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9

 

 

 

1.1.1  SENSE movement 

 
The SENSE robot has 9 movement commands: 
 

Forward

 

both wheels rotate forward 

Stop 

both wheels stop 

Backward 

both wheels rotate backward 

Left deviate 

right wheel rotates  forward fast and left wheel rotates  forward 
slower a little 

Left turn 

right wheel rotates  forward fast and left wheel  rotates forward 
very slowly 

Left rotate

 

right wheel rotates forward fast and left wheel rotates backward 
fast 

Right deviate 

left  wheel rotates forward fast and right  wheel rotates  forward 
slower a little 

Right turn 

left  wheel rotates  forward fast and right wheel  rotates forward 
very slowly 

Right rotate

 

left wheel rotates forward fast and right wheel rotates backward 
fast 

 
Each command has an arrow button on the 

Direct

 screen. 

 

There are three buttons for changing the robot speed: 

 

 
1.

 

Identify the arrow buttons. 

 
2.

 

Hold the SENSE in your hand. 

 

3.

 

Click on the buttons and observe the SENSE robot reaction. 

 
4.

 

Place the Sense robot on your desk. 

 
5.

 

Again, click on the buttons and observe the SENSE robot reaction. 

 
 

 

Содержание Sense Autonomous

Страница 1: ...Sense Autonomous...

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Страница 3: ..._28 All rights reserved The material in this book may not be copied duplicated printed translated re edited or broadcast without prior agreement in writing For further information contact info neulog...

Страница 4: ......

Страница 5: ...1 3 2 Wait until 28 1 3 3 Endless loop 29 1 3 4 Movement between two lines 30 1 3 5 Challenge exercise Between a wall and a line I 30 Experiment 1 4 Procedures as New Instructions 31 1 4 1 Programs an...

Страница 6: ...rcise Wait for sound 61 Experiment 2 2 Motion Sensor 62 2 2 1 Challenge exercise Moving in a distance range 66 Experiment 2 3 Brain Tracking Unit 67 2 3 1 IR Transmitter 67 2 3 2 Brain tracking unit 6...

Страница 7: ...ntroller building components wheels gears motors sensors and more Each robotic system includes a controller that allows it to operate in accordance with different operating programs The robot develope...

Страница 8: ...o the requirements Three basic units are in every computerized control system 1 Input unit the unit that reads the system sensors like temperature light distance touch switch etc and feeds information...

Страница 9: ...brain units 5 IR range sensors 1 line sensor Pivot wheel 2 motors with wheels A controller for the base sensors motors and independent operation A flash memory for the user programs USB connector for...

Страница 10: ...Sense Application from www neulog com 2 Follow the instructions on the screen The installation process is straightforward and the required drivers are installed automatically The installation is compo...

Страница 11: ...ick on the RobocklySense icon to run the RobocklySense software The program is opened in a browser and the following screen appears This screen is for Direct mode explained in experiment 1 1 Exit is d...

Страница 12: ...E units in direct mode Equipment required Computer RobocklySense software SENSE autonomous USB connection cable Discussion RobocklySense software enables the user to operate the SENSE controller direc...

Страница 13: ...els One pivot wheel Five range sensors made of an infrared IR LED and phototransistor each A line black or white sensor made of an infrared LED and phototransistor too Identify them 5 Connect the SENS...

Страница 14: ...control and test of the robot optional units Sense Robo Robo Ex Brain arm Brain servo Brain motor or NeuLog sensor The following screens are Direct mode windows of the Robo Brain arm and NeuLog senso...

Страница 15: ...ackward fast Right deviate left wheel rotates forward fast and right wheel rotates forward slower a little Right turn left wheel rotates forward fast and right wheel rotates forward very slowly Right...

Страница 16: ...he LED and measure the intensity of the received light The range sensors are based on infrared light in order to reduce the effect of the surrounding light A white surface returns much more light then...

Страница 17: ...above 500 3 Place the SENSE on a black surface The value of the bottom sensor should go down dramatically Note that there may be a big variation in the read value between different black surfaces 4 P...

Страница 18: ...ecute this instruction and will continue on to the following instruction in the chain The program may include instructions that direct the computer to other instructions other than the subsequent one...

Страница 19: ...the RobocklySense software The Direct screen appears The direct mode enables you to test the system and its wiring before programming and running the programs This stage saves a lot of frustration in...

Страница 20: ...14 1 2 1 First program forward 1 Move to Block mode A computer program is composed of chains of instructions 2 Click on the Program button and a list of program instruction list will appear...

Страница 21: ...tart instruction block and drag it to the right 4 Click on the Sense button and a list of Sense instructions will appear 5 Click on the SENSE Drive instruction block drag it and attach it to the Progr...

Страница 22: ...ect the Stop instruction block Drag this block and attach it under the Delay instruction block The Stop instruction will be executed 3 seconds after the Drive Forward instruction 9 Click on the Progra...

Страница 23: ...can also use the Start Stop orange pushbutton located on the SENSE panel Press the SENSE panel button and you will see the SENSE move forward for 3 seconds and then stop 5 The SENSE comes with an ada...

Страница 24: ...enu line is changed back to the following 1 2 3 Forward and backward 1 Right click on the Drive instruction block 2 Select Duplicate and a new Drive instruction block appear Attach it to the Stop inst...

Страница 25: ...ld the following program 6 Click on the Save button and save the program under the name PROG2 7 Click on the Program Download button 8 Click on the Run button The SENSE moves forward for 3 seconds mov...

Страница 26: ...Drive instructions 2 Click on the Save button and save the program under the name PROG3 3 Click on the Program Download button 4 Click on the Run button The SENSE rotates to the left for 3 seconds rot...

Страница 27: ...the name PROG4 8 Click on the Program Download button 9 Click on the Run button The SENSE rotates to the right for 3 seconds rotates to the left for 3 seconds and then stops What is the difference be...

Страница 28: ...uctions Observe the SENSE movement Task 2 Make a program that moves the SENSE in a 30x30 cm square until it returns to its original place Use the Rotate instructions for rotating Task 3 Make a program...

Страница 29: ...black line This is an example of a system called a Manipulator We will learn how to read and react to the Line and the Front Range sensors A closed loop system is a control system which reacts to sen...

Страница 30: ...relevant instruction In programming we prefer to use variables instead A variable is a memory cell with a name In the instruction we indicate the name of the memory cell We can set the variable value...

Страница 31: ...25 Before starting the experiment print two black lines as follows...

Страница 32: ...d in experiment 1 1 4 Test the SENSE Bottom sensor as described in experiment 1 1 5 Record the values of the Bottom sensor when the SENSE is on a white surface We shall call this value White Value 6 R...

Страница 33: ...load button 11 Place the SENSE on the table or on the floor and click on the Run button The SENSE will move forward for 3 seconds and then stop 12 Disconnect the SENSE from the PC and plug in the batt...

Страница 34: ...y1 instruction block and drag to the program above the Delay instruction block 3 Change the check sign from above to below 4 Click on the Memories button and a list of input instructions appear 5 Clic...

Страница 35: ...SENSE goes forward and stops when it meets the black line goes back for 3 seconds and forward again in endless loop 2 Replace the Program end instruction block with Program restart instruction block f...

Страница 36: ...rogram under the name CART2 3 Place the SENSE between two black lines and run the program The SENSE should run back and forth between the lines Increasing the distance between the lines changes the SE...

Страница 37: ...ingle chain of instructions we can divide the program to procedures which are short chains and give a name for each chain In a program there is one main program and procedures This way when we run the...

Страница 38: ...k that you have the following program If not build this program and save it under the name CART2 6 Place the SENSE between two black lines and run the program The SENSE should run back and forth betwe...

Страница 39: ...te in this field the name FORWARD 4 Create the following FORWARD procedure Note A procedure ends with Procedure end or Procedure start 5 Create the following BACKWARD procedure Note In order to duplic...

Страница 40: ...nder the name CART3 The main program and the procedures are saved under this name The main program makes the decisions and uses new instructions like forward backward and stop The program functions th...

Страница 41: ...less loop The definitions are declared in the program under the Start program block After the declarations the program runs the main procedure 1 Change the program to the following program that includ...

Страница 42: ...will move between a wall in front and a black line at the back Run and check Task 2 Improve the CART4 program so that the SENSE will move between a wall in front and a black line at the back as in Ta...

Страница 43: ...ENSE still moves forward while turning In the main program we do the movement according to the following idea Turning left until the SENSE find a black surface and then turning right until the SENSE f...

Страница 44: ...the name CART5 6 Put the SENSE near the black line 7 Run and check the SENSE movement 8 Change the value of memory1 to create smooth movement of the SENSE 1 4 5 Challenge exercise Along a complex bla...

Страница 45: ...ion This is one of the condition instructions The IF instruction is the main condition instruction It is composed of a condition and a procedure to operate when the condition exists The condition is c...

Страница 46: ...he PC using the USB cable 2 Run the RobocklySense software 3 Move to Block mode 4 Click on the Open button and open the program CART5 5 Check that you have the following program If not build this prog...

Страница 47: ...in procedure to the following The If Sense instruction is in the Sense instruction list 9 Save the program under the name CART6 10 Put the SENSE near the black line 11 Run and check the SENSE movement...

Страница 48: ...es to the front wall sensor In every cycle the main procedure checks the distance from the wall and calls the STOP procedure when the SENSE is close to the wall 15 Put the SENSE near the black line 16...

Страница 49: ...hand Change the STOP procedure to the following 19 Save the program under the name CART7 20 Put the SENSE near the black line 21 Run and check the SENSE movement 22 Put your hand in front of the SENSE...

Страница 50: ...r that the OFF condition value will be different from the ON condition value The reason for that is because we want to avoid having the system bounce 1 Change the program and procedures to the followi...

Страница 51: ...his program 1 5 3 AND condition We would like to stop the SENSE only when it is close to the wall and only when it is on the black line To achieve that we need the AND condition In some programming so...

Страница 52: ...the main procedure to the following one 3 Analyze the program and the procedures 4 Save the program under the name CART8 5 Put the SENSE near the black line 6 Run and check the SENSE movement 7 Put y...

Страница 53: ...dition In some programming software the If instruction can have two conditions with the OR condition between them The RobocklySense does not have this option The OR operation can be achieved by just w...

Страница 54: ...a black line We use the slow turn procedures In the main program we use the If instruction to make the movement according to the following algorithm Turn left when the SENSE is too close to the wall...

Страница 55: ...long a black line 3 Change the main procedure of CART6 to use the Right Front sensor instead of the Bottom sensor Change the value of memory1 for distance of 4cm from the wall 4 Save the program under...

Страница 56: ...not sense a wall on its right side The SENSE stops when it meets a wall turns to the left and starts moving along this wall Save this program under the name WALL2 Task 2 Improve the WALL2 program so...

Страница 57: ...ounting Draw block lines on a white paper Create a program that moves the robot through the block lines and make it stop on the fourth line Use variables to count the lines The Program start should be...

Страница 58: ...e robot according to the following figure Create an AROUND procedures that moves the cart from point to point The Program start should be as the following Challenge 1 8 Loops Use loop commands to make...

Страница 59: ...n challenge 1 8 Challenge 1 10 Don t touch me robot Create a Do not touch me program The robot should move away when you bring your hand close to one of its range sensors Challenge 1 11 Robots in a co...

Страница 60: ...54 Challenge 1 12 Movement in a labyrinth Build a labyrinth as follows Create a program that moves the robot from the START point to the FINISH point without touching the walls...

Страница 61: ...along the black line Create a program that makes the robot exit the circle according to the above rules Challenge 1 14 Moving along corridors Build the following corridor model The corridor s and the...

Страница 62: ...mber Every message from the control unit starts with ID number Only the brain unit with this ID number interprets the message and executes it This system construction is the way modern systems are bui...

Страница 63: ...n is required The data provided by the sensor is processed digital data The sensor includes different measurement ranges Changing the measuring range or type of processing is done simply on the comput...

Страница 64: ...different ID number In Direct mode screen we have a special icon for changing the ID number of the unit The following screen is the Direct screen of the motion sensor Clicking on the icon on the righ...

Страница 65: ...ce for best readings The sound sensor has two modes ranges of operation 1 Arbitrary analog units Arb An arbitrary unit indicates a number according to signal shape At this mode the sound is sampled an...

Страница 66: ...using the USB cable 3 Run the RobocklySense software 4 Move to Block mode Create a program that waits for a sound level of 70 dB moves the SENSE to a wall and then stops 5 Build the following program...

Страница 67: ...should move towards the wall and stop 2 1 1 Challenge exercise Wait for sound Task 1 Improve the program so a The SENSE will wait for a sound above 70 dB then moves forward until it meets a wall and t...

Страница 68: ...ure its echo return Objects in the range of 0 15 to 10 meters can accurately be measured to give distance velocity and acceleration readings using this method The motion sensor can collect data using...

Страница 69: ...resonance frequency Supplying pulses to the crystal of the ultrasonic transducer in a rate according to its frequency causes it to vibrate and to transmit these pulses as an acoustic sound This sound...

Страница 70: ...es according to the sampling rate The motion sensor uses a very sophisticated method that enables it to measure long distance range with a low power of pulses In this experiment we shall use it at dis...

Страница 71: ...the RobocklySense software 4 Move to Block mode Create a program that moves the SENSE forward to a wall and stops 30 cm away from it 5 Build the following program and its main procedure 6 Observe the...

Страница 72: ...s a wall stop 30cm before the wall then go backward and stop at 50cm from the wall and return Task 1 Improve the program so the SENSE will move towards the wall stop 30 cm in front of it wait for 2 se...

Страница 73: ...01 Brain tracking unit SNS 160 IR transmitter Discussion 2 3 1 IR Transmitter The infrared transmitter can be plugged into any of the SENSE sockets or in the backup battery socket to be followed by th...

Страница 74: ...R light source When the SENSE is at angle to the light source the IR light will fall only on one of the IR sensors The third IR sensor measures the environment IR light The brain unit controller uses...

Страница 75: ...the SENSE to the PC using the USB cable 4 Run the RobocklySense software 5 Move to Block mode Create a program that rotates the SENSE to the left until it sees the IR transmitter and then tracks it wi...

Страница 76: ...t 11 Change the program to the following 12 This program should move the SENSE towards the IR transmitter The SENSE waits when it does not detect the IR light Check that 2 3 3 Challenge exercise Track...

Страница 77: ...th feedback The feedback can be voltage according to the motor speed or the shaft angle electrical pulses according to the motor shaft rotation and direction and more Each servo motor of the gripper a...

Страница 78: ...e SENSE to the PC using the USB cable 3 Plug battery to one socket of the SENSE 4 Run the RobocklySense software The Direct screen appears 5 Change the selected Unit to Brain arm 6 Play with the butto...

Страница 79: ...angle of the gripper servo motor and holds it in this angle This is why the gripper can hold objects with different thickness 8 Move the gripper to mid position Open the gripper Put the wooden rod bet...

Страница 80: ...r b Raises the arm c Moves the Sense forward and stops when the wooden rod between the gripper fingers d Lowers the arm to mid position e Closes the gripper f Raises the arm g Moves forward for 2 seco...

Страница 81: ...re that you understand all of its instructions 16 Download the program 17 Disconnect the SENSE from the computer 18 Press the SENSE Run Stop button 19 Check that the SENSE does its mission 20 Change t...

Страница 82: ...out 90o with the raised wooden rod before moving forward with it Task 2 Plug Sound sensor to the SENSE and make it wait for hand clapping before picking up the wooden rod Task 3 Make the gripper hold...

Страница 83: ...n be used to take light measurements in low medium and high light intensity environments such as in classrooms and in open sunlight The sensor can be used to measure both fast light changes like those...

Страница 84: ...irmware according to the sampling rate 2 5 2 Light intensity vs distance In this experiment we shall move the light sensor against a flashlight and a wall We shall measure the light intensity and the...

Страница 85: ...s into the socket of the SENSE as in the following picture 2 Plug the BAT 202 Battery module to the second socket 3 Put a flashlight near the wall as in the following picture 4 Connect the SENSE to th...

Страница 86: ...tand all of its instructions 9 Download the program 10 Disconnect the SENSE from the PC and place it on the floor against the flashlight as in the following picture 11 Run the program The SENSE should...

Страница 87: ...81 12 Connect the SENSE to the PC 13 Exit the RobocklySense program 14 Run the Neulog software and wait for the following screen 15 Click on the Load experiment button for the following screen...

Страница 88: ...nstant 18 When the SENSE moves forward the distance drops linearly and the light intensity increases in parabola shape 19 When the SENSE moves backward the distance increases linearly and the light in...

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