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Magazine, Servo 11 2008
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Vol. 6 No. 11 SERVO MAGAZINE SELF-REASSEMBLING ROBOTS • PROPELLER • UNIVERSAL MOTOR • ROBOT PUPPET November 2008
Full Page.qxd 7/9/2008 9:57 AM Page 2
Sharing Ingenuity
W W W. S P A R K F U N . C O M
PAGE 21 Departments
06 Mind/Iron
18 New Products
20 Events Calendar
72 SERVO Webstore
75 Robotics Showcase
81 Robo-Links
81 Advertiser’s Index
Columns 28
30 Pound Combat Robot — Mitch
MANUFACTURING:
08 Robytes Even More Things to Consider When
by Jeff Eckert Building a Fighting Robot
Stimulating Robot Tidbits
33 PARTS IS PARTS:
10 GeerHead Chain Length Calculator and
by David Geer Chain Path Visualizer
Self-Reassembling Robot
35 A Brief History of WAR
14 Ask Mr. Roboto
by Dennis Clark
Your Problems Solved Here
Events
21 Twin Tweaks 30 Results and Upcoming Competitions
31
by Bryce and Evan Woolley
Surveyor’s Travels Event Report:
Robot Battles 2008
68 Robotics Resources
by Gordon McComb
Hand Tools for Robot Construction
Robot Profile
34 Limblifter
76 Appetizer
by R. Steven Rainwater
Why Just Build a Robot? Be a Robot!
78 Then and Now SERVO Magazine (ISSN 1546-0592/CDN Pub Agree#40702530) is published
monthly for $24.95 per year by T & L Publications, Inc., 430 Princeland Court, Corona,
by Tom Carroll CA 92879. PERIODICALS POSTAGE PAID AT CORONA, CA AND AT ADDITION-
Robot Competitions and Contests AL ENTRY MAILING OFFICES. POSTMASTER: Send address changes to SERVO
Magazine, P.O. Box 15277, North Hollywood, CA 91615 or Station
A, P.O. Box 54,Windsor ON N9A 6J5; cpcreturns@servomagazine.com
4 SERVO 11.2008
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11.2008
VOL. 6 NO. 11
36 A Robotic Puppet
by John Blankenship and
Samuel Mishal
See how to implement computer
control to give your robots the
illusion of life.
SERVO 11.2008 5
Mind-Iron Nov.qxd 10/8/2008 6:52 AM Page 6
Published Monthly By
T & L Publications, Inc.
430 Princeland Ct., Corona, CA 92879-1300
(951) 371-8497
FAX (951) 371-3052
Webstore Only 1-800-783-4624
www.servomagazine.com
Subscriptions
Mind / Iron Toll Free 1-877-525-2539
Outside US 1-818-487-4545
P.O. Box 15277, N. Hollywood, CA 91615
WEB CONTENT
Michael Kaudze
website@servomagazine.com
PRODUCTION/GRAPHICS
Shannon Lemieux
Joe Keungmanivong
ADMINISTRATIVE ASSISTANT
Debbie Stauffacher
Copyright 2008 by
T & L Publications, Inc.
All Rights Reserved
All advertising is subject to publisher’s approval.
We are not responsible for mistakes, misprints,
or typographical errors. SERVO Magazine assumes
no responsibility for the availability or condition of
advertised items or for the honesty of the
advertiser. The publisher makes no claims for the
legality of any item advertised in SERVO.This is the
sole responsibility of the advertiser.Advertisers and
their agencies agree to indemnify and protect the
publisher from any and all claims, action, or expense
arising from advertising placed in SERVO. Please
Mind/Iron Continued send all editorial correspondence, UPS, overnight
mail, and artwork to: 430 Princeland Court,
Corona, CA 92879.
6 SERVO 11.2008
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SERVO 11.2008 7
Robytes-Nov-edited.qxd 10/6/2008 10:38 AM Page 8
Must Be Nuts
8 SERVO 11.2008
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Robytes
SERVO 11.2008 9
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A Self-Reassembling Robot
Ever seen a robot torn apart only to put itself back together? Jimmy Sastra, a student in the
Modular Robotics Lab at the University of Pennsylvania has. He helped create it. As with
most scientific endeavors, the Robotic Self-Reassembly After Explosion (SAE) project was
a solution to a problem: how to get a robot to reassemble itself after ‘disassembly’ by
‘explosion’ (“Towards Robotic Self-Reassembly After Explosion,” the Modular Robotics Lab,
University of Pennsilvania, Mark Yim, et.al.). Jimmy Sastra, a named author on the paper and
research student at the University, calls an explosion “the rapid randomized disassembly of
a system from a high-energy event.” As shown in the video linked here with, the explosion
is the separation of the robot as students kick it apart, separating it into three parts.
he Self-Reassembling robot is a thousands of parts and modules that The robot is designed to
T precursor to modular, self-
configuring robots of the future,
configure themselves for varying
applications or — as in this case —
disassemble along specific, preselected
lines or weakest links between the
which are envisioned with many reassemble all their parts after modules in a structured fashion. By
separation by explosion. ensuring that the robot separates at
Close-up of cluster with camera module. In this experiment, the goals of these “bonds” between the modules,
the robot are to perform a task, suffer the robot absorbs the shock and
an explosion, reassemble itself, and disassembles at points where it is
continue the original task from where capable of reassembling.
it left off. The self-assembly of the robot is
part of a larger plan for self-repair.
This cluster of five modules shows the This type of self-repair involves
camera module attached, top-side. diagnosis of the problem/break
points, a plan for re-assembly, and
an execution of that plan, according
to Yim.
Diagnosis
The robot uses sensors to
determine that it is no longer
connected to itself. The robot consists
of clusters of modules. According to
Jimmy Sastra, the clusters are
connected to each other at certain
modules — using magnets. Each
module face — which is connected to
another module face — has two IR
10 SERVO 11.2008
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GEERHEAD
Three separated clusters attempting to Two clusters making ground Two clusters even closer. The third
locate each other and re-join. toward each other. cluster is shown in the background.
(infrared) pairs: one is an emitter and other). The IR pairs also inform the three-axis accelerometer so that it may
one is a detector. modules as to who their neighboring know its orientation; whether it is
The pairs check to see whether modules are. standing or lying down. “After we kick
they can communicate with the set of Each cluster consists of five the robot to explode it, it might be
pairs on the other module facing modules screwed together. Each upside down. Using the accelerome-
them. If they can’t communicate with module in a cluster also uses IR pairs ter, it will self-right the cluster or the
each other, they know they have been to determine which module is its entire robot as needed. It needs to
“exploded” (disconnected from each neighbor. Each cluster talks to itself self-right in order to locomote to
using a CANbus, which is a global connect to the other clusters,”
bus connecting the internal explains Sastra.
microcontrollers. Each of three clusters has an
additional stand-alone controller
Planning and that communicates with the micro-
controllers in the camera modules.
Execution Each microcontroller runs its own
Each module in the robot state machine (software), according to
contains a microcontroller that Sastra. If the robot is fully assembled,
controls the angle of the module. it walks. If it is assembled, one of the
Each of three camera modules three stand-alone controllers in one of
employs a vision localization the three clusters will become the
processor. The camera module also master controller over the other
The single robot returns to its original contains a communications unit. clusters and control the walking task.
activity: walking. The camera module includes a As the robot walks, it uses its IR
SERVO 11.2008 11
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12 SERVO 11.2008
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MrRoboto-Nov-edited.qxd 10/7/2008 11:08 AM Page 14
Tap into the sum of all human knowledge and get your questions answered here!
From software algorithms to material selection, Mr. Roboto strives to meet you
where you are — and what more would you expect from a complex service droid?
by
Dennis Clark
Since I like to group similar topics with the questions in this power supply. The odd looking diodes D5 and D6 are
column, the theme this month seems to be motor controls. transient voltage suppressors (TVS) that protect the
transistors from excessive voltage spikes between the
higher voltage than the Vgs rating of the device. Ringing proportional to the difference between the speed we are
can occur on any MOSFET that is driving a high Vds (Voltage going now and the speed we want to be going. In other
across the drain and source of the MOSFET). Even if the words, if we want to be going 500 RPM and we are going
MOSFET has a voltage rating of 60V, the Vgs will typically be 100 RPM, we will have a larger P term than if we wanted to
much less than that. The resistor R4 is used to bleed off the go 500 RPM and we were already going 400 RPM.
voltage at the gate of the MOSFET which will speed up its Integral: We will add a correction every time we are not
switching time. The PWM frequency here is limited by the going the speed that we want to be going. This element of
opto-isolator transition speeds. The advantage of this type of the PID algorithm is usually the one that is misunderstood.
MOSFET/relay motor driver compared to the relay only driver With this element, we will accumulate an error term every
is that you can PWM the MOSFET and get variable speeds. If cycle of the PID where our speed is not where we want it to
you are driving large currents, however, it is a good idea to be. Sometimes the P error term will not be large enough to
turn the PWM off before switching motor directions to avoid reach our terminal speed. Over time, the I error term will get
arcing on your relay contacts. larger and force a greater error correction to eventually
occur. This is a very handy error term for making smooth
- Don
corrections to large error terms. This term should be kept
small relative to the other PID elements.
Derivative: The P and I elements have been driving us
onward to our terminal speed goal. As we approach our
goal, someone needs to start applying the brakes so that we
Read your chosen feedback value and subtract it from you should scale your readings to allow them to match
your desired terminal value. This is called the error term. You up with your PWM settings. I’m using a 10 bit PWM in
can get this any way you want — via wheel encoder, motor the PIC hardware, so I scaled my readings up by two to get
back EMF readings, or anything else you wish to use. It will better response.
be: error = (desired speed – current speed).
Calculate your P term. It will be: kP * (error term) = signed long getError()
Vproportional. /* Find the difference between where we want to be and
Calculate your I term. It will be: kI * SUM(all past error where we are. */
{
terms) = Vintegral. signed long error;
Calculate your D term. It will be: kD * (current error – unsigned int16 ma,mb;
last error) = Vderivative.
Calculate your Correction term. It will be: Vproportional setup_ccp1(CCP_OFF); //Turn off PWM
+ Vintegral + Vderivative. Note that Vderivative will most delay_us(500); //wait for steady state
likely be a negative term.
set_adc_channel(0); //get fwd side voltage
Apply your correction term to your PWM setting; this delay_us(20);
will set the voltage to the motor. ma = read_adc();
A PID algorithm will have terms that are used to multiply ma <<= 1; // “Amplify” the signal, making it
times the error term. These terms will supply the gain of the // more relevant
term. Think of them as amplifiers for the error term in the
PID algorithm. Typically, they are denoted with a lower case
set_adc_channel(1); //get reverse side voltage
k. In order of our definition above, they are kP, kI, and kD. delay_us(20);
You’ve probably heard the term “tuning a PID loop.” This is mb = read_adc();
the process of tweaking the three terms above to give your mb <<= 1;
PID algorithm the response you desire.
That isn’t so scary, is it? There are more sophisticated currPos = (signed long)((signed long)ma - (signed long)mb);
ways to calculate these values and come up with proper //printf(“ma= %lu mb= %lu\n\r”,ma,mb);
corrections that will work with your PWM generation, but
careful selection of your PID gains will allow your loop (called setup_ccp1(CCP_PWM_PLUS_3);
a loop because you do it over and over again) to return sane error = calcPos - currPos;
values. Your friendly neighborhood SERVO Magazine website
has a C program written in CCS PCM for the PIC16F73 return error;
}
microcontroller that allows you to play with your PID
algorithm to see what gain values cause what responses.
You can download this program at www.servomagazine. Note that new settings are only sent to the program
com under Mr. Roboto as picpid.zip. when you press the L key. This allows you to set several
I’ll describe the various functions of this demonstration attributes before the motor has to respond to them.
code first. Picpid will allow you to control the speed and Picpid is a very simple PID implementation, but it works.
direction of a DC motor through a serial interface at 115200 There are bugs in it, such as interesting motor behavior at
baud. You are free to choose your favorite processor, but I boundary conditions that I didn’t test and correct for. Since I
recommend that you use one that has a hardware PWM, as chose to use 16-bit signed calculations, the resolution isn’t as
well as a hardware USART, so that your PID algorithm can great as it could be, but again, it works. Experiment with the
run as fast as it can in the background. This program does settings to see what happens. You may wish to change the
not use interrupts to take the error term; it simply operates program to make it implement a positional servo mechanism
at a sample rate of every 5 ms. instead of one controlling motor speed. It can be done!
To do the best job with a PID algorithm, you should I will leave this as an exercise for the student. You too
have the sample rate repeat at a constant rate so your error can implement PID in your motors quite easily. However, I
terms will be proportional to both the time they are taken caution you — a PID algorithm of sufficient sample speed
and the error value that you get. Picpid is simply an example will take over your microcontroller if it is a low speed
program that will allow you to play with PID values to see device. I recommend that you implement PID on a dedicated
what effects they have on your hardware. microcontroller and talk to it via a serial connection like this
Picpid uses the ADC hardware to measure the CEMF (or one or SPI or even I2C so that your main computer can set
back EMF) of the DC motor to determine how fast it is its “mind” to higher things that you want your robot to
spinning. This isn’t incredibly accurate, but it requires no be doing.
other sensors to be used beyond that required to get the I hope that you’ve learned something this month.
voltage from the motor wires. Listing 1 shows the GetError() As usual, I can be reached for questions, comments, and
function which reads that back EMF. Feel free to modify this criticisms at roboto@servomagazine.com and I’ll be happy
to get your quadrature readings instead. (Listing 1, 2, and 3 to work on it! Until next time, keep on building those
are available on the website, as well.) Here, in this function, robots! SV
16 SERVO 11.2008
Full Page.qxd 10/7/2008 11:43 AM Page 17
email: sales@crustcrawler.com
NOV08NewProd.qxd 10/8/2008 9:54 PM Page 18
New Products
N E W P RO D U C T S
solution for those who haven’t yet mastered the skills of
ROBOT KITS programming. Using a flowchart-style programming
interface, even the most inexperience programmer can
be using his KicCrab in no time. The chip can also be
programmed in the Basic language for the more
experienced programmer. Those wishing to learn Basic
can program using the flow chart style and watch as it’s
translated to Basic in real time.
The assembly of this kit requires a skill level of 5 and
therefore may not be suitable for children under the age
of 15. Kits are available online for $79.95.
For further information, please contact:
KicCrad
1SORC Technologies Web: www.1sorc.com
18 SERVO 11.2008
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SERVO 11.2008 19
Events.qxd 10/8/2008 9:27 PM Page 20
Send updates, new listings, corrections, complaints, and suggestions to: steve@ncc.com or FAX 972-404-0269
Know of any robot competitions I’ve missed? Is your walking robot race, Photovore, Search and Rescue,
local school or robot group planning a contest? Send an and an Art and Innovation contest.
email to steve@ncc.com and tell me about it. Be sure to www.robotgames.ca
include the date and location of your contest. If you have a
website with contest info, send along the URL as well, so we 24 Hawaii Underwater Robot Challenge
can tell everyone else about it. Kahanamoku Pool, UoH at Manoa, Honolulu, HI
For last-minute updates and changes, you can always Timed, multitasking tethered mission.
find the most recent version of the Robot Competition FAQ www.marinetech.org/rov_competition
at Robots.net: http://robots.net/rcfaq.html
29 FIRST LEGO League of South Africa
— R. Steven Rainwater Championship
Sci Bono Science Center, Johannesburg,
South Africa
N ov e m b e r FIRST LEGO League events.
www.fllsa.org.za
1 Bloomington VEX Tournament
Ivy Tech Community College, Bloomington, IN TBA South’s BEST competition
Events include Top-It-Off-2, Pythagorean-2, VEX Beard-Eaves Memorial Coliseum, Auburn
Tractor Pull, and a CAD Design Contest. University, Auburn, AL
http://robotics.bloomington.googlepages.com Different each year, see website for details.
The listed date is for the state-wide championship
15 ROBOMO Expo contest. A month earlier, the various teams have
Indian Trails Public Library, Overland, MO regional contests and the winners go on to
This year’s ROBOMO will include demonstrations compete at the state-wide competition. BEST
of mini-Sumo, line-following, mini-Magellan, and is very similar to the FIRST contest except that in
robot soccer. All robots are welcome. There the BEST event, teams of students build robots
will be door prizes and a Chinese food buffet from standardized kits with only minimal guidance
afterwards. from their corporate sponsors.
www.robomo.com www.southsbest.org/ or www.bestinc.org/
20 SERVO 11.2008
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THIS
MONTH:
Surveyor’s
Travels
FIGURE 1.THE SURVEYOR.
FIGURE 2 FIGURE 4
FIGURE 3
create a platform where applications something that is a much better use demonstrate the wireless capabilities
including sound, video, and signal of one’s money than the newest of the Surveyor, but there is also
processing could be integrated gaming console. something intangibly empowering
without sacrificing the performance of about controlling a robot that lives in
any single application. A project that My Robot is More another continent. The project also
combines video and other signal earns kudos for the camera on the
processing sounds a lot like a camera Well-Traveled than Surveyor, which gives a clear color
toting robot – how fortuitous! And to Your Robot picture of the surroundings that is
top it all off, the Blackfin cuts through We were eager to test out the detailed enough to read model
the waters of signal processing with capabilities of the SRV-1Q, but the billboards scattered around the
the utmost energy efficiency. idea of tackling a robot without the environment that offer clues to a
The Blackfin processor on the comfort of a software CD did seem a secret message.
SRV-1Q handles the camera (Figure 5), little daunting. We wanted to get an Why would these intrepid bots be
which is an Omnivision OV9655 1.3 idea of the bot’s capabilities and limi- given a playground by an energy
megapixel sensor. For those of us that tations before we tackled it ourselves, company, anyway? Apparently, the
don’t structure our thoughts with spec so we looked to the place where any demonstration is meant as a way to
numbers, that basically means that roboticist would look if they were in spotlight the company’s environmen-
the bot is outfitted with a nice color the same situation – Australia! tal initiatives. The SRV-1Qs in the BP
camera. The SRV-1Q seems to be A fun showcase of the Surveyor Explorer all run off of batteries that
nothing but quality through and robot’s abilities comes from a are charged with BP solar panels. For
through, and you get what you pay somewhat unexpected place – the that reason, the bots only run during
for. The bot comes with a price tag of folks at the Australian branch of the the daytime (in Australia).
a little under $500, which really seems energy company British Petroleum. When the website debuted, the
quite reasonable given the caliber of The BP Explorer is a website that little bots were so popular that the
the robot. A fine chassis, robust allows users from all over the world waiting time to use one of the five
motors, a stunning camera, an able to drive a Surveyor robot around a was several hours. When we surfed
processor, and more software than diorama of a cityscape and the the website, however, there was no
one could shake the proverbial stick at surrounding countryside. Not only is wait time at all and we were able to
all seem like excellent justifications for this a cool way to drive around at our leisure. After a
couple of rounds, we felt that we
had become sufficiently acquainted
FIGURE 7
Surveyor’s Travels
Even Robots can have them you can perform a much quicker
fix than the one we did. The pin in
problem. After we were connected,
the mysterious purple smear on the
Dog Day Afternoons the connector on the antenna came Java console was replaced by an
After our international adventure, out so easily because the connector image of our dorm room desk. While
we were even more excited to tackle was socketed and it wasn’t soldered this might seem random, it was
our SRV-1Q. Even with the SRV-1Q in to a wire. Since this is the case, some because the robot was looking at our
pre-built form, there is some minimal needle-nosed pliers can be used to desk. Before we could officially get to
assembly required. All you need to do simply extract the pin with no ill playtime, we had to configure the
it attach the antenna to the bot, and effects. With the assembly of the Matchport connection for easy access.
while this might sound like a trivial robot finally finished, we let the little This actually involves a somewhat
task it turned into something much bot charge up its Li-poly battery pack lengthy process, but roboticists are
more dramatic. Normally, the antenna before we made our first attempt at carefully guided through the steps
should just screw into place near the teleoperation. with generous screenshots and clear
stern of the robot, but our parts had a directions.
bit of a compatibility problem (Figure Smooth Teleoperator With all of the network nuts and
6). The connector on the antenna and bolts taken care of, we were ready to
the connector on the bot were both Don’t be fooled into thinking that get going (Figure 10). Some of the
male, with the connector pins to the SRV-1Q doesn’t come with any controls on the Java console are pretty
prove it. It was only a minor setback, goodies just because it doesn’t come straightforward. Directional arrows
and after a quick trip to our favorite with a CD. The bot comes equipped control the basic movements, while a
electronics shack we were ready to with some handy firmware that makes familiar red octagon causes the bot to
proceed. We acquired a male-to-male wireless operation over the computer freeze in its tracks. Some controls,
connector (Figure 7), but we hoped a snap. To get everything fully config- however, are a bit more enigmatic.
that the extended length of the ured, you’ll have to visit the Surveyor Buttons labeled fast and slow can
connection wouldn’t interfere with the website (www.surveyor.com). The control the motor speed of the robot,
bot’s nifty treads. Surveyor website provides clear and and the different sized rectangles on
To begin the process, we screwed concise instructions on how to get the right side of the console can
the new connector into the one on started with your bot. There are a change the resolution of the screen.
the antenna. When we weren’t sure if plethora of software applications to Don’t think that you could get a huge
it was fitting nicely, we unscrewed the choose from, but we went with the screen for nothing though – there’s a
male-to-male connector, and we were highly recommended Java console. corresponding trade-off in frame rate.
surprised to see the pin from the The Java console can be downloaded In addition to the screen with the mys-
antenna come with it. for free, and after the generic terious button, the command prompt
And with that, our problem had installation procedure you’ll have a window also pops up with the Java
been solved, and the antenna screwed screen pop up as in Figure 8. console (Figure 11), and it provides
onto the robot just as it should have. After opening the console, the even more enigmatic feedback that is
We were assured by the folks at next task was to connect to the sure to delight programmers.
Surveyor labs that this mix-up only robot’s wireless network (Figure 9). Driving around our own SRV-1Q
occurred in a small number of kits, An “SRV1” network conveniently was quite like our experience with the
but if you were to run across one of popped up, and connecting was no Australian robot, but without the lag
FIGURE 10
FIGURE 8
FIGURE 9
SERVO 11.2008 23
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FIGURE 15
FIGURE 13 FIGURE 14
24 SERVO 11.2008
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Surveyor’s Travels
But just in case image processing design to reality. The open source the Lunar Lander. With all of the
isn’t your cup of tea, the Surveyor mentality seems to have been truly promise shown by the SRV-1Q and the
can also run autonomously using adopted by the folks at Surveyor, with impressive community that is growing
interpreted C programming. Programs all of the shared software, hacks, and around it, we wouldn’t be surprised to
are stored in Flash memory. There are enthusiasm for creating a better and see a robot like it end up on the
special robot commands and the more interesting product. moon someday. SV
protocol is also available on the The Surveyor Labs website
website. The robot-specific commands features a link to a video about the Special Thanks to
even include those for a “wander Google Lunar X Prize that talks about Zander Rose and Reason Bradley
mode” and a “swarm mode.” There the new contest to send a robot to of Inertia Labs and Howard Gordon
are entertaining videos on the website the moon tasked with photographing of Surveyor Labs.
that demonstrate these. And, as you
might have guessed, there is also
sample code that can be acquired
through the website, and — by
extension — the community of SRV-1Q
users that frequent it.
Open Source
Opening Doors
Perhaps the most exciting things
about the SRV-1Q are the possibilities.
In the space of this article, we have
hardly even scratched the surface of
this bot. It can run autonomously, it
can archive the video it takes, you can
even get a bunch of SRV-1Qs together
to make a swarm. The bot can be
expanded with more sensors, and it
can even be given “stereo vision” with
the addition of another camera. Hacks
like stereo vision and other things that
score highly on the cool factor scale Experience a Faster Way to Search for Components!
are all shared on the Surveyor Labs
Jameco Electronics’ new catalog and Web codes allow you to quickly jump
website, and a Robot User Forum
enhanced Jameco.com website are two from catalog to website to view additional
encourages hackers and hobbyists to tools that are designed to work together specifications, application notes, photos
share their latest projects. to give electronic professionals faster and more products. You'll find exactly
All of the possibilities are made access to the hottest components in the what you're looking for without having to
reachable because the bot is open industry. wade through hundreds of thousands of
products on a complicated website or
source. Not only can tinkerers mess Color coded references throughout the
wielding a twenty pound catalog.
around with the source code, but catalog assist you in analyzing a wide
range of brand choices (from franchise With a flip of the page or a click of the
schematics and other diagrams of the sourced to house brands to factory mouse, you have all the tools you need
robot are also freely available. Users overruns) offering you more pricing at your fingertips. Reach for Jameco first
can even download a Solidworks options than you'll see anywhere else. and order your catalog today.
3D model of the SRV-1Q from the
website so they can truly get an idea
of how this robot has progressed from
SERVO 11.2008 25
CombatZone-edited.qxd 10/7/2008 3:36 PM Page 26
33 PARTS IS PARTS:
F requently at events, I am
inundated with questions on
how to get started in combat
reason this bot couldn’t have
been built with a simple drill
press, or even a hand drill and
Chain Length Calculator robotics. I’m always honored by basic hand tools. Most of the
and Chain Path Visualizer the requests, and enjoy the material used was inexpensive,
by Kevin Berry enthusiasm that potentially new as well. And the best part: This
builders bring to the sport. But machine was very effective,
due to the violent nature of winning the 30 pound division at
35 A Brief History of WAR some of my more high-powered the 2008 RoboGames event;
by Robert Farrow creations, I always feel hesitant to going undefeated in the class.
tell a 10-year-old how to build a I started out with four of the
heavyweight spinner! I usually basic 20:1 36 mm planetary gear
Events recommend something simpler to motors from Banebots. They are
30 Aug/Sep 2008 Results and start out with — like a wedge — only 1.5” tall, allowing me to
but up until recently, I didn’t have create a very low profile robot
Nov/Dec 2008 Upcoming
an example of my own to display. and still have decent power.
Events Well, all that changed
for the RoboGames
31 EVENT REPORT: event this year.
Introducing Team
Robot Battles 2008
Hardcore’s first wedge
by Charles Guan — Team Test Bot
bot: Mitch.
Mitch was created
ROBOT PROFILE – Top almost completely from
Ranked Robot This Month: off-the-shelf parts and,
although there were
34 Limblifter by Kevin Berry some areas that were
machined specifically for This is Mitch, after winning the 30 pound class at
RoboGames. You can see some of the scars on the
assembly, there is no wedge from all the action.
26 SERVO 11.2008
CombatZone-edited.qxd 10/7/2008 3:37 PM Page 27
SERVO 11.2008 27
CombatZone-edited.qxd 10/7/2008 3:38 PM Page 28
MANUFACTURING:
Even More Things to C nsider
When Building a Fighting Robot
● by Mike Jeffries
28 SERVO 11.2008
CombatZone-edited.qxd 10/7/2008 3:39 PM Page 29
tion when building your bot. protected and able to be supported transmit power from one shaft to
on both sides. External wheels will another over a gap. Chains need to
Car vs. Tank Steering prevent the robot from being hung be aligned more precisely than belts
up on a competitor’s armor if it due to their inflexibility. If they are
Most robots use tank steering, gets lifted off the ground. External not aligned well, the chain is likely
which is where each side of the wheels can be hit easily by the to fall off or break.
drive system can go forward or opposing robot’s weapons and Gears require the highest
backward independently allowing are subject to many more direct precision of the three options and
the robot to go forward, backward, impacts. Which option is best are also able to be the most
or turn in place. Car steering works depends on both the design of the efficient. They are not, however,
just the way it sounds. The robot robot and which features are most able to span the same distances
will drive like a large, metal remote- important to it. that belts or chains can. Tight toler-
controlled car. One common point ances and proper pitch selection
of confusion in tank steering is Belts, Chains, and can result in a nearly indestructible
turning while reversing. With the Gears power transfer system, however, if
way tank steering works, when the pitch is too small or the gears
you’re turning left from standing You’ve got to get the power are too loose or tight, you’re just
still, the right side wheels are going from your motors to your wheels asking for catastrophic failure.
forward and the left side wheels are and weapons somehow. Belts,
going backward. When you’re chains, and gears are your three Chassis
turning left while moving forward, options if the motor can’t have the
the right side wheels are spinning wheel or weapon attached directly At the core of every competitive
faster than the left side in the to it. robot is a strong chassis. It doesn’t
forward direction. When going in Belts are fairly lightweight and matter how powerful your spinning
reverse, however, the left wheels are can transmit power over large gaps. weapon is or how high your arm
spinning faster backwards than the There are multiple types of belts to can flip other robots if the chassis
right, causing it to rotate to the left choose from but most use tension can’t handle the forces that act on
while moving to the right. and friction to provide enough grip it both internally and externally. A
on the pulleys on each side of the small number of construction
External vs. Internal system to transmit power. methods make up the majority of
Wheels Chains are stronger and heavier combat robot chassis today.
than belts, but serve essentially The first method is to use
Internal wheels are better the same function as belts. They square, tubular, or right angle metal
SERVO 11.2008 29
CombatZone-edited.qxd 10/7/2008 3:40 PM Page 30
Totally Offensive
uses gears to drive
Storm II has internal wheels. around the arena.
beams to form a strong skeletal defense. This style tends to be Perhaps aluminum or titanium
chassis. Armor and components are lighter than a skeletal chassis but armor is a better fit for the job.
then mounted to the chassis. This often leads to difficulty in replacing You are not limited to a single
arrangement allows for easy or accessing parts. choice in armor. Often robots will
replacement of damaged armor and The third type of chassis functions be heavily armored in areas the
components, and easy access at any similarly to the second, but relies on builders think will be subject to the
angle. The main downside of this a strong base plate for component most stress and have something
type of chassis is that unless it’s very mounting. The armor normally is a that acts essentially as a dust cover
carefully designed it will be heavier shell that can be completely for less vital areas. When choosing
than the other chassis styles. removed for easy access to most of which material, how much, and
The second type of chassis uses the components. The one difficulty where, you should look at the
the frame itself as armor. Instead of with a chassis like this is making it robots you’ll likely face. If there are
working like a skeleton, this chassis strong enough to hold up to com- very few robots with hammer
functions more like the shell on a bat while keeping the weight low. weapons, top armor is less of a
crab. A strong outer body with rigid These are only a few of the priority. With most arenas in use
internal supports holds all the parts most popular chassis styles. There today, there isn’t much need for
and provides for a very strong are more options of varying thick bottom armor unless it is a
complexity and many hybrids of structural part of your robot.
the three mentioned that have seen Layering different materials can
success in robot combat. work very well in robot combat.
Having a thin layer of a material
Armor resistant to cutting over a thicker
impact resistant material that cuts
Choosing the right armor is easily can act to minimize the
often the difference between negatives while keeping weight and
winning and losing in robot combat. costs low. SV
Do you go with the stronger,
Village Idiot has a heavier steel? Do you choose the All photos courtesy of BuildersDB
skeletal chassis. light, but easily cut polycarbonate? (www.buildersdb.com).
EVENTS
Results and Upcoming Events
Results Aug 12 –
Sep 14, 2008
Upcoming Events
Nov-Dec 2008 A ntweight Benelux Championship
will be held by Dutch Robot
Games in the Netherlands on
30 SERVO 11.2008
CombatZone-edited.qxd 10/7/2008 3:41 PM Page 31
EVENT REPORT
Rob t Battles 2008
● by Charles Guan — Team Test Bot
SERVO 11.2008 31
CombatZone-edited.qxd 10/7/2008 3:42 PM Page 32
number of people watching had introduction of a new design to the slams on opponents.
exceeded the hotel’s fire code limit. combat stage. The open stage The perennial winners returned
The MicroBattles event on format of the competition is again this year, with the 12 pound
Sunday saw the first irreparable particular well-suited to a grabber- class final match a repeat of last
arena damage at any Robot Battles lifter type design; one which can year’s. Dale’s Homemade Robots
event, when the spinning wheel manipulate the opponent by holding swept all the categories at the
hazard was sheared off in the it completely off the floor, not Monday tournament, except for the
three-pound class Battle Royale. A merely breaking its traction. Yet, 12 pound Battle Royale. Other
solid slam by three-pounder Cloud for as long as the event has run, historically successful teams
of Suspicion broke the mounting nobody has built such a machine. including Blade Robotics and Evil
hub off the wheel, sending it This year, two grabber-lifter robots Robotics also placed. Here’s the list
bouncing around the arena floor. entered into the 30 pound class: of champions and runners-up:
Builders and audience alike were Jaws, from Team Stingray, and my
stoked, and the combat arena goes own entry, Überclocker. Jaws did • First place 1 lb class: Gilbert, Team
back to the shop for a completely well, advancing through the loser’s Meatheads
new arena hazard to be debuted brackets after losing its first round • Second place 1 lb class: Misdirected
later this year. In a move that to the eventual 30 pound class Pedestrian, Team Meatheads
straddled the point intersection champion. Due to some poor design • First place 3 lb class: Nuclear
between confidence, arrogance, and on my part, Überclocker was Kitten 5, Team Test Bot
insanity, Cloud of Suspicion’s builder plagued with mechanical problems, • Second place 3 lb class: Ringo,
strapped six pounds of dead weight and I had to repair the bot quite Evil Robotics
on top of his robot and returned literally after every match. Despite • First place 12 lb class: Omegaforce
Monday to fight in the 12 pound losing after the first round, it was 2, Dale’s Homemade Robots
division. able to put on a good show for the • Second place 12 lb class: Nicole
This year’s event also saw the audience by performing a few body Richie, Team Shenanigans
32 SERVO 11.2008
CombatZone-edited.qxd 10/7/2008 3:43 PM Page 33
PARTS IS PARTS:
Chain Length Calculat r
and Chain Path Visualizer
● by Kevin Berry
SERVO 11.2008 33
CombatZone-edited.qxd 10/7/2008 3:44 PM Page 34
ROBOT PR FILE
TOP RANKED ROBOT THIS MONTH
● by Kevin Berry
Top Ranked Combat Bots
History Score Ranking
Limblifter – Currently Ranked #1
Weight
Class Bot Win/Loss Weight Class Bot Win/Loss
Wedge of
60 pounds 43/5 60 pounds K2 14/2
Doom Historical Ranking: #6
120 pounds Devil's Plunger 53/15 120 pounds Touro 14/2 Class: 3 pound Beetleweight
220 pounds Sewer Snake 46/13 220 pounds Original Sin 12/5 Team: Team GuavaMoment
340 pounds SHOVELHEAD 39/15 340 pounds Ziggy 6/0
Builder(s): Brendan McClure
Location: Edmonton, Alberta, Canada
390 pounds MidEvil 28/9 390 pounds MidEvil 3/0
34 SERVO 11.2008
CombatZone-edited.qxd 10/7/2008 3:45 PM Page 35
SERVO 11.2008 35
Blankenship.qxd 10/8/2008 2:56 PM Page 36
by John Blankenship
and Samuel Mishal
FIGURE 3. A puppet’s
eyes are easily motorized
for computer control.
Announcing
the Gears Heavy Metal Robot Kit
Designed for Students and Professionals Supports 200 lbs of
L Heavy Metal is engineered for rigors of daily use in classrooms, standing weight!
summer camps, workshops, labs . . . even combat robots!
L Assembles quickly using fasteners of same size/pitch and
threaded inserts. 10" wheel base, heavy gauge aluminum,
4-wheel drive, 3" rubber wheels, 3/8" axles, flanged
bronze bearings, #25 pitch steel chain and sprockets.
All drive components are keyed and broached.
L Competition all-metal gearhead motors, gearbox
rated at 500 oz-in of continuous torque. Heavy Metal
accepts off-the-shelf engineering parts, plus
components and control systems from GEARS IDS,
FIRST* and VEX Robotics* kits.
Heavy Metal 1 Kit includes chassis, motors, drive system, and wheels for $499.00.
Lb for Lb
Contact Mark Newby the World's
mnewby@gearseds.com Toughest Robot
s WWWGEARSEDSCOM Chassis
*VEX Robotics is a mark of Innovation First, Inc. and FIRST refers to © US FIRST (Foundation for the Inspiration and Recognition of Science and Technology)
SERVO 11.2008 39
Eady-Universal Motor-edited.qxd 10/8/2008 9:29 PM Page 40
THE UNIVERSAL
MOTOR
by Fred Eady
VDD
VDD
Schematic 1A. The duty cycle of the PWM signal that
DRIVE A+ DRIVE B+
is applied to the gate of the MOSFET determines the
BRUSHED DC MOTOR
speed of the motor. In this case, the duty cycle
BRUSHED DC MOTOR percentage (0% to 100%) is directly proportional to
the speed of the motor shaft.
PWM IN
~
FROM MICRO
MT1 Schematic 1C. This is about as simple as it gets for
AC motor control. Fact is, we don’t have much
AC MOTOR
“control” here as the DIAC break over voltage
characteristics and the value of the resistor between
MT2 and the DIAC determine the TRIAC’s
SCHEMATIC 1C
triggering point.
40 SERVO 11.2008
Eady-Universal Motor-edited.qxd 10/8/2008 9:29 PM Page 41
we need is a microcontroller-based AC motor control circuit pole and your wrist standing in for the stator’s North
that gives us effective control of the AC power that is magnetic pole. The direction of your thumb is the direction
being applied to the motor without having to pamper the of the current flow through the stator’s magnetic field. The
microcontroller with additional power supply circuitry. We palm of your hand is the direction of the resultant force.
have our challenge. Let’s deliver the solution. Rotate your hand while observing the position of your palm
versus your thumb. It will be obvious to the most casual
The Universal Motor observer that when your thumb is pointing towards the
floor (opposite current flow), the force will be opposite to
A universal motor is a variation of a standard DC when your thumb was reaching for the sky. This simple
motor. However, the universal motor can spin its rotor shaft hand twisting technique illustrates what scientists call the
using AC or DC power. In that this motor spins so well with Lorentz force. Applying an AC voltage to a DC motor such
AC power, you’ll find that most of them are powered with as the one we’ve just discussed will result in the rotor
AC rather than DC. If the universal motor application simply thumping back and forth as the polarity of the
requires slower speeds and quieter operation, you’ll most rotor winding current is constantly changing due to the
likely see it powered with DC. continual reversal of power polarity applied to the brushes
The stator of an everyday DC motor is composed of a and commutator on every AC half cycle. To experience
stationary group of permanent magnet poles. A common this phenomenon, just hook up one of those 12 VDC
DC motor rotor uses it rotor windings in conjunction with RadioShack DC hobby motors to a 6.3 VAC transformer’s
a commutator and brushes to work with and against the secondary windings. The DC hobby motor will whip its
stator’s magnetic field to rotate the motor shaft. DC motor shaft back and forth at a 60 Hz rate.
brushes are made up of a carbon/graphite material and are Conversely, a true AC motor will not run with the
placed in direct physical contact with the commutator. The application of a DC power source. That’s because the
motor brushes are also electrically connected directly to the rotation of a true AC motor’s output shaft depends on the
motor’s power source. very thing that won’t allow our DC motor shaft to spin: the
The brushes and commutator are considered part of continual rhythmic reversal of power source polarity.
the DC motor’s stator assembly as the brushes and Let’s take that DC motor we’ve been discussing and
commutator are permanently mounted in a stationary modify it by replacing the permanent magnets in the stator
position. The commutator is designed in such a manner with electromagnets. We’ll rewire that same modified DC
as to act as a switch that is fed by the brushes. The motor to put all of its major components in series. That is,
commutator switches incoming current between the coils the stator electromagnets are wired in series with the rotor
within the DC motor. This switching of current between the windings. Our modified DC motor will retain the original
motor coils is called commutation. brushes and commutator, which are also participants in the
A DC motor’s rotor windings are energized in such a series wiring scheme.
fashion as to force the rotor winding to attract to a stator Now that we have replaced the stationary permanent
magnetic pole. In other words, the rotor winding is given magnets with physically stationary electromagnets and
an opposite polarity than that of the stator pole that it is wired them in series with the rotor windings, our new DC
moving towards. Opposite polarities attract and the rotor motor will no longer react to the changes in power source
moves to align itself with the attracting stator pole. When polarity as we have come to expect. That’s because every
the rotor winding aligns with the attracting stator pole, the magnetic pole in our modified DC motor will change
commutator is positioned in relation to the brushes to pro- polarity in step and negate any changes in the magnetic
vide the stator pole with an attracting polarity to the next force between the poles.
rotor winding. The newly attractive rotor winding forces the If we apply a DC power source to our modified DC
rotation of the rotor shaft as it is now being forced to move motor, the stator electromagnets will retain a fixed
and align with the stator pole that was previously the magnetic polarity and function just as if they were
attraction of the rotor winding before it. The commutator permanent magnets. The modified DC motor thinks it has
contacts are angularly arranged in order to insure the permanent stator magnets and everything will run just fine.
correct electrical and magnetic positioning of the The Lorentz force right hand rule proves this out as the
commutator contact versus the angular position of the North and South stator poles are fixed.
rotor winding and the stator magnetic pole. Since the DC Changing the modified DC motor’s power supply polarity
motor’s stator magnetic poles never change their polarity, will cause every magnetic pole to change its polarity. Thus,
we can force the DC motor to run in the opposite direction reversing the current through the rotor windings also caus-
by simply reversing the polarity of the power being applied es a reversal of the polarity of the stator electromagnets.
to the commutator by the brushes. This simultaneous rotor winding and stator electromagnet
To understand the forces that cause a DC motor to run polarity reversal means that the modified DC motor will
in a particular direction, point your right hand away from always turn in the same direction no matter the polarity of
your body while holding your thumb skyward. Your fingers the power source applied to the motor brushes. Expanding
represent the polarity of the stator’s magnetic field with the on the observation that the modified DC motor will always
tips of your fingers representing the stator’s South magnetic turn in the same direction despite the input power polarity,
SERVO 11.2008 41
42
SERVO 11.2008
R1 47
U1 5V
R2 47 2
Eady-Universal Motor-edited.qxd
RA0 R12
3 RA1
4 6 3 10K
RA2 6 3
5 RA3 RB6/PGC 27 5 5 2 2
R3 47 6 28 4 1
RA4/T0CKI RB7/PGD 4 1
7 RA5
10 C5
RA6 ICSP CONNECTOR R10 .1uF
9 RA7
R4 100
NEUTRAL (WHITE) 21 R8
RB0/INT0
10/8/2008
1 680
1M MCLR
J2 R11 1K OPTOTX
24 RB3
25 1 6 R9
N RB4 10K
LOAD 26 22
L RB5 RB1
RB2 23 5
11 RC0 TX_DATA OUT
12 4
9:30 PM
BTA16-600CW RC1/CCP2
13 RC2/CCP1 2 TX_DATA_GND
J1 MT2 TRIAC1 14 RC3 RC6/TX 17
RV1 15 18 5V 4N25
N RC4 RC7/RX
GATE 16
L C1 RC5
VDD 20
470nF MT1
C4 R6 OPTORX R7 180
.1uF 10K
Page 42
8 6 1 ALT_CONTROL
F1 GND
GND 19
10A 5
PIC18F2620 4
2 RX_DATA_IN
HOT (BLACK)
4N25
D1 + C3
5.6V 470uF@16V
R5 C2 D2
NOTES:
1. RV1 - AVX VE07P00151K
2. R1 IS 100 OHMS @ 1 WATT MINIMUM
3. D1 IS 5.6V @ 1.5 WATTS - ON SEMI 1SMA5919BT3G
4. C1 IS 470nF @ 275VAC TYPE X2 MET POLYESTER
5. C2 IS 1.0uF @275VAC TYPE X2 MET POLYESTER
6. ALL RESISTORS SMT 0805 1% UNLESS OTHERWISE SPECIFIED
7. ALL CAPACITORS SMT 0805 16WVDC UNLESS OTHERWISE SPECIFIED
8. J1 AND J2 PHOENIX CONTACT 1729128
this leads us to conclude that the modified DC motor will cooperative subsystems: an AC control subsystem; a DC
run in one direction only with an AC power source, as well. power subsystem; and a microcontroller subsystem. The AC
Imagine your right hand detached from your body and control subsystem is responsible for interfacing the motor
floating in 3D space. Reverse the direction of your hand to with the 120 VAC. The PIC18F2620 microcontroller depends
point towards you (reverse the polarity of the stator’s upon the DC power subsystem for its power supply needs.
magnetic field) while rotating your thumb towards the floor The STMicroelectronics BTA16-600CW snubberless TRIAC —
(reverse the polarity of the rotor winding current). The force which is the heart of the AC control subsystem — is under the
(your palm) ends up in the same position as when your control of the PIC18F2620-based microcontroller subsystem.
hand was pointed away and your thumb pointed skyward. The AC control subsystem provides overall protection
Our modified AC/DC-capable motor is the a universal for the controller circuitry with a 10 ampere fuse and a zinc
motor. Most of your AC-powered kitchen appliance motors oxide varistor placed in series with and across the 120 VAC
and most vacuum cleaner motors are universal. I’ve led you mains supply, respectively. A 470 nF X2-type capacitor (C1)
down this path because that’s the type of motor we are going also traverses the 120 VAC supply to limit electromagnetic
to drive with our PIC microcontroller-based controller. Our interference (EMI). Believe it or not, C1 is not there for the
target universal motor is a product of Ametek Lamb Electric. controller circuitry. It’s there to restrict harmonic pollution
The one shown in Photo 1 is an Ametek 116207-00, two- of the 120 VAC mains. Take another look at Photo 2 and
stage tangential bypass discharge 120 VAC vacuum motor. you’ll see that the entire AC control subsystem is contained
The 116207-00 is rated at 1,000 watts. Typical input current to the left of the area delineated by the TRIAC’s heatsink.
draw for this motor is quoted as 8.6 amperes when pulling In this instance, we are driving an inductive load and
a respectable vacuum through a 19 mm orifice. If you have one would normally see a resistor/capacitor snubber
a robotic application that requires creating a vacuum, that’s network placed across the TRIAC’s MT1 and MT2 terminals
great. However, the universal motor controller circuitry to reduce the possibility of false triggering of the TRIAC.
we’re about to design can be adapted to drive most any The BTA16-600CW is designed to work against the high
motor you may wish to employ in your robotic applications. instantaneous voltages that occur during TRIAC
commutation that can force a TRIAC to conduct
The Universal Motor unexpectedly. In the case of a TRIAC, commutation is the
Controller Hardware switching from an ON state (TRIAC conducting) to an OFF
state (TRIAC not conducting). When an AC signal is applied
I realize that many of you work with potentially to a TRIAC and a trigger is applied to the TRIAC gate during
hazardous mechanical tools and devices on a daily basis. a time when the AC signal is not crossing zero, the TRIAC
Every metal head I’ve ever had the good fortune to meet will conduct until the next zero crossing of the AC signal. If
knows that safety is paramount when working with and a trigger is not applied to the TRIAC gate following the zero
around metal-forming tools. For you electron heads, safety crossing event, the TRIAC will remain in a nonconductive
should also be at the top of your list when working with state until it is triggered again. The TRIAC’s ability to
the universal motor controller electronics. The controller cir- reliably turn itself off (commutate) and be triggered into
cuitry you see in Schematic 2 is driven by potentially lethal conduction at will by our PIC within the time domain of an
120 VAC mains power. Do not under any circumstances AC cycle are the keys to controlling the amount of power
handle the universal motor controller electronics when the
120 VAC mains power is applied to it. If you don’t want to Photo 2. Although you can easily breadboard a universal
release the magic smoke from your electronic tools, never motor controller, building up your own on a printed circuit
board like this is recommended. Note that there are no
attach a PIC programmer or debugger device to a universal exposed printed circuit board traces or lands, which reduce
motor controller when it is powered directly from the 120 the probability of you getting your fingers fried. Be sure to
VAC mains. If you want to probe the controller circuitry, get use X2-type capacitors for C1 and C2 as X2z are approved for
the mains power, behind an safe use in this type of AC circuit.
isolation transformer first. Like
anything else, the universal
motor controller circuitry is
best understood when
digested in small chunks. So,
as you study the components
in Photo 2, think of the
controller electronics as three
Photo 1. This universal motor
could be a blender motor or a
kitchen mixer motor. As long as
the motor is considered to be
universal, it’s a safe bet that our
core AC motor controller circuitry
can be adapted to drive it.
SERVO 11.2008 43
Eady-Universal Motor-edited.qxd 10/8/2008 9:31 PM Page 44
we apply to our universal motor. transformerless capacitive power supply as I didn’t end up
The DC power component of the controller is supplied using as many current-hungry LEDs and optocouplers as I
by a transformerless capacitive power supply. With yet had envisioned. As you can see from Screenshot 1, I have
another peek at Photo 2, all of the transformerless about 30 mA of available current. The formula for
capacitive power supply components are located below the computing the available current is generous. The actual
470 µF electrolytic capacitor (C3), which is to the right of amount of available current will be somewhere around
the TRIAC heatsink. You should be able to easily pick out 80% of the computed value, or 24 mA.
the transformerless capacitive power supply’s five The PIC18F2620 is also overdesigned as I have plenty
components, which include resistor R5 (100Ω) , capacitor of PIC I/O left over after servicing the controller’s AC and
C2 (type X2 1 µF), zener diode D1 (5.6V, 1.5 watt), general- logic interfaces. The main reasons for choosing the
purpose rectifier D2 (1N4007), and electrolytic capacitor PIC18F2620 for this application were its built-in oscillator,
C3. The transformerless capacitive power supply you see in ample I/O, and EUSART. A smaller PIC footprint will also
Schematic 2 will work for us (keep a stable voltage work with our controller AC and DC components. Just
across C3) as long as the current we draw from the make sure your PIC has enough I/O lines to do the job.
transformerless capacitive power supply is equal to or less It’s pretty obvious in Photo 2 as to where the PIC,
than the current that is feeding the power supply. optocouplers and all the supporting microcontroller
The amount of output current the power supply components are located.
provides depends on the value of R5, C2, D1, and the It is important to note that our transformerless
magnitude and frequency of the input AC voltage. capacitive power supply has its DC positive component
(C3) is the output charge collection point that stores referenced to the 120 VAC mains Line, which is also
and supplies voltage gleaned from the rest of the connected to the triac’s MT1 terminal. The reasons for the
transformerless capacitive power supply components. Here’s zener diode’s cathode connection to the 120 VAC mains
the formula that will reveal the amount of current taken Line are twofold. First, we want to trigger our BTA16-
from the 120 VAC mains: 600CW using a low-going pulse. The reason for selecting a
low-going trigger pulse is dictated by the quadrants in
where: which we desire to trigger the BTA16.
• IN = Current available at A careful study of Figure 1 shows us that a typical triac
transformerless capacitive can be triggered by a positive or negative going pulse.
power supply output Since we’re triggering the controller’s BTA16 with a low-
• VRMS = AC mains input voltage going pulse, we can only trigger it in quadrants II and III.
• VZ = Voltage drop across zener diode For inductive loads, triggering in quadrants II and III is
• f = Frequency of AC mains input voltage desirable as the triggering energy is not excessive here.
• C1 = Value of universal motor controller capacitor C2 Simple diac-based lamp dimmer circuits — which are
(blocking capacitor) fashioned similarly to Schematic 1C — usually trigger in
• R1 = Value of universal motor controller resistor R5 auadrants I and III. Transpose the diac trigger diagram in
(blocking resistor) Figure 2 over Figure 1 to see why. quadrant I is also a
desirable triggering quadrant as it does not require
I had a great deal of fun playing with this formula. So, excessive triggering current. Note that quadrants I and III
to make it just as much fun for you to manipulate the are complementary as far as triggering and AC cycle con-
parameters, I whipped up an Excel page (included in the duction are concerned. For most applications, quadrant IV
download package available at www.servomagazine. is to be avoided as it takes the most triggering energy. Note
com) that calculates IN using your input values. Screenshot also that both the positive and negative portions of the AC
1 is a spread of values using a tolerance of 20% for the cycle can be processed with a low-going triac trigger pulse.
blocking capacitor and 1% for the blocking resistor. The The BTA16-600CW requires a minimum of 35 mA and
other parameters are hand-picked assumptions with the a maximum of 60 mA of gate current flow to trigger. The
exception of the VZ value (zener voltage drop), which I PIC18F2620 can sink 25 mA per I/O pin. I’ve paralleled 3
extrapolated from the 1SMA5913BT3 datasheet. I/O pins to provide a total of 75 mA of sink current
I overdesigned my universal motor controller capability. The 47.5Ω 1% resistors (R1, R2, and R3) are
Screenshot 1. I used a 1.0 µF X2-type capacitor and a present to level the I/O pin load across the three current
100 ? two-watt SMT power resistor in this transformerless sinks and limit the maximum amount of gate current drive.
capacitive power supply to provide ample current for driving In our universal motor controller application, I’ve selected
LEDs and optocouplers. I also overdesigned the PIC18F2620 a minimum logical high level of three volts. The BTA16-
into this circuit as to not want for I/O if I needed it later. You
can design in just as much PIC as you want and just as much 600CW datasheet tells me I need to be ready to sink a max-
DC current as you need for your personal universal motor imum of 60 mA of current through the triac gate. Using
controller application. Ohm’s Law, that equates to:
Photo 3. I hung my that converts the triac trigger angle to a trigger delay time:
IDEAL 400 AC clamp
meter around the //**********************************************
universal motor’s //* CONVERT TRIGGER ANGLE TO TIME
AC line lead (black //**********************************************
lead) with a 90 unsigned int angle_to_time(char trigger_angle)
degree TRIAC {
triggering angle unsigned int angle2time_val;
dialed in. The if(trigger_angle == 0)
universal motor’s {
no-load AC angle2time_val = 0;
amperage draw }
varied from 6.92 else
to 7.00 amperes. {
angle2time_val =
motor loose. Photo 3 is a real time shot of my motor’s 0xFFFF - (trigger_angle * 0x2E);
no-load AC current draw with a triggering angle of //each degree ~ 46us at 60 Hz
}
90 degrees. return angle2time_val;
If you’re having problems getting your arms around }
the triac triggering angle concept, visualize them as
beginning with the rising half cycle of an AC signal. Half Understanding how the triac trigger timing is deter-
way through the first positive half cycle is 90 degrees, mined is the key to understanding the rest of the universal
which is also the peak positive-going voltage of the AC motor controller firmware. Each degree of trigger angle
cycle. As you move past 90 degrees, you will move towards delay time is equivalent to approximately 46 µs assuming a
the next zero crossing point at 180 degrees. The firmware 60 Hz AC signal. If you’re reading this in a 50 Hz mains
will reset the triggering angle to relative zero at each zero country, each degree of delay time is approximately 56 µs.
crossing event and trigger the device at the same relative Thus, the controller hardware and firmware will work with
time in the negative cycle as it did in the positive cycle of 50 Hz AC systems. All you have to change is the time delay
the AC signal. associated with each degree of triggering angle.
For instance, let’s assume we trigger the triac at 90 A PIC18F2620 timer uses the angle2time_val to kick off
degrees into the positive half cycle. It will conduct until the a 400 µs TRIAC trigger pulse at the same relative time in
AC signal crosses zero at 180 degrees into the cycle. The every AC half cycle. At every zero crossing event, the cur-
next trigger pulse will be issued 90 degrees after zero rent trigger angle is converted to a value that is fed into the
crossing, which is actually 270 degrees into the AC cycle. PIC18F2620’s triggering delay timer. To prevent the motor
At the next zero crossing, the firmware will reset the trigger from lurching at every speed change, the firmware includes
timing reference to zero and the triac will again a routine that ramps up or down to the new trigger angle.
commutate. The result is that we have energized the The firmware also contains a soft-start routine that smoothly
universal motor for 50% of the full AC cycle with a 90 ramps the motor up to speed upon initial power-up.
degree trigger angle. Since the motor will run very slowly at
a 140 degree trigger angle and run faster as the trigger Hands On ... Carefully, Please ...
angle is decreased, we can conclude that the angle is
inversely proportional to the motor speed. Here’s the code The best way to get your hands around driving the
universal motor is to do it yourself. Photo 4 is a shot of the
Photo 4. It ain’t as pretty, but it works just as well as breadboard version of the controller I assembled before
the production universal motor controller you see in committing to a printed circuit board (PCB). However, you
Photo 2. The smaller 470 nF X2 filter capacitor is directly
above the varistor and fuse. The much larger 1.0 µF X2 don’t have to build this from scratch as the controller down-
transformerless capacitive power supply blocking load package contains an ExpressPCB file that you can use
capacitor is just left of the PIC18F2620. as-is to fabricate your own PCB. The firmware
included in the download package was created
SOURCES using the HI-TECH PICC-18 C compiler and is
Microchip — www.microchip.com ready to run out of the box. I’ve included a set of
PIC18F2620 interrupt-driven RS-232 routines in the code for
those of you that want to experiment with
www.ametek.com controlling the controller serially. All that’s left for
Ametek Lamb Electric 116207-00
Universal Motor
you to do is to collect the necessary electronic
components, solder them down, and fire up your
www.htsoft.com universal motor. All it takes is an email to solicit
HI-TECH PICC-18 C Compiler my help with this project. I had bunches of fun
with this and I’m sure you will too. SV
STMicroelectronics — www.st.com
BTA16-600CW
Fred Eady can be reached via email at fred@edtp.com.
46 SERVO 11.2008
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McCullogh.qxd 10/7/2008 10:31 AM Page 48
by KEVIN MCCULLOGH
GETTING CONTROL
WITH THE
Propeller
Introduction
PART 3:
Stepper Motors
Control Method
+Vcc
The current through each winding of a bipolar stepper
Coil
motor must be alternated, so when operating from a single
supply, the best approach is to use an H-bridge. These can A
be created using discrete transistors, or more conveniently -Vcc
by using an existing H-bridge integrated circuit (IC). The
latter is often the best choice for driving motors requiring
less than a few amps. I found a couple bipolar motors +Vcc
laying around which are rated at 12V, 75Ω per coil; or
Coil
160 mA per coil. The L293D IC is a quad half H-bridge
driver and can handle up to 600 mA per driver – more B
than enough for this project! -Vcc
We will be pairing the four half H-bridges to form two
full bridges to control the two windings in our bipolar
Figure 4: Coil switching sequence for bipolar motor.
stepper motor. Each bridge now has two control inputs
and one enable line. When the control inputs’ levels are coil. By controlling the current more precisely, the motor
opposite, current will be driven through the motor coil in can be moved to many positions between each full step.
one direction or another, according to Table 1. Driving both Microstepping also allows the motor to transition more
lines high or both lines low effectively shorts the motor smoothly, resulting in reduced vibration and noise. The
windings across the supply or ground, respectively, which practical limit to the resolution of microsteps is affected by
acts to electrically brake the motor. The enable line is static friction, detent torque of the motor caused by the
unnecessary for this configuration and can be left tied to presence of permanent magnets, and any error introduced
VCC through a resistor. by the controller. Very thorough analyses of microstepping
The input lines from both H-bridges should be connected can be found in various sources online or in related text
to I/O pins on the Propeller microcontroller. All that is left is books.
to program the necessary step sequence to cause the motor
to rotate. This can be done by storing the output pin states Current Regulation
in memory, and stepping through each state after a brief When a coil is switched on, it takes a small amount of
delay. Increasing or decreasing the delay period changes time for the current to reach its steady state. Each coil of
the speed of the motor. Figure 4 shows the coil switching wire has a certain amount of inductance, L, and series
sequence for two full cycles with four steps per cycle. As resistance, R. The voltage across the coil, V, and the coil’s
you can see, a simple stepper motor driver can be made inductance determine how fast the current changes. This
rather easily; however, there are a few techniques to get rate of change — known as di/dt — is equal to the voltage
noticeably higher performance from the motor. These divided by the inductance: di/dt = V/L. At low switching
come in the form of programming, hardware, or a speeds, the current rise time is negligible compared to the
combination of both. duration of the pulse. However, at high switching speeds,
Example Spin code for this project can be downloaded the coil current is unable to reach its full value before
at www.parallax.com/go/GettingControl3. The Spin being switched again. Motor torque is proportional to the
object takes care of sequentially stepping the motor current through the coil, so as the speed increases, torque
windings behind the scenes. With a simple set of function decreases – eventually to a point where the motor can no
calls on the front end, this object can be used to move to longer operate.
an absolute position, move a relative number of positions If a much larger voltage — around 2-3 times the rated
from the current position, set the step rate (speed) in full or voltage — is used when the coil is initially switched on, the
half steps, and set the acceleration value to ramp up and current will rise more quickly (see Figure 5). This gives the
down the speed. The user can also read back the current motor more torque allowing it to operate up to higher
position or clear the position back to 0. speeds. However, it is important that current through the
The object is set to handle up to four stepper motors coil does not significantly exceed the rated value, since
at once, using a total of 16 I/O pins. And since this code is overheating and ultimately damage to the motor can occur.
open source, you can easily tailor the object to fit your One way to protect against this is analog current
exact needs whether they are to drive unipolar steppers or
to employ some of the optimizations described next.
Input 1 Input 2 En Output Function
Optimizations L L H Electrically braked
L H H Reverse current flow
Microstepping H L H Forward current flow
Microstepping breaks each step into a number of H H H Electrically braked
smaller sub-steps in order to achieve higher position X X L Electrically braked
resolution. This is usually achieved in software by using
pulse width modulation (PWM) to vary the current in each Table 1: H-bridge output function versus input state.
SERVO 11.2008 49
McCullogh.qxd 10/7/2008 10:39 AM Page 50
Conclusion
Current (i)
Microsoft
Visual Studio
Dyynamixxel SDK C/C++
Visual Basic
C#
EX-106
NEW
164
Encoder
EX-106 14.8
84 106
0.182 0.143
155
50 SERVO 11.2008
Full Page.qxd 10/7/2008 11:49 AM Page 51
Gift of Science
1-800-728-6999 • www.scientificsonline.com
Alter3-edited.qxd 10/6/2008 4:48 PM Page 52
Software and Part 3: Software Advantages network admin for seven years
Programming so I stuck with what was
of a PC-Based Robot comfortable. Installation of the
First off, let’s set the record operating system (OS) went
n this series of articles, we are exploring my Pico
straight. I am not a programmer.
I know various forms of
“microcontroller Basic,” VBScript,
some Visual Basic, and am in the
I ITX based Johnny 5 project. In the first article, I
detailed the work that went into upgrading and
expanding the original kit to make it a more viable
simply enough. I plugged an
LCD monitor, keyboard, mouse,
and USB CD-ROM into my robot
(Ha! I love saying that!) and
process of teaching myself C#, research platform. In the second article, I dove into installed Windows just as I
but I don’t believe that qualifies the concept and implementation of PC-based would on any PC. I kept it
me as a programmer. Until my plugged into these peripherals
robotics. In this third article, I will show some of
recent venture into C#, I had only throughout the Windows install,
taught myself enough to get the software advantages of having an onboard PC. driver installation, software
specific projects done, and left it While I used the Lynxmotion Johnny 5 kit as a installation, and initial
at that. With my Johnny 5 platform for my project, the principles, concepts, configuration of the OS.
project, I wanted to keep things and even components of this project can be Before we dive into what
simple and more importantly take applied to almost any robotics platform. software I installed on Johnny,
advantage of GUI-based let’s cover some initial
programs as much as possible, given that I have full access to configuration details needed to trim down the OS a bit and
the robot’s desktop at all times. We’ll touch more on that prepare it for remote connectivity. Trimming down the OS is
later. Let’s tally a few things that we have at our disposal optional and doesn’t provide a huge benefit but it’s sort of
with a PC-based robot: We have a computer and hard drive habitual for me to do on a PC with a very specific function
capable of running a full fledged operating system, wireless such as the robot’s Pico ITX. Right clicking on My
networking, “bridgeware” to connect the PC to the robot’s Computer, selecting Manage, and then selecting Services
hardware components (in my case, this was my SSC-32 down towards the bottom will bring up a list of active and
servo controller), and various other peripherals such as USB inactive services on Windows XP. These are various
webcams, speakers, and a microphone. I will show you just processes running in the background that enable and
how easy it is to bring all of those components together to control different functions of the OS, and a lot of them
greatly expand your robot’s potential. aren’t needed for this project. I turned off Automatic
Updates, Clipbook, Error Reporting Service, Fast User
Operating System Switching, Help and Support, Indexing Service, Print
Spooler, Remote Registry, Security Center, Themes, and
I used Windows XP for my project; it’s what I know Windows Firewall/Internet Connection Sharing (ICS) by
best and it’s simple and easy to use. I know many out right clicking each service, selecting Properties, changing
there will preach the greater potential of Linux in such the Startup Type to Disabled, and clicking Stop.
applications, but for me it was a simple choice: I was a Lastly, I did a clean-up of a few unneeded apps that
52 SERVO 11.2008
Alter3-edited.qxd 10/6/2008 4:49 PM Page 53
Telepresence
The software used on a robotics project is going to
be dependent upon many things such as what type of
hardware you’re using, what programming languages
you’re comfortable with, and what you want to do with
your robot. Obviously, I can’t tell you what will work for
your project, but I will cover what worked well for me.
My first objective with this project was to set up a
solid telepresence scheme and have the ability to speak
through the robot (read: scare the wits out of my wife). FIGURE 2
Given that a remote video feed is simply a matter of
establishing an RDP connection and viewing one of the
webcams, all I really needed was a way to control the
SERVO 11.2008 53
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56 SERVO 11.2008
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SERVO 11.2008 57
Malone - Lego meets Sumo-edited.qxd 10/8/2008 7:06 PM Page 58
Sumo purists will notice that instead of sticking with restart matches quite often. The problem was that my initial
traditional “metric” units, I’ve reverted to “English” units SuGO program demonstrated the classic Sumo behavior:
when defining the SuGO class. As an Australian who grew Go forward until you either see the white line or see the
up with the metric system, it’s not that I don’t like meters opponent. If you see the line, back up and turn. If you see
and grams, it’s just that most American kids don’t know the opponent, turn towards it and push! Unfortunately, it
what they mean. It’s ironic that even the English don’t use didn’t know how to get unstuck from another robot.
”English” units anymore. Too bad the colonists didn’t throw What I needed was some method to break a deadlock
them overboard with the tea. between the robots, and to implement that method; I
needed a better language. So, I got back on Google and
Here are the resulting SuGO Class specifications: discovered NQC (Not Quite C) and the Brickx Command
Center. These two tools let me get back into my
• The Dohyo diameter is 36”. programming comfort zone and think in terms of
•The robot must be made exclusively out of LEGO functions, tasks, and variables rather than sub-VIs and
parts. colored containers.
•The only exceptions to this are batteries and IR eyes. What I ended up with was a system whereby the robot
•The robot may only use the following electrical parts: keeps track of how long it’s been doing the current action,
— 1 RCX Brick with batteries. and if it gets stuck doing the same thing for too long, it
— Up to three LEGO motors. backs off and makes a random evasive maneuver. This is
— Up to two light sensors. implemented as two tasks: A “Move_Sugo” task that deals
— One set of DROD40 eyes. with normal Sumo behavior; and a “Deadlock” task that
— One touch sensor. kicks in to break an obsessive behavior.
— Interconnecting cables as required by the motors In the end, the implementation was pretty simple.
and sensors. A number is assigned to each action the robot takes in
•The maximum robot size is 6” x 6” x unlimited response to sensor input (e.g.: turning away from the
(WxLxH) whiteline sensor is action 1; turning left based on the left
• The maximum robot weight is 1 lb, 8 oz. eye is action 4, etc.). The Move_Sugo task is responsible
for polling the sensors and taking the appropriate
Finally, Some Software action (setting the motor speeds, etc.). It then sets an
“Action” variable to indicate what action the robot is
Once I’d decided on the class specifics, I had to work currently taking.
on some programs. Embedded programming is my “thing,” The Deadlock task runs in the background watching
so I was looking forward to this. the Action variable. Whenever the variable changes to a
During the experimental SuGO matches, it was quite new value (indicating a new action), the task clears a timer
common for the robots to get locked together and either back to zero. However, if the timer ever reaches a certain
bog down or circle the table in a very non-dancing-with-the- value (called BREAK_DEADLOCK), then it’s time to break
stars kind of way. To keep things interesting, I needed to things up. The Deadlock task shuts down the Move_Sugo
task and drives the robot through a random avoidance
motion. Once that’s complete, it resets the timer and
restarts the Move_Sugo task. Just for fun, the robot plays
a tune to let everyone know that it’s not giving up, it’s just
getting a better grip.
Since the RCX brick has five program slots, I configured
four SuGO strategy programs and one test program. (All
five programs may be downloaded from the SERVO website
at www.servomagazine.com).
The four SuGO programs are almost the same except
for the type and duration of turns that are made. Whereas
a tankbot needs to use full differential steering, a
speedybot needs to keep one wheel stopped when turning.
The programs are called Elephant, Rhino, Lion, and Cheetah
to help the kids figure out which program they should use
based on their robot’s own characteristics.
Figure 2.The GEARS color scheme is “Sponge Bob Yellow,” so your The test program (or Mechanic) is used to verify that
energy level peaks just by entering the room. The electrical parts all the robot’s cables are plugged in correctly and that the
are seen in the foreground and are controlled by the event
coordinator. Teams are given a basic kit of electrical parts when motors are running in the correct directions. It directs the
they register; this includes the pre-programmed RCX, two motors robot through a sequence of motions that let you isolate
with leads, a line sensor, and a set of IR eyes. The bulk of the
remaining LEGOS are laid out on a 4x8 table in the center of the any problems, and then makes noises based on what the
room and are up for grabs. various sensors see. Trust me, a set of eyes that are
58 SERVO 11.2008
Malone - Lego meets Sumo-edited.qxd 10/8/2008 7:07 PM Page 59
Figure 3. During the 2 1/2 hour build period, teams design and
build their SuGO bots. Many teams are family groups with moms
or dads learning alongside their kids. It’s amazing how many times Figure 4. Once building is complete, play moves out into the arena
we hear the mantra: “I wish we had LEGOs like this when I was a area. GEARS also hosts the county’s FIRST Robotics Competition
kid.” Team 1629 so we run our SuGO matches at one end of the FRC
practice field. Team 1629 members take full advantage of the
incorrectly plugged into the line sensor input can make for audience and demonstrate the operation of past FRC robots.
a very erratic Sumo bot. Before any robot can compete, it 2006 and 2005 robots can be seen behind the SuGO rings, as well
as the “Rack” from the 2006 competition.
needs to “see” the Mechanic. I have laminated cards (see
Figure 1) to show how to connect up the devices and what have a 1,000 sq foot room where we set up a 4’x8’ table
each step of the test program does so the kids can prep for all the LEGO parts, and then a bunch of folding tables
their own robot. for construction (see Figures 2 & 3). The actual competition
is run in the arena section of the GEARS building (see
Game Day Figures 4 & 5). We run each competition as a very informal
event, as many of the teams are actually family groups. We
We run SuGO events on the first Sunday of each do have a weigh-in and an official sizing box, but beyond
month, from 1:00 pm to 5:00 pm. Construction starts right that it’s all about the fun of learning what works and what
at 1:00 pm and the competitions follow at 3:30 pm. We doesn’t. I think the most anticipated part of the day is
run free community event announcements on the radio and when we have our free-for-all when up to eight robots play
in the local paper during the week leading up to game day. at once and it’s all about the last bot standing.
The local Chamber of Commerce is a great asset in getting Anyone who’s a serious Sumo bot competitor will
the word out, and if we include a photo from the last event recognize that our SuGO format embraces the joy of
the paper will usually print that, as well. building and doesn’t get much into game strategy or
The venue is a county-owned facility, made available by software. I’m hoping that as our players get more
the Garrett Engineering And Robotics Society (GEARS). We experience and reach the limits of my canned programs,
they will want to start an Advanced SuGO competition,
Web Links where each player programs their own robot. As it is, I’m
still waiting for someone to use the part of my program
The SuGO website includes a set of SuGO rules and that turns on the third motor when the opponent is directly
specifications, a how-to guide, building instructions for a in front. Can you say flipper? SV
simple SuGO robot, and online event registration.
http://sugo.gearsinc.org
SERVO 11.2008 59
Simpson-SV-edited.qxd 10/8/2008 4:41 PM Page 60
Build a
GPS SMART LOGGER
by Michael Simpson
I recently did a GPS series covering various GPS modules and their interfaces. A
project that I have had in mind for a while was a small GPS Smart Logger. I call it
a smart logger because in addition to the GPS data, you can log various other
telemetry. You can also set the conditions and type of GPS data that gets logged.
Major Functional
Components:
• DiosPro 28 chip
• Dios Carrier 1
• EM 408 GPS
• SD breakout board
• EZRS232 (needed for
Programming the DiosPro)
• SD memory card
Additional Components:
• Pushbutton
• Twored LEDs
• Two green LEDs
• 100 µF capacitor
• On/off switch
• Jumpers
• Battery holder
• Battery connector clip
• Two 1K resistors
• 36-Pin female header
• 40-Pin male header
• Two 4.5” x 3.5” pieces ofpPlastic sure to solder at both the entry pad and the pad located at
• 3.3V regulator the tip of the pin. Now gently twist the regulator and insert
• Four #4 x 1” stand-offs (F-F) the remaining pin into the hole shown in Figure 5. With the
• Female crimp pins regulator attached, you can now attach the two 16-pin
• Eight #4 x 1/2” machine screws headers on the top of the board as shown in Figure 6.
• Eight #4 hex nuts Take an additional two pin header and attach it to the
• Double stick foam tape position marked J2.
You will also need a copy of the Dios compiler. This • STEP 3: You will need to cut two pieces of plastic like the
compiler is free and can be found on the KronosRobotics ones shown in Figure 7. I used compressed PVC cut to 4.5”
website at www.kronosrobotics.com. x 3.5”. The bulk of the size of the project is devoted to the
batteries used to power the device. I am using a six AA cell
• STEP 1: The first thing you need to do is to build the Dios pack to power my unit. If you want to use a small 9V-like
Carrier 1. Build it according to the included instructions but battery, this would allow you to create a much smaller
hold off attaching the two included 16-pin headers as enclosure. The trade-off, however, would be less run-time.
shown in Figure 2. The carrier comes with a 10 µF capacitor Place four small 1/8” holes in each corner about 1/8”
and this is plenty for the circuit; however, you may want from both edges. A trick I use to place the holes all in the
to replace it with a 100 µF capacitor. This will keep the same place in each corner is to drill one hole in one piece.
insertion of the memory card from resetting the DiosPro Then use that
chip. A 100 µF capacitor won’t fit on the board, so you will hole to mark
Figure 3
have to bend the pins and insert it at an angle. each of the
corners in the other piece. You do this by flipping the piece the antenna connector is off to one side of the card slot.
with the hole as needed. Once all four holes are marked, This way, if you decide to use an external antenna it won’t
drill them out and use this piece to make the original. be in the way when you insert the memory card into its
Take the completed carrier module and attach some socket. Place some double stick tape on the bottom of the
double stick foam tape to the bottom, then attach the carri- memory breakout board and attach it to the base as shown
er to the base as shown in Figure 8. Notice how I placed in Figure 12.
stand-offs on the board so I can judge the distances better.
• STEP 6: Take a red LED and attach a 1K resistor as shown
• STEP 4: The EM 408 comes with a small cable that needs in Figure 13. Then cut the leads so that they can slip into the
to be modified for this project. You can purchase an extra crimp pins as shown in Figure 14. You can also solder the
cable from SparkFun, if needed. Cut one end and attach leads to the crimp pins. As an option, you may connect a
the leads to small headers as shown in Figure 9. small bit of heat shrink to the leads as shown in Figure 15.
Repeat the step with the green LED. If you don’t want to use
• STEP 5: Take the SD memory breakout board and attach the crimp pins, you can use a two-pin female header instead.
a five-pin header into the first five pads shown in Figure 10.
Take a few pieces of double stick foam tape and attach • STEP 7: Attach two crimp pins to a pushbutton as shown
them to the memory board as shown in Figure 11. Now in Figure 16. You can also use a female header. The actual
take the EM 408 and attach it to the memory board as connection technique depends upon the type of button that
shown in Figure you use. As before, you can cover the leads with heat shrink.
11. Make sure
Figure 7
• STEP 8: Attach the red LED to ports
0 and 1 as shown in Figure 17.
Figure 8 Make sure the flat side of the LED is
connected to port 0. Attach the green
LED to ports 2 and 3. Make sure the
flat side of the LED is attached to port
2. Attach the button to ports 6 and 7
as shown in Figure 17.
Figure 10
Figure 9
62 SERVO 11.2008
Simpson-SV-edited.qxd 10/8/2008 4:44 PM Page 63
Final Thoughts
All in all, the SparkFun data logger works pretty well
Figure 28
and presents itself in a very small package. The output on
the SD memory card is NEMA 0183 so you won’t have
will be greatly increased. any compatibility issues. If, however, you want total control
over the output and the ability to log some of your
Mode = 0 own messages such as A/D, you will want to stick with
Log What = RMC;GGA;GSA the GPS Smart Logger. The cost is about the same for
Time Between Logs = 00:10:00 both systems.
Holdoff = 5 Be sure to check for updates and downloads for this
WAAS = 0 article at www.kronosrobotics.com/Projects/GPSLOG.
Max Time to Lock = 300 shtml. SV
Parts List
The following is a breakdown of the sources for SMA to MMCX Adapter Cable (optional)
Dios Carrier 1
all the componets referenced in this project. www.sparkfun.com/commerce/product_
www.kronosrobotics.com/xcart/product.
info.php?products_id=285
php?productid=16170
SPARKFUN ELECTRONICS
EM-408 GPS Module GPS Logger v2.4
800 ma 3.3V Regulator
www.sparkfun.com/commerce/product_ www.sparkfun.com/commerce/product_
www.kronosrobotics.com/xcart/product.
info.php?products_id=8234 info.php?products_id=8237
php?productid=16565
DF-MMC Breakout Board SCHMARTBOARD
Six-Cell Battery Pack
www.sparkfun.com/commerce/product_ 5” Yellow Jumper
www.kronosrobotics.com/xcart/product.
info.php?products_id=204 www.schmartboard.com/index.asp?a=11&id=42
php?productid=16321
Nine-Pin Serial Cable KRONOS ROBOTICS
36-Pin Female Header
www.sparkfun.com/commerce/product_ EZRS232
www.kronosrobotics.com/xcart/product.
info.php?products_id=65 www.kronosrobotics.com/xcart/product.
php?productid=16291
php?productid=16167
External Antenna with SMA Connector
Female Crimp Pins
(optional) DiosPro 28 Chip
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php?productid=16261
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66 SERVO 11.2008
SV-GiftSubAd2008.qxd 10/7/2008 4:07 PM Page 67
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Go to
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RoboResources-Nov-edited.qxd 10/6/2008 12:18 PM Page 68
but either will work as long as your Where to Get you name it), bits, saws, casting
robot is made of plastic or wood. Drill materials, plastics, hardware safety
bits are commonly sold in convenient Your Tools equipment, and more.
sets. Opt for the better quality I always recommend that you buy
titanium oxide coated drill bits. only the best tools you can, because FDJ On Time
They cost more, but they’ll stay better tools not only last longer, they www.fdjtool.com
sharp longer, which means you won’t perform better. But it’s not always For the jewelry maker, FDJ/On
have to replace or resharpen them as practical to buy the best. When Time is a “one-stop shop” for
much. The typical set contains bits necessary, you can purchase low-cost miniature jewelry tools, casting
with sizes from 1/16” to 1/4”. If and versions that don’t require accuracy equipment, soldering supplies,
when you need to replace a bit, you or heavy-duty construction. A $1 electroplating gear, cleaners, mold
can purchase them separately in just screwdriver will do the same basic job making equipment, and wax working
the size you need. as a $10 one, but it may not last as tools. They offer an extensive list of
You’ll want a tape measure if long or feel as good in your hands. investment casting supplies (furnaces,
you are building robots from scratch. Shop wisely, and you can better investment, etc.). A printed catalog
I prefer a six to 10 foot metal tape afford all the tools you need while is available.
measure with a spring-loaded still maintaining reasonable quality.
mechanism that automatically retracts For basic, inexpensive tools, try the Harbor Freight Tools
the tape. If most of your robots are selection at the local discount or www.harborfreight.com
small though, a compact three to six dollar store. I’ve found perfectly good Harbor Freight built a business
foot cloth or plastic tape measure may screwdrivers, utility knives, and other on selling value-priced tools, much
be more appropriate. You can find basics at these locations. of it “off-brand,” but still perfectly
these at fabric and notions stores in I always prefer buying better workable. They offer hand and
various sizes and types. quality when buying wrenches and power tools, pneumatic tools, and
Last, but certainly not least is a pliers, because a cheap tool here even metal mills and lathes. Retail
pair of safety glasses. As you cut, often results in ruined parts. You stores in selected areas of North
hammer, or chisel your robot into don’t need mechanic’s grade tools, America; check the website for a
shape, bits of material are bound to but you want to stay away from the store locator.
go airborne, and if you’re unlucky, mass-produced junk. Something
some of this debris may take a middle of the road will do. Quality Irwin Industrial Tools
bee-line into your eye. You obviously name-brand hand tools designed www.irwin.com
want to avoid this, and a pair of good for the do-it-yourselfer are available Irwin makes the famous Vise-Grip
safety glasses or goggles is your best at hardware stores, online, and locking hand tools, along with several
defense from a painful, costly, and department stores. Craftsman other well-known brands. This is a
possibly debilitating eye injury. Be and Crescent are representative of good site for learning about common
sure they prevent material from this group. shop tools and how they’re used.
entering the eyes from the sides as
well. This requires a full wrap-around Sources Micro-Mark
design. www.micromark.com
I wear a pair of 1970’s industrial Of course, your local hardware Micro-Mark manufactures
safety glasses that provide a and home improvement stores are precision and miniature tools of all
wrap-around shield over the temples; good places to start when building types, including desktop mills and
these are popular among machinists. up your tool chest, however, there are lathes, as well as hand tools, bits, and
A really good pair can be fairly literally thousands of online sources other accessories, small hand-operated
expensive because of the plastic used for tools. I’ve provided just a sampling motorized tools, casting supplies,
in the lens. A less costly approach of them here. Remember that many and raw metal, plastic, and wood.
suitable for use in machine shops is of the regular advertisers in SERVO
rubber safety goggles. These use a and Nuts & Volts carry hand tools so Minicraft
nearly unbreakable, optically clear check them out first. www.minicrafttools.com
rubber to form the lens and body. Sellers of Minicraft precision
They’re available at most any Enco Manufacturing Co. power tools (sanders, saws), as well
hardware or tool store. www.use-enco.com as quality hand tools.
Word to the wise: Stay away from Enco is a premier mail order
the very cheap goggles and glasses. source for shop tools, power tools, Penn State Industries
Because of poor manufacturing, they hand tools, production tools (lathes, www.pennstateind.com
may distort your vision or fit poorly. mills, hydraulic presses, metal brakes, Hand and motorized tools (mostly
SERVO 11.2008 69
RoboResources-Nov-edited.qxd 10/6/2008 12:19 PM Page 70
for wood). The Library section contains information about Sears Brand
the tools (many in Adobe Acrobat PDF format), as well as www.sears.com
plans for home-based projects (no robots that I could find). Sears sells lots of stuff, but of prime interest to robot
builders are their tools. You can buy Sears tools at their
Rockler Woodworking and Hardware local stores or online.
www.rockler.com
Rockler carries hand and power woodworking tools, Stanley Supply and Services
hardware, and wood stock. www.stanleysupplyservices.com
Tools for electronics — basically everything you need,
S*K Hand Tool Corporation including handheld meters and scopes, precision hand
www.skhandtool.com tools, shop supplies, soldering stations, you name it.
Wrenches, ratchets, and other great hand tools. Buy a Wide selection.
set when you’re young and they’ll grow old with you.
Toolsforless.com
www.toolsforless.com
Power tools, hand tools. Stocks some 50,000 power
and hand tools, hardware, parts, and accessories.
LINEAR
Distribution by other classes of mail through the USPS: 0; C) Total Paid Distribution:
7,467; D) Free or Nominal Rate Distribution by mail and outside the mail (1) Free or
Nominal Rate Outside-County Copies: 0 (2) Free or Nominal Rate In-County Copies:
0 (3) Free or Nominal Rate Copies Mailed at other classes through the USPS: 0 (4)
SERVOS Free or Nominal Rate Distribution Outside the mail: 800; E) Total Free or Nominal
Rate Distribution: 800; F) Total Distribution: 8,267; G) Copies not distributed: 2,545;
H) Total: 10,812; Percent paid circulation: 90.32%. Actual number of copies of the
single issue published nearest the filing date is September 2008; A) Total number of
Radio Control copies printed (net press run) 9,871; B) Paid/Requested Circulation (1) Mailed
Outside County subscriptions: 5,398 (2) Mailed In-County subscriptions: 0 (3) Paid
Industrial Distribution Outside the Mail including Sales through dealers and carriers, street ven-
dor, and counter sales and other paid distribution outside USPS: 1,806 (4) Paid
Robotics Distribution by other classes of mail through the USPS: 0; C) Total Paid Distribution:
fi 7,204; D) Free or Nominal Rate Distribution by mail and outside the mail (1) Free or
Nominal Rate Outside-County Copies: 0 (2) Free or Nominal Rate In-County Copies:
0 (3) Free or Nominal Rate Copies Mailed at other classes through the USPS: 0 (4)
Free or Nominal Rate Distribution Outside the mail: 1,300; E) Total Free or Nominal
Rate Distribution: 1,300; F) Total Distribution: 8,504; G) Copies not distributed: 1,367;
H) Total: 9,871; Percent paid circulation: 84.71%. I certify that these statements are
correct and complete. Larry Lemieux, Publisher - 9/29/08.
70 SERVO 11.2008
Page 71.qxd 10/7/2008 4:13 PM Page 71
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WebstoreNov08.qxd 10/8/2008 12:54 PM Page 74
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Appetizer.qxd 10/7/2008 3:08 PM Page 76
-Kon is North America’s longest in nearby office buildings. also made several other unexpected
A running national anime
convention. It was first held in 1990
Once inside, there was no
shortage of robots, androids, and
robot sightings at A-Kon 2008. In
the dealer room were a variety of
and it has been growing ever since. cyborgs. Within minutes of walking imported Japanese robot toys —
A-Kon 2007 had an attendance of into the lobby, I spotted a Super Transformers, Robotech mecha,
more than 14,000. Quite a few of Vandread robot fighting machine, pos- Gundams, and other more obscure
those attendees are cosplayers: fans ing for curious bystanders who kept robots. One dealer was selling tiny
who dress and act like their favorite their distance from the dangerous little robot figures for gamers. Leaving
characters from TV, anime, comics, robot. One bystander who considered the dealers room, I ran across another
books, and video games. To give you danger irrelevant was a Borg, room full of Virtual World Battlemech
an idea of how big this thing is, A-Kon complete with motorized appendages, combat simulator pods. The pods are
2008 set a new Guinness world lasers, blinking lights, and surrounded networked together and exist in a
record for the most people dressed as by a cloud of self-generating fog. common virtual universe. Inside the
video game characters in one room If Transformers are your thing, pod, you are in control of a giant,
(700+). Video game characters aren’t you’ll be happy to know there were bipedal robot battle machine and you
even the most popular type of numerous Autobots and Decepticons fight it out with other players.
cosplay. I thought with all these guys in attendence including Arcee — a One unusual robot in attendance
in one place, there were bound to be pink, female Autobot. Androids were this year was Gir, the cute little robot
a lot of robot costumes. So, I set out in plentiful supply, as well, and one from Invader Zim. Gir wasn’t a
with my camera to see what I could of the best this year was R. Dorothy costume or a toy. Dallas resident,
find. When I was still several blocks Wayneright, the android companion Remia, had Gir tattooed on her arm.
away from the event location, I of Roger Smith from the anime series When I asked her why she chose Gir,
spotted a group of Dragonball Z The Big O. Dorothy was part of a she said, “Gir is kinda the reject robot
characters marching down the street. group of cosplayers who won the Best who was slapped together on the
In the park across from the hotel, a of Show award for their depiction of spot for Zim. But the motivation for
group of female super heroes battled Big O characters. me was I’m kinda like Gir, very easily
ninjas, to the surprise of workers In addition to robot cosplayers, I distracted at times and kinda off the
76 SERVO 11.2008
Appetizer.qxd 10/7/2008 3:09 PM Page 77
wall.” Her robot tattoo has earned her the name limiting the eating choices of hungry event participants.
“Gir Girl” among locals. As I sat at a table eating a fast food trans-fat burger,
After a long day photographing cosplayers, I walked I watched aliens, robots, and super-heroes wandering
across the street to find some dinner at the restaurants through the crowds. A collection of space pirates skated
surrounding the Plaza of the Americas ice-skating rink. by on the ice. It’s a very different experience from the
Along the way, a blue-haired catgirl complained that the average robot event I attend. There was no clear line
hotel never warns the restaurants of the impending A-Kon separating robot from human. A glimpse of the future
crowds. Every year, nearby restaurants run out of food, perhaps? SV
Then N O W
a n d
ROBOT COMPETITIONS
AND CONTESTS
b y T o m C a r r o l l
As long as there have been two readers mentioning that I did not Contestants benefit as do the
people gathered together who have cover their event or other events that sponsors who can use the winning
different ideas and skill sets, there were particularly noteworthy. I spoke technology to further enhance military
have been competitions of some sort. with a few personally, and related that or other government projects at a
The recent Summer Olympics was an I can never cover the wide spectrum far cheaper cost than handing out
extreme example of the world’s finest of any topic in modern robotics research grants. I’m going to outline
who gathered together in China to technology and I just try to cover a a few of the more widely-spread types
prove who the best athlete in many few unique aspects of a particular of contests and, as I mentioned
categories was. Old records fell article’s subject. This certainly applies before, these are just a drop in the
as younger or more experienced to the many robot exhibitions and bucket of the many very interesting
athletes swam or ran faster than ever competitions as there are so many competitions around the world
before, jumped higher or further, or types of contests and competitions involving experimental, amateur, and
performed some series of athletic these days. In this article, I again downright unique robots.
motions with more finesse than the will highlight a few of the more well
others. An American swimmer walked known robotics contests in a bit more The Seattle Robotics Society
away with a record eight gold medals. detail, but, this in no way represents Robo-Magellan Contest
We humans love to present our the very best competitions. They just
finest to the world in hopes that our happen to be a few of the contests I The varieties of entrants in
country’s competitors are better than know a bit more about. robotics contests can vary from simple
anyone else. Robotics is no different Competition can be as simple as kit-built wheeled robots exhibited by
as we are all proud of our coolest, one neighbor watching another build elementary level kids in a local event
fastest, meanest, smartest, or most a robot. That neighbor then decides to the million dollar autonomous cars
destructive robot of all and want to that he can build an even better one, and SUVs entered into the Grand
show it to the world in some sort and so on. It can also arise in a school Challenge series held in multi-mile
of competition. or university where two or more desert and suburban environments.
In this year’s April issue of SERVO, students build a robot that can “one I had the honor of being one of
I touched upon some of the more up” another group of student’s the judges for the Seattle Robotics
popular contests such as the Seattle machine. Sometimes a competitive Society’s Robo-Magellan contest
Robotics Society’s Robothon, the urge develops when a person watches for several years, held at the SRS
Portland Robotics PDXBot robot a contest on TV or reads about one. Robothon at Seattle Center. This
competition (both of which have been Some of the best competitions contest was envisioned as an
postponed due to the need of arise when sponsors decide to develop affordable alternative to these
leadership), the Robotics Society of a contest with a specific set of rules government sponsored contests and
Southern California’s annual robot and award prizes to the best in the has spread to many robotics groups
fairs, and a few of the national contest. These can be a simple science across the country. Entries are nothing
events. As I was more concerned with fair at a local high school, a nation- short of amazing.
the exhibits by different groups, I wide series of contests such as FIRST, The robots that I’ve seen over the
really did not cover the complexities or even a government sponsored years range from a few pounds to
of these events and the many more contest such as the DARPA off-road maybe 30 or more, and sizes range
held around the world. Grand Challenge or Urban Challenge from a small, remote-controlled car
I also had a few responses from with a first prize of $2 million. chassis to 18 inches long and 14
78 SERVO 11.2008
Then&Now.qxd 10/6/2008 11:42 AM Page 79
inches high, or so. They must weigh opportunities to lower the score based built robots to solve simple mazes
less than 50 pounds and fit within a on contacting intermediate points.” since before the microcomputer age.
four foot cube for the duration of the The ‘chicken switch’ tether I In 1977, IEEE Spectrum magazine
race. Some crawl away from the mentioned previously is allowed to announced a ‘micromouse’ contest
starting point at a speed slower than disable the robot when it is deemed that would be held in New York in
a stroll in the park and others race unable to continue or will run into a 1979. That gave time for the 6,000
away at breakneck speeds. I’ve seen person or obstacle, but all control is initial entrants to design, build, and
contestants running behind their autonomous and navigation is by GPS fine-tune their creations. Fifteen
speeding Robo-Magellan robot, coordinates (no differential GPS to finalists were selected for the
barely able to keep up, with the enhance the accuracy), visual cameras competition to be run in a 10’ by 10’
safety tether in their hand ready for (to avoid obstacles and locate the 18” maze. The winner of this first contest
an emergency stop. orange traffic cones), and on-board was a simple, high-speed wall-follower
compasses. that used no sort of ‘intelligence’ to
The contest is held outdoors (for seek its goal. These types of mice
best GPS reception) and is usually on simply turn a certain direction when
sidewalks, grass, and has some unique detectors locate the absence of a wall
ramps and turns. The contests at the and continue turning in that same
Seattle Center have always attracted direction for the same reason,
a crowd of people who excitedly many times until they eventually
follow the robots around the course. (accidentally!) reach the goal. Rules
Sometimes a person with an orange were changed to eliminate these
jacket or hat will confuse the robot types of entries.
so that it deviates from the course As the contest series gained
because it thinks it has seen the popularity in the early 80s and groups
orange cone. around the world became interested
It’s always fun to explain to the in participating, the rules became
crowd just how intelligent the robots more defined. ‘Mice’ appeared in all
are and why they do certain things on sorts of forms. David Buckley of the
FIGURE 1. Robo-Magellan contestant. the course, (which can be longer than UK came up with Quester in 1981 —
1,000 feet). Scoring is based on time, a large 8” by 7-1/2” by 5-1/2’
Figure 1 (courtesy of SRS) shows but points are also given for locating micromouse that used a vision system
a contestant holding the safety tether and touching all waypoint cones, so to detect the maze walls and bump
in the October 2006 competition. slower robots have frequently bested sensors when those sensors failed.
Wireless safety switches are admissi- the speedier machines. Contestants (See Figure 2).
ble, but most contestants use a wired are given the course coordinates just Buckley gained a bit of fame
tether. In the early years, we had a bit before the contest and are allowed to when Quester was featured in one
of trouble with the GPS satellites traverse the course themselves before of the earliest non-industrial robot
being shadowed from the robots by a their robot makes its run (a maximum magazines, Robotics Age. The First
high wall or even the Space Needle, of 15 minutes is allowed for each World Micromouse Competition was
but this made the contest a bit more run). Other groups have used desert held in Tsukuba, Japan in 1985 and
challenging when the competitors courses, woods, and strictly urban the top six winners were all locals.
transferred navigation to odometry courses with only concrete and After a few sporadic contests in the
and compass navigation. asphalt. To make the course more US with low attendance and few
Newer and more sensitive interesting, overhead trees, inclines,
receivers solved a lot of the GPS curbs, garbage cans, park benches,
reception problems in later years. I shrubs, and even streams have been
never saw an entry that wasn’t first included. Target cones are hidden
class, though some did manage to from view at the starting points and
get lost or stuck behind obstacles. at the waypoints. Go to www.robot
As stated in the rules set up by hon.org/robothon/robo-magellan
the SRS, “Robo-Magellan is a robotics for more detailed rules and
competition emphasizing autonomous information.
navigation and obstacle avoidance
over varied, outdoor terrain. Robots IEEE Micromouse
have three opportunities to navigate Competitions
from a starting point to an ending
point and are scored on the time Running a maze with a robot has
required to complete the course with always been a draw and people have FIGURE 2. Quester from the UK.
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entrants, the contest became quite fastest mouse wins. Figure 3 shows each other by controlling their
popular and is now often held in the maze at a contest at Cal State individual robots to push and pass
conjunction with electronic business Chico. Note the detector protrusions large rubber ‘Trackballs’ around the
conferences, especially where over the walls in both Figures 3 and 4. field of play. (Two of the five winning
IEEE attends. One entry at a contest that I had high school teams were sponsored
the pleasure of judging back in 1988 by NASA centers.)
What is a Micromouse? at Wescon featured a very unique The mission and vision of the
mouse. It could not have weighed FIRST Robotics Competitions, FRC, is
A mouse must be self-contained more than 100 grams and had a pair described this way, by Kamen:
and totally autonomous, no larger of sensor arms made from PC board “Our mission is to inspire young
than 25 cm by 25 cm (about 10” x material that extended over the walls people to be science and technology
10”) and there is no limit on the on both sides of the maze paths. I’m leaders, by engaging them in exciting
height. It cannot, however, move over guessing that the arms had a series of mentor-based programs that build
or damage the maze walls. The maze IR photo transistors and IR LED pairs science, engineering, and technology
itself consists of a square pattern of to detect the presence or absence of skills, that inspire innovation, and
16 by 16 squares (18 by 18 cm each), walls, and to keep the robot centered that foster well-rounded life
with 5 cm high walls of 1.2 cm in the path. This little sucker would zip capabilities including self-confidence,
thickness. The entire maze is enclosed forward and stop at each 18 cm communication, and leadership.”
by an outside wall and the mouse is square, examine the walls present,
placed at an outside square and and would then proceed or quickly BEST — Boosting
must find its way all by itself to four turn a precise 90 degrees as required, Engineering, Science, and
squares at the center of the maze. and quickly step to the next square. Technology
This destination is so positioned It rapidly examined almost every
that wall-hugging mice will be unable possible square and found the center BEST is also a non-profit,
to locate it. Of course, the maze is set fairly fast. volunteer-based organization whose
up ahead of time and hidden from The amazing thing was when the mission is to inspire middle and
view until just before the contest contestant placed the mouse back in high school age students to pursue
begins. The mouse has 10 minutes to the square, the mouse quickly sped careers in engineering, science, and
complete the run from the start to the to the center four squares by the technology through participation in a
center four squares where there is a absolute best route, sometimes sports-like, science and engineering-
wooden goal post. Obviously, the making deliberate 45 degree turns based robotics competition.
to save time. Needless to say, it won Their vision is to excite the
first place.For rules, check out nation's students about engineering,
www.ieee.uc.edu/main/files/sac20 science, and technology to unlock
07/mm_rules.pdf. There are many their imagination and discover their
other good sites that have both rules potential.
and building techniques available.
Final Results
FIRST — For Inspiration and
Recognition of Science and I’ve only touched on a few of
Technology the more visible robotics contests.
The many variations of BattleBots that
I could not write about robot was so popular a half dozen years
FIGURE 3. Micromouse maze at contests without mentioning the very ago on the Comedy Channel are still
Cal State Chico contest. popular FIRST competition that began held across the world. Robot Sumo
back in 1992 with 28 teams compet- and other physical robot vs. robot
ing in a New Hampshire high school contests are a mainstay of most robot
gym. This competition series is the organization’s events. If any of these
vision of one of my favorite robotic competitions sound the least bit
innovators, Dean Kamen, best known interesting to you, I encourage you to
as the inventor of the Segway go to any of the hundreds of websites
Transporter. FIRST competitions are for for information and help your own
high school students across the US group of robotics enthusiasts develop
and other countries. NASA and other some super fun events in your home
major US companies have been town. SV
long-time supporters of these events.
One example of a challenge was Tom Carroll can be reached via email
FIGURE 4. Micromouse maze variations. one year teams competed against at TWCarroll@aol.com.
80 SERVO 11.2008
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