hands-on robotics with programming feb 22 2010 shih-chung kang assistant professor computer-aided...
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Hands-on Robotics with Programming
Feb 22 2010
Shih-Chung KangAssistant Professor
Computer-Aided Engineering (CAE)
Department of Civil Engineering
National Taiwan University
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Course Information
Course: Hands-on Robotics with Programming ( 機器人程式實作 )Instructor: Shih-Chung Kang 康仕仲 ( [email protected] )Teaching Assistant: Yi-Chu Chen 陳奕竹 ( [email protected] )
Wei-Han Hung 洪偉瀚 ( [email protected] )Classroom: Civil Engineering Research Building - Room 405Time: Monday 6,7,8 ( 14:20 ~ 17:10 )Semester: 2009-02Course Number: 521 M6800Course Credit: 3Website: http://sites.google.com/a/caece.net/robot-programming-2010/Course Information: NTU Course InformationGrading: Class participation 10%
Project Assignments 60% Final Project 30%
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Course Major Topic• Topic 1: Fundamentals of MSRDS Service –
CCR, DSS[Week 02~04 | Project 1]
• Topic 2: Robot hardware – hardware service, motion control [Week 05~10 | Project 2]
• Topic 3: Robot simulation – simulation service, simulation environment [Week 11~13 | Project 3]
• Topic 4: Multi-robot – railway system, multi-robot system design [Week 14~17 | Final Project]
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A Typical Class• Before class:
Students need to download the code from the course website.“Reading” will help you to understand the topic of the week.
• During class:Teacher will explain the code first, then students need to practice the code in the class.
• After class:Students need to practice the rest of the code.Every major topic has a project.
• Project demonstration:At the first class on project due date.The rest two classes have regular progress.
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Programming Environment (1/3)• Microsoft Visual Studio 2008 and C#
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Programming Environment (2/3)• MSRDS 2008 R2(Microsoft Robotics Developer
Studio) and VPL (Visual Programming Language)
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Programming Environment (3/3)• innoBasic: Original mobile robot(innoBot) control
language.
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Topic 1Fundamentals of MSRDS Service
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Schedule
Week Topic Coursework
01 Course introduction
02Fundamentals of MSRDS Service (1/3): CCR
03Fundamentals of MSRDS Service (2/3): DSS
04Fundamentals of MSRDS Service (3/3): Integration of fundamentals of MSRDS service
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WK02
Fundamentals Service (1/3): CCR• What is CCR (Concurrency and Coordination
Runtime)?• CCR major components:
1. Port, PortSet2. Dispatcher, DispatcherQueue, Task3. Arbiter class
• Using C#
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WK03
Fundamentals Service (2/3): DSS• What is DSS (Decentralized Software Services)
?• Using C# and VPL
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WK04
Fundamentals Service (3/3): Integration• Project 1: Write a service which can control the
simulation robot. The service needs to get data from the simulator. After calculating, the service needs to send control command back to the robot.
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Topic 2Mobile Robot Hardware
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Schedule
Week Topic Coursework
05Mobile Robot Hardware (1/5): Introduction to mobile robot
Due: Project 1
06Mobile Robot Hardware (2/5): Building mobile robot
07 Tomb Sweeping Day (holiday)
08Mobile Robot Hardware (3/5): Motion control
09Mobile Robot Hardware (4/5): Behavior control
10Mobile Robot Hardware (5/5): Integration of services for mobile robot
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WK05
Hardware (1/5): Robot Introduction• Introduction to “innoBot” and chips• Fundamentals of robot knowledge: square-wave
radio signal, servo motor
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WK06
Hardware (2/5): Building mobile robot• Introduction to “innoBasic”.• Building innoBot, then use innoBasic to check
and control the robot
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WK07
Hardware (3/5): Motion control• Using “innoBot innoSDK.dll” to create “innoBot
service”. This service needs to control innoBot movement: foreward, backward, turn right, turn left, get sonar distance.
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WK07
Hardware (4/5): Behavior control• Modifying “innoBot service”, let the service
can be used in VPL.• Using VPL to control innoBot, let innoBot can
avoid obstacles atomically.
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WK08
Hardware (5/5): Integration• Project 2: Write an “innoBot service” and VPL
code to control innoBot. innoBot needs to follow the black line and avoid obstacles atomically.
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Topic 3 Robot Simulation
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Schedule
Week Topic Coursework
11Simulation (1/3): Building mobile robot model and virtual environment
Due:Project 2
12Simulation (2/3): Virtual actuator and sensor
13Simulation (3/3): Integration of services for mobile robot simulation
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WK11
Simulation (1/3): Building robot model• Building virtual environment• Building innoBot model
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WK12
Simulation (2/3): actuator and sensor • Write a service to control innoBot actuator and
sensor.
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WK13
Simulation (3/3): Integration• Project 3: Write an “innoBot service” and VPL
code to control innoBot at virtual enviroment. innoBot needs to follow the black line and avoid obstacles atomically.
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Topic 4 Multi-Robot
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Schedule
Week Topic Coursework
14
Multi-robot (1/3): Design of single line and circular railway system. Design of Y-loop and block signaling railway system
Due:Project 3
15Multi-robot (2/3): Design railway passing system
16Multi-robot (3/3): Integration of multi-robot
17 Final Project demonstrationDue:Project 4
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WK14
Multi-robot (1/3):• Fundamentals of rail way design
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WK15
Multi-robot (2/3): Railway passing system • Introduction to ATC, ATO, ATP, and AWS.
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WK16
Multi-robot (3/3): Integration• Final Project: Write an “innoBot service” and
VPL code to control multi-innoBot. The service needs to work at actual and virtual enviroment. Students may design a “control panel” to show innoBot status and control innoBot driectly.
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WK17
Final Project Demonstration
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Thank you