麻省理工学院机械工程科研-机器人

理工 2018-06-29 16:27:41

 麻省理工学院机械工程科研-机器人

Mechanical Engineering Research at Massachusetts Institute of Technology

 

一、学校简介

麻省理工学院(Massachusetts Institute of Technology, MIT),创立于 1861

年,坐落于美国马萨诸塞州剑桥市(大波士顿地区),是世界著名私立研究型大学。作为世界顶尖高校,麻省理工学院(MIT)尤其以自然及工程学享誉世界,位列2015-16 年世界大学学术排名(ARWU)工程学世界第 1、计算机科学第 2,与斯坦福大学、加州大学伯克利分校一同被称为工程科技界的学术领袖。截止 2016 年,麻省理工共走出了 19 位图灵奖(计算机界最高奖)得主;先后有 87 位诺贝尔奖得主在麻省理工学院工作或学习过。

 

二、项目简介

科研主题: 麻省理工学院·机械工程(Mechanical Engineering) 科研导师:MIT 机械工程专业导师;

科研地点:MIT 机械工程实验工作室;

科研时间:寒假,暑假,每期时间长度为 4 周;具体情况根据学生面试情况由美方进行调整;

 

三、招募要求

面向对象:欲申请美国名校机械类或相关专业的高中生、大学生;

专业背景:数学、物理、机械工程、机械设计、机电一体化、计算机等相关专业; 软性背景:有一定的科研履历者优先;

 

四、科研内容

辅导科目:机器人学

机器人不仅在制造业中得到广泛应用,而且在日常生活中也作为服务提供者使用。机器人学是一门多学科交叉的学科,涉及机械设计、电气电路、嵌入式系统、控制算法、人工智能等许多实际工程技术。在这一系列的以实验室为基础的课程,将全面介绍机器人技术。通过为机器人平台编写代码,学生将熟悉移动机器人平台,并完成挑选和放置的挑战。

 

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The final competition

Schedule:

Session 1: Introduction to mechanical design and manufacturing Time: TBD, 2-4 pm

Location: MIT 5-232

Task 1: Building a physical robot is the first step for the creation of a robotic system, which requires the knowledge of mechanical design. Mechanical design is a useful engineering skill that requires understanding and experience. A general understanding of the capability of manufacturing process would also be helpful to ensure feasible design that can be fabricated. In this class, we will give a general introduction to the various manufacturing processes for their capability and limitation. An introduction to rapid prototyping (3D printing) will also be given. With modern computer software, the design process has been made considerably easier compare to the old days. In this class, the student will also obtain modeling skills using CAD software.

 

Session 2: Mobile Robot Platform Assembly Time: TBD, 4-6 pm

Location: MIT 5-232

Task 2: The focus of this lab session is to assembly the mobile robot platform and ensure that all hardware is functional. Brief introduction to the on-board hardware resources will be given. Student will also run basic demo code to get a general understanding of the robot capability.

 

Session 3: Introduction to Robotics and Mechanism Design Time: TBD, 2-4 pm

Location: 5-232

Task 3: Mechanism design is an important task robotic scientists as a smart design can significantly simplify the control tasks. In this class, we will start with an overview of mechanisms such as gear, pulley, linkage and etc. The class will continue into modeling of robot kinematics and differential motion, which are both important tools for robotic system modeling. An overview of commonly available electrical actuators such as DC motor, servo motor and stepper motor will be given.

 

Session 4: Robot arm Assembly and Final Project Introduction Time: TBD, 4-6 pm

Location: 5-232

Task 4: In this session, a robotic arm will be assembled and controlled both using joystick and through programming. Knowledge obtained from robot kinematics can be applied here. Student will be able to complete pick and place tasks by the end of this lab. The goals and rules for the final competition “Pokemon Robotics Challenge” will also be announced in this lab.

 

Session 5: Introduction to Imbedded System Programming Time: TBD, 2-4 pm

Location: 5-232

Task 5: Embedded system serves an important role in robotic system as it controls the various sensor and actuators to realize the desired function. In this section, we will give detailed introduction to the use of embedded system for controlling peripheral devices using the Arduino platform. Hardware aspects of the embedded system will be covered for better understanding of the architecture. Last but not least, an overview of the programming language C/C++ and python will be given.

 

Session 6: Vehicle Line Following and Obstacle Avoidance Time: TBD, 4-6 pm

Location: 5-232

Task 6: In this lab, the student will utilize the Arduino to program the mobile robot platform to complete tasks of obstacle avoidance and line following. The usage of optical sensors, ultrasonic distance sensors will be introduced. A small competition for speed will be held by the end of the lab.

 

Session 7: Introduction to Automatic Control Time: TBD, 2-4 pm

Location: 5-232

Task 7: Feedback control is an important techniques utilized in robotics. Getting into details of control theory requires significant amount of knowledge of mathematics. However, an intuitive understanding can be obtained for PID controllers without getting into the details. We will introduce the concept of transfer function, frequency response, PID control and Matlab simulation.

 

Session 8: Vehicle Odometry and Inverted Pendulum Demo Time: TBD, 4-6 pm

Location: 5-232

Task 8: Moving around unknown environment without guidance or reference line can be challenging. Mobile robot relies on odometry to track its current position and computer vision for drift correction. In this lab, we utilize the knowledge of control theory to design a vehicle speed controller. A theoretical introduction to vehicle odometry will also be given first and followed by implementation on the mobile robot platform. We will also give a demo for PID controller tuning using a circular inverted pendulum.

 

Session 9: Introduction to ROS and Raspberry PI Time: TBD, 2-4 pm

Location: 5-232

Task 9: In many robot applications, the computational power of traditional embedded system might not be enough and computers are needed. Raspberry PI has been a powerful platform that is small enough for embedded application. On the other hand, the Robot Operating System (ROS) is a tool used widely in the industry for the creation of a number of robots. In this section we will give an introduction of ROS.

 

Session 10: Robot Control Using Raspberry PI Time: TBD, 4-6 pm

Location: 5-232

Task 10: In this lab, we will apply the knowledge of Raspberry PI to writhe Python programs to control the robotic arm. The remaining of the lab would be used for preparation of the final competition.

 

Session 11: Introduction to Basic Computer Vision Time: TBD, 2-4 pm

Location: 5-232

Task 11: Computer vision is an important field of research in robotics used for navigation and perception. Although going into details of computer vision would be beyond the scope of this class, basic understanding of RGB and HSV image formation, line and circle detection using transformation method would be helpful. In this session, basic knowledge of computer vision will be introduced.

 

Session 12: Pokemon Robotics Challenge Final Competition Time: TBD, 4-6 pm

Location: 5-232

Task 12: It’s show time! In this final session, student will demonstrate their functional robot to complete pick and place of Pokemon.

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