Laboratory for Perceptual Robotics – Department of Computer Science Overview of the Course The Trinity Project History Cabling for Electronics Projects TuteBot Embedded Systems Lecture #12 Laboratory for Perceptual Robotics – Department of Computer Science Course Web Site  www-robotics.cs.umass.edu/~grupen/503  If you need it: Edlab accounts http://www-edlab.cs.umass.edu/ • Linux workstations are : • machines: elnux0 - elnux343 Laboratory for Perceptual Robotics – Department of Computer Science Notes: Course Setup:  all work should be done in the course subdirectory (cd cs503)  all common files should go in the common directory (/courses/cs500/cs503/cs503)  usernames - first character of their first name appended by lastname (truncated at 8 characters) • Example: rgrupen - for Rod Grupen  initial passwords 8 digit Student ID numbers unless you already had an account last semester  [email protected] will go to each person in that class, plus the professor and TA.  .forward file - add your preferred email address  The print quota is 300 pages initially + 200 pages per class.Laboratory for Perceptual Robotics – Department of Computer Science Embedded Systems Lecture Units: • mechanism • kinematics • dynamics • signal detection • electronics • RT computing • AI … a system in which one or more processors act through a physical system to interact with the external environment!electromechanical mechanism computation I/O circuitry5 Laboratory for Perceptual Robotics – Department of Computer Science Trinity Fire Fighting Contest  http://www.trincoll.edu/events/robot/6 Laboratory for Perceptual Robotics – Department of Computer Science Trinity Rules  Once turned on, the robot must be autonomous  a penalty for moving along the wall while in contact  robot must have found the candle before it attempts to put it out  robots that do not use air streams to blow out the candle will receive a 15% time reduction.  penalty is given to robots that touch a lit candle.  robot must fit in a box 31 cm long by 31 cm wide by 27 cm high  The candle will be placed at random in one of the rooms in the arena for each of three trials  Complicated scoring based on time and penalty factors (see web site)Laboratory for Perceptual Robotics – Department of Computer Science 2005 Trinity Trials Team #2 - Eugene Kolnick, Will Wagner, Nolan Schelper, Todd Robbins, Thierry Elie8 Laboratory for Perceptual Robotics – Department of Computer Science Grey Walter’s Tortoise  1953 experiment in cybernetics  One motor, 2 valve control logic  Light and bump sensors  Behaviors:  seek light  seek “subject-to” obstacle avoidance  recharge9 Laboratory for Perceptual Robotics – Department of Computer Science Grey Walter’s Tortoise  Parsimony – simple is better  Exploration/speculation – normally active behavior  Tropism – positive (attraction) and negative (repulsion)  Discernment – discriminating ability10 Laboratory for Perceptual Robotics – Department of Computer Science Braitenberg’s Vehicles  1984 simulation study  sensors map to motors via simple analog logic  apparently complex behavior results simple control rules interact with a complex environment – synthetic psychology  inhibitory and excitatory signals  Law of Uphill Analysis and Downhill Invention - in some systems it is easier to invent than to analyze, in others, complete analysis may be impossible, but the systems can still be built11 Laboratory for Perceptual Robotics – Department of Computer Science Braitenberg’s Vehicles Coward, Explorer, Lover, and Aggressor12 Laboratory for Perceptual Robotics – Department of Computer Science Project #1 - photovore see web site for details!Chris Vigorito-2005!Dirk Ruiken-2005!13 Laboratory for Perceptual Robotics – Department of Computer Science Project #1 - project management A draft project plan is the first step of every project---before the first circuit is prototyped.!!The plan enumerates all the tasks required and sets completion times. This level of description makes it clear that all aspects of the project have been considered (nothing has been left out), how tasks depend on one another, and provides reasonable time estimates to help you think. !!It also should include a description of the products (designs, numerical values) that verify the completion of each task or establish parameters necessary for subsequent tasks.!!Inevitably, the plan will need to be modified as it unfolds so it make sense to do it in a way that is easily edit-able. I like the excel spreadsheet for a Gantt chart---I have template you can use, but there are other tools.!!.!14 Laboratory for Perceptual Robotics – Department of Computer Science Project #1 - project management 1. Design!2. Prototype!3. Implementatio!4. Demonstration!5. Report!a) CdS/R2/Rmotorresistances!b) voltage divider, Vout (light/dark)!c) switch logic!d) circuit layout (pin-2-pin)!e) chassis structure, motor mount, wheels/skid concept!f) design checkout!a) circuit breadboard!b) logic/performance checkout!a) summary of design, implementation!b) critical evaluation!Task!Task!Task!Task!Task!15 Laboratory for Perceptual Robotics – Department of Computer Science project management GANTT chart Task 1 - Design!!Task 2 - Prototype!!Task 3 - Implement!!Task 4 - Demo!!Task 5 - Report!9/12! 9/19! 9/26! 9/30!include all the subtasks (1a, 1b, …)!evaluate your schedule - adjust weekly!16 Laboratory for Perceptual Robotics – Department of Computer Science project reporting – individual weekly lab report NO MORE than 2 pages in ONE PDF FILE (LastNameReport#n.pdf) !!Include completed products of the previous week's tasks (drawings, designs, numerical values), note any variations in your plan, and include a revised project plan. !!Reports don’t need to be beautifully written, but must be organized to be read. !!It's tempting to jump right to a picture of your final concept in week 1, but stick to your plan and work out the results of preliminary subtasks first. The project plan minimizes the chances that you'll waste time and make costly mistakes.!!I will review and grade notebooks every week. Grades will