Autonomous Mobile Robots

*** Robotics Students: I have final reports if you want to view them for educational purposes. Email me.
*** There are assorted robot video DVD's and VCD's in the Prototyping Laboratory for your viewing pleasure.

Robot Tank Battle Videos

Tank Battle 2007 Clips

Tank Battle 2005 Clips

Tank Battle 2004 Clips

Semester Schedule - Schedule.xls

Week	Date	Topic	Project Due
1	6-Sep-2006	Introduction and Overview
2	13-Sep-2006	Sensors	Formed Groups
3	20-Sep-2006	Actuators/Controllers and programming
4	27-Sep-2006	Tools Overview/ Individual Robot Proposal Review	Robot Proposal (Hand-in)
5	4-Oct-2006	68HC11 Assembler	Finalized Robot Proposal (Hand-in)
6	11-Oct-2006	Behavioral Programming Concepts
7	18-Oct-2006	Lab/Discussions	Robot Construction Progress Oral Presentation
8	25-Oct-2006	Lab/Discussions	Robot Construction Progress Oral Presentation
9	1-Nov-2006	Lab/Discussions	Robot Construction Progress Oral Presentation
10	8-Nov-2006	Lab/Discussions	Completed Robot Platform (Demo)
11	15-Nov-2006	Lab/Discussions	Light Tracking behavior (Demo)
12	22-Nov-2006	Lab/Discussions	Obstacle Avoidance behavior (Demo)
13	29-Nov-2006	Lab/Discussions	TBD
14	6-Dec-2006	Lab/Discussions	TBD
15	13-Dec-2006	Contest Running	Final Projects Due (Demo + Final Paper)

ME412 Details

Course Description - ME412_Description.pdf

Text - Mobile Robots: Inspiration to Implementation, 2nd Ed.

Semester Topics / Schedule - Schedule.xls

2006 Cooper Union Robot Tank Battle Arena

2006 Cooper Union Robot Tank Battle Rules

ME412 Resources

Videos (MPeg 4) of 2004 Robot Tank Battle
Tank Battle 2004 Clips

Videos (MPeg 4) of 2005 Robot Tank Battle
Tank Battle 2005 Clips

My Robotics Home Page - http://www.cooper.edu/~mar/Welcome.html

Videos of My Robot in Action - http://www.cooper.edu/~mar/mar.htm

My Robotics Links Page - http://www.cooper.edu/~mar/robotics_links.htm

Trinity College Fire Fighting Robot Home Page - http://www.trincoll.edu/events/robot/

Andrew Louie's videos of his team's 2005 International Finals 3rd-place winning Fire-Fighting Robot - http://www.andrewlouie.com/cooper/

Robotics Competition FAQ - http://robots.net/rcfaq.html

Resistor Color Code Guide - http://www.elexp.com/t_resist.htm

Subsumption Architecture - http://ai.eecs.umich.edu/cogarch0/subsump/index.html

Class Notes

Sensors - sensors.pdf

Actuators - actuators.pdf

My Demo IC program - emantest.c

Previously Used Robotics Parts Info

Contact Sensor datasheet - http://www.mouser.com/catalog/specsheets/MS-100118.pdf

CdS Light Sensor datasheet - http://www.mouser.com/catalog/specsheets/083393.pdf

Reflective Photosensor (QRD1114) datasheet - http://www.fairchildsemi.com/ds/QR/QRD1114.pdf

IR Range Sensor (GP2D12) - http://www.acroname.com/robotics/parts/R48-IR12.html
IR Range Sensor (GP2D120) - http://www.acroname.com/robotics/parts/R146-GP2D120.html
IR Range Sensor Handy Board Application Notes - http://www.acroname.com/robotics/info/examples/GP2D12-1/GP2D12-1.html
Sharp Distance Sensors datasheets - http://www.sharpsma.com/productgroup.php?ProductGroupID=55&SubProductGroupID=39
GP2D120 Device Specification - http://www.acroname.com/robotics/parts/GP2D120_SS.pdf
Acroname Article "Demystifing the Sharp IR Rangers" - http://www.acroname.com/robotics/info/articles/sharp/sharp.html
Acroname Article "Voltage-to-Range Conversion" - http://www.acroname.com/robotics/info/articles/irlinear/irlinear.html
*info: GP2D's emit at ~ 850 +/- 70 nm

Devantec Sonar - http://www.acroname.com/robotics/parts/R271-SRF05.html
SF04 Technical Specification - http://www.robot-electronics.co.uk/htm/srf04tech.htm
SF04 Handy Board Application Notes - http://www.acroname.com/robotics/info/examples/srf04-3/srf04-3.html

Devantec Compass - http://www.acroname.com/robotics/parts/R117-COMPASS.html
CMPS03 Technical Specification - http://www.robot-electronics.co.uk/htm/cmps3doc.shtml
Andrew Chanler's CMPS03 Handy Board drivers - http://www.cs.uml.edu/~achanler/robotics/

Copal 60:1 Gearmotor - http://www.robotcombat.com/marketplace_ant_motors.html
Copal 60:1 measurements - copal_measurements60.gif

Standard Servo - http://www.acroname.com/robotics/parts/R276-S03N-SERVO.html

IR Emitting Diode (TSAL6400) - http://www.vishay.com/docs/81011/81011.pdf
IR Phototransistor (BPV11F) - http://www.vishay.com/docs/81504/81504.pdf

Handy Board Home Page - http://www.handyboard.com/
Expansion Board for the Handy Board Home Page - http://www.handyboard.com/hbexp30/
Handy Board Technical Reference - http://www.handyboard.com/techdocs/hbmanual.pdf
Handy Board H-Bridge IC datasheet (rated for 1A max motors) - http://focus.ti.com/lit/ds/symlink/sn754410.pdf
68HC11 Microprocessor Reference Manual - http://www.handyboard.com/techdocs/moto-6811-techref.pdf
Dr. Fred Martin's Introduction to 6811 Programming (assembler) - http://www.handyboard.com/techdocs/6811intr.pdf
MC68HC11A8 Programming Reference Guide - MC68HC11.pdf
Yahoo! Newsgroup on Handy Board - http://groups.yahoo.com/group/handyboard/

Interactive C 3.2 (Licensed) download site - http://www.newtonlabs.com/ic/ic_download.html
AS11_IC Assembler (Interactive C Binary compiler) - http://www.handyboard.com/software/pcode_pc.zip

Continually updated "Botball" Interactive C download site - http://www.botball.org/educational-resources/ic.php