Coursework

This project designs and implements an intelligent line-tracking and material-handling robot based on the LEGO MINDSTORMS EV3 platform. To address the challenges of multi-intersection recognition, dynamic line tracking, and specific material grasping in complex track environments, this system introduces an improved discrete-time proportional-derivative (PD) control algorithm in the low-level motion control layer. Combined with a differential-drive kinematic model, the system achieves smooth and adaptive trajectory tracking. At the macro path-planning and task-execution level, a deterministic decision tree model based on Boolean logic and a finite-state machine (FSM) is constructed, solving typical engineering problems such as "sensor blinding," "intersection misjudgment," and "false positive endpoint detection." This paper elaborates on the control theory foundation, mathematical derivation of the algorithm, hardware-software co-design, and compares the performance of different controllers on straight lines, ellipses, and figure-8 complex trajectories in the context of control theory history and related empirical studies. Furthermore, low-level computational optimization strategies are proposed for the physical characteristics of embedded systems (e.g., CPU starvation, PWM control response)$^{[1]}$.

A Molecule That Changed History: How Phenol Reshaped Modern Medicine and the Materials Industry 1. Abstract In the course of modern civilization, phenol (Phenol) is an underestimated yet decisive substance. Initially it was merely industrial waste embedded in foul-smelling coal tar (Coal Tar), yet it profoundly redrew the landscapes of medicine and industry. Before Joseph Lister brought it into the hospital ward, surgery was little different from a game of “Russian roulette” against infection; outside medicine, as a cornerstone of phenolic resins, it opened the curtain on the twentieth-century plastics era and, at the billiard table, unexpectedly helped maintain a balance between elephant survival and human entertainment. This paper explores how phenol evolved from a humble chemic...

**Download Files:** Moment of Inertia & Angular Momentum Conservation.pptx Moment of Inertia & Angular Momentum Conservation.pdf 1. Experiment Title The subject of this experiment is **Measurement of Moment of Inertia and Conservation of Angular Momentum**. 2. Objective By measuring the angular acceleration of a rotating rigid body, determine the object's **moment of inertia (Moment of Inertia)** experimentally, and understand the dynamics of rotational motion by comparing the experimentally obtained value with the theoretical value calculated from the geometric structure. In addition, experimentally confirm that **angular momentum** is conserved when no external torque acts on the rotating system, and consider the change in energy during this process. 3. Relevant Theor...