IEEE Robotics

7/31/2019 IEEE Robotics

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IEEE Iraq section: Introduction to

robotics

In this course we cover the following topics:

What is a robot

Differences between mechatronic and robotics

Micro controllers and the Arduino programminglanguage

Sensors and motors

Control systems and land stations

International robotic projects

Ethics

Introduction

(Lecture 1)

Dr. George T.

Mr. Rezhan S.

In this lecture we will cover

What is a robot

What are the differences between

Mechatronics and Robotics

Robot is an Input Process Output system

Introduction to electronics

Learning outcomes

The aim of this lecture is to help students gain an understanding of

what is a robot, the differences between mechatronic and robotics

systems and basic concepts of electronics

Definitions

The Word Robot

Robot is derived from the Czech word Robota,

meaning

labor

First appeared in a 1920 play R.U.R.

(Rossums Universal Robots)

According to the Robot Institute of America (1979) a robot is:

A reprogrammable, multifunctional manipulator designed to move

material, parts, tools, or specialized devices through various programmed

motions for the performance of a variety of tasks

What is a Robot?

The International Standard Organisation defines a "robot" as:

An automatically controlled, reprogrammable, multipurpose, manipulator

programmable in three or more axes, which may be either fixed in place or

mobile for use in industrial automation applications.


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A Robot must have the following properties

Artificially created.

Can sense its environment.

Can manipulate things in its environment.

Be Autonomous, ability to make choices basedon the environment, or automatic control.

Is programmable.

What is a Robot?

Mechatronics is a multidisplinary between mechanical, electronics and computer

engineering.

Robotics is part of Mechatronics

The main difference is inputs are "provided" to mechatronics systems whereas robotics

systems "acquire" inputs by their own.

Mechatronics system is provided with inputs whereas robotics system acquires inputs by their own

Mechatronics system is automatic whereas robotics system is autonomous

Robotics system does not necessary have a human look to be a robotics system, but whether it will

think differently with human look is a different story

MECHATRONICS VS ROBOTICS

Automatic VS Autonomus

http://www.ronynovianto.com/index.php/web

log/4-uncategorised/7-mechatronics-vs-

robotics-automatic-vs-autonomous

For example, most traffic lights and washing machines aremechatronics system. Human presses button at traffic light whenthey want to cross the street and at washing machine to settemperature, time, etc in washing machine. Even if the traffic lightswork automatically without any buttons are pressed, it is still amechatronics system because the input (e.g. time to change thelights) is provided. This process is called automatic.

In contrast, if the traffic light uses a camera and moves its camera todetect people who want to cross the street and change its lightsaccordingly, it is then a robotics system. This process is calledautonomous.

MECHATRONICS VS ROBOTICS

Examples

http://www.ronynovianto.com/index.php/web

log/4-uncategorised/7-mechatronics-vs-

robotics-automatic-vs-autonomous

Is a Robot an IPO system?

Robots are Input Process Output systems.

Input: sensors, network, other devices

Process: microcontroller, PC, Landstation

Output: motors, screens, other devices

Application of Robotics

Manipulators

Entertainment

Production Lines

Exploration

EducationHousework

DefenseMedical

Basic concepts of electronics

The materials used in this section were taken from

http://library.thinkquest.org/16497/intro/index.html
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Atoms and Electrical Charge

Everything is made out of Atoms

Atoms made up of protons, neutrons, and electrons

Electrons have negative (-) charge

Protons have the same amount of charge like the

electrons but they have positive (+) charge Neutrons are electrically neutral and have no charge

Particles with the same charge will repel and

particles with different charges will attract.

Electricity is the flow of electrons , hence the amount of electricity depends on the charge.

The basic unit for measuring charge i s the coulomb or the letter C.

1 coulomb is equal to the charge of 6,250,000,000,000,000,000 electrons.

1C = 6.25x10^18 electrons

Electric current is the amount of electrons, or charge, moving past a point

every second.

The faster the electron flow, the higher the current.

Current

Current is represented by the l etter I. The basic

unit for measuring current is ampere. Ampere

can be abbreviated to amp or just A.

1 amp = 1 coulomb/sec

Meaning for every amp, there are 6.25x10^18 electrons moving past a point every second.

Voltage is the difference between the high potential and the low potential.

High potential is the site with more electrons and low potential is the site

with less electrons.

The higher the difference is, the higher the voltage.

Voltage can be thought of as the measure of the pressure pushing the

electrons. The higher the pressure, the higher the voltage.

Voltage is represented by the letter E. The basic unit of measure is volts or the

letter V. One volt will push 1 amp of current through 1 ohm of resistance.

Voltage

Power is simply the amount of energy used

Power is represented by the letter P. The basic unit for measuring power is

watts or the letter W.

P=EI

Power = voltage * current

Power

Flow of electrons

When an electron is knocked out of an atom, it will fly off and hit another atom. If

the electron strikes the atom with enough force, it will knock off another electron.The atom that was just knocked off will hit another atom and so forth.

Every time an electron strikes another, it is transferring its energy.

Some of the energy is converted into heat every time it is transferred.

The voltage will drop as the energy is transferred over long distances.

Some materials - such as copper and silver - does not hold on to its electrons

very tightly. Therefore it doesn't require much energy to knock off anelectron. These materials are called conductors and has a very low resistanceto electron flow.

Materials such as clay and plastics hold on to their electrons more tightly thanconductors. It takes more energy to knock off an electron from thesematerials. These materials are called insulators and has a high resistance toelectron flow.

Also the length of that the electrons have to travel effect the resistance as itsreduces the voltage.

Resistance is represented by the letter R. The basic unit of measure is ohmor the symbol (Greek omega).

Resistance


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Ohms law give us the mathematical relationship between current,

voltage, and resistance.

Ohms Law

E=IR

where E = voltage, I = current, and R = resistance

Resistors resist the flow of electrons.

Resistors

The color bands around the resistors are color codes that

tell you its resistance value.

The tolerance bands indicates the accu racy of the values.

The first two color bands from the left are the

significant figures - simply write down the numbers

represented by the colors. The third band is the

multiplier - it tells you how many zeros to put after the

significant figures. Put them all together and you have

the value.

The total watt resistor in a circuit MUST be less than the watt of power flowing,

Else there will be no flow.

Resistors in series and in parallel

A series circuit means connecting components one after the other. So when we say

"Resistors in series", we mean connecting one resistor after the other:

The total resistance is the summary of the resistance in

series. For example R=R1+R2

In parallel, means connecting components side by side. The result is the total

resistance being lower than the lowest resistor.

The total resistance can be found by multiplying all

the resistances and divide them with their summary.For example R=(R1*R2)/(R1+R2)

Capacitors

Capacitors can be thought of as tiny rechargable batteries -- Capacitors can be charged and

discharged. The amount of charge that a capacitor can hold is measured in Farads or the letter F.

However, 1F is too large for capacitors, so microfarads(F) and picofarads(pF) are used. micro =

1/1,000,000 and pico = 1/1,000,000,000,000

The most commonly used capacitors are Ceramic and Electrolytic.

Ceramic capacitors are brown and has a disc shape. These capacitors are

non-polarized, meaning that you can connect them in any way. The codingis just like the resistor color codes except that they used numbers instead

of colors. The first 2 digit are the significant figures and the third digit is

the multiplier. These capacitors are measured in pF.

Electrolytic Capacitors has a cylinder shape. These capacitors arepolarized so you must connect the negative side in the right place. The

value of the resistor as well as the negative side is clearly printed on the

capacitor. These capacitors are measured in F.

Capacitors in series and in parallel

When capacitors are in series, th e total capacitance in a capacitor series circuit is less

than the lowest capacitor in the circuit.

The total capacitance is Ct = (C1 * C2) / (C1 + C2)

If the capacitors are in parallel then their total capacitance can be found by adding

them.

The total capacitance is Ct = C1 + C2

Diodes

There are basically three different types of diodes: Diodes, Zener Diodes, and Light Emitting

Diodes (LED).

Diodes let electrons flow through them only in one direction. Diodes

flow from cathode to anode. The cathode side of the diode is marked

with a band around it

Zener diodes have a set voltage rating. When a voltage exceeds the

voltage rating going the opposite direction (from anode to cathode), the

diode allows the electrons flow.

Light Emitting Diodes (LED for short) are just like the regular diodes except

that it lights up when electrons are flowing through. Note: there aren't any

bands to identify which pin is anode and which is cathode. However, one pin

is longer then the other. The longer pin is the anode, the positive side.


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Switches

Switches connects and disconnect a circuit. There are 3 commonly used configurations:

SPST, SPDT, and DPDT.

SPST = Single Pole, Single Throw

This is a two terminal switch that opens and closes a circuit.

SPDT = Single Pole, Double Throw

This is a three terminal switch that connects one terminal to either

of the other two.

DPDT = Double Pole, Double Throw

This is a six terminal s witch that connects a pair of terminals to

either of the other two pairs.

Relay

A relay is an electrically operated switch. Many relays use

an electromagnet to operate a switching mechanism mechanically, but

other operating principles are also used. Relays are used where it is

necessary to control a circuit by a low-power signal (with complete

electrical isolation between control and controlled circuits), or where

several circuits must be controlled by one signal. Relays were used

extensively in telephone exchanges and early computers to perform

logical operations.

The key idea behind the relay is that when a small amount of

electricity pass through will create a magnetic field. This magnetic

field will attract the metal and allow it to open or close a circuit.

This way with small amount of electricity we can close or open a

circuit of any voltage and current.

Thyristor

A thyristor is a solid-state semiconductor device with four layers of alternating N and P-

type material. They act as bistable switches, conducting when their gate receives a

current trigger, and continue to conduct while they are forward biased. Thyristors can

be used as relays. Their main difference is that they are solid-state devices, whereas

relays are electromechanical devices

Transistors

Transistors are used as switches and amplifiers. We will discuss two

types of transistors: PNP and NPN transistors. Both of these transistors

has 3 pins: emitter, base, collector.

NPN transistors are used as amplifiers. Various configurations of single transistor

amplifier are possible, with some providing current gain, some voltage gain, andsome both.

Transistors are commonly used as electronic switches, both for high-

power applications such as switched-mode power supplies and for

low-power applications such as logic gates.

Intergraded Circuits

Integrated circuits (IC) are usually referred to as chips. Inside them is a

tiny piece of semiconductor(usually silicon) with large circuits built in.

There are millions of different integrated circuits. The general types ofintegrated circuits include:

Logic circuits -

These IC's are basically decision makers. most contain logic gate circuits. (logic gates will bediscussed in a later section).

Comparators -

These IC's compare inputs and gives an output.

Operational Amplifiers -

These are amplifiers. Works very much like transistor amplifier circuits.

Timers -

These are counting IC's used for circuits that counts or needs to keep track of time.

Switches -

Switching IC's are also very much like the switching circuits of transistors.

Others

Gates

Gates are logic circuits. They take binary inputs and gives out a binary result. 1(one) is

represented by a positive electrical value and 0(zero) is represented by no electricity at all.

AND gate -

To get an output of 1, both inputs must be at a value of 1.

OR gate -

To get an output of 1, one or more inputs must be at a value of 1.

NOT gate -

To get an output of 1, its input must be at a value of 0.

This gate only has one input. It is also known as an inverter circuit.

NAND gate -

To get an output of 1, one or more of its inputs must be at a value of 0.

NOR gate -

To get an output of 1, all inputs must be at a value of 0.
http://en.wikipedia.org/wiki/File:Thyristor_circuit_symbol.svghttp://en.wikipedia.org/wiki/File:Relay_symbols.svg


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The key points of this lecture

What is a robot

What are the differences betweenMechatronics and Robotics


Applications of Robotics


In the next Lecture

We are going to visit Micro Controllers (The

brain of the robots) Learn how to program them

Learn about digital and analog input and

output

Cover the basic commands of the Arduino

Language

Introduction to

Micro-Controllers

(Lecture 2)

Dr. George T.

Mr. Rezhan S.

Topics covered

in the previous lecture

What is a robot

What are the differences between

Mechatronics and Robotics


Applications of Robotics


In this lecture

What is a microcontroller Properties of the microcontrollers

How they can be programmed

The Arduino microcontroller

An overview of the Arduino programming language

Learning outcomes


micro-controllers and how to programme them.

Students will familiarise them self's with the Arduino micro

controllers and how to programme them.


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What is a microcontroller?

According to Wikipedia:

A microcontroller (sometimes abbreviated C, uC or MCU) is a smallcomputer on a single integrated circuit containing a processor core, memory,

and programmable input/output peripherals.

Microcontrollers are designed for embedded applications, in contrast to

the microprocessors used in personal computers or other general purpose

applications.

Microcontrollers are the brains of the robots

They host the software that control the robot Each robot has at least one microcontroller

Each microcontroller maybe responsible for controlling a

number of input and/or output devices (e.g sensors and

motors)

Microcontrollers within a system may work individually or

collaborate with each other

Microcontrollers within Robots

Microcontrollers host the software responsible for controlling the input

and output devices

They may host complex algorithms responsible for performing a variety of

tasks

Microcontrollers have limited storing capabilities so the size of the

application that it can store is limited by its memory.

Have limited processing power compere to PCs

Hosting Software

Some robots may have more than one microcontrollers. Each microcontroller can beresponsible for a different function or group of functions.

For example a humanoid robot can have a microcontroller for controlling the movements ofthe hand, another for each leg, another for the head and so on.

Distributing tasks over more than one microcontrollers offers modularity and has a numberof benefits such as:

Easier to programme, maintain, upgrade and troubleshoot.

Higher degree of availability. In case of a damage on ly the tasks performed by damagedmodule will stop while the robot will be able to perform the rest of the tasks (as long asthey are not depended to the broken module)

Faster development and better specialization, as multiple teams can work on differentmodules of the same robot.

The main drawbacks are higher development cost and communication overhead.

Distribution of Responsibilities

Microcontrollers can communicate with each other directly, via a serverusually hosted in a land station

Direct communication can be achieved via serial/paralel connection, vianetwork or via the environment

An example of communication via the environment is a robot talking toanother robot. The listener can understand what speaker robot by the use of avoice recognition software. Another example is, a robot waving to anotherrobot. The target robot can understand this by the use of a kinet and respondaccordingly.

Indirect communication of two microcontrollers includes two directcommunications one between the sender and the server and one betweenthe server and the receiver.

Communication

Robo Kurd is a robot developed by the

students of Computer Science InstituteSuleimanyah. The robot can participate in a

conversation and move parts of its body

accordingly. Robo Kurd is an example of

distribution of responsibilities and

collaboration between micro controllers.

Robo Kurd uses a total of 6 micro

controllers, 5 in an Adruino min board and 1

Arduino Uno board as well as a PC for

Central control and heavy operations and

internet connectivity. Each microcontroller

is responsible for caring out specific tasks.

The Robo Kurd example


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Two microcontrollers in Arduino Mini are

responsible for moving the 12 servo motors

of the two hands. These twomicrocontrollers are directly connect via the

serial communication with two Arduino mini

responsible for controlling them and the

servo for of the rest of the hand. These two

are directly connected (via serial) with a

micro controller in an Arduino Uno

responsible for controlling them, the

Arduino mini responsible for the head

movements, the servo motors responsible

for moving the middle and the back of the

robot as well as the PC.

The Robo Kurd example

Arduino

Mini

Arduino

Mini

Arduino

Mini

Arduino

Mini

Arduino

Mini

Arduino

Uno

PC

Microcontrollers can be programmed with the help of Programming

Environments. These are software tools that allow programmers to describe

step by step how a robot will perform a task. This can be done by use of visualor textual language.

Programming Environments can also compile the s olution and upload it to the

microcontroller. The microcontroller can only run complied files and not

source code.

Some programming environments are highly sophisticated and offer a lot

services to the users such as syntax testing, code autocompleting, runtime

testing and monitoring and so on while others are simple compilers.

Programming Environments

Analog and Digital IO

Microprocessors can interact with sensors and output devices via their Analog and

Digital ports.

The Analog port can receive or transmit different values of electric current. This is then

converted as a binary value. The range of this value depends on the bits of the CPU of

the microprocessor. For example Arduino Uno has a 16 Bit CPU. With 16 Bits we can

represented values from 0-1024. So the Analog port of Arduino Uno can receive or

transmit values from 0-1024. Potentiometer, Flex, Thermometer and other sensors are

Analog so they should be connected to the Analog port.

The digital port can receive and transmit binary data. It can also keep a constant state

of High or Low. When se to High they provide small values of electric current. This can

be used to enable an electronic switch or power a led. Servos and Step motors aresome example of devices that are controlled via the digital ports.

The Arduino boards

Arduino Uno

Arduino Mini

Arduino Pro

The Arduino Uno

with ATmega328

Summary

The Arduino Uno

Microcontroller ATmega328

Operating Voltage 5V

Input Voltage (recommended) 7-12V

Input Voltage (limits) 6-20V

Digital I/O Pins 14 (of which 6 provide PWM output)

Analog Input Pins 6

DC Current per I/O Pin 40 mA

DC Current for 3.3V Pin 50 mA

Flash Memory32 KB (ATmega328) of which 0.5 KB used

by bootloader

SRAM 2 KB (ATmega328)

EEPROM 1 KB (ATmega328)

Clock Speed 16 MHz
http://arduino.cc/en/Main/ArduinoBoardUnohttp://arduino.cc/en/Main/ArduinoBoardProhttp://arduino.cc/en/Main/ArduinoBoardProhttp://arduino.cc/en/Main/ArduinoBoardProMinihttp://arduino.cc/en/Main/ArduinoBoardUno


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An overview of the Arduino

programming language

More at

http://arduino.cc/

en/Reference/Ho

mePage

The Arduino

Programming Environment

Structure and syntax The basic structure

Define variables and

objects here.

Setup variables and

objects here.

Put the logic here.

Camel case

The Arduino programming language is case sensitive and it is using ca mel case writing.

In camel case, the first word start with lower case character and the following words with

upper case and there are no gaps between the words.

Example: Digital Write In camel case is digitalWrite

Java is also using camel case writing.

Data Types (1/2)void

Only used for function declaration when the function returns no value

booleanTrue or False

char

A data type that takes up 1 byte of memory that stores a character value. Character literals are written in single

quotes, like this: 'A' . You can see the specific encoding in the ASCII chart. This means that it is possible to do

arithmetic on characters, in which the ASCII value of the character is used (e.g. 'A' + 1 has the value 66, since the

ASCII value of the capital letter A is 65). The char datatype is a signed type, meaning that it encodes numbers from

-128 to 127.

unsigned char

The unsigned char datatype encodes numbers from 0 to 255. Try to use byte instead.

byte

A byte stores an 8-bit unsigned number, from 0 to 255.

int

Integers are your primary datatype for number storage, and store a 2 byte value. This yields a range of -32,768 to

32,767 (minimum value of -2^15 and a maximum value of (2^15) - 1).

unsigned int

Unsigned ints (unsigned integers) are the same as ints in that they store a 2 byte value. Instead of storing negative

numbers however they only store positive values, yielding a useful range of 0 to 65,535 (2^16) - 1).

word

A word stores a 16-bit unsigned number, from 0 to 65535. Same as an unsigned int.
http://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePage


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Data Types (2/2)long

Long variables are extended size variables for number storage, and store 32 bits (4 bytes), from -2,147,483,648 to

2,147,483,647.

unsigned long

Unsigned long variables are extended size variables for number storage, and store 32 bits (4 bytes). Unlike standard

longs unsigned longs won't store negative numbers, making their range from 0 to 4,294,967,295 (2^32 - 1).

float

A number that has a decimal point. Floating-point numbers can be as large as 3.4028235E+38 and as low as -

3.4028235E+38. They are stored as 32 bits (4 bytes) of information. Floats have only 6-7 decimal digits of precision.

Unlike other platforms, where you can get more precision by using a double (e.g. up to 15 digits), on the Arduino,

double is the same size as float.

double

Identical to float. Double precision floating point number. Occupies 4 bytes.

array

An array is a collection of variables that are accessed with an index number.

stringchar array

It makes a string out of an array of type char and null-terminate it.

Stringobject

Allows you to use and manipulate strings of text in more complex ways than character arrays do. You can

concatenate Strings, append to them, search for and replace substrings, and more. It takes more memory than a

simple character array, but it is also more useful.

Operators

The if statement

Declare an integer with the name

val and assign it the value 30

If val is more than 30 then

Else.

Complex if statments

If

val1 is 30 OR val1 IS NOT 99

AND

Val2 is 20

For loop While loop

Syntax

while(expression){ // statement(s) }

Parameters

expression - a (boolean) C statement that evaluates to true or

false

Example

var = 0;

while(var < 200)

{

// do something repetitive 200 times

var++;

}


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Do While loop

Syntax

do { // statement block } while (test condition);

Exampledo {

delay(50); // wait for sensors to stabilize

x = readSensors(); // check the sensors

} while (x < 100);

ArraysAn array is a collection of variables that are accessed with an index number. Arrays in the C

programming language, on which Arduino is based, can be complicated, but using simple arrays is

relatively straightforward.

Creating (Declaring) an Array

All of the methods below are valid ways to create (declare) an array.

int myInts[6];

int myPins[] = {2, 4, 8, 3, 6};

int mySensVals[6] = {2, 4, -8, 3, 2};

char message[6] = "hello";

Accessing an Array

All of the methods below are valid ways to create (declare) an array.

Arrays are zero indexed, that is, referring to the array initialization above, the first element of the array

is at index 0, hence

mySensVals[0] = 2, mySensVals[1] = 4, and so forth. OR int myArray[10]={9,3,2,4,3,2,7,8,9,11};

Reading from an Array

int val = mySensVal[0];

Functions

A function is similar to a machine. It takes some input, it process it and return some

output (if not void).The following shows the syntax of a function.

int nameOfFunction(parameter1,parameter2,parameterN){

// do something

Return 0; // this should return the same data type with the function or nothing if void.

}

Example

int addTwoNumbers(int a,int b){

return a+b;

}

Math

min(number1,number2) Calculates the minimum of two numbers.

max(number1,number2) Calculates the maximum of two numbers.

abs(number) Computes the absolute value of a number.

pow(base, exponent) Calculates the value of a number raised to a power.

sqrt(number) Calculates the square root of a number.

Trigonometry

sin(rad) Calculates the sine of an angle (in radians). The result will be between -1 and 1.

cos(rad) Calculates the cos of an angle (in radians). The result will be between -1 and 1.

tan(rad) Calculates the tangent of an angle (in radians). The result will be between

negative infinity and infinity.

Random Numbers

random(min,max) The random function generates pseudo-random numbers.

Time

millis()

Returns the number of milliseconds since the Arduino board began running the current

program. This number will overflow (go back to zero), after approximately 50 days.

micros()

Returns the number of microseconds since the Arduino board began running the current

program. This number will overflow (go back to zero), after approximately 70 minutes.

delay()

Pauses the program for the amount of time (in miliseconds) specified as parameter.

(There are 1000 milliseconds in a second.)

delayMicroseconds()

Pauses the program for the amount of time (in microseconds) specified as parameter.

There are a thousand microseconds in a millisecond, and a million microseconds in a

second.

Serial portUsed for communication between the Arduino board and a computer or other

devices.

Functionsbegin() Start the serial communication at a given speed, e.g. 9600.

end() Stop the communication.

available() Get the number of bytes (characters) available for reading from the serial port.

read() Read data from the serial port.

peek() Returns the next byte (character) of incoming data without removing it from the internal buffer

flush() Flushes the buffer of incoming serial data.

print() Prints data to the serial port as human-readable ASCII text.

println() Like print() but it includes a new line character at the end.

write() Writes binary data to the serial port. This data is sent as a byte or series of bytes.


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Analog port

Functions

analogReference(int volt)Configures the reference voltage used for analog input.

analogRead(int pin)

Reads the value from the specified analog pin.

analogWrite(int pin, int PWM)

Writes an analog value (PWM wave) to a pin. Can be used to light a LED at varying brightnesses or

drive a motor at various speeds. After a call to analogWrite(), the pin will generate a steady square

wave of the specified duty cycle until the next call to analogWrite() (or a call

to digitalRead() or digitalWrite() on the same pin). The frequency of the PWM signal is approximately

490 Hz.

Digital port

Functions

pinMode(int pin, INPUT | OUTPUT)Configures the specified pin to behave either as an input or an output.

digitalRead(int pin)

Reads the value from a specified digital pin, either HIGH or LOW.

digitalWrite(int pin, HIGH | LOW)

Writes a HIGH or LOW to a specified digital pin.

An overview of the Arduino

programming language

More at

http://arduino.cc/

en/Reference/Ho

mePage


What is a microcontroller

How it can be programmed


An overview of the Arduino programming language

Practical Session 1

In this session you will familiarize your self

with the Arduino boards and the Arduino

programming language.

Connecting Arduino UNO with a PC

1) Copy the Arduino folder to the local drive

2) Connect Arduino via the USB cable

3) When you are prompted to provide the

location of the driver, select:

4) (local Drive)\Arduino\Driver

5) To test it, open the Arduino IDE and try to

upload some code.
http://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePagehttp://arduino.cc/en/Reference/HomePage


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Exercises (Basic commands)

1) Write a program that sends to the serial port theresult of the addition of two integers a and b;

2) Change the above code, so it sends to the serialport the integer with the biggest value.

3) Change the above code, so that it operates only ifit receive a character p from the serial port.

4) Use the for loop to print the output of an array xwith values {1,3,4,7}. The results should be sendwith 1 second delay.

5) Write a function that adds two numbers andprint out the result.

Arduino programming language

Using LEDs

Traffic Light exercise

Design a traffic light system using three LEDs, three

resistances and one Arduino Uno

Introduction to

Sensors

(Lecture 3)

Dr. George T.

Mr. Salar Kh.

Mr. Rezhan S.

Topics covered


What is a microcontroller

Properties of the microcontrollers

How they can be programmed


An overview of the Arduino programming

language

In this lecture

What is a Sensor What are the differences between Analog and Digital

Cover a variety of sensors

Example of a custom sensor

Sensor deviations
http://www.ebay.com/itm/Arduino-Ultrasonic-Module-Range-Detection-Sensor-HCSR04-/180656418260?pt=LH_DefaultDomain_0&hash=item2a0ff62dd4


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Learning outcomes


sensors and their applications.

In the practical sessions student will learn how to connect sensors

with arduino and how to programme it.

What is a sensor?

The word sensor, it is the noun of the word sense. So it is a device that can

sense.

According to Wikipedia:

A sensor (also called detector) is a device that measures a physical quantity

and converts it into a signal which can be read by an observer or by an

instrument.

Sensors in nature

Humans, animals and plants can sense their environment. These senses

include but not limited to visual, smell, acoustic, touch, taste, emotions and

meta physical senses (e.g. some people can fell when somebody is looking at

them).

So far, only few of these can be artificially simulated, but science is progressing

so maybe in the near future we can see robots that can simulate senses such

as emotions and so on.

Detection theoryAccording to Wikipedia:

Detection theory, or signal detection theory, is a means to quantify the ability to discern

between signal and noise. According to the theory, there are a number of determiners of how a

detecting system will detect a signal, and where its threshold levels will be.

Detection theory has applications in many fields such as diagnostics of any kind, quality

control, telecommunications, and psychology. The concept is similar to the signal to noise

ratio used in the sciences and confusion matrices used in artificial intelligence. It is also usable

in alarm management, where it is important to separate important eventsfrom background noise.

Sensitivity or discriminability

sensitivity refers to how hard or easy it is to detect that a target stimulus is present from

background events.Bias

Bias is the extent to which one response is more probable than another.

Resolution

The resolution of a sensor is the smallest change it can detect in the quantity that it is measuring.

Sensors and detection theory

Taking in account the detection theory:

Sensors are detection devices, able to discern between signal and noise. The

sensitivity refers to how hard or easy it is to detect that a target stimulus is

present from background events.

Analog and Digital Sensors

All sensors are divided to analog and digital.

Consider analog sensors as variable resistors that transmit different values of electric

current. The range of this value depends on the bits of the CPU of the microprocessor.

For example Arduino Uno has a 16 Bit CPU. With 16 Bits we can represented values

from 0-1024. So the Analog port of Arduino Uno can receive or transmit values from 0-

1024. Potentiometer, Flex, Thermometer and other sensors are analog.

Digital sensors transmit binary data. They return values of High (1) or Low (0) or

sequence of high and lows (data). A touch sensor is an example of digital sensor that

returns high or low (on or off). Another example is the GPS sensor that returns data (a

string with the current coordinates).


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How to read from values from

an analog port

The following command is used to read the analog port in Arduino

Syntax

analogRead(pin)

Returns

int (0 to 1023)

Example

void setup() {

Serial.begin(9600); // setup serial

}

void loop() {

val = analogRead(3); // read the input pin 3

Serial.println(val); // debug value}

How to read from values from

a digital port

The following command is used to read th e analog port in Arduino

Syntax

digitalRead(pin)

Returns

High or Low

Example

void setup() {

pinMode(7, INPUT); // sets the digital pin 7 as input

Serial.begin(9600); // setup serial

}

void loop() {

val = digitalRead(7); // read the input pin 7Serial.println(val); // debug value

}

Touch sensor

The touch sensor is one of the simplest digital sensors. It is nothing more than

a button that returns high every time it is pressed.

Apart from traditional buttons touch sensors are also used to inform the robot

if it is touching an object.

Potentiometer

Most analog potentiometer are variable resistors that change their value as the shaft

turns. This type of potentiometer have three legs. The middle leg should be connected

to an analog input port and the two side legs to power and ground.

Joystick

The joystick is nothing more than two potentiometers. One for Xaxis and one for Y axis. As you can guess, it can be connected like

connecting two potentiometers, so it requires two analog ports.

Flex sensor

Flex is an analog sensor that increases its resistance (so return lower value) as the sensor is flexed.

Patented technology by Spectra Symbol - they claim these sensors were used in the

original Nintendo Power Glove. I love the Nintendo Power Glove.

To connect it with the Arduino we need to add a resistor. The following schema shows how the

sensor can be connected.

It is recommended to used a potentiometer first in order to

find out what resistor it needs. In general the lower the

resistor the higher the sensitivity.
http://dlnmh9ip6v2uc.cloudfront.net/images/products/08606-03-L.jpghttp://www.ebay.com/itm/Arduino-JoyStick-Module-Sensor-Shield-free-3-CABLES-/160589361684?pt=LH_DefaultDomain_0&hash=item2563df3214


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Pressure sensor

The pressure sensor is an analog sensor, very similar to the flex. It

increase its resistance once pressure is applied on the surface. The

pressure sensor can be connected with the Arduino like the flexsensor.

Photocell

The photocell is an analog sensor that changes its resistance depending on

how much light is shining onto the squiggly face. Brighter light will result tohigher values. The photocell is connected with Arduino like the flex and the

pressure sensor.

Humidity sensor

The analog humidity sensor, measures the amount of water

vapor in the air and returns a value. The round white sensor can be

connected like the flex while the second one can be connected like

the potentiometer.

Tempeture sensor

The temperature sensor is an analog sensor used to measure the

tempeture. It outputs an analog voltage of that can be used to estimate

the room tempeture. Like all the analog sensors that we visited so far,

the output of the sensor is linear.

Sound sensor

Sounds sensors are analog sensors used to detect sounds. Pleasenote that this does not include recognition or any processed data.

It just returns an analog value based on the strength of the sound.

Ultra sonic (distance) sensor

Ultrasonic sensors generate high frequency sound waves and evaluate theecho which is received back by the sensor. Sensors calculate the timeinterval between sending the signal and receiving the echo to determine the

distance to an object.

Some Ultra sonic sensors are using two instruments, one for sending and

one for receiving, while others use the same for both sending and

receiving. The first require three legs that are connected to power, grounds

and a digital port that is used for both sending and receiving while the

second has four legs and it requires two digital ports, one for sending and

one for receiving.
http://www.ebay.com/itm/Arduino-40Hz-Ultrasonic-Range-Detection-Sensor-/280531119600?pt=LH_DefaultDomain_0&hash=item4150f52df0http://www.ebay.com/itm/Arduino-Sound-Sensor-Module-Sensor-Shield-Cable-/180625274609?pt=LH_DefaultDomain_0&hash=item2a0e1af6f1http://www.ebay.com/itm/Arduino-LM35-Linear-Temperature-Sensor-/270812956691?pt=LH_DefaultDomain_0&hash=item3f0db5c813http://dlnmh9ip6v2uc.cloudfront.net/images/products/09569-03-Working.jpghttp://www.ebay.com/itm/Five-HS1101-Humirel-Humidity-Sensor-Arduino-Hygrometer-/170714763156?pt=LH_DefaultDomain_0&hash=item27bf648f94http://www.ebay.com/itm/Ceramic-VT43N1-LDR-Photocell-Resistor-400V-400mW-NEW-/220877074689?pt=LH_DefaultDomain_0&hash=item336d4cb101http://www.ebay.com/itm/1x-Ceramic-VT43N1-LDR-Photocell-Resistor-400V-400mW-/120791325623?pt=LH_DefaultDomain_0&hash=item1c1fb95bb7


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Passive infrared sensor (PIR)

A Passive Infrared sensor (PIR sensor) is an electronic device that

measures infrared (IR) light radiating from objects in its field of

view.

All objects above absolute zero emit energy in the form of

radiation. Usually infrared radiation is invisible to the human

eye but can be detected by electronic devices designed for such a

purpose.

Motion is detected by the PIR when an infrared source with

one temperature, such as a human, passes in front of an infrared

source with another temperature.

Most PIRs are digital sensors. They measure the difference between

the IR light and if it is higher than a preset threshold then they

return High. This threshold also determines the sensitivity of the

sensor.

Gas sensor

Gas sensors, can detected if certain gasses are in the air. Most of

the gas sensors contain material that react with gas that the sensor

detects, usually, with the help of heat. This reaction produceelectric current that is captured by the sensor.

Most gas sensors are analog and the higher the value they return

the higher the value of the gas that they detect in the air.

Alcohol Gas sensor

The alcohol sensor is identical to the gas sensor but it returns high if the air contains

ethanol. This sensor is very popular in Breath Alcotests carried out by the traffic

police.

Gyroscope and accelerometer

Gyroscopes return their current stance in three dimensions.

The accelerometer measures the gravitational acceleration (g) in three

dimensions.

Most gyroscope drift over time and can not be trusted for a longer timespan

but are very precise for a short time. Accelerometers are a bit unstable, but

do not drift. The precise angle can be calculate by combining measurements

from both the gyroscope and the accelerometer and using a mathematical

approach called a Kalman filter. Kalman filters will be explained in more

details at a later lecture.

Global Positioning System

(GPS)

The Global Positioning System (GPS) is a space-based globalnavigation satellite system (GNSS) that provides location data,

anywhere on or near the Earth, where there is an unobstructed line

of sight to four or more GPS satellites. GPS is providing the

following categories of data:

$GPGGA: Global Positioning System Fix Data

$GPGSV: GPS satellites in view

$GPGSA: GPS DOP and active satellites

$GPRMC: Recommended minimum specific GPS/Transit data

2 = Data status (A=Valid position, V=navigation receiver warning)

3 = Latitude of fix

4 = N or S of longitude

5 = Longitude of fix

6 = E or W of longitude

7 = Speed over ground in knots

KinectKinect is a Microsoft product developed for Xbox game console.

The device features an "RGB camera, depth sensor and multi-

array microphone running proprietary software",which providefull-body 3D motion capture, facial recognition and voice

recognition capabilities.

The depth sensor consists of an infrared laser projector

combined with a monochrome CMOS sensor, which captures

video data in 3D under any ambient light conditions. The sensing

range of the depth sensor is adjustable, and the Kinect software

is capable of automatically calibrating the sensor based on

gameplay and the player's physical environment,

accommodating for the presence of furniture or other obstacles.

Kinect software development kit (SDK) for Windows allow

developers to get access to the raw data of the sensor, Skeletal

tracking and Advanced audio capabilities.
http://en.wikipedia.org/wiki/File:Kinect2-deepmap.pnghttp://en.wikipedia.org/wiki/File:Xbox-360-Kinect-Standalone.pnghttp://www.ebay.com/itm/Arduino-MMA7260-Triaxial-Acceleration-Sensor-Module-/180648087590?pt=LH_DefaultDomain_0&hash=item2a0f771026http://www.google.com/imgres?imgurl=https://www.tispol.org/system/files/images/Rom%20alco%20test%202.thumbnail.jpg&imgrefurl=https://www.tispol.org/image-galleries/european-roads-policing-enforcement-photos/alcohol-enforcement?page=5&usg=__2bB8gA81im5tCPTzJ3jzX02O_uU=&h=150&w=200&sz=9&hl=en&start=1&zoom=1&tbnid=_sKDVqM9Kq31BM:&tbnh=78&tbnw=104&ei=gDKjTpSvL8XKswbficGKAw&prev=/search?q=alcotest+traffic+police+photo&hl=en&sa=X&biw=1366&bih=667&tbm=isch&prmd=imvns&itbs=1http://www.ebay.com/itm/DIY-Tools-Arduino-Shield-Alcohol-Gas-Sensor-Module-MQ9-/320713450138?pt=LH_DefaultDomain_0&hash=item4aac02e29ahttp://www.ebay.com/itm/Arduino-MQ7-Gas-Sensor-Brick-/270741961785?pt=LH_DefaultDomain_0&hash=item3f097a7c39http://www.ebay.com/itm/Arduino-Digital-PIR-Motion-Sensor-/280523551271?pt=LH_DefaultDomain_0&hash=item415081b227


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Electroencephalography

(E.E.G)

Electroencephalograph (E.E.G) devices are sensors used to

measure the brain activity. They are electrodes that capture

the electrical activity of brain cells over a period of time and

have no effect to humans health. With the help of such

devices we are able to measure and identify brain activities

such as emotions, facial expressions, levels of attention and

meditation.

Electromyography (E.M.G)

Electromyography (EMG) is a technique for evaluating and recording the electrical

activity produced by skeletal muscles. EMG is performed using an instrument called

an electromyograph, to produce a record called an electromyogram. Anelectromyograph detects the electrical potential generated by muscle cells when these

cells are electrically or neurologically activated.

More sensors

Acoustic, sound, vibration

Automotive, transportation Chemical

Electric current, electric potential, magnetic, radio

Environment, weather, moisture, humidity

Flow, fluid velocity

Ionising radiation, subatomic particles Navigation instruments (Position, angle, displacement, distance, speed, acceleration) Optical, light, imaging, photon Force, density, level, Pressure Thermal, heat, temperature

Proximity, presence

http://en.wikipedia.org/wiki/List_of_sensors

Examples of a custom sensors

Accelerometer

A simple accelerometer can be a box with a sphere in

site and pressure sensors on the inner walls of the

box. As the box moves towards a direction, the

sphere inside the box will push the pressure sensors

towards the opposite direction with a force related to

the speed of the box.

Reflexing

Light

Color Detector

A simple color detector can be a photocell,

a LED and a divider between them. The LED

will emit light, that will be reflected by the

object depending on its color. The

photocell Will capture this reflexing and

return an analog value. From this value we

can determine the color of the object.

Sensor deviations

Sensitivity error

The difference between the measurement from the sensor and the actual value. Most of the times the sensor

measurements remain linear and it is easy to reduce the error (e.g maybe the sensor adds + 5 to all values). If

the sensitivity is not constant over the range of the sensor, this is called non linearity and it more difficult to

reduce.

Dynamic error

If the deviation is caused by a rapid change of the measured property over time, there is a dynamic error.

Drift

If the output signal slowly changes independent of the measured property, this is defined as drift.

Noise

Noise is a random deviation of the signal that varies in time usually caused by an external source.

Hysteresis

Hysteresis is an error caused by when the measured property reverses direction, but there is some finite lag in

time for the sensor to respond, creating a different offset error in one direction than in the other.

Out of range

Since the range of the output signal is always limited, the output signal will eventually reach a minimum or

maximum when the measured property exceeds the limits.


What is a Sensor What are the differences between Analog and Digital

Covered a variety of sensors


Sensor deviations
http://en.wikipedia.org/wiki/List_of_sensorshttp://en.wikipedia.org/wiki/List_of_sensorshttp://en.wikipedia.org/wiki/List_of_sensors


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In the next Lecture

We are going to learn about motors and

articulators How they work

How to use them with Arduino

Introduction to

Electrical Motors and Actuators

(Lecture 4)

Dr. George T.

Mr. Rezhan S.

Topics covered


What is a Sensor

What are the differences between Analog

and Digital

Covered a variety of sensors


Sensor deviations

In this lecture

What is a motor

AC, DC, Stepper and Servo motors

Gear boxes

What is an actuator

Linear and rotational actuator

Learning outcomes


motors, actuators and their applications.

After this lecture, the students will know which motors and

actuators best fit their robots as well as how to connect them and

program them.

Some basic Physics definitionsLinear Speed and Angular Speed

Linear Speed: The average speed of an

object in an interval of time is the

distance traveled by the object divided

by the duration of the interval.

Angular speed: is a scalar measure of

rotation rate. Angular frequency (or

angular speed) is the magnitude of the

vector quantity angular velocity.


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Some basic Physics definitionsTorque

Torque: Loosely speaking, torque is a measure of the turning force on an object

such as a bolt or a flywheel. For example, pushing or pulling the handle of a

wrench connected to a nut or bolt produces a torque (turning force) that loosens

or tightens the nut or bolt.

What is a motor?

Motors are devices that change any type of energy to mechanical energy. The

following are some example of motors:

Internal combustion motor

Chemical energy of the fuel to mechanical energy.

Such motors are widely used in cars.

Steam engine

Changing steam to movement. They were used in old trains.

Electromechanical motor

Changing the electrical energy to mechanical energy.

Electromechanical motor

Most electric motors operate through the interaction of magnetic

fields and current-carrying conductors to generate force.

They may be powered by direct current (DC), e.g., a battery powered

portable device or motor vehicle, or by alternating current (AC) from a

central electrical distribution grid or inverter.

How electromechanical motors work

The main parts of Electromechanically

motors are Rotor and Stator. By

changing the density of

electromagnetism energy around the

rotor, according to Faraday rule, the

rotor will start to make a rotational

movement. This movement prepares

the mechanical energy.

DC motors work like AC motors with the

only difference that most of the times

they have a commutator responsible for

changing the polarity of the stator. Thiscause DC motors to be more powerful

but low life-span.

Direct Current (DC) motors

Brush

Brushed motors including a commutator to change the

polarity of the stator. This is a brushed DC electric motor

generating torque directly from DC power supplied to the

motor by using internal commutation, stationary

permanent magnets. Torque is produced by the principle

of Lorentz force, which states that any current-carrying

conductor placed within an external magnetic field

experiences a force known as Lorentz force. The

commutator consists of a split ring 80 degree shows the

effects of having a split ring

Direct Current (DC) motors

Brushless

Brushless motors have no commutator. Instead they

have a permanent magnet that rotates around thecore. Brushless DC motors use a rotating permanent

magnet or soft magnetic core in the rotor, and

stationary electrical magnets on the motor housing.

This design is simpler than that of brushed motors

because it eliminates the complication of transferring

power from outside the motor to the spinning rotor.

Advantages of brushless motors include long life span,

little or no maintenance, and high efficiency.

Disadvantages include high initial cost, and more

complicated motor speed controllers.
http://en.wikipedia.org/wiki/File:Ejs_Open_Source_Direct_Current_Electrical_Motor_Model_Java_Applet_(_DC_Motor_)_80_degree_split_ring.gifhttp://en.wikipedia.org/wiki/File:Motors01CJC.jpghttp://www.google.com/imgres?imgurl=http://cdn.coolest-gadgets.com/wp-content/uploads/2006/11/steam-engine.jpg&imgrefurl=http://www.coolest-gadgets.com/20061128/fully-working-miniature-brass-steam-engine/&usg=__n-6wJ3QqaoJkLEkCsJn9fghYoMw=&h=399&w=405&sz=40&hl=en&start=3&zoom=1&tbnid=O762Xn5OfGeOyM:&tbnh=122&tbnw=124&ei=PBy4TvyIDZO3hAfR-r2bBA&prev=/search?q=steam+engine&hl=en&sa=X&biw=1366&bih=667&tbm=isch&prmd=imvnsrb&itbs=1http://www.google.com/imgres?imgurl=http://www.familycar.com/Classroom/Images/Engine.jpg&imgrefurl=http://www.familycar.com/Engine.htm&usg=__JokJjtztTavQ6uddLm-663IlD2k=&h=320&w=330&sz=28&hl=en&start=2&zoom=1&tbnid=Zwqd-d1DlMaydM:&tbnh=115&tbnw=119&ei=_Ru4TumLCpOBhQek0vyyBA&prev=/search?q=car+engine&hl=en&sa=X&biw=1366&bih=667&tbm=isch&prmd=imvnsrb&itbs=1


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Connecting a DC motor

The easier way to drive a DC is by the help of a DC shield. The motor shield in this

example can drive up to 4 DC motors bi-directionally. That means they can be driven

forwards and backwards. To connect a motor, simply solder two wires to the terminals

and then connect them to either the M1, M2, M3, or M4.

Driving a DC motor

#include

AF_DCMotor motor(2, MOTOR12_64KHZ); // create motor #2, 64KHz pwm

void setup() {

motor.setSpeed(200); // set the speed to 200/255

}

void loop() {

motor.run(FORWARD); // turn it on going forward

delay(1000);

motor.run(BACKWARD); // the other way

delay(1000);

motor.run(RELEASE); // stopped

delay(1000);

}

Stepper motor

A stepper motor (or step motor) is a brushless, electric motor that can divide a full rotation into a

large number of steps. The motor's position can be controlled precisely without any feedback

mechanism, as long as the motor is carefully sized to the application.

Stepper motors have multiple "toothed" electromagnets arranged

around a central gear-shaped piece of iron. The electromagnets are

energized by an external control circuit, such as a microcontroller. To

make the motor shaft turn, first, one electromagnet is given power,

which makes the gear's teeth magnetically attracted to the

electromagnet's teeth. When the gear's teeth are aligned to the first

electromagnet, they are slightly offset from the next electromagnet.

So when the next electromagnet is turned on and the first is turned

off, the gear rotates slightly to align with the next one, and from there

the process is repeated. Each of those slight rotations is called a

"step", with an integer number of steps making a full rotation. In that

way, the motor can be turned by a precise angle.

Stepper motorUnipolar VS Bipolar

Unipolar has 4 windings and easy to drive and has low torque and speed and smaller

steps than bipolar, hence more accuracy. Bipolar has 2 windings and hard to drive and

has high torque and speed but less accuracy.

Connecting a step motorFor unipolar motors: to connect up the stepper, first figure out which pins connected to which coil, and

which pins are the center taps. If its a 5-wire motor then there will be 1 that is the center tap for bothcoils. The center taps should both be connected together to the GND terminal on the motor shield

output block. then coil 1 should connect to one motor port (say M1 or M3) and coil 2 should connect to

the other motor port (M2 or M4).

For bipolar motors: its just like unipolar motors except there is no 5th wire to connect to ground. The

code is exactly the same.

Controlling a step motor

#include

AF_Stepper motor(48, 2);

void setup() {

motor.setSpeed(10); // 10 rpm

motor.step(100, FORWARD, SINGLE);

motor.release();

delay(1000);

}

void loop() {

motor.step(100, FORWARD, SINGLE);

motor.step(100, BACKWARD, SINGLE);

motor.step(100, FORWARD, DOUBLE);

motor.step(100, BACKWARD, DOUBLE);

motor.step(100, FORWARD, MICROSTEP);

motor.step(100, BACKWARD, MICROSTEP);
http://en.wikipedia.org/wiki/File:StepperMotor.gifhttp://www.ladyada.net/images/mshield/dcmotor.jpg


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Servos

http://www.seattlerobotics.org/guide/servos.html

Servo motors are like stepper motors. They also have an electro magnet around the

input gear. As this moves it transfer the movement to other gears that are connected

with the shaft. Servo motors are very precise as their technology is similar to step

motors, powerful as they include a gear box and simple to control because they include

a controller (driver). These reasons makes them very useful in robotics.

Connecting a servo

Servos have three cables. Power, Ground and Data. The data cable is

connected with the digital port. The following diagram shows how servo is

connected with an Arduino board.

Controlling a servo

#include

Servo myservo; // create servo object to control a servo

int val; // variable to read the value from the serial port

void setup()

{

Serial.begin(9600); // Start the serial port

myservo.attach(9);// attaches the servo on pin 9 to the servo object

}

void loop()

{

val = Serial.read()); // reads the value from the serial

myservo.write(val); // sets the servo position according to the scaled valuedelay(15); // waits for the servo to get there

}

GearboxesA gear box has two main duties. First, it transfers the power from the motor (as a power

generator), to wheels and so on. In mechanical engineering, gearboxes are known as

Transmission systems.

The second advantage of gearbox is to increasing or decreasing the torque and speed. If

the input gear is smaller than output gear it increases the torque an decrease the speed.

Vise versa, if the input gear is smaller than the output gear, it increase the speed and

decrease the torque.

Actuators

An actuator is a type of motor for moving or controlling a mechanism or system. There

are two main types of actuators:

Linear actuators

Rotational actuators

Linear actuator

A linear actuator is an actuator that creates linear motion.

Mechanical and hydraulic actuation are the most common methods of achieving

the linear motion.
http://www.seattlerobotics.org/guide/images/servo3c.jpg


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Rotary actuators

A rotary actuator is an actuator that produces a rotary motion or torque.

The most frequently used Rotary actuators in Robotic are Servo and

Stepper motors.


What is a motor

AC, DC, Stepper and Servo motors Gear boxes

What is an actuator

Linear and rotational

Practical session 2

In this session the participants will be familiar

with digital and analog sensors and with the

control of servo motors.

Connecting anUltra Sonic Sensor

Connecting a servo

Servos have three cables. Power, Ground and Data. The data cable is

connected with the digital port. The following diagram shows how servo isconnected with an Arduino board.

Controlling a servo

#include

Servo myservo; // create servo object to control a servo

void setup()

{

myservo.attach(9);// attaches the servo on pin 9 to the servo object

}

void loop()

{

myservo.write(90); // sets the servo position (0-180)

delay(1500); // waits for the servo to get there

}


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Continues rotation Servos

http://www.seattlerobotics.org/guide/servos.html

Servo motors can be modified and converted to continues rotation servos. Unlike the

rest of the servos, continues rotation servos can be controlled by the

writeMicroseconds() command.

writeMicroseconds()Description

Writes a value in microseconds (uS) to the servo, controlling the shaft accordingly. On a

standard servo, this will set the angle of the shaft. On standard servos a parameter value of

1000 is fully counter-clockwise, 2000 is fully clockwise, and 1500 is in the middle.

Note that some manufactures do not follow this standard very closely so that servos often

respond to values between 700 and 2300. Feel free to increase these endpoints until the

servo no longer continues to increase its range. Note however that attempting to drive a

servo past its endpoints (often indicated by a growling sound) is a high-current state, and

should be avoided.

Continuous-rotation servos will respond to the writeMicrosecond function in an analogous

manner to the write function.

Syntax

servo.writeMicroseconds(uS)

Parameters

servo: a variable of type Servo

uS: the value of the parameter in microseconds (int)

writeMicroseconds()Example

#include

Servo myservo;

void setup()

{

myservo.attach(9);

myservo.writeMicroseconds(1500); // set servo to mid-point

}

void loop() {}

Exercises

1) Connect a photocell with the board and print it values.

2) Connect a photocell and a LED with the board. Make theLED on if the photo cell receive low values.

3) Connect a Buzzer and a PIR with the Arduino board. Makethe Buzzer on if the PIR detect movement.

4) Connect a potentiometer and a mini servo with theArduino board. Make the servo to move based on the inputfrom the potentiometer.

5) Connect an Ultra sonic sensor with the board and print thevalues that it receives.

6) Connect a continues rotation servo and make it move frontfor 10 sec, stop for 5 sec and go backwards for 10 sec.

Land Station based control systemsLecture 5

Dr. George T.

In the previous lecture

We covered the following:

What is a motor

AC, DC, Stepper and Servo motors

Gear boxes

What is an actuator

Linear and rotational


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Introduction to control systems

Land stations

Communication between robots and land stations PC as a land station

The introduction to control section of this

lecturer is based on the lecture notes of

Prof. Marian S. StachowiczLaboratory for Intelligent Systems

ECE Department, University of Minnesota

Duluth

Control

The word control is usually taken to mean:

- regulate,

- direct,

- command.

A control system is an arrangement of physical

components connected or related in such a

manner as to command, direct, or regulate

itself or another system.

Control System

IPO SYSTEM Input

The input is the stimulus, excitation orcommand applied to a control system.

Typically from external energy source,

usually in order to produce a specified

response from the control system.

Control Systems


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Output

The output is the actual response obtained

from a control system.

It may or may not be equal to specified

response implied by the input.

Control Systems

Terms and Concepts

Control Systems

Control system

A control system is an interconnection of

components forming a system configuration that

will provide a desired system response.

Control Systems

Two Types of Control Systems

Open Loop

No feedback

Difficult to control

output with accuracy

Closed Loop

Must have feedback

Must have sensor on output

Almost always negative

feedback

Control Systems

Open-loop control

An open-loop control system utilizes an actuating

device to control the process directly without using

feedback.

A common example of an open-loop control system

is an electric toaster in the kitchen.

Control Systems Control Systems


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Closed-loop control

A closed-loop control system uses a measurementof the output and feedback of this signal to

compare it with the desired output.


A person steering an automobile by looking at

the autos location on the road and making the appropriate adjustments.


Manual control system

Intelligent Control

Goal: Regulate the level of fluid by adjusting the output valve.

The input is a reference level of fluid and is memorized byoperator.The power amplifier is the operator.The sensor is visual.Operator compares the actual level with the desired level andopens or closes the valve ( actuator).

161

The level of fluid in a tank control.

162Intelligent Control


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Multivariable control system

Control Systems

Control system of the national income.

Control Systems

A robot is a computer-controlled

machine.

Industrial robotics is a particular

field of automation in which the

robot is designed to substitute

for human labor.

The Honda P3 humanoid robot.

Control Systems

Automation- The control of a process by automaticmeans.

Closed-loop feedback control system -A system that uses a measurement of the output andcompares it with the desired output.

Feedback signal -A measure of the output of the systemused for feedback to control the system.

Multivariable control system -A system with more thanone input variable or more than one output variable.

System -An interconnection of elements and devices for

a desired purpose.

Control Systems

What is a land station?

A land station is computing system used for controllingcontrol systems. The control can be of any form, regulate,

direct or command. The land station can be as simple as a

desktop and as complex as mainframes. The station hosts the

software that communicate and control the robot.

CNC Machines

CNC machines use PCs as land stations. The PC host the software that tells the motor controller

how to move the Stepper motors.


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Interaction with the users

Land stations usually act as the interface between the user

and the control system. Consider the following example. A

micro drone, that is controlled by the land station. The userspecify the path that the UAV should follow on the land

station. The station communicates this to the robot which

start moving. The robot can report back to the land station

with information such as its current location and so on.

Unlike the microcontrollers, land stations have higher

processing capabilities. Land stations can support more than

one control systems and can also be used as a communicationpoint between them.

Communication between the land

station and the robots

Land stations can communicate with the robots in a number of ways.

Directly via Serial port, USB and so on.

LAN

Wireless LAN

Internet

Point to point (XBEE)

PCs are widely used as land stations. The following example

shows how a C# application can run on a PC and control an

Arduino board.

Arduino can communicate with a PC via the Serial port. So all

the software has to do is receives and send data from and to

the serial port.

PC as a land station

Consider the following connection.


Three LEDs are connected with the Arduino b oard.

The following code hosted in Arduino will allow the LEDs to be ON and OFF based on the

commands received from the serial port.

Char i;

Void setup(){

Serial.begin(9600);

pinMode(10,OUTPUT);

pinMode(9,OUTPUT);

pinMode(8,OUTPUT);

}

Void loop(){

i=Serial.read();

If (i==r){

digitalWrite(10,HIGH);

digitalWrite(9,LOW);


}

If (i==y){




}

If (i==g){




}

}



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Open a Serial port connection with C#

private bool connected = false;private string RxString="";

SerialPort serialPort1 = new SerialPort();

serialPort1.PortName = textBox3.Text;

serialPort1.BaudRate = 9600;

serialPort1.Open();

The following close the connection

if (serialPort1.IsOpen) serialPort1.Close();


Send data to Arduino

serialPort1.WriteLine (y);


Open a Serial port connection with C#

private void DisplayText(object sender, EventArgs e)

{

textBox2.AppendText(RxString);

}

private void serialPort1_DataReceived (object sender, System.IO.Ports.SerialDataReceivedEventArgs e)

{

if (connected == true)

{

RxString = serialPort1.ReadExisting();

this.Invoke(new EventHandler(DisplayText));}

}

PC as a land stationThe key points of this lecture

Land stations

Types and applications

Communication between robots and land stations


In the next Lecture

We will visit and analyze a wide range of robotic projects. International Robotic ProjectsLecture 6

Dr. George T.


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Introduction to control systems

Land stations



This lecture will cover a wide variety of international robotic

projects. The aim of this lecture is to give to the students an

understanding of real robots and ideas of what they candeveloped with their current knowledge.

HRP-4CThe National Institute of Advanced Industrial Science and Technology (AIST) of Japan in

conjunction with Kawada Industries has now released the HRP-4C humanoid.

DER3Kokoro and Osaka University have developed a new life-like android called Actroid DER3.

These androids look very human and talk and move their heads, arms, hands, and bodies.

CB2The JST ERATO Asada project and Osaka University have built a child-sized androi d called CB2

(Child robot with biometric body). It is 130 cm. tall, weighs 33 Kg., and has 56 DOF. It has

cameras for eyes and microphones for ears. It also has 197 tactile sensors embedded in thesilicone skin.

AsimoHonda has introduced their updated Asimo humanoid. It is 130 cm tall, weighs 54 Kg = 119

pounds, and has 34 DOF.


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The world's first Arabic-speaking robot Robotic HandsThe Shadow project (London, England) has a really super hand. Their hand has 21

DOF. Each fi nger has 4 DOF and the thumb has 5 DOF. Their hand is even for sale, but

its quite expensive at 90,000 Euros ( = $119,700)

Robotic Hands

Dainichi Company, Ltd. Kani, Japan is also offering a complete hand. Their hand has 20 joints

and 16 DOF. The thumb has 4 DOF, while the rest have 3 DOF each. The weight is 1.4 Kg. Thi shand is quite expensive also: One hand (hardware only) is 3,866,000 yen ( = $36,900) while the

software is 1,520,000 yen ( = $14,500) or a total of 5,386,000 yen ( = $51,400).

Robot HandsDr. Paul Chappell of the University of Southampton has produced a fully functional hand

which isintended to be used as a prosthetic hand. It si called the Southampton Remedi-Hand. It has 6 DOF, one for each finger and 2 for the thumb.

Robotic hands for handicap

Touch Bionics, a Scotland firm that developed the i-LIMB Hand, a prosthesis with five

individually powered fingers, has announced the availability of the device. The company, anEdinburgh medical device developer, is also making ProDigits partial hand prostheses, based

on similar technology.

Robotic hands for handicap

DEKA Research and Development of Manchester (UK) has built a robotic arm which can be

used as a prosthetic arm by those who have lost their own due to accident or war.Unfortunately it costs about $100,000 = 80,000 Euros


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Bipedal Projects

The University of Sout h Denmark has a 7 DOF walker. They have several videos on their site

too. The walker was built by Henrick Lund, Soren Jensen & Soren Theodorsen. It standsabout 56 cm = 22 inches tall.

Bipedal Projects

The University of Brussels in Belgium has a bipedal walking robot project underway. This

project is being lead by Prof. D. Lefeber of the Mutlibody Mechanics Research Group of theMechanical Engineering Department. Their robot is called "Lucy". It is 150 cm tall and

weighs 30 Kg.

Bipedal Projects

The National University of Singapore has a bipedal walking robot project underway. This

project is being lead by Prof. C.M. Chew of the Mechanical Engineering Department . Theirrobot has 12 DOF and stands 1.2 meters tall. It is driven by DC motors.

Bipedal Projects

The University of Illinois has a biped walker project going on at the Urbana-Champaign

campus. It was built by Lloyd Buck and Kitirat Jungpakdee. They call it Bijimeny.

Bipedal Projects

Alexander Vogler from Vienna, Austria has a very nice bipedal android which he calls V-3. Its

about 12" or 30cm tall and weighs 1.2 Kg. It has 12 DOF.

Bipedal Projects

Arduino Biped Robot BRAT 6 DOF Robotic


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Android Head ProjectsDavid Hanson has produced another head - of Albert Einstein. This head was recently

attached to the Hubo humanoid being built at KAIST in Korea. You can see a video of Einsteinhere. The "Albert Hubo" has high quality video cameras embedded in the eyes, which allow

it to face-track and perform biometric ID. It is also set up for speech interaction and for

ongoing AI development.

Android Head Projects

David's animatronic head. This head has 16 servos which operate many different facial

actions. Cost $4500

Android Head Projects

Hossein Mobahi from the Azad University, Tehran-South Campus, Tehran, Iran has developed

an animatronic face. The face is comprised of eight degrees of freedom. Its controllablefeatures are eyes, eyebrows, jaw and neck. Aryan's brain enables it to autonomously detect

human face or hands and to track them. Aryan can express its emotion in his face, according

to its perceived visual stimulation. The brain software runs on a standard PC with a 200MHz

Intel Pentium Processor and under Linux OS.

hexapod Robot

Mecha Projects

A Japanese company called Sakakibarar Kikai (located in the Gunma prefecture about 100

miles NW of Tokyo on the island of Honshu) has built a Mecha which they call LandWalker. This Mecha is right out of Star Wars or Robocop . It is equipped with gatling guns

which shoot 4" diameter foam balls. It is 3.4 meters tall, 1.65 meters wide, and 2.4 meters

long. It weighs one metric ton and is powered by a 250 cc engine. It can walk at 1.5 Km/hr

(nearly 1 mile/hr).

Mecha Projects

A group in Okayama Japan has built a giant Gundam. It is 7 m (23 ft) tall, 3.5 m (11.5 ft) wide

and weighs 2 tons.


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Mecha Projects

Giant steel fire-breat hing dinosaur. This robot is 40 feet tall, weighs 58,00 0 pounds and cost

$2.2 million to build. The site shows pix of the robot picking up cars and even airplanes.

UAVs

US Air force UAV predator

UAVs micro drones

Spherical Flying Machine Developed by Japan Ministry Of Defense

Fish robots

Military robots

British soldiers with captured German Gol iath remote-controlled demolition

vehicles (Battle of Normandy, 1944).

Military robots

Foster-Miller TALON SWORDS units

equipped with various weaponry.

Gladiator unmanned ground vehicle


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Military robotsBigDog is a dynamically stable quadruped robot created in 2005 by Boston

Dynamics with Foster-Miller, the NASA Jet Propulsion Laboratory, and

the Harvard University Concord Field Station. BigDog is 3 feet (0.91 m) long,

stands 2.5 feet (0.76 m) tall, and weighs 240 pounds (110 kg), a bout the

size of a small mule. It is capable of traversing difficult terrain, running at 4

miles per hour (6.4 km/h), carrying 340 pounds (150 kg), and climbing a 35degree incline.

In the next lecture

This lecture presented a number of robotic projects of different

types that are used for different purposes. Robotics op ens the door

to a fascinating new world. However, these world can be dangerous.

In the next lecture we will talk about ethics and ethical use of theknowledge of robotics.

Ethics

Lecture 7

Dr. George T.


We covered a wide variety of international

robotic projects.

In this lecture

What is an ethical decision

Ethical vs Legal

Why we need ethics

Robots as assistants or weapons

How to make the right decision

What is Ethics

According to Wiki:

Ethics, also known as moral philosophy, is a branch

of philosophy that involves systematizing, defending, and

recommending concepts of right and wrong behavior.


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Ethical VS Legal

The Law does not always covers all the situations so there will be

IEEE Robotics

Documents

Transcript of IEEE Robotics