Robotics

The purpose of a solar engine is to act like a power "savings account" -- a small trickle of incoming energy is saved up until a useable amount is stored

A solar-powered robot can be made to work, even in relatively-low light levels

Solar cell size is minimized

It's practically impossible to solder the FLEDs straight using only your hands

This part is rather tricky because there's so little space between the Solar Engine and the 3300uF Cap. -- You can leave more space here if you like, but it just looks better if you keep it all nice and tight

Find two FLEDs with the same (or very similar) resistance

attach your Pager Motors to your Popper using two Fuse Clips, two Small Paper Clips, and no solder

robot learning

variable delay

short-term memory

The Nv neuron circuit may look familiar as it is found in most CMOS data handbooks as an example of a simple edge detector or one-shot or mono-stable circuit application.

I will go through the process of making a guitar string physical touch sensor.

看到上面一个大大的玻璃试管和里面的液体、引脚我就知道肯定是通过液体摆动跟触角接触面积引起的阻值变化测量角度的

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

note that the human body is a good absorber of stray RF fields, so this sensor should be a good people-detector

Motor drivers are essentially little current amplifiers

the control signal is likely on the order of 10 mA, and the motor may require 100's of mA to make it turn

The motor is driven in either the forward or reverse direction, but will swap polarity if the motor encounters too sudden or great of a load

Usually, the operating system takes all the values from the sensors, averages them, then finds the one that is the furthest away from that average

The Ant Farm is built next to a very large window that faces east. As a result, with the lab lights off, the brightest light source is always to the east. The robots can use this as a reference and then find all the other directions.

CALEB CHUNG: Of course we could have used micro-servo motors to accomplish the motion of Pleo, but we aren’t able to use expensive motors. So we had to engineer it with a high-speed motor with high gearing and no backlash for control purposes and have it all fit within the muscle envelope of Pleo.

So what we did was go after a lot of ethology research. How do animals really handle the complexity of their environment? We built a virtual brain—a whole system that decides how Pleo will react in various situations.

CALEB CHUNG: Pleo will reset thresholds and adjust his idea of what he thinks is normal. Let’s say you get Pleo and you take him home to your shag carpet. When Pleo walks, the carpet will drag on his feet. So his force feedback sensors will realize that he is spending too much energy to walk around. Pleo will try different things to reduce the energy spent. Eventually, he will have the idea to step higher. Your Pleo compared to my Pleo will walk with a higher step.

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

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)

OLE是德国大学Madgeburg-Stendal里机器人科学家们的最新成果。长着六条腿的它就像我们平常一直看到的小甲虫一样，可以慢慢的挪来挪去。时速9-18公里。恩，没错。爬的其实很快。理论上，几十个这样的机器人可以被布置在森林的一些重点火灾区，然后使用一个生物探测系统来探测火源。一旦发现有火，火苗的话，可以利用自身带的灭火剂，将火种扼杀在萌芽中，如果是大火，那就三十六计中上计咯，由于自身带的陶瓷复合纤维能够承受1300度的高温，再加上灵活的移动能力，逃出生天应该是可以的。

"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.