UNIVERSITY OF MASSACHUSETTS
Computer Science Department

 

 

CMPSCI 503

Projects

Spring 2017

 

Rod Grupen

 

We're going to warm up in Project #1 by building a simple analog robot called a "Braitenberg bug" where you'll practice soldering, learn some analog circuitry for sensor-based proportional control, and switch-able sensory-motor logic.

The Team project for Spring 2017 is the design and construction of an autonomous balancing vehicle. It is is broken down into four major sub-tasks:

  1. Project #2: the interface required and performance analysis of sensors and motors;
  2. Project #3: a chassis design and implementation of the inverted pendulum balancing control and differential steering;
  3. Project #4: position control of the platform using odometry and the precision challenge;
  4. Project #5: wall following and the maze challenge; and

Before the first part is fabricated or the first line of code is written, it is strongly recommended that your team meet and consider the entire set of subgoals. Even the first task requires that your design plans ahead for the last task...so, to the best of your ability, try to think ahead and anticipate what you'll need for all of the challenge tasks between now and May.

REPORTS: Weekly notebook summaries (<= 2 pages) are to be submitted by every student. These reports should include your name, your team number/name and the names of your team mates, the (Friday) date of submission. It should begin with the team GANTT for the project in question with tasks assigned to names. Everyone on the same team should submit the same GANTT. Following this common plan, each student should focus on their independent progress on each of the tasks assigned to them.

The project will require 5 Team reports (on those days, no individual reports are required) and 3 scored challenge tasks.

Date Lecture Content Assignment

INDIVIDUAL ASSIGNMENT
week #1
1/23 - 1/27
Introduction, analog electronics course information, project plans, soldering, units and teminology, Kirchoff's laws, resistors, capacitors, RC circuits, differentiators, integrators, inductors, transformers, switches, relays TuteBot Project #1 - Photovore
reading: Braitenberg's bugs

report #1 (weekly) - due 1/27/17
week #2
1/30 - 2/3
semiconductors, transistors, semiconductors, diodes, transitors, power transistors report #2 (weekly) - due 2/3/17
week #3
2/6 - 2/10
transistors, Thurs, 2/9 SNOW DAY report #3 (final) and demo - due 2/14/17

TEAM ASSIGNMENTS
week #4
2/13 - 2/17
actuators, Arduino intro actuators (survey), DC motor interface, build a DC motor, our Maxon motor, Arduino intro Project #2 - Sensor/Motor Interface

NO REPORT THIS WEEK
week #5
2/20 - 2/24
Monday: President's Day
sensors
photoreflector, IMU, Ping report #4 (weekly) - due 2/24/17

week #6
2/27 - 3/3
control stability, PD control, cart/pole dynamics report #5 (final TEAM) - due 2/28/17

Project #3 - Balancing Control
assigned 2/28/17

report #6 (weekly) - due 3/3/17
week #7
3/6 - 3/10
op amps negative feedback, analog control report #7 (final TEAM) - due 3/10/17

3/13 - 3/17
Spring Break    

week #8
3/20 - 3/24
Odometry Lecture - differential steering geometry, odometry, position control Project #4 - Odometry and Path Control

report #8 (weekly) - due 3/24/17
week #9
3/27 - 3/31
    report #9 (weekly) - due 3/31/17
week #10
4/3 - 4/7
Supervisory Control finite state supervisors, process control report #10 (weekly) - due 4/7/17
week #11
4/10 - 4/14
Real-Time Scheduling RT scheduling Precision Challenge - by 4/14/17

report #11 (final TEAM) - due 4/14/17

week #12
4/17 - 4/21
  intro to path planning Project #5 - Wall Follower

report #12 (weekly) - due 4/21/17
week #13
4/24 - 4/28
Mon: Patriot's Day
Tues: Virtual Monday
  Maze Challenge - by 4/28/17  
week #14
5/1 - 5/2
    comprehensive report #13
      (final TEAM) - due 5/2/17