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6.141/16.405J - RSS Syllabus Schedule of Lectures and Lab Exercises Week 1 Mon 02/03 REGISTRATION DAY Tue 02/04   Wed 02/05 1-2pm: Lec 1 (32-155): Introduction to RSS 3-5pm: Lab 1 (38-630): System Overview and Introduction to the µORCboard Thu 02/06   Fri 02/07 1-2pm: Forum 1: Communication and Collaboration 1pm: Challenge Design Exercise (CDE) assigned, due on Monday (Feb 10th) at 11:59PM (before midnight) Week 2 Mon 02/10 11:59pm: CDE due (i.e., email it to RSS-staff before midnight Monday) (CDE Technical Rubric) 1-2pm: Lec 2: Motor Control 3pm: Lab 1 due (on wiki) 3-5pm: Lab 2 out: Motor Control & Chassis Tue 02/11   Wed 02/12 1-2pm: Lec 3: Electric Motors 3-5pm: Labture: SVN Thu 02/13 Fri 02/14 1-2pm: Forum 2: Technical Briefings and collaboration (including handout on making effective slides and rubric) Week 3 Mon 02/17 Presidents Day -- Holiday Tue 02/18 MONDAY SCHEDULE OF CLASSES TO BE HELD. 1-2pm: Lec 4: Cameras, Images, and Low-Level Robot Vision 3pm: CDE returned with comments Wed 02/19 1-2pm: Lec 5: ROS: "Robot Operating System" (also available in PPT), given by Alec Poitzsch 3pm: Lab 2 due (on wiki & briefing in lab) 3-5pm: Lab 3/4 out: The Robot Operating System (ROS) and Visual Servoing Thu 02/20   Fri 02/21 1-2pm: Forum 3: Briefing conferences for teams Week 4 Mon 02/24 1-2pm: Lec 6: Robot Control Architectures and Sensing Tue 02/25   Wed 02/26 1-2pm: Lec 7: System Engineering and Testing Strategies 3pm: Lab 3/4 due (on wiki & briefing in lab) 3-5pm: Lab 5 out: Local Navigation and Error Analysis Thu 02/27   Fri 02/28 1-2pm: Forum 4: Collaboration Week 5 Mon 03/03 1-2pm: Lec 8: Motion Planning I Tue 03/04   Wed 03/05 1-2pm: Lec 9: Motion Planning II: Configuration Space 3pm: Lab 5 due (on wiki & briefing in lab) 3-5pm: Lab 6 out: Motion Planning and Global Navigation Thu 03/06   Fri 03/07 ADD DATE 1-2pm: Forum 5: Critiquing slides in class ("Revisions & Visuals") Week 6 Mon 03/10 1-2pm: Lec 10: Motion Planning III: Rapidly-exploring Random Trees (RRTs) for Efficient Motion Planning Tue 03/11   Wed 03/12 1-2pm: Lec 11: The RSS Course Challenge 3pm: Lab 6 due (on wiki & briefing in lab) 3-5pm: Lab 7 out: Grasping and Object Transport Thu 03/13   Fri 03/14 1-2pm: Forum 6: Collaborative Writing and the Challenge Design Document 1pm: Challenge Document Outline (Team & Individual) assigned, due on Friday Mar 21 Week 7 Mon 03/17 1-2pm: Lec 12: Navigation: Localization Tue 03/18   Wed 03/19 1-2pm: Lec 13: Navigation: Mapping 3pm: Lab 7 due (on wiki & briefing in lab) 3-5pm: Writing Team CDOs in lab Thu 03/20   Fri 03/21 1pm: Challenge Document Outline (CDO) due with real milestones Think about team effectiveness over spring break! Null Week 03/24 - 03/28 SPRING VACATION Week 8 Mon 03/31 1-2pm: Lec 14: Manipulation I: Mechanisms and Grasp Analysis 3-5pm: Launch Projects! Tue 04/01 Wed 04/02 1-2pm: Lec 15: Manipulation II: Mechanisms, Grasping, and Inverse Kinematics 3pm: CDO returned with engineering feedback Thu 04/03   Fri 04/04 1-2pm: Forum 7: From Outline to Final Document (CDO -> CDD) 1pm: Final Challenge Design Document (CDD) assigned, due Friday (04/11) Week 9 Mon 04/07 1-2pm: Lec 16: Simultaneous Localization and Mapping (SLAM) Tue 04/08   Wed 04/09 1-2pm: Lec 17: The DARPA Grand Challenge (2006-2007) 3-5pm: Lab: Milestone 1 DEMO Thu 04/10 Campus Preview Weekend (April 10-13) Fri 04/11 1-2pm: Debate 101 : 10 Steps to Successful Debating (lecture given by Ed Schiappa) 1pm: Final Challenge Design Document (CDD) due Week 10 Mon 04/14 1-2pm: Lec 18: Large Mobile Robots Tue 04/15 Wed 04/16 1-2pm: Lec 19: David Autor: "Technology Anxiety Past and Present" 2-3pm: Coffee & discussion, Forbes Cafe (32-164/32-162) 3-5pm: Lab: Milestone 2 DEMO Thu 04/17   Fri 04/18 1-2pm: Forum 8: Collaboration Course Correction No Forum today. Individual conferences will be scheduled into a different time slot. Week 11 Mon 04/21 Patriots Day -- Holiday Tue 04/22 Patriots Day -- Holiday Wed 04/23 1-2pm: Lecture Cancelled, Forum Cancelled 3-5pm: Lab: Milestone 3 DEMO Thu 04/24 DROP DATE Fri 04/25 1-2pm: Lecture Cancelled, Forum Cancelled Week 12 Mon 04/28 1-2pm: Debates in 32-155 3-4pm: Debates in 24-121 4-5pm: Lab time in 38-630 Tue 04/29   Wed 04/30 1-2pm: Debates in 32-155 3-4pm: Debates in 24-121 4-5pm: Lab: Milestone 4 DEMO 38-630 Thu 05/01   Fri 05/02 1-2pm: Debates in 32-155 Week 13 Mon 05/05 NO LECTURE 3-5pm: Lab: Challenge Dry Runs (ungraded) Tue 05/06   Wed 05/07 NO LECTURE 3-5pm: Lab: Challenge Runs (graded) Thu 05/08   Fri 05/09 1-2pm: NO CLASS TODAY Final Forum 9: Communication lessons learned and not learned 1pm: RSS Reflective Report & CI self-assessment assigned, due Thursday (05/15) Week 14 Mon 05/12 1-2pm: Lec 20: The DARPA Robotics Challenge (2012-2015) & Discussion on Communication Lessons Learned 2-3pm: Coffee & discussion, Forbes Cafe (32-164/32-162) 3-5pm: MANDATORY : robots will be disassembled and parts sorted/stored Tue 05/13   Wed 05/14 1-2pm: Lec 21: Course Wrap-up, Final lecture Thu 05/15 LAST DAY OF CLASSES 11:59 pm: Reflective Reports and Communications self-assessment due Week 15 05/19 - 05/23 FINAL EXAM WEEK (no 6.141 final)