hercules_3-2-8.exe | Source Site
      Code 485Master1_0.nxc
      Code 485Slave1_0.nxc
      Code nxtReadFromPC1_0b.nxc
      Code SendByButton.nxc
  - Project 2
    - Robot Relay Race Finals Rules Version 2.0
    - Finals Notional Arena Layout
  - Homework:
    - RS-485 Communications homeworkRs485Communications-012720a.pdf
  Week 13 - 04/17/23
  Topic: Electronics 4: Robot Interfaces (Bluetooth) - Project 2 Finals PDR and Practice
  Handouts
  - Robot Ethics: YouTube "Bill Gates thinks we should tax the robot that takes your job"
  - Lab Slides:
    - NXC Programming Bluetooth: (PDF)
      
      Damian Kee's NXT-to-NXT Bluetooth setup YouTube
      NXT-to-NXT Bluetooth Message passing demo YouTube
      Code: protocol0_2a.h | btMaster0_2a.nxc | btSlave0_2a.nxc
      Serial and Bluetooth Demo YouTube
      Code: btAndSerialMaster0_1b.nxc | btAndSerialSlave0_1b.nxc
  Week 14 - 04/24/23
  
  Topic: Robot Relay Race Finals
  
  Week 15 (Study Week) - 05/01/23
  
  Topic: Study Week Begins
  Handouts
  - Lecture: Closing Remarks
    - Closing Remarks lecture-Me425Wrapup050117.pdf (PDF)
  Things to do
  - Final Exam next week (05/08/23)
  - 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 - 05/08/23
  
  Topic: Finals
  Things to do
  - Return Brick, cables, USB cable
  - Return Electronics tackle kit and contents

Week 01 - 01/23/23

Week 02 - 01/30/23

Week 03 - 02/06/23

Week 04 - 02/13/23

Week 05 - 02/20/23

Week 06 - 02/27/23

Week 07 - 03/06/23

Week 08 - 03/13/23

Week 09 - 03/20/23

Week 10 - 03/27/23

Week 11 - 04/03/23

Week 12 - 04/10/23

Week 13 - 04/17/23

Week 14 - 04/24/23

Week 15 (Study Week) - 05/01/23

Week 16 - 05/08/23