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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

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robotics

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
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
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
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
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
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 modeling7
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 modeling8
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
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
Faces
  • Color
  • Apply (wrap) surface, with specific properties of reflectance
rendering
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
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
Google SketchUP
  • [if it is in the lecture room] demonstrate
lego digital designer
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
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
Discussion
  • Each group indicate plans for mapping
homework
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.
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