EEC128/MEC134 Resources


Resources for the class will be added here.

Useful Readings

  • Linearization ME132 notes. Packard/Poolla/Horowitz. (Link Courtesy of Kiet Lam).
  • Phase variable canonical form (Lec 3)
  • List of Root Locus Rules
  • Controllability and Cayley-Hamilton notes
  • Magnitude and Phase Estimation for sinusoid
  • Separability of Observer and State Feedback dynamics (Lec 22)
  • Linear Quadratic Regulator (Lec 23)
  • Discrete Time State Space (Lec 24)
  • Dynamic effects in visual closed-loop systems. Corke, P. I., & Good, M. C., IEEE Transactions on Robotics and Automation, 12(5), 671-683, 1996. (Lec 27)
  • ``Robot Vision Control of robot motion'' Prof. Martin Jagersand , Univ. of Alberta (Lec 27)
  • Final Review Session Notes


    Back to Agenda

    Drone Control References

    Mathworks tutorial: link

    Video List

  • 1. 8/27/2020. Neutrophil chasing bacteria, youtube and S. Martel Magnetotactic Bacteria.
  • 2. 9/1/2020. Magnetic levitation lab. (Emily Chen). video
  • 3. 9/3/2020. Simulated fly reorientation.
  • 4. 9/8/2020. Controlled Flight of a Biologically-Inspired, Insect-Scale Robot video
  • 5. 9/10/2020. AFM principles video
    Binnig, Gerd, Heinrich Rohrer, Ch Gerber, and Edmund Weibel. "Surface studies by scanning tunneling microscopy." Physical review letters 49, no. 1 (1982): 57.
  • 6. 9/11/2018. Virus Nanoindentation by AFM, Movie Disassembly of immature virus induced by mechanical fatigue with AFM Movie
  • 7. 9/17/2020. Oscillation Damping, Collision Detection and Reaction for a Multi-Elastic-Link Robot Arm video
  • 8. 9/22/2020. Tello Drone demo.
  • 9. 9/24/2020. Hummingbird flight. video [deleted] and video [deleted]
  • 10. 9/29/2020. High-Speed Robot Hand (2009) M. Ishikawa/M. Shimojo video
  • 11. 10/1/2020. OpenAI Hand Block Manipulation video
  • 12. 10/6/2020. Prof. R. D'Andrea, ETH Zurich, Ball Juggling Quadrotors video
  • 13. 10/8/2020. Boston Dynamics Handler video
    14, 15 review and midterm
  • 16. 10/20/2020 Lab5b video and EE192: The Autonomous Racing Vehicle Project (Emily Chen) video
  • 17. 10/22/2020. Ghost Minitaur video
  • 18. 10/27/2020. Nelson Lab, ETHZ, "OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation", IEEE Int. Conf. on Robotics and Automation, May 2010 Video
  • 19. 10/29/2020. Cubli (D'Andrea Lab ETHZ) video
  • 20. 11/3/2020. Miniature Ionocraft (Pister Lab 2018) video
  • 21. 11/5/2020. (repeat) Swingup control lab. video
  • 22. 11/10/2020. Acrobot sim (UCB 1989). video. Acrobot open loop video . Acrobot swingup using sum-of-squares. video. Paper: Majumdar, Ahmadi, Tedrake, ICRA 2013.
  • 24. 11/17/2020. MIT cheetah robot lands the running jump video
  • 25. 11/19/2020. Autonomous Drifting using Machine Learning (courtesy of M. Traganza) ICRA 2016 video
  • 26. 11/24/2020. SALTO robot: Hopping outside using onboard attitude estimation video
  • 27. 12/1/2020. Visual servoing ping-pong
  • extra (from M. Drake): Auto-GCAS Saves Unconscious F-16 Pilot—Declassified USAF Footage video

    Previous Videos

  • 1. 8/23/2018. Swingup control lab. video
  • 12. 10/8/2019. Aeon Phocus magnetically steered catheter system, video
  • 25. 11/26/2019. Active damping of structure. video
  • 21. 4/3/2017. New more dynamic ASIMO. (Link courtesy of S. Chan). video Spectrum brief article link
  • 24. 4/13/2017. Mag Lev lab, Spring 2017. L. Brandt
  • 26. 4/20/2017. High-Speed Autonomous Navigation. C. Richter, J. Ware, N. Roy, ICRA 2014. video
  • 27. 4/25/2017. Robotic arm visual servoing (GTRI) video
  • 7. 9/17/2015. Aggressive Maneuvers for Autonomous Quadrotor Flight Univ. of Pennsylvania Movie
  • 9. 9/24/2015. Spot the Robot Dog. Movie
  • 10. 9/29/2015. RHex the Parkour Robot. Movie
  • 11. 10/1/2015. MIT Cheetah Robot. Movie
  • 12. 10/6/2015. From Compliant Balancing to Dynamic Walking on Humanoid Robot: Integration of CNS and CPG, Sang-Ho Hyon, Jun Morimoto and Mitsuo Kawato IEEE Int. Conf. Robotics and Automation, Anchorage, May 2010.
  • 25. 11/19/2015. Visual Control of H2-Bird. video Paper: Julian, Rose, Fearing AAMAS2013.
  • 12. 2/26/2015. Cornell Ranger robot video
  • 14. 3/5/2015. Stability Control - How Does ESP Work (Bosch) video
  • 15. 3/10/2015. KAIST Raptor robot runs at 46 km/h, Active tail stabilization video
  • 21. 4/7/2015 Nelson Lab, ETHZ, ``MagMites - Microrobots for Wireless Microhandling in Dry and Wet Environments,'' IEEE Int. Conf. on Robotics and Automation, May 2010 Video
  • 25. 4/21/2015. TAYLRoACh video and SailRoACH video

    Previous EE128/ME134 Web sites

  • Fall 2019 Final: exam and solution . Midterm and solution
  • Fall 2018: final soln . Midterm: exam and midterm soln
  • Spring 2017 midterm and soln
  • Fall 2015 Final: exam and soln
  • Spring 2015 Final: exam and soln
  • Fall 2014

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

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

  • Fall 2007

    • Nise Text

    Errata
    Table 2.1, Item 4, should be $$\frac{n!}{s^{n+1}}$$
    Fig. 5.31, Cascade form. C is wrong. Should be y=[3 1]x
    Equation (10.36). second term should have same numerator (s/3+1)
    Equation 12.44b, 12.55b is wrong. Should be y =C_z z =[4 1 0]z

    Nise 6th Edition Appendices

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