Alt-BEAM Archive

Message #03873



To: beam@sgiblab.sgi.com
From: Dennison dennlill@buffnet.net
Date: Fri, 28 May 1999 13:10:57 -0400
Subject: [alt-beam] Re: What Tilden calls it.....


well your right. I noticed that also, you really do only need one connection
between the bicore to ensure a phase lock. As for his snakebot, the robot
will still actually function reasonable well if none of the bicore are
connected. Yep. Although there are periods of chaotic movement, the robot
will every minute or so settle into a phase lock where it starts a nice
roll.

Of course I can still sort of think of situations where two resistors may be
preferable.

Dennison

>It seems to me that one permutation would involve breaking both connections
>between the master and the slave at which point there would be no
>synchronization ("control lock"). In fact, this is one of the things that
>I find bogus about the Snakebot demonstration -- Rigter showed that it only
>takes one of the two connections between the master and slave bicore to
>ensure synchronization. Snakebot consists of three bicores (one for each
>motor/segment) and has at least six connections (between bicores -- I'm not
>sure if there is one more pair between 'head' and 'tail'.)
>
>During his demonstration, Mark takes out a coupling resistor... and the
>robot continues to work. He takes out another, and then a third and the
>robot still functions. Finally, when he takes out a fourth, the robot
>becomes uncoordinated. Of course, he isn't taking out a parallel -pair- of
>coupling resistors at one time: in other words, I'm pretty sure that if
>you could disable the robot merely taking out two connections which would
>obviously seem less dramatic than four. . .
>
>Of course, I could be wrong -- I often am.
>
>
>Zoz
>
>---------------------------------------------------------------
>John A. deVries II
>zozzles@lanl.gov


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