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York Jong

BEAM Robotics - 34 views

作者: ykjiang (Amorphous) 看板: Robotics 標題: BEAM Robotics 時間: Sun Oct 29 04:42:22 2006 移動機器人的編程方法很多，最簡單的機器人「編程」 法，是採用焊接（solder）的方式。 這種方法直接將 sensor 得到的訊號和馬達的驅動命令 相連。當中最讓人印象深刻的就是 Mark Tilden 提出的 BEAM ...

beam electronics tilden

started by York Jong on 28 May 07 no follow-up yet
York Jong

BEAM Online > About BEAM - 0 views

www.beam-online.com/..._ab.htm

beam electronics robot

shared by York Jong on 27 May 07 - Cached
  • York Jong on 27 May 07
     
    BEAM robotics is the brain child of Mark W. Tilden who is currently working at "Los Alamos National Laboratory" in Los Alamos, New Mexico, US. BEAM robotics as described in the BEAM rule book: 1/: A description of what aspects a roving robot creature coul
York Jong

BEAM Pieces -- Integrated circuits - 0 views

library.solarbotics.net/...parts_elect_ic.html

5star beam collection electronics ic motor robot solar survey

shared by York Jong on 27 May 07 - Cached
  • 1381s are CMOS voltage-controlled triggers -- these "gate" a source until the voltage is above some "trip" limit, at which point it is allowed onto a third pin
  • We use them as 3- or 5-volt triggers
  • This chip is often considered the heart of Nv net technology
  • ...22 more annotations...
  • The '240 is often called "the bicore chip," because we can take advantage of the 240's inverters to turn a single 74*240 into a bicore
  • The '240 also has tri-state outputs, so an enable line can be used to turn its outputs on and off simply (good for adding reversing capability to a 'bot).
  • any *cores built with a 74*04 will require additional logic "downstream" to amplify the current to levels sufficient to drive a moto
  • Schmitt triggers can't easily be used in suspended bicore implementations
  • use its buffers as little current amplifiers
  • it is usable for either grounded or suspended bicore designs (but better for suspended)
  • 74HC/HCTxx non-buffers (74HC14 or 74HC04) draw about half of the current consumption, and have about half the drive current compared to HC / HCT buffer chips (74HC240 or 74HC245). Non-buffer chips are thus better for oscillators, say Nv and Nu applications; they are not suited for use in driving motors.
  • 74AC is best suited for motor driver applications with all inputs driven rail to rail.
  • The '245 is an octal buffer chip, and so has 8 channels of buffering power available for our misuse. This chip was designed for data transmission uses, but we'll misuse it as a motor driver chip
  • The '244 provides us with 8 (thus the "octal") buffers, enableable in banks of 4. This is a very useful chip for amplifying small currents
  • it can drive up to 4 motors in 2 directions each, or you can "buddy up" inputs and outputs to drive fewer motors at higher current
  • it can drive up to 4 motors in 2 directions each, or you can "buddy up" inputs and outputs to drive fewer motors at higher current
  • If you can't find 1381s locally, you might have better luck finding its European cousin, the TC-54 -- for details on it
  • Note that if you need more than about 200 mA per motor, you'll need to use an H-bridge, or some similar motor driver
  • The ideal BEAM circuit would use a low (2V-3V) voltage core and sensors combined with level shifting high (5-6V) volt motor drivers to maximize efficiency.
  • 74ACxxx used in typical BEAM applications uses 4x more supply current than does 74HC/HCTxxx.
  • York Jong on 27 May 07
     
    The following material is intended to cover usage and part selection details of ICs you're most likely to see in BEAM robots.
York Jong

SENSORS - SHARP IR RANGE FINDER - 0 views

www.societyofrobots.com/sensors_sharpirrange.shtml

ir range rangefinder sensor

shared by York Jong on 01 Jun 07 - Cached
  • The Sharp IR Range Finder works by the process of triangulation. A pulse of light (wavelength range of 850nm +/-70nm) is emitted and then reflected back (or not reflected at all). When the light returns it comes back at an angle that is dependent on the distance of the reflecting object. Triangulation works by detecting this reflected beam angle - by knowing the angle, distance can then be determined.
  • The IR range finder reciever has a special precision lens that transmits the reflected light onto an enclosed linear CCD array based on the triangulation angle.
  • The Sharp IR has a non-linear output. This means that as the distance increases linearly (by set increments), the analog output increases/decreases non-linearly.
  • ...10 more annotations...
  • To effectively use your Sharp IR Range Finder, you must have a voltage output versus distance chart to reference from.
  • One major issue with the Sharp IR Range Finder and that is going below the minimum sensor range. This is when an object is so close the sensor cannot get an accurate reading, and it tells your robot that a really close object is really far.
  • Another issue is the high narrowness of the IR beam. In reading sharp details and getting high accuracy, a thin beam is ideal. But the problem with a thin beam is that if it is not pointed exactly at the object, the object is therefore invisible.
  • A more advanced use for the Sharp IR Range Finder is to do mapping. To do this, you need at least one Range Finder, and at least one non-modified servo.
  • The sharp IR can be used as a quick and easy front non-contact robot bumper on your robot. Just place two IR devices in front of your robot and cross beams as shown. Ideally you would perfer to use rangers that have wider beams. Note: A single sonar can do this job just as well.
  • For example, a box in front of your robot might appear like this: 0 0 0 0 0 106 120 124 121 109 0 0 0 0 0
York Jong

Making a Guitar String Touch Sensors - BEAM Wiki - 0 views

www.beam-wiki.org/...index.php

feeler robot sensor touch

shared by York Jong on 28 May 07 - Cached
  • I will go through the process of making a guitar string physical touch sensor.
York Jong

1381* - BEAM Wiki - 0 views

www.beam-wiki.org/...index.php

beam electronics solar

shared by York Jong on 26 May 07 - Cached
  • 1381s are CMOS voltage-controlled triggers -- these "gate" a source until the voltage is above some "trip" limit, at which point it is allowed onto a third pin.
  • If you can't find 1381s locally, you might have better luck finding its European cousin, the TC-54 -- for details on it, see its data sheet.
York Jong

Capacitors - BEAM Wiki - 0 views

www.beam-wiki.org/...index.php

beam electronics solar

shared by York Jong on 26 May 07 - Cached
  • A device used to store charge in an electrical circuit. A capacitor functions much like a battery, but charges and discharges much more efficiently
  • BEAM robots tend to use capacitors in two, very different roles -- small ones in Nv neurons and solar engines (filter capacitors), and bigger ones as energy storage devices (storage capacitors).
York Jong

How to make Tactile Sensors! - 0 views

www.beam-online.com/...tactile.html

4star beam feeler robot sensor

shared by York Jong on 27 May 07 - Cached
  • York Jong on 27 May 07
     
    What you need.... * "2 paper clip * 'Click type' pen * Sheet of paper * Thin piano wire * Soldering iron * Solder * Wire clippers * Tape
York Jong

MC34164-* - BEAM Wiki - 0 views

www.beam-wiki.org/...index.php

beam electronics

shared by York Jong on 26 May 07 - Cached
  • 34164s are undervoltage sensing circuits ("voltage supervisors") designed for use as reset controllers in portable microprocessor based systems. We use them as 3- or 5-volt triggers (here, 3 or 5 fills in the "*" of the part number above), as the heart of the Chloroplast solar engine design.
York Jong

Main Page - BEAM Wiki - 0 views

www.beam-wiki.org/...index.php

5star beam electronics robot

shared by York Jong on 26 May 07 - Cached
  • York Jong on 26 May 07
     
    The Wikipedia gives quite a good definition what BEAM robotics is:
York Jong

BEAM robotics - Wikipedia, the free encyclopedia - 0 views

en.wikipedia.org/...BEAM_robotics

beam biology electronics mobile robot

shared by York Jong on 27 May 07 - Cached
  • York Jong on 27 May 07
     
    The word "beam" in BEAM robotics is an acronym for Biology, Electronics, Aesthetics, and Mechanics. This is a term that refers to a style of robotics that primarily uses simple analog circuits instead of a microprocessor in order to produce an unusually s
York Jong

BEAM From the Ground Up - 0 views

bftgu.solarbotics.net/

5star beam electronics portal robot

shared by York Jong on 26 May 07 - Cached
  • York Jong on 26 May 07
     
    Welcome to the leaner, cleaner, BEAM From the Ground Up! This site is designed to be a useful collection of material for BEAM roboticists of all experience levels and abilities. The unifying focus here is on learning -- so this is the place to look for tu
York Jong

BEAM Circuits -- 74*24x-based motor drivers compared - 0 views

library.solarbotics.net/...driver_24x_comp.html

3star beam comparison driver electronics ic motor

shared by York Jong on 27 May 07 - Cached
  • In many ways, both the 74*240 and 74*245 are equally handy for BEAM use; both have 20 pins, and so the main difference that most folks will care about is that one inverts drive inputs, while the other doesn't. Out of curiousity, I decided to torture test the two chips to see how they compared under load.
York Jong

BEAMbot Circuits << BEAM Reference Library - 0 views

www.solarbotics.net/...default.htm

5star beam circuit electronics portal robot

shared by York Jong on 27 May 07 - Cached
  • York Jong on 27 May 07
     
    This section of the BEAM Reference Library is devoted to collecting designs (and links to designs hosted elsewhere) for circuits of interest to BEAMers.
York Jong

Solar Cells - BEAM Wiki - 0 views

www.beam-wiki.org/...index.php

beam electronics solar

shared by York Jong on 26 May 07 - Cached
  • Most BEAMbot designs require at least 3 volts from their solar cell(s). This means, of course, that if you buy 0.5 V cells, you need to wire together at least six of them to do the job. This may or may not be something you want to mess with; it may or may not fit with the aesthetic design you're shooting for.
York Jong

Flashing LED - BEAM Wiki - 0 views

www.beam-wiki.org/...index.php

beam electronics sensor

shared by York Jong on 26 May 07 - Cached
  • A flashing LED is just an LED with a built-in microcircuit to cause it to flash periodically.
  • Like other LEDs, FLEDs are light-sensitive, and so flash faster in brighter light.
  • Like other LEDs, FLEDs are light-sensitive, and so flash faster in brighter light.
  • ...1 more annotation...
  • A flashing LED is just an LED with a built-in microcircuit to cause it to flash periodically.
York Jong

Photo Diodes - BEAM Wiki - 0 views

www.beam-wiki.org/...index.php

beam electronics sensor

shared by York Jong on 26 May 07 - Cached
  • To use a photodiode in its photoconductive mode, the photodiode is reverse-biased; the photodiode will then allow a current to flow when it is illuminated.
York Jong

LEDs - BEAM Wiki - 0 views

www.beam-wiki.org/...index.php

beam electronics sensor

shared by York Jong on 26 May 07 - Cached
  • LEDs can be used as photodiodes (tho' their sensitivity is relatively low, so they're only useable this way in very bright conditions). When light is applied to an LED the anode sources current and becomes positive.
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