Difference between revisions of "Curriculum"

From MAE/ECE 148 - Introduction to Autonomous Vehicles
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(Robot Components)
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== Robot Components ==
 
== Robot Components ==
  
 
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* [https://hobbyking.com/en_us/basher-sabertooth-1-8-scale-truggy-arr.html?___store=en_us Basher SaberTooth 1/8 Scale Truggy]
 +
* Features:
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* 1845KV Brushless Inrunner Motor (Waterproof)
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* 100A Brushless ESC w/ Reverse (waterproof)
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* 18Kg Heavy Duty Steering Servo (waterproof)
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* Full time 4WD
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* Hardened steel pinion gear
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* Heavy duty drive shafts
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* Hardened metal drive cups
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* Full ball bearings
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* Adjustable screw shock absorbers
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* Alloy oil filled big bore shock absorbers
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* Adjustable toe-in and toe-out
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* Adjustable camber and castor
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* Independent wishbone suspension
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* Shock tower support brace
  
 
== Robot Motion ==
 
== Robot Motion ==

Revision as of 10:33, 3 October 2017

The following topics will be covered in this class:

Robot Components

  • Basher SaberTooth 1/8 Scale Truggy
  • Features:
  • 1845KV Brushless Inrunner Motor (Waterproof)
  • 100A Brushless ESC w/ Reverse (waterproof)
  • 18Kg Heavy Duty Steering Servo (waterproof)
  • Full time 4WD
  • Hardened steel pinion gear
  • Heavy duty drive shafts
  • Hardened metal drive cups
  • Full ball bearings
  • Adjustable screw shock absorbers
  • Alloy oil filled big bore shock absorbers
  • Adjustable toe-in and toe-out
  • Adjustable camber and castor
  • Independent wishbone suspension
  • Shock tower support brace

Robot Motion

  • Differential drive
  • Ackermann steering
  • Basic path planning

Sensors

  • Encoders
  • IMU
  • Camera

Feedback control

  • Why feedback?
  • PID control

Odometry

  • Encoders
  • IMU
  • Visual

Vision

  • Open CV
  • Obstacle avoidance
  • Performance considerations

Embedded Systems

  • Introduction to robotics
  • Centralized vs. distributed control
  • Closed loop vs. open loop control in mobile robots
  • On-board, off-board computing vs. on-line-computing and hybrid mode
  • Real-time systems vs. non-deterministic embedded systems
  • Robotics telemetry - low range high throughput, long range low throughput

Autonomous Vehicle

  • State-of-the-art