MCS5403: Robotics Programming

Summer E 2003, Department of Math and Computer Science
Lawrence Tech University

Day/Time: Wed 5:45-9:25pm
Credit Hours: 3
Prerequisite: [C/C++ or Java], Data Structures(*), and Operating Systems; (*) Official Requirement in the catalog
Location: S324 (lab: CW21)

Instructor: ChanJin Chung, Ph.D.

Offices: S112 and CW21
Phone: (248) 204-3504
Fax: (248) 204-3518 (this fax number is for the whole building and senders should be sure to place instructor's name on the fax)
Dept. Secretary: (248) 204-3560
Math/CS Drop Box: in front of S120 door. Please put instructor's name and time of submission on your work.
Email: CHUNG@ltu.edu
LTU webpage at http://www3.ltu.edu/~chung (syllabus, announcements, lecture notes, etc.)
Blackboard at my.ltu.edu
Office Hours : Wed 4:00-4:50pm
Summer Schedule

Required Text

Introduction to AI Robotics by Murphy
Any C++ and/or Java textbook
NQC manuals and LeJos documentation

Recommended Texts

Core Lego Mindstorms Programming, Brian Bagnall
The Unofficial Guide to LEGO(R) Mindstorms(TM) Robots, J Knudsen, O'Reilly, 1999
Definitive Guide to LEGO(R) Mindstorms(TM), Dave Baum, Apress
Any artificial intelligence, neural-nets, and fuzzy logic textbooks
Cambrian Intelligence, R. Brooks, MIT press
Robot, H. Moravec, Oxford Univ. Press

Robot Kits, Tools and Software to be used

Bring LTU laptop, if you have one...
Lego Mindstorms: RCX code, RoboLab (LabView), NQC, Java LeJos
Khepera: C++ (optional)
ER1 or Laptop Robot using C++/MFC or Java

Internet Resources: Please visit the Instructor's Homepage Robotics Corner at www3.ltu.edu/~chung

Course Contents

Introduction to Robotics
Introduction to AI
Robotic Paradigms
- PID control
- Reactive Paradigm
- Adaptive Control
- Fuzzy Logic Control
- Evolutionary Robotics
Robot Navigation
Introduction to Robot Vision
Introduction to Real-time embedded systems development
- Characteristics of real-time systems/software
- Concurrent programming, Message passing systems, and Modeling Finite State Machines
- Design methodologies for real-time systems using SDL and Petri-net

Tentative Schedule

Date	Event	Note
5-14	First Day of Class
5-31 ~ 6-2	IGVC Competition	Oakland Univ, Not required to come
6-22	Possible Robot Demo in Windsor Canada	Not required
7-2	Final Written Exam	5:45-7:00pm
7-9	Last Day for W
7-16	Robot Demo
7-23	Final Robot Demo and Presentation	Open to the public

Class Format and Grading: Total 200 points

Homeworks and Projects: 150 points
Final exam: 50 points

This score will be translated into a letter grade based upon the percentages given below.

A	90-100%	C+	75-78%
A-	89%	C	70-74%
B+	85-88%	C-	69%
B	80-84%
B-	79%

No I (incomplete) grade will be given.

Class Policies

Attendance is essential to doing well in the course. The exams will focus primarily (but not exclusively) on material presented in the lectures and labs.
If you are unable to attend a meeting, it is your responsibility to obtain the material from other students or instructor.

Exam. Policies

There will be no makeup exams will be given.
Closed books, closed notes, but closed neighbors. Some parts of the exam may be open book.

Policy on late homework or project

Full credit at the beginning of class on the due date
10% deduction per day (24 hours)

Intellectual Property and Copyrights

All the deliverables may be reused/modified/upgraded by another students and/or instructor later on for educational purposes only. The instructor will make sure to give appropriate credits and acknowledgements to the previous students.

Policy on Academic Misconduct

Plagiarism is a serious academic offense. DO NOT COPY THE WORK OF OTHERS. Failure to observe this will result in zero point for the assignment. Cheating during exams is also a very serious academic offense. Both cases will be handled in accordance with University Policy.
(5/18/03)