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

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

5. Tasks 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!)

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

7. This is the competition!

10. 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 pts for Wheel chair car, 20 pts for Car, and 20 pts for Defender.(build by NQC or your own sensor)

11. Project flow Know the project goals/requirements.
Learn RCX programming/Gather ideas for robot design.
Build a pathfinder.
Test run.
Final competition.

12. 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.

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

14. 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.

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

16. 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

17. Repetition For example:
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

18. 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.

19. 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%
End

20. 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.

21. 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

22. 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.

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

24. 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~

25. Gear Transmission device
Angular velocity is the same
the bigger wheel will run faster
Smaller wheel will run slower
The torque and power from the motor is the constant
Smaller wheel will have higher surface force
Tongue=10
R1=10
R2=1
F2=?
F1=1
F1*R1=Tongue

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