-
Notifications
You must be signed in to change notification settings - Fork 14
/
Copy pathteaching.html
231 lines (230 loc) · 16.9 KB
/
teaching.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>Robotics and Motion Laboratory at University of Illinois at Chicago</title>
<!-- Bootstrap -->
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/[email protected]/dist/css/bootstrap.min.css" integrity="sha384-TX8t27EcRE3e/ihU7zmQxVncDAy5uIKz4rEkgIXeMed4M0jlfIDPvg6uqKI2xXr2" crossorigin="anonymous">
<script src="https://code.jquery.com/jquery-3.5.1.slim.min.js" integrity="sha384-DfXdz2htPH0lsSSs5nCTpuj/zy4C+OGpamoFVy38MVBnE+IbbVYUew+OrCXaRkfj" crossorigin="anonymous"></script>
<script src="https://cdn.jsdelivr.net/npm/[email protected]/dist/js/bootstrap.bundle.min.js" integrity="sha384-ho+j7jyWK8fNQe+A12Hb8AhRq26LrZ/JpcUGGOn+Y7RsweNrtN/tE3MoK7ZeZDyx" crossorigin="anonymous"></script>
<link href="bootstrap-4.4.1.css" rel="stylesheet">
</head>
<!-- navbar start -->
<body>
<nav class="navbar fixed-top navbar-expand-lg navbar-light bg-light">
<a class="navbar-brand"><img src="RAMlab-logo.png" width="89" height="50" alt="RAM Lab Logo"/></a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarSupportedContent" aria-controls="navbarSupportedContent" aria-expanded="false" aria-label="Toggle navigation">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbarSupportedContent">
<ul class="navbar-nav mx-auto">
<li class="nav-item">
<a class="nav-link" href="index.html">Home</a>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="about.html" id="navbarDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
People
</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdown">
<a class="dropdown-item" href="about.html">Faculty</a>
<a class="dropdown-item" href="lab-members.html">Current members</a>
<a class="dropdown-item" href="alumni-graduates.html">Graduate alumni</a>
<a class="dropdown-item" href="alumni-undergrads.html">Undergraduate/High school alumni</a>
<a class="dropdown-item" href="awards.html">Student Awards</a>
</div>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="research.html" id="navbarDropdownPub" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
Publications
</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdown">
<a class="dropdown-item" href="research.html#2025">2025</a>
<a class="dropdown-item" href="research.html#2024">2024</a>
<a class="dropdown-item" href="research.html#2023">2023</a>
<a class="dropdown-item" href="research.html#2022">2022</a>
<a class="dropdown-item" href="research.html#2022">2022</a>
<a class="dropdown-item" href="research.html#2021">2021</a>
<a class="dropdown-item" href="research.html#2020">2020</a>
<a class="dropdown-item" href="research.html#2019">2019</a>
<a class="dropdown-item" href="research.html#2018">2018</a>
<a class="dropdown-item" href="research.html#2017">2017</a>
<a class="dropdown-item" href="research.html#2016">2016</a>
<a class="dropdown-item" href="research.html#2015">2015</a>
<a class="dropdown-item" href="research.html#2014">2014</a>
<a class="dropdown-item" href="research.html#20082013">2008-2013</a>
<a class="dropdown-item" href="research.html#theses">Theses</a>
</div>
</li>
<li class="nav-item">
<a class="nav-link" href="funding.html">Funding</a>
</li>
<li class="nav-item dropdown active">
<a class="nav-link dropdown-toggle" href="teaching.html" id="navbarDropdownTeach" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
Teaching<span class="sr-only">(current)</span>
</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdown">
<a class="dropdown-item" href="teaching.html#courses">Courses</a>
<a class="dropdown-item" href="teaching.html#tutorials">Tutorials</a>
<a class="dropdown-item" href="teaching.html#outreach">Outreach</a>
</div>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="multimedia.html" id="navbarDropdownMedia" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
Multimedia
</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdown">
<a class="dropdown-item" href="videos.html">Videos</a>
<a class="dropdown-item" href="multimedia.html#robots">Robots</a>
<a class="dropdown-item" href="multimedia.html#articles">Articles</a>
</div>
</li>
<li class="nav-item">
<a class="nav-link" href="contact.html">Contact</a>
</li>
<form class="form-inline my-2 my-lg-0">
</form>
</ul>
</div>
</nav>
<!-- page start -->
<section>
<div class="container">
<div class="row">
<div class="col-12 text-left"><section id="courses"></section>
<h2><br><br>
Teaching</h2>
<hr>
<section>
<div class="container">
<div class="row">
<div class="col-12 text-left">
<h4>Online Course Material (<a href="https://tiny.cc/educate" target="_blank">https://tiny.cc/educate</a>) </h4><section id="tutorials"></section>
<p class="col-xl-12">
O10. <a href="courses/designSp24.html" target="_blank">Mechanical Engineering Design</a> (includes lectures and YouTube videos)<br>
O9. <a href="courses/numericsFa24.html" target="_blank">Numerical Methods</a> (includes lectures, Octave code, and YouTube videos)<br>
O8. <a href="mechatronics/spring23.html" target="_blank">Mechatronics</a> (includes lectures and lab notes, and YouTube videos)<br>
O7. <a href="mujocopy.html" target="_blank">MuJoCo Bootcamp with Python</a> (includes notes, code, and YouTube videos)<br>
O6. <a href="mujoco.html" target="_blank"> MuJoCo Bootcamp with C</a> (includes notes, code, and YouTube videos)<br>
O5. <a href="legs.html" target="_blank"> Legged Robots</a> (includes notes, code, and YouTube videos) <br>
O4. <a href="robotics/robotics24.html" target="_blank"> Robotics in 2D with Python</a> (includes notes, code, and YouTube videos) <br>
O3. <a href="robotics/robotics23.html" target="_blank"> Robotics with CoppeliaSim + Python</a> (includes notes, code, and YouTube videos) <br>
O2. <a href="robotics/roboticspy.html" target="_blank"> Robotics with Python</a> (includes notes, code, and YouTube videos) <br>
O1. <a href="robotics.html" target="_blank"> Robotics with MATLAB</a> (includes projects, notes, code, and YouTube videos)</p>
<h4>Tutorials</h4>
<p class="col-xl-12">
D20. <strong>A three-day workshop on Mechatronics and Robotics (2022).</strong>
<br>1. <strong> Robotics:</strong> <a href="https://github.com/pab47/CoppeliaSim/blob/main/430/robotics_workshop.pdf">CoppeliaSim tutorials and various projects based on a differential drive car. Projects on line following, wall following, maze navigtation.</a> <br>
2. <strong>Mechatronics:</strong> <a href="https://github.com/pab47/mechatronics/blob/main/mechatronics_workshop.pdf">Understanding sensors, actuators, and arduino programming. Project: Obstacle avoiding car. </a> <br>
<br>
D19. <strong>A three-day workshop on Mechatronics and Robotics (2021).</strong> (<a href="workshop/">link</a>)
<br>1. <strong> Robotics:</strong> Simulation and animating manipulators and differential drive car. Project: Program a car game
<br>2. <strong>Mechatronics:</strong> Understanding sensors, actuators, and arduino programming. Project: Obstacle avoiding car
<br>
<br>D18. <strong>RoboCar - modified from an existing RC control car.</strong> RC controlled cars available in hobby stores provide a nice sturdy
chassis and powerful motors. However, they are limited to RC control.
What if we remove the existing electronics and controllers in an RC car
and replace them with Arduino and our own sensors? This project
explores the idea. The resulting car equipped with multiple line
sensors and a controller is quite fast as seen in the video.<a href="https://youtu.be/rFQ8wNH19YQ"> YouTube video</a>
<br>
<br>D17. <strong>Open source quadrupedal robots.</strong> Cost is ~$2000<br>
Instructions with files and code on <a href="https://github.com/BroboticsInc31/LilBro">GitHub</a>. A video is <a href="https://youtu.be/2qO0kL8-p4Y">here</a>.
Instructions are posted here: <a href="tutorials/RoboCarTutorial.pdf">RoboCarTutorials</a>
<br>
<br>D16. <strong>MATLAB code to simulate the spring-loaded inverted pendulum model of hopping with controlled foot placement</strong> <a href="slipHopper.m">MATLAB
code</a>. Includes code to find the limit cycle, find linearized
stability, and animation.
<br>
<br>D15. <strong> MATLAB code to simulate the simplest walker using direct collocation method</strong> MATLAB
code to simulate the simplest walker using direct collocation method
<a href="simplest_walker_collocation.m">MATLAB code</a>. See The
Simplest Walker by Garcia et al. J. of Biomechanics
<br>
<br>D14. <strong>Tips for 3D scanning using Artec Eva scanner.</strong> A <a href="reports/Baumbusch_3D_Scanner.pdf">one-page file</a> and an
accompanying <a href="https://youtu.be/CgkkgWLzhTU">YouTube video</a> A jpeg file that shows a 3Dprinted produced by the scan is <a href="reports/3Dscan_print.jpg">here</a>.
<br>
<br>D13. <strong>Robobug, a vibration motor actuated robot.</strong> Suitable as a weekend project
for elementary- and middle-school kids. No programming needed. A <a href="tutorials/RoboBugTutorial.pdf">pdf handout</a> and a detailed step-by-step video, <a href="https://youtu.be/7ovG-mC6xFs">YouTube video</a>
<br>
<br>D12. <strong>Course material for 2 day LEGO robotics camp.</strong> Suitable for high schoolers with little or no experience with LEGO Mindstorms. Student learn by watching videos and then work through progressively difficult projects: (1) Car racing, (2) Line-following, and (3) Parallel Parking. All material is on <a href="https://github.com/pab47/IEEE_CSS_Outreach">GitHub</a>. <a href="https://www.youtube.com/watch?v=4nZz1J9ew9k">YouTube video</a>
<br>
<br>D11. <strong> Introduction to ROS and URDF for robot modeling</strong> (assumes minimal knowledge of Ubuntu, ROS, and C++) Visit the web page <a href="ros.html">here</a>.
<br>
<br>D10. <strong>Demonstration of energy principles in rigid body dynamics.</strong> Two cylinders identical in all respects (same mass, radius, and length) except that one is filled with water and other with honey are made to roll down an incline. The one filled with water rolls down first. <strong>Why? Watch <a href="https://www.youtube.com/watch?v=deA2DIyGwks">this video</a> for the answer.</strong>
<br>
<br>D9. <strong>Templates for report writing</strong> <a href="tutorials/ASME_Template.docx">A template for writing ASME style reports</a> by Kyle Lamoureux (includes tables, figures, equations, page layout, headings, nomenclature, flowchart, and appendix)
<br>
<a href="tutorials/RAMLab_ReportTemplate.docx">A template for writing reports in the RAM lab</a> by Pranav Bhounsule (short version of above)
<br>
<br>D8. <strong>A mathematical equation for the UTSA mascot, The Rowdy</strong> by Tyan Kinsey, Jose Perez, and Bradley Hammond. <a href="reports/rowdy_curve.jpg">Picture</a> | <a href="reports/rowdy_curve.m">MATLAB file</a> | <a href= "reports/rowdy_reports.zip" >Report</a>
<br>
<br>D7. <strong>Spring mass hopper with Raibert-style decoupled controller.</strong> MATLAB file: <a href="raibert_hopper.m">raibert_hopper.m</a> by Chelsea Moussouni
<br>
<br>D6. <strong> Animatronics Face.</strong> Tutorial created by Geoffrey Toombs and hosted on <a href="https://www.instructables.com/RomoBOT-Animatronic-Face-Robot/">instructables</a> (<a href="https://www.youtube.com/watch?v=xkze1_hnam0">video</a>).
<br>
<br>D5. <strong>Make a paper walker.</strong> Created by Christian Trevino for the Inventors Workshop at the Children's Museum, San Antonio. Print page 4 on letter size paper and follow the <a href="tutorials/Paper-Walker-Instructions.pdf">instructions</a> in the PDF (<a href="https://www.youtube.com/watch?v=51WeRWwHMUU">video</a>). The paper toy walker was inspired by the book, Walking Automata: A Collection of Self-Moving Models to Cut Out and Make by Magdalen Bear.
<br>
<br>D4. <strong>Make a vibration powered legged robot.</strong> Created by Christopher von Brecht for the Inventors Workshop at the Children's Museum, San Antonio. These robots were first created by Fumiya Iida's at ETH, Zurich. <a href="tutorials/Vibration-based-robots.pdf">Write-up</a> | <a href="tutorials/VibrationRobots_STL.zip">Files for 3D printing</a> | <a href="https://youtu.be/QoDUXx42l4c">YouTube Link</a>
<br>
<br>D3. <strong>Want to get started with Passive Dynamic Walking simulations?</strong> MATLAB file: <a href="passivewalker.m">passivewalker.m</a> to simulate a round foot passive walker. Passive walker with poincare section at midstance: <a href="passivewalker_mid.m">passivewalker_mid.m</a>
<br>
<br>D2. <strong> Want to simulate the rimless wheel and simplest walker?</strong> MATLAB files: <a href="rimlesswheel.m">rimlesswheel.m</a> and <a href="simplestwalker.m">simplestwalker.m</a>. See the paper <a href="pdw_benchmark.pdf">Numerical accuracy of two benchmark models of walking: the rimless wheel and the simplest walker</a> for more details.
<br>
<br>
D1. <strong>Want to get started in robotics?</strong> <a href = "car_project.html">Instructions</a> of assembling and programming a simple wheeled robot (<a href="http://www.youtube.com/watch?v=mcd7RDEmkbM">video</a>). Cost is aroung $110.
</p><section id="outreach"></section>
<h4>Outreach</h4>
<div class="col-12 col-xl-12">
<p>We have done STEM (Science, Technology, Engineering, and Math) related outreach at local schools and the children's museum in San Antonio. We typically do 2-3 such events every year. Here are some example outreach events.
<br>
1. Workshop on creating paper-based walking toys at the San Antonio Children's Museum. (<a href="https://photos.google.com/share/AF1QipOR-i7xbD5y0XnprDQCGRhz4m0DL6J8yuPecLOeNkVvl8GiTybZ-SUeENqGOCyY4Q?key=ZXpZWEJqbTZoRWstVUlESE02TzdqODJWV3Bndmt3">Photo link</a>) <br>
2. Demonstration of various robots created in the Robotics and Motion Lab. (<a href="https://photos.google.com/share/AF1QipONYM-7SPtPtxl2DaRddrQmPAEDotAM9z-O-YIaBzR_4BHjEsW2s8il-_XejsxmTQ?pli=1&key=MFBKVGRrZzlOZnFocWlhZFhBOU9jMGZEM3ZxRG1R">Photo link</a>) <br>
3. Kids tele-operating LEGO robots. (<a href="https://www.youtube.com/watch?v=a8HdNMY0_4c">Video link</a>) <br>
4. LEGO Robotics outreach at UTSA. (<a href="https://www.youtube.com/watch?v=nJW5tSn7uFA">Video link</a>) <br>
5. Five day coding camp for middle school girls, <a href="https://coderunners2019.github.io/">Girl CodeRunners</a>.</p>
</div>
<hr>
<footer class="text-left">
<div class="container">
<div class="row">
<div class="col-6 col-xl-12">
<p>Last updated Nov 28, 2024 by Pranav Bhounsule <br>Website designed by <a href="mailto:[email protected]">Emily Phan</a></p>
</div>
</div>
</div>
</footer>
<!-- jQuery (necessary for Bootstrap's JavaScript plugins) -->
<script src="js/jquery-3.4.1.min.js"></script>
<!-- Include all compiled plugins (below), or include individual files as needed -->
<script src="js/popper.min.js"></script>
<script src="js/bootstrap-4.4.1.js"></script>
</div>
</div>
</div>
</section>
</div>
</div>
</div>
</section>
<!-- Default Statcounter code for Pranav Bhounsule HomePage
https://pab47.github.io/ -->
<script type="text/javascript">
var sc_project=6467122;
var sc_invisible=0;
var sc_security="926f6293";
var scJsHost = "https://";
document.write("<sc"+"ript type='text/javascript' src='" +
scJsHost+
"statcounter.com/counter/counter.js'></"+"script>");
</script>
<noscript><div class="statcounter"><a title="Web Analytics
Made Easy - Statcounter" href="https://statcounter.com/"
target="_blank"><img class="statcounter"
src="https://c.statcounter.com/6467122/0/926f6293/0/"
alt="Web Analytics Made Easy - Statcounter"
referrerPolicy="no-referrer-when-downgrade"></a></div></noscript>
<!-- End of Statcounter Code -->
</body>
</html>