Robot Builders Source Book - Gordon McComb Episode 1 Part 4 potx

competitions-other 102  http://www.microrobotna.com/ Robot kits, microcontroller boards, and parts for sumo, soccer, and line-following competition ’bots. For example, the company’s Robo-Lefter is a maze solving MicroMouse. (Its name is derived from the left-turn maze-solving algorithm it uses.) The products are available through distributors or directly from Microbot NA. x  RoboFesta-Europe 203951 http://www.robofesta-europe.org/ RoboFesta-Europe is part of an international move- ment to promote interest throughout Europe in sci- ence and technology, including robotics. Sponsors Olympics-style competition events. See also the international RoboFesta page: http://www.robofesta.net/  RoboFesta-International 203952 http://www.robofesta.net/ RoboFesta is an international movement to promote interest throughout the world in science and technol- ogy, including robotics. Sponsors Olympics-style com- petition events. Web page in Japanese, English, and French. SEE ALSO: http://www.robofesta-europe.org/  RoboFlag 202215 http://roboflag.carleton.ca/ Autonomous mobile robots compete against one another to capture a flag. See also: http://roboflag.carleton.ca/gallery/ http://roboflag.carleton.ca/competition/ http://robotag.carleton.ca/ Hosted by Carleton University (Ottawa, Ontario, Canada).  Robot Vacuum Cleaner Contest 203352 http://www.botlanta.org/Rally/index.html Fastest robot to vacuum up a half pound of rice wins.  Robotag.com 203995 http://www.robotag.com/ Pictures, movies, and descriptions of Team SCUD’s Robotag entrants.  Robotag.com Web site. RSSC Robot Talent Show 203353 http://www.dreamdroid.com/talentshow.htm A regular talent show put on by the Robotics Society of Southern California; judging is by software, hardware, and how good your ’bot looks in a swimsuit.  Team SCUD 203778 http://www.robotag.com Tag-playing entrant. Plenty of design photos.  Trinity College Fire-Fighting Home Robot Contest 202095 http://www.trincoll.edu/events/robot/ World-famous firefighting contest. Robots roll or walk through a scaled-down model of a house looking for a candle to extinguish. Harder than it sounds.  competitions-OTHER 103 Walking Machine Challenge 202561 http://www.sae.org/students/walking.htm The Society of Automotive Engineers sponsors a chal- lenge in college-level engineering to design, build, and test a walking machine with a self-contained power source. Many of the resulting designs are quite sophis- ticated.  Western Canadian Robot Games 202093 http://www.robotgames.com/ The Western Canadian Robot Games is one of the old- est robot competitions, with events that include sumo wresting, something called atomic hockey, a hallway navigation game for walking robots, and a series of chal- lenges specially designed for BEAM robots. The compe- titions are held annually in Alberta, Canada.  vides a view of the game field, and this view is electroni- cally interpolated to remotely command the players. The RoboCup soccer competition is the most famous, and there are local versions of it for those who cannot travel to Japan, where the main event is staged. Soccer is one form of robot game that involves balls. Other forms include volleyball and ball collecting. BotBall 203969 http://www.botball.org/ Competition sponsored by the KISS Institute for Practical Robotics (KIPR).  Canada First Robotic Games 202094 http://www.canadafirst.org/ Canada First is a team-based robotics competition spon- sored by various Canadian companies to motivate stu- dents in the fields of math, science, and technology. The competitions generally involve soccer and ball han- dling of some type. Web site is in English and French.  FIRA Robot World Cup 203340 http://www.fira.net/ Robot Soccer in China.  Intelligent Robot Contest Festival 203342 http://www.robotics.is.tohoku.ac.jp/inrof.html The rules and regulations of the Intelligent Robot Contest Festival in Sendai, Japan. Web site is in Japanese and English.  Jerry Sanders Creative Design Competition 203333 http://dc.cen.uiuc.edu/ A competition of autonomous or radio control ball col- lectors. Or maybe it’s “bill collectors,” in which case, I don’t like this competition at all!  Web site for the Western Canadian Robot Games. qrCompetitions-Soccer & Ball Playing Robotic soccer is played either by two robots against one another, or one team of robots against another. This form of robot competition is among the most chal- lenging, especially for multirobot teams. In the multi- ple-robot version of the game, each robot plays a cer- tain position on the team and is programmed accordingly. The robots must communicate with one another in order to play successfully. In some soccer tournaments, an overhead machine vision system pro- competitions-soccer & ball playing 104 KISS Institute for Practical Robotics (KIPR) 202540 http://www.kipr.org/ In the words of the Web site: “KISS Institute for Practical Robotics (KIPR) is a private non-profit community- based organization that works with all ages to provide improved learning and skills development through the application of technology, particularly robotics. We do this primarily by providing supplementary, extra-curric- ular and professional development classes and activities. KISS Institute’s activities began in 1993.” KIPR also sponsors the annual Bot Ball tournament for middle and high school students.  RoboCup 202560 http://www.robocup.org/ RoboCup is an international project to promote the fields of artificial intelligence and robotics. This is accomplished with soccer competitions-two teams of robots square off against one another and play a game of soccer without human intervention. RoboCup is held annually in Japan.  Sony Robotbox 202057 http://www.sony.co.jp/en/SonyInfo/dream/ robotbox/ Online magazine for RoboCup competitions.  Trinity LEGO Cybernetics Challenge 203355 http://www.cs.tcd.ie/research_groups/cvrg/lego/ index.html A game of robot volleyball between teams of two robots, which were built using LEGO Mindstorms.  qrCompetitions-Sumo Robot sumo involves two contestants on a round play- ing mat. The object is for one contestant to push its opponent off the mat before it gets pushed out. In all but a few cases, the robot fighters are autonomous and are not controlled remotely by a human operator. The playing mat is typically 6 feet in diameter and is painted black. A white stripe is painted near the outside rim of the mat and is used by the robot to help it deter- mine the boundary of the playing field. Sumo competitions are separated into weight classes. All robots within a class must weigh less than the stipu- lated amount, such as 2, 10, or 20 pounds. No weaponry is typically allowed in a sumo competition— it’s all about pushing. CIRC Autonomous Sumo Robot Competition 203337 http://www.circ.mtco.com/ By the Central Illinois Robotics Club.  Critter Crunch 203338 http://www.milehicon.org/critrule.htm A robotic combat in which the object is to immobilize your opponent or to push it out of the arena. Two weight classes: 2 pounds and 20 pounds.  Web site for RoboCup, held yearly in Japan. RoboCup Junior 203935 http://www.robocupjunior.org.au/ RoboCup Junior, based in Melbourne, Australia, is for the design, construction, and competition of autonomous soccer-playing robots. The competitions are intended for school-age students.  competitions-sumo 105 How to Build a Sumo Wrestling Robot 202848 http://www.cercot.demon.co.uk/sumo/build.htm Discussion and pictures for building a sumo-style com- petition robot.  International Robot Sumo Wrestling Competition 203356 http://www.chibashoten.com/robot/ Japanese champions come to the U.S.! First prize is $2,000. Much grunting.  Northwest Robot Sumo 203346 http://www.sinerobotics.com/sumo/ One of the biggest American sumo competitions. Robot sumo, that is. The sponsor of the competition is Sine Robotics: http://www.sinerobotics.com/  OCAD Sumo Robot Challenge 203347 http://www.student.ocad.on.ca/info/sumo/ Bashing/crashing/smashing robots sponsored by the Ontario College of Art & Design.  Robot Sumo 203350 http://www.robots.org/events.htm An annual sumo competition held at the Explora- torium in San Francisco. Sponsored by the San Francisco Robotics Society of America.  Tips for Effective Sumo Robot Wrestling If you've ever watched a real sumo-wrestling match, then you know that at least part of the sport relies on weight and girth. Same with sumo robot wrestling, where the aim is to push your opponent outside the game field—usually a round, black circle. All things con- sidered, a heavier robot will push a lighter robot aside, but there is more science involved than you might think. • In most competitions, the advantage of weight is minimized by putting contestants into various classes. For the most part, you'll want your robot to be on the heavier side of its class, for any advantage that might give you. • Still, bear in mind that the heavier the robot, the harder it might be for its motors to pro- vide adequate speed and torque. Don't blindly sacrifice agility for weight. A fast-moving robot can more readily get out of trouble or position itself for a sideways push. • Wheel traction is critical. Be sure to read the rules for the competition, as you may be restricted on the size, material, and thickness of the wheels you use. Soft rubber pro- vides better traction and helps prevent your opponent from pushing you off the play field. Wider wheels offer increased surface area and therefore better traction. • A low center of gravity ensures your robot won't be easily turned over. A low, squat robot is usually the best design. • Many sumo robots use a scoop-like shovel at the front to partially lift their competitors off the play field. Once lifted, robots are easy prey. See if the competition rules allow for a shovel (most do not permit a weapon). computers 106 VComputers Listings in this section deal with computers for robot control, as well as computer interfacing and data acqui- sition. The emphasis is on small computers, particularly those that are self-contained and can be powered by a single 5- or 12-volt DC source. VComputers-Data Acquisition Data acquisition involves circuitry that converts an ana- log signal, such as temperature or vibration, to digital form so that it can be processed by a computer. This section lists data acquisition boards for PC-compatible computers as well as general-purpose data acquisition modules. Data acquisition modules typically provide their data through a standard interface, such as PC par- allel port, RS-232, or USB. DATAQ Instruments, Inc. 202667 241 Springside Dr. Ste. 200 Akron, OH 44333 USA  (330) 668-1444  (330) 666-5434  (800) 553-9006  info@dataq.com  http://www.dataq.com/ Dataq makes and sells data acquisition hardware and accessories, data acquisition software, signal-condition- ing components, and data acquisition starter kits (some low-cost bargains here). x  DATEL, Inc. 204205 11 Cabot Blvd. Mansfield, MA 02048-1151 USA  (508) 339-3000  (508) 339-6356  (800) 233-2765  websales@datel.com  http://www.datel.com/ Manufacturer and distributors of: • DC-DC converters • Sampling A/D converters • Data acquisition boards Datasheets available for the products in Adobe Acrobat PDF. Web site is in English and Japanese. x  Embedded Acquisition Systems 203059 c/o Kin Fong 2517 Cobden St. Sterling Heights, MI 48310 USA  (240) 266-4252  sales@embeddedtronics.com  http://embeddedtronics.com/ Makers of MiniDaq, a small data acquisition module for the PC. Also offers the EAS Finger Board II; scaled-down Handy Board. The Web site includes pics of prototype robots the company has made using their products. x V LabJack Corporation 203845 3112 S. Independence Ct. Lakewood, CO 80227-4445 USA  (303) 942-0228  (720) 294-0550  http://www.labjack.com/ Products include an affordable USB-based data acquisi- tion module. x V LabJack U12. Photo LabJack Corp. Copyright 2003 by Gordon McComb. Click Here for Terms of Use. computers-data acquisition 107 Giving Your ‘Bot a Brain Even the Scarecrow from The Wizard of Oz wanted a brain. You want your robot to be at least as smart as the Scarecrow, right? You can be your own wizard of Emerald City by giving out brains to your robotic creations. Instead of some phoney-baloney diploma, the brains you give your robots will be electronic in nature. The only trick is— which electronics? Noncomputer Electronic Components Noncomputer discrete components—transistors, resistors, capacitors, and integrated cir- cuits—can be used to control a robot. Such robots typically are "hard-wired" to perform some task, such as follow a line or seek out light. BEAM robots are a good example of machines that have noncomputer brains: No number crunching is going on in their elec- tronics. Rather, simple electronic circuits compel the robot to move. A popular design uses a 555 timer IC to control a motor. Separate 555 chips control each motor of a two-wheeled robot. The 555 timer outputs a series of short pulses, and the duration of these pulses determines the speed of the motor. If one motor goes a little slower than the other, the robot will move in wide, sweeping arcs. Add some bumper switches to the robot to back it up and another 555 to time how long the robot reverses direction, and the machine will do a remarkable job of navigating around a room. Watching the robot, you'd think the thing were controlled by a computer, but its "brain" is a simple collection of parts you can buy at Radio Shack. (If you're interested, the design for such a robot can be found in the book, Mobile Robots: From Inspiration to Implementation, among other sources.) Computers and Microcontrollers As attractive as noncomputer brains are, they are basically "hard-wired" as circuitry, and making changes to them requires lots of work. A robot controlled by a computer can be “rewired” simply by changing the software running on the computer. There is an almost endless variety of computers that be used as robot brains. The three most common are: • Microcontroller, programmed either in assembly language or a high-level language such as Basic or C. The LEGO Mindstorms RCX is a good example of a robot run from a microcontroller. Microcontrollers are available in 4-, 8-, 16-, and 32-bit versions (plus a few others, for special purposes). The Basic Stamp, PICmicro, AVR, OOPic, and BasicX are good examples of microcontrollers commonly used in amateur robotics. • Single board computer, also programmed either in assembly language or a high-level language, but generally with more processing power than a microcontroller. Single board computers (SBCs) are a lot like "junior PCs," but on a single circuit board. In fact, many SBCs are IBM PC-compatible and use Intel microprocessors capable of running any Intel-based program, including the MS-DOS operating system. A common SBC form factor is PC/104, which gets its name from "Personal Computer" (originally of IBM fame) and the number of pins (104) used to connect two or more PC/104-compatible boards together. • Personal computer, such as a PC compatible or an Apple Macintosh, or even an older model such as the venerable Commodore 64. A good option for robotics is a PC-com- patible laptop, particularly the older monochrome models that required less battery power. They're also fairly inexpensive on the used market. computers-data acquisition 108 Prairie Digital, Inc. 202208 920 Seventheenth St. Industrial Park Du Sac, WI 53578 USA  (608) 643-8599  (608) 643-6754  sales@prairiedigital.com  http://www.prairiedigital.com/ Prairie Digital sells I/O and interface boards: • General-purpose data acquisition system for PCs • 8-bit analog-to-digital converter • 12-bit analog-to-digital converter • Serial port data acquisition and control module • Low-cost 5 1/2-digit A/D with RS-232 serial control • Relay board x  VComputers-I/O I/O stands for input/output, circuitry designed to interface a computer to external circuitry. On a PC, I/O is used to connect the computer to a printer, for example. The I/O performs important functions of conditioning the data and acting as a barrier to prob- lems caused by the external device. The idea here is that it’s cheaper to replace an I/O board or module than the complete computer. The I/O listed in this section is particularly suited for robotics and other embedded applications. Depending on the configuration, I/O can be used with single board computers (SBCs) or with microcontrollers. Examples of I/O modules include relay bays (the com- puter activates the relays from program control), self- contained Web servers, and generic interfaces to step- per motor or H-bridge drivers. SEE ALSO: Computers-Single Board Computers: Something to connect the I/O to Internet-Circuit Examples: Plans for home- made I/O LEGO-Mindstorms: Ideas for I/O expansion for the Mindstorms robot Microcontrollers-Hardware: Using a microcontroller instead of an SBC ActiveWire, Inc. 202346 895 Commercial St. Ste.700 Palo Alto, CA 94303 USA  (650) 493-8700  (650) 493-2200  salesinfo@activewireinc.com  http://www.activewireinc.com/Manufacturers and sellers of ActiveWire-USB, a low-cost module designed to provide programmable I/O pins that can interface to anything, via a USB serial port on a PC or Macintosh. Programming examples are provided for Macintosh, Win95/98/2000/ME, Linux, FreeBSD, and LabView. The company offers add-on interfacing modules, including: • Motor control board, for controlling up to six small DC motors (maximum 600mA to 1A) All USB http://www.allusb.com/ USB converters - USB to serial, USB to parallel, etc. B&B Electronics http://www.bb-elec.com/ Products includes USB converters Movers and Shakers Steve Mann http://www.eecg.toronto.edu/~mann/ Professor Steve Mann, of the University of Toronto, literally wears his work. He’s widely known as the first person to actively and continually wear implanted electronic gizmos—the “Six-Million-Dollar Teacher.” His research involves the “wearable computer,” a sili- con brain that assists people in their everyday lives, possibly (at some point in the future) becoming a part of them. Of course, shades of The Borg and a lot of other sci-fi themes, but Professor Mann doesn’t seem to have domination of the galaxy on his mind. computers-i/o 109 Athena Microsystem Solutions 202522 10624 Rockley Rd. Houston, TX 77099 USA  (281) 418-5631  (281) 256-3851  info@athenamicrosystems.com  http://www.athenamicro.com/ Athena sells microcontrollers and single board com- puter peripherals. Product highlights include: • AMS-HE/DE-Precision Hall-effect DC current sens- ing module • AMS876-SIMMStick plug-in module based on Microchip’s PIC16F876 Flash memory microcon- troller • SLI-OEM-Serial LCD controller • AMS-900PA/232-Spread spectrum wireless transceiver x V JKmicrosystems, Inc. 202333 1403 Fifth St. Ste. D Davis, CA 95616 USA  (530) 297-6073  (530) 297-6074  jkmicro@jkmicro.com  http://www.jkmicro.com/ JKmicrosystems makes single board computers, periph- eral boards (A/D converter, I/O, relay), keypads, and LCD displays. x  • LCD character display module • Opto-isolator module, for connecting to relays, H- bridges, SCRs, and other high-current devices x  Model uIO Input output expansion board. Photo JKmicrosystems, Inc. computers-i/o 110 Of Inputs and Outputs Number Five (from the movie Short Circuit) was always shouting about "more input." Robots need both input and output—ways to get data from the outside world (input), and ways to control external devices, like motors (output) There are several specialized forms of I/O found on computers and microcontrollers that robots can use. Many are proprietary to a given circuit architecture: Microcontrollers from National may favor one approach; chips from Philips may favor another. In the end, many do similar jobs. Serial Communications I2C—Inter-Integrated Circuit, a two-wire serial network protocol used by Philips to allow integrated circuits to communicate with one another. With I2C you can install two or more microcontrollers in a robot and have them communicate with one another. One I2C-equipped microcontroller may be the "master," while the others are used for spe- cial tasks, such as interrogating sensors or operating the motors. Microwire—A serial synchronous serial communications protocol used in National Semiconductor products, and popular for use with the PICMicro line of microcontrollers from Microchip Technologies. Most Microwire-compatible components are used for interfacing with microcontroller/microprocessor support electronics, such as memory and analog-to-digital converters. SCI—Serial communications interface, an enhanced version of the UART, detailed later. SPI—Serial peripheral interface standard used by Motorola and others to communicate between devices. Like Microwire, SPI is most often used for interfacing with microcon- troller/microprocessor support electronics, especially outboard EEPROM memory. Synchronous serial port—Data is transmitted one bit at a time, using two wires. One wire contains the transmitted data, and the other wire contains a clock signal. The clock serves as a timing reference for the transmitted data. Note that this is different from asynchronous serial communication (see the following), which does not use a separate clock signal. UART—Universal asynchronous receiver transmitter, used for serial communications between devices, such as your PC and the robot's computer or microcontroller. Asynchronous means that there is no separate synchronizing system for the data. Instead, the data itself is embedded with special bits (called start and stop bits) to ensure proper flow. The USART (Universal Synchronous/Asynchronous Receiver Transmitter) can be used in either asynchronous or synchronous mode, providing for faster throughput of data. Data Conversion ADC—Analog-to-digital conversion transforms analog (linear) voltage changes to binary (digital). ADCs can be outboard, contained in a single integrated circuit, or included as part of a microcontroller. Multiple inputs on an ADC chip allow a single IC to be used with several inputs (4, 8, and 16 input ADCs are common). DAC—Digital-to-analog conversion transforms binary (digital) signals to analog (linear) voltage levels. DACs are not as commonly employed in robots; rather they are com- monly found on such devices as compact disc players. J-Works, Inc. 202196 12328 Gladstone St. Unit 1 Sylmar, CA 91342 USA  (818) 361-0787  (818) 270-2413  sales@j-works.com  http://www.j-works.com/ PC and USB I/O products, including: • A/D converters computers-i/o 111 Pulse and Frequency Management Input capture—An input to a timer that determines the frequency of an incoming digital signal. With this information, for example, a robot could differentiate between inputs, such as two different locator beacons in a room. Input capture is similar in concept to a tunable radio. PWM—Pulse width modulator, a digital output that has a square wave of varying duty cycle (e.g., the "on" time for the waveform is longer or shorter than the "off" time). Often used with a simple resistor and capacitor to approximate digital-to-analog con- version, to create sound output, and to control the speed of a DC motor. Pulse accumulator—An automatic counter that counts the number of pulses received on an input over x period of time. The pulse accumulator is part of the architecture of the microprocessor or microcontroller and can be programmed autonomously; that is, the accumulator can be collecting data even when the rest of the microprocessor/micro- controller is busy running some other program. Special Functions Hardware interrupts—Interrupts are special input that provides a means to get the atten- tion of a microprocessor or microcontroller. When the interrupt is triggered, the micro- processor can temporarily suspend normal program execution and run a special sub- program. Comparator—An input that can compare a voltage level against a reference; the value of the input is then lower (0) or higher (1) than the reference. Comparators are most often used as simple analog-to-digital converters where HIGH and LOW are represented by something other than the normal voltage levels (which can vary, depending on the kind of logic circuit used). For example, a comparator may trigger HIGH at 2.7 volts. Normally, a digital circuit will treat any voltage over about 0.5 or 1 volt as HIGH; anything else is considered LOW. Analog/mixed-signal (A/MS)—Inputs (and often outputs) that can handle analog or digital signals, under software guidance. Many microcontrollers are designed to handle both analog and digital signals on the same chip, and to even mix -and match analog/digital on the same pins of the device. External reset—An input that resets the computer or microcontroller so that it clears any data in RAM and restarts its program (the program stored in EEPROM or elsewhere is not erased). Switch debouncer—Cleans up the signal transition when a mechanical switch (push but- ton, mercury, magnetic reed, etc.) opens or closes. Without a debouncer, the control electronics may see numerous signal transitions and could interpret each one as a sep- arate switch state. With the debouncer, the control electronics sees just a single transi- tion. Input pullup—Pullup resistors (5 to 10K) are required for many kinds of inputs to control electronics. If the source of the input is not actively generating a signal, the input could "float" and therefore confuse the robot's brain. The pullup resistors, which can be built into a microcontroller and activated via software, prevent this floating from occurring. [...]... 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