title1_vbar.gifProject Title: iRobot Programming

  • Renovating an existing course work, Intelligent Robot Programming, with the mini drone flatform , Parrot Rolling Spider,  to build a programming ability of the student.
  • Sensors signal filtering and controller design methods of the drone will be demonstrated using Mathlab tools.
  • Simulation model of the drone also will be developed using Simulink, which will be used to decide the proper control parameters of the drone.

title1_vbar.gifProject Goals:

  •  Developing a Problem based learning coursework using Matlab.
  • Students will be experienced how the Matlab is utilized to implement the following items essential  to the drone controller design. 
    1.  Data acquisition : Collecting sensors data of the drone using network(Tcp/IP or Bluetooth)
    2. Signal filtering : Rejecting signal noise and decding a proper time delay
    3. Drone posture : Calculating roll, yaw, and pitch with data acquired from gyro and accelerometer
    4. Drone simulator : Analyze existing AR-Drone simulator and Building new model for Rolling Spider
    5. Controller design : Deciding controll parameter using Drone Simulater
    6. Drone control :  Implementing and demonstrating the drone.
  • Deliverables are Matlab examples for 1 to 5 and video clips for 6.

title1_vbar.gifCourse Application Area

  • Drone control
  • Signal processing
  • Motor control

title1_vbar.gifCourse Details

  • The syllabus of the course, Intelligent Robot Programming, consists of 15 weeks lesson, 3 hours for each week,  including team project. 
  • The Matlab and simulink will be used for performing the project, such as handling the sensors signal, building the model of the drone, and implementing the controller of the drone.
  • Followings are details of the lessons and the schedule of the project.

Week 1: Introduction  to the course and building a development environment.
              (Setting up MFC  environment)
Week2: CH1 of the text book,  Control software of the intelligent robot
              (Project team assignment: 3 person/team)
Week3: Visual programming practice
              (Programming practice 1: Notepad, Messenger)
Week4: CH2 of the text book, What is the intelligent robot
              (Setting up Rolling spider SDK)
Week5: CH3 of the text book, The structure of the intelligent robot
              (Analysis of the communication protocol of the Rolling spider)
Week6: CH4 of the text book, Overview and features of the intelligent robot
              (Announcing  the presentation evaluation criteria)
Week7: Project goals (functional ity and performance of the target) presentation
              (Programming practice 2: Communication between host and drone )
Week8: Midterm exam
Week9: CH5 of the text book, Understanding of the motor drive and control
             (Programming practice 3: Motor control) 
Week10: CH6 of the text book, Understanding of the sensors and control
             (Programming practice 4: Signal filtering) 
Week11: The concept of mini drone and manual flight
             (Announcing  the presentation evaluation criteria)
Week12:  Project progress (demo scenario) presentation
             (Programming practice 5: Drone posture) 
Week13: Implementing a mini drone intelligent, and programming practice
             (Programming practice 6: Drone control) 
Week14: Mini drone simulator design
             (Announcing the presentation evaluation criteria)
Week15: Final exam, Final project presentation
            (Project result demonstration)

  • The basics of the Matlab will be taught and learned in first half. After that, according to the following sequence, major Matlab functions needed for designing drone controller will be introduced.
         Week7: data importing method(offline and on-line) - load,   importdata, tcp/ip, bluetooth
         Week9: control analysis method - ss, tf, step, impulse, lsim
         Week10: signal analysis - butter, filter
         Week12:  differentiation and integration of the signal - int, diff, ode
         Week13: modeling - simulink