CMPUT 412 Experimental Mobile Robotics

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CMPUT 412Experimental Mobile Robotics

• Dr. Hong Zhang
• Winter 2003-2004

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Some Details

• MWF 1000 1050
• Classroom B-41, Lab 229, CSC
• Instructor Dr. Hong Zhang
• TA
• Christopher Parker
• Xiaohu Lu
• Lab Coordinator
• Rod Johnson

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Course Objectives

• Robotics
• Embedded System Design/RT System
• Forth
• Electronics and Mechatronics

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Whats ahead ..

• Hands-on course with a lot of time spent in the
  lab
  
• Be prepared for the good times and the bad
• The instructional staff are here to help
• Interaction
• Between students
• Across years
• Between instructors and students

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Course Description Specifics

• Hands-on course involving building robots to
  perform tasks in the Pinbot environment
  
• There will be five milestones
• MSs will be increasing difficulties, with each
  one built on previous ones
  
• First four milestones will be marked based on
  timeliness of completion
  
• The last milestone will be based on a competition
  format, with one each achieving the highest mark

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Marking scheme

• Robot vehicle performance 50
• Class presentation 10
• Milestone report 20
• On group homepage
• Project report 15
• See notes in Course Outline for details.

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What we need to do right away ..

• Divide students into groups of three
• The textbook is recommended, not required.
• The first lab will start in two weeks today
• First things to learn
• Forth
• Microcontroller 68HC11

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Definition of a robot ..

• Intelligent connection of perception to action
  M. Brady
  
• Each robot must have three basic building blocks
• Sensors
• Actuators
• Reasoning (computer)

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Brain for your robot ..

• NMI board, a 68HC11-based micro-controller
• CPU 16-bit processor
• Memory 256 bytes internal, 8k external
• Programmers model (transparent to you)
• Two 8-bit accumulators
• One 16-bit accumulator
• 2 index registers
• One stack pointer
• Program counter
• 8-bit CCR (condition code register)
• Instruction set 36 assembly instructions