Mindstorms

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Mindstorms
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Presentatie Lego Mindstorms
12 april 2001

• Arjen de Waard
• Hugo Wesseling
• Emile Hobo

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Indeling Presentatie

• Introductie
• Lego Mindstorms Componenten
• Programmeren van Lego Mindstorms
• Toepassingsgebied
• Lego Mindstorms Projecten uit de Praktijk

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Introductie

• Lego Technic
• Mechanieken
• Aandrijving dmv motor / pneumatiek

• Lego Mindstorms
• Programmeerbare bouwstenen
• Autonome robots

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Overzicht Componenten
PC
Programmeerbare Controller
Sensoren
Actuatoren
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Lego Sensoren

• Touch Sensor
• Light Sensor
• Rotation Sensor
• Temperature Sensor

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Lego Sensoren

• Lego Cam (Vision Command)
• Videobeelden opnemen
• Detecteren van licht
• Detecteren van kleur
• Detecteren van bewegingen
• Beeldherkenning

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Lego Actuatoren

• Gear Motor
• Lamp
• Fiber Optics Strands

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Lego Controllers

• Micro Scout (Dark Side Developerkit / Droid
  Developerkit)
• ingebouwde licht sensor
• ingebouwde motor
• 7 programma's

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Lego Controllers

• Scout (Robotics Discovery Set)
• ingebouwde licht sensor
• 2 ingangen voor sensoren
• 2 uitgangen voor actuatoren
• infrarood communicatie

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Lego Controllers

• RCX (Robotics Invention System)
• 3 ingangen voor sensoren
• 3 uitgangen voor actuatoren
• infrarood communicatie

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IR Communicatie
IR Transmitter voor communicatie met PC Remote
Control
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Alternatieve Componenten

• Handy Board (Fred Martin, MIT)
• 7 ingangen voor analoge sensoren
• 9 ingangen voor digitale sensoren
• 4 uitgangen voor DC motoren

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Alternatieve Componenten

• Ultrasonische Afstand Bepaling

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Alternatieve Componenten

• Sensors van DCP Microdevelopments
• Vochtigheid Sensor
• Luchtdruk Sensor
• Beweging Sensor
• Geluid Sensor
• ph Sensor
• Spanning Sensor

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Programmeren van controllers

• Personal Computer nodig (Ruputer)
• Communicatie tussen computer en controller
• Taal nodig voor programmeren
• Mogelijk door CPU in controllers
• Talen nodig voor verschillende doelgroepen

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Programmeertalen

• Programmeren in verschillende talen
• Not Quite C
• Grafisch programmeren
• Forth for the RCX
• legOS

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Not Quite C

• Lijkt op C (java)
• Tasks en subs
• Gebruik van variabelen
• Sensoren lezen

XSENSOR_1
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Not Quite C

• Actuators aansturen

Setoutput( OUT_AOUT_B, OUT_ON)

• Compileren
• Uploaden naar controller

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Grafisch programmeren

• Simpel ? Drag en drop
• Bouwstenen

1. Commands
2. Sensor watchers
3. Stack controllers
4. User commands

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Grafisch programmeren

• Event handling (parallel)
• Geen variabelen
• Snel programmas
• bouwen

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Toepassingen

• Speelgoed
• Educatief
• Onderzoek

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Mindstorms in de praktijk

• Constructie van robots
• Voortbeweging
• - Lopen
• - Rijden
• - Obstakelontwijking
• Artificial life

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Een lopende spin

• Voortbewegen als insect
• Eenvoudige constructie
• - Weinig motoren
• - Weinig sensoren
• - Makkelijk uitbreidbaar
• Onderzoeksobject

Fig. 1 Een eerste prototype
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De voortbeweging

• Niet elke poot afzonderlijk
• Omcirkelde poten worden opgetild

Fig. 2 De voortbeweging
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Resultaat

• Druksensoren
• - Lichtsensoren
• Poten multiterrein
• Afstandsbediening

Fig. 3 Uiteindelijke robot
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Rijdende robot

• Gegroepeerde wielbesturening
• Manouvreren in elke richting
• Model voor toekomst
• - Kantoren
• - Precisie robots

Fig. 4 Het rijmechanisme
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De vectorrover

• Rijdende robot
• Neemt omgeving waar
• - Ziet
• - Tast
• Moet intelligent de weg zoeken

Fig. 5 De vectorrover
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The jungle cube

• Artificial life
• Zwak en sterk
• Dag en nacht
• Emoties
• Survival

Fig. 6 De jungle
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en zijn bewoners

• Zelfstandige agents
• Eigen persoonlijkheid
• - Wil om te overleven
• - Vijandig / Vriendelijk
• - Kan geluid maken
• Synchronisatie

Fig. 7 VOER!
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Mindstorms on the Net

• Excellent facility to overcome any obstacles that
  may be encountered
• Common questions answered
• Program tuition
• Additional products introduced

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Touch and light sensors

• Very easy to assemble
• Very sensitive to external stimuli

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Rotation and temperature sensors

• Temperature sensor would be of particular use in
  conducting potentially dangerous science
  experiments via robotics

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Robotic Command Explorer

• RCX
• program downloaded via infra red beam
• 3 output terminal- used for motors
• 3 in/out terminals for touch, light, temperature
  sensors

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My model

• Lego construction enjoyable, however the
  integration of the motors seemed a little
  difficult in terms of design
• The motors should snap together

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It works
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Using both sensors
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RCX as Find Command Simulator

• Translating Abstract Computing Concepts into
  Physical Form

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(or) the True Story of..

• When Harry Met Sally!

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..Young, successful, blonde-haired, blue-eyed,
charming I.T. professional seeks HOT STUFFPlease
contact HARRY at P.O. Box 1591.
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Scenario I End of File (Face it, Harry, she
just aint out there!)
Starting Point Execute Find Command
Correct Record not found/ E.O.F. Program ends
after 30 Seconds
RECORD 1
RECORD 2
RECORD 3
Incorrect Records
RECORD 4
Correct Record
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Scenario II Timeout (Only one step short of
Heaven.)
RCX Find Command Simulator Timeout Scenario
Starting Point Execute Find Command
Starting Point Execute Find Command
FindProgram (30 Seconds Duration) ends
without record being found Timeout!
FindProgram (30 Seconds Duration) ends
without record being found Timeout!
RECORD 1
RECORD 1
RECORD 2
RECORD 2
RECORD 3
RECORD 3
Incorrect Record
Incorrect Record
RECORD 4
RECORD 4
Correct Record
Correct Record
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Scenario III Successful Record Retrieval (and
their eyes met across a crowded room)
Starting Point Execute Find Command
Find ends when correct record found
RECORD 1
Message sent to second RCX
RECORD 2
RECORD 3
Incorrect Records
RECORD 4
Correct Record
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How the Find Command Simulator Works

• Running RCX Program as a Metaphor for Execution
  of Find Command (Search Engine query).
• Physical Environment as Database Table.
• Obstacles Within Environment as Records in
  Database Table.
• Touch Sensors Locate Incorrect Records

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How the Find Command Simulator Works

• 4. Light Sensor Locates Correct Record.
• 5. On Retrieval of Correct Record, Find Output
  Delivered on Screen via Infra-Red Message to
  Second RCX

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How the Find Command Simulator Works

• 6. Motors Off to Signify End of Search.
• 7. Correct Record Not Found Within 30 Seconds
  Search Timeout/ End of File.

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Disadvantages/Limitations of Lego Mindstorms 1

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• Criticism Aurally-impaired Users or Users
  without a Soundcard excluded from Software
  Tutorial.
• Recommendation Voice-over should be accompanied
  by additional sub-titled Text.
• Criticism No Obvious Means of Skipping Tutorial
  results in many Users going through Process each
  time Software is installed
• Recommendation There should be better
  Signposting of Skip Tutorial Option.

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Disadvantages/Limitations of Lego Mindstorms 2

• Criticism There is more Emphasis on Mechanical
  Skills than is Necessary for our Purpose,
  although this in itself is not a bad thing.
• Recommendation For Non-Engineering Students, a
  Pre-Assembled Model might be of more Use.
• Criticism If one uses the Software Guide
  without having IR transmitter connected to PC,
  one is forced to exit the Application.
• Recommendation Independence of Software Guide
  IR Transmitter/ RCX.

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Disadvantages/Limitations of Lego Mindstorms

• Criticism Difficulty in identifying where
  Process is failing, e.g., whether it is Software
  or Hardware-related
• Recommendation Debugger tool should be included
  in Package.
• Criticism Conflict between Interrupt Handlers
  means that event-oriented Program will not run.
• Recommendation Better Troubleshooting for
  Programming (as opposed to Construction).
• Criticism Built-in Obsolence.
• For Example Rubber-Bands last an average of 5
  Minutes, therefore, after one has run out of the
  supply included in the kit, it is no longer
  possible to test.

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Advantages of Lego Mindtools 1

• Easy Introduction to Computer Programming.
• Opportunity to show abstract Concepts in
  concrete Form.
• Opportunity for Multi-Faceted Learning, e.g.,
  Programming/ Mechanics/ Engineering/ etc.

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Advantages of Lego Mindtools 2

• Instructions are self-explanatory, logical and
  intuitive.
• Positive Feedback provided throughout Tutorial
  which is encouraging for the Beginner.

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Program screenshot
Example of one Program that didnt work because
of conflict between stacks
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Academic Evaluation
Hugobos

• Excellent means of introducing basic programming
  concepts such as loops, nested loops and
  conditional statements, in an environment where
  effects on an end product can easily be viewed
• Excellent teaching tool for In/ Out devices and
  interfacing
• Robotics is put easily within the grasp of a
  teenager

• The integration of both software and hardware
  gives a very balanced education
• The complementary relationship between hardware
  and software can be seen at a glance, as opposed
  to the traditional approach of introducing both
  as separate disjointed topics in IT

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• Biped 1
• This is the biped robot "Biped 1". This robot
  has an ankle motor each leg,and can walk by
  switching own center of balance.

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