Multi-Layer Perceptron (MLP)

Multi-Layer Perceptron (MLP) Code: Please click the following multi-layer perceptron (MLP) code including training and classification in the same file.

Tutorial: Understanding Multi-Layer Perceptron (MLP) .. How it Works. 

Data Sets: UCI Machine Learning Repository

Perceptron Challenge

As you finish the perceptron training, you have a new challenge to tackle - modifying the

perceptron code to classify a new data set. The information of the data set is listed in the following:

1. No.of classes: 2 (class 0 and 1)
2. No. of training data: 2000
3. No. of testing data: 400
4. No. of features: 3 (feature vector is in 3-dimensional space)
5. Files: training.txt, and testing.txt

Since the original perceptron is only for 2-dimensional data, you need to identify and modify all the dimension-related code to make it work. After you finishing the classification, visualize your training and testing data, and the decision boundary using Grapher in Mac laptop (see example). Our deadline for this challenge is March 17, 2017 (Friday).

The Artificial Neural Network (ANN) presentations are available in the following:

1. ANN 01 - Artificial Neurons
2. ANN 02 - Perceptrons 

The Perceptron code can be found at the link.

F1 Formula's STEM Challenge

http://www.distem.net/f1is-ny-regional

http://www.f1inschools.com/

MATLAB Serial Monitor

% MATLAB-Arduino Serial Port Monitor
clear
clc

% Defined Serial Port
serialPort = '/dev/cu.usbmodem1421';            % define COM port #

%Open Serial COM Port
s = serial(serialPort)
fopen(s);

delay = .01;                    % make sure sample faster than resolution

while 1 %Loop when Plot is Active
    dat = fscanf(s,'%f'); %Read Data from Serial as Float
 
    if(~isempty(dat) && isfloat(dat)) %Make sure Data Type is Correct       
        disp (dat);
    end
        
    %Allow MATLAB to Update Plot
    pause(delay);
end

%Close Serial COM Port and Delete useless Variables
fclose(s);
clear count dat delay s serialPort;

Arduino & MATLAB

Please use the following links to browse through the Arduino & MATLAB resource:

1. Arduino Support from MATLAB: https://www.mathworks.com/hardware-support/arduino-matlab.html. 
2. MATLAB GUI Basics: https://www.youtube.com/playlist?list=PLPhi9dVsEVfZOlbIPsrQx0drJlBX9T15r.
3. Plotting in MATLAB: https://www.youtube.com/playlist?list=PLPhi9dVsEVfbNFWBDsgELOuKMob8qIr8S.

Robot Programming: Line Tracking

Please watch the following VEX Cortex video tutorials to learn the basic concepts of programming, system configuration, motion control, and line tracking.

 

1. Introduction to Programming

  1. Programmer and Machine

  2. Planning and Behaviors

  3. ROBOTC Rules Part 1

  4. ROBOTC Rules Part 2

2. Wired System Configuration

  1. Updating the VEX EDR Firmware (Wired)

3. Download Sample

  1. Downloading a Sample Program Part 1 (Wireless)

  2. Downloading a Sample Program Part 2 (Wireless)

  3. Downloading a Sample Program using USB

4. Moving Forward

  1. Program Dissection

  2. Reversing Motor Polarity

  3. Renaming Motors

  4. Timing

5. Speed and Direction

  1. Motor Power Levels

  2. Turn and Reverse

  3. Manual Straightening

6. Line Tracking

  1. The Line Tracking Sensors

  2. Calculating Thresholds

  3. Basic Line Tracking

  4. Line Tracking for Distance

  5. Optimized Line Tracking

For more information, please visit the VEX EDR Video Trainer web site.

MATLAB Video Tutorials Progress Chart

MATLAB Video Tutorials: Watch the MATLAB tutorials such that you can use this powerful tool to help you solve a wide spectrum of STEM problems. Please use the Progress Chart to document your personal progress in watching the tutorials.  

Part I: MATLAB Overview

1. MATLAB Overview: Get an overview of MATLAB®, the language of technical computing. (2:05)
2. Analyzing and Visualizing Data with MATLAB: Explore, visualize, and model your data with MATLAB®. (3:26)
3. Programming and Developing Algorithms with MATLAB: Write programs and develop algorithms using the high-level language and development tools in MATLAB®. (4:32)
4. Developing and Deploying Applications with MATLAB: Develop and share MATLAB® applications as code, executables, or software components. (3:51)
5. Getting Started with MATLAB: Get started with MATLAB® and learn how to get more information. (7:00)
6. Working in The Development Environment: Access tools such as the command history workspace browser and variable editor, save and load your workspace data, and manage windows and desktop layout. (5:21)
7. Top Ways to Get Help: Find online support to help solve your toughest problems while using MATLAB® and Simulink® products. (3:20)
8. Importing Data from Text Files Interactively: Use the import tool to import numeric and text data from delimited and fixed width text files. Generate MATLAB^® code to repeat the process on similar files. (7:01)
9. Importing Data from Files Programmatically: Import data from spreadsheets, text files, and other formats into MATLAB^® using file I/O functions. (3:55)
10. Importing Spreadsheets into MATLAB: Select and load mixed textual and numeric data from spreadsheets interactively then generate the required MATLAB^® code. (4:34)
11. Using Basic Plotting Functions: Create plots programmatically using basic plotting functions. (5:52)
12. Working with Arrays in MATLAB: Create and manipulate MATLAB® arrays, including accessing elements using indexing. (8:17)
13. Introducing MATLAB Fundamental Classes (Data Types): Work with numerical, textual, and logical data types. (5:46)
14. Introducing Tables and Categorical Arrays: Manage mixed-type tabular data with the table data container, and data from a finite, discrete set of categories with the memory-efficient categorical array. (6:01)
15. Introducing Structures and Cell Arrays: Use structures and cell arrays to manage heterogeneous data of different types and sizes. (5:04)
16. Writing a MATLAB Program: Write a MATLAB® program, including creating a script and a function. (4:57)
17. Publishing MATLAB Code from the Editor: Share your work by publishing MATLAB® code from the MATLAB Editor to HTML and other formats. (5:57)
18. Developing Classes Overview: Design classes by defining properties, methods, and events in a class definition file. (10:48)
19. Calling MATLAB from C Code: Call MATLAB® from C, C++ or Fortran code using the MATLAB Engine Library. (1:30)

Part II: Computer Programming with MATLAB

Lesson 1: Introduction
1.1 Introduction (11:43)
1.2 The MATLAB Environment (23:03)
1.3 MATLAB Online (27:43)
1.4 MATLAB as a Calculator (14:25)
1.5 Syntax and Semantics (5:01)
1.6 Help (8:37)
1.7 Plotting (19:06)

Lesson 2: Matrices and Operators
2.1 Introduction to Matrices and Operators (11:25)
2.2 The Colon Operator (8:45)
2.3 Accessing Parts of a Matrix (21:33)
2.4 Combining and Transforming Matrices (10:06)
2.5 Arithmetic Part 1 (18:07)
2.6 Arithmetic Part 2 (11:52)
2.7 Operator Precedence (13:31)

Lesson 3: Functions
3.1 Introductions to Functions (5:39)
3.2 Function I/O (22:15)
3.3 Formal Definition of Functions (2:52)
3.4 Subfunctions (6:17)
3.5 Scope (5:24)
3.6 Advantages of Functions (2:39)
3.7 Scripts (4:27)

Lesson 4: Programmer’s Toolbox
4.1 Introduction to programmer’s Toolbox (7:06)
4.2 Matrix Building (15:11)
4.3 Input / Output (20:47)
4.4 Plotting (17:47)
4.5 Debugging (22:17)

Lesson 5: Selection
5.1 Selection (11:53)
5.2 If-Statements, continued (8:33)
5.3 Relational and Logical Operators (34:51)
5.4 Nested If-Statements (2:12)
5.5 Variable Number of Function Arguments (6:40)
5.6 Robustness (8:37)
5.7 Persistent Variables (6:54)

Lesson 6: Loops
6.1 For-Loops (38:50)
6.2 While-Loops (20:16)
6.3 Break Statement (29:31)
6.4 Logical Indexing (37:29)
6.5 Preallocation (8:59)

Lesson 7: Data Types
7.1 Introduction to Data Types (20:27)
7.2 Strings (29:04)
7.3. Structs (14:51)
7.4 Cells (21:47)

Lesson 8: File Input/Output
8.1 Introduction to File Input/Output (15:00)
8.2 Excel Files (9:12)
8.3 Text Files (12:17)
8.4 Binary Files (38:55)

Strandbeest Inspired Designs

1. Walking Chair   
2. Strandbeest Bike
3. Walking Robot  

How to connect Vex Microcontroller to Vex Joystick

Below is a guide to teach you how to connect Vex Microcontroller to Vex Joystick.

1. Make sure that your Microcontroller is OFF.
2. Using a Vex USB A to A Cable, connect 1 end to the Microcontroller, and the other end to the computer.
3. Turn ON the microcontroller.
4. Open up ROBOTC for Vex Robotics 4.x.
5. Under "View", select ROBOTC preferences and detailed preferences.
6. Then, select "Platform".
7. Click on the drop-down menu that says "Platform Type".
8. Choose "Vex Robotics", then "Vex 2.0 Cortex".
9. Click on "Change Port".
10. Choose the port that says "Vex Robotics Comm Port" and click "OK".
11. Click "Apply" on the ROBOTC preferences window, then click "OK".
12. Under "Robot", choose "VEX Cortex Communication Mode", then "VEXnet or USB".
13. Under "Robot", choose "Platform Type", then "VEX 2.0 Cortex".
14. Under "Robot", choose "Platform Type", then "VEX Robotics", then "VEX 2.0 Cortex".
15. Under  "Robot", choose "Download Firmware", then "Automatically Update VEX Cortex".
16. If the Microcontroller is fully updated, acknowledge the pop-up window, if not, continue with the update.
17. Open "VEXnet Upgrade Utility".
18. Next to "Default Code", click the button so that is says "ON".
19. Click "Download Default".
20. Unplug the Microcontroller and turn it OFF.
21. Plug the cable into the VEX joystick. It should be OFF.
22. Under "View", select ROBOTC preferences, and detailed preferences.
23. Then, select "Platform".
24. Select "Change Port"
25.  Choose the port that says "Vex Robotics Comm Port" and click "OK".
26. Click "Apply" on the ROBOTC preferences window, then click "OK".
27. Under  "Robot", choose "Download Firmware", then "Automatically Update VEXnet Joystick".
28. If the joystick is fully updated, acknowledge the pop-up window, if not, continue with the update.
29. Unplug the joystick
30. Connect the VEXnet Key to both the joystick and the microcontroller, 1 each.
31. Turn them both on and wait a few seconds, until the lights on both devices are green.
32. Congratulations! Now you can control your robot using the VEX joystick!

Set Up the Programming Environment

Once you finished building your first Robot, you are ready to set up the programming environment such that you can start program your robot. The following important document and Wiki link will help you set up the communication between your laptop and your Cortex microcontroller such that your group can formally kick off the programming project.

Using the VEX Cortex with ROBOTC 
Getting Started with the VEX Cortex Wiki

Welcome to R&ED!

Welcome to the blog of the Robotics and Engineering Design class! Here is the place students can post news about cutting-edge technology, share technical resource/links, record engineering notebook, update project status, and express concerns/discuss technical issues.

Please bookmark this site right now for future reference.

Your active participation will not only be counted as part of your grade, it will greatly enrich your learning experience in this class. I am expecting you to have an exciting and fruitful year!