Robotics Data driven robotics, 3D modeling, Google SketchUP Homework: Google SketchUP: Sign up, download and produce something (your room, a piece of furniture, or Lego???)
Old Acronyms • Computer Aided Design • Computer Aided Manufacturing • Computer Integrated Manufacturing • Manufacturing Resource Planning Enterprise Resource Planning Companies: Oracle (PeopleSoft), SAP • more….
Data Driven robotics • Use data in some form to generate tasks for robot • For example, positions on circuit boards for placement and/or testing. • Note: automation may be forced by the • scale (very small) and • precision requirements • In addition, shear volume of information makes [flexible] automation better fit
Robodoc • Dr. Bargar, orthopedic surgeon, regarding hip replacements: I design the implant using 21st century CAD/CAM, but I put it in using 18th carpentry. • Place pins in hip (fiducial marks / calibration) • Use CAT scans to design implant and generate positions for robot arm.
Build to order manufacturing • Data in order generates instructions for manufacturing • What set of parts • What gets in final package • What color, size, etc.
3D modeling • NOTE: prior discussion of how robot through the use of sensors may either • Generate by itself the 'world map' or • Do without it
3D modeling • Create virtual world consisting of • Combinations of primitive shapes, chiefly polyhedra • Vertices, edges, faces, PLUS some designation to determine what is inside and what is outside. Can be done in order of the edges constituting the faces • Render (show pictures of the world) • Perform calculations to answer questions • Is there a path • production of path for robot
3D modeling • Curved surfaces generally consist of facetted polyhedra • May not be visible or important to model builder • Does contribute to time requirements, especially for rendering
3D model • Alternative (or additional) approach to use of primitive 3D shapes is to use lines and arcs and operation that generates a 3D shape by sweeping (projecting) the 2D shape • Google SketchUP push/pull
Faces • Color • Apply (wrap) surface, with specific properties of reflectance
Rendering Define position of eye (aka camera), focus point, type of projection, light sources • Go from wire frame • Show all vertices and edges To • Picture, with appropriate hidden line / hidden surface removal, shadows • Many different methods. Ray tracing is one of the most common
Google SketchUP 6 • Available for free • There is a Pro version • Uses lines, rectangles, arcs, circles, plus implicit dependences (induced objects) • 3D Warehouse: user created archive of buildings, stuff, including Lego (but mostly not Mindstorms) • Connection with Google Earth
Google SketchUP • [if it is in the lecture room] demonstrate
Lego Digital Designer • Lego offering: free • One function is to order the parts after building a model • Does not appear to have Mindstorms (technic) parts. • http://factory.lego.com/getstarted/
LDraw.org • Organized user group • Free download of system files plus part libraries • Libraries of Lego parts • Official (approved by the organization standards committee) and unofficial • It appears that the Mindstorms parts are slowly being added.
Discussion • Each group indicate plans for mapping
Homework • Postings • Download Google SketchUP: use and report • Let me know if you need an invitation to join gmail. • Do tutorials • Produce something (house, table, monster?), print and bring to class. • Lab: My Block. Complete mapping project • Next week (Thursday) mid-term. See guide.