ENGR-102 (Sections 30 and 33) Week 01: Introduction to NXT Robots and Programming

Transcription

1 ENGR-102 (Sections 30 and 33) Week 01: Introduction to NXT Robots and Programming

2 Today s Agenda 14:00 Role Call Welcoming Remarks Form teams of 4 students 14:15 Experiment 1: Hello World example * Text Display, Play Sound, Move motor 14:30 Experiment 2: Movement example * Move forward then backward * Zero-point turn and arc turn 15:00 Experiment 3: Sensors * Touch sensor * Ultrasonic sensor 15:30 Discussion Points, Lab Book 15:45 Adjourn

3 Welcome to Drexel! MEM Professor since August 2000 Director, Robotics Lab (street-level Bossone) Advised teams who won design competitions 5+ years of industry experience Fellow at NASA, Office of Navy Research and Boeing Served under POTUS at National Science Foundation Web: TA: Robert Ellenberg

4 I am a Robotics Engineer Prof. Paul Oh Drexel University ``

5 What Do I (and Other Roboticists) Do? Robots designed for dull, dirty and/or dangerous work (Yesterday s view) Industrial Applications Automobile: welding, painting Cleaning and Maintenance Roomba (over 6M unit sold) Window washing Nuclear Waste Disposal Security and Emergency Bomb disposal Search-and-Rescue

6 What Do I (and Other Roboticists) Do? Broader Roles for Robots (Today and Tomorrow) Medical robotics (assistive surgery) Super-strong: rehab and bionics Personal robots for elderly Eldercare robots Mental Challenges (autism, Alzheimer) Education robots Distributed robotics Micro robotics Network/multimedia Teleservice robots Amusement robots Intelligent transportation Micro and nano mechatronics Networked human-root systems Robotic multi-media games

7 Career Opportunities Think: Top 10 High-Tech Jobs did not exist 5 years ago! Risk: Your knowledge may be outdated by the time you finished university! Action: Observe the world around you will there be a world without robots? Frankfurt, 14. September Since the beginning of 2010, the demand for industrial robots has been surging worldwide. The trend towards automation which was stopped by the economic crisis in 2009, is continuing, said Åke Lindqvist, IFR President, on the occasion of the publication of the study World Robotics 2010 Industrial Robots, on Tuesday in Frankfurt. A strong recovery of worldwide robot installations in 2010 will result in an increase of about 27% or about 76,000 units. A further increase of about 10% per year on average will resume in the period between 2011 and 2013 attaining a level of more than 100,000 units in 2013.

8 In July, the heads of the Office of Management and Budget and the Office of Science and Technology Policy identified robotics as one of the Administration s R&D priorities for the President s FY2012 budget. Robotics is an important technology because of its potential to advance national needs such as homeland security, defense, medicine, healthcare, space exploration, environmental monitoring and remediation, transportation, advanced manufacturing, logistics, services, and agriculture. Robotics is also nearing a tipping point in terms of its usefulness and versatility as technologies such as software, chips, and computer vision continue to improve Ref: Computing Community Consortium (CCC) Roadmap:

9 Career Opportunities Pragmatically Speaking: Everyday products growing intelligent e.g. cars, microwaves, phones Growing blur between product and service e.g. cell phone Consumers are buying systems Robotics are prime examples of systems Robot engineers have the engineering training to design systems Stanford DGC Vehicle Google Car Predator Aerial Robot Where will the jobs be? Robots will be as pervasive and common as the PC Robots will impact every sector: medical, transportation, entertainment, sports Starts from traditional sectors e.g. ME and EE (Pay: $50K+ annual for BS) Specialized sectors e.g. medical robots (Pay: $100K+ annual for MS/PhD) Growth from start-ups and IPO (think dot-com)

10 Roadmap To Becoming a Roboticist (Before College) In schools: Robot Competitions FIRST: Botball: Robot Clubs Physics and Computer Science Self-Teach: Not Just for Boys! Make your own Robot (lots of books and kits) Ready to Build kits: LEGO NXT Kit ($280) Vex (Radio Shack) Build your own: Bookstores Robot Builder s Bonanza Magazines e.g. Robot Magazine, Servo

11 Roadmap To Becoming a Roboticist (College) Select a Major Few schools have undergraduate majors in robotics Robotics typically is a specialization Select mechanical or electrical engineering Select computer science Most universities with engineering college do something in robotics Schools with dedicated or strong undergraduate robotics program: CMU, Georgia Tech, WPI (only school with dedicated undergraduate degree) Schools with strong robotics programs (typically graduate school): Broad Range of Areas UPenn MIT CMU U Maryland Georgia Tech Medical Robotics Johns Hopkins Rice U Washington Columbia Transportation Stanford, Berkeley Ohio State U Michigan Drexel: MEM Professors Paul Oh (UAVs, Humanoids), Ani Hsieh (Multi-robots, Swarms), James Tangorra (Bio-inspired and underwater)

12 Take Home Messages Robots will co-exist with us. Who will design and build them? You can! Robot Design is fun a life-long career and passion Robot business is still in infancy lots of opportunities! Can get started today lots of kits, books, online and in school (e.g. FIRST) College: Mechanical or Electrical Engineering, or Computer Science Salaries: trends follow engineering profession but can grow significantly

13 Experiment 1: Hello World Goal: Write, compile, and download code to ping NXT Preamble: Robots are programmable computers. They consist of actuators (to move) and sensors (to react) i.e. Cognition, Action and Perception Programming Language (i.e. Cognition): low versus high-level Humans instruct a robot through a program Humans part: use human-readable text to prescribe instructions Robot: computer can only understand 1 s and 0 s (i.e. binary) Programming Environment Interpreter or Compiler Downloader (both SW and HW) You got to be kidding! Human readable programming language e.g. C, BASIC, NXT G-Code, Matlab, LabVIEW Convert human language into binary code (aka machine language) Transfer binary code to robot: SW times the transfer while HW uses some connection e.g. USB or Bluetooth

14 Step 1: Connect USB cable between Tribot and PC Press Orange Button on NXT Brick Launch Mindstorms software Enter program name e.g. helloworld Click Go button Results in the Programming Environment:

15 Step 2: Click on Display block and drag to programming area Programming Area Blocks At pull-down menu, select Text Step 3: Type Hello World! in text box Make position of text on Line 2

16 Step 4: Save: Click File Save helloworld.rbt (to desired folder) Ensure connection to NXT: Click NXT Window Select USB if needed and click Connect and Close Step 5: Click Download (this is compile and download stage Click Download and Run

17 What Happened? Step 6: Click Timer and Drag to programming area Pull-down menu: select Time Change field to 5 seconds Step 7: Save Download and Run Lesson: Program runs so quickly that need timer to delay and display text

18 Exercises: Write and execute following programs. Paste screen image in notebook 1-1: Have NXT say Good Job. Hint: Click Complete Panel to see more blocks Filename: helloworld-goodjob.rbt 1-2: Move NXT Motor B for 5 seconds. Hint: Use Move block, not Motor block Filename: helloworld-motorturn.rbt Move block versus Motor block Click to see more blocks

19 Experiment 2: Movement example (i.e. Action) Goal: Program Tribot to translate and rotate Step 1: Step 2: Start new program: Click File New Click File Save As with filename: moveforward.rbt Click Motor block and drag to programming area Port: Select B and C Direction: Up arrow means forward Steering: slide bar determines ratio of B to C. Middle means Tribot moves forward Power: Set to 10% - this determines speed Duration: Pull down menu set for Seconds and set for 3 seconds Next Action: Select brake

20 Step 3: Save, Download and Run What Happened? Step 4: Change power to 75% and repeat Step 3 Step 5: Create new program with filename: moveforwardbackward.rbt Click and drag Move block and set for 3 rotations Move forward with 3 rotations

21 Step 3: Click and drag a second Move block Set Direction to down arrow i.e. move backward Set Duration to 2 rotations Save, download and run Exercise: Write and Execute program. Paste screen image in notebook 2-1: Move Tribot forward 24-inches and backward 12-inches. Hint: Wheel radius = 1 Filename: moveforwardbackwardmeasured.rbt 2-2: Perform zero-point turn for 3 seconds Filename: zeropointturn.rbt 2-3: Perform arc-turn Filename: arcturn.rbt

22 Experiment 3: Sensors (i.e. Perception) Goal: Use sensors so robot can react to events Step 1: Step 2: Start new program: Click File New Click File Save As with filename: haltwhentouched.rbt Click Motor block and drag to programming area Set to move straight and forward at 75% Set Duration to Unlimited Step 3: Attach Touch Sensor to NXT on Port 1 Click Touch block and drag to programming area Control: Pull down menu and set to Sensor Sensor: Pull down menu and set to Touch Sensor Port: Select 1 (sensor plugged there) Action: Select Pressed

23 Step 4: Save, Download and Run Exercise: Write and execute programs. Paste screen image in notebook 3-1: Move forward indefinitely. When touch sensor triggered, reverse 12-inches Filename: reversewhentouched.rbt 3-2: Attach ultrasonic sensor to Port 4. Move forward indefinitely but halt when Tribot is within 12-inches of an obstacle Filename: haltultrasonic.rbt

24 Take Home Points: Discussion Points Cognition through Programming: human-based language (e.g. NXT code), compile/interpret, download Action through Actuators: Enables robot to move e.g. motors (any others?) Pneumatic inchworm: Perception through Sensors: Enables robot to react to events e.g. ultrasonic Many 3 rd party ones: Robots: A way to motivate programming; LEGO: rapidly build (complex) robots without a machine shop or electronics workbench.

25 Discussion Points Take Home Points: Understand and visualize output signals (hence function generator) Question: Why only sine, square, ramp, triangle? Hint: Fourier theorems, derivatives and integrals Measure signals (hence oscilloscope) Question: What s a transducer? Hint: Oscilloscope only measures voltages Autoscale is nice feature but usually works for periodic signals