Spring 2005 |
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Instructor: Monica Nicolescu | ||||||||
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Teaching/laboratory assistant: TBA | ||||||||
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Time and Place | ||||||||
| Lectures: Tuesday: 9:30am-10:45am, TBA Labs: Thursday: 9:30am-10:45am and 11:00am-11:50am, TBA | ||||||||
Required Textbooks | ||||||||
| The Robotics Primer,
2001. Author: Maja Mataric' (available in draft form at the beginning of the semester) |
 | Robotic Explorations: An Introduction to Engineering Through Design,
2001. Author: Fred G. Martin |
Course description |
| This is a hands-on course on introduction to robotics, relying on the use of LEGO-based robots. The course will present the basic concepts in robotics, such as sensors, actuators, and will describe the most important approaches to robot control. Students will have the opportunity to apply the concepts covered during the lectures in the laboratory sessions, by constructing their own robots and developing controllers for various robotic tasks. The class will have a lecture and a laboratory component. Each week, the lectures will be held on Tuesdays, and the laboratory sessions will be held on Thursdays. More details regarding the lectures and the laboratory sessions will be posted on the web page soon. |
Prerequisites |
| The class requires good programming skills and that you should be familiar with the C programming environment. For the undergraduate section, a letter grade of B+ and better in CS 201 is recommended. |
Laboratory | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| The laboratory sessions will be focused on building and programming LEGO based robots. The robots will be equipped with a Handy Board microcontroller that can be programmed using Interactive C. A reference on the Handy Board and Interactive C can be found here. | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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Syllabus |
| Following are the topics that will be discussed, listed in the approximate order in which they will be covered. |
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Class schedule |
| The topics presented and the lecture notes for each class will gradually be posted below as we cover them in the class. The assignments and their due dates will also be posted in this table. Please check this web page regularly for updates. |
| Date | Topic | Readings | Assignments |
Jan 18 |
Introduction | Chapters 1, 3 (Mataric'), Sections 1.1, 1.2.3 (Martin) |
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Jan 25 |
A brief history of robotics | Chapters 2, 4 (Mataric'), Section 4.1 (Martin) | --- |
Feb 1 |
Actuators & Effectors | Chapters 5, 6 (Mataric'), Section 4.4 (Martin) | --- |
Feb 8 |
Simple Sensors | Chapters 7, 8 (Mataric'), Chapter 3, Section 6.1 (Martin) | --- |
Feb 15 |
Complex Sensors | Chapter 9 (Mataric'), Chapter 6 (Martin) | Hw1 out |
Feb 22 |
Feedback control | Chapter 10 (Mataric'), Chapter 5 (Martin) | --- |
March 1 |
Control Architectures, Reactive Control | Chapters 11, 12, 14 (Mataric') | --- |
March 8 |
MID-TERM | --- | --- |
March 15 |
Reactive Control, The Subsumption Architecture | Chapter 14 (Mataric') | --- |
March 22 |
Behavior-Based Control | Chapter 16 (Mataric') | --- |
April 5 |
Behavior-Based Control, Behavior Coordination, Emergent Behavior | Chapters 17, 18 (Mataric') | --- |
April 12 |
Emergent Behavior, Deliberative Control, Hybrid Control | Chapters 13, 15 (Mataric') | --- |
April 19 |
Hybrid Control, Robot Learning | Lecture notes | Hw2 out |
April 26 |
Robot Learning, Future of Robotics | Lecture notes | --- |
May 3 |
FINAL TEST (during class time) | --- | --- |
Assignments and grading | |||||||||||||||||||
| Evaluation for this class will be based on your performance during
the laboratory sessions, two mid-term exams and a final project. Regular participation in the
laboratory sessions is required. If you are unable to attend a lab session
you must inform me in advance.
Grading policy (tentative, subject to change):
Late policy: No late submissions will be accepted. Exam policy: Permission to take exams on other dates than scheduled will not be given, except for extreme medical emergencies. Academic integrity: Students are encouraged to study together, however each student must individually prepare his/her solutions. Cheating or plagiarism are not permitted and will be sanctioned according with the UNR policy on Academic Standards. You should carefully read the section on Academic Dishonesty found in the UNR Student Handbook (copies of this section are on-line). Your continued enrollment in this course implies that you have read it, and that you subscribe to the principles stated therein.
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