ECE 387: Intro to Robotic Systems

Lsn Topic Reading Due
1 Intro & Overview
2 Linux Command Line Matlof Ch 1.0-1.9 Install required software
3 Python Intro [download] HW 1
4 Python Numpy, Sympy, Matplotlib [download] Matlof Ch 3 HW 2
5 Python Quiz [download] HW 3
6 Lab 1: linux and python Lab1 EOC
7 Kinematics: Intro [download] Craig Ch 3
8 2D Forward-Inv Kinematics Quiz 1
9 3D Inverse-Inv Kinematics HW4
10 Robot Arm Control [download] RC Servos
11 OpenCV Introduction [download] HW5
12 Lab 2: Robot Arm Pre-Lab2
13 Lab 2: Robot Arm Lab2 EOC
14 Filtering [download] Edge Detection HW6
15 Feature Detection [download] Quiz 2
16 GR 1
17 Cameras and Calibration [download]
18 Face Detection [download]
19 Marker Detection [download] Wolf
20 Color Detection [download]
21 Change Detection [download]
22 Tracking [download] HW7
23 Image Stitching [download] Quiz 3
24 Lab 3: Detection and Tracking
25 Lab 3: Detection and Tracking Lab3 EOC
26 Mobile Robotics [download] Siegwart Ch 3
27 Roomba Sensors [download] Siegwart Ch 4-4.1.71
28 Sensor Calibration [download]
29 Controls [download] Siegwart Ch 5 HW8
30 Lab 4: Roomba Control
31 Lab 4: Roomba Control Lab4 EOC
32 Path Planning [download] Law
33 Final Project
34 Final Project
35 Final Project
36 Final Project Quiz 4
37 GR2
38 Final Project
39 Final Project Bonus I
40 Final Project Bonus II

Spring 2018 Syllabus

Instructor

Maj Kevin Walchko
Fairchild 2F48
kevin.walchko@usafa.edu

Course Goals and Objectives

Cadets shall:

Prerequisite Course

Course Materials and Resources

Course Text None, various PDFs are provided for reading
Web Page https://marsuniversity.github.io/ece387/
Software Python 2.7
OpenCV 3.4.x
Jupyter notebooks
GitBash

Grades

Grade Grade
90 < A < 100 74 < C+ < 77
87 < A- < 90 70 < C < 74
84 < B+ < 87 67 < C- < 70
80 < B < 84 60 < D < 67
77 < B- < 80 0 < F < 60
Prog % Final %
HW 10 10
Quizzes 10 10
GRs 45 30
Labs 35 25
Final Project 25

Missing Class and the Late Policy

Inform your instructor of absences in advance via email. Please include the reason for the absence and any relevant SCA. Check the SCA to see if instructor permission is required and if it is, make the request prior to the absence. You will be given an Unexcused Absence in CAS if you fail to get permission.

If you plan to miss a class, you must take any quiz or GR prior to your departure.

Due to the limited time to conduct labs and the fact they are executed in groups, you can not miss both lab days unless you have a medical excuse due to unplanned illness. You can miss one lab day, but depending on situation (e.g., something you could have avoided), you may loose points for the lab.

If you are expecting to miss class on the day an assignment is due, you shall turn in your assignment prior to your departure. Your instructor may grant a no-penalty turn-in extension for absences resulting from illness or other legitimate extenuating circumstances. Cadets shall coordinate late submittals in advance. The late policy for the Department of Electrical and Computer Engineering is as follows:

How Late? Max Penalty Max Grade
< 1 day 25% 75%
2 day 50% 50%
3 day 75% 25%
> 3 day 100% 0%

Collaboration and Documentation Policy

You may receive help from any DFEC faculty member on the homework. Do not work with other students in the class or who have taken the class previously. Document all help received on work submitted for grading IAW DF policies, or document none if your work was completely individual effort.

Labs and Final Project

The labs are performed in groups of no more than 3 students. Each lab will build on the homework, in class lectures and readings. The purpose of the labs is to provide hands on experience with the topics discussed in the lectures. The final project will focus on the Roomba robot, controls, computer vision, and path planning.

All team members will receive the same grade unless it is identified that all members did not equally help out. The offending member(s) will receive a scaled grade equal to the team grade time 0.75. If this happens more than once, then the offending individual will become a team of one.

Homework/Lab Templates

References

Readings

Install/Setup Guides

On-line Python and Command Line Class

Lynxmotion Arm Guide

Class Python Libraries

Standford Python Class: Introduction to Scientific Python, CME 193

OpenCV Documentation

Cheat Sheets and References