UNIVERSITY OF MASSACHUSETTS Computer Science Department
CMPSCI 603	Robotics	Spring 2009
	Rod Grupen

finish up and Exam II Review

1/27	Introduction Introduction, course information, homework/project environments, AI and robotics, state of the art.
1/29	Knowledge and Embedded Systems reading assignment: (Chapter 1)
2/3	The Organized Nervous System reading assignment: (Chapter 6)
2/5	Roger-the-Crab - Andrew Stout Introduction to Control Theory open-loop, closed-loop, Laplace transform, transfer functions. reading assignment: Chapter 9 , Appendix B.9 Homework #1 Assignment Exercises F.2.1, and 2(a) due 2/12
2/10	Quiz #1 Control II spring-mass-damper, equilibrium setpoint control, 2nd order response, closed-loop transfer function, time-domain response, frequency-domain response
2/12	Kinematics I spatial relationships, homogeneous transform, composition, inverse, indicial notation, examples, forward kinematics reading assignment: (Appendix B.3, Chapter 7-7.3.1) Homework #2 Assignment Exercises F.1.1, 2, 4, 6, 8 due 2/24 extra credit F.1.9
2/17	Kinematics II inverse kinematics, kinematics of imaging reading assignment: (Chapter 7.3.2-7.5)
2/19	Kinematics III principle kinematic axes, kinematic conditioning, conditioning metrics, stereo localizability reading assignment: (Chapter 7.6)
2/24	Dynamics I Newton's laws, Conservation of momentum, inertia tensors, rotating coordinate systems. reading assignment: Chapter 8 (8.1-8.4)
2/26	Quiz #2 - through Chapter 7 Dynamics II Newton-Euler equations, outward-inward iterations Example reading assignment: Sections 8.5
3/3	Dynamics III Lagrangian dynamics, simulation, feedforward dynamic compensators Example reading assignment: Sections 8.6 Homework #3 Assignment exercises F.3.1, 2, 4, 6, due 3/12
3/5	Quiz #3 -through Chapter 8 Dynamics IV dynamic manipulability ellipsoid reading assignment: Sections 8.7, 8.8
3/10	Exam I review
3/12	Exam I
3/17	Spring Break
3/19	Spring Break
3/24	Stability introduction to stability, root locus, Lyapunov analysis reading assignment: Section 9.3.1, 10.2
3/26	Fields representations for path planning, potential fields, navigation functions reading assignment: Chapter 10, through 10.1 Homework #4 Assignment exercises F.4.1, 3, 4 (no programming this week) due 4/2 Exam I remediation fix your deductions on Exam I for up to 50% of the value of the deduction - due 4/2
3/31 - Guest Lecture	Fields II reading assignment: Section 10.3, 4 harmonic functions, numerical relaxation
4/2 - Guest Lecture	Quiz #4 -through Chapter 10 Value Functions & Reinforcement Learning Bellman's equation, an introduction to value iteration
4/7	Control III control law synthesis and the inverted pendulum Redundancy excess degrees of freedom, self-motion manifold, pseudoinverse, null space projections reading assignment: Chapter 11
4/9	Grasp Control Cutkoski's grasp taxonomy, form and force closure, the Grip Jacobian reading assignment: Chapter 16, Introduction, and Sections 16.1, 16.2 Homework #5 Assignment Roger's grasp controller Appendix F.6 due 4/23
4/14	Grasp Control II sensor-driven grasp control, finite-state sequential control reading assignment: Section 16.5, Introduction, Sections 16.1, 16.2
4/16	Haptics human hand, peripheral mechanoreceptors,intercellular communication, hierarchical organization of the nervous system reading assignment: Chapter 4
4/21	Virtual Monday
4/23	Signal Processing and Computer Vision frequency analysis and the Fourier transform, image acquisition, percept inversion vs. active perception reading assignment: Chapter 12
4/28	Signal Processing II sampling theorem, convolution, finite difference operators, Homework #6 Assignment F.5.2, 3a, 3c.i, 4, plus (hopefully) a path planning programming problem - due 5/12
4/30	Quiz #5 - Chapter 12 Signal Processing III Frei and Chen operators, deep structure, Gaussian (diffusion) operators, scale space, visual invariants,
5/5 - Guest Lecture	Developmental Robotics reading assignment: Chapter 6
5/7 - Guest Lecture	Exam II review
5/12	Exam II