EEC128/MEC134 Resources


Resources for the class will be added here.

Useful Readings

  • Linearization ME132 notes. Packard/Poolla/Horowitz. (Link Courtesy of Kiet Lam).
  • Phase variable canonical form
  • List of Root Locus Rules
  • Controllability and Cayley-Hamilton notes
  • Separability of Observer and State Feedback dynamics (Lec 22)
  • Linear Quadratic Regulator (Lec 23)
  • Discrete Time State Space (Lec 24)
  • Dynamic effects in visual closed-loop systems. Corke, P. I., & Good, M. C., IEEE Transactions on Robotics and Automation, 12(5), 671-683, 1996. (Lec 27)
  • ``Robot Vision Control of robot motion'' Prof. Martin Jagersand , Univ. of Alberta (Lec 27)
  • Final Review Session Notes


    Back to Agenda

    Video List

  • 1. 8/27/2015. Swingup control lab. video
  • 2. 9/1/2015. Magnetic levitation lab. (Emily Chen). video
  • 3. 9/3/2015. Simulated fly reorientation.
  • 4. 9/8/2015. Controlled Flight of a Biologically-Inspired, Insect-Scale Robot video
  • 5. 9/10/2015. Oscillation Damping, Collision Detection and Reaction for a Multi-Elastic-Link Robot Arm video
  • 6. 9/15/2015. Prof. R. D'Andrea, ETH Zurich, Ball Juggling Quadrotors video
  • 7. 9/17/2015. Aggressive Maneuvers for Autonomous Quadrotor Flight Univ. of Pennsylvania Movie
  • 8. 9/22/2015. Virus Nanoindentation by AFM, Movie Disassembly of immature virus induced by mechanical fatigue with AFM Movie
  • 9. 9/24/2015. Spot the Robot Dog. Movie
  • 10. 9/29/2015. RHex the Parkour Robot. Movie
  • 11. 10/1/2015. MIT Cheetah Robot. Movie
  • 12. 10/6/2015. From Compliant Balancing to Dynamic Walking on Humanoid Robot: Integration of CNS and CPG, Sang-Ho Hyon, Jun Morimoto and Mitsuo Kawato IEEE Int. Conf. Robotics and Automation, Anchorage, May 2010.
  • 13. 10/8/2015. Active damping of structure. video
  • 15. 10/15/2015. New more dynamic ASIMO. (Link courtesy of S. Chan). video Spectrum brief article link
  • 16. 10/20/2015 midterm review
  • 17. 10/22/2015 midterm
  • 18. 10/27/2015 no video survey
  • 19. 10/29/2015 EE192: The Autonomous Racing Vehicle Project (Emily Chen) video
  • 20. 11/2/2015 Nelson Lab, ETHZ, "OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation", IEEE Int. Conf. on Robotics and Automation, May 2010 Video
  • 21. 11/5/2015 Mag Lev lab, Fall 2015. video
  • 22. 11/10/2015. Aeon Phocus magnetically steered catheter system, video
  • 23. 11/12/2015. (repeat) Swingup control lab. video
  • 24. 11/17/2015. Acrobot sim (UCB 1989). video. Acrobot open loop video Acrobot swingup using sum-of-squares. video. Paper: Majumdar, Ahmadi, Tedrake, ICRA 2013.
  • 25. 11/19/2015. Visual Control of H2-Bird. video Paper: Julian, Rose, Fearing AAMAS2013.
  • 26. 11/24/2015. High-Speed Autonomous Navigation. C. Richter, J. Ware, N. Roy, ICRA 2014. video
  • 27. 12/1/2015. Robotic arm visual servoing (GTRI) video

  • 12. 2/26/2015. Cornell Ranger robot video
  • 14. 3/5/2015. Stability Control - How Does ESP Work (Bosch) video
  • 15. 3/10/2015. KAIST Raptor robot runs at 46 km/h, Active tail stabilization video
  • 21. 4/7/2015 Nelson Lab, ETHZ, ``MagMites - Microrobots for Wireless Microhandling in Dry and Wet Environments,'' IEEE Int. Conf. on Robotics and Automation, May 2010 Video
  • 25. 4/21/2015. TAYLRoACh video and SailRoACH video
  • 26. 4/23/2015. guest lecture

    Previous EE128/ME134 Web sites

  • Spring 2015
  • Fall 2014

  • Fall 2011
  • Fall 2011 Midterm and Fall 2011 MT soln
  • Fall 2011 Final and Fall 2011 Final soln

  • Fall 2010 Midterm and Fall 2010 Midterm Odd Solutions and Fall 2010 Midterm Even Solutions
  • Fall 2010 Final and Fall 2010 Final solution
  • Fall 2010

  • Fall 2007

    • Nise Text

    Errata
    Table 2.1, Item 4, should be $$\frac{n!}{s^{n+1}}$$

    Nise 6th Edition Appendices

  • Appendix G: Matrices, Determinants, and Systems of Equations
  • Appendix I Derivation of a Schematic for a DC Motor
  • Appendix J Derivation of the Time Domain Solution of State Equations
  • Appendix K Solution of State Equations for t0 <> 0
  • Appendix L Derivation of Similarity Transformations
  • Appendix M Root Locus Rules: Derivations