This page is archived material from a previous course. Please check for updated material.

MINE 432 – Fall 2014

Industrial Automation and Robotics in Mining

Part 2 – Control Theory Overview

 

This page will contain supporting material for MINE 432 for the Fall 2014 term, for Part 2 of the course (Sept 10 – Oct 16h)

 

Guide to Final Exam Material (PDF)  posted 2 Dec 2014

 

 

Videos from Final Demo  (2014 Nov 26)

Team A   (Avery, Kevin, Davis, Dominic, Dennis, Doug, Mark, Simon)

Team B  (Alex, Matthew, Anqi, Jason, Josh, Leonardo, Kurtis, Alfin)

Team C  (James, Monong, Ding, Pei, Samara, Sean, Mark)

Team D  (Jason, Kamran, Charles, Chris, Jamie, Nishant, Alex, Rayneth)

Team E   (Keiran, Glen, David, Paul, Michael, Ronnie, Tanner, Yusef)

Team F   (Brett, Vojislav, Jonathan, Zhanibek, Darren, Jason, Michael, Mohammad)

 

 

Useful Links for Boe-Bot Construction

• Propellor Boe-Bot construction   http://learn.parallax.com/PropellerBoeBot
• QTI Line Follower    http://www.parallax.com/sites/default/files/downloads/28108-QTI-Line-Follower-Guide-v2.0.pdf
• Ping Ultrasonic Distance Sensor   http://www.parallax.com/sites/default/files/downloads/570-28015-PING-Mounting-Bracket-Documentation-v2.2.pdf
• Li-ion Power Pack charger http://www.parallax.com/sites/default/files/downloads/28988-Boe-Bot-Li-ion-PowerPack-v1.0.pdf
• Parallal Online Store http://www.parallax.com/catalog/components
• Programming Tutorials (look under “propeller C tutorials) http://learn.parallax.com/propellerc

 

Updates:

2014 Nov 5

• XBee code for wireless communication (from Eric):
  • http://learn.parallax.com/propeller-c-simple-protocols/full-duplex-serial
  • http://examples.digi.com/
  • http://bildr.org/2011/04/arduino-xbee-wireless/
• ColorPal Sensor Code
  • http://vidandpaulbe470.blogspot.ca/2011/02/our-code-for-using-colorpal.html

 

 

2014 Oct 8 –

Navigate with Whiskers – http://learn.parallax.com/node/352

Navigate with Ultrasound (PING) – http://learn.parallax.com/activitybot/navigate-ultrasound

Standard Servos – http://learn.parallax.com/KickStart/900-00005

2014 Oct 1 – dimensions of the Midterm course     (provided by the TA’s)

2014 Sept 24 –  current scoring for the Midterm Competition (slide 3, 4, 5 in Lecture 7 notes)

2014 Sept 24 –  code for Servos and QTIs provided by your TA’s

 

 

Schedule and Lecture Notes

Week #	Date	Lecture Dates and Notes	Lab	Hand-Ins and Supporting Info
1	Tues Sept 2_____ Thurs Sept 4	Material Provided by John Meech. Lecture 01 – Process Control Justification Lecture 02 – Process Control Economics EMJ Paper – Process Economics Paper		Assignment 1 – Economics of Pre-sorting
2	Tues Sept 9 Thurs Sept 11	Lecture 03 – Intro to Part 2, Intro to Control Theory Lecture 04– Intro to Measurement/Control Elements, PID	Lab 1 – Collect All Parts, Start Robt Assembly MINE 432 Laboratory 2014W -Eric and Bo (PDF) MINE432-Lab1-BoeBot-PartsList (Excel File)	PID Demo – PID demo – eStuffz Downloadable Windows Program – PID Control Demo (AnalogMachine)
3	Tues Sept 16 Thurs Sept 18	Lecture 5 – Frequency Response, Bode Plots Lecture 6 – Intro to Control Models, Laplace Transforms Assignment 1 – Potentially Helpful Notes	Lab 2 – Finish assembling robot, get robot to line follow	Frequency Response with Damped Driven Springs (in-class demo, needs Java)
4	No more Tues lecture times, only Wed before lab.   Wed Sept 24 Thurs Sept 25	Lecture 7 – comments on Midterm Competition, Hardware/Software Tips   Video of 2012 Midterm Competition Track (70 Mb from Meech website)   Lecture 8 –  Guest Presentation – Juliana Parreira,	Lab 3 – Try out all available sensors (Whisker Contacts, Ultrasonic Rangefinder, Colour Sensor)	Assignment 1 Due (start of Lab 3)  Submit by email to Jon by 9pm Wed Sept 24.
5	Wed Oct 1  Thurs Oct 2	Lecture 9  – elements of Control Loop (laplace), sketching bode plots   Lecture 10 – Stability and Controllers.	Lab 4 – Open Lab Time	Useful guide to sketching bode plots (pdf)
6	Wed Oct 8  Thurs Oct 9	Lecture 11 and 12 – Sensors	Lab 5 – Open Lab Time
7	Wed Oct 15  Thurs Oct 16	Final Lab Demo Group Assignments, Overview	Lab 6 – Midterm Competition.	Assignment 2 – Due Thurs Oct 30 (hard-copy submission only)
8	Wed Oct 22 Thurs Oct  23	Start of Part 3:   1. MINE 432 Introduction to AI   2. MINE 432 Overview of Expert Systems (ESs)		Expert System Software – Clips  MS Excel Solver uses Genetic Algorithms
9	Wed Oct 29 Thurs Oct 30	3. MINE 432 ESs Applications in Mining
10	Wed Nov 5 Thurs Nov 6	4. MINE 432 Fuzzy Logic		Building ESs – Assignment 3  Due Thurs Nov 20th.
11	Wed Nov 12 Thurs Nov 13	5. Overview of Artificial Neural Networks 6. Overview of Genetic Algorithms
12	Wed Nov 19 Thurs Nov 20			Assignment 4 – Optimization using GA  Due Dec 3rd. Data for Assignment 4
13	Wed Nov 26  Thurs Nov 27	Final Demo – Wed Nov 26th.  Survey Link.  Scoresheet Link   Survey and Feedback Link
Final Exam		Guide to Final Exam Material (PDF)

 

 

 

End of Page