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ENGR 100 - Robotics Project

ENGR 100 - Robotics Project What is a Robot? A Electro-Mechanical system Plus Artificial intelligence Can do certain tasks that human like Robot Arm Honda Asimo Robot Fish Robot Vacuum Basic Component of Robot Artificial Intelligence(software) Learning (Neuron network training)

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ENGR 100 - Robotics Project

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  1. ENGR 100 - Robotics Project

  2. What is a Robot? • A Electro-Mechanical system Plus Artificial intelligence • Can do certain tasks that human like Robot Arm Honda Asimo Robot Fish Robot Vacuum

  3. Basic Component of Robot • Artificial Intelligence(software) • Learning (Neuron network training) • Motion control(output) • Information analysis(input) • Physical Part(Hardware) • Leg, Hand, Head • spine http://www.youtube.com/watch?v=Q3C5sc8b3xM http://www.youtube.com/watch?v=9vRg64HX5gA http://www.youtube.com/watch?v=eO9oseiCTdk

  4. Project Objectives The goals of this project are to: • Basic computer programming. • Experience the design process. • Build a programmable robot.

  5. Three different tasks: Robotic Wheelchair, Car, The defender. Three different programs: Program 1 - Robotic Wheelchair (do first!) Program 2 - Car Program 3 – Dog/Cat. The defender (be creative!) Tasks

  6. 8 ft 1 ft 1ft 4 ft 8 1/3 ft 68” 4 ft Defender Free Zone 2 ft Arena Layout

  7. This is the competition!

  8. Scoring for performance grading 10 pts 10 pts 10 pts 10 pts 10 pts Base Pts – At some point before competition day, each team’s robot must complete the entire course. Additional points each round - 20 pts for Wheel chair car, 20 pts for Car, and 20 pts for Defender.(build by NQC or your own sensor)

  9. Project flow • Know the project goals/requirements. • Learn RCXprogramming/Gather ideas for robot design. • Build a pathfinder. • Test run. • Final competition.

  10. Rules (see handout for complete listing) • Robotic wheelchairs cannot be touched once competition has started. • Malfunctioning defenders and cars will be removed from the course. • Max robot dimensions at start of competition - 1 ft x 1 ft x 1 ft • Wheelchairs and cars sending messages will be disqualified. Defenders not limited.

  11. Robot Basics -RCX • Command Brick • 3 output • 3input • 5 programe

  12. Robot Basics - Sensors & Motors • Input/Output Ports • Touch sensors • Light sensor • Motors • RCX signals Tips - Use view mode to check light sensor. Battery power affects speed of motors. Batteries run out fast! Don’t block infrared sensor.

  13. Robot basics – Programming No matter what language you use, there are 3 basic control structures for organizing the programming commands: • Sequential • Repetition (Loops) • Conditional

  14. Sequential • Sequential statements are defined as a list of commands that are executed in order. • For example: Set Forward Direction Go forward for 3 s Stop

  15. Repetition • Repetition statements allow for a series of commands to be repeated for a set number times. • For example: Repeat 3 times Set forward direction Move forward for 3 s Stop End Repeat

  16. Conditional • Conditional statements allow for two (or more) different sets of commands to be executed depending on a condition. • For example, • If certain conditions are true - one set of commands will be execute. • Else if any (or all) are false - another set of commands will be executed.

  17. Example of Conditional Statements • For example - • If the light is <50% Set Direction Forward Move Forward for 3 s Stop • Else If light is >= 50% Stop • End

  18. Exercise • 3 types of control structures • Sequential, Repetition, Conditional • Which one above would work best for the following situations - • Robotic wheelchair executes a left turn. • Robot wheelchair backs up if it hits the wall. • Car moves back and forth across crosswalk.

  19. Programming Environment(Robotics Invention System 2.0 ) • Graphical language • High level • Drag in desired function • Upload the program to RCX by IR signal IR Com. RCX

  20. Features of RCX software • Multi-threaded language • Different parts of the program execute at the same time. • Loops in main program interfere with subprogram. • Variables limited to 1 or 0 • Use counter as variable. • Not Quite C (NQC) language allows for more variables.

  21. Programming Environment(Not Quite C ) • C based program • Allows more variable • Command list is provided • Text coding

  22. What are we going to do today? • Build your robot. • inventory • Plan your project. • Share your work • Learn how to build a robot and communicate with it~

  23. GearTransmission device • Angular velocity is the same • thebiggerwheelwillrunfaster • Smallerwheelwillrunslower • Thetorqueandpowerfromthemotoristheconstant • Smallerwheelwillhavehighersurfaceforce Tongue=10 R1=10 R2=1 F2=? F1=1 F1*R1=Tongue

  24. Gear • No Slip condition • The tangential velocity is a constant • W*R is a constant • W=angular velocity • R=radius 5 10 W6 W5 W1=10 5 10 5*10=10*W2 1*10=5*W4 W4=? W4=W5? W5*10=W6*5 W6=? W3=1 W4

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