Lecture Notes
| SES # | TOPICS | LECTURE NOTES |
|---|---|---|
| 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 |
