|
|
Prerequisite:
The robotics minor will have a pre-requisite: knowledge of the C
language, basic programming skills, and familiarity with basic
algorithms.
In the past, students received this background knowledge by
taking Introduction to Programming and Computer Science (15-127). However,
this course is no longer offered. Now, Computer Science no longer offers
introductory C or C++ courses and thus
- if a student has absolutely no programming experience, then
the student should
take 15-100 Introductory/Intermediate Programming (10 Units) and then
possibly 15-111 (10 Units). This should then be followed by 15-113 (5 Units)
- If a student has some programming experience, then the student should
take 15-113 (5 units)
15-113 introduces students to C but assumes the student has prior
programming experience. Please see
here for
more info. Finally for students who just need a "brush up" on C programming,
Howie Choset will offer a C minicourse in the same semester that
general robotics is taught.
Core Courses
The following courses must be taken in this minor:
General Robotics
|
|
24-354 General Robotics
Fall (Spring for 2001-2002): 12 units
Instructor: Choset
This course presents an overview of robotics in practice and research
with topics including vision, motion planning, mobile mechanisms,
kinematics, inverse kinematics, and sensors. In course projects,
students construct robots which are driven by a microcontroller, with
each project reinforcing the basic principles developed in
lectures. Students nominally work in teams of three: an electrical
engineer, a mechanical engineer, and a computer scientist. This course
will also expose students to some of the contemporary happenings in
robotics, which includes current robot lab research, applications,
robot contests and robot web surfing.
Optional Textbook: ``Introduction to Robotics'' by McKerrow
Pre-requisites:
Differential Calculus (21-115), Integral Calculus (21-116)
Integration and Differential Equations (21-117)
Calculus of Approximation (21-118).
These four mini-courses comprise the former courses
Calculus I (21-121), Calculus II (21-122)
|
Controls
Chose any one of the following courses
|
|
18-370 Fundamentals of Control
Fall: 12 units
An introduction to the fundamental principles and methodologies of
classical feedback control and its application. Emphasis is on problem
formulation and the analysis and synthesis of servomechanisms using
frequency and time domain techniques. Topics include analytical,
graphical and computer-aided (MATLAB) techniques for analyzing and
designing automatic control systems; analysis of performance,
stability criteria, realizability and speed of response; compensation
methods in the frequency domain, root-locus and frequency response
design and pole-zero synthesis techniques; robust controller design;
systems with delay and computer control systems; transfer function and
state space modeling of linear dynamic systems; nonlinearities in
control systems; and control engineering software (MATLAB). 3 hrs.
lec., 1.5 hrs. rec., 3 hrs. MATLAB lab.
Prerequisite:
18-396.
|
24-451 Feedback Control Systems
Fall: 12 units
Instructor: Messner or Lin
Fundamentals of feedback control with emphasis on classical techniques
and an introduction to state space methods. Topics include the
following: frequency domain modeling and state space modeling of
dynamical systems; feedback control system concepts and components;
control system performance specifications such as stability, transient
response, and steady state error; analytical and graphical methods for
analysis and design - root locus, Bode plot, Nyquist criterion; design
and implementation of proportional, proportional-derivative,
proportional-integral-derivative, lead, lag, and lead-lag
controllers. Laboratory work will include implementation and
evaluation of various controllers on real systems for comparison with
analytical models. Extensive use of computer aided analysis and
design software. 3 hrs. lec., 3 hrs. lab.
Prerequisites:
15-127
24-352
06-205 Chemical Engineering Process Control
Fall: 6 units
This course presents basic concepts of process dynamics and feedback
control. Included are selection of measurements and manipulated
variables, definition of transfer functions, creation of block
diagrams and closed loop configurations. The course also covers
concepts of open loop and closed loop stability and tuning of PID
controllers.
Prerequisite:
06-204
16-299 Introduction to Feedback Control Systems
Spring: 9 units
This course is designed as a first course in feedback control and
systems. Course topics will include systems, dynamic response, feedback
control, time and frequency domain analysis, Laplace transforms,
state-space design, digital control, and robotic control. Laboratory
work will include implementation of controllers for force feedback
robotic devices.
Expose CS majors to systems, control, and laboratories with
mechanical systems. Priorities given to those with robotics minor.
This course satisfies the control requirement for robotics minor.
Prerequisite:
Matrix Algebra is helpful. Simple C/C++ knowledge is required (113 or
mini-C course?). Some exposure to data structure is required (211?)
Dynamics and Manipulation
Chose any one of the following courses
|
|
15-384 Robotic Manipulation
Fall: 9 units
Instructor: Matt Mason
Foundations and principles of robotic manipulation. Topics include
computational models of objects and motion, the mechanics of robotic
manipulators, the structure of manipulator control systems, planning
and programming of robot actions.
Students may take 16-741 Mechanics of Manipulation, the
graduate advanced manipulation class, in place of 15-384,
with permission of both the director of the minor and the
instructor, but this option is seriously discouraged. Also, 16-741
cannot satisfy one of the free electives in the minor.
24-353 Intermediate Dynamics
Spring: 9 units (rarely offered)
This course presents classical (i.e., nonrelativistic) dynamics via
the vector formulation of Newtonian mechanics and the analytical
dynamics of Lagrange's equations. Classical dynamics is used for the
purpose of obtaining mathematical models of dynamic systems which are
then employed in the analysis of dynamic behavior and in design
synthesis. Course contents include a review of particle kinematics and
Newton's laws, kinematics of rigid bodies in general motion, Newtonian
kinetics of rigid bodies including the Newton-Euler equations of
motion, impulse-momentum and work-energy methods, fundamentals of
analytical mechanics including the principle of virtual work and
Hamilton's principle leading to Lagrange's equations of motion, and
advanced issues of analytical mechanics. 3 hrs. lec
Prerequisites:
24-311
24-352
24-355 Kinematics and Dynamics of Mechanisms
Spring: 9 units
This design-oriented course addresses the kinematics and dynamics of
mechanisms with applications to linkage systems, reciprocating
engines, and industrial machinery. Conventional as well as innovative
rigid-body dynamic systems are studied. Problems of kinematics and
dynamics are framed in a form suited for computer analysis. The course
bridges analysis and design by emphasizing the synthesis of
mechanisms. To stimulate a creative approach, homework and project
work draw upon actual engineering design problems. 3 hrs. rec.
|
Electives (Not a complete list)
The minor requires at least two electives. The following is a list of
the pre-approved electives. Also, the student may take at most one
independent study or an upper level Robotics Institute course. Finally, this
is not intended to be an exhaustive list, but rather a strongly suggested
one. Please feel free to email Howie Choset if you have suggestions.
|
|
15-462 Computer Graphics I
Fall and Spring: 12 units
This course provides a comprehensive introduction to computer graphics
modeling, animation, and rendering. Topics covered include basic
image processing, geometric transformations, geometric modeling of
curves and surfaces, animation, 3-D viewing, visibility algorithms,
and shading. Students gain experience producing simple animations.
Prerequisites:
15-212
21-241
21-259 (or equivalent).
15-463 Computer Graphics II
Spring: 12 units
More advanced computer graphics. Like 15-462, its goal is to teach
students to understand how graphics algorithms work, and how to develop
their own, rather than on the use of commercial software systems.
Topics include: image filtering, Fourier transforms, image warping,
parametric surfaces, spatial data structures, animation, antialiasing,
recursive ray tracing, radiosity, and volume rendering.
Prerequisite:
15-462
15-385 Computer Vision
Fall or Spring: 9 units
Basic concepts in machine vision, including sensing and perception,
2D
image analysis, pattern classification, physics-based vision, stereo
and motion, and solid model recognition.
16-264 Humanoids
Fall or Spring (check catelogue): 9 units
This course will survey work on humanoid robots and simulated humans in
movies, games and other applications. Topics will be taken from
perception including visual, auditory, and tactile perception,
cognition including reacting, planning, and learning, and movement
generation including kinematics, dynamics, control, manipulation,
and bipedal locomotion. Click here for more info.
16-362/16-862 Introduction to Mobile Robot Programming
Fall: 9 units
Instructor: Illah Nourbakhsh
The course will cover all aspects of mobile robotics, starting
at low-level PID control and behavioral control and graduating all the
way to robot team communication and interleaving planning and
execution.
The class will present a strong formal approach and will apply those
formalisms to real robots that you program in teams. We will use Nomad
150 robots (see the note below about CS 224) and we will also make use
of some new, smaller robots that are quite extraordinary. This course
is for any undergraduate or graduate who has working knowledge of at
least one programming language and has general intellectual
enthusiasm. This class, which is limited enrollment, will challenge
you.
16-721 Advanced Robot Perception
No information available
16-778/18-778/24-700A Mechatronic Design
Spring: 9 units
Instructor: Fedder, Choset
Mechatronics is the synergistic integration of mechanism, electronics,
and computer control to achieve a functional system. Because of the
emphasis upon integration, this course will center around laboratory
projects in which small teams of students will configure, design, and
implement several mechatronic devices or systems. Lectures will
complement the laboratory experience with comparative surveys,
operational principles, and integrated design issues associated with
the spectrum of mechanism, electronics, and control components. The
course is open to ECE, ME and RI graduate students and advanced
undergraduates. Class size is limited to 30 students, split evenly
among the three departments.
Note that this course is primarily for Graduate and 5th-year senior
students
in Mech.E, ECE, or Robotics and is limited to 10 students from each
department. Seniors may take the course upon availability of slots or
with permission of instructor.
24-384 Special Topics in Design: Computational Geometry
Fall: 9 units
Instructor: Shimada
With rapid advances in computer hardware and graphics systems, handling
three dimensional geometric information on the computer has become
essential in many research and application areas, such as computer-aided
design (CAD), computer-aided manufacturing (CAM), computer-aided
engineering (CAE), robotics, computer vision, and computer graphics.
This course teaches basic concepts and algorithms to solve common
geometric problems in these research and application areas. Such
geometric problems include: (1) line segment intersection, (2) polygon
inclusion, (3) convex hull calculation, (4) range searching, (5)
closest-point search, (6) domain tessellation, (7) curve fitting, (8)
collision detection, (9) geometric feature search, and (10) optimal
packing. The course is designed to give students an ability to design
and implement solutions to these geometric problems. Some programming
experience in at least one computer language is required.
16-735 Robotic Sensor Based Motion Planning
Spring: 9 units
Instructor: Choset
Complete motion planning strategies determine a path, or guarantee one
cannot be found, in finite time. A path is either a simple traversal
from start to goal, an exploration which can be used for mapping, or a
coverage traversal (to be used by a vacuum cleaner or snow removal
robot). In this course, the geometric and topological algorithmic
foundations are presented as they are needed to understand the current
motion planning approach. The second half of this course focuses on
complete motion planning algorithms that rely solely on sensor
information. This class is NEITHER a mobile robot architecture class,
NOR a math class, however assignments will require mobile robot
programming
and mathematical derivations. This class is aimed at new graduate students
and advanced undergraduates.
60-422 Advanced ETB: Robotic Art Studio
Fall or Spring: 10 units
Instructor: Simon Penny
Explores the use of embedded microcontrollers and robotic technologies
in programmed behaving artworks. Includes the design and construction
of robotic artwork, development of mechanical, electronic and
programming skills, and of theoretical and esthetic
skills. Experience with electronics and/or mechanics is highly
desirable, as is familiarity with contemporary art. Cross-listed with
Computer Science 15-499.
Prerequisites:
60-110
60-210
or consent of instructor.
24-779 Human Systems and Control
Fall: 9 or 12 units
Instructor: Yoky Matsuoka
This course covers the mechanisms of human motor systems and control,
using arm movements as an example. The course starts from the anatomy
of muscles, sensors, spinal cord, and brain; then functional analysis of
these system components will follow. After system analysis, all
components are integrated to study feedback control dynamics. Using
physiological studies such as psychophysical and lesion experiments, the
course covers classic to modern theories of how the nervous systems may
control movements. Advance topics include adaptation, representation,
coordinate systems, cognitive involvement, and rehabilitation techniques
for motor impaired patients. A project/presentation is required to take
the course for 12 units. 3 hours. Lec.
Prerequisites:
21-241
21-260,
24-451
or consent of instructor.
85-213 Information Processing and Artificial Intelligence
Spring: 9 units
85-420 Perception and Perceptual Development
Offered intermittently: 9 units
This course examines how people perceive the world around them. The
course will cover a number of topics including the major theories of
perception, the empirical data on human vision and other senses, the
neural substrates of perception, and perceptual development.
15-494 Cognitive Robotics course
First offered January 2006: 9 units
Instructor: Touretzky
Cognitive robotics is a new approach to robot programming based on
high level primitives for perception and action. These primitives
draw inspiration from ideas in cognitive science, such as visual
routines, dual coding theory, and affordances. Students will
experiment with these primitives and help develop new ones using the
Tekkotsu software framework on the Sony AIBO robot dog. Prior
robotics experience is not necessary, but strong programming skills
are required.
|
For questions about the Robotics Minor, contact Howie Choset
For problems with this site, contact the Webmaster
This site was last updated on February 15, 2000
|
