Elizabethtown College

EGR/CS 434
Green Robotics
, Automation, and Machine Intelligence

Fall, 2013

Joseph T. Wunderlich, Ph.D

Associate Professor of Engineering, Associate Chair of Engineering & Physics

Computer Engineering Program Coordinator, Robotics & Machine Intelligence Lab Director

Clarified: 10/5/13, 10/12/13, 11/7/13


Offices: Esbenshade 160C and E273, Department of Engineering & Physics
Office Phone:717-361-1295    Cell:717-368-9715
Email: wunderjt@etown.edu
Web Site:

Office Hours: http://users.etown.edu/w/wunderjt/schedules/Schedule%20Card%20f13%20joe%20w.htm

Calendar: http://users.etown.edu/w/wunderjt/schedules/CALENDAR3_f13_web.htm


Teaching Assistant: Andrew Khela (khelaa@etown.edu) (Cell: 570-807-1840)


Course Credit & Contact Hours: 4, 4

Meeting Times: WF 3:30 – 5:10 (200 minutes per week for four contact hours)

  Special Times:

      September 17th 7:00pm – 9:00pm CYBERSECURITY SYMPOSIUM (see announcement below)


       October 30th 5:30-8:30pm STEM Careers Workshop (see announcement below)

        OR, if you can’t make STEM, attend this:

       November 2nd 9:00am-12:00, NGO Conference (search Etown website and make reservations)


       No class 10/23/13 or 11/1/13 (in exchange for special attendance above)


NEW Course Description

Robotics, automation, and intelligent systems to benefit humanity. Emphasis on the engineering design of mobile robots and probes for environmental & space exploration. Additional topics include robotic arm design, machine intelligence, rehabilitation engineering, high-tech architectural applications, Green manufacturing, Green transportation, and ethics. Prerequisites: Computer Science 121 and Math 121. Fall semester, odd-numbered years. Prof. Wunderlich.


Course Objectives

          I.    Detailed Engineering Design of Mobile Robots and Probes for Environmental & Space Exploration

         II.    Robotic Arm Design

        III.    Introduction to Machine Intelligence (much content moved to EGR/CS433 “Advanced Computer Engineering”)

        IV.    Introduction to Rehabilitation Engineering

         V.    Selected High-Tech Green Architectural Applications

        VI.    Selected Green Manufacturing Case-studies

       VII.    Selected Green Transportation Case-studies (hybrid cars, rapid transit)

      VIII.    Ethical Issues

        IX.    High-Tech Sustainability Courses and Programs


Course Learning Outcomes

ABET (Accrediting Board for Engineering and Technology) requires all engineering programs to cover:

(ABET-a): An ability to apply knowledge of mathematics, science, and engineering.

(ABET-b): An ability to design and construct experiments, as well as to analyze and interpret data.

(ABET-c): An ability to design a system, component, or process to meet desired needs.

(ABET-d): An ability to function on multi-disciplinary teams

(ABET-e): Identify, formulate, and solve engineering problems

(ABET-f):  An understanding of professional and ethical responsibility

(ABET-g): Communicate effectively orally and in writing

(ABET-h): A broad education necessary to understand impact of engineering solutions in a global and societal context

(ABET-i): A recognition of the need for, and an ability to engage in life-long learning  

(ABET-j): A knowledge of contemporary issues

(ABET-k): An ability to use the techniques, skills, and modern engineering tools necessary for engineering practice.

This course has been determined to contribute to these outcomes as follows (with ABET-c sampled for ABET):























5 = Very strong support of ABET Program Outcome

4 = Strong support of ABET Program Outcome

3 = Moderate support of ABET Program Outcome

2 = Weak support of ABET Program Outcome

1 = Little or no support of ABET Program Outcome


Course Readings:

o    Roland Siegwart, Illah R. Nourbakhsh and Davide Scaramuzza, Introduction to Autonomous Mobile Robots, Second Edition (Intelligent Robotics and Autonomous Agents),” Massachusetts Institute of Technology, 2nd edition, Mar 31, 2011. (ISBN: 978-0262015356) available in book store (Required purchase).

o    Many selected readings (available on-line through links below).

o    U. of Trento, Italy Ph.D. course “Advanced Robotics with Applications to Space Exploration” (taught by J. Wunderlich in 2009)




2% Homework

15% Semester design proposal and defense (DUE 10/25/13)

10% Design proposal poster (DUE 11/16/13)

28% Final semester design paper and defense (DUE 11/22/13)

10% Final semester design poster (DUE 12/4/13)

35% Comprehensive final exam

Course Grade:
(60-62)=D-, (63-67)=D, (68-69)=D+, (70-72)=C-, (73-77)=C, (78-79)=C+, (80-82)=B-, (83-87)=B, (88-89)=B+, (90-92)=A-, (93-100)=A
(with any fractional part rounded to the nearest integer)



  (NOTE: PowerPoints supplement lectures written on board, except where noted)


                           I.            Detailed Engineering Design of Mobile Robots and Probes for Environmental & Space Exploration



The varied environments of our Solar System’s terrestrial planets and moons





1971 NASA Lunar Rover (LRV)

1996 NASA Mars Pathfinder Sojourner

2004 NASA Mars Exploratory Rovers Spirit & Opportunity

2011 NASA Mars Science Lab

2016 ESA (European Space Agency) Mars ExoMars

[ 3, 34, 35 ]

[ 3, 4 ]

[ 3 ]




1977 NASA Voyager 1 & 2

1989 NASA Galileo

2020 NASA/ESA Europa Jupiter System Mission

20XX NASA/ESA Europa Rover

[ 4 ]

[ 4, 8 ]

[ 2 ]

[ 6, 8, 29 ]


 PPT  PDF Memorize

Gravity effects, Manned vs. unmanned, Biological inspirations, Mobility, Suspension systems, Wheels and traction, Maneuverability, stability, and controllability

[ 1, 11,  33,

  34, 35 ]



Launch, landing, deployment, Shielding and hardening for heat, cold, radiation, and vibration

[ 3, 4, 9, 28 ]



Electrical power demand, generation, and storage

[ 3 ]


 PPT  PDF Memorize


PATH-PLANNING, Dead reckoning, Celestial navigation, Mapping, Positioning, Steering, Sensors, Tele-operation, Remote communication, Local and global path-planning, Obstacle avoidance, Systems integration, Autonomy

[ 1, 3, 11, 12,

 22, 18, 31,

 32, 33, 36,

 37 ]



Unmanned Aerial Vehicles (UAV’s); Unmanned Underwater Vehicles (UUV’s)  Networked swarms, future Wunderbot Team of robots and probes


[ 30 ]


                          II.            Robotic Arm Design

PPT  PDF Memorize

 [ 5 ] Memorize

Manned vs. unmanned, instrument deployment vs. dexterous manipulation, Redundant and Hyper-redundant manipulators, Psuedo-inverse velocity-control PATH-PLANNING, Attractive poles, Repelling-fields, Creative use of null-space, Heuristic search, DOF and energy minimization, Consumption Of Available Redundancy (COAR),” Rapid prototyping

[ 5, 14, 15, 54]


                        III.            Introduction to Machine Intelligence (much content moved to EGR/CS433 “Advanced Computer Engineering”)



Simulations, real-time control , Embedded systems, Micro controllers, Microprocessors, PC’s, Workstations, Super computers, Quality control through “Controlled Randomness”

[ 17, 19, 25,

 26, 27, 28,

37 ]


 PPT  PDF Memorize

Symbolic AI vs. connectionist architectures, Biologically-inspired vs. behavioral / mathematically-inspired neural networks, Neurocomputer design, Autonomy. Matlab Neural Networks

[ 10, 13, 16 ]

[52, 53]



                        IV.            Introduction to Rehabilitation Engineering


Robots for assisting the disabled, Brain-wave reading devices.



                         V.            Selected High-Tech Green Architectural Applications


Crowd-sourced design



Active solar tracking



AI in building environmental controls



                        VI.            Selected Green Manufacturing Case-studies


Selected papers from 2013 International Symposium on Green Manufacturing and Applications (ISGMA 2013)



                      VII.            Selected Green Transportation Case-studies (hybrid cars, rapid transit)


                     VIII.            Ethical Issues

PDF Memorize

Replacing humans vs. aiding humans, Limiting robot autonomy for the safety of life and property, Military Drones.

[ 38, 39 ]


                        IX.            High-Tech Sustainability Courses and Programs


Globally, nationally, regionally




Disabilities: Elizabethtown College welcomes students with disabilities to participate in all of its courses, programs, and activities.  If you have a documented disability and require accommodations to access course material, activities, or requirements, you must: (1) Contact the Director of Disability Services, Lynne Davies, in the Center for Student  Success, BSC 228, by phone (361-1227) or email daviesl@etown.edu; and (2) Meet with the instructor within two weeks of receiving a copy of the accommodation letter from Disability Services to discuss your accommodation needs and their implementation.


Academic Honesty: Elizabethtown College Pledge of Integrity: "Elizabethtown College is a community engaged in a living and learning experience, the foundation of which is mutual trust and respect. Therefore, we will strive to behave toward one another with respect for the rights of others, and we promise to represent as our work only that which is indeed our own, refraining from all forms of lying, plagiarizing, and cheating."




Groups of two preferred, but individual or groups of three may be approved. No double counting of this project for the requirements of another course (past, present, or future). This is a design project; nothing physical may be built this semester, however simulations and/or CAD drawings are highly recommended.



Late penalties apply. Use PowerPoint and Word. It should take approximately 10 minutes. At the very least do a “GOOGLE SCHOLAR” search for your topic and discuss what you will be researching. Proposal must include draft Pugh Diagram(s) with accompanying narrative to describe what is already known (from your initial research) and what you will be comparing as part of your design-decision process. Include in presentation and written proposal an annotated bibliography of sources (with annotations stating precisely why this is a good recent source)

On presentation days, submit before you present:

  1. A printed stapled copy of your PowerPoint presentation; six slides per page
  2. A printed stapled copy of your proposal
  3. All engineering majors put a copy of your proposal and presentation in your individual folder in the “Engineering Portfolios” folder on the “J:” network drive.



Submit electronically to the Teaching Assistant Andrew Khela (khelaa@etown.edu) (Cell: 570-807-1840) Use template supplied to you by teaching assistant. You must incorporate feedback from proposal defense.



Due date to be announced. Late penalties apply. Use PowerPoint and Word. Talk MUST take no more than 10 minutes. Paper must be in two-column, single-spaced, 10-point font using IEEE formatting dictated by: http://users.etown.edu/w/wunderjt/IEEE_CONF_PAPER_FORMATTING.pdf. Paper should be 6 to 8 pages (not including appendices) and include:

    On presentation days, submit before you present:

  1. A printed stapled copy of your PowerPoint presentation; six slides per page
  2. A printed stapled copy of your paper
  3. All engineering majors put a copy of your group’s paper and presentation in your individual folder in the “Engineering Portfolios” folder on the “J:” network drive.
  4. Email your papers and presentations to me



 Submit electronically your final design poster to the Teaching Assistant Andrew Khela (khelaa@etown.edu) (Cell: 570-807-1840). Use template supplied to you by teaching assistant.


Suggested topics for semester projects:

·         ROVER DESIGN FOR A SELECTED PLANET OR MOON (Parallel the design process in class for the Europa Rover)

·         ROVER DESIGN FOR A REMOTE EARTH ENVIRONMENT (Parallel the design process in class for the Europa Rover)

·         ROBOBOAT ENVIRONMENTAL PROBE:(possibly launched from wunderbot)


·         A FLYING ENVIRONMENTAL PROBE DESIGN (balloon, kite, or RC plane launched from wunderbot)




·         AN AIR POLLUTION MONITORING (and maybe control) DEVICE DESIGN:


·         A KINECT HUMAN MOTION CAPTURE DESIGN (possibly to enhance wunderbot sensor fusion)






A NEW ETOWN ROVER COMPETITION DESIGN (design a whole new robot)

      FIRST: http://www.usfirst.org/

      IGVC: http://www.igvc.org/


·         A NASA RASC-AL DESIGN: Human Scale Architecture and Systems Competition



·         HALLWAY DISPLAY of POWER GENERATED by our solar collection sites (Cabin, Esbenshade Roof)







·         A DESIGN OF A U.S. IMPROVEMENT IN FACTORY AUTOMATION (compare to Japan and EU countries)




·         A HYBRID CAR DESIGN (ask me about my new Prius)


·         A MEDICAL ASSISTANCE DEVICE DESIGN (a visiting medical doctor will be giving us a problem to solve)





·         USING NGO’S (Non-Government Organizations) TO IMPLEMENT GREEN TECH see attachment below)


Related links:

·         RMI LAB SITE (updating soon): http://users.etown.edu/w/wunderjt/weblab.htm

·         FAVORITE RMI CORPORATE RELATIONSHIP (Phoenix Contact): http://www.phoenixcontact.com/

·         More LINKS (updating soon): http://users.etown.edu/w/wunderjt/home_LINKS.html





[1]     R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004. (ISBN: 026219502X)

[2]     K.. Clark, A. Stankov, R. Pappalardo, M. Blanc, R. Greeley, J.P.Lebreton , Europa Jupiter System Mission; A Joint Endeavour by ESA and NASA, NASA Report, January 16, 2009.

[3]     Anthony H. Young, Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006. (ISBN: 0387307745)

[4]     Paolo Ulivi and David M. Harland, Robotic exploration of the solar system: part II: hiatus and renewal, 1983-1996, Praxis; 1 edition, November 25, 2008. (ISBN: 0387789049)

[5]     S. . B. Niku, Introduction to Robotics: Analysis, Systems, Applications, Prentice Hall, July 30, 2001. (ISBN: 0130613096)

[6]     R. Greenberg, Unmasking Europa: The search for life on jupiter's ocean moon, Springer; 1 edition, August 19, 2008. (ISBN: 0387479368)

[7]     R. Audouze (Editor), G. Israel (Editor), The cambridge atlas of astronomy, Cambridge University Press; 3 edition, November 28, 1994, (ISBN: 0521434386)

[8]     Website: Europa, a Continuing Story of Discovery [http://www2.jpl.nasa.gov/galileo/europa/].

[9]     Website: JPL Photojournal  [http://photojournal.jpl.nasa.gov/catalog/PIA01144].

[10] Wunderlich, J.T. (201X). Two single-chip neurocomputer designs; one bottom-up, one top-down. (draft journal paper)

[11] Painter J. and Wunderlich, J.T. (2008). Wunderbot IV: autonomous robot for international competition. In Proceedings of the 12th World Multi-Conference on Systemics, Cybernetics and Informatics: WMSCI 2008, Orlando, FL: (pp. 62-67). 

[12] Coleman, D. and Wunderlich, J.T. (2008). O3: an optimal and opportunistic path planner (with obstacle avoidance) using voronoi polygons. In Proceedings of IEEE the 10th international Workshop on Advanced Motion Control, Trento, Italy. vol. 1, (pp. 371-376). IEEE Press.

[13] Wunderlich, J.T. (2004). Top-down vs. bottom-up neurocomputer design. In Intelligent Engineering Systems through Artificial Neural Networks, Proceedings of ANNIE 2004 International Conference, St. Louis, MO. H. Dagli (Ed.): Vol. 14. (pp. 855-866). ASME Press. ["Novel Smart Engineering System Design Award, 2nd runner-up best paper" from over 300 submissions],

[14] Wunderlich, J.T. (2004). Simulating a robotic arm in a box: redundant kinematics, path planning, and rapid-prototyping for enclosed spaces. In Transactions of the Society for Modeling and Simulation International: Vol. 80. (pp. 301-316). San Diego, CA: Sage Publications.

[15] Wunderlich, J.T. (2004). Design of a welding arm for unibody automobile assembly. In Proceedings of IMG04 Intelligent Manipulation and Grasping International Conference, Genova, Italy, R. Molfino (Ed.): (pp. 117-122). Genova, Italy: Grafica KC s.n.c Press.

[16] Wunderlich, J.T. (2003). Defining the limits of machine intelligence. In Proceedings of IEEE SoutheastCon, Ocho Rios, Jamaica, [CD-ROM]. IEEE Press.  

[17] Campos, D. and Wunderlich, J. T. (2002). Development of an interactive simulation with real-time robots for search and rescue. In Proceedings of IEEE/ASME International conference on Flexible Automation, Hiroshima, Japan: (session U-007). ASME Press.

[18] Lister, M. and Wunderlich, J. T. (2002). Digital communications for a mobile robot. In Proceedings of IEEE SoutheastCon, Columbia, SC, [CD-ROM]. IEEE Press.  

[19] Wunderlich, J.T. (2001). Simulation vs. real-time control; with applications to robotics and neural networks. In Proceedings of 2001 ASEE Annual Conference & Exposition, Albuquerque, NM: (session 2793), [CD-ROM]. ASEE Publications.

[20] Wunderlich, J.T. and Boncelet, C.G. (1996). Local optimization of redundant manipulator kinematics within constrained workspaces. In Proceedings of IEEE Int'l Conference on Robotics and Automation, Minneapolis, MN: Vol. (1). (pp. 127-132). IEEE Press. 

[21] Wunderlich, J.T. (1996). Optimal kinematic design of redundant and hyper-redundant manipulators for constrained workspaces. Ph.D. Dissertation, University of Delaware.  

[22] Wunderlich, J.T., S. Chen, D. Pino, and T. Rahman (1993). Software architecture for a kinematically dissimilar master-slave telerobot. In Proceedings of SPIE Int'l Conference on Telemanipulator Technology and Space Telerobotics, Boston, MA: Vol. (2057). (pp. 187-198). SPIE Press.  

[23] Wunderlich, J.T., and Elias, J. (1993). Design of an artificial dendritic tree VLSI microprocessor. U.Del. research report, 1993.

[24] Wunderlich, J.T. (1992). A vector-register neural-network microprocessor with on-chip learning. Masters Thesis, Pennsylvania State University.

[25] Wunderlich, J.T. (1999). Focusing on the blurry distinction between microprocessors and microcontrollers. In Proceedings of 1999 ASEE Annual Conference & Exposition, Charlotte, NC: (session 3547), [CD-ROM]. ASEE Publications.

[26] Wunderlich, J.T. (2003). Functional verification of SMP, MPP, and vector-register supercomputers through controlled randomness. In Proceedings of IEEE SoutheastCon, Ocho Rios, Jamaica, M. Curtis (Ed.): (pp. 117-122). IEEE Press.

[27] Wunderlich, J.T. (1997). Random number generator macros for the system assurance kernel product assurance macro interface. Systems Programmer's User Manual for IBM S/390 Systems Architecture Verification, Poughkeepsie, NY.

[28] Patterson, R.L.. and Hammoud, Ahmad. (2004) Reliability of Electronics for Cryogenic Space Applications Being Assessed. NASA Research and Technology 2004.

[29] Pappalardo, R.T. (2006). Europa: processes and habitability (presentation). Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration

[30]  Henderson, S., Shreshtha, S., Wunderlich, J.T. (2004). A high speed AUV test platform (submitted to military conference).

[31]  Painter, J. G. (2008). Vision system for Wunderbot IV autonomous robot. Elizabethtown College research report.

[32]  Crouse, J. (2008). The joint architecture for unmanned systems: a subsystem of the wunderbot 4. Elizabethtown College research report.

[33]  Painter, J. G., Coleman, D.,  Crouse, J., Yorgey, C., and Wunderlich, J.T. (2008) Wunderbot 4 IGVC report. Judged and published on-line by IGVC.

[34]  Boeing Company and NASA (1971) LRV operations handbook. Document LS006-002-2H.

[35]  Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

[36]  Carsen, A., Rankin, J., Fuguson, D., and Stentz, A. (2007). Global path planning on board the mars exploration rovers. In Proceedings of the IEEE Aerospace Conference, 2007. IEEE Press.  (available at http://marstech.jpl.nasa.gov/publications/z02_0102.pdf)

[37]Bajracharya, M., Maimone, M.W., and Helmick, D. (2008). Autonomy for mars rovers: past, present, and future. In Computer: December, 2008. (pp. 44-50). IEEE Press. (available at http://marstech.jpl.nasa.gov/publications/z02_0102.pdf)

[38]Wunderlich, J.T. (2011).  Designing robot autonomy: how tightly should we hold the leash? The 5th Int’l Conference on Design Principles and Practices, Rome, Italy.

[39] Byman,D., Cronin, A.K., Death from above; are drones worth it, Foreign Affairs Vol 92,no.4, , July/August, 2013.

[40] Wunderlich, J.T. and Wunderlich, J.J. (2013). Green architecture and environmental design using rapid-prototyping social-networking sandbox tools, followed by professional architectural software.  Asian Conference on Sustainability, Energy & the Environment (ACSEE 2013), June 6-9, Osaka, Japan. [1 of 3 chosen from 250 for extended 45-minute “Spot-lighted” Key-note talk]

[41]  Norbert Lechner, Heating, Cooling, Lighting: Sustainable Design Methods for Architects, 2007, Wiley; 3rd edition, November 24, 2008

[42] AIA Graphics Standards (several editions)

[43] Wunderlich, J.T. (2012). Creating an engineering program in sustainable design for a U.S. liberal arts college. The 6th Int’l Conference on Design Principles and Practices, Los Angeles, CA.

[44] Wunderlich, J.T. (2013). Green robotics, automation, and machine intelligence; a new engineering course in sustainable design. International Symposium on Green Manufacturing and Applications (ISGMA 2013),  June 25-29, Oahu, Hawaii.

[45] Ishise,T., Kimura1,T. , Osako,K. , Matsuyama,S. and Nakanishi,K (2013). Recyclability of fiber wastes as reinforcement of composite materials, International Symposium on Green Manufacturing and Applications (ISGMA 2013),  June 25-29, Oahu, Hawaii.

[46] Negoro,T., Inoya,H., Ota,T., Yamada,K., and Hamada,H. (2013). Creation of PET bottle recycling society in small scale, International Symposium on Green Manufacturing and Applications (ISGMA 2013),  June 25-29, Oahu, Hawaii.

[47] Negoro,T., Inoya,H., Ota,T., Yamada,K., and Hamada,H. (2013). Verification of the effect to reduction of emission of carbon dioxide by using recycled materials and dope-dyeing method, International Symposium on Green Manufacturing and Applications (ISGMA 2013),  June 25-29, Oahu, Hawaii.

[48] Cimellaro,G.P., Reinhorn,A.M.,  and Bruneau,M.  (2013). Sustainable warehouses and industrial shed structures after 2012 earthquake in northern italy, International Symposium on Green Manufacturing and Applications (ISGMA 2013),  June 25-29, Oahu, Hawaii.

[49] Shin,J.-H.  and Chang,S.-M. (2013). Aerodynamic design for the rotor of a savonius turbine using CFD, International Symposium on Green Manufacturing and Applications (ISGMA 2013),  June 25-29, Oahu, Hawaii.

[50] Park,M.-W., Kim,J-K. Kang,M, Eum,K, Lee,T., Park,H--S. and Park,J.-W. (2013). Development of a process planning system for machining and assembly, International Symposium on Green Manufacturing and Applications (ISGMA 2013),  June 25-29, Oahu, Hawaii.

[51] Nam,S.-H., Shin,J.-H. , Lee,D.-H., Baek.J-Y., and Lee1,S.W.(2013). Development of integrated shop operation system in multiple FMC environments with real-time re-scheduling architecture, International Symposium on Green Manufacturing and Applications (ISGMA 2013),  June 25-29, Oahu, Hawaii. 

[52] Wunderlich, J.T. (1992). A vector-register neural-network microprocessor with on-chip learning; Appendix A “Machine Intelligence History (Part of Chapter 1 of a book draft) Masters Thesis, Pennsylvania State University

[53] Wunderlich, J.T. (2009) BIGXORtest.m Backpropagation Neural Network Matlab code.

[54] Wunderlcih, J.T. (1993) Robotics Review, talk given to fellow robotics researchers (U.Delaware, U.Penn, Oxford, Cambridge), Appl;ied Science nand Engineering Lab, A.I. Dupont Hospital.

[55]  Excerpts from Expert Systems Texts (citations soon)

[56]  VP-Expert user manual

[57]  Wunderlcih, J.T. (1991), VP-Expert Case Study: “Doctor’s Office Answering Service

[58]  Wunderlcih, J.T. (1991), VP-Expert Case Study: “Selecting a toy for a baby