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MiniSumo Robotics Camp June 21 – July 2, 2010

MiniSumo Robotics Camp June 21 – July 2, 2010. Instructor: Dr. Dale Olson, PhD Full Professor UNI Physics Course co-author: Mr. Randy Dumse New Micros, Inc., and Adjunct instructor, UNI Physics. MiniSumo Robotics Camp. Introduction to camp Line following demonstrated

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MiniSumo Robotics Camp June 21 – July 2, 2010

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  1. MiniSumo Robotics Camp June 21 – July 2, 2010 Instructor: Dr. Dale Olson, PhD Full Professor UNI Physics Course co-author: Mr. Randy Dumse New Micros, Inc., and Adjunct instructor, UNI Physics Physics 880:185:06 Lesson 1

  2. MiniSumo Robotics Camp Introduction to camp • Line following demonstrated • Mini-sumo demonstrated Physics 880:185:06 Lesson 1

  3. Laboratory Projects in Robotics This camp >tada< So what will you do? Physics 880:185:06 Lesson 1

  4. MiniSumo Robotics Camp You will learn… Physics 880:185:06 Lesson 1 …perhaps…

  5. Intro to (Mobile) Robotics Not really _all_ of robotics Mobile Robotics With a Digital Electronics focus Physics 880:185:06 Lesson 1 …or…

  6. Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals Physics 880:185:06 Lesson 1 …or…

  7. Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts Physics 880:185:06 Lesson 1 …or…

  8. Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts And FSM Automata Physics 880:185:06 Lesson 1 …or…

  9. Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts And FSM Automata Behavior Based Programming Physics 880:185:06 Lesson 1 …or…

  10. Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts And FSM Automata Behavior Based Programming With labs Physics 880:185:06 Lesson 1 …or…

  11. Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts And FSM Automata Behavior Based Programming And Mini Sumo assembly Physics 880:185:06 Lesson 1 …or…

  12. Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts And FSM Automata Behavior Based Programming With labs And Mini Sumo assembly With final Competition Physics 880:185:06 Lesson 1 YES!

  13. MiniSumo Robotics Camp • Schedule • M-F Mornings: 9:00 am – noon • M-F Afternoons: 1:30 pm – 3:00 pm Starting: June 21st 2010. Ending: July 2, 2010, With Mini Sumo Contest Two weeks Physics 880:185:06 Lesson 1

  14. MiniSumo Robotics Camp Useful references: • Robot Sumo The Official Guide • Author: Pete Miles • Publisher: Osborne, 2002 • Starting FORTH, by Leo Brodie: • Electronic; on-line copy • Other reading: URL links will be provided. Physics 880:185:06 Lesson 1

  15. MiniSumo Robotics Camp • Students will have many occasions to use computers in this course. • UNI Information Technology Students has provided students in this class with the following temporary password: Temp$123 • Log, then you will be required to change your password. Physics 880:185:06 Lesson 1

  16. Some goals: • Level 1 • Make robot compete • Keep a brief journal of progress, making an entry every one or two hours. (For benefit of future camps and campers.) • Level 2 • Add at least one strategy or sensor • Level • Add multiple strategies or sensors Physics 880:185:06 Lesson 1

  17. Special advantages of the camp • Instructor • 40+ years Physics Instruction • Widely published in Physics • Experience in Optics, Electronics and Electro-optics • Computers and robotics equipment supplied • We have an expert back-up person: • Mr. Randy Dumse • 40+ Years electronics experience • Professionally recognized (awards) • Widely published in electronics • Contest winner (Mini Sumo and Line following) Physics 880:185:06 Lesson 1

  18. Disadvantages of this class • You will want to do even more than you will have time for. • Now matter how much you learn about programming the microprocessor, at the end of the camp you will say: I wish I could have learned more about programming using the FORTH language. Physics 880:185:06 Lesson 1

  19. What are challenges of this class • The breadth of the topic, many fields • The intensity of topic coverage • (Non)Availability of printed material • Computer language unusual Physics 880:185:06 Lesson 1

  20. What are opportunities of this class • Principles translate to many fields • Exceptional skills, high demand • Can participate in future UNI MiniSumo Invitational Contests. • See: www.narobotics.org FUN! Physics 880:185:06 Lesson 1

  21. Power-up μP • Microprocessor (PlugaPod) power-up • Slider switch turns provided microprocessor on and off. • Connecting/disconnecting battery pack. • Removing and installing batteries in pack • One four-battery pack • One two-battery pack. Physics 880:185:06 Lesson 1

  22. Power-up μP • When you get home you will need to purchase rechargeable batteries and a charger. • Instructor will provide a url where charger. can be ordered on-line. Charger and several batteries will cost $35 to $40 dollars. Then, additional batteries are about $2 to $3 each. • You will need twelve batteries. • A voltmeter would be another good tool. • Measure battery-pack voltage with a voltmeter Physics 880:185:06 Lesson 1

  23. What to expect to do (1) • Learn how to enter code into the microprocessor • Sense status of photodetector (digital) • Display status of photodetector on uP • Write a scan loop on uP • Generate PWM from uP • Control RC Servo position by PWM from uP • Modify RC Servo for continuous rotation • Control RC Servo for speed by PWM from uP • Alter RC Servo speed based on photodetector input • Build Mini Sumo robot chassis • Combining skills, make robot line follow Physics 880:185:06 Lesson 1

  24. What to expect to do (2) • Read A/D converter, display results • Read Sharp Ranging Sensor, display results • Read Pulse Width Timer, display results • Read Sonar Ranging Sensor, display results • Diagram a Finite State Machine (FSM) • Program a Finite State Machine • Combine multiple Finite State Machines • Add sensors to Mini Sumo robot chassis • Combining skills, make a functional Mini Sumo robot Physics 880:185:06 Lesson 1

  25. What to expect to do (2) • Read A/D converter, display results • Read Sharp Ranging Sensor, display results • Read Pulse Width Timer, display results • Read Sonar Ranging Sensor, display results • Diagram a Finite State Machine (FSM) • Program a Finite State Machine • Combine multiple Finite State Machines • Add sensors to Mini Sumo robot chassis • Combining skills, make a functional Mini Sumo robot Physics 880:185:06 Lesson 1

  26. What to expect to do (3) • Compete to win Physics 880:185:06 Lesson 1

  27. Related theory • Electronic Theory • Semiconductor Theory • Photoelectric (Quantum) Theory • Digital Theory • Sensor Theory • Mechanical/Kinematics Theory • Behavior/Subsumption Theory • Gaming Strategy Physics 880:185:06 Lesson 1

  28. Programming language / OS: IsoMax™ • Resident on uP • Interactive, monitor while running • Direct access to machine internals • State Machine paradigm • Excellent for Real Time • Inherently multitasking • Embedded, can be flashed, autostarted Physics 880:185:06 Lesson 1

  29. Programming language: FORTH • Forth procedural portion under IsoMax™ • Forth is archaic, but powerful, widely used in special applications such as space programs, controls, rapid prototyping • Forth is stack-based, which can be difficult • Forth is Interactive, which is very useful • We will learn by use, and effort Physics 880:185:06 Lesson 1

  30. Microprocessor Board • PlugaPod™ • DSP56F803 • LEDs • Digital I/O • A/D • Timers • PWM • Internal Flash Storage Physics 880:185:06 Lesson 1

  31. Microprocessor Board • DSP56F803 • Freescale (Motorola) • Modern Design (~2000) • Digital Signal Processor • 80 MHz (40MIPs) • Motion Control Hardware • General Purpose Controller Physics 880:185:06 Lesson 1

  32. Program Development • Communicate interactively with uP • Develop source code in text editor on PC • Download source code to uP • Link from PC to uP • by Bluetooth module or • USB to RS-232 converter (wire) • Interactively test results • Repeat as required Physics 880:185:06 Lesson 1

  33. Use of Computers • Are terminal for communications • Are editor for source code • Are storage for source code • Used for eLearning material • Used for reference material from web • Not used for personal email, browsing Physics 880:185:06 Lesson 1

  34. Use of Computres • Source code will be downloaded to robots Physics 880:185:06 Lesson 1

  35. Laptops are not… • The robot’s brains • Machines to play games on • Browsers of unrelated web sites • A place to check non-class email from • For dorm room use, • or any use outside class/lab Physics 880:185:06 Lesson 1

  36. Building of Robots • Each student will build his own robot • Each student must compete with own robot • Chassis will be assembled • RC Servo’s will be modified, mounted • Sensors will be mounted • Microprocessor attached • Program downloaded, tested, installed Physics 880:185:06 Lesson 1

  37. The Kit • Mark III Mini Sumo hardware kit Physics 880:185:06 Lesson 1

  38. RC Servos • The RC Servos are the power train for the robot Physics 880:185:06 Lesson 1

  39. Line Sensors • The Line sensors detect edges for the robot Physics 880:185:06 Lesson 1

  40. Sharp Rangers • The Sharp Rangers detect the “enemy” for the robot Physics 880:185:06 Lesson 1

  41. Open eLearning • More later. This is still being set up for the camp. Physics 880:185:06 Lesson 1

  42. Do we keep the robots? • Yes. You have paid for them. • However: • They do not come with batteries. • Compete in next time’s Open Contest Physics 880:185:06 Lesson 1

  43. Student Introductions • Students should introduce themselves by station, 1-8, clockwise from above view, starting at side away from door • Please give name, class (soph, jr, senior), major, and any special experience with electronics or robotics Physics 880:185:06 Lesson 1

  44. Intro to Mini Sumo & Rules • http://www.robotroom.com/SumoRules.html • http://www.robotics-society.org/mini-sumo.shtml • http://www.dprg.org/competitions/minisumo.html • http://www.chibots.org/contests/rules/minisumorules.html Physics 880:185:06 Lesson 1

  45. Mini Sumo Video Viewing (1) • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1331.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1332.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1333.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1334.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1335.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1336.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1337.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1341.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1342.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1343.mpg Physics 880:185:06 Lesson 1

  46. Mini Sumo Video Viewing (2) • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1344.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1345.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1346.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1347.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1348.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1349.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1374.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1375a.mpg • http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1376.mpg Physics 880:185:06 Lesson 1

  47. Discussion of Mini Sumo • Build Mark III Mini Sumo kits • Use PlugaPod™ uP • Modify RC Servos for continuous rotation • Install and test line sensors • Test as Line follower • Add Sharp rangers • Test as Mini Sumo • Students make own modifications Physics 880:185:06 Lesson 1

  48. Get IM addresses from MSN • We will conference together so instructor can send links through IM. • Each station needs to apply for address • Each station to add rmd_uni@hotmail.com to contacts in IM Physics 880:185:06 Lesson 1

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