Computer Science 490 Syllabus: Robotics
Spring 2006

Section 01: T, R 2:30 p.m. – 3:45 p.m. 216 Thompson Hall

Instructor

George Rudolph

Email

george.rudolph@citadel.edu

Office

225 Thompson Hall

Phone

953-5032

Office Hours

Posted here online.
Prerequisites
Course Prerequisites: Instructor approval and approval of the department head of the student's major department.

Description

In this course, we combine computer science and electrical and mechanical engineering to create a real-world robot that is capable of such tasks as moving an outdoor garbage can from one programmable location to another. Students will gain hands-on experience designing, implementing and testing near-real-time hardware and software subsystems, as well as engaging in cutting-edge research in personal service robotics.


Goals

This is a research-project-driven class with the main goal of modifying an Invacare Torque power wheelchair so that it can be driven by a programmable JStik™ microcontroller from Systronix, in addition to its standard human-driven joystick. This will enable the wheelchair to be used as the base for a series of experimental personal service robots, to be developed. For example, once the the JStik controller can reliably drive the motors, we will begin the design and implementation of a modular gripper, which can be removably mounted on the wheelchair. The gripper will enable the wheelchair to grasp, transport, and release large green trashcans, such as those used around residences. In performing this task, the robot may communicate and collaborate with another computer via wireless internet, which may provide navigational and instructional information to aid the robot. This larger system and its capabilities have yet to be investigated.

The JSTik microcontroller is a real-time, network-capable, controller that runs Java in hardware. That is, Java bytecode is the instruction set for the processor. This choice of hardware is attractive for two main reasons: First, developers can write, and compile, and potentially test, most of their code using standard Java desktop tools and libraries. Second, there is no need to integrate assembly language routines with a high-level language, because Java code is both. This means that device drivers and application code can be written in the same language.

On the other hand, including a development station, the hardware costs more than older, established hobby robotics controllers, and the Ajile Systems, Inc. Aj-100 processor is not widely known and used. The JStik does include serial and JTAG connectors with standard headers, and its slot connections use the 30-pin JSimm standard, which is compatible with the more widely-known SimmStick standard. JStik also includes headers for general-purpose high-speed I/O, and UARTS. Thus, communication and control connectors and boards can be built from standard parts, and conform to existing standard protocols.

The more general system concept is that in perfoming a task, especially in a known, well-defined environment, the robot would download a set of mapquest-like instructions from a host over the network, and perform its task autonomously. Initially, the robot would have to be fitted with the proper harness for each task, but an eventual goal is to have the robot find, mount and unmount its own harnesses autonomously. Additional envisioned tasks include activities such as mowing the lawn, vaccuuming carpets, removing dishes from a table onto a cart and then into a dishwasher, and functioning as an autonomous following cart for carrying supplies and equipment from one location to another.

We intend to publish the results once a working robot has been built and demonstrated, and to provide the basis for continuing follow-on undergraduate research projects.

An ultimate goal for this research is creating affordable personal service robots that people will actually use ad buy, especially to improve the quality of life for people with disabilities. This current effort is the bginning of that larger effort.


General Plan for the Course
Students enrolled in the course have already expressed interest in, and a desire to focus on, the specific problem described under "Goals". Students are expected to direct research & development effort toward that goal, in consultation with the instructor. Students will not typically meet with the instructor for classroom instruction per se. However, the team is required to inform the instructor of progress and issues on a regular basis, as noted in the "Course Requirements" section below. Signficant deviations from an original proposal or plan must be discussed with, and approved by, the instructor, and may also require re-approval by the department head.

Course Requirements
The research team is expected to deliver the following by the end of the term:
  1. The modified power wheelchair, and a working demonstration.
    If for some reason the project is not complete at the end of the semester, the team must document the point that was reached, and major issues that prevented the project's envisioned completion, and next steps that should be taken to continue progress.
  2. A record of the team's activities over the course of the project, documenting important ideas and decisions, and the gist and results of any important conversations about the research, and any relevant designs and schematics. If possible, important entries should be reviewed and signed by the student(s) and a qualified participant or supervisory instructor.
  3. Demonstrated a pattern of regular contact with the supervisory instructor, through written reports or email for example, as determined by the team and instructor. (Significant emails or electronic records of activities should be printed in hardcopy, in order to provide a concrete record of them.)

Grading
Students enrolled in this course are expected to perform "A" quality work, as judged by the supervising instructor. Although other grades are possible, this should be rare.
A demonstrably working system, with accompanying documentation describing its control, design, and key research issues, represent clear evidence of scientific and methodical progress toward the goal.