Today we learned about filters and op amps, use of differential equations to model electrical circuits, and use of transfer functions to formulate input-output models for electrical circuits. We also learned about how to connect our new knowledge (of filters, op-amps, signals, noise, etc.) with real-world applications in music, radio, noise/disturbance filtering, etc.

Finally, we learned about ultrasonic sensors and its use in distance measurement. Once back in the lab, various teams continued to work with their Boe-Bots to improve algorithms for the robots to follow solid black lines (see enclosed video), detect objects with an ultrasonic distance sensor, and follow other robots (see enclosed video). Our group started by using infrared LEDs and infrared detectors for a "follower" Bot to sense a "leader" Bot in front of it. Through experimentation, we concluded that we could obtain more reliable results by using the ultrasonic distance sensor versus the infrared detector for determining actual distances of objects from the robot. So we improved our follower Bot by adding an ultrasonic distance sensor to its front.

We are now working on blending the use of the infrared detector for peripheral vision (to control the left and right correcting turns of the Bot) with the use of the ultrasonic distance sensor to control the speed of the Bot, depending on the distance from the follower Bot to the leader Bot.