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Assignments for each week will be posted on this page by Tuesday. They will include a pre-lab assignment due before Thursday lab and a post-lab assignment due at the beginning of the following Tuesday lecture. Each lab ends with a short quiz. There will also be supervised homework hours on Wednesday nights, to help you prepare for Thursday.
Lectures are typically on Tuesday but a few are on Thursday (see calendar below).
Lectures are 10:00-11:30 in 10-250 followed by software lab 11:30-1:00 in 34-501.
Labs are typically on Thursday but a few are on Tuesday (see calendar below).
Labs are 10:00-1:00, in 34-501
| Tuesday | Thursday |
|---|---|
| Sep. 4 Registration Day |
Sep. 6 Lecture: Models of programs and programming styles Lab: Using Python and SoaR Lecture 1 Notes Assignment 1 |
| Sept. 11 Lecture: Functional programming: Higher-order procedures and list comprehension Software Lab: Functional programming Lecture 2 notes Assignment 2 utilityBrain.py prob.py |
Sep. 13 Lab: Using utility functions to combine behaviors and achieve complex goals nanoquizWeek2solns.pdf |
| Sep. 18 Lecture: Object-oriented programming Software Lab: Object-oriented programming Lecture 3 notes Assignment 3 fsm.py sequence.py UtilityBrainTB.py |
Sep. 20 Lab: Sequential combination of behaviors nanoquizWeek3solns.pdf |
| Sep. 25 Lecture: Difference equations Software Lab: Difference equations Lecture 4 notes Assignment 4 diffeq.py diffeq.pyc polynomial.pyc soar-graph.py feedback_brain.py |
Sep. 27 Lab: Driving down hallway nanoquizWeek4solns.pdf |
| Oct. 2 Lecture: Difference Equations and orders of growth Software Lab: Difference equations 3 ways: forward iteration, recursion, memoization Lecture 5 notes Assignment 5 differenceEquationWithInput.py polynomial.pyc soar-graph.py |
Oct. 4 Lecture: Z-transforms, feedback and Black's formula Software Lab: Transform manipulation software, finding poles, stability Lecture 6 notes (same source code as available on Tuesday) differenceEquationWithInput.py polynomial.pyc soar-graph.py |
| Oct. 9 Columbus Day |
Oct. 11 Lab: Driving down hallway, stable controller. Assignment 6 (lab) Assignment 6 Addendum on large gains differenceEquationWithInputNew.py |
| Oct. 16 Lecture: Circuits as constraint systems Software Lab: Resolving circuit constraints Lecture 7 notes Lecture 7 lecturer notes Assignment 7 Assignment 7 Code |
Oct. 18 Lab: Software to generate KCL constraints from circuit topology nanoquizWeek7solns.pdf |
| Oct. 23 Lecture: Developing circuit intuition; series, parallel, divider formulas. Thevenin Equivalents. Software Lab: Circuit examples Lecture 8 notes Lecture 8 extra notes Assignment 8 Assignment 8 Code genKcl.pyc |
Oct. 25 Lab: Designing resistor circuit interfaces for motors. nanoquizWeek8solns.pdf |
| Oct. 30 Lecture: Designing with Op-amps. Two port models and their limitations. Software Lab: Adding op-amps to constraint solver Lecture 9 notes Lecture 9 extra notes Assignment 9: Part 1 of 2 (same source code as assignment 8) |
Nov. 1 Lab: Designing an analog Robot head controller using op-amps. Assignment 9: Part 2 of 2 |
| Nov. 6 Lecture: Feedback system design, analog versus digital. Software Lab: Difference equation model of an op-amp Lecture 10 extra notes Assignment 10 control.py NIDAQ.py v_oscillo_cntrl.py |
Nov. 8 Lab: Design system for turning robot head towards light Lab report is Midterm |
| Nov. 13 Lecture: Search and planning Software Lab: Formulate search problems Lecture 11 notes Assignment 11 search.py Other code for Assignment 11 |
Nov. 15 Lab: Robot path planning nanoquizWeek11solns.pdf |
| Nov. 20 Lecture: Discrete probability Software Lab: Hidden Markov Models Lecture 12 notes Assignment 12 Code for Assignment 12 |
Nov. 22 Thanksgiving |
| Nov. 27 Lecture: Probabilistic model for state estimation Software Lab: State Update Assignment 13 Code for Assignment 13 |
Nov. 29 Lab: Robot localization nanoquizWeek13solns.pdf |
| Dec. 4 Lab: Robot localization and planning Assignment 14 |
Dec. 6 Lab: Final project Assignment 14 (Part 2) Assignment 14 Code |
| Dec. 11 Lab: Final project |
Dec. 13 |