Difference between revisions of "Curriculum"

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(Robot Components)
(Robot Components)
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The following topics will be covered in this class:
 
The following topics will be covered in this class:
  
== Robot Components ==
+
== Vehicle Components ==
  
 
# [https://hobbyking.com/en_us/basher-sabertooth-1-8-scale-truggy-arr.html?___store=en_us Basher SaberTooth 1/8 Scale Truggy]
 
# [https://hobbyking.com/en_us/basher-sabertooth-1-8-scale-truggy-arr.html?___store=en_us Basher SaberTooth 1/8 Scale Truggy]
#* [https://www.thrillist.com/cars/nation/awd-vs-4wd-the-real-difference-between-car-drivetrains Drive train]:
+
#* [https://www.thrillist.com/cars/nation/awd-vs-4wd-the-real-difference-between-car-drivetrains Drive train]
 
#: 1845KV [https://www.youtube.com/watch?v=bCEiOnuODac Brushless Inrunner Motor] (Waterproof)
 
#: 1845KV [https://www.youtube.com/watch?v=bCEiOnuODac Brushless Inrunner Motor] (Waterproof)
 
#: 100A [https://www.youtube.com/watch?v=OZNxbxL7cdc Brushless ESC] w/ [https://www.youtube.com/watch?v=9EeuaofVwvE Reverse] (waterproof)
 
#: 100A [https://www.youtube.com/watch?v=OZNxbxL7cdc Brushless ESC] w/ [https://www.youtube.com/watch?v=9EeuaofVwvE Reverse] (waterproof)
 
#: 18Kg Heavy Duty Steering [https://en.wikipedia.org/wiki/Servo_control Servo] (waterproof)
 
#: 18Kg Heavy Duty Steering [https://en.wikipedia.org/wiki/Servo_control Servo] (waterproof)
 
#: Full time 4WD (video on [https://www.youtube.com/watch?v=K4JhruinbWc differential gear])
 
#: Full time 4WD (video on [https://www.youtube.com/watch?v=K4JhruinbWc differential gear])
#* [https://www.youtube.com/watch?v=DKql4Is8Pas Suspension]:
+
#* [https://www.youtube.com/watch?v=DKql4Is8Pas Suspension]
 
#: Alloy oil filled big bore adjustable screw [https://en.wikipedia.org/wiki/Shock_absorber shock absorbers]
 
#: Alloy oil filled big bore adjustable screw [https://en.wikipedia.org/wiki/Shock_absorber shock absorbers]
 
#: Adjustable [http://yospeed.com/wheel-alignment-explained-camber-caster-toe camber, caster, toe-in and toe-out]
 
#: Adjustable [http://yospeed.com/wheel-alignment-explained-camber-caster-toe camber, caster, toe-in and toe-out]
 
#: Independent [https://en.wikipedia.org/wiki/Double_wishbone_suspension wishbone suspension]
 
#: Independent [https://en.wikipedia.org/wiki/Double_wishbone_suspension wishbone suspension]
# Electronics:
+
# Electronics
 
#* Batteries
 
#* Batteries
 
#: [https://hobbyking.com/en_us/zippy-5000mah-2s1p-20c-hardcase-pack-1.html ZIPPY 5000mAh 2S1P 20C Hardcase Pack]
 
#: [https://hobbyking.com/en_us/zippy-5000mah-2s1p-20c-hardcase-pack-1.html ZIPPY 5000mAh 2S1P 20C Hardcase Pack]
 
#: [https://hobbyking.com/en_us/turnigy-battery-3000mah-3s-20c-lipo-pack-xt-60.html Turnigy 3000mAh 3S 20C Lipo Pack w/XT-60]
 
#: [https://hobbyking.com/en_us/turnigy-battery-3000mah-3s-20c-lipo-pack-xt-60.html Turnigy 3000mAh 3S 20C Lipo Pack w/XT-60]
 +
#* Servo controller
 +
#: [https://www.amazon.com/gp/product/B014KTSMLA/ref=oh_aui_detailpage_o05_s01?ie=UTF8&psc=1 SunFounder PCA9685 16 Channel 12 Bit PWM Servo Driver for Arduino and Raspberry Pi]
 +
#* Raspberry PI
 +
#: [https://www.amazon.com/gp/product/B01C6EQNNK/ref=oh_aui_detailpage_o05_s01?ie=UTF8&psc=1 CanaKit Raspberry Pi 3 Kit with Clear Case and 2.5A Power Supply]
 +
#* Camera
 +
#: [https://www.amazon.com/gp/product/B00N1YJKFS/ref=oh_aui_detailpage_o05_s00?ie=UTF8&psc=1 SainSmart Wide Angle Fish-Eye Camera Lenses for Raspberry Pi Arduino]
 +
#* Emergency switch
 +
#: [https://www.amazon.com/gp/product/B01A6VOI6Y/ref=oh_aui_detailpage_o06_s00?ie=UTF8&psc=1 eMylo® DC 12V 1CH 433Mhz RF Relay Smart Wireless Remote Control Light Switch Transmitter with One Relay Receiver]
  
 
== Robot Motion ==
 
== Robot Motion ==

Revision as of 12:15, 3 October 2017

The following topics will be covered in this class:

Vehicle Components

  1. Basher SaberTooth 1/8 Scale Truggy
    1845KV Brushless Inrunner Motor (Waterproof)
    100A Brushless ESC w/ Reverse (waterproof)
    18Kg Heavy Duty Steering Servo (waterproof)
    Full time 4WD (video on differential gear)
    Alloy oil filled big bore adjustable screw shock absorbers
    Adjustable camber, caster, toe-in and toe-out
    Independent wishbone suspension
  2. Electronics
    • Batteries
    ZIPPY 5000mAh 2S1P 20C Hardcase Pack
    Turnigy 3000mAh 3S 20C Lipo Pack w/XT-60
    • Servo controller
    SunFounder PCA9685 16 Channel 12 Bit PWM Servo Driver for Arduino and Raspberry Pi
    • Raspberry PI
    CanaKit Raspberry Pi 3 Kit with Clear Case and 2.5A Power Supply
    • Camera
    SainSmart Wide Angle Fish-Eye Camera Lenses for Raspberry Pi Arduino
    • Emergency switch
    eMylo® DC 12V 1CH 433Mhz RF Relay Smart Wireless Remote Control Light Switch Transmitter with One Relay Receiver

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