Professor: Marek A. Perkowski, Electrical Engineering.

Embedded Intelligent Robotics.

  2. Introduction to classs.ppt
  3. Robot Metaphors + models + dialog.ppt
  4. Quantum_Robot C example w flowchart - robot_head_1.pptx
  5. Robot C complete example - robot_head_1.pdf
  6. Intro_Fuzzy_Logic and Expert Systems.ppt
  7. Expert Systems.pptx
  8. Fuzzy_Logic_direct approach-examples.ppt
  9. Fuzzy_Logic_Rule_Based_advanced.pptx
  11. Fuzzy_advanced_SYSTEMS.ppt
  13. GeneticProgramming.ppt
  14. Search_Crossover_Mutation.ppt
  15. Advanced Evolutionary.ppt
  16. IGA for robot theatre. Part 1..ppt
  17. IGA for robot theatre. Part 2..pptx
  18. This slide set completes information related to evolutionary ideas in robotics. It is especially related to all Robot Theatre and musical robots and projects.
  19. LISP and Editors for Robot Theatre
  20. Lisp 1 structures and functions.ppt
  21. Lisp 2 rules and natural language.ppt
  22. Lisp 3 more on lists processing.PPT
  23. iteration and recursion.ppt
  24. More LISP Examples. Genetic Algorithm.ppt
  25. RobotTheatre_Editors_Event Diagrams..pptx
  26. Below is more on Lisp language for students interested in advanced robot programming and motion languages.
  27. Lisp_tutorial.pdf
  28. C programming. Genetic_Algorithm.pdf
  29. Lisp for a simple mobile robot.pdf
  31. Lisp for Lego Robot..pdf
  32. logic programming in LISP.pdf
  33. decision_tree.lsp.docx
  34. Match_for_Eliza_like.lsp.docx
  35. AN_EXAMPLE_SCRIPT_for_MATCH.lsp.docx
  36. maze_array_search.lsp.docx
  37. wolf_cabbage_goat.lsp.docx
  38. wolf_data.lsp.docx
  39. Some knowledge of LISP is mandatory in this class. Using LISP in projects and homeworks is, however, not mandatory.
  40. You can find plenty of LISP examples on my class number 3. Intelligent Robotics I (old class). Look under "Various interesting LISP codes" for these examples.
  42. Actuators Intro, DC Motors.ppt
  44. Stepper Motors and Artificial Muscles.ppt
  45. ServoSystems, ServoMotors.ppt
  46. Servos and Control- applications.ppt
  47. Dynamixel Servos.ppt
  48. Hydraulics and Pneumatics.ppt
  50. INDUSTRIAL ARMS_Cartesian Coordinate System.PPT
  51. Cylindrical and Polar Systems.PPT
  52. Revolute and DOF.PPT
  53. Simple Design and materials Issues in Robot Design.pptx
  54. ROBOT DESIGN: basic machines
  55. BASIC MACHINES = intro-Lever-screw -wedge-MA.ppt
  56. pulleys.ppt
  57. belt drives.ppt
  58. Tetrix Introduction - Mechanical Design.pptx
  59. simple gears in robot design.ppt
  60. Types of Gears - Bearings.ppt
  61. Gears in VEX, examples and simple theory.ppt
  62. ROBOT DESIGN: mobile robots
  63. wheel-axle.ppt
  64. Building a chassis with Tetrix.pptx
  65. Mobile robots with 1 , 2 or 3 wheels.pptx
  66. Robots with four wheels.pptx
  67. Examples of simple drives 4 wheels.ppt
  68. Advise and examples on simple drive designs.ppt
  69. Robots with 6 wheels, complex, service.pptx
  70. Tetrix Mobile Robot HS Examples.pptx
  71. Mobile robots - minimal Kinematics.ppt
  73. Slides from here are for people working on Robot Vision Projects and Homeworks. They will be used next quarter by the class. Do not read them if you do not need to now. This material is not mandatory. You read only as much as you need for your project.
  74. VISION INTRO and MATLAB.pptx
  75. Matlab-Image Proc.1.ppt
  76. Matlab morphological.ppt
  77. external interfaces to Matlab tutorial.pdf
  78. Math review for Matlab users.pdf
  79. Matlab programming_tips.pdf
  80. matlab_programming_tutorial.pdf
  81. matlab_programming_tutorial.pdf
  82. PROJ_1_MATLAB_SIMULINK_low level vision.doc
  83. PROJ_2_Moffitt_ViolaJones_OPENCV.docx
  84. PROJ_3_Jessie Adams =Morphological_Corridor_MATLAB.docx
  85. PROJ_4_Bardewa Kinect_Mouse Control.pdf
  86. PROJ_5_Casimir Sowinski_Kinect_Gesture_Mouse.docx
  87. PROJ_6_Kinect Source - Casimir Sowinski.docx
  88. PROJ_7_Depeche_KINECT tracking - Report.docx
  89. PROJ_8_Wajid Ali_Kinect_Human Detection_Sonbi_Robot.pdf
  90. PROJ_9_Rami_KINECT_Skeleton_robot.pdf
  91. PROJ 10 Emotion_Kinect..pdf
  92. PROJ_11_KINECT_Gesture Recognition Skeleton.pdf
  93. PROJ_12_Real-time Doors and windows recognition using SURF.pdf
  94. PROJ_13_Brad Pitney,Kinect-based PersonTracking.docx
  95. PROJ_14_Kinect Controlled Slide show.pdf
  96. PROJ_15_Melanoma_Computer Vision and Machine Learning.pdf
  97. PROJ_16_Skeleton_KinectProject_Tonderai_Jabeer_Ahmed.pdf


This lecture is based on slides and on a book by Thomas Braunl, "EMBEDDED ROBOTICS. Mobile Robot Design and Applications with Embedded Systems". This is called "the textbook" below.
Additional book is Luger - Artificial Intelligence. This is an excellent textbook on AI and AI languages. Theory!
We recommend also the following books:
  1. Fred Martin: "Robotic Explorations: A Hands-On Introduction to Engineering". This is an excellent famous robotics introduction from MIT based on Lego. No theory, plenty of robot examples with computer codes. Good explanation of motors and servos. All things practical and project oriented.
  2. John Wakerly: "Digital Design. Principles and Practices." This is texbook used in ECE 271 Digital Design class at PSU. In case that you forgot basic digital design.
  3. Gary Bradski and Adrian Kaehler: "Learning OPENCV. Computer Vision with the OpenCV Library." A definitive book on Robot Vision using OpenCV. Useful in projects that use vision, especially in the next quarter.
  4. Appin Knowledge Solutions: "Robotics." This book has a lot of information on various kinds of robots, basic mechanics, electronics, wheeled robots, kinematics, sensors, and legged robots. Useful in some projects and as a reference.
  5. Saeed B. Niku: "Introduction to Robotics. Analysis, Systems, Applications." This book has detailed material on kinematics, differential motions, dynamic analysis and forces, trajectory planning, sensors, actuators, robot vision, and fuzzy logic control. Very useful in some projects.

If you read carefully the slides and understand them, there is no need to purchase the textbook.
ECE 478 is for undergraduate students, ECE 578 is for graduate students. The graduate students have more difficult projects, are supposed to be project leaders and have to read more auxiliary materials and additional papers. It is expected that graduate work is publishable in conferences.


Begin Auxiliary Resources.
    Additional materials will be posted in links here. Look to " ALPHABETICAL RESOURCES FOR THIS CLASS. .
  1. index3.html> Specifically about LISP, PROLOG and programming details. Many examples.
End Auxiliary Resources.


  1. MCECS_BOT.pptx Specification of a MCECS-BOT robot designed for dean request.
  2. Guide Robot for MCECS.pptx
  3. ISOBOTS TALK AND DANCE. Movies of talking and gesticulating small robots from our theatre.
  4. Materials about mechanical robot design.
  5. Cartesian Coordinate System.PPT
  6. Cylindrical and Polar Systems.PPT
  7. Revolute and DOF.PPT
  8. Math_kinematics intro.pptx
  9. Kinematics robot manipulators.pptx
  10. Kinematics_mobile_robots.ppt
  11. Robot Arm Kinematics=DH intro.ppt
  12. DH representation - examples.ppt
  13. Robot-Kinematics.ppt
  14. Kinematics -Quaternions.ppt
  15. Various Problems - Manipulation.pptx
  16. AI-Intro-search.ppt From here the material for second homework starts.
  17. Detailed Explanation of homework 2. Search, fuzzy and neura.
  18. Search.ppt
  19. Search-formulation-problems-basic-strategies.ppt
  20. Informed-Search Astar.ppt
  21. Maze_Solving_NXT_Robot_Maps-depth-first.ppt
  22. Best first search mobile robot example.ppt
  23. Dynamic Programming = shortest path.pptx">
  24. Micro-Mouse-Mazes.ppt
  25. Field + Cell Decomp Methods.ppt
  26. Generalized Voronoi Graphs.ppt
  27. Bug algorithms.ppt
  28. simple path finding algorithms.ppt
  29. intro to motion planning Latombe.ppt This slide set completes lectures related to homework 2. Homework two is related to sensors used in robot navigation and localization. Related to MCECS-BOT robot and GUIDE BOT Countess Quanta.
  30. Intro_NN.ppt
  31. Intro_NN_Perceptrons.ppt
  32. Sigmoid Neural Networks.pptx
  33. Backpropagation NN.ppt
  34. Advanced NN.pptx
  35. Neuro-Fuzzy Systems.ppt
  36. Expert Systems.pptx
  37. Advanced evolutionary.ppt This slide set completes lectures related to homework 3. Homework three is related to vision, neural, neuro-fuzzy and advanced control systems for mobile and other robots. Related to some Robot Theatre projects.
End Lectures.


  1. Seminars and Meetings organized by Marek Perkowski.docx In word format. Here is the list of additional meetings for my students who want to go deeper into theory or are interested in submitting papers to journals and conferences.
  2. Seminars and Meetings organized by Marek Perkowski.pdf In PDF format. Here is the list of additional meetings for my students who want to go deeper into theory or are interested in submitting papers to journals and conferences.
  3. projects 478 - FINAL.docx Final list of project team assignments in Fall 2016.
2015 YEAR PROJECT LISTS. I give information about last year projects as it will be useful for some teams to see what was done last year. You may reuse parts of these projects and remember names of students who worked on them.
  1. FALL 2015 PROJECT LIST_NEW.docx In word format. Here is the updated list of project teams after Intel projects added and your choices taken into account.
  2. FALL 2015 PROJECT LIST_NEW.pdf In PDF format. Here is the updated list of project teams after Intel projects added and your choices taken into account.
  3. Homework 1_NEW.pptx In PowerPoint format. Here is one more version of Homework 1 with your doubts and questions taken even more into account. Useful for project on Copernicus and those who use Kinect.
  4. FALL 2015 PROJECT LIST.docx Temporary list of projects for this class.
  1. Final Project Assignments for Fall 2011.
  2. People and their emails in Fall 2011.
  3. LIST OF PROJECTS FOR FALL 2010 Hawash and all robot building.


TEAM 1. Jimmy.

This information is for Team 1, but may be useful for team 2 and 3 and also for other teams.

TEAM 1. Robot Theatre, Scene A. Polish Song Creation.

  1. Intel's Robot Jimmie and about new Intel Projects.pptx It includes the assignment of Homework 0 (Intel Project Proposals).
  2. A - ROBOTS - INTRODUCTION and POLISH SONG.doc Script for scene A.">

This scripting is used for Scene A.
  1. TONY - catbot_final_report.docx
  2. TONY - robot_theater_comedy_sketch_final_report.docx

TEAM 2. Jimmy.

This information is for Team 2, but may be useful for team 1 and 3 and also for other teams.

TEAM 2. Robot Theatre, Scene B. English Song Creation.

  1. B - ROBOTS - ENGLISH SONG.doc Script for Scene B.
  2. Aditya Bhutada. Master Thesis about motion generation for complete robot theatre. Control of MIDI, control of lights. Control of biped robots KHR-1 and iSOBOT. Language for motion description.

TEAM 3. Jimmy.

This information is for Team 3, but may be useful for team 1 and 2 and also for other teams. This team works very closely with Mathias Sunardi.

TEAM 3. Robot Theatre, Scene C. Graduation Ceremony.

  1. Sunardi._Motion_Synthesis.pdf M.Sc thesis of Mathias Sunardi on synthesizing expressive motions for robot theatre. Related to graphic animation and emotional robots.
  2. Tabu Search-Motion Planning-Sensors.pdf Sensor-Based Robot Motion Planning uses Tabu search. Motion planning and good discussion of experiments.
  3. C - ROBOTS - GRADUATION SONG.doc Script for Scene C.
  4. Video from Mathias Sunardi on Graduation with students and professors. Source of song and gestures.
  5. iSobot Report-Waleed Alhaddad and Saad Alaskar.docx This is a report about robot iSOBOT that is used in the performance in scene C.
  1. Sunardi_MS_psu_0180E_10072.pdf
  2. Cyber Theater Project_ Prince Paul.pdf Synchronization of several small and large robots to dance together, synchronized to video from projector. "Graduation class of year 2011" video.
  3. Mathias_Sunardi-iSobot_controller_report.pdf A Python class for iSOBOT robots to simplify future iSOBOT programming Arduino. Useful.

TEAM 4. Mister Jeeves.

Team 4 works separately on advanced topics but other teams may reuse information about dialog and gestures.

TEAM 4. Mister Jeeves Robot.

Projects are assigned by Mathias Sunardi. More helpful information will appear here, but only auxiliary.
  1. Uniform-Cost-Sudoku-Solver2011.docx

TEAM 5. Nicolaus Copernicus.

This information is for Team 5, but may be useful for people who work on dialog, KINECT and emotional gestures.

TEAM 5. Nicolaus Copernicus, the ECE Receptionist Robot.

Team 5 has to reuse InMooV robot with a new head of Copernicus. Your main tasks include the following:
  1. Modify Kinect-based presentations from last year (Schiffer, Bardeva, Melih) to be used with Copernicus robot to discuss his life and astronomy. Also about our ECE Department, professors and laboratories.
  2. Add gestures to Copernicus.
  3. Add text-to-speech to Copernicus.
  4. Remembering that inputs to Copernicus are:
    1. Kinect (mouse motion on slides),
    2. sensors on InMooV body,
    3. Finger and arm motions from Glove.
    and output motions are
    1. selected slides,
    2. sounds (from text-to-speech and others),
    3. gestures (Facial and arms),
    create a controller to make some reasonable behavior as discussed in many class examples. This controller can be fuzzy or GA to make some reasonable behavior as discussed in many class examples. It can use any of the editors that we use for the class. You have a freedom to design this editor and your creative ideas are welcome. You can reuse your Homwework 1 and Homework 2.
    1. Project Copernicus version 1.0.pptx
    1. 0000 GOOD THESIS about KINECT.pdf About interfacing PPT and KINECT. Good for Homework 1 and next projects Kinect related.
    2. KINECT gesture recognition.pdf
    3. 000 Good paper Kinect.pdf"> Interface of KINECT and PPT.
    4. 09. Gesture Recognition Kinect C#.pdf
    5. 14. MS thesis Scandinavia.pdf Interface KINECT
    6. Report - Kinect Controlled Slide show presentation1.pdf
    7. very good tutorial.pdf KINECT TUTORIAL
    8. Kinect Controlled Slide show presentation.pptx
    Homework from year 2015, Kinect -controlled slides for Copernicus
    Now you can reuse this homework to control Copernicus.
    1. Homework 1_NEW.pdf In PDF format. Here is one more version of Homework 1 with your doubts and questions taken even more into account.
    2. Homework-1-GP.ppt This is just one example of Homework 2 for year 2015 Fall. This year homeworks 2 will be of different types. Please discuss with me.
    3. Homework-1-GP.pdf
    4. In PPT format. Detailed Explanation of homework 2.
    5. In PDF format. Detailed Explanation of homework 2.
    Kinect -controlled slides for Copernicus
    1. 011. Project Copernicus Fall 2016. Timeline and tasks.docx
    2. 013. Slides for Project Copernicus version 1.0.pptx
    3. 012. 015F_Bardewa Kinect_ Homework1Report.pdf
    4. 015. Kinect Control Report.docx
    5. 016. Kinect Source.docx
    About InMooV robot for Copernicus Project
    1. 001. Eye Mechanism Assembly.pdf
    2. 002. Neck and Jaw Instructions.pdf
    3. 008. InMoov Robot Project.docx
    4. 009. MELIH FINAL TEAM INMOV.docx
    5. 010. People of INMOOV = FALL 2015.docx
    6. 014. Grant Cazinha Inmoov Mechanical = Winter2016.docx
    7. 018. PowerGloveController.docx
    8. 019. Deepti Bankapur - Sensors Report.docx
    9. 020. Seth Esther = InMoov Arm Refurbishment and Suggestions.docx
    10. 021. Navateja, Cazinha - Report Right Arm Report.docx
    11. 029. Deepti Bankapur - Speech InMoov Final Report.docx

TEAM 6. Albert Einstein.

This information is for Team 6, but may be useful for people who work on dialog, KINECT and emotional gestures.

TEAM 6. Arm design for Albert Einstein Robot.

Arm related projects
  1. Engstrom-Robot-Arm-kinematics-search.docx Homework from 2012. Simple inverse kinematics for simple humanoid robot arm. Can be used as part of sensing or fuzzy control homeworks or projects.
  2. Manipulator-Tabu Search.pdf Use of Tabu Search to control a robot arm. Comparison to GA and other methods.
  3. 2009-group_1_robot_arm.pdf 2009 Fall. Matt Blackmore, Jacob Furniss, Shaun Ochsner. Design of an arm for Bohr. Mechanical Design. Software. Kinematics. Appendixes.
Einstein Robot related Projects
  1. Einstein Combination Report.docx Report on Einstein, based on combined previous reports.
  2. Einstein_Final_Report= Aldahhad.docx Report on Einstein Robot from Fall 2015. This is the last version.

TEAM 7. Frankenstein Monster.

This information is for Team 7, but may be useful for people who work on dialog, KINECT and emotional gestures.

TEAM 7. Frankenstein Monster Dancer and Musician Robot.

  1. Alex Perez - SONBI.doc Complete description of old SONBI robot. Controller, motion control, editing motions, Motion. Speech interface SAPI 5.1.
  2. Project Frankenstein.pptx
  3. 1. Intro,who am I, music, counting, math, gestures.mp4 Countess Quanta. This video shows you some of the capabilities of Countess. We will combine them with capabilities and ready behaviors of LOKI.
  4. Ver. 1.4. Flowchart of the extended play Paradise Lost - Copy.pptx This text shows example of an interactive play. This idea can be used to other plays here. This is also helpful in Homework 1.
  5. Bohr talks synchronized.wmv Shows the expected quality of animation of robot faces for our theatre.
  6. All-Expressions_MVI (2).AVI" Video of stupid robot Monster Prototype You can choose the face/head of Frankenstein Monster or this guy.
  7. Animal behavior and taking ideas from biology Slides about taking ideas from biology to be used in interactive improvisational, Artificial Life type of a theatre.
This video is for Countess Quanta, but the software should be reused for Frankenstein Monster.
  1. 1. Intro,who am I, music, counting, math, gestures.mp4 Our Quanta Robot performs.
This software is for Mister Potato rtobot but is should be used for Frankenstein Monster as an example of quantum simulated control.
  1. 2014_4006_Robot C complete example - robot_head_1.pdf
  2. ForClassWebpage1/programming a quantum robot head.pptx

TEAM 8. Marie Curie-Sklodowska.

The task of the team is to complete printing and assembling the right shoulder of the robot. Next the whole robot must be assmbled back again and dressed in her black robe (perhaps Makana has this robe). The scene from the play Great Quantum Debate should be animated, with Marie Curie mixing liquids and playing a drum. You should read the text of Khalid Alkhulayfi MS Thesis. Use Kinect and OpenCV for vision. The final demo should be about motions and music creation of the robot, with the text of the play (part of it). This information is for Team 8, but may be useful for people who work on dialog, KINECT and emotional gestures.

TEAM 8. Marie Curie Robot.

  • for groups related to Quantum Debate Play> Einstein and Marice Curie robots should take script information from here.
    1. 4.1. Script of Great Quantum Debate. Act 1..doc Script to use for Homework 1.
    2. 4.2. Script of Great Quantum Debate. Act 2..doc Script to use for Homework 1.
    3. These scripts will be also used in Homework 2 for some groups and in some projects.
    4. Khalid - MS Thesis. Vision-Based Motion for a Humanoid Robot.docx This mMS Thesis is the overall source of information about design and programming robot Marie Curie. Specifically, it includes description how to design an arm and a leg. Also many vision-based behaviors. This means that this thesis can be also used by students from other teams ofor Fall 2016.
    5. Marie-Curie Final Report Fall 2013.pdf This is a report on an earlier version of Marie Curie that contains still good description of arm design, facial gestures programming and other.
    6. Marie-Curie Final Report Fall 2013 - updated.pdf Updated version of the above report with software.
    7. This is a paper about music programming used in our robot



    QUIZZ 1.

    1. Quizz 1, 2016 Fall.docx The goal of this quizz is to reinforce the concept of a robot controller robot realized as a Finite State Machine. You should be able to program such controller on a Braitenberg Vehicle robot with two wheels or on a walking robot.


    The goal of this project is to build a practical fuzzy controller for a robot.

    Homework 1 is easy and gives you a lot of freedom. You have to design a fuzzy controller for arbitrary robot. You decide on the choice of sensors and effectors. Suggested (but not mandatory) robots for teams:
    teams 1 , 2 and 3. - Jimmy.
    team 4 - no homework.
    team 5 - InMoov - Copernicus. You do not need a complete robot to have sensors and motors to demonstrate Fuzzy Control.
    team 6 - Einstein. You do not need a complete robot with arm to have sensors and motors to demonstrate Fuzzy Control.
    team 7 - Frankenstein Monster.
    team 8 - Marie Curie.
    If you are smart, your homework will become part of your project, but it will be graded separately. You have to demonstrate the correct behavior on the robot. Look to examples below, talk to me about your project. Listen to lectures.
    Deadline is November 1.

    Directly related to Fuzzy Logic.

    1. Shores Fuzzy -Mobile-Navigation.pdf Simulated mobile robot with three sensors and single rotation output.
    2. Shores - Simulator PSU building.pdf A description of a simulator for our building, with map. It allows to: (1) create and test custom fuzzy rules, (2) Auto-generate fuzzy rules for wall-following using a genetic algorithm, (3) Explore targeted navitation using sensor proximity data and A* Algorithm. (4) Test any other navigation/localization/mapping algorithms.
    3. Shores. Search for Chemistry.pdf Applications of search to two independent problems: (1) Identifying unknown molecular compunds by their atomic mass, (2) Discovering the shortest path from a start-point to an end-point on the first floor of Maseeh Building and Cramer Hall.
    4. Lamb.Easy Fuzzy Rules.pdf Complete code for a maximally simplified fuzzy robot controller. Do not copy verbatim, just use ideas as a template.
    5. Magellan Team-fuzzy-mobile.pdf Simplified fuzzy logic controller for Robo-Magellan robot competition.
    Here are few articles on practical uses of Fuzzy Logic in real life problems.
    1. Applications of Fuzzy Logic Expert Systems. This is a set of ideas for projects and homeworks. How to use fuzzy logic in real life applications.
    2. Texas Instruments, ``Enhanced Control of Alternating Current Motor Using Fuzzy Logic and a TMS320 Digital Signal Processor''. Application Report. 1996. In PDF format.
    3. S. Guo, L. Peters, and H. Surmann, ``Design and Application of an Analog Fuzzy Logic Controller,'' Paper in PDF format.
    4. S. Ghosh, Q. Razouqi, H.J. Schumacher and A. Celmins, ``A Survey of Recent Advances in Fuzzy Logic in Telecommunications Networks and New Challenges,'' IEEE Trans. on Fuzzy Systems.
    5. E. Tunsel and Mo Jamshidi, ``On Embedded Fuzzy Controllers,'' 1st World Automation Congress. 1994.
    6. Fuzzy Controllers.
    7. TASK: Write software for any robot in the lab. The software must use use fuzzy logic for any typical robotics task. It is not allowed to use somebody's else software that is not related to robotics. If you adapt somebody's software to one of robots in the lab, you should give the source of his softwar, reference to his WWW page or to a book or paper.

    Advanced Fuzzy Logic for people interested in formal control.

    1. Bierbaum. Fuzzy vs classical control.doc Comparison of classical state-space methods and simple fuzzy logic. Good example of fuzzy controller. Implementation in MATLAB/SIMULINK. Useful diagrams and graphs of behavior. For somebody who looks for more theory.
    2. H3.bierbaum.ppt Slides to the first paper above.

    Simple Vision Projects that can be combined with Fuzzy Logic.

    1. JensBurger.Vision.pdf MATLAB codes for taking pictures, characterizing them, using edge detection and morphological operators to process early images. Introduction to useful vision algorithms. Dilation, erosion, corner detection. Easy!
    2. Hanks. vision.docx Example of using OCTAVE (free MATLAB) for fast and simple early processing of images from our buildings. Good introduction to more advanced vision projects. No OPENCV used. Easy for people who know MATLAB.

    Projects that can combine Fuzzy Logic with Neural Networks.

    1. Hutt. Speech recognition.doc Speech recognition based on recurrent neural networks. Complete explanation, data, graphs and MATLAB code.
    2. Hutt.ppt Slides to the above report.
    3. Wilamowski. NN-artificial nose.pdf Good review of Artificial Noses. Use of Neural Network, examples. Examples of pattern recognition of various odors represented by grey-level matrices.
    4. buehl-obstacle-avoidance-nn.ppt Very simple slides explain the idea how a Multi-Layer perceptron can be used to avoid obstacles by a robot car.
    5. buehl.doc Text of full paper to the above slides. Complete explanation of the project and good analysis of results.
    6. Clark.Vectorization of GPS. Navigation.docx Problem is this: How to vectorize any given two sets of GPS coordinates for best possible trajectory outcome. Useful for outdoor GPS-based mobile robots.
    7. Inverse Kinematics and NN.pdf An interesting novel modular neural network architecture for inverse kinematics model learning. Research paper. Theory and math. Good ideas. No code.
    8. Engstrom-inverse Kinematics.docx Simple approach to solve inverse kinematics for a robot with two degrees of freedom. This simple approach explains the idea of inverse kinematics with little math and in the most simplified way.
    9. Gaskin- Linear Actuators.docx Explains linear actuators, for which inverse kinematics is easy. Gives all technical data and examples. Can be used to practical inverse kinematics problem for MCECSBOT or similar robot. Gives code for controlling linear actuators.


    1. Read section 8.2.2. Reasoning with Fuzzy Sets from Luger.
    2. Introduction to Fuzzy Logic. ppt This is basic material.
    3. Lecture on Fuzzy Sets and Logic.
    4. Lecture on Fuzzy Logic Fundamentals.
    5. Lecture on Fuzzy Logic System Examples.
    6. Synthesis and Minimization of FL. ppt This is advanced material to be used only if you are interested to perform a more advanced research related to theory of fuzzy logic and not just a standard homework engineering application.
    7. Lecture on Fuzzy Logic Minimization and Decomposition.
    8. Lecture on Fuzzy Logic Decomposition.
    9. See Marek Perkowski's publications for year 2003. Article from International Conference on Fuzzy Information Processing from Beijing, China. Decomposition, Formal Synthesis and Minimization of simplified fuzzy logic circuits. Efficiency of decomposition. Minimization of fuzzy functions. Graphical method for minimization. Algebraic identities. Transformations. Differences between Boolean Logic and Fuzzy logic. Approaches to fuzzy logic decomposition. Method by conversion to multiple-valued logic. Fuzzy functions ternary maps. Operators in maps, conversions. Canonical and non-canonical forms. Entire method illustrated on examples. Generalization of the Ashenhurst-Curtis decomposition (review). Column compatibility, coloring, functions versus relations. Examples from real life. Learning from medical data bases. Variable ordering, vacuous variables. Subsumption rule for fuzzy logic minimization. Fuzzy decision trees and fuzzy multiplexers.

      This is advanced material to be used only if you are interested to perform a more advanced research related to theory of fuzzy logic and not just a standard homework engineering application. We discuss here methods that generalized algorithms used in synthesis of Boolean Logic.


    HOMEWORK 2 deadline is November 15
    Directly related to Homework 2.
    1. Alan Cheng. Completed robot system with Lamarckian versus Darwinian evolution.
    2. Motion for mobile robot using volutionary methods
    3. Tristan Shores. Evolutionary algorithm. Good discussion. Evolution of simulated millipede gait.
    4. Devan Wolfe. Interactive Genetic Algorithm. IGA for Niels Bohr Robot. Can be used for any robot, particularly robot face or hand movements. Used to old Niels Bohr robot face. Should be applied again to new robot - Nixon Bohr.
    5. 578_Homework 2 = GA.docx Example of GA code.
    1. Read all mandatory slides for this week.
    2. Read Chapter 1 of the textbook. "Introduction".
    3. Read Chapter 6 of the textbook. "Actuators".
    4. Read Chapter 20 of the textbook. "Genetic Algorithms".
    5. Genetic Algorithm for Lego.
    6. Introduction to class. Mapping architectures. Finite State Machines. Probabilistic State Machines for robot dialogs. Implementation of natural language interface.
    7. Introduction to Genetic Algorithm and Genetic Programming for robotic applications This is the minimal information for homework 1. Find more in auxiliary slides and materials for this and next week.
    8. First Homework assignment. The Second Homework is due November 15.
    9. Advanced Evolutionary. ppt
    10. Version of slides with more information on constructive induction for learning and dialogs.
    11. One more version with more details for projects.
    1. Please read Chapter 11 of Luger's book.
    2. Social and Emergent Models of Learning.
    3. The Genetic Algorithm.
    4. The Genetic Algorithm applied to CNF SAT and Traveling Salesman.
    5. Evaluating the GA.
    6. Classifier Systems and Genetic Programming. Use of LISP.
    7. Artificial Life and Social-Based Learning.
    8. The "game of life".
    9. Evolutionary Programming.
    10. A Case Study in Emergence from Crutchfield and Mitchell.
    11. EXAMPLES OF STUDENT HOMEWORKS ON EVOLUTIONARY ROBOTICS. Some of these homeworks are related to KHR robot and Cellular Automata that were not yet discussed in class, but the explanation below should be sufficient.
    12. BS. Homework_GA.doc
    13. B.S.Homework GA. Addendum for homework2.rtf
    14. B.S.Evolving Interesting Universes. docx May be useful for a GA that evolves cellular automaton simulating life.
    15. B.S. KHR-1-Notes.doc. May be useful for GA for walking robot.
    16. Alan Cheng Robot. ProjectReport. pptx
    17. Example of Cellular Automaton to Evolve. Game of Life Linh Tran. ppt
    18. Genetic Algorithm Maze Solving Program. docx
    19. Homework Evolutionary Algorithms. Burton Williams. doc
    20. MAZE problem homework. Padmashri Gargesa. docx
    22. Emergent approach.
    23. Fundamentals of evolutionary methods. What is Evolutionary computation. Philosophy of modeling evolution. Genetic Algorithms. Encoding the problem. Fitness function. Evolution strategies. Comparizon and examples.
    24. Genetic Programming, Evolutionary Strategies, Evolutionary Design. Fogel, state machines. Evolution versus intelligence. Intellectual adaptation. Learning state machines. Prediction experiments. Pattern recognition and classification. Humans versus machines. Control System Design.
    25. Genetic Programming. What is Genetic Programming. Data structures. History. How are genetic principles applied. Computer programs as trees. Fitness. Mutation. Examples of applications.
    26. Extrinsic Evolvable Hardware. Extrinsic approaches to Evolvable Hardware, including the approach from PSU based on learning and optimizing finite state machines. "Evolvable Hardware" or "Learning Hardware"? Machine Learning is designing a network. Induction of State Machines from Temporal Logic Constraints. Hardware speed-up of learning algorithms. Technologies for learning hardware. Phases of learning. Comparison of approaches. Multi-valued logic language to represent the learning data in hardware. Logic Patterns in tables. Regular automata. Types of cube calculus used for learning. Logic Synthesis appraoch to learning. Strong Criterium for Learning. Decomposition and Constructive Induction. Extrinsic versus Intrinsic approaches to Evolvable Hardware. Learning using FPGAs. Temporal Logic Constraints as an example of a language to describe behavior. Man, Wolf, Goat and Cabbage problem. Example of software.
    27. Intrinsic Evolvable Hardware. Intrinsic approach to Evolvable Hardware, including Brain Bulder from ATR and Learning Hardware from PSU. Recent ambitious approaches to build robots. Approach of ATR in Japan and its critics. Hardware and concepts of CAM-brain machine. Evolving Neural Nets on top of Cellular Automata. Universal Logic Machine and approach of PSU. What worked, what not. Good guys versus bad guys, our approach to Constructive Induction - decomposition. Schematics diagram and components of our approach. Previous related undergraduate and graduate projects.
    28. Levi. HereBoy Algorithm. Multi-Mutation. Relation to Simulated Annealing. Claims. Comparisons. Evolutionary time. HereBoy versus previous approaches.
    29. Vasiliev and Miller. Array Genetic Algorithm for Multiplier Design. Towards the Automatic Design of More Efficient Digital Circuits. Evolving Digital Circuits. Multipliers. Fitness landscapes. Cartesian genetic programming. Genotype-phenotype mapping. Scalability problem of digital circuits.
    30. Approach to evolvable learning and self-repair based on embriology ideas. Switzerland. The Embryonics Approach. Chromosome of Caenorhabditis Elegans. Multicellular organization. Why Embryonics. Cellular Division. Cellular Differentiation. Kinds of programmable arrays. Arrays based on switching. MUXtree molecule - organization. Embryonics Landscape. Stop Watch example: cellular differentiation and Self-replication. Self-repair. Artificial Genome.
    31. Evolving game strategies Characteristics of Intelligent Agents. Evolving Game Playing Strategies. Emergent properties. Prisoner's Dilemma. Prisoner's Dilemma as a model of nature. Games and strategies based on Prisoner's Dilemma. Axelrod's Tournaments. Deterministic versus stochastic strategies. Strategies in nature. Examples. Evolution of Behavior in Nature. Kin selection. Cooperative Breeding. Intersexual selection - charm.

    32. TASK: Write software for any robot in the lab. The software must use GA, GP or any other method of evolutionary programming but it must be other than IGA. The project may be related to natural langauge communication with the robot or robot behavior. It can be also some kind of game or graphics. The only condition is that you use any type of evolutionary idea and you demonstrate that your system evolves. Need data supporting this.


    1. X011. Behavior based robots and architectures.ppt Subsumption architecture. Sense-Plan-act architecture. Emergence and Autonomy. Behavior decomposition. Using FSMs. Arbitration and Debugging.
    2. X012. Affective-Computing.ppt Basic ideas about robot emotions, affects, examples, ideas and programming. Very easy. Links to previous works that you can find on Internet.
    3. X013. More advanced Projects.ppt Subsumption architectures with simple sensors. Easy.
    4. TASK: This project is related to robots that simulate some kind of emotions. You can use any humanoid or animal-like robot from Portland Cyber Theatre. The behaviors are based on vision from KINECT and natural language plus gestures.


    1. Braitenberg Vehicles. Behavioral Robots. Quantum Braitenberg Vehicles. You don not to be expert in quantum computing to understand how to program these robots.
    2. Simple and Quantum Braitenberg Vehicles.
    3. Quantum Braitenberg and advanced behavioral architectures.
    4. One more paper by Arushi on QBV is missing.!!!!
    5. 7ROBODEM.AVI Our robot.
    6. ApplicationsClip.mpg Teenage student Yale Fan talks about his nationally acclaimed research at PSU. You do not have to understand this text to be able to do an easy homework on Braitenberg Vehicles or even on Quantum Braitenberg Vehicles.
    7. Talking-lions-2.avi Our lions who argue permanently - from Hahoe Theatre. Built by Martin Lukac and Kyle.
    8. biped.MOV The Lego biped built by a teenager Michal Woyke in Poland.
    9. braiten-clp1.wmv Braitenberg Vehicle of Arushi, a teenage girl who works on quantum robots. This robot is afraid of light.
    10. braiten-clp2.wmv Braitenberg Vehicle of Arushi. This robot is afraid of objects, obstacles.
    11. braiten-clp3.wmv Braitenberg Vehicle of Arushi. Agressive robot.
    12. braiten-clp4.wmv Braitenberg Vehicle of Arushi. Light following with switched behavior.
    13. braiten-clp5.wmv Braitenberg Vehicle of Arushi. Turns left from objects.
    14. braiten-clp6.wmv Braitenberg Vehicle of Arushi. Likes music.
    15. braiten-clp7.wmv Braitenberg Vehicle of Arushi. Attacks music source but is afraid of a hand.
    16. robohead-clp1.wmv Braitenberg Vehicle of Arushi. Einsteind-Podolsky-Rosen robot called Mister Quantum Potato Head. Illustrates EPR entanglement with movement of mouth and eyes. (11 measured). Pay attention to delay when it does nothing (00 measured)
    17. robohead-clp2.wmv Braitenberg Vehicle of Arushi. Einsteind-Podolsky-Rosen robot called Mister Quantum Potato Head.
    18. robohead-clp3.wmv Braitenberg Vehicle of Arushi. Einsteind-Podolsky-Rosen robot called Mister Quantum Potato Head.
    19. Class with robot project. A robot connected to quantum computer.

    20. TASK: Using any programming language, implement an arbitrary Braitenberg Vehicle. The system should allow us to compare simple robot behaviors using: (a) standard binary (Boolean) logic, (b) fuzzy logic, (c) Quantum logic. Keep it simple, follow the examples above. In this case your task is not to build an impressive robot but to compare three types of logic that may be used in a simple behavioral model. You can reuse your natural language and/or fuzzy software from other homeworks.


    1. Towards Robot Theatre and fundamental models in robotics. This slide presentation has many ideas that may be used to create robots for autistic children.
    2. Androids. Movie about our "artificial idiot" robot Do you want to build a robot like this?
    3. Androids. On designing robots that look like humans. Robot toys, puppets and dools. Famous ROBOTA dolls-robots.
    4. Autism-and-Robots.
    5. Generative Art. How to use evolutionary ideas to produce art.
    6. Subsumption Theory.
    7. Examples-of-Subsumption Architectures in Mobile Robots.
    8. Reactive software. Examples of programs in a variant of C language for simple robots.
    9. Behavioral Architectures.





          PROJECTS FOR ECE 479 WINTER 2012
        1. Early proposal of MCECSBOT to Dean. This was never realized, but has many good ideas and references.
            Description of MCECSBOT-related projects.
          1. final-projects-for-479-Winter-2012.docx


        2. Omar Mohsin_Ali Alnasser_Platform Report_24Mar.pdf From Winter 2012. Early description of MCECBOT mobile robot base with meccano wheels. More can be found in Omar's M.S Thesis.
        3. Actuators and You rev 2.docx Description of linear actuators in MCECSBOT.
        4. Krish Ramkumar MCECS_bot_ver1.0_report.docx Control of upper body linear actuators in MCECSBOT. No source code. You can get source codes from Dropbox, Mathias Sunardi or me.


        These projects can be used for any robot.
          Project of Robert Fiszer.
        1. RFMARION[1].docx
        7. RFgrammar.txt
        8. RFpos.txt
        9. RFproposal[1]-Robert-Fiszer.odt


      Speech Projects

      1. speech Source codes. Complete source codes for speech synthesizer and analyzer used in MCECBOT.
      2. John_Chhokar_BohrRobot_Speech_2010.docx Approach to speech recognition and robot control. Bluetooth calls functions from PC to NXT brick used to control the robot. Ideas can be used in other similar robots.


      1. Petracci-Gallino-2007-PEOPLEBOT.doc Building arms for PEOPLEBOT (Pioneer). Second goal is to develop collision avoidance software.
      2. PeopleBot_ProjectReport[1]-Dubay2010.pdf 2010 Project of Rashmi Dubey from Larson team. Speech technology and fuzzy applied to PeopleBot which then turned to be GuideBot and finally Countess Quanta.
      3. PeopleBot_Project-Objectives2010.docx Information about PEOPLEBOT robot which is the base of Countess Quanta.
      4. GuideBotProjectProposal2011.pdf Proposal by Jim Larson (hardware, leader), Jules Alfani (speech), Robert Fiszer (natural Language), Mike Lowe (navigation and MRPT) and Hamed Mirlohi (vision), prepared at the beginning of the quarter.
      5. GuideBot-Documentation-and Final-Report2011.doc Fall 2011. Summary of the work of whole team done by Jim Larson- team leader. Hardware. MRPT, PAVE page internet connection. Costs and assignments to individual students. Route-Finding-Final-Report.docx Michael Lowe. Fall 2011. Driving, Path Finding and Obstacle Avoidance for Countess Quanta robot.
      6. Trouble-Shooting2011.docx Michael Lowe. Fall 2011. Trouble-shooting of OPENCV and MRPT software for Countess Quanta.
      7. Steps%20to%20getting%20started%20with%20Guidebot[1]-2011.docx DOES NOT WORK?
      8. PSU-guidebot-block-diagram2011.docx From Fall 2011.
      9. Using-MRPT-on-Ubuntu2011.docx From Mike Lowe. Fall 2011.
      10. graph.cpp From Mike Lowe, Fall 2011. Source code for navigation.
      11. graph.h Source code for navigation. Mike Lowe.
      12. testdrive.cpp From Mike Lowe, Fall 2011. Source codea of testing if code works correctly on GuideBot.
      13. PROJECTS_FOR_GUIDEBOT/Route-Finding-Final-Report.docx Fall 2011. Related to navigation. Mike Lowe.

        Countess Quanta 2013/2014 Interaction and Integration Projects

        1. 1. Final Report, Brad et al, Fall 2013.docx
        2. 2. Music and Interaction Brad Pitney et al F 2013.pptx
        3. 3. H1 IGA Brad Pitney F 2013.docx
        4. 4. HW2 Search Brad F2013.docx
        5. 5. HW3 Brad Pitney, F 2103, Kinect-based PersonTracking.docx
        6. 6. HW4 Brad Pitney, Kinematics Modeling, F 2013.docx
        7. 7. Countess Quanta Final Presentation Winter 2014.pptx
        8. 8. Countess Quanta Project Report Winter 2014.docx
        10. 2014/10. base control - Wisam W 2014.pdf
        11. 11.Base control - Wisam W2014.docx
        12. 12. User Manual, Yin Shi April 30 2014.docx
        13. 13.Countess Quanta Robot Developer's GuideBrad S 2014.docx


      1. 2009-Bohr-Final-Report.docx 2009 Fall. Gaskin, Makowski, Stepnowski, Bingham, Blackmore, Ochsner, Furniss. Complete design report of Niels Bohr robot. Head, base, skin, animation, arm, RobotC, NXT brick, communication. Source codes. Appendices. GOOD REPORT.
      2. BohrRobot_Final_Report.docx 2010 Fall. Niels Bohr report of Arada, Le Dang Zung, John Chhokar and Mark Thueson.o Hardware, wiring, Speech. Blueooth applications in RobotC. Visual Show Automation to animate the humanoids. Bohr GUI. SVN, future work. In docx format.
      3. BohrRobot_Final_Report.pdf The same in PDF format.


      This robot was formerly called Einstein.
      1. 2009-Schroedinger-Cat.doc 2009 Fall. Jeremy Booth. Maher Hawash. Eric Casler. Forrest Koran. Nomura Takuya. Initial report on Schroedinger cat robot. Design. Software. Sensors.
      2. Chris_Forsstrom_ECE578_Fall2010_Schroedinger Cat.pdf 2010 Fall. Big redesign of the cat robot. Hybrid Omni Wheel Drive system. Accuracy tests. Whisker and sensors. Source codes. Well written report.


      1. 1. Rhino Arm Info 2010.pdf
      2. 2. Rhino Arm Report Jeff Caley.doc
      3. 3. Rhino Arm Report, Jeff 2010.pdf
      4. 4. RhinoArm Presentation Slides,Jeff 2010.pdf
      5. 5. Scott Lawson =RhinoArmFinalReport, Fall 2013.pdf
      6. 6. Dimitriy Labunsky - Emotion Recognition- M.S Thesis 2009.doc
      7. 7. Hoang Nguyen. ProjectReportEmotionRecog_v1_1 2012.pdf
      8. 8. Kevin Stanton-report PSUBOT.pdf
      9. 9. sonar based localization for PSUBOT - Stanton.pdf
      10. 10. Brian feeding robot.pdf
      11. 11. Arm on wheelchair yanco.pdf