Robotics (Teacher Pack)

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2 P a g e 2 Robotics (Teacher Pack) Table of Contents Table of Contents...2 Objective for Course...4 Course Type...4 Length of Course...4 Resources required...4 Lesson Plans...5 Lesson Number: 1 of 4: Robotics Introduction...5 Lesson Number: 2 of 4: Robotics: moway Exercises Lesson Number: 3 of 4: Robotics: moway Exercises Lesson Number: 4 of 4: Robotics: moway Exercises Topic Introduction...9 What is a Robot?...9 History of Modern Robotics...9 Working robots Electronics of robot (Sensors) Practical tasks: Hands on Robotics Introduction to Scratch2 and moway Installing the Connecting the moway Scratch application. Step by step Scratch Communication Introduction Exercise 1: Square Exercise 2: Enclosure Exercise 3: Enclosure and LEDs Exercise 4: Follow the line Exercise 5: Avoiding obstacles Exercise 6: Tunnel Exercise 7: Follow the light Exercise 8: Moon mission Exercise 9: Song If you re happy... 31

3 P a g e 3 Exercise 10: Football Exercise 11: Pong Prepare for a career in Robotics Choose a career in Robotics Course Conclusion Annex moway Installation Install Scratch 2 & moway applications on your computer Annex - Learn more about Robotics terminology LED lights Sensors Line and Obstacle Sensors Light Sensors Accelerometer... 47

4 P a g e 4 Objective for Course Objectives for this lesson are as follows: To introduce the fundamentals of robotics To teaches how to programme a robot using Scratch language. Course Type Optional Length of Course This module should take at least 4 x 45-minute classes to complete. Resources required Internet access is required to run the student presentation. (Produced using Microsoft Sway). Projector and screen are required for display. Good quality audio/video is required to listen to/watch embedded YouTube videos. Scratch 2 Application A moway Robot

5 P a g e 5 Lesson Plans Lesson Number: 1 of 4: Robotics Introduction Lesson Objective: To cover the following: Find out about what a Robot is History of Modern Robotics Investigate working robots Lesson Content: All material provided in the Sway presentation. Method of Delivery: Sway presentation: In-class Activity: Watch all embedded YouTube videos Equipment Required: PC or laptop, projector, audio/video display plugins Projected Duration: One 45-minute class Learning Outcomes: Understand the fundamental of Robotics.

6 P a g e 6 Lesson Number: 2 of 4: Robotics: moway Exercises 1 3 Lesson Objective: To cover the following: Learn how to connect the moway and Scratch applications. Get moway and Scratch communicating Exercise 1: Square Exercise 2: Enclosure Exercise 3: Enclosure and LEDs Lesson Content: All material provided in the Sway presentation. Method of Delivery: Sway presentation: In-class Activity: Exercises programming moway robot Equipment Required: PC or laptop with Scratch 2 installed, projector, audio/video display plugins, moway robot Projected Duration: One 45-minute class Learning Outcomes: Commence programming a robot using Scratch 2 and To know what an LED is and how we can activate the LEDs in the moway robot from Scratch environment

7 P a g e 7 Lesson Number: 3 of 4: Robotics: moway Exercises 4-8 Lesson Objective: Exercise 4: Follow the line Exercise 5: Avoiding obstacles Exercise 6: Tunnel Exercise 7: Follow the light Exercise 8: Moon mission Lesson Content: All material provided in the Sway presentation. Method of Delivery: Sway presentation: In-class Activity: Exercises programming moway robot Equipment Required: PC or laptop with Scratch 2 installed, projector, audio/video display plugins, moway robot Projected Duration: One 45-minute class Learning Outcomes: Understand sensors line, obstacle and light.

8 P a g e 8 Lesson Number: 4 of 4: Robotics: moway Exercises 9-11 Lesson Objective: Exercise 8: Moon mission Exercise 9: Song If you re happy Exercise 10: Football Exercise 11: Pong Lesson Content: All material provided in the Sway presentation. Method of Delivery: Sway presentation: In-class Activity: Exercises programming moway robot Equipment Required: PC or laptop with Scratch 2 installed, projector, audio/video display plugins, moway robot Projected Duration: One 45-minute class Learning Outcomes: Sound sensors and feedback Explanation and application of the accelerometer

9 P a g e 9 1. Topic Introduction What is a Robot? Open the Robotics presentation and display on projector screen: Navigate through the SWAY. There is no one accurate definition of a robot, because modern robots perform many different tasks and vary in design and structure. However one possible common definition could be: A robot is a mechanical device that is capable to perform pre-programmed physical tasks in a given (known) environment. Using this definition, we can conclude that many of the devices we use on a daily basis are robots: A printer (mechanical device): Capable to transfer text from the computer to paper (programmed physical task) inside it (known environment). A mobile phone: Displays air temperature on his screen. An automatic washing machine: washes laundry by pre-set washing program. The term Robot was first mentioned in 1920 by famous Czech dramatist and writer Karel Čapek in his book RUR (Rosumovi Univerzální Roboti, en. Rosum universal robot), a word which he created together with his brother Josef Čapek. The term is based on the Czech verb robotovat what means to work or a slave. Mostly robots are made to replace a human, and carry out the work of a human. Therefore the idea of a robot being a slave is not too far from the truth! History of Modern Robotics As we have seen, the first mention of robots came as early as the 1920s. However, it was not until 1948 that William Grey Walter in Bristol, England created the first electronic autonomous robots with complex behaviour. His robots, named Elmer and Elsie, were described as tortoises due to their shape and slow reactions. Watch embedded video: The History of Robotics CES 2016 (4:30m)

10 P a g e 10 Figure 1. Unimate Robot Figure 2. Elsie created by George Devol 1954: George Devol invented a digitally operated and programmable robot called Unimate in 1954, thereby laying the foundations for the development of the modern robotics industry. Later, in 1960, the robot called Unimate was sold to General Motors and it was installed in a plant in Trenton, New Jersey. Its task was to lift hot pieces of metal from a die-casting machine and stack them. 1970: the Stanford Research Institute built the first mobile robot called Shaky, in The robot had various types of sensors, including TV cameras, laser re-finders and navigation sensors. Figure 3. Shaky built by Stanford Research Institute 1986: Honda built their robot called Humanoid, whose aim it was to interact with humans. 1988: The first robotic pet toy called SCAMP was built. 1996: David Barret created a RoboTuna at MIT to study how fish swim. 1997: A robot landed on Mars and sent images and data back to Earth. IBM s Blue Deep supercomputer beat the champion Gary Kasparov in a chess match also in This represents a great development in the field of Artificial Intelligence. Figure 4. Gary Kasparov v. Deep Blue Figure 5 Roomba Vacum Cleaner 1999: The first personal robot was created which performed many household chores. 2002: The IRobot Corporation built the first robotic vacuum cleaner called Roomba Scientists from Cornel University created a self-replicating robot.

11 P a g e 11 Watch embedded video: (8:50m) Working Robots There are many different types of robots, all classified in the different ways. One way to classify them is according to their mechanical features. Another way to classify robots is according to the tasks they perform. Robots as mechanical workers are ideal for monotonous tasks as they do not tire and every operation is done with a great focus and precision. While human workers require comfortable and appropriate work environments, breaks to rest and vacations, a robot needs none of these things. About 90% of the world s robots works in factories, with more than half of those in the automotive industry. In the home robots can perform all kinds of domestic tasks such as cleaning floors, cutting grass and even preparing food. In medicine, robots are used to during operations where very small and precise incisions are required. Doctors also learn to to perform difficult procedures using robotic models. Industrial robots Industrial robots are a robotic system used in manufacturing or factories and generally carry out repetitive and monotonous tasks Domestic robots A domestic or service robot is a robot that mainly used for the household chores, both indoor and outdoor. Tasks carried out include grass cutting, cleaning of pools and gutters and window washing. Toys and social robots also come under this category and can be used as pets or to interact with or help elderly or sick people.

12 P a g e 12 Science and Medical Robots Robots are created for scientific purposes. Mostly, the robots in science are created for places where a human cannot go i.e. Space exploration. Medical Robots Used in hospitals and to help doctors to diagnose and carry out medical procedures. Examples include surgical robots (allow greater precision than a human), rehabilitation robots (help elderly or infirm patients to rehabilitate), bio robots (imitate human cognition), pharmacy robots (prepare medication) and disinfection robots (capable of thorough and fast disinfection of medical facilities).

13 P a g e 13 Military robots The main aim of robots in the military is to save and preserve soldiers lives in the battlefield. Robots in the Military are used for reconnaissance, surveillance, sniper detection, neutralizing explosive devices and etc. Robots in food industry The typical applications for robots working in the food industry are: primary and secondary packing, palletizing, handling raw or unpacked food products, ready-meal construction, cake and pie handling, meat processing, cake decoration, pizza assembly, grading of fruit and vegetables, cooking and warehousing.

14 P a g e 14 Robots in leisure Entertainment robots provide entertainment to humans. Examples include toy robots, pet substitutes, commercial show robots, non-commercial and art robots.

15 P a g e 15 Students can find more information on working robots here: htm Electronics of robot (Sensors) Like humans, robots need a way to evaluate their surroundings in order to know how to react. For that, people have sensory organs and the senses. However, robots do not have a nose, ears or eyes. Instead, they have sensors. In order to carry out the tasks required of them, they need to know things about their surrounding environment, which they exist. They also need to be able to detect the presence of light, liquid, sound, heat, as well as many other conditions. Without this knowledge, the robot would be unable to complete successfully the tasks assigned to them. A robot can feel. Typical senses Atypical Senses Sound Visual Physical contact Light Magnetic fields Ultrasonic Infrared Let us look at some of the different types of sensors, which robots use: 1. Proprioceptive sensors measure the inner parameters of a robot to ensure internal conditions are maintained at the status quo. Examples include battery voltage, wheel rotation speed, and direction. 2. Exteroceptive senors measure the external parameters of a robot e.g. its distance from another object. Examples include a contact or range sensor. 3. Typical sensors enable a robot to feel the environment as we feel using human senses: sound, optical view, physical contact, light, temperature and so on. 4. Atypical senses are senses that human does not feel directly: magnetic field, ultrasonic, infrared light, radiation, radio waves. There are different types of technology used in sensors: Tactile Sensors are possibly the most basic type of sensor. Its function is to determine if the robot is in contact with another object or has hit an obstacle. Unlike other types of sensors, which can sense things from a distance, the robot must actually touch the object in order for a tactile sensor to pick it up, hence the name.

16 P a g e 16 Infrared (IR) Sensors measures distance and are used in mobile robots. They are made up of two main components, an IR emitter and a detector. The emitter generates IR light, which spreads out into the environment and is reflected by objects. The reflected light is captured by the IR detector which generates an output signal that can be easily interpreted by the system. Simple calculations can be made in order to estimate the distance between the sensor and the detected object. Radiofrequency is a way of transmitting information wirelessly, and is used in remote controlled cars amongst other things. It will also be used in the moway robots which we will use later. Radiofrequency required three elements: A transmitter (remote control) which sends the message A receiver (the car) which receives the message A channel, which is like a cable via which the message is transmitted Watch the embedded video: Robots have feelings too: (1:45)

17 P a g e Practical tasks: Hands on Robotics Introduction to Scratch2 and moway Before we start the exercises, we must first learn some background information about the type of robot we will be using and the programme used to control it. Scratch2 is a computer-programming environment developed by MIT (Massachussets Institute of Technology) based on a system of combining symbols called blocks which enables users to create interactive stories, animations and games, without having to be able to write code. It is widely used to introduce kids, and indeed adults to the world of programming. It can also be installed free of charge in any computer with the wondows, mac or linux operating systems. Find out more information about Scratch2 here: moway is a small, programmable autonomous robot which teaches users about programming in a fun and accessible way. The moway robot is fitted with a number of sensors that enables it to move around a real environment. It is also equipped with a motor that enables it to travel on the floor. All these peripheral devices are connected to a microcontroller, which is responsible for controlling the robot. For all the exercises on this course, we will use Scratch2 to programme our moway robot. Below are some of the reasons why Advantages moway is an autonomous mobile robot, which, without having to be connected to the computer, can be programmed from the Scratch environment. moway sensors, motors and actuators can be programmed from Scratch and can be read and controlled in movement. moway allows students to simulate and understand examples from real life in a practical manner, and discover how elements from our daily lives work, such as a remote control, the garage door sensor, a mobile phone, and so on. moway gives life to everything the students programme on their screens, and help them to understand and assimilate concepts. Installing the Connecting the moway Scratch application. Step by step Learn how to connect Scratch 2 and the moway for the first time here. Scratch Communication Introduction The Scratch environment controls the moway robot by using a number of different commands. A command is an order written in Scratch and sent to the robot. When the robot receives this order, it performs the action it has been instructed to do. For example, if we want the robot to advance, we must

18 P a g e 18 write the go command in Scratch. When we execute this command, the robot will receive this order and its wheels will activate. The moway robot is equipped with a number of different sensors i.e. obstacle and light sensors, which are electronic devices used to measure the surrounding conditions. The robot sends the information detected by its sensors to the Scratch environment on a continuous basis. Both the commands and the info detected by the sensors are sent by radiofrequency (RF) a form of wireless telecommunication. These messages are managed through the moway Scratch V2 application, which connects Scratch to the robot. Commands In the Scratch environment, you will find three tabs to the top right of the screen. The Scripts tab contains all of the commands to make the robot move. The commands are contained in the "More Blocks" section under the Scripts tab see image. The Scratch environment is ready both to send commands to moway and to receive values from the moway sensors. In order to give the moway robot instructions, you will take the relevant blocks and drag them to the right of the screen

19 P a g e 19 Exercise 1: Square Let us make the moway robot move to form a square, both in Scratch and in reality. Prepare the Scratch Environment Click here to open Resources for Exercise 1 and add the following: Backdrop Sprite Costume grass moway moway2 Programme the moway in Scratch

20 P a g e 20 Exercise 2: Enclosure In this exercise, we are going to enclose the moway robot within the Scratch screen. Prepare the Scratch Environment Click here to open Resources for Exercise 2 and add the following: Backdrop Sprite grass moway The robot will move when the arrows on the keyboard are pressed. For example, when the up arrow is pressed, the robot will move forwards, but in this case, the Scratch robot moves forwards until it reaches the edge of the screen. When this happens, the robot stops. The stop all blocks are required so that, after turning or stopping, the Scratch robot does not continue moving forwards but stops in the same way as the real robot.

21 P a g e 21 Exercise 3: Enclosure and LEDs In this exercise, we will add instructions for the LED lights on the robot to be activated, in addition to the same movement from Exercise 2. Learn more about LED lights on the moway here We will programme scratch so that: When the robot moves forward, the front LED lights up. When the robot stops, the brake LED lights up. When the robot turns left, the red LED turns on. When the robot turns right, the green LED turns on. Prepare the Scratch Environment Click here to open Resources for Exercise 3 and add the following: Backdrop Sprite Costume Costume Costume grass moway breaks moway frontal moway green moway red Every time a command is sent to activate an LED, just before doing this, it is necessary to send the command to turn off all the LEDs ( All (off) block). This is done to turn off all the LEDs beforehand, so that only one LED is activated at each movement in time.

22 P a g e 22 Exercise 4: Follow the line In the next two exercises, we are going to concentrate on line and obstacle sensors. These sensors detect the colour (on a grey scale) of the floor where the robot is located in order to detect obstacles in front or underneath the robot. Learn more about the sensors on the moway robot here In this exercise, we are going to use the moway line follow (left) and line follow (right) commands. To do this, we will need to use a track on which we will paint a black line on a white background. Download the track in PDF (moway Track ) for your moway robot and print it. Prepare the Scratch Environment Click here to open Resources for Exercise 4 and add the following sprite. There is no need for a backdrop: Sprite moway In order to familiarise ourselves with the linefollow commands, the proposed exercise is a simple radio control which gradually changes from a Follow line(left) command to a Follow Line(Right) command using the direction keys. The space key stops the moway and the back arrow sends a Turn Around command. In this scenario, the representation of moway moves to the left side or right side of the line with the command change.

23 P a g e 23 Exercise 5: Avoiding obstacles In the next exercise, we are going to make use of both sensors: line and obstacles. On the same track with a black line from the previous exercise, we will introduce a number of obstacles as shown in the illustration. The aim of this exercise is for moway to follow the line and, when it finds an obstacle, to a turn around and continue following the line in the opposite direction. Download the track in PDF (moway Track ) for your moway robot and print it. Prepare the Scratch Environment Click here to open Resources for Exercise 5 and add the following sprite. There is no need for a backdrop: Sprite Costume Moway normal mowayscared In this exercise, we are going to use a new movement command. Until now, we have only used simple commands for a 90 left or right turn, or to turn 180. In this exercise, we are going to need a turn of a little more than 180º so that when moway sees an obstacle and has to turn, it can visualise the black line with its sensors. The first time the programme is attempted, the turnaround command can be used to see how moway sometimes does not find the line on its return. In this case, to turn 210, we need to make use of the Angle Rotation command. In order for moway to know how many degrees it must turn, we must create a variable called rotation and give it the value of the angle in the degrees that we wish to turn. The turn(left) commands operate in exactly the same way. Command Description The value of the rotation variable will indicate to moway the turn to be performed when it receives one of the following two commands It performs a turn to the right at an angle equal to the value of the rotation variable It performs a turn to the left at an angle equal to the value of the rotation variable.

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25 P a g e 25 Exercise 6: Tunnel In this exercise, we will be using the light sensors on the moway robot. A light sensor is a device that measures the amount of light in a location. Learn more about light sensors here In cars for example, light sensors can be used to turn on the lights automatically if in tunnels or at dusk. We will make moway follow the black line while it reads the light sensor. When it goes through a tunnel, the front LED will turn on. At the same time, the Scratch screen will show whether there is light or darkness. Prepare the Scratch Environment Click here to open Resources for Exercises 6 and add the following sprite. There is no need for a backdrop: Backdrop Backdrop2 sprite costume Background1 Background1 car Car with lights At the beginning of the programme, a command is sent to follow the line. Afterwards, it enters a loop, repeated ad infinitum, in which the light sensor value is read. If it is lower than 5, in other words, if the light level is low, moway s front LED turns on both the drawing ( Switch to costume ) and the real robot ( Frontal Light (On) ). If the light level is high, it is not now necessary to illuminate the circuit and therefore moway s LED is turned off, as was explained above. The scenario will also change in appearance in accordance to whether there are high or low light levels. When the light level is low (less than 10 ), the scenario will appear to be at night time. If there is sufficient light, this scenario will appear to be in daytime.

26 P a g e 26 Exercise 7: Follow the light In this exercise, the moway robot will move forward towards a point of light. The robot will be able to detect the light from a torch for example and move towards it. In order to detect the light, the robot will turn until it finds the direction in which it detects more light. Once the robot determines this direction, it moves forwards for a time and afterwards repeats the process. At the same time, we will setup the Scratch environment so the level of light detected is all shown on the Scratch screen. Prepare the Scratch Environment Click here to open Resources for Exercise 7 and add the following: Backdrop Backdrop 2 Backdrop 3 Backdrop 4 stage1 stage2 stage3 stage4 Sprite Costume2 Costume3 Costume4 Light1 Light2 Light3 Light4 Sprite Sprite moway 1. Programme the Robot The programme consists of a loop repeated ad infinitum. It begins by turning 30 to the left. To do this, the following blocks are used: torch Command Description Fixes the turning angle at 30 Turns to the left with the angle indicated in the rotation variable Afterwards, it stores the light level detected by the sensor in the light variable and turns 60 to the right. In this new position, it looks at how much light it detects: If the light level in this position is greater than at the beginning, the robot will move forward. On the contrary, if the light level was greater in the previous position, the robot returns to this position and moves forward.

27 P a g e 27 Once these two positions have been compared, the robot makes sure that the light level is sufficient: If the light level is lower than 30, this means that the robot is not moving towards the torch and so it turns 180. Afterwards, it repeats the previous process completely. 2. Programme the light level The level is used to indicate the amount of light being detected by the moway robot. Its position on the horizontal axis (X axis) will vary according to the local level in accordance with the following formula: Position on the X axis= light sensor * 3.8 In this way, if there is no light, the sensor value will be 0 and the result will be: Position on the X axis = * 3.8 = = In other words, on the left-hand area of the screen. If the light level is maximum, the value will be 100 and the result will be: Position on the X axis = * 3.8 = = In other words, on the right-hand area of the screen. 3. Programme the light and backgrounds On the Scratch screen, both the light beam from the torch and the background are going to change in accordance with the light level detected by the moway robot sensor.

28 P a g e 28 This programme modifies the appearance of the Light object. If there is little light, the beam from the torch will be small ( Light 1 ). The higher the light level, the larger the beam from the torch will be ( Light 2, Light 3 and Light 4 costumes). Likewise, the programme to modify the background is similar to the previous one, but in this case, the costumes used are background ( stage1, stage2, stage3 and stage4 costumes).

29 P a g e 29 Exercise 8: Moon mission In this exercise, moway is on the Moon, carrying out observation missions. moway will react to the sounds we generate to travel over the surface of the Moon. When we generate a first loud sound (it may be a shout or clap) moway will move forward until it reaches the horizon and wait for a new sound. With the second sound, moway will return to the starting position. Prepare the Scratch Environment Click here to open Resources for Exercise 8 and add the following: Backdrop Sprite Costume Sprite Find this in scratch moway_forward moway_back Draw a horizontal line and name it horizont We will use Scratch s move steps and change size blocks in order to simulate that moway is going away and approaching. In order to indicate the horizon, we have placed an imaginary black line that coincides with the horizon of the Moon scenario. For the microphone sensor value to appear on the Scratch screen we must tick Scratch s left-hand sidebar. In order to show only the numerical value, we must press the variable in the scenario with the right-hand mouse button and select large readout.

30 P a g e 30 When the Green Flag is pressed, moway is placed at the starting position and with its original size. This function is required if moway has been moved across the screen or been reduced in size during a previous execution of the programme. Then it repeats an advance and reverse sequence ad infinitum. In the first place, moway changes the costume to forward and turns on the upper green LED to indicate that it is awaiting orders. moway will wait until it hears a sound of over 15%. Once this happens, moway will turn of the green LED and move forward while it reduces its size on the screen as it moves away. In order to reduce moway s size, we will use Scratch s change size by command. Command Description The change size by command changes the size of the object by a factor of 10 When moway reaches the horizon it will turn around and turn on the green LED to indicate that it is waiting for a new order. The return journey is performed in the same way but in reverse and moway increases in size as it approaches. The limit in order to make a 180º turn in this case will be established by the edge of the scenario instead of the horizon.

31 P a g e 31 Exercise 9: Song If you re happy In this moway exercise, we are going to use the microphone to identify whether we are following the rhythm of the music correctly. Scratch will play the children s song If you re happy and when the claps in the song are heard, moway will check whether we have done it correctly. If we had done it correctly, moway will turn on all its LEDs and turn around (180 ). Lastly, if the three blocks of clapping are executed correctly, moway will display the message You ve done it!!. The words of the song are as follows: If you re happy and you know it, clap your hands (clap clap) If you re happy and you know it, clap your hands (clap clap) If you re happy and you know it, then your face will surely show it If you re happy and you know it, clap your hands. (clap clap) Prepare the Scratch Environment Click here to open Resources for Exercise 9 and add the following: Backdrop Sprite Costume Sprite Costume Sound If you are happy song Fondoninos1 moway moway applause hands Hands applause If you are happy The blocks of clapping must be executed when the verse finishes. This occurs three seconds after beginning (in the first), four seconds after the first (in the second) and the last one 8 seconds after. From this reason, the microphone value is checked at these intervals. 1. Programme the moway sprite If the microphone signal has a value of over 15% the applause signal is broadcast. Until now, the sentence broadcast had been used to send commands to moway but it is also used to send commands in Scratch to other objects or, within the same object, to perform specific applications. In this case, when the moway object in Scratch receives the applause command, it changes the costume to moway applause, turns 180, turns on the LEDs for one second, and increases the applause variable by 1 to indicate that the clapping sequence has been performed correctly. When the programme finishes, we will check whether the applause variable has a value of 3, which would indicate that the three clapping sequences have been performed correctly.

32 P a g e Programme the hands sprite Additionally, let s programme the hands of the children in the background to also applaud when the applause signal is received. This signal is generated if moway has detected the clapping at the right moment.

33 P a g e 33 Exercise 10: Football In this game of football, the main figure is the goalkeeper. The game consists of preventing balls from entering the goal. The higher the percentage of saves, the better the result will be. We will use the moway as an accelerometer in order to play the game. Learn more about an accelerometer here. Prepare the Scratch Environment Click here to open Resources for Exercise 10 and add the following 4 objects: a goal, a ball, a goalkeeper and a player. Each one of these objects will have a different task Backdrop Sprite Sprite Sprite Sprite Pitch goal ball Goalkeeper player The player counts the number of goals scored. The goalkeeper moves around the goal to stop the balls. He also counts how many shots he has saved. The ball moves from the player towards the goalkeeper. It also detects whether the ball has entered the goal or whether it has been saved by the goalkeeper. The goal does not perform any action. To determine the results of the game, it is necessary to have 3 counters which are responsible for the following: Command Description Counts the total number of shots made Counts the number of goals

34 P a g e 34 Counts the number of saves In programming, these counters are called variables. A variable is a word that can be assigned a value. These values are modified with the set to and change for blocks: Command Description Gives the goals variable a value of 0 Increases the goals value by 1. In other words, if goals had a value of 3, after this block, it will have a value of 4 1. Programme the Goalkeeper The goalkeeper programme consists of two parts. In the first part, the goalkeeper moves all around the goal when the moway robot is tilted. This is done by reading the accelerometer value in the X axis, by means of the value of the X-axis g sensor. This value is multiplied by -10 for two reasons: To make the movement bigger (its value increases 10 times) so that the movement is sufficiently ast. If not, the goalkeeper would be too slow to stop the balls. To make the goalkeeper move towards the side on which the robot is tilted. By holding the robot in in the manner showed perviously, the movement on the screen would be in the direction opposite to the direction in which it is tilted. In order to correct this, it is necessary to multiply this by a negative number. The second part of the programme counts the saves made by the goalkeeper. It displays the Blocked!! message and increases the saves counter. This part comes into operation when the block message is received. Later we will see this in the ball programme. 2. Programme the Ball The ball programme is responsible for the following: Move the ball from the player towards the goal. Detect whether the ball has been saved or whether it has entered the goal.

35 P a g e 35 The programme consists of a loop repeated ad infinitum. It starts by placing the ball in the x: 0, y: 102 position, in other words, just in front of the goalkeeper. To make the direction of the ball unpredictable, it is set at a value of 145º and to this value a random number between 1 and 70 is added. The ball can be shot therefore in a direction of between 146º and 210º. The ball moves in the direction set by the direction variable until it reaches the goalkeeper or the goal. Once it reaches the goalkeeper or the goal, a message is sent: The message is block if the goalkeeper has managed to stop the ball. The message is goal if the ball enters the goal. These messages are used to tell other programmes to start running. For example, when the ball sends the goal message, the player programme increases it goal counter by 1. In a similar manner, when the goalkeeper receives the block message, it increases its saves count. 3. Programme the player This programme is only responsible for counting the goals. Every time the ball enters the goal, it will send a message. On receiving this message, the player programme will increase the goal counter by 1, by the change goal by 1. Moreover, it calculates the percentage of saves. number of goal means of Add a scenario counter: The scenario has a programme responsible for starting all the counters at 0.

36 P a g e 36 Exercise 11: Pong The next exercise is a recreation of the classic game Pong, but with only one player. The game consists of a ball that bounces across the screen and moway has to prevent the ball from touching the wall behind it. In this case we have modified the setting a little and now moway is playing in the sea with the ball and has to prevent the ball from falling into the water. moway will have three lives, in other words, it can make three mistakes. Every time moway touches the ball, the score will increase by one. Prepare the Scratch Environment Click here to open Resources for Exercise 11 and add the following 3 objects: a goal, a ball and moway. Each one of these objects will have a different task Background 1 Goal Ball Sprite Sea_bg Goal Ball moway The ball - We must keep in the air and prevent from touching the water. MOway - Is responsible for preventing the ball from touching the water. We can control it with the accelerometer. The limit (in this case, the water) which the ball must not reach. And the game over message which will appear when we have used up our three lives. 1. Programme the ball When the green flag is pressed, the score variables start at 0 and the number of lives at 3 and a sequence of repetitions starts until all the lives are used up (lives=0).

37 P a g e 37 The first step in the sequence is to place the ball at the top centre with an orientation of 145. The ball begins to move forward and bounces if it touches the sides or top, until it touches the Limit (the water ). Every time that moway prevents the ball from touching the water, the score will be increased by one and the ball will bounce. So that the ball bounces in accordance with the laws of physics, we must change its direction by applying the following formula: New direction = 180 previous direction In order to make it a little more difficullt, we have included a factor that adds a random number in this equation of between -20 and 20 degrees. After changing the direction of the ball, a movement of 20 steps has been added to prevent double bounces against moway. Every time the ball touches the water, moway will play a failure melody and a life will be used up. This new moway command allows the buzzer to be used in order to play a number of preloaded melodies. Command Description moway plays an error melody moway plays a charge! melody 2. Programme the moway The moway programme is very simple and is virtually the same as the Goalkeeper game in the previous exercise. Lastly, the Message programme consists of showing the game over message when the lives variable reaches zero.

38 P a g e Prepare for a career in Robotics Communicate Being able to communicate and share your ideas with colleagues is very important. Building a robot is not a task for just one person. Rather it is a collaborative piece of work and as such people working in robotics must be able to communicate their ideas and knowledge in a clear and coherent in order to work successfully with others. Be patient Building a robot takes time and a lot of patience! It is important to understand that setting realistic goals is a key feature to the success. Start with a small project. Maybe get a toy robot that involves some construction and programming. Once you have mastered this, move on to a bigger, more complicated model. However, do not stop dreaming and pushing technology to its limits! Learn about robots It is not easy to learn it but it might be a key factor for you taking one of careers in Robotics field. Knowing how Robots and Artificial Intelligence work help, you not just to know robots better but also to have a deeper understanding in Artificial Programmes such as Siri. Complete online courses If you want to get more information about Robotics, you can take online courses for it. There are many online courses on various subjects of Robotics: artificial intelligence, machine learning, computer vision and so on. Choose a Career in Robotics If you want to be a Robotics Engineer and build, and develop robots If you want to be a Robotics Engineer, join the local robotics school or take online course on robotics and learn to construct and develop a robot. If you want to be a Software Developer and create systems for Robots If you want to be a software developer, gaining experience is necessary to create programmes in your free time. Learn one or more programming languages such as C# or C++. Use open source programmes, as they are a great way to learn a language. If you want to be a Technician and repair and maintain robots To work in this area, become familiar with details used for building a robot. You need to know how and what details it is best to use for one or another purpose. In addition, you should be familiar with troubles and errors of Robots. If you want to be a Sales Engineer and sell robots You have to be familiar with the needs of clients and the news in Robotic field. You must also know what other players in the market are and what products they sell. If you want to be an operator and control a robot

39 P a g e 39 Some robots need to be controlled. If you want to control a robot, you need to have some knowledge in robotics. Especially, in their behaviour and the main problems of them. Meet people working in Robotics. Watch a video about Robotics Engineers: Day in the Life: Robotics Engineers (3:22) 6. Course Conclusion Thank you for completing the Robotics Taster Course and being part of the GYIT pilot programme. All students who participate in the GYIT programme will also receive a Follow on Resource Pack. This will comprise a comprehensive list of free and open source websites and tutorials so students can continue on their introduction to robotics. For further information on the GYIT pilot programme, please visit our website: Click here>>

40 P a g e Annex moway Installation Install Scratch 2 & moway applications on your computer Before we look at Scratch and moway in more depth, we will first install and set them up to use. Please follow the steps below: 1. Download the flowchart-based MowayWorld software and install it, choosing the administrator profile, onto your computer (for windows) Windows Linux 2. You have to install Scratch 2 Offline Editor following the next steps: 2.1. Go to Scratch 2 Offline Editor and download and install, choosing the administrator profile, the latest Adobe AIR (for windows) Windows Linux Mac OS X Mac OS 10.5 & Older 2.2. Next download and install, choosing the administrator profile, the Scratch 2.0 Offline Editor Windows Linux Mac OS X Mac OS 10.5 & Older 3. Connect the RF module to the moway robot expansion connector. 4. Connect the RFUSB to the computer via a USB hub. 5. Connect the moway robot to the computer. 6. Open the mowayscratch application. mowayscratch V2

41 P a g e Press the Program button (not necessary if the robot has already been programmed). 8. Once programmed correctly, disconnect the moway robot from the computer and turn on the robot (there is a switch on the underside of the robot). 9. Open the Scratch programme and activate the remote sensors. To do this press "Shift" on your keyboard and hold, then click in File on the Scratch screen (top left of the screen) and choose "Import experiental HTTP extension"tp" (see below) 10. Follow the following file path: C:\Program Files\mowayPack v4 \mowayscratchv2\projects\library\english\mowaylibrary.s2e *Please note that the file path may vary slightly 11. Once the Scratch is open, disconnect the moway robot from the computer and turn on the robot (see step 8 above)

42 P a g e Once the robot is on, press the Connect Moway button in the Moway screen (the screen may suggest a channel leave the channel as it is). The status of the application panel will be as follows. If the robot is connected, both images onscreen will be highlighted in green. 13. Returning to the Scratch window and select the More Blocks button. If all steps were done correctly, you will see dark grey blocks with instructions for the robot see the diagram below

43 P a g e Annex - Learn More about Robotics Terminology LED lights An LED is an electronic device similar to a light bulb. When an electric current passes through an LED, it lights up. The great difference between an LED and a normal light bulb is that LEDs consume much less energy. Moreover, LEDs last longer and withstand vibrations better. There are LEDs of different colours: white, blue, red, green, etc. Nowadays, we can see them everywhere: light bulbs, lamps, torches, TVs, car headlights, etc.

44 P a g e 44 A normal light bulb is a little different due to the fact that most of the electrical energy used to supply it (90%) is transformed into heat. Only 10% of the energy is transformed into light. In contrast, a LED does not heat up, taking greater advantage of the energy used to supply it, transforming this into light. The moway robot can control 4 LEDs independently. Their locations are indicated in the figure:

45 P a g e 45 Sensors A sensor is an item that allows a robot to discover the world around it. It is somewhat similar to our senses. Thanks to the sensors, the moway robot can see, hear and feel. This allows it to stop when it nears an object, move forwards when it detects a sound, turn on a light when going through a tunnel, etc. A sensor is a device capable of detecting physical or chemical magnitudes and transforming these into electrical signals. These electrical signals are read by the moway microprocessor and are transformed and sent to Scratch in the form of numerical magnitudes for use in our programmes. In order to measure the amount of sound received, moway uses an electret type microphone like the one in the picture. This microphone uses a plastic electrode which, when polarised, provokes electrical variations when the sound comes into contact with the microphone. Electret microphones are used in multiple applications: Clip-on microphones (like the ones used on TV) Microphone in portable recorders Mobile phones Line and Obstacle Sensors Both of these sensors share the same technology. They are infrared sensors consisting of an LED emitter and a receiver. These LED emitters emit a non-visible light, infrared light. Infrared light emitters and receivers have multiple applications in the world we live in. A very common use is in TV remote controls. They are also used for short distance communications between computers and peripheral devices. Infrared is also used in night vision equipment, surveillance video or, for example, in rescue equipment when there is an absence of light. Another of the common uses of these sensors is to detect obstacles. For example, these sensors are used in the doors of garages and lifts to detect when a person or car is passing through to prevent the doors from closing on them..

46 P a g e 46 Line sensors moway s two line sensors are made up of an infrared LED transmitter and an infrared receiver. These use reflected infrared light to detect the colour (on a grey scale) of the floor where the robot is standing. Remember that sensors convert physical magnitudes into electrical signals. In this case, the amount of infrared light received, which depends on the colour of the floor, is converted into an electrical signal which is read by the moway microprocessor and sent to Scratch. moway translates the amount of light received into numbers. When the surface under moway is white, a greater amount of light will be reflected than when the surface is black. moway interprets and translates those signals, indicating by a value of 0 to 100 the amount of colour detected, 0 being white and 100 black. In order to read the value of the line sensors in the Scratch environment, we will use the Scratch sensors block. In this case, we have two line sensors: right and left. In order to facilitate the development and use of the robot in Scratch, moway incorporates a number of higher-level functions with respect to its line sensors. moway has functions in which the robot itself is responsible for its movements, using the line sensors to follow a black line on a white background. Obstacle sensors moway has four obstacle sensors made up of two infrared LED emitters and four infrared receivers. It uses the reflection of in rared light to detect obstacles in its path. The light emitted by the LEDs strikes against the objects in front of moway and is reflected towards the receivers. If the receivers detect infrared return beams, this will mean that moway has an obstacle in front of it. In this case, the infrared light received is converted into an electrical signal which is read by the moway microprocessor and sent to Scratch in accordance with the nearness and size of the object, representing with a value of 0 the absence of any obstacle and an increasing number of up to 100 in the presence of obstacles. Light Sensors A light sensor is a device that measures the amount of light in a location. For example, in cars, it can be used to turn on the lights automatically in tunnels or at dusk.

47 P a g e 47 Light sensors are generally based on an element called a photodiode. This electronic component allows more or less current to pass through it in accordance with the amount of light received. Light sensors have many applications in our environment. For example, have you noticed that mobile phone screens dim when we turn off the lights? In this way it saves batteries thanks to the light sensor similar to the one fi ted in the moway robot Accelerometer An accelerometer is a device that measures the inclination of an object. It can be found in mobile phones and video console controls. When you turn a mobile phone, the image on the screen switches to the correct position. In other words, a mobile phone knows that when it is turned it has to change the image so that it can be read correctly. How does the mobile phone know what position it is in? In other words, how can we measure the inclination have an object? Imagine we have a board from which a pendulum is hung. Due to the force of gravity, the pendulum is always going to be in a vertical position. What happens if we place the board in different positions? A number of different positions are shown below. The angle formed by the board and the pendulum is shown in green. If the board is in a horizontal position, the board and the pendulum form a right angle. In the following drawing, this angle is indicated in green: If the board is tilted towards the right, the angle is less than 90. In the following drawing, the angle is approximately 45 : If the board is inclined towards the left, the angle formed is greater than 90. In this drawing, the angle is approximately 120 :

48 P a g e 48 In reality, an accelerometer measures accelerations. Any force is an acceleration, including the force of gravity. The accelerometer inside moway is a kind of pendulum which allows the robot to determine whether it is tilted and on what side it is tilted. This pendulum is capable of detecting the inclination in 3 axes. In other words, if we tilt the robot in the following ways: Inclination Forwards and backwards Right to left Up and down Axis Y axis X axis Z axis Positions