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Design and DiscoveryDesign and DiscoveryRoboticsRobotics

Wednesday May 10th 2006Wednesday May 10th 2006Education CentreEducation Centre

DrumcondraDrumcondra

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RoboticsRoboticsLearning OpportunitiesLearning Opportunities

Students work independently-project workStudents work independently-project work What is a robot?What is a robot? What can a robot be used for?What can a robot be used for?Dangerous environmentsDangerous environments

Inaccessible areasInaccessible areasRepetitive boring jobsRepetitive boring jobsPlayPlay

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Future Robotics Future Robotics DevelopmentsDevelopments

Artificial Intelligence

Can Machines think?

Turing Test 1950

Cyborg- part human, part robot

Kevin Warwick, University of reading

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Robotic ResourceRobotic Resourcehttp://www.thetech.org/robotics/http://www.thetech.org/robotics/http://www.es.northropgrumman.com/remotechttp://www.es.northropgrumman.com/remotec

http://www.irobot.com/http://www.irobot.com/http://www.robot.org.uk/http://www.robot.org.uk/http://www.ibotz.comhttp://www.ibotz.com

http://www.kevinwarwick.com/http://www.kevinwarwick.com/http://http://www.heanet.ie/services/services.php?serIDwww.heanet.ie/services/services.php?serID=115&subID=29=115&subID=29 http://marsrover.nasa.gov/home/index.htmlhttp://marsrover.nasa.gov/home/index.html

Play Video nowPlay Video nowhttp://citroenpampeana.com.ar/images/picasso.mpghttp://citroenpampeana.com.ar/images/picasso.mpg

Play Video nowPlay Video now http://www.theembassyvfx.com/qt/Citroen_480.movhttp://www.theembassyvfx.com/qt/Citroen_480.mov

Play Video now Play Video now http://robotics.nasa.gov/courses/summer05/main/index.php?http://robotics.nasa.gov/courses/summer05/main/index.php?

crs=june23/2&opt=0crs=june23/2&opt=0http://video.search.yahoo.com/search/video?p=robomo&fr=FP-tab-vid-http://video.search.yahoo.com/search/video?p=robomo&fr=FP-tab-vid-

t&toggle=1&cop=&ei=UTF-8 t&toggle=1&cop=&ei=UTF-8

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Anatomy of the BrainiBorg robotAnatomy of the BrainiBorg robot

Software – CDSoftware – CD

Programs:Programs: (i) move forward – simple code(i) move forward – simple code

(ii) move backward — simple code(ii) move backward — simple code (iii) Gait(iii) Gait (iv) event(iv) event (iv) to detect obstacle(iv) to detect obstacle (vi) light event(vi) light event

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3 motors-front middle back3 motors-front middle back

left LED , right LEDleft LED , right LED( emit light )( emit light )

PhototransistorsPhototransistors( detect visible and infra red light )( detect visible and infra red light )

micro-controllermicro-controller

battery packsbattery packs

socket for PCsocket for PC

on/off switchon/off switch

Piezo sounderPiezo sounder

BrainiBorg BrainiBorg AnatomyAnatomy

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Phototransistor Detail

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Getting GoingGetting Going

Minimum installation

Place CD in drive

Explore the CD

Copy the Bin folder to the desktop

Double click on ibotz icon

Quadrabotz.exe

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Full InstallationFull Installation Place CD in CD trayPlace CD in CD tray Autorun should start. (If not, Double Click My Computer on desktop, Autorun should start. (If not, Double Click My Computer on desktop,

Right Click the CD Rom drive, Click Explore, Click Setup.exe) Click Right Click the CD Rom drive, Click Explore, Click Setup.exe) Click Install, percentage progress bar appears.Install, percentage progress bar appears.

Message box: Quadrabotz is now installed. Run Program? Yes No Message box: Quadrabotz is now installed. Run Program? Yes No Click Yes Click Yes

Message box: Run first tutorial activity? Yes No Message box: Run first tutorial activity? Yes No Click Yes When Click Yes When the activity is complete move on the step 5.the activity is complete move on the step 5.

Examine Brainiborg (BB): Note battery cases, 3 motors, ON / OFF switch, Examine Brainiborg (BB): Note battery cases, 3 motors, ON / OFF switch, cable connection port, LED and Infra Red (+ visible light) sensors and cable connection port, LED and Infra Red (+ visible light) sensors and Sounder. Fit batteries to BrainiborgSounder. Fit batteries to Brainiborg

Connect cable to Comms. port on computer and to the earphone jack Connect cable to Comms. port on computer and to the earphone jack port (RS 232) on the BB.port (RS 232) on the BB.

To check for connectivity; Click on Options To check for connectivity; Click on Options Comms. A Comms. A message box appears, as follows: message box appears, as follows:

If necessary change the comms port number and try again until you get If necessary change the comms port number and try again until you get a successful connection.a successful connection.

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Enter or Type CodeEnter or Type Code

ChooseFront - Middle – Rear

Left – Off – Right

Click motor button

Sequence

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1. Front left leg moves forward

Programme ExecutionProgramme Execution

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2. Do nothing for 14 jiffies (0.7 secs.)

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3. Front right leg moves forward

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4. Do nothing for 14 jiffies (0.7 secs.)

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5. Go back to the first instruction and do it all

again!

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1. Front left leg moves forward

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To make the robot move backwardTo make the robot move backwardType /Enter in the following codeType /Enter in the following code

MOTOR(xLx)MOTOR(xLx)

Delay(14)Delay(14)

Motor(LxR)Motor(LxR)

Delay(14)Delay(14)

Motor(xRx)Motor(xRx)

Delay(14)Delay(14)

Motor(RxL)Motor(RxL)

Delay(14)Delay(14)

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To make the robot move forwardTo make the robot move forward

Type/Enter in the following codeType/Enter in the following code

Motor(xLx)Motor(xLx)

Delay(14)Delay(14)

Motor(RxL)Motor(RxL)

Delay(14)Delay(14)

Motor(xRx)Motor(xRx)

Delay(14)Delay(14)

Motor(LxR)Motor(LxR)

Delay(14)Delay(14)

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GaitGait

With a Gait all instructions are included.With a Gait all instructions are included.

To move the robot back, now type in Gait(gRev)To move the robot back, now type in Gait(gRev)

To move the robot forward type in To move the robot forward type in Gait(gFwd)Gait(gFwd)

try try Gait(gRight)Gait(gRight)

Gait(gLeft)Gait(gLeft)

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The interface also has 6 gait buttons at the The interface also has 6 gait buttons at the bottom.bottom. Each press will execute one cycle.Each press will execute one cycle.

Forward GaitForward Gait

Backward GaitBackward Gait

Turn-left GaitTurn-left Gait

Turn-right GaitTurn-right Gait

Backward Left GaitBackward Left Gait

Backward Right GaitBackward Right Gait

As an exercise try a few and notice the code As an exercise try a few and notice the code appearing and test. appearing and test.

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Event ProgrammingEvent Programming

The Gait forward The Gait forward command instructs the robot to walk forward allcommand instructs the robot to walk forward all the the time, until something in the outside world happens.time, until something in the outside world happens.

This is called This is called an event.an event.

In the main, enter the following code:In the main, enter the following code:Gait(gFwd)Gait(gFwd)

Then click Event. In Obstacle Event box, click the Right button and the Then click Event. In Obstacle Event box, click the Right button and the Event RightObs box appears. Now enter in the following commands as Event RightObs box appears. Now enter in the following commands as shown below.shown below.

Download the program to BB. When BB is moving, place an obstacle in the Download the program to BB. When BB is moving, place an obstacle in the

front right position. Observe BB’s reaction.front right position. Observe BB’s reaction.

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Back off from lightBack off from lightThe robot does nothing until light shines on it and The robot does nothing until light shines on it and

thenthen

it reverses.it reverses.

Enter in the followingEnter in the following

Beep(27) Gait(gRev)Beep(27) Gait(gRev)

Beep(248) Gait(gRev)Beep(248) Gait(gRev) then test to see what happensthen test to see what happens

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Measure Option

Press