| Fall 2005 Course Overview
|
|
The following course outline is tentative. Time allotted to some topics may be modified during the semester. Blue background denotes current week. Material Outline
Technical MaterialSchedule |
| Week | Day | Topics | Assignments |
| Week 1 8/29 - 8/31 |
Mon |
Course Overview, Logistics Waitlist students talk to Dr. Choset |
HW1: C Programming (due Tue, Sep. 6) |
| Tue |
Intro to C Programming I | -- | |
| Wed |
Assign Teams/Attendance Computer Vision |
HW2: Rube Goldberg (Lab 1) (due Thu, Sep. 8) |
|
| Fri |
SH 125 4-5:00 More C | -- | |
| Week 2 9/5 - 9/7 |
Mon |
Labor Day -- NO CLASS |
-- |
| Tue |
C and Robot Vision Continued Hand in HW1 |
-- | |
| Wed |
Demo Lab 1 HW2 due 11:59PM Thu 9/8 Electronic |
HW3: Vision
Programs (Lab 2) (due Tue, Sep. 13) |
|
| Week 3 9/12 - 9/14 |
Mon |
Vision Problems Introduction to the Handyboard |
-- |
| Tue |
Hand out Lego Kits (mandatory) Hand in HW3 |
-- | |
| Wed |
Lego Controls & The Art of Lego | HW4: Braitenberg Vehicles (Lab
3) (due Tue, Sep. 20) |
|
| Week 4 9/19 - 9/21 |
Mon |
Intro to Motion Planning | -- |
| Tue |
Demo HW4 (Lab 3) | -- | |
| Wed |
Motion Planning: Potential Functions, Configuration Space (Degrees of Freedom) |
HW5:Low-Level Base (Lab 4) (due Tue, Sep. 27) |
|
| Week 5 9/26 - 9/28 |
Mon |
Motion Planning: Road Maps Configuration Spaces |
-- |
| Tue |
Demo HW5 (Lab 4) | -- | |
| Wed |
Motion Planning: Roadmaps, continued. | HW6: Motion Planning (Lab 5) (due Wed, Oct. 5) |
|
| Week 6 10/3 - 10/5 |
Mon |
Cell Decompositions and Coverage | -- |
| Tue |
Sensors |
HW7: Sensors (Lab 6) (due Tue. Oct. 18) |
|
| Wed |
Demo HW6 (Lab 5) | -- | |
| Week 7 10/10 - 10/12 |
Mon |
INS and Mobile Base | -- |
| Tue |
Midterm Review | -- | |
| Wed |
-- MIDTERM -- | -- | |
| Week 8 10/17 - 10/19 |
Mon |
Midterm Return Space Feedback |
-- |
| Tue |
Demo HW7 (Lab 6) | -- | |
| Wed |
Explain USAR Project |
HW8/9/10: USAR (Lab 7) (due Oct 26, Nov 2, 3, 9, 10) |
|
| Week 9 10/24 - 10/26 |
Mon |
Matrix Transformations | -- |
| Tue |
Matrix Transformations 3D example Hand in HW8 (Design Proposal) |
-- | |
| Wed |
Evaluate Design Proposals (Groups) | -- | |
| Week 10 10/31 - 11/2 |
Mon |
USAR Open Lab Hours USAR Prototype Evaluations |
-- |
| Tue |
Open Lab Hours USAR Prototype Evaluations HW9 (Lab7) [Due at 8pm] |
-- | |
| Wed |
USAR Prototype Selection Feedback in Class and Final Contest Prep |
-- | |
| Week 11 11/7 - 11/9 |
Mon |
USAR Preparation No Class |
-- |
| Tue |
USAR Demos (by appointment) HW10 |
-- | |
|
Wed |
USAR Final Competition: NSH 3305 10:30-12 |
-- | |
| Week 12 11/14 - 11/16 |
Mon |
USAR Wrapup, Forward Kinematics, Denavit & Hartenberg | -- |
| Tue |
Forward Kinematics DH Transforms |
HW11: Forward Kinematics (Lab
8) (due Tue, Nov. 22) |
|
| Wed |
Inverse Kinematics | -- | |
| Week 13 11/21 - 11/23 |
Mon |
Inverse Kinematics | Meet Final Contest Team |
| Tue |
Demo HW11 (Lab 8) | HW12: Inverse Kinematics (Lab
9) (due Wed, Nov. 30th) |
|
| Wed |
Thanksgiving Break -- no class | Remember HW assignment | |
| Week 14 11/28 - 11/30 |
Mon |
Non-Holonomic Path Planning | -- |
| Tue |
Non-holonomic Path Planning | HW13: Final Contest (Lab 10) HW due Dec 7th |
|
| Wed |
Demo HW12 (Lab 9) | -- | |
| Week 15 12/5 - 12/7 |
Mon |
Final Review | -- |
| Tue |
Review for Final |
-- | |
| Wed |
Demo Lab 10 - Final Contest | -- | |
| Week 16 12/12 |
Mon |
Final Exam 1-4pm BH A51 |
-- |