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--- marvin:lab11 [2008/11/28 12:04] – rieper
+++ marvin:lab11 [2008/11/28 12:06] (current) – rieper
@@ Line 25: / Line 25: @@
   * Figure out how to use the LejOS PC API((http://lejos.sourceforge.net/nxt/pc/api/index.html))
   * Figure out how to make realtime communication with the NXT through bluetooth.((http://lejos.sourceforge.net/nxt/pc/api/index.html))((http://lejos.sourceforge.net/nxt/nxj/api/index.html))
-  * Figure out how to use the gyro((http://www.hitechnic.com/contents/en-us/d24.html)) (there might not be direct support through LejOS)
+  * Figure out how to use the gyro((http://www.hitechnic.com/contents/en-us/d24.html))
-  * Implement PID control((http://en.wikipedia.org/wiki/PID_controller)), and tune the parameters using the model of an inverted pendulum in NXT-way GS model((http://lejos.sourceforge.net/nxt/pc/api/index.html)).
+  * Implement PID control((http://en.wikipedia.org/wiki/PID_controller)), and tune the parameters using the model of an inverted pendulum((JOE: a mobile, inverted pendulum,Grasser,F.; D'Arrigo,A.; Colombi,S.; Rufer,A.C.,Industrial Electronics, IEEE Transactions on, 2002, 49, 1, 107-114)) in NXT-way GS model((http://lejos.sourceforge.net/nxt/pc/api/index.html)).
   * Implement behaviour based driving to make the robot drive around and avoid obstacles.(([[http://www.ai.mit.edu/people/brooks/|Rodney Brooks]], A robust layered control system for a mobile robot, IEEE Journal of Robotics and Automation, RA-2(1):14-23, 1986, also [[http://people.csail.mit.edu/brooks/papers/AIM-864.pdf|MIT AI Memo 864]], September 1985.))
   * Implement behaviour that takes control of the robot when commands are sent from the game controller.
@@ Line 35: / Line 35: @@
 The project will be created through 6 lab sessions, each spanning one or two days.\\
   * Lab session 1: Make robot able to communicate with gyro.
-  * Lab session 2: Make balancing robot with gyro, using mathematical modelling ((JOE: a mobile, inverted pendulum,Grasser,F.; D'Arrigo,A.; Colombi,S.; Rufer,A.C.,Industrial Electronics, IEEE Transactions on, 2002, 49, 1, 107-114)) and PID parameter tuning.
+  * Lab session 2: Make balancing robot with gyro, using mathematical modelling and PID parameter tuning.
   * Lab session 3: Make robot able to drive at a predefined pattern.
   * Lab session 4: Make drive autonomous, avoiding obstacles, using a behaviour model.