Class Schedule:

Session 1: Thursday, 7/12/2018, 7:00 PM - 9:30 PM

Session 2: Thursday, 7/19/2018, 7:00 PM - 9:30 PM

Session 3: Thursday, 7/26/2018, 7:00 PM - 9:30 PM

Course Description:

A hands-on robotics course based on the use of a new low-cost, powerful multi-layer robot platform optimized for interactive teaching. Each students will assemble a robot from a simple Robot Kit made up of components provided for the duration of the class. The robot platform utilizes both a Raspberry Pi (Pi) and an Arduino module; the Pi for high level algorithms, communications and imaging; the Arduino for real-time sensing and control where exact timing is a pre-requisite. The emphasis will be on teaching the fundamentals of robotics, to demonstrate both the relative power and limitations of the hardware and software assemblies, culminating with the integration of the diverse elements to realize a working robotic platform. The importance of sensor fusion will be covered as more and more of the sensors, software modules and motion control elements are integrated into the working robot. The final class will culminate in the playing of a robot soccer match between class robots.

The students will learn to program both the Arduino and the Raspberry Pi, the Arduino through C/C++ and the Raspberry Pi through the Python language. The Arduino will be programmed to interrogate sensors, control the servo motor and communicate data back to the Pi. The Pi will be programmed to to take all Executive decisions, to supervise robot movement and acquire and manipulate images captured on the Pi camera in real-time. The class will utilize a customized Raspian Linux operating system which includes a Python 3 toolchain and OpenCV. All necessary software drivers will be provided for sensors, motors, cameras and remote control. The classes will also cover hardware and software interfacing using the SPI and I2C interfaces. Command and control will be taught through the Python language. No prior knowledge of Python is assumed. Emphasis will be placed on working examples and in teaching the students how to bring together code for the various components to make a more sophisticated measurement system.

Image acquisition utilizing both CSI, USB and SPI port cameras will be demonstrated. A variant of the OpenCV software library running under Python will be made available for the class which will allow sophisticated detection algorithms to be used for image interrogation and interpretation of acquired images. Soccer ball detection utilizing Haar cascades will be demonstrated and the class will be given the chance of developing their own Haar cascade xml detection files. Output data methods will be discussed including streaming sensing data and images through WiFi using a Flask server from within the Python acquisition program.

Two teachers will be present throughout the classes allowing for both class presentation time and hands-on laboratory time to be carried out seamlessly.

Class Goals:

Students will learn the following:

Session 1:

• Raspberry Pi hardware overview
  
• The Pi test robot
• The Raspian Linux operating system; Bootup and system operation
• System settings and setting up Wifi
• Advanced Linux (Advanced setup options, installing programs, shell scripts, superuser permissions)
• The geography of the Linux file system
• Program management and apt-get software installation
  
• The Arduino IDE
• Simple Arduino programming in C/C++
• Reading the Arduino connected sensors

Session 2:

• Programming Tools and learning to program in Python
• Writing simple Python programs
• Peripherals and add-on sensors
  Hardware interfacing challenges
• The DGIO interface and how to access
• Interfacing components to the SPI interface
• Interfacing components to the I2C interface
• The Pi CSI cameras
• USB interfaced cameras
• Acquiring images off cameras through Python
• Overview of OpenCV
• OpenCV and Python

Session 3:

• Windowing and headless operation
• Writing advanced data acquisition algorithms
• Controlling the Robot with a Flask server
• Image storage and streaming through WiFi
• Advanced OpenCV and Python
• Controlling it all together
• Soccer ball, goal and player detection
• Competitive robot soccer

Prerequisites:

Students must be at least 18 years of age, have a working familiarity with at least one computer flavor (Mac, Windows or Linux), and know how to install programs and device drivers.

This class is suitable for beginners with no working knowledge of the Raspberry Pi. All aspects of the Linux operating system and the Python development system will be covered in detail.

Materials:

All materials necessary for operation of the systems will be made available for the duration of the class:

• Raspberry Pi, keyboard, mouse, power supply & display
• Robot chassis and Pi Hat, motors and sensors
• uSD card with custom Pi raspian+ (the plus denoting the addition of the software toolchain and OpenCV)
• Pi camera (CSI interface) and USB camera

If you wish to bring your own Raspberry Pi: the Pi 3 which can be purchased at MicroCenter in Cambridge or from Amazon ot other on-line retailers. You may bring your laptop and a Raspberry Pi if you have one, but otherwise, all necessary hardware will be provided.

(use this link to purchase and support Artisan's Asylum) http://amzn.to/2oJ4o7X

We will be using 5MP cameras like this one from Amazon: http://amzn.to/2r0SsQK

If you can't BYOPi, you may borrow one of ours (but you will not be able to keep it after class).

At the completion of the three sessions, students will be allowed to keep the uSD card with Pi-Jessie+ installed.

Class Minimum: This class will not run with fewer than 6 students.

Instructor Biographies:

Richard Driver is a physicist with an interest in the optical sciences and imaging spectroscopy. During his career he has managed engineering departments at a number of small high-tech startups in the Boston area and has established his own company UV2IR to develop low-cost spectral and spectral imaging systems. He has pursued research projects at Harvard and MIT and has taught course in Optical Sciences and Fourier-Optics in the graduate program at Northeastern University. He enjoys the challenge of putting together interdisciplinary education courses bringing together some of his technical skills.

Mike Beach is an Electrical Engineer with many years of experience with the design and debug of electro-optical and high speed analog systems. Some of this work can be seen at www.actinica.com. He has held classes in low-noise analog design for IEEE, has co-taught robotic design courses based on the Raspberry Pi nd the Arduino platforms at the Artisans Asylum. He is an active participant and mentor at the Circuit Hacking night held at the Asylum every Wednesday.