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Designing and Building Robots
February 20, 2015
Janyl Jumadinova
Robotics in Computer Science
What is a robot?
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Robotics in Computer Science
What is a robot?
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Robotics in Computer Science
What is a robot?
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What Can Robots Be Used For?
I Manufacturing
I 3 Ds : Dirty, Dull, Dangerous
I Space
I Satellites, probes, planetary landers, rovers
I Military
I Agriculture
I Construction
I Entertainment
I Consumer?
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What Can Robots Be Used For?
I Manufacturing
I 3 Ds : Dirty,
Dull, Dangerous
I Space
I Satellites, probes, planetary landers, rovers
I Military
I Agriculture
I Construction
I Entertainment
I Consumer?
3/16
What Can Robots Be Used For?
I Manufacturing
I 3 Ds : Dirty, Dull, Dangerous
I Space
I Satellites, probes, planetary landers, rovers
I Military
I Agriculture
I Construction
I Entertainment
I Consumer?
3/16
The three key questions in Mobile Robotics
I Where am I ?
I Where am I going ?
I How do I get there ?
To answer these questions the robot has to:
I have a model of the environment (given or autonomously built)
I perceive and analyze the environment
I find its position/situation within the environment
I plan and execute the movement
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The three key questions in Mobile Robotics
I Where am I ?
I Where am I going ?
I How do I get there ?
To answer these questions the robot has to:
I have a model of the environment (given or autonomously built)
I perceive and analyze the environment
I find its position/situation within the environment
I plan and execute the movement
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Robot Components
Two main components:
I Sensors: to “understand” the world around
I Actuators: to “act” (do actions) on the world around
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What Does a Robot Do?
Sense, Plan and ActI Sense - get information from sensors
I Plan - use the sensed information to decide to do things (e.g.,go down the hallway, turn left, go 3 meters, and stop)
I Act - do the thing (e.g, turn 60 degrees with a velocity of 0.2meters/sec)
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How to Design a Robot?
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Lego EV3 RobotsLego EV3 robot contains:
I a programmable EV3 controller (brick)I user interface with an LCD screenI Lego building blocksI motors and various sensors such as light, ultrasonic, color,
touch, gyro.
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Lego EV3 Robots
The brick contains 4 outputs (motors) 4 inputs (sensors), USB,Bluetooth, or Wi-Fi connection, LCD screen, 16 MB flash memory,64 MB RAM, SD Card Port, EV3 Brick Button lights, sound.
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LeJOS
leJOS is a small Java Virtual Machine, which allows us to writeJava programs for Lego robotsleJOS API documentation: http://www.lejos.org/ev3/docs/
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EV3 GyroscopesI Preserve their orientation in relation to a fixed reference frameI They provide an absolute measure for the heading of a mobile
systemI measure rotational motion and changes in its orientation;I +/- 3 degrees accuracy;I maximum output of 440 degrees/second;I sample rate of 1 kHz;
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EV3 Ultra sonic SensorI An ultrasonic sensor works with waves and often it is used in
applications for measure distance between a robot andsurrounded objects.
I The sensor emits sound waves and receives their echoes todetect and measure the distance from one or more objects.
I distance measure up to 250 cm ( 100-inch);I +/- 1 cm (+/- 0.394-inch) accuracy;I recognize other ultrasonic sound
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EV3 Touch SensorI Useful for detection with high accuracy.I the EV3 Touch Sensor is an analog and simple tool with a
button located in the front and a counter for press/releaseactions of the button.
I Usually used for start/stop control systems, games likemaze-solving robots, and many other applications.
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EV3 Color SensorI detection for up to seven colors;I detect the absence of color;I it works in ambient light;I sample rate of 1 kHz;I Auto-ID is built into the EV3 Software;
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Now, we will check out somerobot programs ...
- demonstrate sensors- look at some of the lejos library’s classes andmethods - navigation and localization
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Programs
I SquarePatrol: move 40 cm, turn 90 degrees (repeated 4 times)
I SoundPlay: plays tones of (frequency in Hertz, duration in ms)pairs of (300, 500), (400, 500), (500, 1000)
I LineFollower: Takes samples from the light sensor. When theescape button is pushed, it moves forward until another color isdetected.
I SensorTest: Takes samples from touch, sonic and gyro sensors.Push the escape button to exit.
I LocalizationTest: Select a random number, traverse that shapeand draw it to the LCD screen.
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