ERAU Computer Engineering Summer Camp 2016 - Thursday AM

This morning we will continue our discussion of sensors and their application.  First, the light sensors and wheel encoders will be presented.  Next, after the break, a discussion of advanced robotic behaviors will provide context in how to create robust robotic systems capable of supporting full missions safely and reliably.

Module #1: Light Sensor and Wheel Encoders

This module discusses two sensors of importance for situational awareness.  Light sensors can be used to measure the light level of the environment.  They are also useful for detection of lines on the ground as well as line following.  The wheel encoders indicate the rotational state of the wheels of the robot.  It is important to know how the state of the wheel and translate to information about the motion and location of your robot.

  • Discussion
    • Light Sensors
      • What is a light sensor?  How does it work electronically?  How is this information interpreted?
      • How do you calibrate a light sensor?
      • How do you detect a line using a light sensor?
      • How do you follow a line using a light sensor?
    • Wheel Encoders
      • How do wheel encoders work? 
      • What types of wheel encoders exist?
      • How can you use wheel encoders for motion control?
      • How can you use wheel encoders for localalization?
  • Demo
    • Programming in Lego NXT - Live Demo - Dr. Stansbury will demonstrate use of the wheel encoders and light sensor in the NXT programming environment, and their usage with various coding blocks.
  • Build Activity
    • Program REM robot - Light Sensor
      • Task #1: calibrate your light sensor
      • Task #2: drive until the robot sees a line and stops.
      • Task #3: follow a line
    • Program REM Robot - Distance Sensor
      • Task #1: Program robot to turn 90 degrees
      • Task #2: Program robot to drive a defined distance
      • Task #3: Program robot to drive until it bumps a wall and then backs up 6 inches before turning

Module #2: Advanced Robot Behaviors 

This module will teach you about various robot sensors.  You will learn about sensors for health awareness (battery sensors, temperature sensors, etc.), obstacle detection sensors (laser range finders, ultrasonics, etc.), vision sensors, motion sensors, location detection sensors, etc.

  • Presentation
  • Discussion:
    • What are examples of reactive robot behaviors and when are they practical?
    • What are examples of a robot where a subsumptive behavior is appropriate?  What are the behaviors?  What events trigger behavioral change?
    • What are some of the challenges of Good Old Fashion Artificial Intelligence Robotics (GOFAIR) programing architectures?
    • How do mixed manned-human teams, remotely controlled or teleoperated vehicles, etc. relate to this topic?
  • Demo:
    • Programming for Lego NXT Sensors - Live Demo - Dr. Stansbury will provide a demonstration of how multiple behaviors can be designed in Lego NXT and use events to select the appropriate behavior.
  • Group Activity:
    • Define a practical robot that you would like to invent to solve a real-world problem.
    • Define which sensors you would need for your robot.
    • Define what types of motion your robot needs (arms, grippers, wheels, etc.)
    • Identify what behaviors your robot would need to accomplish its goals in nominal and off-nominal conditions.
    • Draw a sketch of your robot.
    • Report back to the entire group.

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