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York Jong

Trossen Robotics Offers Pleo Preorder - 0 views

pleobot.com/...-robotics-offers-pleo-preorder

calebchung pleo robot toy

shared by York Jong on 12 Aug 07 - Cached
  • Pleo Technical Specs: Ugobe LifeOS 32 bit Atmel ARM 7 microprocessor - The main processor for Pleo 16 bit sub processor - The processor dedicated to the camera system (4) 8 bit processors that provide the low-level motor control for the servos (35) Sensors including a camera custom designed to fit into Pleo’s very compact body. (4) foot-switches to detect footfalls and being picked up - assists with spatial orientation. (12) capacitive touch sensors (4) legs, (4) feet, back, shoulder, head, chin (2) microphones for directional sound detection (14) “Force” sensors, one per servo, to recognize abuse through force feedback joints. Orientation/tilt sensor IR transceiver for bidirectional data communication with other Pleos. IR interrupter for detection of objects in Pleo’s mouth (14) motors. Standard low voltage DC motors (150) gears and clutches Rechargeable NiMH battery pack USB port with mini USB connector SD/MMC memory card slot
York Jong

Pleo - Wikipedia, the free encyclopedia - 0 views

en.wikipedia.org/Pleo

calebchung pleo robot toy

shared by York Jong on 09 Sep 07 - Cached
  • camera-based vision system (for light detection and navigation) two microphones, binaural hearing beat detection (allows pleo to dance and listen to music) - this feature was removed but may be added on again. eight touch sensors (head, chin, shoulders, back, feet) four foot switches (surface detection) fourteen force-feedback sensors, one per joint orientation tilt sensor for body position infrared mouth sensor for object detection into mouth infrared transmit and receive for communication with other Pleos Mini-USB port for online downloads SD card slot for Pleo add-ons infrared detection for external objects 32-bit Atmel ARM 7 microprocessor (main processor for Pleo) 32-bit NXP ARM 7 sub processor (camera system, audio input dedicated processor) four 8-bit processors (low-level motor control)
  • York Jong on 09 Sep 07
     
    Pleo is a robotic dinosaur, made for all ages, designed to emulate the appearance and behavior of a week-old baby Camarasaurus. It was designed by Caleb Chung, the co-creator of the Furby, and manufactured by Ugobe.
York Jong

Robot Room - IRB and Roundabout Resourcess - 0 views

www.robotroom.com/IRBGoodies.html

book errata robot

shared by York Jong on 09 Sep 07 - Cached
  • "Exposing a Flaw: Shoot-Through" describes the serious problem with that circuit, especially when pulsed
  • Above is an improved version of the circuit, which is now PWM compatible. PWM, coast mode, and the capability to avoid shoot-through are provided by adding a fifth MOSFET (labeled Q5) to the source/ground connections of Q1 and Q3.
  • ...1 more annotation...
  • By default at power-up, the circuit is in coast mode. To brake, set IN A to 0 V, IN B to 0 V, and Q5 to 5 V. To spin clockwise, set IN A to 5 V, IN B to 0 V, and Q5 to 5 V. To spin counterclockwise, set IN A to 0 V, IN B to 5 V, and Q5 to 5 V. At any time you can return to coast by applying 0 V to Q5. Or, you can apply pulses of 0 V/5 V/0 V/5 V (and so on) to control the speed. The more time spent at 5 V, the faster the motor will spin. Whenever you change modes, if you set Q5 to 0 V before making changes to IN A and IN B (and then set Q5 back to 5 V or pulsing) there will be no shoot-through.
  • York Jong on 09 Sep 07
     
    This secret page is for owners of the book, Intermediate Robot Building. On this page, you'll find updates, corrections, and source files. Thank you for buying the book!
York Jong

MetaCricket: A designer's kit for making computational devices - 0 views

www.research.ibm.com/...martin.html

5star cricket martin robot

shared by York Jong on 16 Jun 07 - Cached
  • All Cricket devices have a built-in bidirectional infrared communications channel, which is used for Cricket-to-desktop communication (when downloading programs to a Cricket, or viewing sensor data) and Cricket-to-Cricket communication.
  • Cricket Logo is based on an iterative, interactive model of project development. It includes a “command center” window; instructions typed into this window are instantaneously compiled, downloaded to a Cricket, and executed, giving the system the flavor of an interpreted software environment such as LISP, BASIC, or FORTH.
  • The MetaCricket software system is based on a virtual machine, written in PIC assembly language and running on the Cricket, and a compiler for the virtual machine running on a desktop development computer
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  • It is straightforward to implement an interpreter-like interface, where user commands are transparently compiled, downloaded, and executed.
  • The Cricket virtual machine is burned into the PIC microprocessor's internal ROM
  • The user's code resides in a serial EEPROM
  • Built-in infrared communications routines include a protocol for reading and writing to this external EEPROM, and for asking the virtual machine to begin execution of byte codes already loaded into the EEPROM.
  • Users write programs for the Cricket in Cricket Logo, a dialect of Logo specialized for the Cricket virtual machine. Essentially, there is a one-to-one mapping between statements in Cricket Logo and primitive functions built into the virtual machine. This makes the implementation of the compiler far simpler than typical compilers.
  • The compiler includes an interactive mode—a text window where user expressions are compiled, downloaded, and executed in one step when the user presses the return key. A portion of the Cricket's memory is set aside for these dynamic programs.
  • we have found that a debugger is not necessary because of the interactive and incremental style of project development that occurs when using the Cricket.
  • The infrared protocol includes the following capabilities: Check that a Cricket is present and ready for other commands. Write a byte to the Cricket's EEPROM. Read a byte from the Cricket's memory. Begin program execution from a particular memory address.
  • User-level primitive functions compile to one, two, or three bytes of object code for the Cricket virtual machine.
  • The Cricket virtual machine has two process threads: a foreground process and a background daemon. In most Cricket programs, the foreground thread handles all the work, but for some tasks, the background daemon is valuable. For example, the background daemon can be used to instigate a periodic activity, or take action when some event occurs.
  • There are hardware-specific primitives for interacting with on-board Cricket hardware. Motor commands set state (on or off), direction, and power levels for each of the two integrated motor drivers. Analog sensor primitives (sensora and sensorb) return a value (0 to 255) for each of the two voltage inputs. These inputs also may be interpreted as digital values using the switcha and switchb primitives. There is a pair of primitive functions for generating tones on the piezo beeper: beep and note, the latter taking pitch and duration arguments.
  • there is a background millisecond timer that is updated every four milliseconds
  • One foreground thread plus one background daemon Daemon fires when provided Boolean expression makes false-to-true transition
York Jong

http://www-robotics.usc.edu/~maja/robot-control.html - 0 views

www-robotics.usc.edu/...robot-control.html

shared by York Jong on 26 May 07 - Cached
  • stimulus-response
  • a plan of action
  • combine the best of both Reactive and Deliberative control
  • ...3 more annotations...
  • three-layer systems.
  • if a robot needs to plan ahead, it does so in a network of behaviors which talk to each other and send information around, rather than a single planner, as with hybrid systems.
  • Deliberative Control: Think hard, then act. Reactive Control: Don't think, (re)act. Hybrid Control: Think and act independently, in parallel. Behavior-Based Control: Think the way you act.
  • York Jong on 26 May 07
     
    Robot control refers to the way in which the sensing and action of a robot are coordinated. There are infinitely many possible robot programs, but they all fall along a well-defined spectrum of control. Along this spectrum, there are four basic practical
York Jong

ROBOT SENSOR INTERPRETATION - 0 views

www.societyofrobots.com/sensors_interpret.shtml

robot sensor

shared by York Jong on 14 Jun 07 - Cached
  • how to interpret sensor data into a mathematical form readable by computers
  • There are only 3 steps you need to follow: Gather Sensor Data (data logging) Graph Sensor Data Generate Line Equation
  • Some sensors (such as sonar and Sharp IR) do not work properly at very close range
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  • The way to get rid of noise is get a bunch of readings, then only keep the average. Make sure you test for noise in the actual environment your robot will be in
  • York Jong on 14 Jun 07
     
    Most roboticists understand faily well how sensors work. They understand that most sensors give continuous readings over a particular range. Most usually understand the physics behind them as well, such as speed of sound for sonar or sun interference for IR. Yet most do not understand how to interpret sensor data into a mathematical form readable by computers.
York Jong

BEAM Circuits -- Field sensors - 0 views

www.solarbotics.net/...sensors_field.html

4star beam circuit electrometer sensor

shared by York Jong on 29 May 07 - Cached
  • note that the human body is a good absorber of stray RF fields, so this sensor should be a good people-detector
    • York Jong
      York Jong on 14 Jun 07
       
      should be shield, not sheilduses two of six inverting Schmitt trigger in a 74HC14 IC
York Jong

Build this simple "electronic electroscope," a FET electrometer - 0 views

www.amasci.com/...chargdet.html

circuit electrometer electronics electrostatics fet mpf102

shared by York Jong on 30 May 07 - Cached
  • This simple circuit can detect the invisible fields of voltage which surround all electrified objects
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  • The Gate acts as an antenna, so leave it unconnected.
  • The 1-meg resistor helps protect the FET from being harmed by any accidental sparks to its Gate lead. The circuit will work fine without this resistor. Just don't intentionally "zap" the Gate wire with a charged object or your charged finger.
  • To test the circuit, charge up a pen or a comb on your hair, then wave it close to the little "antenna" wire. The LED should go dark. When you remove the electrified pen or comb, the LED should light up again.
  • If you suspect that humidity is very high, test this by rubbing a balloon or a plastic object upon your arm. If the balloon does not attract your arm hairs, humidity is too high.
  • This FET sensor is not an ideal educational device because it responds differently to positive than to negative.
  • negative objects turn the LED off, it lights again when removed. positive objects make the LED bright, then dark when removed.
  • Obtain a small capacitor with a value below 100 picofarads. Connect it between the FET gate lead and one of the other FET leads (doesn't matter which one.) This greatly reduces the sensitivity of the device
  • Now make the circuit MORE sensitive. Obtain an alligator clip-lead, and connect it to the Gate lead of the FET. Let it hang loose without touching anything. You'll find that this has vastly increased the sensitivity of your FET circuit.
  • York Jong on 30 May 07
     
    This simple circuit can detect the invisible fields of voltage which surround all electrified objects. It acts as an electronic "electroscope.
York Jong

ROBOT BATTERIES - 0 views

www.societyofrobots.com/batteries.shtml

alkaline battery fuel-cell lead-acid li nicd nimh robot

shared by York Jong on 14 Jun 07 - Cached
  • Motorcycle lead acid batteries work great for larger low performance type robots. They are great for solar power robots too.
  • lead acid batteries have the serious problem of being very large and heavy, need to always be kept charged, and do not have the high discharge rates as the more modern batteries.
  • They have low power capacities, are heavy, have trouble supplying large amounts of current in short time periods, and get expensive to constantly replace
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  • Li-ion batteries have the same high energy capacity as NiMHs, power output rates of NiCads, and weigh about 20%-35% less. They also have zero memory effect problems, meaning you can recharge whenever
  • NiCad (Nickel Cadmium) batteries are good for small to medium size range robots. They have the highest current output, are more affordable than NiMH's, and can be recharged within one or two hours
  • A NiCad, over many charges, can only store less and less energy after each recharge. To prevent memory effect, whenever you wish to recharge your NiCad, you must first fully discharge it.
  • NiCad batteries contain toxic cadmium stuff, so save a squirrel and recycle/dispose of it properly.
  • NiMH battaries can last many more cycles than your typical NiCad battery.
  • they have good current output, and have the highest energy capacity. I would recommend them for small size robots and for powering circuits. Note, NiMH batteries usually take like 10 hours to recharge depending on various factors.
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