CS 407 Robotics
Fall 2004
MW 6:45-8:00
Brian M. O'Connell
Last Modified: 09/23/04
The worst fad is these stupid little robots," said [Marvin] Minsky.
Graduate students are wasting 3 years of their lives soldering and
repairing robots, instead of making them smart. It's really shocking.
Wired News, May 13, 2003
My favorite programming language is solder.
Steve Ciarcia
Science is about why; engineering is about why not.
Dean Kaman
Course Description
This course will present a comprehensive examination of robotics within a computer science
context. We will take two general approaches: The seminar section will consider models of
robotic computation (e.g., cognitive, reactive, behavior-based and hybrid), hardware & software
architectures, sensing, navigation, & "learning" modalities. Critical analyses of current & past
research will be emphasized & will be required from students in the form of presentations & reviews.
The lab component will provide a first-hand experience in basic, autonomous robot architectures,
programming & research methodology. The course will require several oral presentations & a
substantial, annotated research paper.
Students opting to take this course should be aware that significant reading & study will be required.
It should also be noted that a required robotics package must be purchased by 09/27 (see below).
Materials
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Required Texts |
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Suggested Supplements on Reserve |
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Course Text: Pfeifer & Scheier, Understanding Intelligence (MIT, 1999) |
+ Kortenkamp, et al. (eds.), AI & Mobile Robots (MIT, 1998) |
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Lab Package - Robot & Material to be ordered by students at parallax.com by 09/27. Link will be provided prior to beginning of class. Students may purchase individually or share in teams of |
+ Scheutz (ed.), Computationalism: New Directions (MIT, 2002) + Brooks, R., Cambrian Intelligence (MIT, 1999) + Arkin, R., Behavior-Based Robotics (MIT, 1998) |
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Readings Packet |
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| Grading | Teaching | Assistants | ||
| 30% | Mid-Term | Tim Ouellette | Ouellette_TiM (at) students.ccsu.edu | |
| 30% | Project Paper & Presentations | |||
| 20% | Lab Assignments / Presentations | Adam Sharp | email TBA | |
| 20% | Participation (including attendance |
Standards
| 1. | Class attendance: |
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Full attendance in seminars and lab sessions is presumed. Students choosing to be enrolled in this class must clearly understand that complete attendance is a strong presumption & must agree to honor this commitment. Two or more unexcused absences will result in loss of participation score.
Excused absences must be arranged at least two days prior to absence date unless a medical emergency exists. A medical letter will be required in this case within one week of return to class.
Quizzes and other evaluations will be based on class lectures/presentations as well as the texts. Unless otherwise announced, all quizzes given on Monday. |
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| 2. | Course work: |
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All work must be submitted in neatly printed, stapled, analog format. Work not conforming to any aspect of this criteria will not be accepted. A copy of your work should be made.
All relevant code and diagrams must be included in analog format.
No emailed work will be accepted.
Unexcused late work will receive a full letter grade reduction if handed in up to one week after deadline and a zero if submitted thereafter.
For excused late work, permission must be obtained prior to assignment due date or in medical emergencies, a medical letter will be required.
Regardless of lateness, all assignments must be completed in order to receive a course grade.
Lab project makeups for unexcused absences will not be scheduled and excuses for lab absences will be given only for serious emergencies. |
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| In general, course "slides" will not be available -- take notes. | |
| 3. | Schedule: |
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The online schedule (below) will be controlling and will be revised. Students must consequently consult the online schedule frequently. |
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| 4. | Lab Policies: |
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Students are responsible for condition & return of all lab material used. Students must have (or share with one other student) a lab robot. |
Schedule
Subject to Change -- Check here often
Last Modified -- 09.23.04
| Key | Lecture/Discussion | Lab - will meet in MS 314 | Student Presentation |
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Week |
day |
Monday |
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Wednesday |
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1 |
topic |
Introduction Course Goals and Policies
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Introduction Applications Overview Engineering vs. AI Approaches Performance vs. Papers Terminology & Precision Course Resources
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assignment |
n/a |
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none |
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supplement |
n/a |
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LINK: Robot Resources Page |
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Week |
day |
Monday |
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Wednesday |
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2 |
topic |
Intellectual Foundations Defining Intelligence Synthetic Modeling
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Intellectual Foundations Cartesian Models Behavioral & Cognitive Psychology Neuroscientific & Biological Overview Cultural Influences Philosophical & Mathematical Factors
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assignment |
T: Chapter 1 |
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T: Chapter 1 |
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supplement |
LINK: John Searle's Web Site LINK: Alan Turing Web Site |
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LINK: U. of Birmingham's Robot History Page LINK: Mind & Body Descartes to James Williams LINK: Mazlish: Man-machine and A.I |
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Week |
day |
Monday |
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Wednesday |
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3 |
topic |
Computationalism: An Overview Definitional Issues Environmental Factors Agents Knowledge Representation
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Computationalism: An Overview Definitional Issues Environmental Factors Agents Knowledge Representation
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assignment |
T: Chapter 2 |
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T: Chapter 2 |
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supplement |
LINK: Alan Turing & Morphogenesis LINK: Phil Agre's Site LINK: Brian Cantwell Smith's Site LINK: Matthias Scheutz's Site |
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LINK: Alan Turing & Morphogenesis LINK: Phil Agre's Site LINK: Brian Cantwell Smith's Site LINK: Matthias Scheutz's Site |
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Week |
day |
Monday |
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Wednesday |
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4 |
topic |
Cybernetics & Feedback Wiener & Colleagues Feedback Grey Walter's Robots Braitenberg Vehicles |
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Cybernetics & Feedback Wiener & Colleagues Feedback Grey Walter's Robots Braitenberg Vehicles |
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assignment |
T: Chapter 6 |
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T: Chapter 6 |
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supplement |
LINK: Principia Cybernetica LINK: Machina speculatrix: W. Grey Walter's history LINK: Grey Walter Archive LINK: Norbert Wiener - Memoir |
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LINK: Principia Cybernetica LINK: Machina speculatrix: W. Grey Walter's history LINK: Grey Walter Archive LINK: Norbert Wiener - Memoir |
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Week |
day |
Monday |
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Wednesday |
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5 |
topic |
Early Digital Robotics STRIPS Model Frame Problem Symbol Grounding Problem SPA Model
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Contemporary Architectures I Ethological Models Embodied Cognitive Paradigms Neuroscientific Contributions Schema-Based Architectures Neural Networks |
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assignment |
T: Chapter 3 |
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T: Chapter 4 |
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supplement |
LINK: John McCarthy's Site LINK: Marvin Minsky's Site LINK: Terry Winograd's Site LINK: SHAKEY |
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LINK:
Michael Arbib's Site
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Week |
day |
Monday |
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Wednesday |
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6 |
topic |
Contemporary Architectures II Reactive Paradigms Situated Agents Subsumption Architecture Related Architectures |
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Contemporary Architectures II cntd Reactive Paradigms Situated Agents Subsumption Architecture Related Architectures
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assignment |
T: Chapter 7 |
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T: Chapter 7 continued |
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supplement |
LINK: Rod Brooks' Site |
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LINK: Rod Brooks' Site |
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Week |
day |
Monday |
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Wednesday |
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7 |
topic |
Contemporary Architectures III Dynamical Systems Approach Hybrid Reactive/Deliberative Model Reactive Planning Algorithmic Constraints Universal Plans: Problems & Improvements Blended Architectures
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Design Issues Design Principles Ecological Factors Morphology & Mechanisms Evolutionary Structures Environmental Issues Emergent Behavior Coordination Algorithms |
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assignment |
T: Chapter 7 continued |
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T: Chapter 10 |
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supplement |
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Week |
day |
Monday |
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Wednesday |
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8 |
topic |
Design Issues II Architectures Platform & Sensor Choices
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Introduction to Lab Basic Electronic Components Basic Construction Tools Color Codes & Values Online Resources
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assignment |
T: Chapter 16 |
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supplement |
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LINK: Resistor Code Calculator LINK: Ohm's Calculator |
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Week |
day |
Monday |
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Wednesday |
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9 |
topic |
Robot Construction Bring Robot kit to lab
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Robot Construction II Bring Robot kit to lab
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assignment |
L: Chapter 1 |
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L: Chapter 1 |
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supplement |
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Week |
day |
Monday |
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Wednesday |
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10 |
topic |
Sensors Passive vs. Active Fusion/Fission/Fashion Component Attributes Computer Vision Modeling, Interpretation & Representation Control Paradigms |
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Lab Projects continued
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assignment |
TBA |
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supplement |
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Week |
day |
Monday |
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Wednesday |
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11 |
topic |
Sensors II |
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Lab Projects continued
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assignment |
TBA |
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supplement |
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Week |
day |
Monday |
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Wednesday |
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12 |
topic |
Lecture: Dr. Kjell Robotics & Vision |
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Lab Projects continued |
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assignment |
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supplement |
Link: TBA |
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Week |
day |
Monday |
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Wednesday |
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13 |
topic |
Lab Projects continued |
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Thankgiving -- No Class |
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assignment |
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supplement |
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Week |
day |
Monday |
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Wednesday |
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14 |
topic |
Lab Projects continued |
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Lab Projects continued |
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assignment |
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supplement |
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Week |
day |
Monday |
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Wednesday |
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15 |
topic |
Lab Projects continued |
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Project Presentations |
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assignment |
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supplement |
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Finals |
day |
Monday |
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Wednesday |
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Week |
topic |
Project Presentations continued |
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** Final paper due in person ** |
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assignment |
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supplement |
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