Projects

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Students work on two projects during the term. The first project, spanning Labs 1 through 4, is to build a de-mining robot. The second project, covering Labs 5 through 11, is to build a robot that helps Santa Claus deliver presents to a group of houses.

De-mining Robot

Each group of 2-3 students develops a robot capable of searching for hidden metal disks ("mines") in a open space. The goal is to create a search algorithm that lets the robot hunt autonomously, and when a mine is found to pause on top of it.

The robot has a set of "whiskers" at its corners to detect walls and obstructions. The mine sensor itself has a fairly small radius of detection, about 2", so the sensor must pass nearly over the top of the mine for it to be detected.

The robot has a failsafe control link that causes the robot to shut down if it loses contact with the student controller. While this was supposed to be a wireless connection, mysterious interference during the demonstration led most students to fall back on a wired control link.

Lab Checkout (PDF)

Video: Final Demonstrations

These short video clips of the De-mining Robot demonstrations are from Lab #4. They illustrate variations in search patterns and in the ability to accurately detect a mine that's within range of the search.

• Robot loses RF control link and stops (RM - 56K) (RM - 80K) (RM - 220K)
• Robot gets stuck in a control loop (RM - 56K) (RM - 80K) (RM - 220K)
• Working RF control link; robot finds a mine (RM - 56K) (RM - 80K) (RM - 220K)
• Robot searches without success (RM - 56K) (RM - 80K) (RM - 220K)
• Robot finds a mine (RM - 56K) (RM - 80K) (RM - 220K)
• Robot finds two mines (RM - 56K) (RM - 80K) (RM - 220K)
• Students try to keep the robot's RF link alive (RM - 56K) (RM - 80K) (RM - 220K)
• Robot with a novel search pattern (RM - 56K) (RM - 80K) (RM - 220K)
• Robot misses a mine, then finds one (RM - 56K) (RM - 80K) (RM - 220K)
• Robot searches without success (RM - 56K) (RM - 80K) (RM - 220K)
• One of the "better functioning" designs, in terms of speed and search technique (RM - 56K) (RM - 80K) (RM - 220K)
• Robot searches in a spiral out from center (RM - 56K) (RM - 80K) (RM - 220K)
• Robot finds a mine; very quick reverse after pause (RM - 56K) (RM - 80K) (RM - 220K)

Santa's Home Delivery Robot

This robot must accomplish two distinct tasks:

1. Follow a curved path down a hallway into the robotics lab; and
2. Use its manipulator arm to deliver presents to several houses, as well as take cookies from each house.

Project Intro and Description (PDF)

Project Demonstration Requirements (PDF)

Video: Final Demonstrations

Introduction by Professor Asada (RM - 56K) (RM - 80K) (RM - 220K)

Detailed Walkthrough of Tasks by Brian Selden, course TA (RM - 56K) (RM - 80K) (RM - 220K)