boe bot manual 2.2

boe bot manual 2.2

Learn more Cite this publication Richard Balogh 8.24 Slovak University of Technology in Bratislava Abstract Mobiln robot Boe-Bot je komercne dostupna stavebnica firmy Parallax. Predstavime jeho zakladne vlastnosti, ktore umoznuju vel 'mi jednoduche a rchle uvedenie do robotiky. Predvedieme niekol 'ko prikladov programovania a pouzivania i jeho jednoduche rozsirovanie. Zmienime sa o moznosti na-hrady v hobby ci amaterskom prevedeni. Po prednaske bude nasledovat ' cca dvojhodinov workshop, na ktorom si ucastnici vyskusaju jeho programovanie, vyriesia jednoduch ulohy a mal projekt. Download full-text PDF Pre dvedieme niekol ’ ko pr ? ?kladov programovania a p ou.On the motors are moun ted two plastic wheels. The rear wheel is made of a drilled polyethylene ball. Mounting holes and slots may be used to add custom robotic equip- ment. Figure 1: The Boe-Bot mobile r obot. The robot is controlled by the Parallax’s popu- lar microcontroller Basic Stamp II and the Board of Education (see Fig. 2 ). It is a simple board containing a processor, power supply circuits, in- terfaces, connectors and a small experimental sol- derless breadboard. The code is developed within the free integrated developmen t environment Basic Stamp Windo ws Editor, which contains also the code downloader and the com- munication terminal (Fig. 3 ). Figure 2: Boar d of Education. This platform is quite intuitive for beginners, but has enough potential to keep more adv anced stu- dents and hobbyists in terested. The kit includes everything you need to mak e a functional, educa- tional and entertaining mobile robot. No previous robotics, electronics or programming experience is necessary. Figure 3: Basic stamp Editor and development tools. Each chapter contains the exercises and challenges with solutions. The activities start with the basic movemen ts and proceeds to sensor- based projects. Students quickly learn how the Boe-Bot is expandable for many di?erent robotic projects.http://www.owmaria.pl/userfiles/blitz-turbo-timer-instruction-manual.xml

• boe bot manual 2.2.

The Student Guide contains eigh t chapters con- centrated on di?erent topics of robotics: 1. Your Boe-Bot’s Brain, 2. Your Boe-Bot’s Servo Motors, 3. Assemble and Test Y our Boe-Bot, 4. Boe-Bot Navigation, 5. Tactile Navigation with Whisk ers, 6. Light Sensitive Navigation, 7. Navigating with Infrared Headlights and 8. Robot Control with Distance Detection. Let’s show some simple examples of the previ- ously mentioned tasks. 2 Control of inputs and outputs. The processor contains 16 general purpose pins, which can be freely con?gured as inputs or out- puts. The motors are small, compact and rugged. Most of them can rotate and hold a position between 90 and 180 degrees. Their precise positioning makes them ideal for radio controlled planes, cars, puppets, and, of course, robots. Modi?e d, or continuous rotation servos receive the same electronic signals, but instead of holding certain positions, they turn with certain sp eeds and directions. The servo electronics is controlled by a pulse-width modulated (PWM) signal. Pulses repeats each 20 ms, whilst its width controls the speed of the servo. The continuous rotation serv o turns with full speed clockwise when you send it 1,3 ms pulses, 1,7 ms pulses will mak e the servo turn with full speed counterclockwise. The servo will be stopped with 1,5 ms pulses. Figure 5: The DC servo and its conne ction dia- gram. Below is the PBasic code that shows the basic use of the servo motor control. Pulsing of the servo’s signal line with the Basic Stamp proces- sor is done with the PULSOUT command. The command ’PULSOUT 13, 750’ sends to the pin Also the sensors with PWM or time varying outputs can be read directly. The following program shows an example ho w to read the state of the digital sensor (bumper) and the analog distance sensor using the ADC. One possibility is to use the serial com- munication interface RS-232 and the PC with the terminal program running.http://franklinwaynemusic.com/UserFiles/blitzball-manual-movement.xml

Another approac h uses an added LCD display placed directly on the robot. Bidirectional serial communication is also sup- ported in PBasic.The hardware The BoeBot robot in fact consists of two contin- uous rotation servos (av ailable from any hobby shop), battery holder and mechanical chassis. That makes possible to replace each mechanical part of the robot with own piece of hardware. Still it is possible to use all of the previous men- tioned features, using the standard Board of Edu- cation by the Parallax, or simply the BasicStamp chip itself. This is a BasicStamp pin compatible processor which can be programmed in a simple subset of Jav a language. The robot only responds to the commands sent from the master computer. The control program can be written in the high-level language of your pre- ferred choice. A control program in Ja va perform all the necessary image processing. After the ob- ject localization it sent some move commands to follow the object - small white ball. All the nec- essary computations were performed on the stan- dard PC, the robot just received basic movemen t commands. Electronics Also in this area some alternatives exist. It is p os- sible to easily replace the BasicStamp processor with the previously mentioned Jav elin pro cessor. Y et another alternative is to use a completely dif- ferent electronic control unit, based on the per- sonal preferences. Very popular microcontrollers are those of the Microchip PIC family, F reescale HC family or Atmel A VR family. An example of using this platform for the robot control is the robot MexleBoy which participated on the Robotchallenge championship in Wienna. The same robot with the BasicStamp controller par- ticipated a year ago. 7 Conclusions Even with such a simple robot it is possible to do really impressive amount of w ork in a robotics in- troductory course. Students are alw ays impressed with amount of in?uencing factors determining precise movemen t of the robot.

Figure 9: T eaching with rob ots is fun.V er- sion 1.0, Parallax, Inc., Rocklin, Califor- nia, 2002. Doctoral theses at NTNU Throndheim, Norway, 2007.V oboch pripadoch je vztah casu k prebiehajucim vypoctom taky, ako keby akykolvek vypocet dokazal prebehnut v case obmedzenom dlzkou taktu, ci dokonca v nulovom case. Tento pristup je cudzi pre tzv.Ukazeme, ze tento pristup k casu vedie k alternativnym vysvetleniam spravania sa systemov a lepsie vyhovuje potrebam ich implementacie. 1 Uvod Cim sa vyznacuje spravanie zivych organizmov. Zo strednodobeho pohladu je to ucelnost tohto spravania, zatial co z dlhodobeho pohladu je to v prvom rade schopnost toto spravanie zdokonalovat. Avsak my sa sustredime na kratkodoby pohlad, ktory odzrkadluje najnizsie a najrychlejsie pracujuce vrstvy riadenia, ktore su za spravanie zodpovedne. Kym v porovnani zivych systemov s umelymi mozeme (v pripade, ze tie umele systemy su urobene dobre) vidiet aj rovnaku ucelnost, na kratkodobej skale jeden podstatny rozdiel uvidime: stroje normalne generuju za rovnakych podmienok rovnake spravanie, zatialco zive tvory to nedokazu ani v pripade, ze je to ucelne. Zo strany zivych systemov tu ide o urcitu nepredvidatelnost ci tvorivost ich spravania. Ked napriklad porovnavame filmove zabery vyroby Fordovych zavodov zo zaciatku minuleho storocia, kedy tam zaviedli pasovu vyrobu (obr. 1) s analogickou automatickou linkou plnou priemyselnych robotov zo sucasnosti (obr. 2), na prvy pohlad su podobne, az na to, ze v jednom pripade su akcnymi prvkami vyroby ludia a v druhom roboty. Je to vsak len preto, ze vec posudzujeme zo strednodobeho hladiska: robot, rovnako ako clovek urobi na spravnom mieste buduceho auta spravny zvar, zaskrutkuje spravnu maticu a podobne. Pri detailnom pohlade vsak zistime, ze po chvili sledovania konkretneho robota, vieme velmi dobre predvidat drahu jeho nasledovneho pohybu. Avsak clovek vzdy vykona svoj pohyb trochu inak, hoci sa zrejme snazi vykonavat pohyb stale ten isty.

View Show abstract. A more complex platform, Parallax' Boe-Bot 1 is interesting to learn how to build a robot, with some notions of programming and electronics. This unique combination makes them an ideal tool for introducing science and technology to children. This paper presents the outcome of a programming workshop held on the occasion of the 2011 EPFL Robotics Festival. This workshop introduced programming using the robot “Thymio II”. The participants enjoyed this workshop very much, and their attitudes suggest that the public is attracted to such events out of interest rather than pure fun or educational concerns. More theoretical and less practised concepts, such as the sensory-motor loop or the programming details, were not well understood. These findings now enable us to create better edutainment material. View Show abstract. We argue that the team-work is highly undervalued in the current school system, and that robotics contests and project work are a very suitable platform to strengthen team-based education. We describe a proposal for a robotics module curriculum for the 1 st year of informatics for the secondary grammar school. We shortly describe the tools and platforms of non-contest initiatives that our group is involved in. View Show abstract. In our university we have been using for many years the commercially available mobile robots Boe-Bot 1 by Parallax, Inc. Disadvantages of the original Basic Stamp processor dis-appeared, more complicated tasks can be solved. As the board is compatible with the Arduino platform, also the open source de-velopment environment can be used. The requirements, design process and technical parameters are described. Also some illus-tration examples are shown. View Show abstract.In this paper, we investigated the knowledge acquisition View Show abstract. Nevertheless, there is increasing interest for this field and more and more courses are available to teenagers, either out of school or as facultative lessons..

A Two Years Informal Learning Experience Using the Thymio Robot Conference Paper Full-text available Jan 2011 Fanny Riedo Philippe Retornaz Luc Bergeron Francesco Mondada Technology is playing an increasing role in our society. Therefore it becomes important to educate the general public, and young generations in particular, about the most common technologies. In this context, robots are excellent education tools, for many reasons: (i) robots are fascinating and attract the attention of all population classes, (ii) because they move and react to their environment, robots are perceived as close to living beings, which make people attracted and attached to them, (iii) robots are multidisciplinary systems and can illustrate technological principles in electronics, mechanics, computer and communication sciences, and (iv) robots have many applications fields: medical, industrial, agricultural, safety. While several robots exist on the market and are used for education, entertainment or both, none fits with the dream educational tool: promoting creativity and learning, entertaining, cheap and powerful. We addressed this goal by developing the Thymio robot and distributing it during workshops over two years. This paper describes the design principles of the robot, the educational context, and the analysis made with 65 parents after two years of use.We conclude the paper by outlining the specifications of a new form of educational robot. View Show abstract Development of Microcontroller Based Mobile Gas Sensing Robot Article Full-text available Dec 2012 Mohd Zaki Ghazali Noorhayati Mohamed Noor Noraziah Ramly Sulastri Putit This paper presents the development of a microcontroller based mobile gas sensing robot. The purpose of the robot is to automatically detect gas leakage along a gas transporting pipeline. The developed microcontroller based mobile gas sensor robot is also proposed to reduce the workload of inspection and maintaining gas pipeline.

Pipeline gas detection is difficult as it is odourless but very flammable and the pipeline may run thousand kilometres. The combustible property of LPG gas leads to mass destruction of properties and human casualties. The developed mobile gas sensing robot has shown it capability to detect the LPG gas upon a leakage using its LPG gas sensor and also capable of determining the location of leakage from its Ultrasonic sensor. In addition, the robot is capable of traversing the pipeline back and forth without any human intervention. The experiment has shown that the mobile gas sensing robot can acts as a precautionary measure from gas leakage along a pipeline. View Show abstract A Mechatronic Platform for Robotic Educational Activities Chapter Apr 2013 Ioannis Kostavelis Evangelos Boukas Lazaros Nalpantidis Antonios Gasteratos Robotics courses can be efficiently taught only if self-involvement and development are encouraged early on. Robotics in education is mainly focused on the different disciplines that are put into practice in the respective field, including programming, hardware development, mechatronics, etc. This chapter discusses an end-to-end procedure to develop an autonomous robotic platform, as part of the educational procedure. First, the architectural design and the implementation of the platform are described in detail and then the educational activities that can be applied to this platform are detailed. The goal of this chapter is to highlight methods to stimulate the interest of students in robotics through their involvement in the development of a robot platform and, later on, of the required software applications. In a nutshell, this chapter summarizes our experiences in mechatronics educational activities that actively involved students. View Show abstract Javelin Stamp Manual. Version 1.0, Parallax, Inc., Rocklin, California Jan 2002 Al Williams Williams, Al: Javelin Stamp Manual. Version 1.0, Parallax, Inc., Rocklin, California, 2002.

Available on-line. International Journal of Advanced Robotic Systems, Vol. 2, No. 2 (2005), pp. 144-160. Available on-line. Reference Manual, Version 2.2, Parallax, Inc. Rocklin, California, 2005. ISBN 1-928982-328. Available on-line. Arduino is an open-source electronics prototyping platform based on flexible, Student guide. Version 2.2 Jan 2004 Andy Lindsay Lindsay, Andy: Robotics with the Boe-Bot. Student guide. Version 2.2, Parallax, Inc. Rocklin, California, 2004. ISBN 1-928982-034. Available on-line. Gerhard: MiniMEXLE-The microprocessor Website containing Design of the wheeled Available on-line. The challenge of designing effective controllers for autonomous mobile robots has been intensely studied for few decades. Control Theory studies the fundamental control principles of robotic systems. However, the technological progress allows, and the needs of advanced manufacturing, service, entertainment, educational, and mission tasks require features beyond the scope of the standard functionality and basic control. Artificial Intelligence has traditionally looked upon the problem of designing robotics systems from the high-level and top-down perspective: given a working robotic device, how can it be equipped with an intelligent controller. Later approaches advocated for better robustness, modifiability, and control due to a bottom-up layered incremental controller and robot building (Behavior-Based Robotics, BBR). Still, the complexity of programming such system often requires manual work of engineers. Automatic methods might lead to systems that perform task on demand without the need of expert robot programmer. In addition, a robot programmer cannot predict all the possible situations in the robotic applications. Automatic programming methods may provide flexibility and adaptability of the robotic products with respect to the task performed. One possible approach to automatic design of robot controllers is Evolutionary Robotics (ER).

Most of the experiments performed in the field of ER have achieved successful learning of target task, while the tasks were of limited complexity. This work is a marriage of incremental idea from the BBR and automatic programming of controllers using ER. Incremental Evolution allows automatic programming of robots for more complex tasks by providing a gentle and easy-to understand support by expertknowledge — division of the target task into sub-tasks. We analyze different types of incrementality, devise new controller architecture, implement an original simulator compatible with hardware, and test it with various incremental evolution tasks for real robots. We build up our experimental field through studies of experimental and educational robotics systems, evolutionary design, distributed computation that provides the required processing power, and robotics applications. University research is tightly coupled with education. Combining the robotics research with educational applications is both a useful consequence as well as a way of satisfying the necessary condition of the need of underlying application domain where the research work can both reflect and base itself. According to this architecture, a control system is implemented as a set of reactive agents which communicate indirectly through another entity called space. It is derived from subsumption architecture and related philosophy of R. Brooks and M. Minsky but it employs terms of modern approach of multi-agent systems. However, agents do not represent cooperating robots here, but units of a control system of a single robot. The presented architecture can be considered as an application of agent-oriented programming in domain of mobile robotics. Its most interesting features are dataflow which supports a many:many relationship, implicit sampling, high ability to modify and ability to model competition among internal structures.

The key idea of the architecture is to allow only indirect communication among agents. It is realized by reading and writing named data. The data are stored as blocks in the space which also controls their time validity. Each such a block realizes a dataflow among several agents. How do agents know about presence of particular data (which should be processed by them) in the blocks. There are two solutions: an agent can regularly read blocks (and process what is stored there regardless it is something new or not) or it can receive a notification about their changes. We demonstrate capabilities of the architecture by implementation of a control system for a mobile robot which follows a ping-pong ball. An incremental development of the control system is presented. We start with a chain of reactive agents which model a traditional pipe-line structure of image processing and action selection. Even this structure is not a pure equivalent of the traditional approach. But advantages appear just when we try to improve capability of the robot to operate under various lighting conditions. We clone a part of the control structure to run its several instances in parallel, each using a different configuration for individual condition. Unlike usual approaches these instances do not cooperate but they compete. However, there is no negative impact of the competition to the resulting behavior of the robot. The only result is that it works under more general conditions. We introduce some further modifications of the control system. Researchers are brought together that work o n new applications, the latest products, or systems and components for using robotics in schools, in universities and in informal education.

Part 2: Making Hard Robots Soft Sensors, Skin and Airbags Embedded videos are found in: View full-text Article Full-text available Robotics course with the Acrob robot Richard Balogh Robotics course at the Faculty of Electrical En-gineering and Information Technology of Slovak University of Technology in Bratislava is intended for the 3 rd year students of bachelor studies. In this paper we describe the course organization and some of laboratory exercises with the Acrob mobile robot. We describe its hardware used for the course and tasks solved. View full-text Conference Paper Popularization of the Robotics January 2008 Richard Balogh We present the mobile robot contest Istrobot, the categoruies, experiences from the previous years, and conditions for participation. We mention also other activities in this area in Slovakia and close neighbouring countries. We evaluate an experience and advantages of such activities. Read more Article Full-text available Educational Robotic Platform based on Arduino January 2010 Richard Balogh The design of a new controller board for a mobile robot based on the Parallax Boe-Bot chassiss is described. Disadvantages of the original Basic Stamp processor dis-appeared, more complicated tasks can be solved. As the board is compatible with the Arduino platform, also the open source de-velopment environment can be used. View full-text Article Acrob - an Educational Robotic Platform November 2010 Richard Balogh In this paper we describe the design of a new controller board for the mobile robot based on the Parallax Boe-Bot chassis. Disadvantages of the original Basic Stamp processor disappeared, more complicated tasks can be solved. As the board is compatible with the Arduino platform, also the open source development environment can be used. Also some illustration examples are shown. Read more Discover more Download citation What type of file do you want. RIS BibTeX Plain Text What do you want to download.

Citation only Citation and abstract Download Discover the world's research Join ResearchGate to find the people and research you need to help your work. Join for free ResearchGate iOS App Get it from the App Store now. Install Keep up with your stats and more Access scientific knowledge from anywhere or Discover by subject area Recruit researchers Join for free Login Email Tip: Most researchers use their institutional email address as their ResearchGate login Password Forgot password. Keep me logged in Log in or Continue with LinkedIn Continue with Google Welcome back. Keep me logged in Log in or Continue with LinkedIn Continue with Google No account. All rights reserved. Terms Privacy Copyright Imprint. If you decide to use trademarks of Parallax Inc.Parallax also recognizes Bill Boyer of the Dallas Personal Robotics Group for his version of the dual-wheel-and-scoop design that was refined and developed into the Parallax. TOOLS REQUIRED A Parallax screwdriver is included in your kit. You may find a pair of needle-nose pliers and a wire stripper to be useful (not included). ABOUT PARTS IN THE SUMOBOT KIT Appendix A includes a parts listing for the SumoBot robot kit. The screws will be countersunk into the battery pack when tightened and should be out of the way of the batteries.Secure each wheel with the small black Phillips head screw. The state of each position is shown below. The three-position switch has a middle position that powers the entire circuit except the servos. SumoBot motion is controlled using two pre-modified Parallax Continuous Rotation servo motors using a process called differential drive.Vss is called the system ground or reference voltage. When the pulse is done being executed the signal pin is low. Then, the BASIC Stamp creates a 20 ms pause. The Parallax BASIC Stamp Manual 2.x includes a “Quick Start” section that details how to open and launch the BASIC Stamp Windows Editor.

Source code for this text is available in a zipped file for download from www.parallax.com. SUMOBOT MOTION TEST With the motors aligned, it is time to test the SumoBot for essential motion control.Determine the proper loop count to cause the SumoBot to turn 30 degrees, 45 degrees and 90 degrees.LINE SENSOR THEORY The Parallax QTI uses a QRD1114 infrared (IR) reflective sensor to determine the reflectivity of the surface below it. When the SumoBot is over the black playing field or start lines (Shikiri), the reflectivity is very low; when the QTI is over the white border (Tawara), the reflectivity is very high and will cause a different reading from the sensor. RCTIME is then used to measure the time required to charge the capacitor to a specified level. This timing will be controlled by the current flow through the phototransistor side of the QRD1114. Without the comparison parameter, LOOKDOWN uses equality to scan its table for a value match. By using the comparison parameter, we can test a range of values with a single table entry. The purpose of SELECT-CASE is to replace several IF-THEN commands that would examine the same control variable. So, the following code structure: SELECT lineBits ' display actions CASE %00. The code at Reset reads a byte from the BASIC Stamp's EEPROM; located at the address called RunStatus. Personal organizers beam data into desktop computers, and wireless remotes let us channel surf. With a few inexpensive and widely available parts, the BASIC Stamp can also use an infrared LED and detector to detect objects to the front and side of your SumoBot. The infrared detector also has an electronic filter that only allows signals around 38.5 kHz to pass through. In other words, the detector is only looking for infrared flashed on and off at 38,500 times per second. Load and run program 4.2 to see a demonstration of linking IR object control to the SumoBot motors.

The program in this chapter brings all the SumoBot robot's systems together, and adds some intelligent control. Start by adding a piezo speaker as shown in Figures 5.1 and 5.2, then load and run program 5.1. In this case we've added a piezo speaker. At the start, the LED illuminates and then blinks to tick away each of the five seconds in the mandated delay. In this case the Judge will award the Yuko point and the SumoBot can be stopped by pressing the Reset button. The first sign of weak batteries will be degradation in opponent detection range. If you can’t readily find the component you are looking for in the Component Shop enter the name of it in the on-line search box using the stock code. Section 1: Definition of a Match Article 1 Definition The match shall be contested by two teams (At the event, one team consists of one robot with two team members, one of which is a leader. Article 4 Space There should be the space of more than 50 cm wide outside the outer side of the. A team receives a Yuko point when they win a round. Both contestants bow after removing their robots. Section 6: Time of Match Article 11 Time of Match One Match will be contested for a total of 3 minutes, starting and ending by the chief judge's announcements. Article 22 Unable to Continue the Match When the game cannot continue due to player's injury or robot's accident, the. Section 13: Miscellaneous Article 28 Flexibility of Rules. Many home improvement centers carry precut circles (wood, MDF, Melamine) that are very close to the official dimension and can be used to create a suitable practice ring. You will learn about basic electronics,basic programming, servos, and different navigation methods. This includes electronics, mechanics, servo's, circuits, design, interfacing, logic, programing, and computers. Depending on which bot you have download and save the Parallax Boe-Bot Student Guide Version 3.

0 manual or the online Arduino Tutorial on to your USB memory stick, and review the introduction to the boe-bot. The Parallax boe-bot has the same hard copy manual in your boe-bot kit. You will then start on assigned activity on Communicating with your Boe-bot. All programs written need to be saved and coding handed in through a report as instructed for full marks. Two microcontroller question sheets will need to be answered as you work on these assigned activity tasks. With all parts removed, identify and organized all kit components, record number of each on given tracking sheet, then show your teacher. Links below will help with general interest and specific knowledge needed to complete the boe-bot projects. When programing with your BASIC stamp editor, keep in mind coding conventions for full marks. There are several varaitions to this controller because of it's popularity. The following online Arduino Tutorial is a great place to start and follow. It covers all the basics that Parallax covers. The following links show a wide assortment of just some of the resources you can find on the web, although you focus for the near future is follloing the above tutorial. If you are able to get through the basic tutorials, it may be a possibility to order different additional kits to try out different functions such as drive, pickup, sensors, cameras, etc. These tasks will help you fully understand how to work with the boe-bot and learn about the important components of a robot such as sensors, movement, energy, intelligence, and functions.Resistors can be identified using the resistor colour code calculator or chart. Remember code writing conventions for each of the program tasks to be done. Using some electronic resistors and LED's different programs can be uploaded to the board to run circuit tasks based on what you want it to do.