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Component List
CPU Board x 1 DC Motor Drive Board x 1 IR Sensor Board x 2
Contact Sensor Board x 1 LED Board x 4 Buzzer Board x 1
DC Motor x 2 Battery Case x 1 RS232cable x 1
3 Pin Cable x 12 Wheel x 2 Wheel Guide x 2
Main Frame x 1
Middle Frame x 2
8-holes Frame x 2
5-holes Frame x 4
4-holes Frame x 2
7mmSupport x 6
20mmSupport x 8
35mmSupport x 5
3x6 Bolt x 50
3x10 Bolt x 2
Nut x 50
Cap Nut x 1
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Motor Frame x 4
L 2x1 Frame x 2
L 2x2 Frame x 2L 2x6 Frame x 2
Motor Guide x 1
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Safety Precaution
1. Do not put the parts in your mouth.
2. Do not operate or bend/ remove the parts forcibly.
3. Do not put your hand into moving parts.
4. Do not throw or swing components or products to people.
5. Be careful when touching sharp edge of the parts.
6. Keep away from flammable or corrosive solvents (including water)* and gases.
7. If the chemical from a battery gets into your eyes, mouth, or on your skin, follow the
instructions below.
- If the chemical gets into your eyes: Flush them thoroughly with clean water, and then see a doctor
immediately.
- If the chemical gets into your mouth: If swallowed, do not induce vomiting. See a doctor
immediately./ If the chemical just gets into your mouth: Wash out your mouth with water thoroughly.
- If the chemical gets on your skin: Wash the area thoroughly with soap and water.
8. Please assemble and operate with a guardian or a teacher.
9. Our kit includes small parts so children under three years of age are not admitted to use.
Intelligent Robot School 1
Author : Jungmi Park, Gooyong Um, Youngsuk Choi
Tranlation : Jangwoo Kim, Minjeong Yoo
First Edition : July 28, 2003
Pub. Date : January 14, 2010
Publisher : RoboRobo Co., LTD.
Copyright Roborobo Co., LTD. All rights reserved.
Printed in the Republic of Korea. This publication is protected by copyright, and permission must be obtained from the publisher prior to any
prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permissions, write to: RoboRobo Co., LTD.
5F RoboRobo building, 197-16, Mia-Dong Gangbuk-Gu. Seoul 142-100 South Korea
Tel : 82-2-909-5050 Fax : 82-2-917-3511
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Table of Content
1. Robot is? 1
The World of Robot 2
What Parts Are There? 4
What Did You Learn? 8
2. EasyBot 9
Be Careful! 10
Follow me! 12
What Did You Learn? 16
3. TreeBot 17
CPU Board 18
How to Assemble 20Program 26
Portable PC 32
On Chip, Off Chip and Delay Chip 36
Shall we make it move? 38
What Did You Learn? 40
4. FlyBot 41
LED Board and Buzzer Board 42
How to assemble 44
Set the DC Motor Chip 50
Shall we make it move? 52
What Did You Learn? 54
5. RaceBot 55
DC Motor 56
How to assemble 58
Set the DC Motor Chip 62
Shall we make it move? 64
What Did You Learn? 66
6. DancingBot 67
DC Motor Drive board 68
How to assemble 70
While Chip 74
Shall we make it move? 76
What Did You Learn? 78
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7. ControlBot 79
Contact Sensor Board 80
How to assemble 82
Contact Switch Chip 88
Shall we make it move? 90
What Did You Learn? 92
8. HittingBot 93
RS232C Cable 94
How to assemble 96
Loof Chip and Rand Chip 102
Shall we make it move? 104
What Did You Learn? 106
9. BumperBot 107
Robot using a bumper 108
How to assemble 110
If Else Chip (for contact sensor) 114
Shall we make it move? 116
What Did You Learn? 118
10. SensingBot 119
Infrared Sensor Board 120
How to assemble 122
If Else Chip (for IR sensor) 126
Shall we make it move? 128
What Did You Learn? 130
11. KickboardBot 131Sensor 132
How to assemble 134
Else If Chip 138
Multiple If Chip 139
Shall we make it move? 140
What Did You Learn? 142
12. BattleBot 143
Battle Robot 144
Shall we make it move? 146
What Did You Learn? 148
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Robot is...?
A robot is the machine that can recognize specific environment by itself and
execute the corresponding mission. For example, the CleanBot can clean up living
space by detecting dirty area. Have you ever thought about a transforming robot that
saves the world?
There is a robot that looks and acts like a real dog so people treat the robot like a pet.
Some industrial robots can even help people assemble various types of machines.
Etymology of Robot : Original meaning of robot is " working man" from the Slavic language. It was first introduced in a bookwritten by Karel Capek.
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The World of Robot
Robot for medical treatment - "Da vinci"
An operating robot named Da Vinci can do a
type of delicate operation. Its five arms use
minute tools, so it is able to do fine work.
Robot designed for Mars probes"Rover"
Rover is the first robot which explores whether
life form is existed or not on Mars
"SoccerBot"
Soccer robots cooperate each other by using a
vision sensor. The soccer game is played by four
robots and the first game was hosted by KAIST.
"BattleBot"
The robot has to destroy an opponent to win
the game. This battle game was first held in the
U.S.A
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Humanoid"Hubo"
This is a Korean-made robot which can move
fingers and walk just like humans.
It can shake hands with proper amount of grip
strength.
BombremovalBot"Hobo"
This robot has been used by advanced nations
for removing bomb keeping humans out of
danger.
EducationBot - "Papero"
This robot can recognize humans voice and
expression so it can make a communication
with human being. And it can also take care ofkids.
SecurityBot"Watch Dog"
This robot can monitor an intruder or detect afire. Another function is to record and send the
recorded images to a PC or a mobile phone of an
user.
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What Parts Are There?
CPU Board
It functions like the brain of the robot. It is
where the program you made is saved.
DC Motor Drive Board
It controls the speed and direction of a DCmotor.
IR Sensor Board
It can sense infrared rays.
Contact Sensor Board
It senses whether a switch is pressed or not.
LED Board
When it receives the electric signal, it radiates
a light
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Buzzer Board
When it receives the electric signal, it
makes a "Beep" sound.
DC Motor
It is a main part for moving or turning the
robot.
Battery Case
It takes four AA batteries which supply power
to the robot
RS232 Cable
It is used for downloading a program to the
robot.
3Pin Cable
It is a connection cable that transmits a
signal.
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Wheel
Wheel Guide
Connected with the DC motor, it makes therobot move.
Frame
It functions as a body of the robot. There are
several kinds of the frame such as the main
frame, the middle frame, and the 8-,5-, and 4-
holess-frame.
Motor Frame
It is usually used with the DC motor. It is
made of metal and used to connect the frame to
the frame or the frame to the circuit board at a
right angle. It has built-in female screw.
L - Frame
It is used for right angle connection
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Support
It can be used to connect the frame with the
frame or the frame with the circuit board
parallely.
Bolt & Nut
They tighten various kinds of parts.
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What Did You Learn?
1. If you were a robot scientist, what kind of robot would you develop?
If I were a robot scientist, I would develop
The reason why I want to make this robot is
Homework Signature
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Today's GoaL
EasyBot is designed for teaching basic assembling skill. Lets learn basic knowledge
of how to assemble the robot. Also, you can study the characteristic of each operating
part of the robot.
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Be Careful!
Don't tighten them too much.
They can be broken.
Some parts are sensitive to moisture,
water and static electricity.
Specially, circuit boards which have
CPU and DC motor drive boards shouldbe kept in a dry place.
When you store the parts...
When you tighten a bolt or the support...
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Connecting the 3pin cable to the wrong place
causes robot malfunction. So users should be very careful connecting the 3pin cable to
the right place.
Do not subject the parts to stress
with any excessive force or impact.
Also, the robot and its parts
should not be dropped since the
frame may be broken or small
electric parts may be lost.
The 3pin cable should be connected to the right place.
KKeeeepp aawwaayy ffrroomm sshhoocckkss oorr vviibbrraattiioonnss..
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Follow me!
1. Tools
We need a cross-tip screwdriver and a hexagon screwdriver to assemble parts. Their
heads have a magnetic tip, so attract bolts and nuts.
cross screwdriver hexa screwdriver
2. Assemble the LED board to the main frame.
Confirm where the LED boards are supposed to be in the main frame.
Ex) A1 A row and the 1st line
Place the LED boards on the main frame and insert a bolt pushing by
hand. Then, tighten with the hexa screwdriver which attracted the nut.
3. Assemble the 7mm support with the wheels.
Fix the wheel in a tire. Put the 7mm support into the wheel axle and
tighten the bolt by the hexa screwdriver.
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4. Assemble the 7mm support to the main frame.
Put the 7mm support which is fixed with the wheel on the main frame, and
fix with nuts using the hexa screwdriver.
5. Assemble the CPU Board and the main frame.
Place the CPU board on the main frame and fix with the bolts and
nuts using the hexa screwdriver.
6. Assemble the L2x2 frame and middle frame.
Place the L2x2 frame on the middle frame and fix with bolts andnuts.
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7. Assemble the L2x2 frame to the CPU board.
Place the L2x2 frame on the CPU board and fix with the bolts and
nuts.
8. Assemble the buzzer board and the DC motor drive board on the CPU board.
Place the buzzer board on the DC motor drive board and fix with nuts
and bolts. Fix the DC motor drive board on the CPU board with bolts and
nuts.
9. Assemble the DC motor and the CPU board.
Put the DC motor on the CPU board and fix with bolts and nuts. Fit
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the wheel guide into the DC motor.
10. Assemble the 7mm support on the CPU board.
Put a bolt into the CPU board and press it by hand, and then fit the 7mm
support into the bolt by the hexa screwdriver.
11. Assemble the battery case with the support.
Check the polarity of the batteries and fit them into the case. Put the
battery case on the support and fix with the nut and the hexa screwdriver.
12. Plug the power cable and DC motor cable.
Plug the power cable of the battery case into the power connector on the CPU
board. The black line of the DC motor cable has to be lined up with the triangle
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mark() of the motor drive board.
What Did You Learn?
1. What is the size of these parts?
2. Following is the picture of the CPU board which is connected by the 3pin
cable, Fill in the following blanks with appropriate colors.
Homework signature
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Today's GoaL
Treebot is designed to teach different functions of the LED and Buzzer
board. Let's also learn the function of the CPU board.
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Robot Story
CPU Board
The CPU board is the part of the robot that functions as a human brain. The
CPU board consists of one CPU, several small electric parts, IN and OUT ports,
and a power connector.
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The Power connector : The Power cable of the battery case should be
connected to here.
OUT Port : Where the CPU generates a signal.
IN Port : Where the CPU receives a signal.
RS232 Cable Port : The Connection port for the RS232 cable. Programs are
downloaded through this RS232 cable.
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How to Assemble
1. Fix the 20mm supports to the main frame with nuts.
2. Fix the 7mm supports to the main frame with bolts.
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3. Put the motor frames on the main frame and fix with only bolts.
4. Put the battery case on the 7mm supports that are located at the main frame and tighten it
with the 35mm supports.
5. Put the CPU on the 35mm support and tighten it with nuts.
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6. Make a triangle using the 5-holess frame and tighten each other using bolts and nuts.
7. Put the buzzer board on the triangle-shaped frame and fix it using bolts and nuts.
8. Locate 8-holess frames under the triangle-shaped frame and tighten it using bolts and nuts.
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9. Put the 5-holess frame one the 4-holess frames and assemble it using bolts and nuts.
10. Put the frame that you made in the step 9 on the 8-holess frame and connect each other.
11. Connect the tree shaped frame to the motor frame using only bolts.
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12. Put the LED board to the tree-shaped frame with bolts and nuts.
13. The same as step 12
14. Connect the power cable from the battery case to the power connector located on the CPU
board. Prepare five 3pin cables.
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15. Connect the 3pin cable to the OUT port No.1 of the CPU board lined up the black wire
with the triangle mark. And connect the other side of the cable to the red LED and the orange
LED setting the black wire with the triangle.
16. Using the 3pin cable, connect OUT ports No.2 and 3 of the CPU board to the yellow LED
and the green LED in the order.
17. Connect OUT port No.4 of the CPU board with the LED board and OUT port No.5 with the
Buzzer board using the 3pin cable.
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18. This is a completed TreeBot.
Program
Rogic Program
Menu : This includes various functions such as saving or opening the file,
settings, upgrade and so on.
Start : This chip indicates to start the program.
Chip : This is used for operation command.
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100% View : Enlarges the on-screen by up to 100% for easier viewing.
200% View : Enlarges the on-screen by up to 200% for easier viewing.
recycle bin : This is the place for deleting chip.
Download: This is the button for downloading.
Run/Stop : This is the used for operating / stoping the robot.
www : This is the button for our web site.
EXIT : This exits a program.
RS232 cable connecting icon : It shows the connection between a PC and a
robot. [connected / disconnected ]
1. Move a chip
Click a chip to move Drag
the chip Click the chip to set down
2. Connect a chip
Click a chip to move Put the chip
under the other chip.
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3. Delete a chip
Click a chip Drag to the recycle bin
Click the recycle bin Click "yes"
in the dialog box.
4. Locate a chip between chips
Click a chip Drag it to the location
that you want Click the chip to set
down.
Follow me!
When the chips are connected correctly,
the following symbol " will appear
among the chips.
Follow me!
Let's move the chip.
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5. Delete a chip that is located in a program
Click the chip to delete Put the chip at empty space Click the chip that is
located under the chip that will be deleted, and then paste the chip to the
original program Delete the remained chip.
Follow me!
Let's locate the Delay Chip between the
DC motor and the ON Chips.
Follow me!
Let's delete the On chip and Delay chip.
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6. Copy/Paste a Chip
Move the mouse cursor over the selected chip to copy and press a keyboard shortcut, [Ctrl]
+ [C]. Move the cursor over where to paste and [Ctrl] + [V] If the chip is copied
Insert the copied chip between other chips.
Follow me!
Let's delete the Delay Chip between the
DC motor and the ON Chips.
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Follow me!
Let's copy ON Chip and paste it between
ON Chip and the Delay Chip.
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Follow me!
Let's copy the Delay Chip and insert it between the On and Off chips.
Follow me!
Let's delete the Delay Chip and insert the Off chip between chips.
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Portable PC
Down: This downloads a program to the robot.
Run/Stop : This operates the robot or stops the robot.
Menu : This opens a file that is saved before.
Chip : This is used for robot operation.
Del : This deletes a chip. Num/Eng : This is used for changing the keyboard language.
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1. Select a chip
Push the button. Use the left and rightward arrow keys
( ) to select the chip. Push the enter button( ).
Follow me!
Arrange the chip like a picture below.
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2. Delete the chip
Use the up and downward arrow keys ( ) to select the chip.
Push the button. When the dialog box appeared, push the
button.
Follow me!
After selecting the Delay Chip, push the
button.
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3. Locate the chip
Use the buttons to move the cursor Locate the chip on the
place where you want.
Follow me!
Move the cursor on the motor chip and then
push the button to select the chip.
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On Chip
Function : It gives a signal to the port.
Application : Check the port that you want
to give a signal
Delay Chip
Function : It maintains certain condition
during designated times.
Application : You can set the time that you
want to delay in the box.
Follow me!
Let's turn on the green LED and the red
LED for 3 seconds.
_____________________________
_____________________________
Follow me!
Let's turn on the red LED and the green
LED.
Why is NOT the LED turned on?
_____________________________
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Off Chip
Function : It stops providing a signal
Application : Check the port that
you want to turn off.
Follow me!
Let's turn on four LEDs for a
second and keep them off for a
second and then turn them back
on for a second.
Why is it turned off, although
there is not the Off chip?
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Shall we make it move?
1. Try to turn on the red, orange,
yellow, green LED boards and the
buzzer with a second period in order.
2. Let's make the green and the red
LED twinkle at one second interval
twice.
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3. Try to make the red, orange, yellow,
and green LEDs twinkle for a second
in order.
4. Assemble your own Treebot that
sparkles and sounds.
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What Did You Learn?
1. This is the CPU board. Fill out the empty boxes.
Homework Signature
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Today's GoaL
FlyBot is an airplane robot. This robot consists of the DC motor which
supplies rotatory power to the propeller, the buzzer and the LED. Program
the direction and speed of the propeller by using the DC motor chip.
Robot Story
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LED Board
A LED (light-emitting diode) is a semiconductor light source which emits
light when it gets the electric signal. Even though it is similar in function and
shape to a light bulb, it consumes smaller amount of electricity and can be used
semi-permanently. As introduced as a practical electronic component, LEDs are
used as indicator lamps in many devices, and are increasingly used for lighting
such as televisions, videos, cellular phones and so on.
Example of LED usage(Traffic light)
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Buzzer Board
.
When a buzzer board receives the electric signal, it makes 'beep' sound. Inside
of the buzzer board, there is an electromagnet and a plate that makes vibration.
Sound can be made when the electromagnet shakes the vibration plate very fast.
Different from a general speaker, the frequency of the buzzer is limited. So it is
usually used for an alarm. For example, the buzzer on the main board is used for
an alarm sound.
Example of buzzer usage(Computer main board)
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How to Assemble
1. Insert the 7mm support into the wheel and tighten it using a bolt.
2. Tighten the L2X2 frame on the 7mm support using the nylon nuts.
3. Put the L2X2 frames connected with wheel on the main frame, and tighten them using bolts
and nuts
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4. Assemble the DC motor and motor frame using bolts.
5. Place the motor frame on the main frame, and tighten it using bolts
6. Using the 4-holes frame, the 5-holes frame, and the motor frame make the T-shape, and
tighten them using only bolts.
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7. Put the T-shaped frame under the main frame, and tighten it using bolts and the 7mm
support.
8. Fix the cap nut at the 7mm support, and tighten the buzzer board at the motor frame using
a bolt.
9. After connecting the 5hole frame to the wheel guide, fit it into the DC motor.
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10. Locate the battery case on the main frame, and then assemble them together with bolts
and supports.
11. Fix the CPU board and the DC motor drive board together with bolts and nuts.
12. Place the LEDs on the 8hole frames, fix them together using bolts and nuts.
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13. Put the 8hole frame on the CPU board and tighten them using bolts and supports.
14. After connecting the 20mm supports to the CPU board, fix the middle frame with nuts.
15. Put the CPU board into the 35mm supports, and then tighten it using nuts.
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16. Connect the power cable of the battery case to the power connector of the CPU board.
Connect the DC motor cable to the A spot of the DC motor drive board.
17. Connect the 3pin cable to the OUT port No.1 and No.2 of the CPU board and ports No.1 and
No.2 of the DC motor drive board. Connect the OUT ports No.3, No.4, No.5 and No6 to the red
LED, the orange LED, the yellow LED, and the green LED using the 3pin cable.
18. Join the OUT port No7 and the buzzer board using the 3pin cable. FlyBot is completed.
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Program
DC Motor chip
Function : It controls the speed and direction of the DC motor.
Application : Check the port number that is connected to the DC motor. Set
the direction of the DC motor at the direction option and set the speed between 0
and 15 at the speed option.
Follow me!
Let's set the chip that the DC motor is going to go forward.
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Follow me!
Set the chip making the DC motor to stop.
Follow me!
Set the chip that the DC motor is going to go backward.
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Shall we make it move?
1. Try to rotate the propeller clockwise for 3
seconds and rotate it counter clockwise for 3
seconds slowly.
2. Rotate the propeller clockwise for 3
seconds and make the red LED and orange
LED flash and rotate the propeller anti-
clockwise for 3 seconds blinking the yellow
LED and green LED.
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3. Try to make the red, orange, yellow, and
green LEDs flash in order and rotate the
propeller clockwise at the same time.
4. Let's assemble your own FlyBot.
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What Did You Learn?
1. Match the pictures with their proper explanations.
Brain of the robot.
This part emits light.
This part makes sound
This part rotates a wheel.
Homework Signature
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Today's Goal
RaceBot allows us to play a race-car game using two DC Motors. Let's
practice driving forward, backward, right turn, and left turn on the '' and
'' shaped race-tracks. Let's learn various applications of the RaceBot.
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Robot Story
DC motor
A Motor a machine that generates torque, which is a force that causes
something to spin around a central point such as an axle. Today, motors are
used everywhere even though many people don't recognize. They convert
electricity into a mechanical motion to be used in cars and many household
appliances. By the way, how is this motor invented?
In 1873, the motor is not invented but discovered accidently by mistakenly
operating machine during a demonstration at an industrial exhibition in Vienna,
Austria. There were several steam dynamos in the exhibition. A careless
workman connected the terminals of a Gramme machine to another dynamo
which was producing electricity, and its shaft began to spin. Gramme
accidentally discovered that this device, if supplied with a constant-voltage
power supply, will act as an electric motor.
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There are several kinds of motors such as an Alternate Current (AC) Motor,
a Stepping Motor, a Servo Motor and so on. Among these, the motor we use in
this course is a Direct Current (DC) Motor which is powered by four
batteries(6V). The DC motor or generator is operated by a direct current.
The AC motor is driven by an alternating current such as 110V or 220V
appliances. Because the AC motor can generate more power than DC motors, it
is usually used in an electric fan, a wash machine and a refrigerator.
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How to Assemble
1. Assemble the 7mm supports and the main frame
2. Locate the motor frame at the DC motor and tighten them using only bolts.
3. Put the motor frame that is fixed with the DC motor under the main
frame and tighten them using only bolts.
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4. Connect a cap nut to the 35mm support, fix them to the main
frame, and then insert the wheel to the DC motor.
5. Locate the battery case on the 7mm support that is fixed with
the main frame, and tighten it using 35mm supports.
6. Tighten the CPU board and the motor driver board using bolts
and nuts.
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7. Insult the 35mm supports to the CPU board and fix them using nuts.
8. Locate the LED boards on the middle frame and tighten them using bolts
and nuts.
9. Connect the three 20mm supports to each other. They will become two long
supports.
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10. Tighten the supports which are made in step 9 and the main frame using bolts,
and fix the middle frame to it using nuts.
11. Connect the power cable of the battery case to the power connector of the CPU
board. Connect the DC motor cable to the port A and B of the DC motor drive board.
12. Connect the OUT port No.1, No.2, No.3, and No.4 of the CPU board to the port
No.1, No.2, No.3, and No.4 of the DC motor drive board using 3pin cable in order.
Connect the OUT port No.5, No.6, No.7, and No.8 of the CPU board to the red, the
orange, the yellow and the green LEDs using 3pin cable in order.
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Program
DC Motor chip
Function : It controls a DC motor
Application : To change the direction, click an arrow and select a speed to set.
Follow me!
Operate the DC motor to move backward.
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Follow me!
Operate the DC motor to turn left.
Follow me!
Operate the DC motor to turn right.
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Shall we make it move?
1. Let's operate the DC motor to turn
left at a 90 degree angle.
2. Try to spin the robot clockwise on
the same spot.
3. Let's operate the robot to travel
along the ''-shaped track.
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4. Let's operate the robot to travel
along the '-shaped track.
5. Lets race with your friend. Pass
and turn the papercup turning point
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What Did You Learn?
1. I want to fix the motor frame to the DC motor. Draw a circle on the correct
picture please.
2. I want to turn left on the same spot. How should I drive? Draw circles on the
correct directions.
Homework signature
forwardforward
stopstop
backwardbackward
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Today's Goal
DancingBot moves by means of the rotating wheel guide. Let's explore
the function of the While chip and the DC motor drive board, and then
make your robot dance to the exciting music.
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Robot Story
DC motor drive board
When the DC motor is connected to (+) and (-) polarity of a battery with a
wire, it starts to rotate. Nevertheless, why do we use the DC motor drive board?
Let's figure out the reason.
As we mentioned above, the DC motor spins if connected to the battery. But
if you want to change the rotating direction, what should you do? That's right!
You can change polarity. However, it is not easy to change the polarity while the
robot is moving.
The DC motor drive board is necessary for complicated control of the DC
motor. It helps change direction and speed of the DC motor, so you do not have
to convert one by one.
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If the CPU sends a signal indicating forward rotation to the DC motor drive
board, the DC motor drive board supplies electric current for the forward
rotation. So a motor can start to work. If the CPU transmits the signal
indicating reverse rotation while the motor is rotating forward, the DC motordrive board generates reverse electric current to the opposite polarity.
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How to Assemble
1. Locate the 8-hole frames on the battery case and tighten the 20mm
supports using bolts.
2. Tighten the 35mm supports that are located on the battery case.
3. Build two 7mm supports and tighten them into DC motors with nuts.
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4. Assemble the DC motor with the 35mm support that are fixed on the 8-hole
frame.
5. Insert the wheel guides to the DC motor's pivots.
6. Connect the CPU board and the DC motor drive board using bolts and nuts. And
connect the 20mm supports to the supports that are located on the battery case tomake the 40mm long supports, and then fit it into the CPU board using nuts.
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7. Locate the LED board and the L2X2 frame on the middle frame and tighten them
using bolts and nuts to make DancingBot's arms.
8. Connect the L2X2 frames of the DancingBot's arms that is assembled in last
step to the CPU board.
9. Insert the 7mm support to the wheel and fix the L2X2 frame to it. It becomes
eyes of the robot.
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10. Locate the L2X6 frame that is a part of robot's eye on the CPU board and
tighten them with bolts and nuts.
=
11. Connect the power cable of the battery case to the power connector of the
CPU board. Connect the DC motor cable to the spot A and the spot B of the DC
motor drive board.
12. Using the 3pin cable, connect the OUT ports No.1, No.2, No.3, and No.4 of theCPU to the port No.1, No.2, No.3, and No.4 of the DC motor drive board. Using
the 3pin cable, connect LED boards to the OUT ports No.5 and No.6 of the CPU
board.
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Program
While chip
Function : It repeats the selected operation infinitely.
Application : Put the chip that you want to repeat infinitely inside the While Chip.
[example]
Follow me!
Let's turn on the LED until it gets a stop signal.
Did both programs work in the same way?
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Follow me!
Set the speed selection area to make the DC motor rotate
on the right wheel pivot.
Follow me!
Set the speed selection area to make the DC motor rotate
on the left wheel pivot.
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Shall we make it move?
1. Let's make a yellow and an orange
LED keep blinking.
2. Let's make a program that the robot
keeps turning on its right foot.
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3. Let's make the robot walk with a
waddle by moving its right foot and
left foot alternatively.
4. Let's make your robot dance with
its LEDs blinking.
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What did you learn?
1. Draw a circle around the chip that repeats selected operation infinitely.
2. Draw the line from the DC motor to the part that controls speed and direction
of the DC motor.
Homework Signature
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Today's Goal
ControlBot is operated by the wired remote control that you make by
yourself. Let's learn how to program the contact switch.
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Robot Story
Contact Switch
A contact switch consists of the switch that can sense pressure and the port
that releases a signal and so on. This port can be connected to IN port of the
CPU board. When the switch is pushed, it sends a signal and when not pushed,
it stops giving the signal. Using this feature, you can make a useful program of
the robot.
The contact switch is one of the pressure sensors and perceives outsidepressure. According to sensing methods, the pressure sensor is classified into
various kinds such as a mechanical, an electronic, a semiconductor pressure
sensor etc.
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According to the degree of accuracy or the perception range of pressure, the
pressure sensor can be used in various ways. A lot of home appliances such as
refrigerators, washing machines, electronic scales, air conditioners need the
pressure sensor. Besides, it has widely been used in industry such as medical
equipments, for example, a blood pressure gauge, a pulsimeter, an artificial
heart, an artificial kidney etc.
Why don't you look for the home appliances using the contact switch around
you? Various parts that are used for robots may be hidden in our life.
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How to Assemble
1. Assemble the middle frame and the 35mm supports using bolts, and then
connect one more middle frame to the opposite side of the 35mm supports.
2. Tighten motor frames to the middle frame using only bolts
3. Connect the DC motor to the motor frame that is tightened the middle frame
using only bolts.
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4. Assemble the DC motor fixed with the middle frame to the motor frame.
5. Put the battery case on the middle frame and the motor frame and tighten them
using bolts and nuts.
6. Fit the wheels into the DC motor.
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7. Connect the DC motor drive board and the L2X2 frame using bolts and nuts.
8. Locate the L2X2 frame fixed with the DC motor drive board on the middle frame,
and tighten it using bolts and nuts.
9. Fix the 35mm supports on the middle frame fixed with the battery case, andthen locate the CPU board on the 35mm supports and tighten them using bolts
and nuts.
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10. Connect the two 20mm supports, a 35mm support, and the cab nut each other,
and tighten them to the CPU board.
11. Tighten the DC motor drive board and the L2X2 frame using bolts and nuts.
12. Put the L2X2 frame fixed with the DC motor drive board on the CPU board and
tighten it using bolts and nuts.
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13. Connect the power cable of the battery case to the power connector of the CPU
board. Put the DC motor cable into the port A and the port B of the DC motor drive
board.
14. Using the 3pin cables, Connect the OUT port No.1, No.2, No.3, and No.4 of the
CPU board to the port No.1, No.2, No.3, and No.4 of the DC motor drive board. Also
using the 3pin cables, connect the LED boards to the OUT port No.5 and No.6 of the
CPU board.
15. Put four contact switches together, and tighten them using bolts and nuts to
make the corded remote control.
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16. Connect two 3pin cables each other using the header pin. At this moment, the
cable color has to be matched with the same color. You will make four of them.
17. Using the 3pin cable that you made last step, connect the IN port No.1, No.2,
No.3, and No.4 with the corded remote control.
18. This is finished ControlBot
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Program
Contact Switch Chip
Function : This chip decides whether to do the selected motion, depending on ON or OFF.
Application : Put the chip that you want to operate into the contact switch chip
[example]
Follow me!
Let's make a program to make the DC motor go forward, if
the contact switch N0.1 is pressed.
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Follow me!
Let's make a program as the robot turns left, if the contact switch
No.3 is pressed.
Follow me!
Let's make a program as the DC motor goes forward.
Why do you use the contact switch?
__________________________
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Shall we make it move?
1. Try to make the robot go forward
when you press No.1 contact switch,
and backward when pressing No.2.
2. Try to make the robot turn left
when you press No.3 contact switch,
and turn right when pressing No.4.
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3. Try to make the robot go forward,
backward, right turn, and left turn
using four contact switches.
4. Let's operate the robot by the
corded remote control.
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What Did You Learn?
1. Where do the following parts have to be connected? Come down the ladder
and fill in the blanks with either OUT or IN ports.
Homework Signature
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Today's Goal
HittingBot is a game robot. Whenever the LED board of the robot is ON,
hit the contact switch to get the score. Let's explore the LOOP chip and
play hitting game.
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Robot Story
RS232C Cable
A RS232 cable connects the CPU board to a computer in order to download a
program. A serial port in the computer is connected with the RS232 cable port of
the CPU board using the RS232 cable. When the program is successfully
downloaded, the robot is ready to be operated as you order.
The serial port connecting the RS232 cable as shown left
consists of nine pins. It is mainly used to communicate data from
a machine to a machine. Even though the serial type is slow in
transmission speed, it is comparatively simple in structure and
long in distance.
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On the other hand, the parallel type uses a parallel port that consists of 25
pins and can transmit more data than the serial at a time. However, it has
shorter transmission distance. The serial port is mainly used for a printer or a
scanner etc.
As technology develops, various types of connectors appear such as USB,
SCSI, IEEE1394 etc. That is, we need faster method to exchange more data
which overcomes disadvantages of existing connectors. Among the new
connectors, a USB is the most famous.
A USB stands for Universal Serial Bus.
It can connect up to extent of 127
peripheral devices with fast transmission
speed. Nowadays, the USB is compatible
with many peripheral devices such as a
mouse, a keyboard, a printer, a scanner
and even a digital camera.
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How to Assemble
1. Put the 5-hole frames on the CPU board tighten them using bolts and nuts.
2. Tighten the 7mm supports to the CPU board using bolts.
3. Fix the battery case to the 7mm supports which are fixed on the CPU board, and
then tighten it using nuts.
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4. Locate the contact switches on the middle frame and tighten them using bolts
and nuts.
5. Put the LED boards under the contact switch and tighten them using the L2X2
frames, bolts and nuts.
6. Put the LED boards under the contact switch tighten them using the L2X6
frames, bolts and nuts.
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7. Tighten the L2X2 frame that is fixed to the contact switch, and the 5-hole frame
fixed to the battery case using bolts and nuts.
8. Tighten the DC motor drive board and the 4-hole frame. Fix the buzzer board
and the 8-hole frame.
9. Tighten the frames fixed to the DC motor drive board and the buzzer board to the
main frame using bolts and nuts.
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10. Fix the 7mm supports on the main frame using bolts.
11. Tighten the DC motor to the 7mm support fixed the main frame using nuts.
12. Put the 8-hole frame on the motor guide, and then tighten it using bolt and nut.
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13. Insert the motor guide to the DC motor.
14. Fix the L2X6 frame to the main frame using bolts and nuts.
15. Connect two 35mm supports, and then fix it to the wheel using bolts.
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16. Connect the power cable of the battery case to the power connector of the CPU
board. Connect the DC motor cable to the port A of the DC motor drive board.
17. Using the 3pin cables, Connect the OUT ports No.1 and No.2 of the CPU board
to the ports No.1 and No.2 of DC motor drive board. Connect the OUT ports No.3,
No.4, No.5 and No.6 and a red, a orange, a yellow and a green LED board using the
3pin cables.
18. Connect IN ports No.1, No.2, No.3 and No.4 to the contact switch using the 3pin
cables.
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Program
Loop chip
Function : It repeats selected motion as the number as an user sets.
Application : Set the Loop count and then put the chip you want to operate
inside the Loop chip.
[example]
Follow me!
There is a long program below. Can you make it short using the
LOOP chip?
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Rand Chip
Function : It sends a signal to OUT1~OUT4 randomly and if the signal comes
to IN1~IN4 in the set time, the robot operate as the user want.
Application : Insert the chip you want to operate inside the Rand chip.
[example]
Follow me!
Let's turn on the LED randomly which is connected to OUT1~OUT4.
How many seconds does the LED turn
on and off at intervals of?
sec
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Shall we make it move?
1. Try to make a red LED blink for
three seconds.
2. There are buzzers which are
connected to the same number port
with turned-on LEDs. Try to make the
buzzer sound if the relevant contact
sensor is pushed.
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3. If the contact sensor is pushed
which is relevant to the turned-on
LEDs, try to make the DC motor
rotate and the buzzer sound.
4. Using all LED boards, let's play
hitting game with your hittingbot.
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What Did You Learn?
1. Match the chip and the proper explanation.
This chip repeats
the selected operation
infinitely.
This chip controls the
DC motor.
This chip works depending
the contact switch is
pushed or not.
This chip repeats the
selected motion as
the number as the user sets.
Homework Signature
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Todays Goal
BumperBot uses two contact switches to go through a labyrinth. The
contact switches function as a bumper. The BumperBot has various
motions depending on which bumper is pushed.
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Robot Story
Robots using a bumper
Todays lesson is about BumperBot. What is the main feature of the BumperBot? It
is the bumper. The bumper senses objects by touching them. It is similar to an insect's
feelers.
To begin with, let's examine Ants (Ants robotics) that was developed in MIT. This
tiny micro-robot was originally designed for two purposes. The first purpose is to make
a robot as small as possible and the second one is for gathering small robots for swarm
robots to make a community of microrobots. Swarm robots are simple and cheap robots
with limited sensing and computational capabilities. This makes it feasible to deploy
teams of swarm robots and take advantage of the resulting fault tolerance and
parallelism. (Source : Wikipedia)
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Antsbot can communicate via infrared rays. One Antsbot sends the signal to
others to inform finding food marks a trail, similar to ants that lay and follow
pheromone trails. If other Ants robots receive the signal, they follow the trail
and gather to carry food together.
It is a bit of surprise that we are studying the same robot with the global best
scientists, isn't it? Let's make your own robotic colony someday.
Source :http://www.ai.mit.edu/projects/ants/
http://www.ai.mit.edu/projects/ants/http://www.ai.mit.edu/projects/ants/http://www.ai.mit.edu/projects/ants/http://www.ai.mit.edu/projects/ants/ -
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How to Assemble
1. Tighten the DC motor and the motor frame using bolts.
2. Put the DC motor on the main frame and tighten using bolts.
3. Assemble the contact switch and the L2X2 frame using bolts and nuts.
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4. Locate the contact switches on the main frame and tighten them using bolts and nuts.
5. Fix the supports on the main frame (position C4 and G4) using bolts.
6. Put the 8-hole frames on the 20mm supports and fix them using nuts.
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7. Insert bolt to the main frame. Fix it with the cab nut. Assemble the wheel to the DC motor.
8. Locate the battery case on the 35mm support then tighten it using the 20mm supports.
9. Assemble the DC motor drive board and the L2X1 frame using bolts and nuts.
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10. Locate the CPU board on the 20mm support. Put the motor frame fixed with the L2X1
frame on the CPU board and tighten them using nuts.
11. Connect the power cable of the battery case to the power connector of the CPU board.Connect the cable of the DC motor to the DC motor drive board.
12. Connect the OUT ports No.1, No.2, No.3, and No.4 of the CPU board and the ports
No.1, No.2, No.3, and No.4 of the motor drive board using the 3pin cables.
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Program
Else IF chip Function : It distinguishes two conditions(Yes, No) so it instructs sequence of the program.
Application : Put the chip that you want to operate in case that the contact switch is pressed under "YES". Put
the chip that you want to operate in case that the contact switch is not pressed under "NO".
[example]
Follow me!
Set the chip as the robot begins to turn left for 1 second, when the
contact switch No. 1 is pressed.
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Follow me!
Set the chip as the robot begins to turn left when the contact switch No. 1 is
pressed, and turn right for No.2.
Follow me!
Set the chip to back up the robot if the contact switch No. 1 is pressed.
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3. Let's make a program that the robot
can avoid obstacles.
4. Let's make a program that the robot
can go through a labyrinth.
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What Did You Learn?
1. Let's play with your BumperBot, solving the maze below.
Homework Signature
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Today's Goal
SensingBot can sense the front obstacles so that it can avoid them by
using three Infrared sensors(abb. IR sensor). This robot also senses the
edge of the table so it does not fall from the table. Let's explore the IR
sensor and how it is used in our life.
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Robot Story
IR Sensor Board
An IR sensor helps a robot map obstacles, then choose the most free path. So
it is usually used for Line-Tracer ; a robot that follows a black line drawn on
white paper.
The IR sensor consists of a radiation diode and a photo detector. The
radiation diode emits light only when the direction of electric currents is
orthodromic. The photo detector can control the volume of the currents
depending on how much it intercepts light. Due to this change of the volume, the
photo detector can perceive whether the light comes in or not.
The IR sensor functions as the eyes of the Line-Tracer which projects and
receives infrared rays, white reflect them. The Line-Tracer can distinguish black
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and white by projecting infrared rays from the radiation diode. The IR sensor
can be applicable in various ways but the Capability of the IR sensor is limited
by distance.
You can find the applications of the IR sensor even in our everyday life. Let's
look around and find home appliances. There are diverse appliances that uses
the IR sensor such as a remote control, an automatic door, an automatic switch,
an infrared temperature detector and so on.
Now, let us build your own robot by using this useful IR sensor.
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How to assemble
1. Only using bolts, fix the DC motor and the motor frame.
2. Put the motor frame fixed with the DC motor on the main frame and tighten
it only using bolts.
3. Tighten the supports on the main frame using bolts. (The supports that arelocated on C4 and G4 are supposed to be fixed on the bolts that are tightened
to the motor frame.)
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4. Insert the wheel into the DC motor. Insert the bolt into the main frame and
then fix it using the nut and cap-nut.
5. Connect the IR sensor and the L2X2 frame using bolts and nuts. Turn the
IR sensor upside down then put it on the 20mm support that is fixed on the
main frame and tighten it using nuts.
6. Fix the LED boards to the IR sensor board using the 7mm supports, bolt and
nut.
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7. Assemble the L2X2 frame and the IR sensor using bolts and nut, and then
connect the L2X6 frame to the 7mm support that is fixed on the 7mm support using
nuts.
8. Put the battery case on the 35mm supports that are fixed on the main frame,
and then tighten it using 20mm supports.
9. Insert the contact switch and the DC motor driver to the 20mm supports
and put the CPU board on the top of them and tighten it using nuts.
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10. Connect the battery case cable and the power connector of the CPU board.
Connect the DC motor cable to the DC motor drive board.
11. Using the 3pin cables, connect the OUT ports No.1, No.2, No.3, and No.4 of the
CPU board to the ports 1, 2, 3, and 4 of the DC motor drive board in order. Connect
the OUT port No.5 and No.6 to the LED boards using the 3pin cables.
12. Connect the IN ports No.1 and No.2 of the CPU board to the IR sensor
using the 3pin cables.
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Program
IF Else Chip
Function : It distinguishes two conditions so that it instructs sequence of the program.
Application : Insert the chip that you want to operate under "YES" in case that infrared
rays are reflected. Insert the chip under "NO" if the infrared rays are intercepted.
[example]
Follow me!
Let's make a program that the robot stops if the IR sensor detects an obstacle.
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Shall we make it move?
1. Let's make your robot follow the hand if
the front sensor detects.
2. Let's make a program that the robot turns
at a 90-degree angle using TV remote control.
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3. Try to make the robot move backward,
and then turn left at a 90-degree angle if the
front sensor detects an obstacle. And if the
bottom sensor detects the edge of the table,
make the robot move backward, and then U-
turn.
4. Let's make a program that the robot can
sense a front object and the edge of a table.
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What Did You Learn?
1. Let's find appliances using an IR sensor. If you mark a complete row, call
"BINGO~".
Homework Signature
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Today's Goal
KickboardBot is operated like a kickboard by using two IR sensors.
Also user can learn various method of IF chip while programming
KickboardBot.
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Robot Story
Sensor
A bat can fly avoiding obstacles in the dark cave. How could it possibly fly
even though it hardly sees the obstacles? The basic principle of an Infrared
sensor can explain the reason. In order to navigate and hunt for insect food, in
complete darkness, bats have acquired a system over the last 60 million years or
so which surpasses any navigation system yet produced by technology. By
shouting at ultrasonic frequencies (usually above 20kHz), bats can detect echoes
from objects around them and interpret them as a 'sound picture'. It is so
sophisticated that they can fly at great speed avoiding all obstacles in their path,
they can even detect tiny insects from a few metres away.(Source:
http://batbox.com/)
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The IR sensor consists of a radiation diode emitting infrared rays and a photo
detector just like the bats' ultrasonic shouting and detecting echoes. The IR
sensor projects and receives infrared rays and white reflect them so the sensor
can detect the reflected light. The Line-Tracer can distinguish black and white
by projecting infrared rays and follows a black line drawn on white paper.
Beside the IR sensor, there are many kinds of sensors applicable to various
cases such as a pressure sensor, a temperature sensor, a hygroscope, a gas
sensor, a sound sensor, a vibration sensor and so on. These sensors can be found
in our daily life from an optical mouse to a gas alarm, a digital thermometer, a
digital scale, and a remote control etc.
Why don't you suggest an idea of the robot using sensors? And how about
making the Gas Alarm Robot that can track out a gas leak and shouts a warning
"Gas began to leak!"?
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How to assemble
1. Assemble the middle frame and the main frame using bolts and nuts.
2. Fix the motor frame to the DC motor using only bolts.
3. Connect the middle frame fixed to the main frame and the motor frame fix tothe DC motor using bolts.
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4. Tighten the 35mm supports to the bolts fixed the motor frame. Locate the DC
motor drive board on the 35mm supports and tighten it using nuts.
5. Put the IR sensor on the contact switch, and then tighten it using bolts and nuts.
Assemble the IR sensor and the buzzer board using bolts and nuts.
6. Connect the 20mm and the 35mm support, and then locate them on the main frame,
and tighten them using the cab nut and the 7mm support. Put the contact switch on the
support and fix it using bolt. Insert the wheel to the DC motor.
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7. After fixing the L2X2 frame to the LED boards, put them on the CPU board, and then
tighten them using bolts and nuts.
8. Assemble the battery case, the L2X6 frame, and L2X1 using the supports, bolts and
nuts.
9. Fix the L2X6 frame connected to battery case to the main frame. Fix the L2X1 frame
connected battery case to the 20mm support, and then tighten the CPU board on it using
nuts.
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10. Connect the battery case power cable to the power connector of the CPU board.
11. Connect the OUT ports No.1, No.2, No.3 and No.4 of the CPU board, to the ports 1,
2, 3, and 4 of the DC motor drive board in order. Connect the OUT ports No.5, No.6, and
No.7 to the LED boards and the buzzer board.
12. Connect the IN ports No.1, No.2, and No.3 of the CPU board to the IR sensors and thecontact switch. This is finished KickboardBot.
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Program
Else IF chip
Function : It distinguishes two conditions so it instructs sequence of the program.
Application : Insert the chip that you want to operate under "YES" of the PORT1 in casethat only the sensor No.1 detects an object. If only the sensor No.2 detects, insert the chip
under "NO" of the PORT1 "YES" of the PORT2. If neither of both sensors detect, insert
under "NO" of the PORT1 "NO" of the PORT2.
[example]
Follow me!
Let's make a program to turn the robot left if the left IR sensor detects a hand; Turn
right if the right IR sensor detects.
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Multiple IF chip
Function : It distinguishes two conditions so that it instructs sequence of the program.
Application : Insert the chip that you want to operate under "NO" of the PORT1 in case that
only the sensor No.1 does not detect an object. Insert the chip under "YES" of the PORT1
"NO" of the PORT2 if only the sensor No.2 sensor does not detect. Put the chip under "YES" of
the PORT1 "YES" of the PORT2 if both sensors detect.
[example]
Follow me!
Let's make a program that the robot goes forward when both IR sensors detect a
hand.
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Shall we make it move?
1. Let's make the moving robot turn left
if the left IR sensor detects a hand and
vice versa.
2. Let's make the moving robot stop if
both IR sensors detect the hand.
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3. Let's make the moving robot turn left
if the left IR sensor detects the hand.
4. Let's make the standstill-robot go left
if the left IR sensor detects the hand and
vice versa. If both sensors detect, go
forward the robot.
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What Did You Learn?
1. We are trying to operate the robot by a Joy stick. How could we make a
program to operate the robot like the picture below? Fill in the blanks please.
Forward Backward Left Turn Right Turn
Homework Signature
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Today's Goal
BattleBots main purpose is to create and assemble students own robot.
They may use How to assemble and programming skill that they have
learned until now. Let's play game using your own battle robot which is
controlled by the remote control.
Stick a picture of your own BattleBot
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Robot Story
BattleBot
A BattleBot is a combat robot. People mostly regard a fancy AI combat robot
like Transformers as the battle robot, but those are not yet possible. At the
present stage, most battle robots are controlled by remote control by contestants
and have a battle against each other under the designated rule .
A Battle robot competition has started to be popular in California from 1994
and it has been expanded with more events every year. Nowadays, the
competition attracts over 1,000 teams representing a lot of other different
countries including Europe, Asia and so on. Because of a large amount of
participants, several events are divided by robot's weight.
Unlike other robotic competitions, the battle robot competition is free from
appearance or operation so you can found various kinds of battle robots and idea
in the competition. A diversity of strategies based on arms, shape, reflexes,
accuracy, or timing to succeed etc will make you very excited.
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What differentiates battle robot from other robots is the form of production.
The battle robot is not just mass-produced goods but the special robot designed
and built by contestants themselves. Therefore every battle robot is unique and
has its own style based on who made.
Because the weight of the battle robot is generally from 20Kg to over 150Kg,
organizers are of course committed to safety above all so that the stadium is
fenced in by high wall or wire net.
The battle robot competition has been steadily growing as another industry
and getting similar to real human sports events.
The Battle Robot is opened up to anybody. Why don't you make your special
battle robot and participate in the competition?
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Shall we make it move?
1. Let's make a program as the robot go
forward, when the contact switch No.1 is
pressed.
2. Let's make a program that the robot go
backward, when the contact switch No.2
is pressed.
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3. Let's program to make the robot turn
left if the contact switch No.3 is pressed
and turn right for No.4.
4. Try to make the robot go forward if the
contact sensor board No.1 is pushed.