1. Hands-on Robotics with Programming Feb 22 2010 Shih-Chung Kang Assistant Professor Computer-Aided Engineering (CAE) Department of Civil Engineering National Taiwan University

2. Course Information Course: Hands-on Robotics with Programming ( 機器人程式實作 ) Instructor: Shih-Chung Kang 康仕仲 ( sckang@caece.net )sckang@caece.net Teaching Assistant: Yi-Chu Chen 陳奕竹 ( yie@caece.net )yie@caece.net Wei-Han Hung 洪偉瀚 ( magic@caece.net ) Classroom: Civil Engineering Research Building - Room 405 Time: Monday 6,7,8 ( 14:20 ~ 17:10 ) Semester: 2009-02 Course Number: 521 M6800 Course Credit: 3 Website: http://sites.google.com/a/caece.net/robot-programming-2010/ Course Information: NTU Course Informationmagic@caece.nethttp://sites.google.com/a/caece.net/robot-programming-2010/NTU Course Information Grading: Class participation 10% Project Assignments 60% Final Project 30%

3. Course Major Topic Topic 1: Fundamentals of MSRDS Service – CCR, DSS [Week 02~04 | Project 1] Topic 2: Robot hardware – hardware service, motion control [Week 05~10 | Project 2] Topic 3: Robot simulation – simulation service, simulation environment [Week 11~13 | Project 3] Topic 4: Multi-robot – railway system, multi-robot system design [Week 14~17 | Final Project]

4. A Typical Class Before class: Students need to download the code from the course website. “Reading” will help you to understand the topic of the week. During class: Teacher will explain the code first, then students need to practice the code in the class. After class: Students need to practice the rest of the code. Every major topic has a project. Project demonstration: At the first class on project due date. The rest two classes have regular progress.

5. Programming Environment (1/3) Microsoft Visual Studio 2008 and C#

6. Programming Environment (2/3) MSRDS 2008 R2(Microsoft Robotics Developer Studio) and VPL (Visual Programming Language)

7. Programming Environment (3/3) innoBasic: Original mobile robot(innoBot) control language.

8. Topic 1 Fundamentals of MSRDS Service

9. Schedule Week Topic Coursework 01Course introduction 02 Fundamentals of MSRDS Service (1/3): CCR 03 Fundamentals of MSRDS Service (2/3): DSS 04 Fundamentals of MSRDS Service (3/3): Integration of fundamentals of MSRDS service

10. WK02 Fundamentals Service (1/3): CCR What is CCR (Concurrency and Coordination Runtime)? CCR major components: 1. Port, PortSet 2. Dispatcher, DispatcherQueue, Task 3. Arbiter class Using C#

11. WK03 Fundamentals Service (2/3): DSS What is DSS (Decentralized Software Services) ? Using C# and VPL

12. WK04 Fundamentals Service (3/3): Integration Project 1: Write a service which can control the simulation robot. The service needs to get data from the simulator. After calculating, the service needs to send control command back to the robot.

13. Topic 2 Mobile Robot Hardware

14. Schedule WeekTopicCoursework 05 Mobile Robot Hardware (1/5): Introduction to mobile robot Due: Project 1 06 Mobile Robot Hardware (2/5): Building mobile robot 07Tomb Sweeping Day (holiday) 08 Mobile Robot Hardware (3/5): Motion control 09 Mobile Robot Hardware (4/5): Behavior control 10 Mobile Robot Hardware (5/5): Integration of services for mobile robot

15. WK05 Hardware (1/5): Robot Introduction Introduction to “innoBot” and chips Fundamentals of robot knowledge: square-wave radio signal, servo motor

16. WK06 Hardware (2/5): Building mobile robot Introduction to “innoBasic”. Building innoBot, then use innoBasic to check and control the robot

17. WK07 Hardware (3/5): Motion control Using “innoBot innoSDK.dll” to create “innoBot service”. This service needs to control innoBot movement: foreward, backward, turn right, turn left, get sonar distance.

18. WK07 Hardware (4/5): Behavior control Modifying “innoBot service”, let the service can be used in VPL. Using VPL to control innoBot, let innoBot can avoid obstacles atomically.

19. WK08 Hardware (5/5): Integration Project 2: Write an “innoBot service” and VPL code to control innoBot. innoBot needs to follow the black line and avoid obstacles atomically.

20. Topic 3 Robot Simulation

21. Schedule WeekTopic Coursework 11 Simulation (1/3): Building mobile robot model and virtual environment Due: Project 2 12 Simulation (2/3): Virtual actuator and sensor 13 Simulation (3/3): Integration of services for mobile robot simulation

22. WK11 Simulation (1/3): Building robot model Building virtual environment Building innoBot model

23. WK12 Simulation (2/3): actuator and sensor Write a service to control innoBot actuator and sensor.

24. WK13 Simulation (3/3): Integration Project 3: Write an “innoBot service” and VPL code to control innoBot at virtual enviroment. innoBot needs to follow the black line and avoid obstacles atomically.

25. Topic 4 Multi-Robot

26. Schedule Week Topic Coursework 14 Multi-robot (1/3): Design of single line and circular railway system. Design of Y-loop and block signaling railway system Due: Project 3 15 Multi-robot (2/3): Design railway passing system 16 Multi-robot (3/3): Integration of multi-robot 17Final Project demonstration Due: Project 4

27. WK14 Multi-robot (1/3): Fundamentals of rail way design

28. WK15 Multi-robot (2/3): Railway passing system Introduction to ATC, ATO, ATP, and AWS.

29. WK16 Multi-robot (3/3): Integration Final Project: Write an “innoBot service” and VPL code to control multi-innoBot. The service needs to work at actual and virtual enviroment. Students may design a “control panel” to show innoBot status and control innoBot driectly.

30. WK17 Final Project Demonstration

31. Thank you