Schedule

Week Date Chapter
1 Tue Aug 27 Introduction and Design
Thu Aug 29 Layout and Prototyping
2 Tue Sep 3 Safety and Electronics
Thu Sep 5 Programming with Toit
3 Tue Sep 10 Microcontroller Utilities
Thu Sep 12 Open-Loop Go to Goal
4 Tue Sep 17 Motor Control
Thu Sep 19 Closed-loop Go To Goal
5 Tue Sep 24 Embedded Systems
Thu Sep 26 Starting with Arduino
6 Tue Oct 1 Refactoring Arduino Code
Thu Oct 3 Arduino Motor Control
7 Tue Oct 8 Pose Estimation
Thu Oct 10 Kinematic Modeling
8 Tue Oct 15 Fall break
Thu Oct 17 The Arduino CLI
9 Tue Oct 22 Motion Control
Thu Oct 24 Position Control
10 Tue Oct 29 Adding a Compass
Thu Oct 31 Sensor Fusion
11 Tue Nov 5 Work Day
Thu Nov 7 Work Day
12 Tue Nov 12 Robots in our Society
Thu Nov 14 Case Study Discussions
13 Tue Nov 19 Simulation
Thu Nov 21 Path Planning
14 Tue Nov 26 Work Day
Thu Nov 28 Thanksgiving
15 Tue Dec 3 Vision
Thu Dec 5 Reading day
16 TBD Final exam

Course Topics and Modules

Modules

  1. Design and Electronics (1,2,3,4)
  2. Modeling and Feedback Control (6,7,8,9,10,11)
  3. Maps and Motion Planning (12,13,14)
  4. Uncertainty (15,16)
  5. Localization and Mapping (17,18,19)
  6. Vision and Learning (20,21,22,23,24)
  7. Societal Impacts (5,25)
Chapter Topic Interactive Exercise
1 Introduction and Design CAD with Onshape Prototyping
2 Design, Assembly, and Electronics Wokwi Simulator? Circuits and Wiring
3 Arduino and Embedded Systems Bluetooth LE Remote Control
4 Open-Loop Go to Goal Go to Goal Motor Control 1
5 Culture, Automation, and Jobs Discussions
6 Kinematic Modeling Kinematics Motor Control 2
7 Sensors: Wheel Encoders, IMU, and LIDAR IMU Plotting Sensor Plotting
8 Feedback Control Proportional Control Motor Control 3
9 Sense-Plan-Act Go to Goal Go to Goal
10 Kinematic Trajectory Tracking Tracking Tracking
11 Bug Algorithms and State Machines Bug0 Bug0/1/2
12 Maps and Representations Occupancy Grid Occupancy Grid
13 Sampling and Graph Search Graph Search D* Lite
14 Global and Local Path Planning Dynamic Reactive Control
15 Uncertainty and Error Propagation Uncertainty Senor Modeling
16 State Estimation and Filters Circle Drive Pose Estimation
17 Localization Sensor Fusion Sensor Fusion
18 Iterative Closest Point (ICP) ICP ICP
19 Simultaneous Localization and Mapping (SLAM) SLAM SLAM
20 Embedded Vision SenseCraft
21 Feature Extraction and Optical Flow Optical Flow Optical Flow
22 Object Detection and Segmentation Segmentation Segmentation
23 ?Visual SLAM?
24 Imitation and Reinforcement Learning
25 Moral Decision Making
26 Project Workday
27 Project Workday

Concept Inventory

Here is the inventory of topics I considered when developing this course.

Category Concepts
1 Design Requirements, Materials, CAD, Fabrication, Mechatronics, Electronics, Safety
2 Programming Embedded Systems, Communication, Real-Time, Debugging, Security, IoT, DSP,
3 Math Linear Algebra, Calculus, Probability, Statistics, Discretization, Optimization
4 Modeling Diagramming, Numerics, Linearization, Kinematics, Dynamics, Simulation, Motion Capture
5 Control Feedback, Motion, Robustness, Adaptivity, Reactive, Behavioral
6 Planning Search, Mapping, Motion, Trajectory
7 Vision Conventional, Learning, Optical Flow
8 Uncertainty Estimation, Localization, Fuzzy Logic, Filtering, Identification, SLAM
9 Society History, Laws, Ethics, Morals, Jobs, Pop-Culture, HRI

Mind Map of Mobile Robotics