Robotics Data driven robotics, 3D modeling, Google SketchUP Lab: obtain information about 'room' to store in file to upload to computer to draw Homework: Google SketchUP: Sign up, download and produce something (your room, a piece of furniture, toy….)

Old Acronyms Computer Aided Design Computer Aided Manufacturing Computer Integrated Manufacturing Manufacturing Resource Planning Enterprise Resource Planning Companies: Oracle (PeopleSoft), SAP more….

Data Driven robotics Use data in some form to generate tasks for robot –For example, positions on circuit boards for placement and/or testing. Note: automation may be forced by the –scale (very small) and –precision requirements In addition, shear volume of information makes [flexible] automation better fit

Robodoc Dr. Bargar, orthopedic surgeon, regarding hip replacements: I design the implant using 21 st century CAD/CAM, but I put it in using 18 th carpentry. Place pins in hip (fiducial marks / calibration) Use CAT scans to design implant and generate positions for robot arm.

Build to order manufacturing Data in order generates instructions for manufacturing –What set of parts –What gets in final package –What color, size, etc.

3D modeling necessary? Robot, through the use of sensors, may either –Generate by itself the 'world map' or –Do without it Relates to use of GPS while driving: still look around and follow rules of the road!

3D modeling Create virtual world consisting of –Combinations of primitive shapes, chiefly polyhedra Vertices, edges, faces, PLUS some designation to determine what is inside and what is outside. Can be done in order of the edges constituting the faces Render (show pictures of the world) Perform calculations to answer questions –Is there a path –production of path for robot

3D modeling Curved surfaces generally consist of facetted polyhedra May not be visible or important to model Does contribute to time requirements, especially for rendering

3D model Alternative (or additional) approach to use of primitive 3D shapes is to use lines and arcs and operation that generates a 3D shape by sweeping (projecting) the 2D shape –Google SketchUP push/pull

Faces Color and/or texture Apply (wrap) surface, with specific properties of reflectance

Rendering Define position of eye (aka camera), focus point, type of projection, light sources Go from wire frame –Show all vertices and edges To Picture, with appropriate hidden line / hidden surface removal, shadows Many different methods. Ray tracing is one of the most common

Google SketchUP 7 Available for free There is a Pro version Uses lines, rectangles, arcs, circles, plus implicit dependences (induced objects) 3D Warehouse: user created archive of buildings, stuff, including Lego (but mostly not Mindstorms) –Connection with Google Earth

Google SketchUP [if it is in the lecture room] demonstrate

Lego Digital Designer Lego offering: free One function is to order the parts after building a model Does not appear to have Mindstorms (technic) parts.

LDraw.org Organized user group Free download of system files plus part libraries Libraries of Lego parts –Official (approved by the organization standards committee) and unofficial –It appears that the Mindstorms parts are slowly being added.

MyBlock NXT-G version of subroutine Can have data wires going in and coming out –Cannot add these after the fact. Create blocks within larger program and then select and Create MyBlock –Can design a look for the block, write description

MyBlock Benefits Makes programs more understandable Can re-use code in one program or several Negatives Clunky process to create. Need to know data wires in and out.

Discussion Each group indicate plans for mapping

Homework Postings Download Google SketchUP: use and report –Let me know if you need an invitation to join gmail. –Do tutorials / watch videos –Produce something (house, table, monster?), print and bring to class AND put in link on moodle Lab: Complete mapping project Check schedule for midterm date and midterm guide