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Welcome!. Teaching with Robotics CompSci 96S/Education 96S North 314 Th 3:05-5:30 Professor: Jeffrey Forbes http://www.cs.duke.edu/courses/fall07/cps096s. What is a robot?. Definitions

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Welcome!

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  1. Welcome! Teaching with Robotics CompSci 96S/Education 96S North 314 Th 3:05-5:30 Professor: Jeffrey Forbes http://www.cs.duke.edu/courses/fall07/cps096s

  2. What is a robot? • Definitions • Webster: a machine that looks like a human being and performs various acts (as walking and talking) of a human being • Robotics Institute of America: a robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks • What’s our definition • Components of a robot system?

  3. Agents and Environments

  4. Uses of robots • Where and when to use robots? • Tasks that are dirty, dull, or dangerous • Where there is significant academic and industrial interest • Ethical and liability issues • What industries? • What applications?

  5. Robocup • The Goal: By the year 2050, develop a team of fully autonomous humanoid robots that can win against the human world soccer champion team

  6. Outreach • How can we use robots to inspire middle and high school students? • What about the Digital Divide? • Is service learning a good model for enrichment programs? • RoboCupJunior: International, national, and regional competitions for elementary, middle, and high school students

  7. Educational Robotics • Sklar: the use of robotics for learning topics other than specifically robotics • What basic topics would you expect robotics to teach? • What skills would you expect students to learn in building robots? • Constructionist learning

  8. Why Robotics? • Robotics is exciting, motivating, and fun! • Robotics connects students to advanced scientific research and development • Students learn by doing • You need to know a lot of math and science to design, build, program, and evaluate a robot

  9. Robot Software RoboLab uses icons to build a program. This icon makes the robot stop. These icons turn on the robot’s motors. This icon makes the robot drive for 6 seconds.

  10. RoboCupJunior • Competition founded at RoboCup 2000 in Melbourne • Goal: to create a learning environment for today and to foster understanding among humans and technology for tomorrow • Encourage teamwork and project-bnased learning, development of communication and time management skills, in addition to traditional academic areas like engineering and programming • De-empahsizes competition and emphasis inter-team cooperation, dialogue, and sharing • Dance, rescue, and soccer • Local team competed in RoboCup 2007 in Atlanta

  11. Processor Input Control Memory arthmetic/ logic Output Computer architecture von Neumann model • Memory: random access memory (RAM) for program instructions and data • ALU: includes set of registers for performing calculations • Control: responsible for fetching and decoding instructions • Input & output • Bus: various internal pathways

  12. The RCX • Hitachi H8/3297 series processor • 3 inputs/sensors (1, 2, 3) • 3 outputs/motors (A, B, C) • 32k RAM/ 16k ROM • Multiple threads of execution • LCD Display & Speaker • 3 programmable buttons • IR send/receive • Sensors • Light, touch, rotation • Sonar and compass avail

  13. LEGO Mindstorms NXT • Atmel 32-bit ARM processor • 4 inputs/sensors (1, 2, 3, 4) • 3 outputs/motors (A, B, C) • 256 KB Flash Memory • 64 KB RAM • USB 2.0 Communication • 4 programmable buttons • 100x64 b/w LCD Display • Sensors • Active: • Old light and rotation • Passive • Touch, sensors for NXT • Digital • Ultrasonic • Motors • 170 RPM • 360 RPM for old motors, why?

  14. Build a robot! • Taskbot • Extensible • Geared • From CMU Robotics Engineering Teaching Materials • What are some of the desired properties for a robot base? • What are some building principles?

  15. Control basics • Some definitions: • Control system: arrangement of physics components connected or related in such a manner as to form and/or act as an entire unit • Kinematics: the description or study of the geometry of motion • Dynamics: the description or study of the forces that affect the motion of objects • Open-loop control • Compute trajectory a priori and make necessary actions to complete task • Closed-loop control • Use sensors to provide feedback to modify the trajectory and actions

  16. ROBOLAB • Pilot Mode • graphics based • limited capability • great for kids? • Inventor Mode • variables • conditionals • loops • multitasking • Investigator Mode • Charts & graphs • Analyze data

  17. Inventor

  18. Pilot

  19. Challenges • Getting there • Using Pilot 1 - program your car to move for 1 sec • Measure the distance it went • Predict distance for n sec (Pilot 2 may be useful) • Run and check model • Touch-activated • Using Pilot 4 make it so your robot starts when the touch sensor is pressed and stops when it hits something • How would you make it bounce off the wall and explore an area? • How could you keep your robot from running off the table with a light sensor?

  20. Line follower • Design a program that can follow a black line • Questions: • What sensors would your robot need? • What simple algorithm could you use? • How would you calibrate your readings? • How would you test your robot?

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