| Tuesday Lecture in 32-124, 1:00-2:30 | Thursday Lab in 34-501, 1:00-5:00 |
|---|---|
| Sept. 5 Registration Day Assignment 1 is posted here. The first part of the assignment is due on Thursday, Sep. 7. There will be a combination help session and party on Wednesday Sep. 6, from 6-9 in the Star Conference room of the Stata Center (room 32-D463) |
Sep. 7 Getting to know your robot; sonars and odometry |
| Sep. 12 Elements of programming, simple procedures; processes and orders of growth Assignment 2 is posted here. Code for assignment 2. slides from lecture handout from lecture |
Sep. 14 Simple robot programming; using sonar readings |
| Sep. 19 Capturing common patterns with higher-order procedures Assignment 3 is posted here. Code for assignment 3. slides from lecture handout from lecture |
Sep. 21 Procedural representations: Behaviors and utility functions: Wandering around and avoiding obstacles |
| Sep. 26 State, objects, and modularity; functional models versus object models; capturing common patterns with classes and inheritance Assignment 4 is posted here. updated notes from lecture ps4.zip poseClass.py wallFollowBrain.py |
Sep. 28 Object-oriented programming: Virtual sensors |
| Oct. 3 Constraints models versus input-output models; Resistor networks as constraint systems: Constitutive equations (Ohms law) and conservation laws (KCL); Series-parallel combinations and voltage dividers Assignment 5 is posted here resolver.tar resolver.zip py-ni-test.tar.gz readnidaq.py (brain for reading NI values) |
Oct. 5 A constraint resolver program for network analysis; using voltage dividers to make a voltmeter; measuring the current through a spinning motor. |
| Oct. 10 No class: Columbus Day+1 |
Oct. 12 Photoresistors and robot eyes. Models of phototropism. Assignment 6 is posted here |
| Oct. 17 Block diagram models; modeling with difference equations; autonomous difference equations and solutions; difference equations with inputs; particular solutions. Assignment 7 is posted here lecture notes |
Oct. 19 Plotting solutions of difference equations; driving down the hall with difference equation models; matching data to models |
| Oct. 24 Z-transforms and system functions; feedback and Black's formula. pole placement and stability. Assignment 8 is posted here Code for assignment 8 DifferenceEquationWithInput.py lecture notes |
Oct. 26 Once more driving down the hall, with stability and control |
| Oct. 31 abstraction and modeling; 1-ports models as a means of abstraction; Thévenin equivalents; 2-ports; op-amps; feedback Assignment 9 distributed Code for assignment 9 lecture notes |
Nov. 2 More on stabilization |
| Nov. 7 Designing feedback control systems; analog versus digital implementations. Assignment 10 is posted here resolver.tar resolver.zip Op-amp datasheet lecture notes |
Nov. 9 Using opamps as buffers, sumers, and inverters; Driving a motor with an op-amp circuit; Using feedback to control a Robot head. |
| Nov. 14 Discrete probability and state estimation Lecture 11 notes Assignment 11/12 distributed PS11.zip |
Nov. 16 State estimation in discrete worlds |
| Nov. 21 Meet in Lab!! |
Nov. 23 No class: Thanksgiving |
| Nov. 28 Search and planning Assignment 13 distributed |
Nov. 30 Robot localization and path planning |
| Dec. 5 Preparation for grand finale Assignment 14 distributed |
Dec. 7 Grand finale: finding lights in a maze |
| Dec. 12 Apotheosis and enlightenment |