16-311 Spring 2008 Course Overview |
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The following course outline is tentative. Time allotted to some topics may be modified during the semester. Blue background denotes current week. No student may record or tape any classroom activity without the express written consent of Howie Choset. If a student has a disability and needs to record or tape classroom activities, the student should contact the Office of Disability Resources to request an appropriate accommodation. Material Outline
Technical MaterialSchedule |
| Week | Day | Topics | Assignments |
| Week 1 | Mon 1/14 |
Course Overview, Logistics Waitlist students talk to Dr. Choset |
HW1: C Programming (due Tue, Jan 22) |
| Tue 1/15 |
Intro to C Programming I | -- | |
| Wed 1/16 |
Assign Teams/Attendance Computer Vision |
HW2: Rube Goldberg (Lab 1) (due Thurs, Jan 24) |
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| Week 2 | Mon 1/21 |
Vision |
-- |
| Tue 1/22 |
C Continued | HW1 due at beginning of class | |
| Wed 1/23 |
Demo Lab 1 Location: REL |
HW3: Vision
Programs (Lab 2) (due Tue, Jan 29) |
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| Thu 1/24 |
-- | HW2 due 11:59PM electronically | |
| Week 3 | Mon 1/28 |
Vision Problems |
-- |
| Tue 1/29 |
Hand out Lego Kits (mandatory) Location: REL |
HW3 due by 3:30 PM electronically | |
| Wed 1/30 |
Handy Board & Lego Controls & The Art of Lego | HW4: Braitenberg Vehicles (Lab
3) (due Tue, Feb 5) |
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| Week 4 | Mon 2/4 |
Guest speaker: Srinivasa Narasimhan | -- |
| Tue 2/5 |
Demo
Lab 3
Location: REL |
HW4 due by 3:30 PM electronically | |
| Wed 2/6 |
Controls Motion Planning: Bug, Potential, C-Space |
HW5
:Low-Level Base (Lab 4) (due Wed, Feb 13) |
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| Week 5 | Mon 2/11 |
Motion Planning: Road Maps, Configuration Spaces | -- |
| Tue 2/12 |
Demo Lab 4 | -- | |
| Wed 2/13 |
Motion Planning: Roadmaps, continued.
Cell Decompositions and Coverage |
HW6: Motion Planning (Lab 5) (due Wed, Feb 20) HW5 due at beginning of class |
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| Week 6 | Mon 2/18 |
Guest Speaker Chris Urmson (Urban Challenge Team Lead) |
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| Tue 2/19 |
No class: Prep for Motion Planning | ||
| Wed 2/20 |
Demo
Lab 5 Assign Lab 6 in parallel | HW6 due at beginning of class HW7: Sensors (Lab 6) (due Tue, Mar 4) |
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| Week 7 | Mon 2/25 |
Finish Path Planning, Sensors | -- |
| Tue 2/26 |
Midterm Review | -- | |
| Wed 2/27 |
-- MIDTERM -- | -- | |
| Week 8 | Mon 3/3 |
Explain USAR Project Locomotion |
HW8/9/10: USAR (Lab 7) (due Mar 18, 25; Apr 1, 2) |
| Tue 3/4 |
DEMO Lab 6 | -- | |
| Wed 3/5 |
Go over midterm
Inertial Navigation Systems |
-- | |
| Week 9 |
Mon 3/17 |
Midsemester Evaluations Overview of Kinematics Coordinate Transformations Intro | -- |
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Tue 3/18 |
Matrix Transformations | HW8 (Design Proposal) due in class | |
| Wed 3/19 |
3D Example Evaluate Design Proposals (Groups) | ||
| Week 10 | Mon 3/24 |
USAR Open Lab Hours USAR Prototype Evaluations |
-- |
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Tue 3/25 |
Open Lab Hours USAR Prototype Evaluations |
HW9 (Lab 7) due at 8pm | |
| Wed 3/26 |
USAR Prototype Selection Feedback in Class and Final Contest Prep |
-- | |
| Week 11 | Mon 3/31 |
NO CLASS (USAR Preparation ) | -- |
| Tue 4/1 |
USAR Demos (by appointment) | HW10 due | |
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Wed 4/2 |
USAR Final Competition:
Location: REL (NSH 3206) Time: 10:30-12:30 |
-- | |
| Week 12 |
Mon 4/7 |
USAR Wrapup Forward Kinematics Denavit & Hartenberg | -- |
| Tue 4/8 |
Forward Kinematics | HW11: Forward Kinematics (Lab
8) (due Wed, Apr 16) |
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| Wed 4/9 |
Inverse Kinematics | -- | |
| Week 13 |
Mon 4/14 |
Inverse Kinematics | Meet Final Contest Team |
| Tue 4/15 |
Demo Lab 8 | HW12: Inverse Kinematics (Lab
9) (due Wed, Apr 23) | |
| Wed 4/16 |
Space Robots | HW11 due at beginning of class | |
| Week 14 | Mon 4/21 |
Non-Holonomic Path Planning | -- |
| Tue 4/22 |
Non-holonomic Path Planning (Part 2) | HW13: Final Contest
(Lab 10) (due Wed, April 30) |
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| Wed 4/23 |
Demo Lab 9 | HW12 due at beginning of class | |
| Week 15 | Mon 4/28 |
Final Review | -- |
| Tue 4/29 |
Review for Final |
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| Wed 4/30 |
Demo Lab 10 (Final Contest) | HW13 due at beginning of class | |
| Finals Week | Tue, 5/6 |
FINAL EXAM
Time: 8:30-11:30 AM Location: TBA |
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Last updated 1/8/08 by Hanns Tappeiner (c) 1999-2008: Howie Choset, Carnegie Mellon |