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<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd">
<html><head>
<meta content="text/html; charset=ISO-8859-1" http-equiv="content-type"><title>Robotics Course @ UTSA</title></head><body>
<div style="text-align: center;"><big><big><big><big><span style="font-weight: bold;">Robotics Course </span></big></big></big></big><br>
<big><big><big><big><span style="font-weight: bold;"></span></big></big></big></big></div>
<!--
Fall 2020 stuff start here
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<big><big><span style="font-weight: bold;">Fall 2020 </span></big></big>(UIC ME 410) <br>
<ol>
<li>Lecture notes (<a href="robotics/f20/lecture_notes.zip">zip files</a>) + MATLAB scripts (<a href="robotics/f20/lecture_matlab_scripts.zip">zip files</a>) and Video lectures to accompany the lectures are in <a href="https://www.youtube.com/playlist?list=PLc7bpbeTIk741sSBpPzj5hl_L8Wlrn1u8">this playlist</a><br>
</li>
<li>CoppeliaSim (<a href="robotics/f20/CoppeliaSim.zip">zip files</a>) and <a href="https://www.youtube.com/playlist?list=PLc7bpbeTIk77hTOItZGt5Fn-zIWmjAblh">YouTube playlist</a></li>
<li>Projects: pong game in MATLAB, pumping a swing, maze soler, and pick and place in CoppeliaSim (<a href="robotics/f20/project.zip">writeup and other files</a>)<br>
</li>
</ol>
<br>
<!---->
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Fall 2020 stuff ends here
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<big><big><span style="font-weight: bold;">Spring 2019 </span></big></big>(UTSA ME 5493)<br>
<ol>
<li>Lecture notes (<a href="robotics/s19/lecture_notes.zip">zip file</a>) + MATLAB scripts (<a href="robotics/s19/lecture_matlab_scripts.zip">zip file</a>) and Video lectures to accompany the lectures are in <a href="https://www.youtube.com/playlist?list=PLc7bpbeTIk7676ib5BiioflfVBX3rceNO">this playlist</a><br>
</li>
<li>Project 1 on creating a single player pong game is on <a href="https://github.com/pab47/PongGame">GitHub</a>.</li>
<li>Project 2 on LEGO-based robotics challenge with instructions is on <a href="https://github.com/pab47/LARPA_Robotics_Challenge">GitHub</a>.<br>
</li>
</ol>
<big><big><span style="font-weight: bold;"><br>
Fall 2017 </span></big></big>(UTSA ME 5493)
<ol>
<li><a href="robotics/f17/Muscle_model.pdf">Simulation Of A Three-link, Six-muscle Musculo-skeletal Arm Activated By Hill Muscle Model</a> by Nafiesh Ebrahimi (<a href="robotics/f17/6%20muscle-%203%20link%20hill%20model.zip">code</a>)</li>
<li><a href="robotics/f17/Variable_Stiffness_Actuator.docx">Control System Development and Implementation of a Novel High Impedance Variable Stiffness Actuator</a> by Christian Wahrmund (<a href="robotics/f17/Actuator_Code.zip">code</a>)</li>
<li><a href="robotics/f17/Domain_Randomization.pdf">Domain Randomization For Classifying Images</a> by Ezra Ameperosa </li>
<li><a href="robotics/f17/Uselesser_Machine.pdf">Uselesser Machine</a> by Edward Young, Hugo Vasquez, and Melvin Ayuso (<a style="color: red;" href="https://youtu.be/npodU2XkUCo">YouTube link</a>)</li>
<li><a href="robotics/f17/3D%20printed%20prosthetic%20finger.pdf">3d Printed Prosthetic Finger: Design</a><a href="robotics/f17/3D%20printed%20prosthetic%20finger.pdf">, Model And Simulation </a>by Heber Martinez and Krutika Kanphade (<a href="robotics/f17/3D%20printed%20prosthetic%20finger,%20model,%20and%20simulation.pdf">ppt</a>)<br>
</li>
<li><a href="robotics/f17/Short_Story_in_MATLAB.doc">Animation of a Short Story Using MATLAB</a> by Md Monimul Haque (<a style="color: red;" href="robotics/f17/short_story.avi">avi</a>) (<a href="robotics/f17/short_story_files.zip">code</a>)</li>
<li><a href="robotics/f17/Motion_Capture_And_Humanoids.pdf">Motion Capture and Humanoids</a> by Andrew Waterreus<br>
</li>
</ol>
<big><big><span style="font-weight: bold;"><br>
</span></big></big><big><big><span style="font-weight: bold;">Fall 2016</span></big></big> (UTSA ME 4773/5493)<br>
<br>
<span style="font-weight: bold;">Sample MATLAB HW</span><br>
- Animated Face, HW <a href="https://youtu.be/A4dvcQHA05U">YouTube link</a><br>
- Manipulator Curves, HW <a href="https://youtu.be/HUAFMqhNNnU">YouTube link</a><br>
<br>
<span style="font-weight: bold;">Finals Question </span>- Draw what robot you would like to build (<a href="robotics/f16/F16Robots.pdf">pdf</a>) About 6 MBs)<br>
<br>
<span style="font-weight: bold;">Student projects (click title to get project report)</span><br>
<br>
Hardware Project<br>
<ol>
<li><a href="robotics/f16/WeyandtMatthew_UselessMachine.pdf">The Useless Machine</a>, Matthew Weyandt (<a style="color: red;" href="https://youtu.be/-wc-ybJI5Eg">YouTube video</a>)<br>
</li><li><a href="robotics/f16/HillerUselessShippngBox.pdf">The Useless Shipping Box</a>, Jacob Hiller and Royce Peters <br>
</li><li><a href="robotics/f16/AlahmadiThamer_VibrationRobots.pdf">Vibration based robots: climbing and running robots</a> by Thamer Al Ahmadi, Nafel Alotaibi, Abdulaziz Alshamardl (<a style="color: red;" href="https://youtu.be/jus2NH_W-u8">Running YouTube video</a>) (<a style="color: red;" href="https://youtu.be/ZStLIsePc2w">Climbing YouTube video</a>)<br>
</li><li><a href="robotics/f16/McAngusJohn_ProtoPedal.pdf">Proto pedal</a>, John McAngus</li><li value="5"><a href="robotics/f16/KrauseJeremy_Pneumatics.pdf">Variable position and force control of a pneumatic actuation system</a>, Jeremy Krause. (<a href="robotics/f16/KrauseJeremy_Pneumatics_Appendix.pdf">Appendix</a>) (<a style="color: red;" href="https://youtu.be/6wloj4eiv88">Position Control, YouTube Video</a>) (<a style="color: red;" href="https://youtu.be/XeNXdWUynSI">Force Control, YouTube Video</a>)<br>
</li>
</ol>
Software Projects<br>
<ol>
<li><a href="robotics/f16/PiperMatthew_FlappyBird.docx">Playing flappy bird using a model predictive control</a>, Matthew Piper</li><li><a href="robotics/f16/ChapaMario_Parallel_Parking.docx">Parallel Parking of a differential drive car, Mario Chapa</a> (<a style="color: red;" href="https://youtu.be/d3LQBO9pV-E">YouTube video</a>)<br>
</li><li><a href="robotics/f16/ChiouGeoffrey_Calibration.pdf">Determining accuracy of an abb irb1600 manipulator and forming common reference frame with a faro arm</a>, Geoffrey Chiou</li><li><a href="robotics/f16/KinseyRyan_ME4773_FinalReport.pdf">Curve fitting for UTSA Mascot Rowdy</a>, Ryan Kinsey and Jose Perez (<a href="robotics/f16/PerezJose_RowdyCurve.pptx">ppt</a>) (<a href="robotics/f16/Perez_Kinsey_Rowdy.zip">zipped MATLAB files</a>)<br>
</li><li><a href="robotics/f16/HammondBradley_Rowdy.pdf">Polarizing Rowdy</a>, Bradley Hammond (<a href="robotics/f16/Hammond_Bradley_Rowdy.zip">zipped MATLAB files</a>)<br>
</li><li><a href="robotics/f16/FavelaAndres_RoboticPositioningToolProject.pdf">Quarter scale robotics positioning system</a>, Andres Favela</li><li><a href="robotics/f16/WahrmundChristian_Jumping.docx">Simulation of a Jumping Two Link System With End Mass</a>, Christian Wahrmund</li><li><a href="robotics/f16/AbdelmawgoudAhmed.doc">Validation and testing of IROS Robot reachability package</a>, Ahmed Abdelmawgoud</li><li><a href="robotics/f16/SackettJonathan_Manipulator.pdf">Training a Robotic manipulator</a>, Jonathan Sackett (<a style="color: red;" href="https://youtu.be/TvKRS4MtHEY">YouTube video</a>)<br>
</li><li><a href="robotics/f16/ZamaniAli_RoboticsProjectReport.pdf">Versatile and Energy Efficient Walking for the Simplest Biped</a>, Ali Zamani</li><li><a href="robotics/f16/BrothersRobert_Adaptive.docx">Adaptive Control of a 2 degree of freedom Manipulator lifting a mass</a>, Robert Brothers</li>
</ol>
<span style="font-weight: bold;">Project presentation photos</span> (<a href="https://drive.google.com/drive/folders/0B0jSCF006ssbbVhXenpWTGd4WWM?usp=sharing">link</a>)<br>
<br>
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