Alt-BEAM Archive
Message #05363
To: beam@sgiblab.sgi.com
From: SG sparkyg@seark.net
Date: Thu, 22 Jul 1999 11:17:56 -0500
Subject: [alt-beam] Re: a few trivial questions (warning: newbie stuff)
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content-type: text/plain; charset="us-ascii"
I can't belive no one but you has answered any of my questions!!!
anyway, here is the circuit that gave me the idea.
i was kinda thinking that when my bot goes into reverse, it might chirp,
sorta like the "beep beep beep" of those worker trucks when they back up!
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Attachment: chirp.jpg
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5364 Thu, 22 Jul 1999 12:47:04 -0400 (EDT) [alt-beam] Re: Contest Entry! beam@sgiblab.sgi.com Darrell Johnson Nothing sneaky about it. The bot's been 95%done for over two months
now. I just put some minor mechanical touches on it (tension spring)
the other day to finish it off.
No need for conspiracy theories here.... :)
darrell
--- David Perry wrote:
> this has a reallllly sneaky similarity to my bot,
> your controller looks more
> flash than my pentacore but my robot can turn and
> reverse, rather well
> actually.
> I've taken a couple of photos, all i have to do is
> finish the other 3
> h-bridges, install the tactile sensors, and, if i
> have time (and parts!)
> i'll solarize it. Still, out bots are sneakingly
> similar, both snakebotish.
> Very cool never the less, i think our entries will
> come very, very close. by
> the way bruce, thanks for that cold start PNC, it's
> FANTASTIC, it'll lock
> into sequence no matter what.
> ohhh, i'm nervous now, official competition.
>
> David Perry
>
> -----Original Message-----
> From: Darrell Johnson
> To: beam@sgiblab.sgi.com
> Date: Thursday, 22 July 1999 6:26
> Subject: Contest Entry!
>
>
> >Hello everyone, My contest entry is done and ready
> for viewing...
> >
> >Mod-Worm 1.0
> >here's the link:
> >http://www.beamzine.com/contest/DJohnson/index.html
> >
> >check it out!
> >
> >-darrell
> >
> >--
> >_______________________________
> >BICOREEOS..they're BEAMtastic!!
> >http://home.pacbell.net/wundoba
>
>
>
===
_______________________________
BICOREEOS..They're BEAMtastic!!
http://home.pacbell.net/wundoba
5365 Thu, 22 Jul 1999 12:55:02 -0400 (EDT) [alt-beam] Re: Contest Entry! beam@sgiblab.sgi.com Darrell Johnson I made a schematic a long time ago, but it has an error.. tonight I'll
fix it and post it to the list.. It was just getting a little late last
night.
darrell
--- Richard Caudle wrote:
>
> Hey Darrell!
>
> You got schematics for your worm? I usually keep
> Wilf's circuits on file, but I can't find this one.
>
> Thanx,
>
>
--------------------------------------------------------------------------------
>
> Richard Caudle
> richard@cqc.com
> Home ICQ - Frankendaddy
>
> Guardians of the sacred words: Nee, Ptang, and
> NeeWhon!
>
===
_______________________________
BICOREEOS..They're BEAMtastic!!
http://home.pacbell.net/wundoba
5366 Thu, 22 Jul 1999 12:45:35 -0700 [alt-beam] Re: Contest Entry! "'beam@sgiblab.sgi.com'" Wilf Rigter
Wow Darrell, The Nu worm is alive!
It warms my heart to see these dear little segmented critters taking their
place in BEAM ecology.
It should be possible to use spread legs with independent suspension at each
segment to provide more stability on rough terrain. Actually reversing is
relatively straight forward using 74HC245s. I will post the schematic.
Turning could be done without adding motors by using an articulated motor
mount which rotates the motor left or right with respect to it's segment
when it is allowed to hit a left or right stop. The stops could be
distributed left, right, left right on alternate segments and activated by
changing the motor on time ( ie slave time constant) long enough to allow it
to engage the turning stop. At the other end of travel, a centering stop
returns the segment to straight line motion. To turn left, the on time of
one or more of the LEFT turning segments slave monocores is increased and to
turn right the same is done by controlling the on time of the RIGHT turning
segments. Saving an extra motor for each segment is obviously a big
advantage in a scalable modular multimotor worm. Although a similar
arrangement could also work for simple walkers, removing the need for a
waist motor, the mechanical complexity may not be worth the effort compared
to adding the extra waist motor.
enjoy
Wilf Rigter mailto:wilf.rigter@powertech.bc.ca
tel: (604)590-7493
fax: (604)590-3411
> -----Original Message-----
> From: Darrell Johnson [SMTP:wundoba@pacbell.net]
> Sent: Thursday, July 22, 1999 1:25 AM
> To: beam@sgiblab.sgi.com
> Subject: Contest Entry!
>
> Hello everyone, My contest entry is done and ready for viewing...
>
> Mod-Worm 1.0
> here's the link:
> http://www.beamzine.com/contest/DJohnson/index.html
>
> check it out!
>
> -darrell
>
> --
> _______________________________
> BICOREEOS..they're BEAMtastic!!
> http://home.pacbell.net/wundoba
5367 Thu, 22 Jul 1999 12:50:56 PDT [alt-beam] Re: a few trivial questions (warning: newbie stuff) beam@sgiblab.sgi.com "blake marks" Thats a cool behavior, to have a bot that reacts to sounds. a sound
sensitive photovore might avoid a certian pool of light and go to a safer
pool, or less crowded one.
Or bots that make the same sound could "flock" together(safety in numbers)
or avoid bots that are "dangerous".
just an idea.
>From: "James Wilson"
>Reply-To: beam@sgiblab.sgi.com
>To:
>Subject: Re: a few trivial questions (warning: newbie stuff)
>Date: Wed, 21 Jul 1999 11:39:55 -0400
>
>No idea should ever be thrown out because someone else may think it's tack!
>Remember the A in BEAM is for Aesthetics, sounds count! You may be able to
>make a predatory circuit that responds to the chirp of your bot and that
>would be really cool.
>
>James:-))
>----- Original Message -----
>From: SG
>To:
>Sent: Wednesday, July 21, 1999 1:06 AM
>Subject: a few trivial questions (warning: newbie stuff)
>
>
> > 1.
> > i was talkin to a friend, 'splaining the concept of beam to him , and we
> > came up with a curious question,... anyone know how long the longest
>solar
> > beam bot has been left running? I've read somewhere that some have ran
>for
> > years, but just was wundering in some of the survival experiments if
> > longetivity was factor, and which bot holds the record?
> >
> > 2.
> > have a pic of Tildon and one of his bots i stumbled across while diggin
> > thru some LANL newsletter archives. i wanna ask questions about it, but
>its
> > about 29K so i can't post it here. if anyone wants to see it and
>discuss
> > lemme know.
> >
> > 3.
> > just fer fun: anyone ever use a piezo buzzer for sound effects? i was
> > thinkin of maybe a few chirps a second when lotus go into reverse. or
>is
> > this really really tacky and best forgotten?
> >
> > 4.
> > Also... (last question) i recycled an old H-bridge assembly, but have
> > since realized that resitors in front motor's H-bridge are 47k, and
>rear's
> > are now 100K.. no prob so far but is this a NO NO?
> >
> > THANX!
> > -SPARKY
> >
>
_______________________________________________________________
Get Free Email and Do More On The Web. Visit http://www.msn.com
5368 Thu, 22 Jul 1999 13:10:18 -0700 [alt-beam] Re: Hoverbot & balancing acts ( was: LEGO lawnmower) "'beam@sgiblab.sgi.com'" Wilf Rigter Hi Rob,
Yes! Well at least the equivalent of a self adjusting pot. It uses very long
time constant (hours) cascaded memory Nu's which by (intelligent) "trial and
error" acquire a combination of high and low Nubits depending on external
"error" conditions which are locked in when the "error" is "corrected" and
use these Nubits to form a binary value that can be used with resistors as a
D/A to adjust the TC of an Nv etc. ( all that in one sentence!) In some case
just one bit, is sufficient in others 4 or 8 bits may be needed for higher
resolution "fine tuning" a process
regards
Wilf Rigter mailto:wilf.rigter@powertech.bc.ca
tel: (604)590-7493
fax: (604)590-3411
> -----Original Message-----
> From: George Rix [SMTP:rix.g@bmts.com]
> Sent: Wednesday, July 21, 1999 9:57 PM
> To: beam@sgiblab.sgi.com
> Subject: Re: Hoverbot & balancing acts ( was: RE: LEGO lawnmower)
>
> > So ... how does a BEAM device "learn" motor skills? Aside from us humans
> > tweaking pots and so on? That's the real challenge here, isn't it?
> >
> > Regards,
> > Bruce
> >
> Is there any type of pot which would adjust itself? Other than light and
> thermal sensors (though if you could use one of those to do this, I'd give
> you a prize), I mean. I could see the addition of this to BEAM bots as a
> major advance, but then, I don't really know. It just seems like a good
> idea.
> How would you implement such a pot into the bot, anyway? Perhaps have
> whatever lead it has controlling the resistance (I'm making a few
> assumptions, of course) connected to a mercury switch, so it could try to
> keep its balance.
> Just a few thoughts.
> Signing off,
> Rob Rix
>
> 'If anything can possibly go wrong, it probably already has'-Murphy's law
5369 Thu, 22 Jul 1999 14:49:05 -0600 [alt-beam] Being less than dizzy (was: balancing acts ( was: LEGO beam@sgiblab.sgi.com "John A. deVries II" At 08:11 PM 07/21/1999 , Wilf Rigter wrote:
>Nice topic Zoz!
>
>Try a 2DOF balancing act with a 4 foot rod on the tip of your finger.
As it turns out, back when I was working at Lockheed in Sunnyvale,
California & we had time on our hands we'd do basically what you are
describing with a yardstick. Eventually someone remembered or figured out
that what you are working with is an inverted pendulum (as long as the
object being balanced is perfectly rigid). This meant that the longer the
object is, the lower its characteristic frequency will be: longer meant
easier to balance. If you try balancing a pencil and then a ... let's say
meter stick just to be more international ... you'll see what I mean.
Richard Weait commented:
>OH Zoz! Like the rod in one dimension or two isn't difficult enough!
>A jointed rod!?!?!? Ouch! But jointed in how many dimensions? And
>if one joint; in the same axis, or orthogonal?
If I remember correctly, this was basically a planar problem. In other
words, the rotation of each hinge occurs in the same plane. I seem to
remember that it isn't really that much more difficult than the single rod
problem. A crummy sketch would look like:
/
/
/
/
o hinge
\
all in the plane of your screen
\
\
\
o hinge
-----------
---cart--- wheeled
cart that can move left or right
-----------
o o
Still -- I think this points out a distinct problem area for BEAM design.
In spite of anything that has been said about temporal encoding and all of
the rest of that jazz, what you are talking about is still a bang-bang
(i.e. full on or full off) kind of system. For example, in the case of a
'head', the corrections being made have the same force in either direction
and it is the differences in the length of correction that permit tracking.
I guess one could use two --independent-- bicores (one for each sensor) to
achieve some sort of pulse-width-modulation effect. The two connections to
the motor would be connected to one output each and the bicores would
operate at a frequency one or two orders of magnitude than the ones we
usually see. A rough schematic would be:
sensor -- bicore -- motor -- bicore -- sensor
I wonder what the results would be. Would the net effect be smoother?
Would it take less power? Could it be made to work at all?
Z
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