1. ENGR 100 - Robotics Project

2. What is a Robot? 1.A Electro- Mechanical system Plus Artificial intelligence 2.Can do certain tasks that human like Robot Arm Honda Asimo Robot Fish Robot Vacuum

3. Basic Component of Robot zArtificial Intelligence(software) yLearning (Neuron network training) yMotion control(output) yInformation analysis(input) zPhysical Part(Hardware) yLeg, Hand, Head yspine http://www.youtube.com/watch?v=Q3C5sc8b3xM http://www.youtube.com/watch?v=eO9oseiCTdk http://www.youtube.com/watch?v=9vRg64HX5gA

4. Project Objectives The goals of this project are to: yBasic computer programming. yExperience the design process. yBuild a programmable robot.

5. Tasks Three different tasks: Robotic Wheelchair, Car, The defender. Three different programs: zProgram 1 - Robotic Wheelchair (do first!) zProgram 2 - Car zProgram 3 – Dog/Cat. The defender (be creative!)

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

7. This is the competition!

10. Scoring for performance grading 10 pts Base Pts – At some point before competition day, each team’s robot must complete the entire course. Additional points each round - 20 pts for Wheel chair car, 20 pts for Car, and 20 pts for Defender.(build by NQC or your own sensor) 10 pts

11. Project flow zKnow the project goals/requirements. zLearn RCX programming/Gather ideas for robot design. zBuild a pathfinder. zTest run. zFinal competition.

12. Rules (see handout for complete listing) zRobotic wheelchairs cannot be touched once competition has started. zMalfunctioning defenders and cars will be removed from the course. zMax robot dimensions at start of competition - 1 ft x 1 ft x 1 ft zWheelchairs and cars sending messages will be disqualified. Defenders not limited.

13. Robot Basics -RCX zCommand Brick z3 output z3input z5 programe

14. Robot Basics - Sensors & Motors zInput/Output Ports zTouch sensors zLight sensor zMotors zRCX 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: ySequential yRepetition (Loops) yConditional

16. Sequential zSequential statements are defined as a list of commands that are executed in order. zFor example: Set Forward Direction Go forward for 3 s Stop

17. Repetition zRepetition statements allow for a series of commands to be repeated for a set number times. zFor example: Repeat 3 times Set forward direction Move forward for 3 s Stop End Repeat

18. Conditional zConditional statements allow for two (or more) different sets of commands to be executed depending on a condition. zFor example, yIf certain conditions are true - one set of commands will be execute. yElse if any (or all) are false - another set of commands will be executed.

19. Example of Conditional Statements zFor example - yIf the light is <50% Set Direction Forward Move Forward for 3 s Stop yElse If light is >= 50% Stop yEnd

20. Exercise z3 types of control structures ySequential, Repetition, Conditional zWhich one above would work best for the following situations - yRobotic wheelchair executes a left turn. yRobot wheelchair backs up if it hits the wall. yCar moves back and forth across crosswalk.

21. Programming Environment ( Robotics Invention System 2.0 ) zGraphical language zHigh level zDrag in desired function zUpload the program to RCX by IR signal RCX IR Com.

22. Features of RCX software zMulti-threaded language yDifferent parts of the program execute at the same time. yLoops in main program interfere with subprogram. zVariables limited to 1 or 0 yUse counter as variable. yNot Quite C (NQC) language allows for more variables.

23. Programming Environment (Not Quite C ) zC based program zAllows more variable zCommand list is provided zText coding

24. What are we going to do today? 1.Build your robot. zinventory 2.Plan your project. zShare your work 3.Learn how to build a robot and communicate with it~

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

26. Gear zNo Slip condition zThe tangential velocity is a constant zW*R is a constant zW=angular velocity zR=radius 510 W1=10 5*10=10*W2 10 5 W3=1 1*10=5*W4 W4=? W4=W5? W5*10=W6*5 W6=? W5 W4 W6