CLASS SYLLABUS
RBTC 1405 Robotic Fundamentals
24649 Lec 001
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Schedule |
Fall 2008- Monday and
Wednesday – |
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Instructors (Office phone - email) |
Don Holden - 223-6225 –
dholden1@satnow.net Laura Marmolejo – 825-7457 – lmarmole@austincc.edu Bob Comer -
223-6256 - comer@austincc.edu |
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Web site |
http://www.austincc.edu/dholden The web site will contain an up-to-date syllabus and links to labs and course material presentations. |
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Office Hours |
Monday and Wednesday |
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Course Description |
An introduction to automation. Topics include construction, repair, maintenance, development, and optimization of robotic systems. There are no formal prerequisites, but some programming background (C or C++) - as well as a basic understanding of electricity (voltage, current, DC circuits) - will be very helpful. |
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Textbooks |
"Robotic Explorations - A Hands-On Introduction to Engineering" , by Fred G. Martin is a useful reference, but purchase is optional because all necessary course material is available online at the course web site. |
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Robot Kits |
During the semester, you will be issued parts for use in constructing your robots. These parts are the property of the Department. At the end of the course, you must return all parts issued to you in working order. If you wish to keep any of the parts, you must purchase replacement parts for the Department. The instructor will provide vendor contact information and part numbers on request. |
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Course Format |
We
will use two different robotic platforms in this course. For flexibility, we will construct a small robot from Lego Technic parts. For other projects, we will use a larger robot (called “Big Wheel”) constructed from pvc pipe and parts from kids ride-on electric vehicles. The "brains" of our robots will be a microprocessor programmed in a variant of C. The first half of the course will be a combination of lecture and Lego robot exercises. The last half of the course will consist of more advanced lab exercises using “Big Wheel” robots. |
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Course Rationale |
This course is an introduction to the "Automation, Instrumentation, and Robotics" degree plan. It builds on material that the student has encountered in Electromechanical Systems (Industrial Electronics), Data Acquisition, and Microprocessors. The fundamentals of motion control, sensors, feedback, and control strategy are presented - in "hands-on" fashion. Students will revisit these same fundamentals (later in the cap-stone courses) as they study industrial robots, PLCs, and factory automation. |
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Course Objectives/Outcomes |
Discuss the history of robotics and its impact on production and the labor force; define the term 'robot' and describe general characteristics; explain the physics of robot motion; describe the characteristics of different types of robot control systems; and describe different applications of robots in use today. |
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Grading |
Your grade is based upon two comprehensive examinations (mid-term and final) and approximately eight robot exercises. Some of the exercises will be more comprehensive than others; their contribution to your exercise grade will be weighted accordingly. In general, your grade will be computed as follows: Exams 50%, Exercises 50 %. Standard letter grades will be used. You must score 60 % or more and return all parts issued to you, in working order, to pass the course. Any exceptions to this rule must be approved by the Department Head. |
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Class Policies |
(A) Acts prohibited by the college for which discipline may be administered include scholastic dishonesty, including but not limited to cheating on an exam or quiz, plagiarizing, and unauthorized collaboration with another in preparing outside work. Academic work submitted by students shall be the result of their thought, research or self-expression. Academic work is defined as, but not limited to, test, quizzes, whether taken electronically or on paper; projects, either individual or group, classroom presentations, and homework. The penalty for any violation of this policy is withdrawal from the course. (B) Each ACC campus offers support services for students with documented physical or psychological disabilities. Students with disabilities must request reasonable accommodations through the Office for Students with Disabilities on the campus where they expect to take the majority of their classes. Students are encouraged to do this three weeks before the start of the semester. (C) ATTENDANCE IS MANDATORY. If you need to miss class due to your job requirements, check with me first. If you miss very many classes, without pre-arrangement, I will probably drop you. If you get hopelessly behind, it is your responsibility to withdraw. (D) Each student is strongly encouraged to participate in class - questions are especially appreciated. Just about any topic in electronics is fair game, if time permits. Students will sometimes disagree with each other, and with the instructor. It is expected that faculty and students will respect the views of others when expressed in classroom discussions. The instructor will not, however, indicate agreement with a student when he feels that the student is technically incorrect. He will instead, respectfully agree to disagree. |
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Course Outline and Tentative Schedule
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Week 1 |
8/27 |
Chapter 1 |
Introduction |
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Week 2 |
9/3 |
Chapter 2 |
Interactive C, a first robot, a first program |
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Week 3 |
9/10 |
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Braitenberg vehicles, light and touch sensors, emergence and meta-sensing |
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Week 4 |
9/17 |
Chapter 3 |
Building sensors, switch sensors. |
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Week 5 |
9/24 |
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Light sensors, reflective optosensors |
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Week 6 |
10/1 |
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Break-beam sensors, shaft encoding |
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Week 7 |
10/8 |
Chapter 4 |
DC motors, gearing |
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Week 8 |
10/15 |
Chapter 5 |
Electronic control, servo motors. Feedback control, wall following, PID. Strategies - sequential and reactive. |
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Week 9 |
10/22 |
Selected special topics.
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Servo motors. Sonar
exercise. |
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Week 10 |
11/29 |
Transition to Big Wheel
robots |
Wire up speed controllers, etc. |
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Week 11 |
11/5 |
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Introduction to
Rabbit microprocessor and Dynamic C |
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Week 12 |
11/12 |
Develop code to make Big
Wheel operate as an autonomous robot. |
Robot lab |
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Week 13 |
11/19 |
Develop code to make Big Wheel perform as a robotic range-finder. |
RangerBot lab |
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Week 14 |
11/26 |
Develop code to
make Big Wheel follow a wall whilst maintaining a fixed spacing behind an
arbitrary leader. |
“Walk the Dog” Lab |
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Week 15 |
12/3 |
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Week 16 |
12/10 |
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Final exam |