Mechatronics Engineering

ROBOTICS Designing the Mechanisms for Automated Machinery 2nd Edition

1 Introduction: Brief Historical Review and Main Definitions

1.1 What Robots Are 1.2 Definition of Levels or Kinds of Robots 1.3 Manipulators 1.4 Structure of Automatic Industrial Systems 1.5 Nonindustrial Representatives of the Robot Family 1.6 Relationship between the Level of Robot "Intelligence" and the Product References

2 Concepts and Layouts

2.1 Processing Layout 2.2 How Does One Find the Concept of an Automatic Manufacturing Process? 2.3 How to Determine the Productivity of a Manufacturing Process 2.4 The Kinematic Layout 2.5 Rapid Prototyping

3 Dynamic Analysis of Drives

3.1 Mechanically Driven Bodies 3.2 Electromagnetic Drive 3.3 Electric Drives 3.4 Hydraulic Drive 3.5 Pneumodrive 3.6 Brakes 3.7 Drive with a Variable Moment of Inertia

4 Kinematics and Control of Automatic Machines

4.1 Position Function 4.2 Camshafts 4.3 Master Controller Amplifiers 4.4 Dynamic Accuracy 4.5 Damping of Harmful Vibrations 4.6 Automatic Vibration Damping 4.7 Electrically Controlled Vibration Dampers

5 Feedback Sensors

5.1 Linear and Angular Displacement Sensors 5.2 Speed and Flow-Rate Sensors 5.3 Force Sensors 5.4 Temperature Sensors 5.5 Item Presence Sensors

6 Transporting Devices

6.1 General Considerations 6.2 Linear Transportation 6.3 Rotational Transportation 6.4 Vibrational Transportation

7 Feeding and Orientation Devices

7.1 Introduction 7.2 Feeding of Liquid and Granular Materials 7.3 Feeding of Strips Rods Wires Ribbons Etc. 7.4 Feeding of Oriented Parts from Magazines 7.5 Feeding of Parts from Bins 7.6 General Discussion of Orientation of Parts 7.7 Passive Orientation 7.8 Active Orientation 7.9 Logical Orientation 7.10 Orientation by Nonmechanical Means

8 Functional Systems and Mechanisms

8.1 General Concepts 8.2 Automatic Assembling 8.3 Special Means of Assembly 8.4 Inspection Systems 8.5 Miscellaneous Mechanisms

9 Manipulators

9.1 Introduction 9.2 Dynamics of Manipulators 9.3 Kinematics of Manipulators 9.4 Grippers 9.5 Guides 9.6 Mobile and Walking Robots Solutions to the Exercises Recommended Readings List of Main Symbols

Introduction to Ai Robotics

I Robotic Paradigms

1 From Teleoperation To Autonomy 1.1 Overview 1.2 How Can a Machine Be Intelligent? 1.3 What Can Robots Be Used For? 1.3.1 Social implications of robotics 1.4 A Brief History of Robotics 1.4.1 Industrial manipulators 1.4.2 Space robotics and the AI approach 1.5 Teleoperation 1.5.1 Telepresence 1.5.2 Semiautonomous control 1.6 The Seven Areas of AI 1.7 Summary 1.8 Exercises 1.9 End Notes

2 The Hierarchical Paradigm

2.1 Overview 2.2 Attributes of the Hierarchical Paradigm 2.2.1 Strips 2.2.2 More realistic Strips example 2.2.3 Strips summary 2.3 Closed World Assumption and the Frame Problem 2.4 Representative Architectures 2.4.1 Nested Hierarchical Controller 2.4.2 NIST RCS 2.4.3 Evaluation of hierarchical architectures 2.5 Advantages and Disadvantages 2.6 Programming Considerations 2.7 Summary 2.8 Exercises 2.9 End Notes

3 Biological Foundations of the Reactive Paradigm

3.1 Overview 3.1.1 Why explore the biological sciences? 3.1.2 Agency and computational theory 3.2 What Are Animal Behaviors? 3.2.1 Reflexive behaviors 3.3 Coordination and Control of Behaviors 3.3.1 Innate releasing mechanisms 3.3.2 Concurrent behaviors 3.4 Perception in Behaviors 3.4.1 Actionperception cycle 3.4.2 Two functions of perception 3.4.3 Gibson: Ecological approach 3.4.4 Neisser: Two perceptual systems 3.5 Schema Theory 3.5.1 Behaviors and schema theory 3.6 Principles and Issues in Transferring Insights to Robots 3.7 Summary 3.8 Exercises 3.9 End Notes

4 The Reactive Paradigm

4.1 Overview 4.2 Attributes of Reactive Paradigm 4.2.1 Characteristics and connotations of reactive behaviors 4.2.2 Advantages of programming by behavior 4.2.3 Representative architectures 4.3 Subsumption Architecture 4.3.1 Example 4.3.2 Subsumption summary 4.4 Potential Fields Methodologies 4.4.1 Visualizing potential fields 4.4.2 Magnitude profiles 4.4.3 Potential fields and perception 4.4.4 Programming a single potential field 4.4.5 Combination of fields and behaviors 4.4.6 Example using one behavior per sensor 4.4.7 Pfields compared with subsumption 4.4.8 Advantages and disadvantages 4.5 Evaluation of Reactive Architectures 4.6 Summary 4.7 Exercises 4.8 End Notes

5 Designing a Reactive Implementation

5.1 Overview 5.2 Behaviors as Objects in OOP 5.2.1 Example: A primitive movetogoal behavior 5.2.2 Example: An abstract followcorridor behavior 5.2.3 Where do releasers go in OOP? 5.3 Steps in Designing a Reactive Behavioral System 5.4 Case Study: Unmanned Ground Robotics Competition 5.5 Assemblages of Behaviors 5.5.1 Finite state automata 5.5.2 A Pick Up the Trash FSA 5.5.3 Implementation examples 5.5.4 Abstract behaviors 5.5.5 Scripts 5.6 Summary 5.7 Exercises 5.8 End Notes

6 Common Sensing Techniques for Reactive Robots

6.1 Overview 6.1.1 Logical sensors 6.2 Behavioral Sensor Fusion 6.3 Designing a Sensor Suite 6.3.1 Attributes of a sensor 6.3.2 Attributes of a sensor suite 6.4 Proprioceptive Sensors 6.4.1 Inertial navigation system (INS) 6.4.2 GPS 6.5 Proximity Sensors 6.5.1 Sonar or ultrasonics 6.5.2 Infrared (IR) 6.5.3 Bump and feeler sensors 6.6 Computer Vision 6.6.1 CCD cameras 6.6.2 Grayscale and color representation 6.6.3 Region segmentation 6.6.4 Color histogramming 6.7 Range from Vision 6.7.1 Stereo camera pairs 6.7.2 Light stripers 6.7.3 Laser ranging 6.7.4 Texture 6.8 Case Study: Hors dOeuvres, Anyone? 6.9 Summary 6.10 Exercises 6.11 End Notes

7 The Hybrid Deliberative/Reactive Paradigm

7.1 Overview 7.2 Attributes of the Hybrid Paradigm 7.2.1 Characteristics and connotation of reactive behaviors in hybrids 7.2.2 Connotations of “global” 7.3 Architectural Aspects 7.3.1 Common components of hybrid architectures 7.3.2 Styles of hybrid architectures 7.4 Managerial Architectures 7.4.1 Autonomous Robot Architecture (AuRA) 7.4.2 Sensor Fusion Effects (SFX) 7.5 StateHierarchy Architectures 7.5.1 3Tiered (3T) 7.6 ModelOriented Architectures 7.6.1 Saphira 7.6.2 Task Control Architecture (TCA) 7.7 Other Robots in the Hybrid Paradigm 7.8 Evaluation of Hybrid Architectures 7.9 Interleaving Deliberation and Reactive Control 7.10 Summary 7.11 Exercises 7.12 End Notes

8 Multiagents

8.1 Overview 8.2 Heterogeneity 8.2.1 Homogeneous teams and swarms 8.2.2 Heterogeneous teams 8.2.3 Social entropy 8.3 Control 8.4 Cooperation 8.5 Goals 8.6 Emergent Social Behavior 8.6.1 Societal rules 8.6.2 Motivation 8.7 Summary 8.8 Exercises 8.9 End Notes II Navigation

9 Topological Path Planning

9.1 Overview 9.2 Landmarks and Gateways 9.3 Relational Methods 9.3.1 Distinctive places 9.3.2 Advantages and disadvantages 9.4 Associative Methods 9.4.1 Visual homing 9.4.2 QualNav 9.5 Case Study of Topological Navigation with a Hybrid Architecture 9.5.1 Path planning 9.5.2 Navigation scripts 9.5.3 Lessons learned 9.6 Summary 9.7 Exercises 9.8 End notes

10 Metric Path Planning

10.1 Objectives and Overview 10.2 Configuration Space 10.3 Cspace Representations 10.3.1 Meadow maps 10.3.2 Generalized Voronoi graphs 10.3.3 Regular grids 10.3.4 Quadtrees 10.4 Graph Based Planners 10.5 Wavefront Based Planners 10.6 Interleaving Path Planning and Reactive Execution 10.7 Summary 10.8 Exercises 10.9 End Notes

11 Localization and Map Making

11.1 Overview 11.2 Sonar Sensor Model 11.3 Bayesian 11.3.1 Conditional probabilities 11.3.2 Conditional probabilities for P(Hjs) 11.3.3 Updating with Bayes’ rule 11.4 DempsterShafer Theory 11.4.1 Shafer belief functions 11.4.2 Belief function for sonar 11.4.3 Dempster’s rule of combination 11.4.4 Weight of conflict metric 11.5 HIMM 11.5.1 HIMM sonar model and updating rule 11.5.2 Growth rate operator 11.6 Comparison of Methods 11.6.1 Example computations 11.6.2 Performance 11.6.3 Errors due to observations from stationary robot 11.6.4 Tuning 11.7 Localization 11.7.1 Continuous localization and mapping 11.7.2 Featurebased localization 11.8 Exploration 11.8.1 Frontierbased exploration 11.8.2 Generalized Voronoi graph methods 11.9 Summary 11.10 Exercises 11.11 End Notes

12 On the Horizon

12.1 Overview 12.2 ShapeShifting and Legged Platforms 12.3 Applications and Expectations 12.4 Summary 12.5 Exercises 12.6 End Notes Bibliography

Building Robots with Lego Mindstorms

Chapter 1 Understanding LEGO Geometry

Introduction Expressing Sizes and Units Squaring the LEGO World:Vertical Bracing Tilting the LEGO World: Diagonal Bracing Expressing Horizontal Sizes and Units Bracing with Hinges

Chapter 2 Playing with Gears

Introduction Counting Teeth Gearing Up and Down Riding That Train:The Geartrain Worming Your Way:The Worm Gear Limiting Strength with the Clutch Gear Placing and Fitting Gears Using Pulleys Belts and Chains Pulleys and Belts Chains Making a Difference:The Differential

Chapter 3 Controlling Motors

Introduction PacingTrotting and Galloping Mounting Motors Wiring Motors Controlling Power Braking the Motor Coupling Motors

Chapter 4 Reading Sensors

Introduction Touch Sensor Light Sensor Measuring Reflected Light Line Following Proximity Detection Rotation Sensor Temperature Sensor Sensor Tips and Tricks Emulating a Touch Sensor Emulating a Rotation Sensor Connecting Multiple Sensors to the Same Port Other Sensors

Chapter 5 Building Strategies

Introduction Locking Layers Maximizing Modularity Loading the Structure Putting It All Together: Chassis Modularity and Load

Chapter 6 Programming the RCX

Introduction What Is the RCX? A Small Family of Programmable Bricks Using LEGO RCX Code Using the NQC Language Using Other Programming Languages Using legOS Using pbForth Using leJOS Using Other Programming Tools and Environments Divide and Conquer: Keeping Your Code Organized Running Independent Tasks

Chapter 7 Playing Sounds and Music

Introduction Communicating through Tones Playing Music Converting MIDI files Converting WAV Files

Chapter 8 Becoming Mobile

Introduction Building a Simple Differential Drive Keeping a Straight Path Using Sensors to Go Straight Using Gears to Go Straight Using Casters to Go Straight Building a Dual Differential Drive Building a Skid-Steer Drive Building a Steering Drive Building a Tricycle Drive Building a Synchro Drive Other Configurations

Chapter 9 Expanding Your Options with Kits and Creative Solutions

Introduction Acquiring More Parts Introducing Some Specialized Components Buying Additional Parts Creating Custom Components Building Custom Sensors Solving Port Limitations Creative Solutions When More RCX Ports Are Needed

Chapter 10 Getting Pumped: Pneumatics

Introduction Recalling Some Basic Science Pumps and Cylinders Controlling the Airflow Building Air Compressors Building a Pneumatic Engine

Chapter 11 Finding and Grabbing Objects

Introduction Operating Hands and Grabbers Transferring Motion Using Tubing Understanding Degrees of Freedom Finding Objects

Chapter 12 Doing the Math

Introduction Multiplying and Dividing Averaging Data Simple Averages Weighted Averages Using Interpolation Understanding Hysteresis

Chapter 13 Knowing Where You Are

Introduction Choosing Internal or External Guidance Looking for Landmarks: Absolute Positioning Following the Beam Measuring Movement: Relative Positioning Part II Projects

Chapter 14 Classic Projects

Introduction Exploring Your Room Detecting Edges Variations on Obstacle Detection Following a Line Further Optimization of Line Following Modeling Cars Front-Wheel and Four-Wheel Drives Switching Gears Using the Gear Switch

Chapter 15 Building Robots That Walk

Introduction The Theory behind Walking Building Legs Building a Four-Legged Robot Building a Six-Legged Steering Robot Designing Bipeds Interlacing Legs COG Shifting Ankle Bending Making Bipeds Turn

Chapter 16 Unconventional Vehicles

Introduction Creating Your Own SHRIMP Building a SHRIMP Creating a Skier Creating Other Vehicles Elevator Train Cable Railway or Gondola Boat Sailing Tricycle

Chapter 17 Robotic Animals

Introduction Creating a Mouse Improvements Upon the Mouse Construction Creating a Turtle Improvements Upon the Turtle Construction Creating Other Animals

Chapter 18 Replicating Renowned Droids

Introduction Building an R2-D2-Style Droid Programming the Droid Variations on the Construction Building a Johnny Five-Style Droid Variations on the Construction

Chapter 19 Solving a Maze

Introduction Finding the Way Out Using the Left SideÑRight Side Strategy Applying Other Strategies Building a Maze Runner Constructing the Maze Runner Programming the Runner Creating the Maze Variations on the Maze Runner Building a Maze Solver Constructing the Maze Solver Programming the Solver

Chapter 20 Board Games

Introduction Playing Tic-Tac-Toe Building the Hardware Writing the Program Improving Your Game Playing Chess Building a Visual Interface Building a Mechanical Interface Connecting and Programming Broad Blue Variations on the Construction Playing Other Board Games

Chapter 21 Playing Musical Instruments

Introduction Creating a Drummer Building the Drummer Programming the Drummer Variations Creating a Pianist Building the Pianist Programming the Pianist Changes and Improvements Other Suggestions

Chapter 22 Electronic Games

Introduction Creating a Pinball Machine Building the Pinball Machine Programming the Pinball Machine Improvements on the Construction Creating a Simon-Says Game Building a Simon-Says Game Programming the Simon-Says Game Variations Other Electronic Game Suggestions

Chapter 23 Drawing and Writing

Introduction Creating a Logo Turtle Building the Turtle Programming the Turtle Choosing the Proper Language Variations Tape Writer Building the Writer Programming the Writer What to Write Variations Further Suggestions Copying Emulating Handwriting Learning by Example

Chapter 24 Simulating Flight

Introduction Introducing the Forces Involved in Flight Designing the Simulator Project Building the Hardware Programming the Simulator Operating the Simulator Downsizing the Project Upsizing the Project

Chapter 25 Constructing Useful Stuff

Introduction Building a Floor Sweeper Constructing the Sweeper Programming the Sweeper Improvements on the Floor Sweeper Building a Milk Guard Making the Milk Guard Programming and Using the Milk Guard Improvements on the Milk Guard Building a Plant Sprinkler Making the Sprinkler Programming and Using the Sprinkler Improvements on the Plant Sprinkler Designing Other Useful Robots Part III Contests

Chapter 26 Racing Against Time

Introduction Hosting and Participating in Contests Optimizing Speed Drag Racing Combining Speed with Precision Line Following Wall Following Other Races

Chapter 27 Hand-to-Hand Combat

Introduction Building a Robotic Sumo Setting the Rules Maximizing Strength and Traction Attack Strategies Finding the Enemy Using Speed Using a Transmission Other Sumo Tricks Getting Defensive Testing Your Sumo

Chapter 28 Searching for Precision

Introduction Precise Positioning Finding and Collecting Things MaxwellÕs Demons Stealing the Cube Variations on Collecting Playing Soccer Summary

Appendix A Resources

Introduction Bibliography General Interest Sites Chapter 1 Understanding LEGO Geometry Chapter 2 Playing with Gears Chapter 3 Controlling Motors Chapter 4 Reading Sensors Chapter 5 Building Strategies Chapter 6 Programming the RCX Chapter 7 Playing Sounds and Music Chapter 8 Becoming Mobile Chapter 9 Expanding Your Options with Kits and Creative Solutions Chapter 10 Getting Pumped: Pneumatics Chapter 11 Finding and Grabbing Objects Chapter 12 Doing the Math Chapter 13 Knowing Where You Are Chapter 14 Classic Projects Chapter 15 Building Robots That Walk Chapter 16 Unconventional Vehicles Chapter 17 Robotic Animals Chapter 18 Replicating Renowned Droids Chapter 19 Solving a Maze Chapter 20 Board Games Chapter 21 Playing Musical Instruments Chapter 22 Electronic Games Chapter 23 Drawing and Writing Chapter 24 Simulating Flight Chapter 25 Building Useful Stuff Chapter 26 Racing Against Time Chapter 27 Hand-to-Hand Combat Chapter 28 Searching for Precision Appendix B Matching Distances Appendix C Note Frequencies Appendix D Math Cheat Sheet Sensors Averages Interpolation GearsWheels and Navigation