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**** EE 4813: Sensor-based Intelligent Machines ****
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2-3-3 (1S, 2D)
Prerequisites: Either
CmpE 2500, EE 3280, and 3480 (EEs and CmpEs)
OR
EE 3710, EE 3741, and EE 3703 (MEs, others)
OR
Consent of the instructor (CoCs and other
interested students encouraged to inquire -
see below)
Instructor: Thomas R. Collins, Ga Tech Research Institute
tom.collins@gtri.gatech.edu
Centennial Research Building, Room 553
894-2509
Text: "Sensors for Mobile Robots," by H. R. Everett
Lab reference: "Mobile Robots: Inspiration to
Implementation," by Joseph L. Jones and
Anita M. Flynn
Meeting times: TTh 1:30-2:30, with open laboratory
(available during many daytime hours)
This course covers the theory and application of various sensors
for intelligent machines, including optical, magnetic, infrared,
and RF devices. An accompanying laboratory will provide hands-on
experience with building and controlling small mobile robots to
accomplish assigned tasks. The course material is also
applicable to many other sensor applications, including
automobiles, avionics, and consumer electronics.
The intent of the prerequisites is to attract a mix of EEs,
CmpEs, MEs, CoCs, and others who have various skills that will
allow them to work together productively in the laboratory. The
classroom material itself draws upon basic understanding of
circuit theory, materials, and electromagnetic devices.
Watch for Web site soon at http://spbtrc.gtri.gatech.edu/sensors
Topical Outline
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Introduction
Applications of Intelligent Sensing
Mobile Robots
Odometry Sensors for Dead Reckoning
Potentiometers
Synchros and Resolvers
Optical Encoders
Other Position and Velocity Approaches
Triangulation Ranging
Time of Flight
Phase Shift and Frequency Modulation
Interferometry
Optical Focus
Signal Intensity
Orientation sensors
Magnetic Compasses
Mechanical Gyroscopes
Optical Gyroscopes
Beacon and Landmark-based Approaches
RF (GPS, and localized systems)
Ultrasound
Laser, Optical, and Infrared
Computer Vision Techniques
Application-specific Sensors
Tactile Sensors
Sound and Vibration
Optical, RF, and Infrared Motion Detection
Temperature
Computer Design Issues
Interface Circuits
Power Supply and Noise Considerations
Processor Features and Selection
Sensors and Intelligence
Sensor-based Control
Cognitive Models
Tentative Laboratory Exercises
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1. Position sensors: Potentiometers and Resolvers
2. Optical Encoders and Dead Reckoning
3. Infrared Detectors
4. Performance of Beacon-assisted Dead Reckoning
5. Microprocessor Interfacing and Control
6. Motor Driver Circuits and Closed-loop Control
7. Case Study (Part 1)
8. Case Study (Part 2)
9. Case Study (Part 3/Lab final)
These exercises actually form a connected path to building a
simple robot, the overall structure of which will be designed in
advance.
The Case Study (labs 7-9) will be a practical exercise in
accomplishing a desired mission based in part on the requirements
of the upcoming AAAI Mobile Robot Competition. Students will
have the opportunity to continue this effort (voluntarily, not
for credit) into the early summer, and a core group should be
able to travel to the competition in Providence, Rhode Island.
--Thomas R. Collins tom.collins@gtri.gatech.edu 894-2509
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