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Introduction to L2Bot ( L ow-cost L aptop ro Bot )

Introduction to L2Bot ( L ow-cost L aptop ro Bot ). CJ Chung Associate Professor of Computer Science Founder & Director of Robofest. Software development has been focusing on non-mobile computers. Now laptops, notebooks are everywhere. The idea.

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Introduction to L2Bot ( L ow-cost L aptop ro Bot )

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  1. Introduction to L2Bot(Low-cost Laptop roBot) CJ Chung Associate Professor of Computer Science Founder & Director of Robofest

  2. Software development has been focusing on non-mobile computers

  3. Now laptops, notebooks are everywhere

  4. The idea

  5. There are four key advantages to using robots for K ~ PhD education • robotics is multi-disciplinary, • robots make abstract concepts concrete, • robotics is hands-on, and • students usually have higher motivation through robotics

  6. L2Bot • Low-cost Laptop roBot • Born in Intelligent Systems and Robotics Lab at LTU • Two motors and a webcam with a laptop as a single brain (No micro-controllers). Free sensors from the laptop! • Affordable (about $200 ~ $240 w/o labor) • Flexible/Adaptable – Modifications are easy • Expandable – Lego Mindstorms, NXTs or Handy Boards for motors and sensors • Programming Language Independent • Safe – Not too fast!

  7. L2Bot History • The first one: 2002 • C++

  8. 2003

  9. 2004

  10. 2005

  11. 2006

  12. 2007

  13. L2Bot Line Following Demo Video

  14. Features of L2Bot 2007 edition • Serial Port (cf. old: Parallel Port) • Lighter • Simpler • Lower cost • 100% Java

  15. 2008

  16. L2Bot 08 Block Diagram

  17. Six essential components of robots • Brain • Body • Sensors • Actuators • Power source • Communication mechanism

  18. Brains (Processors) • Your laptop, notebook • Multiple NXTs

  19. LEGO NXT Processor: 32 bit ARM Atmel AT91SAM256, 50 Mhz Memory: 64K Static RAM, 256K Flash

  20. Robot Body • Designed and built from off-the-shelf components from: • Home Depot or Lowes • Jameco (online robotics store) • Digi-Key (online electronics store)

  21. Body: Drive Train and Gearing • Front-wheel drive • 3-inch pivoting wheels - rotate freely on the axis in both directions • One 3” Swivel Caster Wheel

  22. Actuators: Motors

  23. Actuators: Motor Control • LoCoMoCo: An H-bridge - electronic circuit which enables DC electric motors to be run forwards or backwards • Motor commands to robot sent through laptop RS-232 Serial port interface

  24. Actuators: Lego NXT Servo Motors • Each motor has an embedded rotation sensor • 360 counts per rotation • The counter can be incremented or decremented

  25. Sensors • Web cam(s) • Laptop Microphone – Sound sensor • USB Mouse for proximity • Available LEGO NXT sensors • Default sensors by Lego.com, Legoeducation.com: • 3rd party sensors: • mindsensors.com • hitechnic.com

  26. chung NXT Sensors • Light • Touch • Ultrasonic (Distance measurement) • Sound (microphone) • Rotation – embedded in the motors • Timer – Internal sensor • Received Bluetooth messages • NXT buttons

  27. Available NXT 3 party sensors • EOPD (Electro Optical Proximity Detector ) • Compass Sensor • Acceleration / Tilt Sensor • IRSeeker (135 degree view) • Gyro • Vision Subsystem • Pneumatic Pressure Sensor • Many more!

  28. Power Source • One 12V 7 Amp Hour battery for motors and motor drive board • Can last for an hour • Manual stop switches for battery power • Laptop has its own rechargeable batteries which also provides power for the webcam • NXT has its own (rechargeable) batteries – 9V

  29. Communication Mechanism • L2Bot can be connected to the network through the wireless card on the laptop • NXTS provides Blue Tooth communication mechanism • Microsoft Speech synthesis and recognition Engine is possible

  30. Devices OS JVM DLLs with JNI Java APIs (JMF, javax.comm, etc) Applications L2Bot Java Software Architecture (*) VB, C#, MSRS, and MSRS VPL version will be available in the near future

  31. Performance Specifications (*) To be updated

  32. How to Use Your L2Bot • Charge your 12V battery • Do not charge more than 14 hours… • Use voltage meter to check, if fully charged • Connect battery terminals • Connect your laptop with the serial cable • Run your program • Turn on the switch • It is highly recommended to unconnected battery terminals after using it

  33. Tools needed to assemble your Robot • A screw driver (power drill) • Wrenches: 3/8”, ½”, and 9/16” (or one adjustable one) • 3/32 size L-wrench:

  34. L2Bot website • www.robofest.net/l2bot • Software installation of for L2Bot • Sample programs • Videos • Online books

  35. L2Bot line following video clip http://www.robofest.net/l2bot

  36. Collegiate Competitions with L2Bot • Fall Mini UC • Robofest Mini UC

  37. Start End 2007 Challenge

  38. 2007 Mini Urban Challenge Video

  39. 2008 Challenge

  40. Fall 2007 Mini Urban Challenge

  41. 3 ft DEAD END Fall 2008 Challenge

  42. Start 2010 Challenge

  43. Advanced Projects Based on the learning from L2Bot • IGVC (Intelligent Ground Vehicle Competition) • RoboCup • DARPA • TARDEC project

  44. Summary & Conclusion • Robotics reinvigorates curriculum • Robotics excites students • Robotics encourages teamwork • L2Bot has been a good tool for classes due to the following reasons: • Affordable, simple, light, extendable, and safe • Work at home

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