> Special Topics Course - Spring Quarter
>
> ******************************************************
> **** EE 4813: Sensor-based Intelligent Machines ****
> ******************************************************
>
> 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
> ---------------
> 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
> ------------------------------
> 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
>
> --
>
-- --Tucker------------------------------------------------------------------------------- Tucker Balch, PhD Student, CoC Office 123A home 874-9129 tucker@cc.gatech.edu, http://www.cc.gatech.edu/grads/b/Tucker.Balch fx 894-9846 Mobile Robot Laboratory, Georgia Institute of Technology (404) 894-5613 -------------------------------------------------------------------------------