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\centerline{\bf ME 115(b) Final Projects}
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\centerline{(Spring  2008)}
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Like the first quarter of ME 115, students can choose to do a final project instead
of taking a written final exam.  Below are some suggestions for the ME
115(b) final project.  Alternatively, you can select your own project,
subject to my approval.  While I somewhat prefer individual projects,
group projects are allowed with my consent.  The quality of the group
projects should be proportional to the number of students involved.

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{\bf Suggestions:}

\begin{enumerate}

\item{} {\bf Implement the Voronoi Graph motion planner.}  This could
  be a purely simulation based project in which you implement the
  planner it is ``classical'' version where the geometry of the
  robot's environment is already known.  Then you would show in
  simulation (perhaps with player/stage) a robot using the Voronoi
  Graph.  Or, you may wish to implement the sensor-based version of
  the planner and demonstrate it on the ER1 robot.

\item{} {\bf Find the singularities of a 6 DOF Stewart Platform Mechanism.}

\item{} {\bf Develop a software tool to find all force closure grasps of a polygon.}  I.e., implement
a system where the user inputs the polygon shape (perhaps as a set of vertices) and the system 
automatically determines the force closure grasp regions for 2 frictional, or 4 frictionless
fingers.


\end{enumerate}

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{\bf Final Project Grading and Time Table}

If you need your grade turned in on time to graduate, then your final
project or exam is due at 5:00 pm on Friday, June 6
(so I can make sure that the grades are reported to the registrar by the Monday deadline).
Otherwise, you turn in your final project or exam by the end of the 
undergraduate finals period (June 13).

The guidelines for the final project submission are essentially the same as that
from the first quarter.  I.e., the write-up of your project should
include:

\begin{itemize}
\item{} {\bf A summary} that details the nature of the project, the motivation
for the project, the scope of the project, and the approach taken to solve
the project.
\item{} {\bf The details} of how the project was solved.  This might consist
of analytical derivations, software flow charts, etc.
\item{} {\bf The ``output''} of the project.   This will consist of 
a piece of hardware, a simulation (which is captured by images and code),
or an equation.
\item{} {\bf A conclusion} that summarizes shortcomings of the project
and future possible improvements.
\end{itemize}

Students planning to undertake a final project should submit a 1-page
proposal to me by 5:00 p.m. on Monday, May 22.  This proposal should
state the subject of the project, how you plan to solve the proposed problem,
the scope of the project, and the actual product to be delivered for 
evaluation.



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