Applied Robotics 2

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This is the second book in the Applied Robotics series. It doesn't so much extend the work done in Applied Robotics as kick it up a notch. The projects are bigger, more complicated, and for the experimenter who has a few desktop robots under his or her belt, more interesting.


Table of Contents

1. And so it Begins

  • Robot Motors
  • How PMDC Motors Work
  • Charge Motion in a Magnetic Field
  • Selecting Motors
  • Speed, Acceleration, and Climb

2. Batteries

  • Types of Batteries
  • Some Primary Batteries
  • Some Secondary Batteries
  • Selecting a Battery
  • Voltage Regulation
  • Less from More
  • More from Less
  • Voltage Monitoring
  • Power System

3. Rolling Platform

  • Design Decisions
  • Size
  • Configuration
  • Materials
  • Drive Platform
  • Battery Tray
  • Bumpers
  • Sensor
  • Feeler
  • Mounting Brackets
  • Wheel Encoders
  • Circuit Mounting
  • Painting
  • Putting it all Together

4. Stock Power Drivers

  • R/C ESC
  • 15 Turns at 10 Cells?
  • Other Options
  • Selecting the ESC
  • Hooking It Up
  • Power Distribution
  • Testing the Drive System
  • ESC Control Signal

5. Body and Head

  • Upper Frame
  • Base
  • Uprights
  • Head
  • Tray
  • Assembly
  • Pan-and-Tilt Mechanism

6. Arm

  • Other People's Arms
  • Arm Actuators
  • Gearmotors
  • Customizing the Motor
  • Transfer of Power
  • Linear Actuators
  • Rotary Actuators
  • Project 6-1a: Shoulder
  • Shoulder Pieces
  • Assembly
  • Project 6-1b: Upper Arm and Elbow
  • Upper Arm
  • Assembly
  • Project 6-1c: Lower Arm and Wrist
  • Assembly
  • Arm Power and Operation

7. Hand

  • Project 7-1: Hand
  • Wrist
  • Palm
  • Fingers
  • Finger Tendons and Muscles

8. Reflexes

  • Embedded Control Options
  • Stand-Alone Boards
  • Board and Backplane
  • System on a Chip
  • Project 87-1: Reflex Control System
  • Bus Definition
  • Backplane
  • MCU Board
  • I/O Boards
  • MCU Programmer and Interfaces
  • Reflex Software?

9. Sense and Control: Drive System

  • Project 9-1: Generic Program Framework
  • Project 9-2: R/C Motor Driver Control
  • R/C Setup
  • Update ISR
  • R/C ISR
  • Project 9-3: Wheel Encoders
  • Where to Encode?
  • Encoder Disk
  • Encoder Sensor
  • Encoder Usage

10. Sense and Control: Other Senses

  • Project 10-1: RS232 Output
  • MCU Serial Software
  • Project 10-2: Analog Senses
  • GP2D12 Optical Distance Sensor
  • Bumper Array
  • Temperature
  • PIR (Passive Infrared)
  • Force, Sound, Light, Voltage
  • Serial Senses
  • I2C (Clock/Calendar)
  • SPI (Compass)
  • Microwire
  • Dallas 1-Wire
  • Bit-Banging Senses
  • Remote Control
  • R/C Input
  • Virtual Senses

11. PC Control

  • Tradeoffs
  • Wireless Communications
  • Brain Cluster
  • Communication
  • Reflex Net
  • MCU to PC
  • Project 11-1: Camera Eye
  • Vision SDK
  • Capture Program

12. Simulated Intelligence

  • The Task: Creating a Brain
  • A Question of Scale
  • Your Brain
  • Technologies
  • The Brain as Semantics
  • The Brain as Maps
  • Symbolic Programming
  • Fuzzy Logic
  • Arbitration

13. Neurons and Neural Networks

  • Neurons
  • Hodgkin-Huxley Neural Model
  • Computational Neural Model
  • Adaptrode Neural Model
  • Neural Networks
  • Supervised vs. Unsupervised Learning
  • Self-Organizing Maps
  • Attention
  • Growth
  • Topology
  • Operation
  • Adding a Node
  • Deleting a Node
  • State and Sequences
  • Visual Model
  • Feedback Loop
  • ABC Model

14. Learning and Noticing

  • Learning
  • Memory
  • Reward and Punishment
  • Episodic Learning
  • Mapping
  • Noticing
  • Novelty
  • Synchrony and Rhythm

15. Vision and Language

  • Vision
  • Visual Coordination With the Body
  • Language

Appendix A

  • Batteries

Appendix B

  • Bibliography

References

Index



Additional Information

robots.gif Visit the Machines area for supplemental material, information, and projects.

Ch. 1. TorqueSpeedAndPower

Ch. 1. SpeedAccelerationAndClimb

Ch. 2. WhatIsABattery

Ch. 4. CustomMotorDriver

Ch. 8. FuzboardProgramming Also talks about PC Serial I/O

Ch. 9. Odometry

Ch. 12. HumanBrain


Errata

There is no errata at this time.

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