Difference between revisions of "Curriculum"
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The following topics will be covered in this class: | The following topics will be covered in this class: | ||
== | == 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 19:15, 3 October 2017
The following topics will be covered in this class:
Vehicle Components
- 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
- Electronics
- Batteries
- Servo controller
- Raspberry PI
- Camera
- Emergency switch
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