| 1 |
Overview
Welcome, Staff, Logistics, Course Policies/Philosophy, Contest Preview: The Game, The Kit
Orc API and maslab.jar, OrcPad, PegBot, Soldering Tutorial |
Overview (PDF) |
| 2 |
Mechanical
Sensors and Cables |
Mechanical (PDF)
Sensors and Cables (PDF) |
| 3 |
Software Engineering
On MIT Server and your robot (make, Ant, CVS), Design Principles, Threading in Java® (more mechanics than theory), Pitfalls
Vision
Quick Review: Colors (HSV, Maslab colors, this year), Blue line (motivation), Determining color (thresholds on HSV, hysteresis, region support), See the tutorial!
Feature Detection: Methods (Template matching, Region growing, Clustering), Maslab features (What they are, Why they're useful) How to locate them (corner detector, symbol decoder): Possible algorithm, Describe feature detection lab |
Software Engineering (PDF)
Vision (PDF) |
| 4 |
Mapping
Coordinate frames (image->robot->world), Image formation, ranging (image->robot, relative orientation), Odometry (robot->world, absolute orientation), Correspondence problem (we've solved it for you), Modeling uncertainty, Dealing with ambiguity, Possible algorithm |
Mapping (PDF) |
| 5 |
Control
Motors/PWM/H-bridge
Simple Feedback (low-level control): Example: Korea-era smart bomb, Bang-bang control, Proportional control
State Machine (high-level control): Abstract definition and examples, Used for control of robot (6.004-style maze example, Brooks-style subsumption architecture), In Java® with threading: Leverage info covered in previous lecture, Full example, make code available |
Control (PDF) |
| 6 |
Advanced Vision
Clustering, Hough Transform, Stereo and Optical Flow, Statistical Models, Dealing with Noise, Performance
Advanced Control
PID, Kalman, Whatever you want (maybe some high-level stuff?)
Activity: Mapping activity, purely software activity |
Advanced Vision (PDF) |
| 7 |
Design Review |
|
| 8 |
Activity: Work on Checkpoint 2 |
|
| 9 |
Activity: Checkpoint 2: Score a Point |
|
| 10 |
Activity: Mock Contest 1 |
|
| 11 |
Programming 27 Robots: Distributed Algorithms for Robot Swarms and Engineering Creativity: Exercises for your Right Brain |
|
| 12 |
Activity: Mock Contest 2 |
|
| 13 |
Learning in Robots |
|
| 14 |
Activity: Impounding |
|
| 15 |
Activity: Contest Day |
|