Murray Wiki - User contributions [en]

March 2013 meeting schedule

2013-03-03T03:55:04Z

Hanshuo: /* 6 Mar (Wed) */

The list below has times that I am available to meet between 4 March and 13 March. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and figure out how much of a bribe is required to get them to switch). Please only sign up for one time slot. __NOTOC__

{| width=100% border=1
|- valign=top
| width=30% |
==== 6 Mar (Wed) ====
{{agenda begin}}
{{agenda item|8:45-9:45|Ophelia}}
{{agenda item||}}
{{agenda item|1:15-2:00|Stephanie}}
{{agenda item||}}
{{agenda item|5:00-5:45|Shuo}}
{{agenda item|5:45-6:00|UG advisee}}
{{agenda item|6:00-6:45|Open}}
{{agenda item|6:45-7:30|Zoltan}}
{{agenda end}}
| width=30% |

==== 7 Mar (Thu) ====
{{agenda begin}}
{{agenda item|2:00-3:30|DARPA breadboards}}
{{agenda item|4:00-4:15|UG advisee}}
{{agenda item|4:15-5:00|Open}}
{{agenda item|5:00-5:45|Open}}
{{agenda item|5:45-6:00|UG advisee}}
{{agenda item|6:00-6:45|Anandh}}
{{agenda item|6:45-7:30|Open}}
{{agenda end}}
| width=30% |

==== 8 Mar (Fri) ====
{{agenda begin}}
{{agenda item|8:45-9:30|Open}}
{{agenda item||}}
{{agenda item|11:00-11:45|ALL telecon (Enoch, Joe M)}}
{{agenda item||}}
{{agenda item|12:00-1:15|NCS group meeting}}
{{agenda item|1:15-2:00|Open (might get shortened)}}
{{agenda item||}}
{{agenda item|5:00-5:45|Eric}}
{{agenda item|5:45-6:30|Open}}
{{agenda end}}

|- valign=top
|

==== 10 Mar (Sun) ====
{{agenda begin}}
{{agenda item|2:30-2:45|UG advisee}}
{{agenda item|2:45-3:00|UG advisee}}
{{agenda item|3:00-4:00|Open}}
{{agenda item|4:00-5:00|Open}}
{{agenda item|5:00-6:00|Open}}
{{agenda item|6:00-6:15|UG advisee}}
{{agenda item|6:15-6:30|UG advisee}}
{{agenda end}}
|
==== 11 Mar (Mon) ====
{{agenda begin}}
{{agenda item|3:30-4:15|Open}}
{{agenda item|4:15-5:00|Shaobin}}
{{agenda item|5:00-5:15|UG advisee}}
{{agenda item|5:15-6:00|Marcella}}
{{agenda item|6:00-6:45|Open}}
{{agenda item|6:45-7:30|Open}}
{{agenda end}}
|

==== 12 Mar (Tue) ====
{{agenda begin}}
{{agenda item|11:00-11:45|Emzo}}
{{agenda item||}}
{{agenda item|1:00-3:00|Biocircuits meeting}}
{{agenda item||}}
{{agenda item|3:30-4:15|Nathan Belliveau}}
{{agenda item|4:15-5:00|Open}}
{{agenda item|5:00-5:15|UG advisee}}
{{agenda item|5:15-6:00|Open}}
{{agenda item|6:00-6:45|Open}}
{{agenda item|6:45-7:30|Open}}
{{agenda end}}
|}

Group Schedule, Fall 2012

2012-09-24T15:37:29Z

Hanshuo: /* Week 10: 3-7 Dec */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [[Schedule|Richard's calendar (travel)]]
| width=50% |
* [[Group Schedule, Summer 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=30% |
* Group meetings - 114 Steele Lab
| width=30% |
* Biocircuits subgroup - 111 Keck
| width=30% |
* NCS subgroup - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |
=== Week 1: 1-5 Oct ===
'''Biocircuits: 4 Oct (Thu), 10 am - 12 pm'''
* Gita Mahmoudabadi (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 4 Oct (Thu), 4-5:30 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* Richard out of town Tue-Wed
* No group meeting this week

| width=30% |

=== Week 2: 8-12 Oct ===
'''NCS: 10 Oct (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

'''Biocircuits: 11 Oct (Thu), 10 am - 12 pm'''
* Research presentation (30 min)
* Vanessa (15 min)
* Anu (15 min)
* Lab updates

<hr>
* Richard out of town Mon, Tue am, Fri pm
* Aaron Ames visiting on Thu (seminar @ noon)
* No group meeting this week
| width=30% |

=== Week 3: 15-19 Oct ===
* Richard out of town all week
* Biocircuits lab cleanup: 16 Oct (Tue), 10 am - 12 pm

|- valign=top
| width=30% |
=== Week 4: 22-26 Oct ===
'''Biocircuits: 23 Oct (Tue), 10 am - 12 pm'''
* Enoch (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 23 Oct (Tue), 4-5:30 pm'''
* Eric (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* Ram Vasuvian visiting on Mon (seminar @ 11)
* DARPA Living Foundries west coast meeting on Thu (Richard out)
* No group meeting this week

| width=30% |

=== Week 5: 29 Oct - 2 Nov ===
'''NCS: 31 Oct (Wed), 4:30-6:00 pm'''
* Shuo (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

'''Biocircuits: 1 Nov (Thu), 10 am - 12 pm'''
* Marcella (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

<hr>
* Richard out of town on Tue
* iGEM World Jamboree, Fri-Mon
* No group meeting this week
| width=30% |

=== Week 6: 5-9 Nov ===
'''Biocircuits: 6 Nov (Tue), 10 am - 12 pm'''
* Anu (30 min)
* Emzo (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 7 Nov (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

|- valign=top
| width=30% |

=== Week 7: 12-16 Nov ===
'''Biocircuits: 15 Nov (Thu), 10 am - 12 pm'''
* Ophelia (30 min)
* Research update (15 min)
* Enoch (15 min)
* Lab updates

'''NCS: 15 Nov (Thu), 4-5:30 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

| width=30% |

=== Week 8: 19-23 Nov ===
* Richard out of town all week
* Biocircuits lab cleanup: 20 Nov (Tue), 10 am - 12 pm
* Thanksgiving break, Thu-Fri
* No group meeting this week

| width=30% |
=== Week 9: 26-30 Nov ===
'''Biocircuits: 27 Nov (Tue), 10 am - 12 pm'''
* Vanessa (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 28 Nov (Wed), 4:30-6:00 pm'''
* Eric (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* DARPA breadboards telecon, Thu @ 9:30 am
* SoCal Control Workshop, Fri (UC San Diego)
* No group meeting this week

|- valign=top
| width=30% |

=== Week 10: 3-7 Dec ===
'''Biocircuits: 4 Dec (Tue), 10 am - 12 pm'''
* Emzo (30 min)
* Marcella (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 5 Dec (Wed), 4:30-6:00 pm'''
* Shuo (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

| width=30% |

=== Week 11: 10-14 Dec ===
* CDC week, no group meetings
* Biocircuits lab cleanup: 11 Dec (Tue), 10 am - 12 pm

| width=30% |
=== Week 12: 17-21 Dec ===
* Winter break, no group meetings
* Richard around Mon-Thu
|}

Group Schedule, Fall 2012

2012-09-24T15:37:05Z

Hanshuo: /* Week 5: 29 Oct - 2 Nov */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [[Schedule|Richard's calendar (travel)]]
| width=50% |
* [[Group Schedule, Summer 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=30% |
* Group meetings - 114 Steele Lab
| width=30% |
* Biocircuits subgroup - 111 Keck
| width=30% |
* NCS subgroup - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |
=== Week 1: 1-5 Oct ===
'''Biocircuits: 4 Oct (Thu), 10 am - 12 pm'''
* Gita Mahmoudabadi (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 4 Oct (Thu), 4-5:30 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* Richard out of town Tue-Wed
* No group meeting this week

| width=30% |

=== Week 2: 8-12 Oct ===
'''NCS: 10 Oct (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

'''Biocircuits: 11 Oct (Thu), 10 am - 12 pm'''
* Research presentation (30 min)
* Vanessa (15 min)
* Anu (15 min)
* Lab updates

<hr>
* Richard out of town Mon, Tue am, Fri pm
* Aaron Ames visiting on Thu (seminar @ noon)
* No group meeting this week
| width=30% |

=== Week 3: 15-19 Oct ===
* Richard out of town all week
* Biocircuits lab cleanup: 16 Oct (Tue), 10 am - 12 pm

|- valign=top
| width=30% |
=== Week 4: 22-26 Oct ===
'''Biocircuits: 23 Oct (Tue), 10 am - 12 pm'''
* Enoch (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 23 Oct (Tue), 4-5:30 pm'''
* Eric (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* Ram Vasuvian visiting on Mon (seminar @ 11)
* DARPA Living Foundries west coast meeting on Thu (Richard out)
* No group meeting this week

| width=30% |

=== Week 5: 29 Oct - 2 Nov ===
'''NCS: 31 Oct (Wed), 4:30-6:00 pm'''
* Shuo (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

'''Biocircuits: 1 Nov (Thu), 10 am - 12 pm'''
* Marcella (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

<hr>
* Richard out of town on Tue
* iGEM World Jamboree, Fri-Mon
* No group meeting this week
| width=30% |

=== Week 6: 5-9 Nov ===
'''Biocircuits: 6 Nov (Tue), 10 am - 12 pm'''
* Anu (30 min)
* Emzo (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 7 Nov (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

|- valign=top
| width=30% |

=== Week 7: 12-16 Nov ===
'''Biocircuits: 15 Nov (Thu), 10 am - 12 pm'''
* Ophelia (30 min)
* Research update (15 min)
* Enoch (15 min)
* Lab updates

'''NCS: 15 Nov (Thu), 4-5:30 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

| width=30% |

=== Week 8: 19-23 Nov ===
* Richard out of town all week
* Biocircuits lab cleanup: 20 Nov (Tue), 10 am - 12 pm
* Thanksgiving break, Thu-Fri
* No group meeting this week

| width=30% |
=== Week 9: 26-30 Nov ===
'''Biocircuits: 27 Nov (Tue), 10 am - 12 pm'''
* Vanessa (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 28 Nov (Wed), 4:30-6:00 pm'''
* Eric (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* DARPA breadboards telecon, Thu @ 9:30 am
* SoCal Control Workshop, Fri (UC San Diego)
* No group meeting this week

|- valign=top
| width=30% |

=== Week 10: 3-7 Dec ===
'''Biocircuits: 4 Dec (Tue), 10 am - 12 pm'''
* Emzo (30 min)
* Marcella (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 5 Dec (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

| width=30% |

=== Week 11: 10-14 Dec ===
* CDC week, no group meetings
* Biocircuits lab cleanup: 11 Dec (Tue), 10 am - 12 pm

| width=30% |
=== Week 12: 17-21 Dec ===
* Winter break, no group meetings
* Richard around Mon-Thu
|}

Henrik Sandberg, July 2012

2012-07-29T21:41:10Z

Hanshuo: /* Monday */

Henrik Sandberg will be visiting CDS on 30-31 July (Tue-Wed). __NOTOC__

=== Schedule ===
{| width=100% border=1
|- valign=top
| width=50% |
==== Monday ====
* 10 am: Open
* 11 am: Seminar, 213 Annenberg
* 12 noon: Lunch, hosted by Nikolai (meet at seminar)
<hr>
* 1:30 pm: Matanya Horowitz & Nikolai (Annenberg)
* 2:15 pm: Shuo Han (Annenberg)
* 3:00 pm: Open
* 3:45 pm: KISS workshop on ultra-reliability (Hameetman auditorium, Cahill )
|

==== Tuesday ====
* 10 am: Enoch
* 10:45 am: Eric Wolff
* 11:30 am: Open
<hr>
* 1:30 pm: Aristo
* 2:15 pm: Open
* 3:00 pm: Robert Rogersten & Giulia Ripellino, Annenberg Lounge
* 3:45 pm: Open
* 4:30 pm: Open
<hr>
* 6:30 pm: Richard, 109 Steele Lab
|}

=== Abstract ===

'''Synthesis of Models using Lossless Components and Some Related Design Trade-Offs'''

Speaker: Henrik Sandberg<br>
Affiliation: Electrical Engineering, KTH<br>
Date and time: Monday, 30 July 2012 - 11:00am<br>
Location: 213 Annenberg<br>

The area of network synthesis deals with how to implement mathematical models using a well-defined set of physical components. This area was thoroughly studied in the circuits community in the 1960-1970's, using components such as resistors, transformers, capacitors, inductors, and operational amplifiers. Today similar questions are being asked in synthetic biology and in mechanics, only now the given sets of physical components are very different. Typical questions of interest are to characterize what type of mathematical models can be implemented for given sets of components, and the minimal number of components required for a specific model.

In this talk, we address the problem of synthesizing some classes of active and passive mathematical models using only a small number of lossless physical components. The set of lossless components are relevant since they conserve energy and if we intend to implement anything on a microscopic level, for example a micro machine, we will need to respect this limitation. In our earlier work we have shown that linear models are passive if, and only if, they can be approximated to any desired degree of accuracy by a linear lossless system, over any fixed time horizon. Typically this requires a huge number of lossless components, however, which results in thermal noise as quantified by the fluctuation-dissipation theorem. Here we will see that by allowing the linear lossless components to be time-varying, not only can we avoid some thermal noise, but we can also synthesize some active components. Given the importance of active components such as operational amplifiers this is encouraging. The price for the decrease in implementation complexity is a need for an external power supply. We illustrate the control-theoretic relevance of these results by means of a few examples and design trade-offs.

Henrik Sandberg, July 2012

2012-07-27T16:32:13Z

Hanshuo: /* Monday */

Henrik Sandberg will be visiting CDS on 30-31 July (Tue-Wed). __NOTOC__

=== Schedule ===
{| width=100% border=1
|- valign=top
| width=50% |
==== Monday ====
* 10 am: Open
* 11 am: Seminar, location TBD
* 12 noon: Lunch
<hr>
* 1:30 pm: Matanya Horowitz
* 2:15 pm: Shuo Han
* 3:00 pm: Open
* 3:45 pm: Open
* 4:30 pm: Open
|

==== Tuesday ====
* 10 am: Enoch
* 10:45 am: Open
* 11:30 am: Open
<hr>
* 1:30 pm: Aristo
* 2:15 pm: Open
* 3:00 pm: Open
* 3:45 pm: Open
* 4:30 pm: Open
<hr>
* 6:30 pm: Richard
|}

=== Abstract ===

TBD

Group Schedule, Summer 2012

2012-06-16T00:55:55Z

Hanshuo: /* Week 13: 10-14 September */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Spring 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=50% |
* Group meetings - 213 ANB
* Subgroup lunches - 114 Steele lab
| width=50% |
* Biocircuits - 111 Keck
* NCS/Robotics - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 18-22 June ===

'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''
* SURF introductions (40 min)
* Ophelia (20-30 min)
* Shaunak K (10-15 min)
* Lab updates

'''Group meeting: 21 Jun (Thu), 12-1'''
* Richard (research overview)

'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''
* SURF introductions (20 min)
* Eric (15-20 min)
* Clemens (15-20 min)
* Project updates

<hr>
* Richard out of town Mon-Tue
* SURF students start on Tue
| width=30% |

=== Week 2: 25-29 June ===
* American Control Conference (Montreal)
* Richard out of town all week
| width=30% |

=== Week 3: 2-6 July ===
* Richard out of town all week
* Institute holiday on Wed
|- valign=top
|

=== Week 4: 9-13 July ===
'''Biocircuits: 10 Jul (Tue), 10 am - 12 pm'''
* Victoria (25-30 min)
* Anu (10-15 min)
* Jongmin (10-15 min)
* Instrument: Microscope/CellASIC
* Lab updates

'''Group meeting: 13 Jul (Fri), 12-1:15'''
* Tim Sullivan (Owhadi group)

'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''
* <font color=blue>Meet in 114 Steele</font>
* Stephanie (15-20 min)
* Necmiye (15-20 min)
* Research update (15-20 min)
* Project updates

<hr>
* Richard out of town Tue pm - Thu (Living Foundries PI meeting)
|

=== Week 5: 16-20 July ===
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''
* Research update (30-40 min)
* Zach (10-15 min)
* SURF: Vinay V (10-15 min)
* SURF update (10-15 min)
* Instrument: Computing
* Lab updates

'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Shuo (15-20 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Project updates

'''Group meeting: 19 Jul (Thu), 12-1:15'''
* Chin-Lin Guo (BE)
<hr>
* Shaunak K SURF presentation
|

=== Week 6: 23-27 July ===
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''
* Emzo (30-40 min)
* Enoch (10-15 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Instrument: FACSCalibur/Quanta
* Lab updates

'''Group meeting: 25 Jul (Wed), 12-1:15'''
* Clemens Wiltsche

'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''
* Pavithra (15-20 min)
* Clemens (10-15 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Project updates
<hr>
* Richard out of town Thu-Fri
|- valign=top
|

=== Week 7: 30 July - 3 August ===
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''
* <font color=blue>Lunch meeting, 114 Steele; may shift to Thu</font>
* Research presentation (30-40 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Lab updates

'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''
* <font color=blue>Lunch meeting, 114 Steele; may shift to Thu</font>
* Eric (15-20 min)
* Ufuk (15-20 min)
* Project updates

<hr>
* KISS workshop; Richard unavailable
|

=== Week 8: 6-10 August ===
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''
* Dan (30-40 min)
* Victoria (10-15 min)
* Marcella (10-15 min)
* Instrument: Victor X3/BioTek H1MF
* Lab updates

'''Group meeting: 8 Aug (Wed), 12-1:15'''
* Open

'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

|

=== Week 9: 13-17 August ===
* Richard out all week
|- valign=top
|

=== Week 10: 20-24 August ===
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''
* Anu (30-40 min)
* Research presentation [non-MPP] (10-15 min)
* Research update [non-MPP] (10-15 min)
* Instrument: freezers/cold room
* Lab updates

'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 23 Aug (Thu), 12-1:15'''
* Lea Goentoro (Bi)
<hr>
* MPP retreat, Sun-Tue
|

=== Week 11: 27-31 August ===
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''
* Jongmin (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instruments: Nanodrop/electroporator
* Lab updates

'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 30 Aug (Thu), 12-1:15'''
* Open
<hr>
* Richard out of town on Fri
|

=== Week 12: 3-7 September ===
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''
* Marcella (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: gel rigs/gel imager
* Lab updates

'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''
* Necmiye (15-20 min)
* Scott Livingston (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 6 Sep (Thu), 12-1:15'''
* Ram Vasudevan (UC Berkeley)
<hr>
* Institute holiday on Mon
|- valign=top
|

=== Week 13: 10-14 September ===
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''
* Zach (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: PCR machines/centrifuges
* Lab updates

'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''
* Ufuk (15-20 min)
* Shuo (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 13 Sep (Thu), 12-1:15'''
* Yong Huang (J. Beck group)
<hr>
* Richard out on Fri
|

=== Week 14: 17-21 September ===
* Richard out all week
|
=== Week 15: 24-28 September ===
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''
* Enoch (30-40 min)
* Emzo (10-15 min)
* Dan (10-15 min)
* Lab updates

'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''
* Stephanie (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 26 Sep (Thu), 12-1:15'''
* Open
<hr>
* Richard out on Mon
|}

Group Schedule, Summer 2012

2012-06-16T00:55:32Z

Hanshuo: /* Week 5: 16-20 July */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Spring 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=50% |
* Group meetings - 213 ANB
* Subgroup lunches - 114 Steele lab
| width=50% |
* Biocircuits - 111 Keck
* NCS/Robotics - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 18-22 June ===

'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''
* SURF introductions (40 min)
* Ophelia (20-30 min)
* Shaunak K (10-15 min)
* Lab updates

'''Group meeting: 21 Jun (Thu), 12-1'''
* Richard (research overview)

'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''
* SURF introductions (20 min)
* Eric (15-20 min)
* Clemens (15-20 min)
* Project updates

<hr>
* Richard out of town Mon-Tue
* SURF students start on Tue
| width=30% |

=== Week 2: 25-29 June ===
* American Control Conference (Montreal)
* Richard out of town all week
| width=30% |

=== Week 3: 2-6 July ===
* Richard out of town all week
* Institute holiday on Wed
|- valign=top
|

=== Week 4: 9-13 July ===
'''Biocircuits: 10 Jul (Tue), 10 am - 12 pm'''
* Victoria (25-30 min)
* Anu (10-15 min)
* Jongmin (10-15 min)
* Instrument: Microscope/CellASIC
* Lab updates

'''Group meeting: 13 Jul (Fri), 12-1:15'''
* Tim Sullivan (Owhadi group)

'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''
* <font color=blue>Meet in 114 Steele</font>
* Stephanie (15-20 min)
* Necmiye (15-20 min)
* Research update (15-20 min)
* Project updates

<hr>
* Richard out of town Tue pm - Thu (Living Foundries PI meeting)
|

=== Week 5: 16-20 July ===
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''
* Research update (30-40 min)
* Zach (10-15 min)
* SURF: Vinay V (10-15 min)
* SURF update (10-15 min)
* Instrument: Computing
* Lab updates

'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Shuo (15-20 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Project updates

'''Group meeting: 19 Jul (Thu), 12-1:15'''
* Chin-Lin Guo (BE)
<hr>
* Shaunak K SURF presentation
|

=== Week 6: 23-27 July ===
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''
* Emzo (30-40 min)
* Enoch (10-15 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Instrument: FACSCalibur/Quanta
* Lab updates

'''Group meeting: 25 Jul (Wed), 12-1:15'''
* Clemens Wiltsche

'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''
* Pavithra (15-20 min)
* Clemens (10-15 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Project updates
<hr>
* Richard out of town Thu-Fri
|- valign=top
|

=== Week 7: 30 July - 3 August ===
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''
* <font color=blue>Lunch meeting, 114 Steele; may shift to Thu</font>
* Research presentation (30-40 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Lab updates

'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''
* <font color=blue>Lunch meeting, 114 Steele; may shift to Thu</font>
* Eric (15-20 min)
* Ufuk (15-20 min)
* Project updates

<hr>
* KISS workshop; Richard unavailable
|

=== Week 8: 6-10 August ===
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''
* Dan (30-40 min)
* Victoria (10-15 min)
* Marcella (10-15 min)
* Instrument: Victor X3/BioTek H1MF
* Lab updates

'''Group meeting: 8 Aug (Wed), 12-1:15'''
* Open

'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

|

=== Week 9: 13-17 August ===
* Richard out all week
|- valign=top
|

=== Week 10: 20-24 August ===
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''
* Anu (30-40 min)
* Research presentation [non-MPP] (10-15 min)
* Research update [non-MPP] (10-15 min)
* Instrument: freezers/cold room
* Lab updates

'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 23 Aug (Thu), 12-1:15'''
* Lea Goentoro (Bi)
<hr>
* MPP retreat, Sun-Tue
|

=== Week 11: 27-31 August ===
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''
* Jongmin (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instruments: Nanodrop/electroporator
* Lab updates

'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 30 Aug (Thu), 12-1:15'''
* Open
<hr>
* Richard out of town on Fri
|

=== Week 12: 3-7 September ===
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''
* Marcella (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: gel rigs/gel imager
* Lab updates

'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''
* Necmiye (15-20 min)
* Scott Livingston (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 6 Sep (Thu), 12-1:15'''
* Ram Vasudevan (UC Berkeley)
<hr>
* Institute holiday on Mon
|- valign=top
|

=== Week 13: 10-14 September ===
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''
* Zach (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: PCR machines/centrifuges
* Lab updates

'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''
* Ufuk (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 13 Sep (Thu), 12-1:15'''
* Yong Huang (J. Beck group)
<hr>
* Richard out on Fri
|

=== Week 14: 17-21 September ===
* Richard out all week
|
=== Week 15: 24-28 September ===
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''
* Enoch (30-40 min)
* Emzo (10-15 min)
* Dan (10-15 min)
* Lab updates

'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''
* Stephanie (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 26 Sep (Thu), 12-1:15'''
* Open
<hr>
* Richard out on Mon
|}

Group Schedule, Spring 2012

2012-04-09T02:35:12Z

Hanshuo: /* Week 3: 16-20 Apr */

Group Schedule, Spring 2012

2012-04-09T02:34:57Z

Hanshuo: /* Week 5: 30 Apr - 4 May */

Group Schedule, Spring 2012

2012-03-21T06:51:47Z

Hanshuo: /* Week 5: 30 Apr - 4 May */

Group Schedule, Spring 2012

2012-03-21T06:50:18Z

Hanshuo: /* Week 9: 28 May - 1 Jun */

Feb/Mar 2012 Meetings

2012-02-20T21:25:11Z

Hanshuo: /* Mon, 5 Mar */

I would like to meet with everyone sometime in the last week of Feb/first week of March. Please sign up for a time below (note that the slots are different lengths). __NOTOC__

{| width=100% border=1
|- valign=top
| width=50% |
{| width=100% cellspacing=0 cellpadding=0
|- bgcolor=yellow
|
<font color=blue> '''In Santa Barbara'''</font> (Vanessa, Ophelia, Dan, Emzo)
==== Tue, 28 Feb ====
* 4:00p - Dan (60m)
* 5:00p - Ophelia (60m)

==== Wed, 29 Feb ====
* 10:00a - Vanessa (60m)
* 3:30p - Open (60m)
|}
<hr>

==== Thu, 1 Mar ====
* 3:00p - Biocircuits subgroup (Dan, Zach, Ophelia)
* 5:00p - Stephanie (45m)
* 5:45p - Necmiye (45m)
* 6:30p - Open (60m)
<hr>

==== Fri, 2 Mar ====
* 9:00a - Open (60m)
* 10:00a - Eugene Lavretsky (75m)
* 11:15a - Hold, Eugene (45m)
:
* 12:00p - Group meeting
* 1:15p - NCS subgroup (Mumu, Pavithra)
* 3:00p - Pavithra (45m)
* 3:45p - Andrea (60m)
* 4:45p - Shaunak (45m)
* 5:30p - Pete (60m)
| width=50% |

==== Mon, 5 Mar ====
* 9:00a - Open (60m)
* 10:00a - BE 150
* 11:00a - Ufuk (45m)
* 11:45a - Jun (45m)
:
* 1:00p - Scott Livingston (60m)
* 2:00p - Mumu (60m)
* 3:00p - Robotics subgroup (Pete, Andrea)
* 4:30p - Enoch (60m)
* 5:30p - Shuo (60m)
* 6:30p - Open (60m)
<hr>

==== Tue, 6 Mar ====
* 9:00a - Open (60m)
* 10:00a -Eric (60m)
* 11:00a - Anu (60m)

* 2:00p - CDS 90 presentations
* 3:00p - Biocircuits subgroup (Enoch, Vanessa, Victoria)
* 5:00p - iGEM
|}

Group Schedule, Winter 2012

2011-12-09T13:50:59Z

Hanshuo: /* Week 8: 20-24 Feb */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Fall 2011]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.

<font color=red>
==== Directions: ====
* '''Biocircuits (Tue or Thu, 3-5 pm)''': graduate students should give 1 longer presentation per term + 1-2 additional research updates; postdocs, undergrads should give 1-2 research updates.
* '''NCS (Wed, 4-6 pm)''': grad students should speak 2 times per term for 15-20 min (+ discussion), postdocs and undergrads at least once
* '''Robotics (Wed, 4-6 pm)''': grad students and postdocs should speak 2 times per term for 15-20 min (+ discussion), undergrads at least once; will also do ad hoc updates
* '''Group meeting talks (WThF, 12-1:15)''': postdocs and senior grad students (G4+) should feel free to sign up for a group meeting talk (biocircuit grad students: this can be in place of longer subgroup talk)
</font>

<center>
'''Please sign up for at least one presentation in the first six weeks of the term.'''
</center>

<font color=blue>Note that some of the meetings might need to shift, as noted; only sign up for those slots if you can make both times listed</font>
<br>

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 4-6 Jan ===
'''NCS: 4 Jan (Wed), 4-6 pm'''
* Jun Liu (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 5 Jan (Thu), 12-1:15'''
* Ophelia
'''Biocircuits: 5 Jan (Thu), 3-5 pm'''
* Safety briefing (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
<hr>
Academic holiday, 2-3 Jan<br>
CDS quals, 6 Jan (RMM busy all day)
| width=30% |

=== Week 2: 9-13 Jan ===
'''Robotics: 11 Jan (Wed), 4-6 pm'''
* Shuo (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
* <font color=blue>Might shift to Fri, 1-3 pm</font>
'''Biocircuits: 12 Jan (Thu), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Group meeting: 13 Jan (Fri), 12-1:15 pm'''
* Domitilla Del Vecchio (MIT)
| width=30% |

=== Week 3: 16-20 Jan ===
'''Biocircuits: 17 Jan (Tue), 2-4 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
* <font color=blue>Note time shift in day (to "regular" day)</font>
'''NCS: 18 Jan (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 19 Jan (Thu), 12-1:15'''
* Naira Hovakimyan (UIUC)
|- valign=top
|

=== Week 4: 23-27 Jan ===
'''Biocircuits: 24 Jan (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Group meeting: 25 Jan (Wed), 12-1:15'''
* Necmiye
'''Robotics: 25 Jan (Wed), 4-6 pm'''
* Stephanie (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
* <font color=blue>Might shift to Fri, 1-3 pm</font>
|

=== Week 5: 30 Jan - 3 Feb ===
'''Biocircuits: 31 Jan (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Nikki(10-15 min)
* Zach (10-15 min)
* Lab updates
'''NCS: 1 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 2 Feb (Thu), 12-1:15'''
* Jongmin
|

=== Week 6: 6 Feb - 10 Feb ===
'''Biocircuits: 7 Feb (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Paul (10-15 min)
* Victoria (10-15 min)
* Lab updates
'''Group meeting: 8 Feb (Wed), 12-1:15'''
* Andrea
'''Robotics: 8 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)

|- valign=top
|

=== Week 7: 13-17 Feb ===
'''NCS: 15 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 16 Feb (Thu), 12-1:15'''
* Open
'''Biocircuits: 16 Feb (Thu), 3-5 pm'''
* Safety briefing (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
* <font color=blue>Note change in day</font>
|

=== Week 8: 20-24 Feb ===
'''Biocircuits: 21 Feb (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Robotics: 22 Feb (Wed), 4-6 pm'''
* Shuo (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
'''Group meeting: 23 Feb (Thu), 12-1:15'''
* Hold: possible job talk
|

=== Week 9: 27 Feb - 2 Mar ===
'''Biocircuits: 28 Feb (Tue), 3-5 pm'''
* Safety briefing (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
* <font color=blue>Will probably shift to 2 Mar, 3-5 pm</font>
'''NCS: 29 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
* <font color=blue>Will probably shift to 2 Mar, 1-3 pm</font>
'''Group meeting: 2 Mar (Fri), 12-1:15'''
* Open
|- valign=top
|

=== Week 10: 5-9 Mar ===
'''Biocircuits: 6 Mar (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Robotics: 7 Mar (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
'''Group meeting: 9 Mar (Fri), 12-1:15'''
* Hold: possible job talk
|

=== Week 11: 12-16 Mar ===
Finals week; Richard out of town
|
=== Week 12: 19-23 Mar ===
Spring break; Richard out of town
|}

Group Schedule, Winter 2012

2011-12-09T13:50:36Z

Hanshuo: /* Week 2: 9-13 Jan */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Fall 2011]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.

<font color=red>
==== Directions: ====
* '''Biocircuits (Tue or Thu, 3-5 pm)''': graduate students should give 1 longer presentation per term + 1-2 additional research updates; postdocs, undergrads should give 1-2 research updates.
* '''NCS (Wed, 4-6 pm)''': grad students should speak 2 times per term for 15-20 min (+ discussion), postdocs and undergrads at least once
* '''Robotics (Wed, 4-6 pm)''': grad students and postdocs should speak 2 times per term for 15-20 min (+ discussion), undergrads at least once; will also do ad hoc updates
* '''Group meeting talks (WThF, 12-1:15)''': postdocs and senior grad students (G4+) should feel free to sign up for a group meeting talk (biocircuit grad students: this can be in place of longer subgroup talk)
</font>

<center>
'''Please sign up for at least one presentation in the first six weeks of the term.'''
</center>

<font color=blue>Note that some of the meetings might need to shift, as noted; only sign up for those slots if you can make both times listed</font>
<br>

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 4-6 Jan ===
'''NCS: 4 Jan (Wed), 4-6 pm'''
* Jun Liu (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 5 Jan (Thu), 12-1:15'''
* Ophelia
'''Biocircuits: 5 Jan (Thu), 3-5 pm'''
* Safety briefing (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
<hr>
Academic holiday, 2-3 Jan<br>
CDS quals, 6 Jan (RMM busy all day)
| width=30% |

=== Week 2: 9-13 Jan ===
'''Robotics: 11 Jan (Wed), 4-6 pm'''
* Shuo (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
* <font color=blue>Might shift to Fri, 1-3 pm</font>
'''Biocircuits: 12 Jan (Thu), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Group meeting: 13 Jan (Fri), 12-1:15 pm'''
* Domitilla Del Vecchio (MIT)
| width=30% |

=== Week 3: 16-20 Jan ===
'''Biocircuits: 17 Jan (Tue), 2-4 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
* <font color=blue>Note time shift in day (to "regular" day)</font>
'''NCS: 18 Jan (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 19 Jan (Thu), 12-1:15'''
* Naira Hovakimyan (UIUC)
|- valign=top
|

=== Week 4: 23-27 Jan ===
'''Biocircuits: 24 Jan (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Group meeting: 25 Jan (Wed), 12-1:15'''
* Necmiye
'''Robotics: 25 Jan (Wed), 4-6 pm'''
* Stephanie (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
* <font color=blue>Might shift to Fri, 1-3 pm</font>
|

=== Week 5: 30 Jan - 3 Feb ===
'''Biocircuits: 31 Jan (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Nikki(10-15 min)
* Zach (10-15 min)
* Lab updates
'''NCS: 1 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 2 Feb (Thu), 12-1:15'''
* Jongmin
|

=== Week 6: 6 Feb - 10 Feb ===
'''Biocircuits: 7 Feb (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Paul (10-15 min)
* Victoria (10-15 min)
* Lab updates
'''Group meeting: 8 Feb (Wed), 12-1:15'''
* Andrea
'''Robotics: 8 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)

|- valign=top
|

=== Week 7: 13-17 Feb ===
'''NCS: 15 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 16 Feb (Thu), 12-1:15'''
* Open
'''Biocircuits: 16 Feb (Thu), 3-5 pm'''
* Safety briefing (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
* <font color=blue>Note change in day</font>
|

=== Week 8: 20-24 Feb ===
'''Biocircuits: 21 Feb (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Robotics: 22 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
'''Group meeting: 23 Feb (Thu), 12-1:15'''
* Hold: possible job talk
|

=== Week 9: 27 Feb - 2 Mar ===
'''Biocircuits: 28 Feb (Tue), 3-5 pm'''
* Safety briefing (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
* <font color=blue>Will probably shift to 2 Mar, 3-5 pm</font>
'''NCS: 29 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
* <font color=blue>Will probably shift to 2 Mar, 1-3 pm</font>
'''Group meeting: 2 Mar (Fri), 12-1:15'''
* Open
|- valign=top
|

=== Week 10: 5-9 Mar ===
'''Biocircuits: 6 Mar (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Robotics: 7 Mar (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
'''Group meeting: 9 Mar (Fri), 12-1:15'''
* Hold: possible job talk
|

=== Week 11: 12-16 Mar ===
Finals week; Richard out of town
|
=== Week 12: 19-23 Mar ===
Spring break; Richard out of town
|}

Group Schedule, Fall 2011

2011-09-18T23:51:23Z

Hanshuo: /* Week 8: 14-18 Nov */

Group Schedule, Fall 2011

2011-09-18T23:50:56Z

Hanshuo: /* Week 4: 17-21 Oct */

Group Schedule, Summer 2011

2011-06-12T01:54:38Z

Hanshuo: /* 29 Aug - 2 Sep */

__NOTOC__
{| border=1 width=100%
|- valign=top
| '''Week'''
| '''Mini-group meetings'''
| '''Group meeting'''
| '''Other'''
|- valign=top
|
===== 13-17 Jun =====
|
None
|
None
|
RMM out all week
|- valign=top
|
===== 20-24 Jun =====
|
* iGEM: Mon @ 9:30
* SURF meetings, cycle 0: (sign on at [[SURF 2011]] page)
* NCS: Tue, 1-3 pm
** Speaker 1: Necmiye
** Speaker 2: open
|
Tue @ 12: speaker TBD (external)
|
RMM out 22-24 Jun
|- valign=top
|

===== 27 Jun - 1 Jul =====
|
* Robotics: Mon, 1-3 pm
** Speaker 1: open
** Speaker 2: open
* Biocircuits: Tue, 9a-2p
** Overview presentations (all; 10 min each)
** Lunch will be provided
* SURF meetings, cycle 1: Tue pm
** 4:00 pm: open
** 4:30 pm: open
** 5:00 pm: open
** 5:30 pm: open
** 6:00 pm: open
|
Mon @ 12: speaker TBD (Nils Napp?)
|
* Nils Napp visiting
* RMM out 29 Jun-1 Jul (ACC)
|- valign=top
|

===== 4-8 Jul =====
|
* Biocircuits: Tue, 10-12
** Speaker 1: open
** Speaker 2: open
** Speaker 3: open
* NCS: Thu, 1-3 pm
** Speaker 3: open
** Speaker 4: open
* SURF meetings, cycle 1: Thu pm
** 3:00 pm: open
** 3:30 pm: open
** 4:00 pm: open
** 4:30 pm: open
** 5:00 pm: open

|
Tue @ 12: Henrik Sandberg?
|
* Institute holiday on Mon
* Eric Colinet visiting on 5 Jul
* Henrik Sandberg visiting 3-9 Jul
|- valign=top
|

===== 11-15 Jul =====
|
* iGEM: Mon @ 5 pm?
* Biocircuits: Tue, 10a-12p
** Speaker 4: open
** Speaker 5: open
** iGEM presentation (30 min)
* Robotics: Tue, 1p-3p
** Speaker 3: Shuo
** Speaker 4: Sandeep
* SURF meetings, cycle 2: Thu, pm
** 3:00 pm: open
** 3:30 pm: open
** 4:00 pm: open
** 4:30 pm: open
** 5:00 pm: open
|
Mon @ 12: Speaker TBD
|
|- valign=top
|

===== 18-22 Jul =====
|
* SURF meetings, cycle 2: Thu pm
** 2:30p: open
** 3:00p: open
** 3:30p: open
** 4:00p: open
** 4:30p: open
* iGEM: Thu, 5-6p?
* Biocircuits: Fri, 10a-12p
** Speaker 6: Ye Yuan
** Speaker 7: Dionysios
** SURF 1: Paul
* Robotics: Fri, 1p-3p
** Speaker 5: open
** SURF 1: Magnus
** SURF 2: Stephanie
* NCS: Fri, 3p-5p
** Speaker 5: Mumu
** Speaker 6: Ufuk
** SURF 1: Petter
|
Fri @ 12: Josh Michener
|
* RMM out 18-21 Jul am
* Josh Michener visiting 22 Jul
|- valign=top
|

===== 25-29 Jul =====
|
|
|
* RMM out 25-29 Jul
|- valign=top
|

===== 1-5 Aug =====
|
* iGEM: 5-6p?
* Biocircuits: Fri, 10a-12p
** Speaker 8: open
** SURF 2: Ishan
** SURF 3: Arjun
* NCS: Fri, 1p-3p
** Speaker 7: open
** Speaker 8: open
** SURF 2: Yuchen
* SURF meetings, cycle 3: Fri, pm
** 3:00p: open
** 3:30p: open
** 4:00p: open
** 4:30p: open
** 5:00p: open
|
Fri @ 12: speaker TBD
|
* RMM out 1-4 Aug
|- valign=top
|

===== 8-12 Aug =====
|
* Robotics: Tue, 1p-3p
** Speaker 6: open
** SURF 3: Klavdia
* SURF meetings, cycle 3: Tue, pm
** 3:00p: open
** 4:30p: open
** 4:00p: open
** 5:30p: open
** 6:00p: open
* Biocircuits: Thu, 10a-12p
** Speaker 9: open
** Speaker 10: open
** SURF 4: Keshav
* iGEM: 5p-6p
|
Thu @ 12: speaker TBD
|
|- valign=top
|

===== 15-19 Aug =====
|
|
|
RMM out 15-19 Aug
|- valign=top
|

===== 22-26 Aug =====
|
* Biocircuits: Mon, 10a-12p
** Speaker 11: open
** Speaker 12: open
** Speaker 13: open
* Robotics: Mon, 1p-3p
** Speaker 7: open
** Speaker 8: open
* NCS: Mon, 3p-5p
** Speaker 9: open
** Speaker 10: Necmiye
* iGEM: 5p-6p
|
Tue @ 12: speaker TBD
|
RMM out: 25 Aug (pm) - 1 Sep (pm)
|- valign=top
|

===== 29 Aug - 2 Sep =====
|
* Robotics: Thu, 1-3p
** Speaker 9: Shuo
** Speaker 10: open
* NCS: Thu, 3-5p
** Speaker 11: open
** Speaker 12: open
* iGEM: Thu, 5p-6p
* Biocircuits; Fri, 10a-12p
** Speaker 14: open
** Speaker 15: open
** Speaker 16: open

|
Fri @ 12p (tentative): speaker TBD
|
* RMM out: 25 Aug (pm) - 1 Sep (pm)
|- valign=top
|

===== 5-9 Sep =====
|
|
|
* RMM out, 5-9 Sep
|- valign=top
|
===== 12-16 Sep =====
|
* Biocircuits: Tue, 10a-12p
** Speaker 17: open
** Speaker 18: open
** Speaker 19: open
* NCS: Wed, 1p-3p
** Speaker 13: Mumu
** Speaker 14: Ufuk
|
Tue @ 12p: speaker TBD
|
|- valign=top
|

===== 19-23 Sep =====
|
* Robotics: Mon, 1p-3p
** Speaker 11: open
** Speaker 12: open
* Biocircuits: Tue, 10a-12p
** Speaker 20: open
** Speaker 21: open
** Speaker 22: open
|
Tue @ 12p: speaker TBD
|
RMM out, 20 Sep (pm) to 23 Sep
|}

Group Schedule, Summer 2011

2011-06-12T01:52:46Z

Hanshuo: /* 11-15 Jul */

__NOTOC__
{| border=1 width=100%
|- valign=top
| '''Week'''
| '''Mini-group meetings'''
| '''Group meeting'''
| '''Other'''
|- valign=top
|
===== 13-17 Jun =====
|
None
|
None
|
RMM out all week
|- valign=top
|
===== 20-24 Jun =====
|
* iGEM: Mon @ 9:30
* SURF meetings, cycle 0: (sign on at [[SURF 2011]] page)
* NCS: Tue, 1-3 pm
** Speaker 1: Necmiye
** Speaker 2: open
|
Tue @ 12: speaker TBD (external)
|
RMM out 22-24 Jun
|- valign=top
|

===== 27 Jun - 1 Jul =====
|
* Robotics: Mon, 1-3 pm
** Speaker 1: open
** Speaker 2: open
* Biocircuits: Tue, 9a-2p
** Overview presentations (all; 10 min each)
** Lunch will be provided
* SURF meetings, cycle 1: Tue pm
** 4:00 pm: open
** 4:30 pm: open
** 5:00 pm: open
** 5:30 pm: open
** 6:00 pm: open
|
Mon @ 12: speaker TBD (Nils Napp?)
|
* Nils Napp visiting
* RMM out 29 Jun-1 Jul (ACC)
|- valign=top
|

===== 4-8 Jul =====
|
* Biocircuits: Tue, 10-12
** Speaker 1: open
** Speaker 2: open
** Speaker 3: open
* NCS: Thu, 1-3 pm
** Speaker 3: open
** Speaker 4: open
* SURF meetings, cycle 1: Thu pm
** 3:00 pm: open
** 3:30 pm: open
** 4:00 pm: open
** 4:30 pm: open
** 5:00 pm: open

|
Tue @ 12: Henrik Sandberg?
|
* Institute holiday on Mon
* Eric Colinet visiting on 5 Jul
* Henrik Sandberg visiting 3-9 Jul
|- valign=top
|

===== 11-15 Jul =====
|
* iGEM: Mon @ 5 pm?
* Biocircuits: Tue, 10a-12p
** Speaker 4: open
** Speaker 5: open
** iGEM presentation (30 min)
* Robotics: Tue, 1p-3p
** Speaker 3: Shuo
** Speaker 4: Sandeep
* SURF meetings, cycle 2: Thu, pm
** 3:00 pm: open
** 3:30 pm: open
** 4:00 pm: open
** 4:30 pm: open
** 5:00 pm: open
|
Mon @ 12: Speaker TBD
|
|- valign=top
|

===== 18-22 Jul =====
|
* SURF meetings, cycle 2: Thu pm
** 2:30p: open
** 3:00p: open
** 3:30p: open
** 4:00p: open
** 4:30p: open
* iGEM: Thu, 5-6p?
* Biocircuits: Fri, 10a-12p
** Speaker 6: Ye Yuan
** Speaker 7: Dionysios
** SURF 1: Paul
* Robotics: Fri, 1p-3p
** Speaker 5: open
** SURF 1: Magnus
** SURF 2: Stephanie
* NCS: Fri, 3p-5p
** Speaker 5: Mumu
** Speaker 6: Ufuk
** SURF 1: Petter
|
Fri @ 12: Josh Michener
|
* RMM out 18-21 Jul am
* Josh Michener visiting 22 Jul
|- valign=top
|

===== 25-29 Jul =====
|
|
|
* RMM out 25-29 Jul
|- valign=top
|

===== 1-5 Aug =====
|
* iGEM: 5-6p?
* Biocircuits: Fri, 10a-12p
** Speaker 8: open
** SURF 2: Ishan
** SURF 3: Arjun
* NCS: Fri, 1p-3p
** Speaker 7: open
** Speaker 8: open
** SURF 2: Yuchen
* SURF meetings, cycle 3: Fri, pm
** 3:00p: open
** 3:30p: open
** 4:00p: open
** 4:30p: open
** 5:00p: open
|
Fri @ 12: speaker TBD
|
* RMM out 1-4 Aug
|- valign=top
|

===== 8-12 Aug =====
|
* Robotics: Tue, 1p-3p
** Speaker 6: open
** SURF 3: Klavdia
* SURF meetings, cycle 3: Tue, pm
** 3:00p: open
** 4:30p: open
** 4:00p: open
** 5:30p: open
** 6:00p: open
* Biocircuits: Thu, 10a-12p
** Speaker 9: open
** Speaker 10: open
** SURF 4: Keshav
* iGEM: 5p-6p
|
Thu @ 12: speaker TBD
|
|- valign=top
|

===== 15-19 Aug =====
|
|
|
RMM out 15-19 Aug
|- valign=top
|

===== 22-26 Aug =====
|
* Biocircuits: Mon, 10a-12p
** Speaker 11: open
** Speaker 12: open
** Speaker 13: open
* Robotics: Mon, 1p-3p
** Speaker 7: open
** Speaker 8: open
* NCS: Mon, 3p-5p
** Speaker 9: open
** Speaker 10: Necmiye
* iGEM: 5p-6p
|
Tue @ 12: speaker TBD
|
RMM out: 25 Aug (pm) - 1 Sep (pm)
|- valign=top
|

===== 29 Aug - 2 Sep =====
|
* Robotics: Thu, 1-3p
** Speaker 9: open
** Speaker 10: open
* NCS: Thu, 3-5p
** Speaker 11: open
** Speaker 12: open
* iGEM: Thu, 5p-6p
* Biocircuits; Fri, 10a-12p
** Speaker 14: open
** Speaker 15: open
** Speaker 16: open

|
Fri @ 12p (tentative): speaker TBD
|
* RMM out: 25 Aug (pm) - 1 Sep (pm)
|- valign=top
|

===== 5-9 Sep =====
|
|
|
* RMM out, 5-9 Sep
|- valign=top
|
===== 12-16 Sep =====
|
* Biocircuits: Tue, 10a-12p
** Speaker 17: open
** Speaker 18: open
** Speaker 19: open
* NCS: Wed, 1p-3p
** Speaker 13: Mumu
** Speaker 14: Ufuk
|
Tue @ 12p: speaker TBD
|
|- valign=top
|

===== 19-23 Sep =====
|
* Robotics: Mon, 1p-3p
** Speaker 11: open
** Speaker 12: open
* Biocircuits: Tue, 10a-12p
** Speaker 20: open
** Speaker 21: open
** Speaker 22: open
|
Tue @ 12p: speaker TBD
|
RMM out, 20 Sep (pm) to 23 Sep
|}

June 2011 meetings

2011-05-31T19:24:27Z

Hanshuo: /* 9 Jun (Thu) */

__NOTOC__
{| border=1 width=100%
|- valign=top
| width=20% |

| width=20% |

| width=20% |
==== 1 Jun (Wed) ====
* 9:15a - Ye
* 10:00a - Matanya
* 11:00a - Marcella
* 1:00p - Anu
* 3:00p - CDS tea
* 4:00p - Fei Y
* 5:00p - (Shuo; lab stuff)
* 5:30p - Dionysios
* 6:30p - Shaunak
| width=20% |
==== 2 Jun (Thu) ====
* 10:00a - Biocircuits
* 12:00p - Group meeting
* 5:30p - Necmiye
| width=20% |
==== 3 Jun (Fri) ====
* UCLA
* BE BBQ
|- valign=top
| width=20% |
==== 6 Jun (Mon) ====
* 10:00a - Vanessa
* 11:00a - Henry J
* 12:30p - Robotics
* 5:30p - Andrea
* 6:30p - Ophelia
| width=20% |

==== 7 Jun (Tue) ====
* 10:00a - NCS
* 12:00p - Group meeting
* 3:30p - Scott Livingston
* 4:30p - Aneesh
* 5:30p - Ufuk
* 6:30p - Open
| width=20% |

==== 8 Jun (Wed) ====
* 9:30a - Eric
* 10:30a - Mumu
* 11:30a - Open
* 1:00p - Jongmin
* 2:00p - Emzo
* 3:00p - CDS tea
* 5:30p - Jun Liu
* 6:30p - Open
* 7:30p - Open
| width=20% |

==== 9 Jun (Thu) ====
* 11:30a - Open
* 1:00p - Open
* 2:00p - Open
* 3:00p - CDS 90
* 4:30p - Enoch Yeung
* 5:30p - Shuo
* 6:30p - Open
| width=20% |

==== 10 Jun (Fri) ====
* 5:30p - Open
|}

ME/CS 132b, Spring 2011, Course Project Test Time

2011-05-23T01:37:03Z

Hanshuo: /* Week 9 */

==Schedule for Lab Session==
===Week 7===
{|border=1 width=70%
!colspan=2|12 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
|
|-
|5-6pm
|
|-
|6-7pm
|
|}

{|border=1 width=70%
!colspan=2|13 May 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Melissa, Tom, Albert
|-
|5-6pm
|
|-
|6-7pm
|
|}

===Week 8===
{|border=1 width=70%
!colspan=2|18 May 2011 (Wed)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
{|border=1 width=70%
!colspan=2|19 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Kent Koyanagi, Stephany Lai, Wenqi Yao
|-
|5-6pm
| Eric Cho, Calvin Kuo, Stephanie Tsuei
|-
|6-7pm
|
|}

{|border=1 width=70%
!colspan=2|20 May 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Melissa, Tom, Albert (cancelled due to Ditch Day)
|-
|5-6pm
| Kent, Stephany, Wenqi (cancelled due to Ditch Day)
|-
|6-7pm
|
|}

===Week 9===
{|border=1 width=70%
!colspan=2|23 May 2011 (Mon)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| Kent, Stephany, Wenqi
|-
|6-7pm
| Tom, Melissa, Albert
|-
|7-8pm
|
|}
{|border=1 width=70%
!colspan=2|24 May 2011 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| Daniel, Nick, Paul
|-
|6-7pm
| Tom, Melissa, Albert
|-
|7-8pm
|
|}
{|border=1 width=70%
!colspan=2|25 May 2011 (Wed)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| Daniel, Nick, Paul
|-
|6-7pm
| Tom, Melissa, Albert
|-
|7-8pm
|
|}

{|border=1 width=70%
!colspan=2|26 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
__NOTOC__

ME/CS 132b, Spring 2011, Course Project Test Time

2011-05-21T16:23:38Z

Hanshuo: /* Week 8 */

==Schedule for Lab Session==
===Week 7===
{|border=1 width=70%
!colspan=2|12 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
|
|-
|5-6pm
|
|-
|6-7pm
|
|}

{|border=1 width=70%
!colspan=2|13 May 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Melissa, Tom, Albert
|-
|5-6pm
|
|-
|6-7pm
|
|}

===Week 8===
{|border=1 width=70%
!colspan=2|18 May 2011 (Wed)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
{|border=1 width=70%
!colspan=2|19 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Kent Koyanagi, Stephany Lai, Wenqi Yao
|-
|5-6pm
| Eric Cho, Calvin Kuo, Stephanie Tsuei
|-
|6-7pm
|
|}

{|border=1 width=70%
!colspan=2|20 May 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Melissa, Tom, Albert (cancelled due to Ditch Day)
|-
|5-6pm
| Kent, Stephany, Wenqi (cancelled due to Ditch Day)
|-
|6-7pm
|
|}

===Week 9===
{|border=1 width=70%
!colspan=2|23 May 2011 (Mon)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| Hold for Ditch Day rescheduling
|-
|6-7pm
| Hold for Ditch Day rescheduling
|-
|7-8pm
| Hold for Ditch Day rescheduling
|}
{|border=1 width=70%
!colspan=2|24 May 2011 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
{|border=1 width=70%
!colspan=2|25 May 2011 (Wed)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}

{|border=1 width=70%
!colspan=2|26 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
__NOTOC__

ME/CS 132b, Spring 2011, Course Project Test Time

2011-05-18T12:43:58Z

Hanshuo: Undo revision 12525 by Hanshuo (Talk)

==Schedule for Lab Session==
===Week 7===
{|border=1 width=70%
!colspan=2|12 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
|
|-
|5-6pm
|
|-
|6-7pm
|
|}

{|border=1 width=70%
!colspan=2|13 May 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Melissa, Tom, Albert
|-
|5-6pm
|
|-
|6-7pm
|
|}

===Week 8===
{|border=1 width=70%
!colspan=2|18 May 2011 (Wed)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
{|border=1 width=70%
!colspan=2|19 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Kent Koyanagi, Stephany Lai, Wenqi Yao
|-
|5-6pm
| Eric Cho, Calvin Kuo, Stephanie Tsuei
|-
|6-7pm
|
|}

{|border=1 width=70%
!colspan=2|20 May 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Melissa, Tom, Albert
|-
|5-6pm
| Kent, Stephany, Wenqi
|-
|6-7pm
|
|}
===Week 9===
{|border=1 width=70%
!colspan=2|23 May 2011 (Mon)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| Hold for Ditch Day rescheduling
|-
|6-7pm
| Hold for Ditch Day rescheduling
|-
|7-8pm
| Hold for Ditch Day rescheduling
|}
{|border=1 width=70%
!colspan=2|24 May 2011 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
{|border=1 width=70%
!colspan=2|25 May 2011 (Wed)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}

{|border=1 width=70%
!colspan=2|26 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
__NOTOC__

ME/CS 132b, Spring 2011, Course Project Test Time

2011-05-18T08:05:14Z

Hanshuo: /* Schedule for Lab Session */

==Schedule for Lab Session==
===Week 7===
{|border=1 width=70%
!colspan=2|12 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
|
|-
|5-6pm
|
|-
|6-7pm
|
|}

{|border=1 width=70%
!colspan=2|13 May 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Melissa, Tom, Albert
|-
|5-6pm
|
|-
|6-7pm
|
|}

===Week 8===
{|border=1 width=70%
!colspan=2|18 May 2011 (Wed)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| n/a
|-
|6-7pm
| n/a
|-
|7-8pm
| n/a
|}
{|border=1 width=70%
!colspan=2|19 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Kent Koyanagi, Stephany Lai, Wenqi Yao
|-
|5-6pm
| Eric Cho, Calvin Kuo, Stephanie Tsuei
|-
|6-7pm
|
|}

{|border=1 width=70%
!colspan=2|20 May 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Melissa, Tom, Albert
|-
|5-6pm
| Kent, Stephany, Wenqi
|-
|6-7pm
|
|}
===Week 9===
{|border=1 width=70%
!colspan=2|23 May 2011 (Mon)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| Hold for Ditch Day rescheduling
|-
|6-7pm
| Hold for Ditch Day rescheduling
|-
|7-8pm
| Hold for Ditch Day rescheduling
|}
{|border=1 width=70%
!colspan=2|24 May 2011 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| n/a
|-
|6-7pm
| n/a
|-
|7-8pm
| n/a
|}
{|border=1 width=70%
!colspan=2|25 May 2011 (Wed)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| n/a
|-
|6-7pm
| n/a
|-
|7-8pm
| n/a
|}

{|border=1 width=70%
!colspan=2|26 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| n/a
|-
|6-7pm
| n/a
|-
|7-8pm
| n/a
|}
__NOTOC__

ME/CS 132b, Spring 2011, Course Project Test Time

2011-05-18T07:58:34Z

Hanshuo: /* Schedule for Lab Session */

==Schedule for Lab Session==
===Week 7===
{|border=1 width=70%
!colspan=2|12 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
|
|-
|5-6pm
|
|-
|6-7pm
|
|}

{|border=1 width=70%
!colspan=2|13 May 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Melissa, Tom, Albert
|-
|5-6pm
|
|-
|6-7pm
|
|}

===Week 8===
{|border=1 width=70%
!colspan=2|18 May 2011 (Wed)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
{|border=1 width=70%
!colspan=2|19 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Kent Koyanagi, Stephany Lai, Wenqi Yao
|-
|5-6pm
| Eric Cho, Calvin Kuo, Stephanie Tsuei
|-
|6-7pm
|
|}

{|border=1 width=70%
!colspan=2|20 May 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
| Melissa, Tom, Albert
|-
|5-6pm
| Kent, Stephany, Wenqi
|-
|6-7pm
|
|}
===Week 9===
{|border=1 width=70%
!colspan=2|23 May 2011 (Mon)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
| Hold for Ditch Day rescheduling
|-
|6-7pm
| Hold for Ditch Day rescheduling
|-
|7-8pm
| Hold for Ditch Day rescheduling
|}
{|border=1 width=70%
!colspan=2|24 May 2011 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
{|border=1 width=70%
!colspan=2|25 May 2011 (Wed)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}

{|border=1 width=70%
!colspan=2|26 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|5-6pm
|
|-
|6-7pm
|
|-
|7-8pm
|
|}
__NOTOC__

ME/CS 132b, Spring 2011, Course Project Test Time

2011-05-18T07:49:17Z

Hanshuo: /* Week 8 */

ME/CS 132b, Spring 2011

2011-05-16T21:35:59Z

Hanshuo: /* Homework */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 10 May 2011: Schedule your test time for the course project on [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Course_Project_Test_Time this page].
* 06 May 2011: The course project handout has been posted. Remember to schedule weekly mentor meetings for your group.
* 06 May 2011: The lab's phone number is (626) 395-2315. Please call this number in case you need to enter the building after hours.
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.
**Navigation Task Results [30 points]: Successful navigation of the mobile robot in three environments within the one minute time constraint. The best performance of any single binary (program) will be used to grade the navigation results.
**Focus Task Results [30 points]: Implementation and demonstration of the focus task selected by the group. Measure (qualitatively or quantitatively) differences in mobile robot navigation performance.
**Written Report and Class Presentation [40 points]: Discussion of the mobile robot navigator developed by the group through thirty minute class presentation and a written report. All group members are expected to present during the class presentation and write portions of the report. Written reports are to be between six and ten pages long and discuss aspects of the implemented system and their experimental results.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Term Project Mentor Meetings
|
|-
|12 May (Th)
|Term Project Mentor Meetings
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Term Project Mentor Meetings
|
|-
|19 May (Th)
|Term Project Mentor Meetings
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Project Presentation
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132_term_project.pdf Course Project](Presentation: 24-26 May, report due: 26 May)
* You will need the Player/Stage configuration files in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/project_configs.zip this zip file].
* Previews: [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge1_screenshot.png Challenge 1], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge2_screenshot.png Challenge 2], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge3_screenshot.png Challenge 3]
* Schedule your test time for the course project on [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Course_Project_Test_Time this page].

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-05-12T01:32:48Z

Hanshuo: /* Announcements */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 10 May 2011: Schedule your test time for the course project on [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Course_Project_Test_Time this page].
* 06 May 2011: The course project handout has been posted. Remember to schedule weekly mentor meetings for your group.
* 06 May 2011: The lab's phone number is (626) 395-2315. Please call this number in case you need to enter the building after hours.
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.
**Navigation Task Results [30 points]: Successful navigation of the mobile robot in three environments within the one minute time constraint. The best performance of any single binary (program) will be used to grade the navigation results.
**Focus Task Results [30 points]: Implementation and demonstration of the focus task selected by the group. Measure (qualitatively or quantitatively) differences in mobile robot navigation performance.
**Written Report and Class Presentation [40 points]: Discussion of the mobile robot navigator developed by the group through thirty minute class presentation and a written report. All group members are expected to present during the class presentation and write portions of the report. Written reports are to be between six and ten pages long and discuss aspects of the implemented system and their experimental results.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Term Project Mentor Meetings
|
|-
|12 May (Th)
|Term Project Mentor Meetings
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Term Project Mentor Meetings
|
|-
|19 May (Th)
|Term Project Mentor Meetings
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Project Presentation
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132_term_project.pdf Course Project](Presentation: 24-26 May, report due: 26 May)
* You will need the Player/Stage configuration files in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/project_configs.zip this zip file].
* Previews: [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge1_screenshot.png Challenge 1], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge2_screenshot.png Challenge 2], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge3_screenshot.png Challenge 3]
* Lab test time will be arranged and announced later.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011, Course Project Test Time

2011-05-11T03:50:30Z

Hanshuo: Created page with '==Schedule for Lab Session== ===Week 7=== {|border=1 width=70% !colspan=2|12 May 2011 (Thu) |- |width=20%|'''Time''' |'''Names''' |- |4-5pm | |- |5-6pm | |- |6-7pm | |} {|borde…'

ME/CS 132b, Spring 2011

2011-05-07T00:45:46Z

Hanshuo: /* Announcements */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 06 May 2011: The course project handout has been posted. Remember to schedule weekly mentor meetings for your group.
* 06 May 2011: The lab's phone number is (626) 395-2315. Please call this number in case you need to enter the building after hours.
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.
**Navigation Task Results [30 points]: Successful navigation of the mobile robot in three environments within the one minute time constraint. The best performance of any single binary (program) will be used to grade the navigation results.
**Focus Task Results [30 points]: Implementation and demonstration of the focus task selected by the group. Measure (qualitatively or quantitatively) differences in mobile robot navigation performance.
**Written Report and Class Presentation [40 points]: Discussion of the mobile robot navigator developed by the group through thirty minute class presentation and a written report. All group members are expected to present during the class presentation and write portions of the report. Written reports are to be between six and ten pages long and discuss aspects of the implemented system and their experimental results.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Term Project Mentor Meetings
|
|-
|12 May (Th)
|Term Project Mentor Meetings
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Term Project Mentor Meetings
|
|-
|19 May (Th)
|Term Project Mentor Meetings
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Project Presentation
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132_term_project.pdf Course Project](Presentation: 24-26 May, report due: 26 May)
* You will need the Player/Stage configuration files in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/project_configs.zip this zip file].
* Previews: [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge1_screenshot.png Challenge 1], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge2_screenshot.png Challenge 2], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge3_screenshot.png Challenge 3]
* Lab test time will be arranged and announced later.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-05-07T00:38:48Z

Hanshuo: /* Lecture Notes */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 06 May 2011: The lab's phone number is (626) 395-2315. Please call this number in case you need to enter the building after hours.
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.
**Navigation Task Results [30 points]: Successful navigation of the mobile robot in three environments within the one minute time constraint. The best performance of any single binary (program) will be used to grade the navigation results.
**Focus Task Results [30 points]: Implementation and demonstration of the focus task selected by the group. Measure (qualitatively or quantitatively) differences in mobile robot navigation performance.
**Written Report and Class Presentation [40 points]: Discussion of the mobile robot navigator developed by the group through thirty minute class presentation and a written report. All group members are expected to present during the class presentation and write portions of the report. Written reports are to be between six and ten pages long and discuss aspects of the implemented system and their experimental results.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Term Project Mentor Meetings
|
|-
|12 May (Th)
|Term Project Mentor Meetings
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Term Project Mentor Meetings
|
|-
|19 May (Th)
|Term Project Mentor Meetings
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Project Presentation
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132_term_project.pdf Course Project](Presentation: 24-26 May, report due: 26 May)
* You will need the Player/Stage configuration files in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/project_configs.zip this zip file].
* Previews: [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge1_screenshot.png Challenge 1], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge2_screenshot.png Challenge 2], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge3_screenshot.png Challenge 3]
* Lab test time will be arranged and announced later.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-05-07T00:38:14Z

Hanshuo: /* Grading */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 06 May 2011: The lab's phone number is (626) 395-2315. Please call this number in case you need to enter the building after hours.
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.
**Navigation Task Results [30 points]: Successful navigation of the mobile robot in three environments within the one minute time constraint. The best performance of any single binary (program) will be used to grade the navigation results.
**Focus Task Results [30 points]: Implementation and demonstration of the focus task selected by the group. Measure (qualitatively or quantitatively) differences in mobile robot navigation performance.
**Written Report and Class Presentation [40 points]: Discussion of the mobile robot navigator developed by the group through thirty minute class presentation and a written report. All group members are expected to present during the class presentation and write portions of the report. Written reports are to be between six and ten pages long and discuss aspects of the implemented system and their experimental results.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Course Project (no class)
|
|-
|12 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Course Project (no class)
|
|-
|19 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Project Presentation
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132_term_project.pdf Course Project](Presentation: 24-26 May, report due: 26 May)
* You will need the Player/Stage configuration files in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/project_configs.zip this zip file].
* Previews: [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge1_screenshot.png Challenge 1], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge2_screenshot.png Challenge 2], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge3_screenshot.png Challenge 3]
* Lab test time will be arranged and announced later.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-05-07T00:34:47Z

Hanshuo: /* Lecture Notes */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 06 May 2011: The lab's phone number is (626) 395-2315. Please call this number in case you need to enter the building after hours.
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Detail of this will be announced later in the course.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Course Project (no class)
|
|-
|12 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Course Project (no class)
|
|-
|19 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Project Presentation
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132_term_project.pdf Course Project](Presentation: 24-26 May, report due: 26 May)
* You will need the Player/Stage configuration files in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/project_configs.zip this zip file].
* Previews: [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge1_screenshot.png Challenge 1], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge2_screenshot.png Challenge 2], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge3_screenshot.png Challenge 3]
* Lab test time will be arranged and announced later.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-05-07T00:34:16Z

Hanshuo: /* Homework */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 06 May 2011: The lab's phone number is (626) 395-2315. Please call this number in case you need to enter the building after hours.
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Detail of this will be announced later in the course.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Course Project (no class)
|
|-
|12 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Course Project (no class)
|
|-
|19 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Course Project (no class)
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132_term_project.pdf Course Project](Presentation: 24-26 May, report due: 26 May)
* You will need the Player/Stage configuration files in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/project_configs.zip this zip file].
* Previews: [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge1_screenshot.png Challenge 1], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge2_screenshot.png Challenge 2], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge3_screenshot.png Challenge 3]
* Lab test time will be arranged and announced later.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-05-06T15:29:17Z

Hanshuo: /* Announcements */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 06 May 2011: The lab's phone number is (626) 395-2315. Please call this number in case you need to enter the building after hours.
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Detail of this will be announced later in the course.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Course Project (no class)
|
|-
|12 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Course Project (no class)
|
|-
|19 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Course Project (no class)
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].
Course Project (Presentation: 24-26 May, report due: 26 May)
* You will need the Player/Stage configuration files in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/project_configs.zip this zip file].
* Previews: [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge1_screenshot.png Challenge 1], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge2_screenshot.png Challenge 2], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge3_screenshot.png Challenge 3]
* Lab test time will be arranged and announced later.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-05-06T04:26:23Z

Hanshuo: /* Homework */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Detail of this will be announced later in the course.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Course Project (no class)
|
|-
|12 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Course Project (no class)
|
|-
|19 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Course Project (no class)
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].
Course Project (Presentation: 24-26 May, report due: 26 May)
* You will need the Player/Stage configuration files in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/project_configs.zip this zip file].
* Previews: [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge1_screenshot.png Challenge 1], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge2_screenshot.png Challenge 2], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/challenge3_screenshot.png Challenge 3]
* Lab test time will be arranged and announced later.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-05-06T04:12:12Z

Hanshuo: /* Homework */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Detail of this will be announced later in the course.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Course Project (no class)
|
|-
|12 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Course Project (no class)
|
|-
|19 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Course Project (no class)
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].
Course Project (Presentation: 24-26 May, report due: 26 May)
* You will need the Player/Stage configuration files in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/project_configs.zip this zip file].
* Lab test time will be arranged and announced later.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011, Lab 1 Makeup Sign-Up

2011-05-02T22:25:24Z

Hanshuo: Created page with '==Schedule for Lab Session== {|border=1 width=70% !colspan=2|3 May 2011 (Tue) |- |width=20%|'''Time''' |'''Names''' |- |4-5pm | |- |5-6pm | |- |6-7pm | |} {|border=1 width=70% !…'

==Schedule for Lab Session==
{|border=1 width=70%
!colspan=2|3 May 2011 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
|
|-
|5-6pm
|
|-
|6-7pm
|
|}
{|border=1 width=70%
!colspan=2|5 May 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|4-5pm
|
|-
|5-6pm
|
|-
|6-7pm
|
|}

ME/CS 132b, Spring 2011

2011-04-22T05:12:59Z

Hanshuo: /* Announcements */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Detail of this will be announced later in the course.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Course Project (no class)
|
|-
|12 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Course Project (no class)
|
|-
|19 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Course Project (no class)
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], Solution
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-04-22T05:11:38Z

Hanshuo: /* Homework */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Detail of this will be announced later in the course.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Course Project (no class)
|
|-
|12 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Course Project (no class)
|
|-
|19 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Course Project (no class)
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], Solution
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011, Lab 1 Sign-Up

2011-04-20T03:54:00Z

Hanshuo:

==Schedule for Lab Session==
{|border=1 width=70%
!colspan=2|28 Apr 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|}

{|border=1 width=70%
!colspan=2|29 Apr 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|-
|}
==RPIN Assignment==
Use the same RPIN as [https://www.cds.caltech.edu/~murray/wiki/index.php?title=ME/CS_132a,_Winter_2011,_Lab_1_Sign-Up&action=edit last term].

ME/CS 132b, Spring 2011, Lab 1 Sign-Up

2011-04-20T03:52:52Z

Hanshuo: Created page with '==Schedule for Lab Session== {|border=1 width=70% !colspan=2|28 Apr 2011 (Thu) |- |width=20%|'''Time''' |'''Names''' |- |2-2:30pm | |- |3-3:30pm | |- |4-4:30pm | |- |5-5:30pm | …'

ME/CS 132b, Spring 2011

2011-04-19T22:58:16Z

Hanshuo: /* Homework */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Detail of this will be announced later in the course.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Course Project (no class)
|
|-
|12 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Course Project (no class)
|
|-
|19 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Course Project (no class)
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], Solution
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-04-17T00:06:04Z

Hanshuo: /* Lecture Notes */

{| width=100%
|-
| colspan=2 align=center |
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font>
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han
* Office hours: Tue, 4-5 pm, 114 STL
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf).
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Course Project''': Detail of this will be announced later in the course.

=== Homework Guidelines ===
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

'''For electronic submissions (including your code)''':
* Package code, data, and answers in a single .zip or .tgz ﬁle.
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such.
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
The required textbook is (also freely available online):

* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.

== Lecture Notes ==
{| border=1 width=85%
|Week
|Date
|Topic
|Instructor
|-
|rowspan=2 align="center" | 1
|29 Mar (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]
|Tom Howard
|-
|31 Mar (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]
|Yoshi Kuwata
|-
|rowspan=2 align="center" | 2
|5 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]
|Tom Howard
|-
|7 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]
|Tom Howard
|-
|rowspan=2 align="center" | 3
|12 Apr (Tu)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I]
|Yoshi Kuwata
|-
|14 Apr (Th)
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]
|Tom Howard
|-
|rowspan=2 align="center" | 4
|19 Apr (Tu)
|Navigtion and Control
|Yoshi Kuwata
|-
|21 Apr (Th)
|Motion Planning and Navigation Case Studies
|Yoshi Kuwata
|-
|rowspan=2 align="center"| 5
|26 Apr (Tu)
|Week-long lab
|
|-
|28 Apr (Th)
|Week-long lab
|
|-
|rowspan=2 align="center"| 6
|3 May (Tu)
|System Case Studies
|TBA
|-
|5 May (Th)
|System Case Studies (cont'd)
|TBA
|-
|rowspan=2 align="center"| 7
|10 May (Tu)
|Course Project (no class)
|
|-
|12 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 8
|17 May (Tu)
|Course Project (no class)
|
|-
|19 May (Th)
|Course Project (no class)
|
|-
|rowspan=2 align="center"| 9
|24 May (Tu)
|Course Project (no class)
|
|-
|26 May (Th)
|Project Presentation
|
|}

== Homework ==
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], Solution
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], Solution
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.

== Older Announcements ==
There are no older announcements.
__NOTOC__

ME/CS 132b, Spring 2011

2011-04-12T00:04:34Z

Hanshuo: /* Lecture Notes */

ME/CS 132b, Spring 2011

2011-04-07T23:49:38Z

Hanshuo: /* Announcements */

ME/CS 132b, Spring 2011

2011-04-07T23:48:56Z

Hanshuo: /* Homework */

ME/CS 132b, Spring 2011

2011-04-07T23:43:12Z

Hanshuo: /* Homework */

ME/CS 132b, Spring 2011

2011-04-07T20:45:20Z

Hanshuo: /* Lecture Notes */

ME/CS 132b, Spring 2011

2011-04-07T04:04:22Z

Hanshuo: /* Announcements */

ME/CS 132b, Spring 2011

2011-04-07T04:01:23Z

Hanshuo: