1 Design and Discovery Robotics Wednesday May 10th 2006 Education Centre Drumcondra Design and Discovery Robotics Wednesday May 10th 2006 Education Centre Drumcondra

2 Robotics Learning Opportunities Students 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 environments Inaccessible areas Repetitive boring jobs Play

3 Future Robotics Developments Artificial Intelligence Can Machines think? Turing Test 1950 Cyborg- part human, part robot Kevin Warwick, University of reading

4 Robotic Resource  Play Video now Play Video now  Play Video now Play Video nowPlay Video now  Play Video now Play Video nowPlay Video now  Play Video now t&toggle=1&cop=&ei=UTF-8 t&toggle=1&cop=&ei=UTF-8  t&toggle=1&cop=&ei=UTF-8

5 Anatomy of the BrainiBorg robot Anatomy of the BrainiBorg robot Software – CD Software – 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

6 3 motors-front middle back 3 motors-front middle back left LED, right LED left LED, right LED ( emit light ) Phototransistors Phototransistors ( detect visible and infra red light ) micro-controller micro-controller battery packs battery packs socket for PC socket for PC on/off switch on/off switch Piezo sounder Piezo sounder BrainiBorg Anatomy

7 Phototransistor Detail

8 Getting Going Minimum installation  Place CD in drive  Explore the CD  Copy the Bin folder to the desktop  Double click on ibotz icon

9 Full Installation Place CD in CD tray Place CD in CD tray Autorun should start. (If not, Double Click My Computer on desktop, Right Click the CD Rom drive, Click Explore, Click Setup.exe) Click Install, percentage progress bar appears. Autorun should start. (If not, Double Click My Computer on desktop, Right Click the CD Rom drive, Click Explore, Click Setup.exe) Click Install, percentage progress bar appears. Message box: Quadrabotz is now installed. Run Program? Yes No Click Yes Message box: Quadrabotz is now installed. Run Program? Yes No Click Yes Message box: Run first tutorial activity? Yes No Click Yes When the activity is complete move on the step 5. Message box: Run first tutorial activity? Yes No Click Yes When the activity is complete move on the step 5. Examine Brainiborg (BB): Note battery cases, 3 motors, ON / OFF switch, cable connection port, LED and Infra Red (+ visible light) sensors and Sounder. Fit batteries to Brainiborg Examine Brainiborg (BB): Note battery cases, 3 motors, ON / OFF switch, cable connection port, LED and Infra Red (+ visible light) sensors and Sounder. Fit batteries to Brainiborg Connect cable to Comms. port on computer and to the earphone jack port (RS 232) on the BB. Connect cable to Comms. port on computer and to the earphone jack port (RS 232) on the BB. To check for connectivity; Click on Options Comms. A message box appears, as follows: To check for connectivity; Click on Options Comms. A message box appears, as follows: If necessary change the comms port number and try again until you get a successful connection. If necessary change the comms port number and try again until you get a successful connection.

10 Enter or Type Code Choose Front - Middle – Rear Left – Off – Right Click motor button Sequence

11 1. Front left leg moves forward Programme Execution

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

13 3. Front right leg moves forward

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

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

16 1. Front left leg moves forward

17 To make the robot move backward Type /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)

18 To make the robot move forward Type/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)

19 Gait 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 Gait(gFwd) To move the robot forward type in Gait(gFwd) try Gait(gRight) try Gait(gRight)Gait(gLeft)

20 The interface also has 6 gait buttons at the bottom. The interface also has 6 gait buttons at the bottom. Each press will execute one cycle. Each press will execute one cycle. Forward Gait Forward Gait Backward Gait Backward Gait Turn-left Gait Turn-left Gait Turn-right Gait Turn-right Gait Backward Left Gait Backward Left Gait Backward Right Gait Backward Right Gait As an exercise try a few and notice the code appearing and test. As an exercise try a few and notice the code appearing and test.

21 Event Programming The Gait forward command instructs the robot to walk forward all the time, until something in the outside world happens. The Gait forward command instructs the robot to walk forward all the time, until something in the outside world happens. This is called an event. This is called an event. In the main, enter the following code: In the main, enter the following code:Gait(gFwd) Then click Event. In Obstacle Event box, click the Right button and the Event RightObs box appears. Now enter in the following commands as shown below. Then click Event. In Obstacle Event box, click the Right button and the Event RightObs box appears. Now enter in the following commands as shown below. Download the program to BB. When BB is moving, place an obstacle in the front right position. Observe BB’s reaction. Download the program to BB. When BB is moving, place an obstacle in the front right position. Observe BB’s reaction.

22 Back off from light The robot does nothing until light shines on it and then it reverses. Enter in the following Beep(27) Gait(gRev) Beep(248) Gait(gRev) then test to see what happens

23 Measure Option Press