Chapter 14 Classic Projects Ben Jackson’s MINDSTORMS Creations www.ben.com/LEGO/rcx/ Ben’s site describes his robots and includes the description of his search for a fast line follower..
Trang 1in the MINDSTORMS site.
LEGO FetchBot (http://unite.com.au/~u11235a/
lego/fetchbot/)
Ben Williamson explains how his FetchBot works: a robot that can find
an object, pick it up, and drop it somewhere else.
Chapter 12 Doing the Math
Numerical Methods (http://tonic.physics.sunysb.edu/
The Mathematical Atlas contains this introduction to the topic and links
to many other resources.
Introduction to Time Series Analysis (www.itl.nist.gov/
div898/handbook/pmc/section4/pmc4.htm)
An index page from the NIST/SEMATECH Engineering Statistics Internet Handbook about the methods used to analyze time series It includes moving averages and exponential smoothing.
What’s Hysteresis? (www.lassp.cornell.edu/sethna/hysteresis/ WhatIsHysteresis.html)
Jim Sethna explains hysteresis in laymen’s terms and provides some examples.
Chapter 13 Knowing Where You Are
Where Am I (www-personal.engin.umich.edu/~johannb/
position.htm)
The site where you can download the not-to-be-missed “Where am I?
— Systems and Methods for Mobile Robot Positioning” by J.
Borenstein, H R Everett, and L Feng.
www.syngress.com
Trang 2Using PID-Based Technique for Competitive Odometry and Dead Reckoning (www.seattlerobotics.org/encoder/200108/
JP Brown’s Serious LEGO (http://jpbrown.i8.com/)
Here, Jonathan Brown describes the Laser Target we mentioned in Chapter 13 Don’t miss his wonderful creations; especially his world- famous Rubik’s Cube solver.
Robotics Introduction (www.restena.lu/convict/Jeunes/
RoboticsIntro.htm)
Boulette’s Robotics Page is one of those sites difficult to classify since it contains useful tips and interesting projects in many different areas.We chose to place it here for its discussion on positioning and for its description of highly specialized sensors used for the task: laser emitters and decoders, compasses, and infrared-ultrasonic beacons.
Chapter 14 Classic Projects
Ben Jackson’s MINDSTORMS Creations (www.ben.com/LEGO/rcx/)
Ben’s site describes his robots and includes the description of his search for a fast line follower.
Doug Wilcox’s LEGO MINDSTORMS Site (www.wordsmithdigital.com/mindstorms/)
In the Projects section of his site, Doug describes the story of his and-pinion steering designs (designed with Carl Jagt).
rack-Huw (www.brickset.com/huwhomepage/)
Huw Millington’s home page contains the link to his four-wheel car, a rack and pinion vehicle equipped for both obstacle detection and line following Don’t miss Huw’s other creations: the Brick Sorter and the Pneumatic Arm.
www.syngress.com
Trang 3562 Appendix A • Resources
Rack and Pinion (http://occs.cs.oberlin.edu/~cmaron/
LEGO/journal7.html)
Chad Maron shows a very compact rack-and-pinion design.
Chapter 15 Building Robots That Walk
Technic Puppy Journal (www.geocities.com/technicpuppy/)
Miguel Agullo’s site contains detailed instructions for his Hammerhead ankle-bending walker Don’t miss the Lego Biped Links page, the best organized collection of links to MINDSTORMS bipeds.
Joe’s MINDSTORMS Gallery (http://member.nifty.ne.jp/
mindstorms/)
Tons of wonderful robots pack Joe’s gallery.Walkers and much more…
S6 Details (www.geocities.com/mario.ferrari/s6/s6.html)
Our first biped COG-shifting robot, S6.
Chapter 16 Unconventional Vehicles
Our first version of SHRIMP.
MINDSTORMS Projects Info (www.borg.com/~pinkmice/)
John Barnes’ Sewer Rat is able to run through 8" pipes!
Rob Stehlik’s Home Page (www.ecf.utoronto.ca/~stehlik/
Duna Rossa, our own robotic sailing tricycle.
The LEGO Train Depot (www.ngltc.org/train_depot/)
This site dedicated to LEGO Trains has a Hints & Tips section that includes MINDSTORMS controlled trains.
www.syngress.com
Trang 4Zhengrong Zang’s RCX Controlled LEGO Train Projects (http://legochina.virtualave.net/)
Zhengrong dedicated his entire site to solutions and schemes about trolling trains with the RCX.
con-Pacific NW LEGO Train Club (www.pnltc.org/)
PNLTC Web site has articles about using LEGO MINDSTORMS to control trains.
TFM’s Home Page (www.akasa.bc.ca/tfm/index.html)
This site covers controlling LEGO locomotives and crossings with the RCX.
Where No Man Has Gone Before (www.hq.nasa.gov/
A gallery of rovers used in planet exploration.
Chapter 17 Robotic Animals
MINDSTORMS Info Center (www.mi-ra-i.com/JinSato/
Our leash-driven Cyberdog.
Chapter 18 Replicating Renowned Droids
R2-D2 Builders Club (www.robotbuilders.net/r2/)
The R2 Builders Club is a forum about building a personal version of
www.syngress.com
Trang 5564 Appendix A • Resources
the renowned droid It’s not about LEGO, but you can find applicable tips and inspiring images.
Johnny-Five.com (www.johnny-five.com)
A fan-made Web site devoted to Johnny Five.
Clint Rutkas’ Skunk Works (http://members.nbci.com/
_XMCM/rutkas/index.html)
Clint Rutkas’s site contains, among many other interesting things, two large MINDSTORMS robots emulating R2-D2 and Johnny Five.
Otto Details (www.geocities.com/mario.ferrari/otto/otto.html)
Our large octagonal R2-D2 clone.
Cinque Details (www.geocities.com/mario.ferrari/cinque/ cinque.html)
Our large scale replica of Johnny Five.
Chapter 19 Solving a Maze
MINDSTORMS MazeWalker (www.hempeldesigngroup.com/ lego/mazewalker/index.html)
Another link to Ralph Hempel’s site—this time to point to his maze solver, an application demonstrated during the 1999 Mindfest at MIT.
Maze Solving Algorithm (www.lboro.ac.uk/departments/el/ robotics/Maze_Solver.html)
A description of the Bellman flooding algorithm.
Micromouse: Maze Solving (www.cannock.ac.uk/~peteh/
micromouse/maze_solving.htm)
This site is dedicated to Micromouse Maze solving competitions.The page we mention is specifically about Maze Solving algorithms.
Chapter 20 Board Games
TTT: A LEGO MINDSTORMS Tic-Tac-Toe Player (www.geocities.com/mario.ferrari/ttt.html)
The page of the TTT robots we showed at the Mindfest.You can also find Antonio Ianiero’s compact YATTT NQC source code there.
www.syngress.com
Trang 6Andy’s LEGO MINDSTORMS Ideas (www.artilect.co.uk/lego/)
Andy created a robot that plays Four-in-a-row and started a Chess project based on Francesco Ferrara’s QC programming system.
Chapter 21 Playing Musical Instruments
S15 & S16 Details (www.geocities.com/mario.ferrari/
s15/s15.html)
Our piano player and conductor team.
Chapter 22 Electronic Games
Rolighed’s LEGO MINDSTORMS Site (http://home14.inet.tele.dk/rolighed/)
Soren Rolighed made a working LEGO slot machine! Don’t miss his MINDSTORMS Typewriter, too.
Chapter 23 Drawing and Writing
LOGO Turtle (www.ecf.utoronto.ca/~stehlik/turtpics.html)
Rob Stehlik shows you step by step how to replicate his Logo Turtle.
Logo Foundation (http://el.www.media.mit.edu/groups/
A sophisticated plotter, able to change pens, too (this site is in Spanish).
Haiku Program (http://severed.tentacle.net/rpeake/archives/
programming/haiku.html)
C source for an automatic Haiku writer.
www.syngress.com
Trang 7566 Appendix A • Resources
Web-Ku: Haiku for the WWW (www.obs-us.com/people/
sunny/haiku/web_ku.htm)
A list of links to random haiku generators.
Chapter 24 Simulating Flight
LEGO MINDSTORMS Inventions (http://mindstorms.lego.com/inventions/default.asp)
The official MINDSTORMS site includes some flight simulators Even
if all of them simulate just the attitude of the plane and not its effects, Wouter Kooijman’s site provided us with interesting starting points.
FlightGear Flight Simulator (www.menet.umn.edu/~curt/fgfs/)
For those who want to explore the details of a much more complete simulation, FlightGear is a free, open source, multi-platform cooperative flight simulator.
Chapter 25 Building Useful Stuff
Mike’s LEGO MINDSTORMS Page in Wien (http://insel.heim.at/mainau/330001/lego.htm)
Michael Brandl shows his gallery of robots, which include “Adam der Gärtner” the robot that inspired our own “Plant Sprinkler.” Don’t miss his other imaginative and technically clever robots: a free climber, a robotic fish, and much more.
Chapter 26 Racing Against Time
LUGMAP (www.lugnet.com/map/)
An interactive map of LEGO user groups from around the world.
FIRST LEGO League (www.firstlegoleague.org/)
The official site of the FIRST LEGO League, a partnership between the LEGO Group and an organization called For Inspiration and
Recognition of Science and Technology (FIRST) FLL organizes LEGO Robotics Competitions for 9 to 14 year old children.
rtlToronto (http://peach.mie.utoronto.ca/events/lego/)
A very active LEGO users group with a strong focus on MINDSTORMS competitions.The site contains pages about the various events and their rules.
www.syngress.com
Trang 8Chapter 27 Hand-to-Hand Combat
Atlanta Hobby Robot Club Web Site (www.botlanta.org/index.html)
AHRC runs robotic sumo contests (including but not restricted to LEGO robots).Their site includes a page with detailed rules.
LEGO MINDSTORMS (www.geocities.com/mario.ferrari/
lego_mindstorm.html)
Our LEGO robotics pages contain many of our Sumo and Mini-Sumo contenders.
Chapter 28 Searching for Precision
Maxwell’s Demons – Official rules (http://news.lugnet.com/
Henrik Hautop Lund’s page about the first RoboCup Junior event—
featuring MINDSTORMS Soccer.
Mindfest (www.daimi.au.dk/~hhl/MindFest/)
Coverage of the LEGO MINDSTORMS Robot Soccer for Children at Mindfest.
www.syngress.com
Trang 10Matching Distances
Appendix B
569
Trang 11570 Appendix B • Matching Distances
Legend:
■ Each cell of the table contains three data: the distance in LEGO units (studs), the quality of the matching, and the resulting angle in degrees.
■ Distances are measured excluding the starting point (For example, if one
peg is in the first hole of a beam and another is in the tenth, the distance
is nine units.)
■ The quality of the matching is expressed with a symbol that reflects the difference between the actual distance and the closest perfect match, expressed in LEGO units, according to the following scheme:
www.syngress.com
Trang 12Height in Bricks and Plates
Trang 16Note Frequencies
Appendix C
575
Trang 18Math Cheat Sheet
Appendix D
577
Trang 19578 Appendix D • Math Cheat Sheet
Sensors
Raw values to percentage (light sensor):
percentage = 146 – raw value / 7
Raw values to temperatures, in C° (temperature sensor):
Linear interpolation: Find the value of the dependent variable Y for a given value
of the independent variable X, knowing that for X equal to Xa,Y is Ya, and for X equal to Xb,Y is Yb.
Trang 20Gears,Wheels, and Navigation
Output angular velocity of the body of a differential gear Oav, given the input angular velocity of the two axles Iav1and Iav2:
I = G x R
R = 16 (for Lego rotation sensors)
Conversion factor F which measures the traveled distance of a wheel for any single increment in the count of a rotation sensor:
Trang 21580 Appendix D • Math Cheat Sheet
New orientation Oiof a robot after a change in orientation ∆ O from the previous orientation Oi-1:
Trang 22AC See Alternating current
Acceleration, 482 See also Negative
AHRC See Atlanta Hobby Robot Club
AI See Artificial Intelligence
Alternating current (AC), 42Altitude, 471, 481
display, 472losing, 488Ambient IR radiation, 167Ambient light, 164, 394change, 70
interference, minimization, 298reading, 65
Ambient radiation, 168Ambient temperature, 229Ampere, 42–43
Amplitude, 230AND configuration, 79Android, study, 559Andy’s LEGO MINDSTORMS Ideas,Website, 565
Angle connectors, usage, 340, 341Angles
radians, 450tracking systems, 443
Angular velocity, 19, 29 See also Input;
Output ports; Rotating wheel
Animals See Four-legged animals; Robotic
animalscreation, 345–346Ankle-bending model, 308Ankles
bending, 306–309movements, 308Antidote robot, design, 536Aparna, 558
Applied power, 482Arachnids, 286Armadillos, 345Arrays
elements, 222usage, 220Articulated drive, 150Artificial Intelligence (AI), 392, 396
581
Trang 23Attack, 534–535
strategies See Robotic sumo
Automatic Haiku Writer, 462
Automation devices, 229
Autonomous Systems Lab, 312, 562
Average value See Dark/bright
Averages, 214, 578 See also Simple averages;
Weighted averages
Averaging, 218 See also Data
Axis See Lateral axis; Longitudinal axis;
Pivoting axis;Vertical axisAxle-pegs, 85
Axles, 18, 155, 579 See also Driving axles;
Front wheels; Long joined axle;
Output ports; Perpendicular axle;
Pivoting axle; Steer axle;Traverse axle;
Wheelsangle, increase, 271
Bank, 468, 471angle, 481change, 475control, 473–476coordination, 472effect, 485measurement, 476movement, 475values, 472variable, computation, 482Bar code, 236
Barnes, John, 166–168, 558, 562Base beam, 415
Baseplate, 383, 534Basic Input/Output System (BIOS), 99Bass drum, 413
Batteries, 88–89, 528 See also NiMH
batteries; Rechargeable batteries
AA batteries, 517
box, 51, 193, 518 See also External battery
boxcombination, 517draining, 45, 505
making See Fake batteries
supply, 506types, 516Battery-powered pen laser pointers, 241Baum, David, 102, 548, 552–553
Beacons, 241 See also Infrared-ultrasonic
beacons
following See Radio beacons Beams, 6, 160–161 See also Flashlight beam;
Half-beam; Horizontal beams;
Infrared; Layered beams; Longitudinalbeam; One-hole beam; Parallel beams;Perpendicular beam; Stacked beams;Vertical beams
connecting, 10deforming, 22dimension, 312
Trang 24hole, 570
importance See Locking beams mounting See Inner beams
placement, 155plates, combination, 9
support See Inner beams; Outer beams usage See Stack construction; Standard
beams;Traverse beamvertical position, 415BEAT value, 121
Behavior, 515 See also Complex behavior;
Elastic behavior; Plane; Predefinedbehavior; Random behavior; Robot;
Violent behaviorBellman Algorithm, 388Belts, 49
coupling, 51elasticity, 33pulleys, friction, 33slippage, 49, 202usage, 31–35Ben Jackson’s MINDSTORMS Creations,Web site, 561
Bend connector, 340Berti, Marco, 237, 392, 517, 544Beri, Marco, 555
Bevel gears, 29, 148, 342 See also Central
bevel gear; Double bevel gear12t, 30
pair, 402rotation, 38Bibliography, 548–549Bi-directional outputs, 176
BIOS See Basic Input/Output System Bipeds, 286, 299–309 See also Center of
gravityrobots, 284turning ability, 309Bi-stable mechanism, 203Bi-stable system, 203Black pegs, usage, 85, 176, 203Black pins, usage, 85
Bliss, Steve, 549
Blocks, 12 See also Code; Multicolor
movable block
Board games, 391introduction, 392
playing, 409–410 See also Chess;
Tic-Tac-Toesummary, 410Boats, 329–330Body structure, 343Boger, Jennifer/Dan, 557
Bogie, 312 See also Left bogie; Right bogie
control, 320Borderline, 68–69, 262Borenstein, J., 560Bot-Kit,Web site, 553Boulette’s Robotics,Web site, 556, 561Bower, Andy, 550
Bracing See Diagonal bracing;Vertical
bracinghinges, usage, 14–15Brake effect, 54
Braking See Effective braking
limit, 518power, 518Brandl, Michael, 503, 566Brick Command, 105Web site, 554
Brick Programmer See Gordon’s Brick
ProgrammerBrick Sorter, 561Brickbay,Web site, 557BrickBots,Web site, 567
Bricks, 4, 60, 101, 368 See also Light brick;
Programmable bricks;TECHNICbrick;Transparent bricks
colors, 66damage, 12delicacy, 60
dimensions, 46, 131, 203, 256, 428 See also
TECHNIC brick
side See Weighed brick side
orientation, 458usage, 362, 432Brickshelf,Web site, 550Bricx Command,Web site, 554BricxCC, 554
Brightness, 238
Trang 25Bumpers, 59–60, 210, 252 See also Front
bumpers; Left side bumper; Rearbumpers
addition, 359
closing, 79
design See Contact bumpers; Smooth
bumpersoperation, 269
Cars See Front-wheel drive;
Remote-controlled car; Robotic car; Supercarmodeling, 265–277
Casters, 380 See also Asymmetrical caster usage See Straight path
C/C++ code, 104
CdS See Cadmium sulfide Cells See Closed cells; Open cells
Cellular phones, 123Celsius degrees, 74–75conversion, 578
Center of gravity (COG), 280, 443, 474 See
also Real COG; Static COG;Virtual
COGCOG-shifting biped, 302movement, 281, 284, 286, 302–303placement, 360, 544
position, 283, 289, 308, 322
shifting, 299, 302–306 See also Walker
Center_steer (subroutine), 269, 270Central bevel gear, 38
Centrifugal force, 471Chain links, 35, 157Chains, usage, 31–32, 35–36Challenges, 514, 516
Changeover catch, 132 See also Transmission
pushing, 274
Chassis See Jointed chassis; Swinging chassis;
Wheeled chassisconstruction, 90Chassis/modularity/load, combination,90–94
Check_Bumper (subroutine), 108, 110, 112Checkers, 392, 409
check_sequence (subroutine), 434, 435, 437Chess, 392
construction, variations, 408–409interface, 397
mechanical interface, construction,400–408
playing, 396–409project, 565software, interfacing, 396visual interface, construction, 397–400