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Project Overview  Introduction to Factory Automation Numerical Control  Build an autonomous robotic solution  Testing an autonomous robot build by human control  Programming a autonomous robot  Exploring sensors  Autonomous robot design challenge  Industrial applications build challenge  Industrial applications robot delivery  Manufacturing system design challenge

LESSON 05

Endorsed by Learning objective: Learnt about different forms of sensors and how they work within a robotic system, develop a working knowledge of sensors and sensing capability, and build sensors into a robot solution. Sensor exploration Quick task: In groups, discuss each sensor and try to decide which description card matches which sensor. Bumper Switch Limit Switch Line Tracker Ultrasonic Range Finder Optical Shaft Encoder Light Sensor ? Lesson 5 - Starter

Endorsed by autonomous Robotics Sensors Robots becoming autonomous Sensors provide inputs to a control system. This means that a signal is travelling from a device attached to the Cortex (brain), and the Cortex is responding to this information (based on the programs instructions) by creating its own signal which travels out to another attached device. The joystick – creates signals which are sent wirelessly to the cortex The sensors – creates signals which travel by wires to the cortex, and can receive signals from the cortex in a loop The movement– translates and changes the direction of movement and motion The battery – powers the cortex and all subsequent attached devices The structure – creates the frame and arrangement of devices to make a functional robot based on mechanical principles The Cortex – the brain, receiving and sending out signals from all devices attached and wirelessly

Endorsed by Robots becoming autonomous Autonomous robotic solutions need sensors. Without them the robot is simply a device controlled by a human. Without the human control, the robot would only be able to continually output a single function without being able to acknowledge changing situations or faults. Imagine a car driving at full acceleration without a driver. It would eventually run out of fuel at best, and at worst crash! + + = + - =  Sensors are the key to making a robot smarter. Sensors are also key to replacing human work with robot work. This is good in instances of risk to human life. Sensors lastly can prevent a robot from destroying itself due to it not being self aware. Sensors can go some way to preventing a cost to the business. Sensors can be fitted individually, but often work in sets, communicating information at different points in an operation. autonomous Robotics Sensors

Endorsed by Task In your teams, identify where each sensor would provide functionality to our robot as feedback to the robot. Be ready to communicate this to the class. autonomous Robotics Sensors Where would each sensor work best ?

Endorsed by Define what the sensor is there for… How have you planned to use the sensor? Is it to: A Locate an object to interact with? or B Prevent the robot from damaging itself? How would you place the sensors we’ve discussed into this table? Consider for example; is the bump sensor, being that it is designed to “bump”, better at helping the robot locating an object or not damaging itself? If the bump sensor “bumps” an object will it move out of the way? If the robot needs a bump sensor to avoid damaging itself, has it not already bumped into itself? Interacting with an objectPreventing damage to the robot autonomous Robotics Sensors

Endorsed by Fitting your sensors To begin with, you are going to fit the sensors you feel your robot needs. You will be able to use various spare VEX parts and the tools to fit the sensors, but you will need to make sure it can plug into the cortex (you might need an extension wire for this). Here is an example for the existing robot solution. Bump sensor example In the storage area, a bump sensor has been fitted so that when an object lands, it triggers a signal to the cortex to inform the robot the object has been dropped. Still not autonomous To make this sensor useful, the robot needs to be able to move the object without human control, otherwise both the human and the robot are acknowledging that an object has been dropped. autonomous Robotics Sensors

Endorsed by Adding multiple sensors By adding a second sensor to the robot arm, we are able to automate the arm movement. I.e. the arm will move to a point but then stop. By introducing this, we are now able to programme the robot to move until the sensor stops it, pick up an object, then move to a new location to drop it off. Link to the bump If we then also use the bump sensor, each time the object triggers the bump sensor, the robot programme could reset and repeat. autonomous Robotics Sensors

Endorsed by Next lesson design brief In the next lesson, you will be given opportunity to fit sensors and modify your robot so that it can begin to become fully autonomous. You will need to ensure that the human has minimal input, and you as the robot engineer can simply start and stop the robot when needed. It will need to carry out the task of collecting objects and placing them into the storage area. If you can, you can also extend your robot solution so that it can: - pick up only certain colour objects - can remove objects from the storage area - will know the storage area is full Task In your teams, begin to design and sketch ideas for modifying the existing robot solution to use each of the sensors either alone or in sets. Consider the brief and how you might achieve each element of it. autonomous Robotics Sensors

Endorsed by LESSON 5 Plenary As a class, let us consider the following questions? A. Why would sensors be important for an autonomous vacuum cleaner robot? B. In what environments would sensing capabilities not be suitable? C. In what environment would light and dark sensors have the most impact for a robot? D. What sensors would an autonomous airplane or quadcopter have, where and why?

Endorsed by Today you have:  Learnt about sensors and what sensors do  Developed knowledge about how to integrate sensors into a robot  Built a sensing robot Learning objective: Learnt about different forms of sensors and how they work within a robotic system, develop a working knowledge of sensors and sensing capability, and build sensors into a robot solution. LESSON 5 Summary