Alt-BEAM Archive

Message #06170



To: "alt-beam@egroups.com" alt-beam@egroups.com
From: michael.hirtle@ns.sympatico.ca (Michael Hirtle)
Date: Thu, 23 Sep 1999 17:45:22 -0300
Subject: [alt-beam] piezo electric crystal



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content-transfer-encoding: 7bit

You may rember a whil back when some said about useing some piezo
electric crystal to make a robot walk, well here it is..........
http://www.usnews.com/usnews/issue/980914/14bugs.htm


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Attachment: 14bugs.htm

USNews: Tiny robotic insects may serve as military scouts (9/14/98)<=<BR> /TITLE><BR> <BR> <!--=A5--><BR> <BR> </HEAD><BR> <BR> <BODY BGCOLOR=3D"FFFFFF" LINK=3D"FFCC33" VLINK=3D"FFCC33"><!--LOGO AND AD B=<BR> ANNER--><BR> <BR> <CENTER><TABLE BORDER=3D0 CELLPADDING=3D"0" CELLSPACING=3D"0"><TR><TD WIDT=<BR> H=3D603 VALIGN=3DABSBOTTOM><BR> <BR> <!--TK1--><BR> <A HREF=3D"/usnews/home.htm"><IMG SRC=3D"/usnews/graphics/logo2.gif=<BR> " ALT=3D"U.S.News Logo" WIDTH=3D"135" HEIGHT=3D"60" HSPACE=3D"0" VSPACE=3D"=<BR> 0" VALIGN=3DBOTTOM ALIGN=3DLEFT BORDER=3D"0"></A><BR> =<BR> <BR> <!--AdSmart--><BR> <!--issue--><BR> <IFRAME WIDTH=3D468 HEIGHT=3D60 NORESIZE SCROLLING=3DNo FRAMEBORDER=3D0<BR> MARGINHEIGHT=3D0 MARGINWIDTH=3D0<BR> SRC=3D"<A HREF="http://adforce.imgis.com/?adiframe|2.0|34|60470|1|1|ADFORCE;">">http://adforce.imgis.com/?adiframe|2.0|34|60470|1|1|ADFORCE;"></A> <BR> <script language=3Djavascript<BR> src=3D"<A HREF="http://adforce.imgis.com/?addyn|2.0|34|60470|1|1|ADFORCE;loc=3D700;"=">http://adforce.imgis.com/?addyn|2.0|34|60470|1|1|ADFORCE;loc=3D700;"=</A> <BR> ><BR> </script><BR> <noscript><BR> <a href=3D"<A HREF="http://adforce.imgis.com/?adlink|2.0|34|60470|1|1|ADFORCE;loc=3D=">http://adforce.imgis.com/?adlink|2.0|34|60470|1|1|ADFORCE;loc=3D=</A> <BR> 300;"<BR> target=3D_top><BR> <img<BR> src=3D"<A HREF="http://adforce.imgis.com/?adserv|2.0|34|60470|1|1|ADFORCE;loc=3D300;=">http://adforce.imgis.com/?adserv|2.0|34|60470|1|1|ADFORCE;loc=3D300;=</A> <BR> "<BR> border=3D0 width=3D468 height=3D60></a><BR> </noscript><BR> </IFRAME><BR> <!--/issue--><BR> <!--/AdSmart--><BR> =09<BR> <!--/TK1--></TD></TR></TABLE><BR> <BR> <!--BIG TABLE--><BR> <TABLE CELLPADDING=3D0 CELLSPACING=3D0 BORDER=3D0><TR><TD><BR> <BR> <TABLE CELLPADDING=3D"0" CELLSPACING=3D"0" BORDER=3D"0" ALIGN=3DLEFT><!-- b=<BR> egin Highlights table--><BR> <TR><BR> <TD BGCOLOR=3D"FFFFFF" WIDTH=3D"603"><BR> <BR> <A HREF=3D"graphics/maps/top3map.map"><BR> <IMG SRC=3D"graphics/top3.gif" ALT=3D"This Week's Highlights" ALIGN=3D"TOP"=<BR> WIDTH=3D"603" HEIGHT=3D"96" BORDER=3D0 ISMAP></A><BR> </TD><BR> </TR><!-- end Highlights table--><BR> </TABLE><BR> <BR> <BR CLEAR=3DLEFT><BR> <BR> <TABLE CELLPADDING=3D"0" CELLSPACING=3D"0" BORDER=3D"0" WIDTH=3D"585" ALIG=<BR> N=3DLEFT><BR> <TR><!-- begin News & Views cell--><BR> <TD COLSPAN=3D"3" WIDTH=3D"432"><BR> <A HREF=3D"/usnews/graphics/map/nvhead.map"><BR> <IMG SRC=3D"/usnews/graphics/hdissu2.gif" ALT=3D"News & Views" ALIGN=3D"TOP=<BR> " WIDTH=3D"432" HEIGHT=3D"71" BORDER=3D0 ISMAP></A><BR> </TD><BR> <BR> <!---------------------------- begin Right cell-------------------------><BR> <TD ROWSPAN=3D"2" BGCOLOR=3D"000000" WIDTH=3D"170" VALIGN=3D"TOP" ALIGN=3D"=<BR> LEFT"><BR> <TABLE WIDTH=3D"170" CELLPADDING=3D"3" BORDER=3D"0" ALIGN=3D"BOTTOM"><TR><T=<BR> D><BR> <BR> <CENTER><A HREF=3D"<A HREF="http://www.usnews.com/utils/tabulate?subscription">">http://www.usnews.com/utils/tabulate?subscription"></A> <BR> <IMG SRC=3D"/usnews/edu/graphics/ads/still3.gif" ALT=3D"Subscribe and get 4=<BR> free issues." 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Click <A HREF=3D"/usnews/us=<BR> info/infosub.htm"><font color=3D000066>here</FONT></A> for a special offer.=<BR> <P><BR> Click <A HREF=3D"/usnews/newslett.htm"><font color=3D000066>here</FONT></A>=<BR> for our free newsletter.<BR><BR> </TD></TR></TABLE><BR> </font><BR> </TD><!--- begin Story cell --><BR> <TD WIDTH=3D"317" BGCOLOR=3D"FFFFFF" VALIGN=3D"TOP"><BR> <!-----------------------------------------STORY HERE----------------------=<BR> -------------><BR> <BR> <TABLE CELLPADDING=3D"5"><TR><TD WIDTH=3D"317"><BR> <FONT FACE=3D"ARIAL" SIZE=3D"-1"><BR> <!--TEXT--><FONT FACE=3DARIAL SIZE=3D-1><B>Science 9/14/98</B></FONT><BR><BR> <P><BR> <BR><FONT SIZE=3D+2 FACE=3DARIAL color=3D000066><B>Creepy crawly spies</B><=<BR> /FONT><BR><BR> <FONT SIZE=3D+1 FACE=3DARIAL color=3D666666><I>Tiny robotic insects may soo=<BR> n serve as military scouts</I></FONT><P><P><BR> <B><FONT SIZE=3D-1 FACE=3DARIAL>BY BRENDAN I. KOERNER</FONT></B><P><P><BR> The military calls it "situational awareness": the ability to detect how ma=<BR> ny hostile tanks await in the next valley, or if bombed-out buildings are f=<BR> illed with snipers. And it is an advantage that has proved difficult to att=<BR> ain: Spies, satellites, and U-2s have all failed to keep commanders from bl=<BR> undering into ambushes and mismatches. "The worst thing is just not knowing=<BR> where the enemy is," says Ephrahim Garcia, a mechanical engineering profes=<BR> sor at Vanderbilt University in Nashville. It's "having the sense that some=<BR> body's out there trying to get you but having no idea of where the enemy mi=<BR> ght be."<P>Garcia is working to free future American troops from the terror=<BR> of the unknown. He envisions tomorrow's soldiers coming to a hill, halting=<BR> , and reaching into their packs for cigar-shaped tubes. From every tube eme=<BR> rges a robotic spider, or a robotic dragonfly, each no longer than 3 inches=<BR> . Equipped with cameras or acoustic sensors, the mechanical insects range f=<BR> orward and provide data on the hazards that lie in wait on the other side: =<BR> the number of machine gun nests, the position of artillery.<P><BR> <B>Robotic conundrum.</B> Backed by $1.7 million from the Pentagon's Defens=<BR> e Advanced Research Projects Agency (DARPA), Garcia and a Vanderbilt collea=<BR> gue, Michael Goldfarb, are designing such insect-inspired spies. This summe=<BR> r, the duo built their first crawling bug prototypes, and they aim to perfe=<BR> ct the design within two years. Insect-shaped "micro aerial vehicles" are n=<BR> ext on the slate. Along with providing the military with state-of-the-art s=<BR> couts, the researchers hope their project alters the way engineers approach=<BR> the long-vexing problem of robotic locomotion.<P>"In most robotic systems =<BR> today, people think if you want to move one joint, then you need to attach =<BR> a motor at that joint," says Garcia. "That makes for large, bulky, energy-h=<BR> og robots." It also reduces robots to the ranks of expensive toys. Motors a=<BR> re only about 60 percent efficient in turning electrical power into movemen=<BR> t. So though robots may impress with their futuristic looks, most motor-dri=<BR> ven devices have ranges limited to only a few dozen yards, rendering them u=<BR> seless for practical applications.<P>When the Vanderbilt pair bid for the D=<BR> ARPA grant last year, they beat out 50 competitors by recommending a far mo=<BR> re energy-efficient approach. They proposed to use piezoelectric ceramics--=<BR> thin, ceramic-coated metal wafers that bend when an electrical current is a=<BR> pplied to their surfaces. Such materials already are used commercially to m=<BR> ake silent pagers vibrate or to make zoom lenses move.<P>In Garcia and Gold=<BR> farb's design, two such strips--built from lead, zirconium, and titanium--a=<BR> re sandwiched together, a structure known as a bimorph actuator. When charg=<BR> ed, one half of the actuator expands while the other contracts, causing it =<BR> to curve. When the brief energy pulse ends, the structure snaps back to its=<BR> original form and then can begin the cycle anew. The researchers attached =<BR> titanium legs to these vibrating strips. Vibration is translated into motio=<BR> n, as the crawler takes 2-millimeter-long forward strides in response to ea=<BR> ch oscillation.<P>Since piezoelectrics require only occasional energy boost=<BR> s to keep up the vibration, the bugs promise to be up to 50 percent more en=<BR> ergy efficient than traditional robots. "If you're in a weight room and you=<BR> lift 100 pounds up and down 10 times, that takes a lot of energy from a pe=<BR> rson," says Goldfarb, trying to illustrate the principle behind the design.=<BR> The same work, he adds, could more easily be accomplished by hooking that =<BR> weight to a spring on the ceiling, then displacing it a bit and letting it =<BR> bounce up and down by itself. Another common analogy is a child on a swing =<BR> set; once in motion, very little pumping action is required to keep moving.=<BR> The bugs' energy efficiency should give them ranges of almost 500 yards, a=<BR> nd allow them enough juice to carry such intelligence-oriented payloads as =<BR> chip-size infrared detectors and quarter-size video cameras.<P><BR> <B>Natural efficiency.</B> The engineers' decision to model their robots af=<BR> ter bugs was a natural choice: Biological systems are far more energy effic=<BR> ient than anything cooked up in the laboratory. "Most things biological sor=<BR> t of oscillate as they walk," says Garcia. "If you look at humans walking a=<BR> nd the way our legs act as pendulums off our hips and swing back and forth,=<BR> that's a cyclic motion." They were also impressed by the shape of daddy lo=<BR> nglegs, whose low-slung bodies and inverted-V legs create a stable configur=<BR> ation--important for robots that will have to scamper across uneven, someti=<BR> mes treacherous terrain. Additional hardiness comes from the solid-state le=<BR> gs, which are free of bearings, rods, or shafts that could get jammed by pe=<BR> bbles or dust. "They probably won't survive being stomped on, but short of =<BR> that they're pretty tough," says Garcia, who boasts that his creations will=<BR> be able to survive four-story falls.<P>Before the bugs can be unleashed on=<BR> the battlefield, however, a few major hurdles remain. Chief among them is =<BR> a power problem; though the robots will require around 60 volts to start vi=<BR> brating, the watch-size batteries being considered can provide only 3 to 6 =<BR> volts. To get the bugs moving without the aid of chargers, circuitry must b=<BR> e developed to amplify the current, and it must be small enough to fit the =<BR> 2-by-¾-inch bugs. Still, the design's voltage requirement is impressiv=<BR> ely low; rival efforts to create locomotive robots of comparable size have =<BR> needed well over 1,000 volts.<P>Another lingering question is how a robotic=<BR> swarm can be controlled. With thousands of bugs roving at once, commanding=<BR> each individual unit would be close to impossible. Garcia thinks that a ba=<BR> ttalion leader, outfitted with a remote control, would only have to control=<BR> a "mother ship," an insect at the fore that would then relay instructions =<BR> to other members of the swarm. In the event of the mother ship's destructio=<BR> n, the leadership role could be shifted to a surviving robot. The exact det=<BR> ails of this control, however, have yet to be worked out.<P>Whether the res=<BR> t of the mechanical engineering world believes these obstacles are conquera=<BR> ble will be put to an initial test in November, when Garcia and Goldfarb wi=<BR> ll present their work to peers at a symposium of the International Society =<BR> for Optical Engineering. But DARPA officials and the Vanderbilt group are o=<BR> ptimistic that the kinks can be worked out and that assembly-line productio=<BR> n of the bugs is nearing. Along with the crawling prototype, the researcher=<BR> s have already managed to construct a piezoelectrically actuated thorax for=<BR> the flier. Once all design issues are resolved, the researchers believe, t=<BR> he insects could cost as little as $10 per unit. The required metals are re=<BR> adily available, and the bimorph strips and legs can be cheaply pressed fro=<BR> m large sheets. <P>The low price makes the insects potential candidates for=<BR> a variety of uses, including delivering lethal toxins on the battlefield o=<BR> r aiding police SWAT teams. Or perhaps 10,000 of the mechanical creatures c=<BR> ould be dropped on the Martian surface to probe the nooks and crannies Path=<BR> finder missed. But those missions are far distant; the bugs' first and fore=<BR> most duty will be to give American troops an upper hand and to save them fr=<BR> om stumbling into situations too perilous to survive.<P><BR> <BR> </TD></TR></TABLE><BR> <BR> </TD><!-- end Story cell --><BR> </TR><BR> <BR> <TR><TD COLSPAN=3D4><IMG SRC=3D"/usnews/graphics/bkoydwnw.gif" WIDTH=3D"602=<BR> " HEIGHT=3D"20" VSPACE=3D"0" BORDER=3D"0"></TD></TR><BR> </TABLE><BR> <!--BR CLEAR=3D"LEFT"--><BR> <BR> <!--END BIG TABLE--><BR> </TD></TR></TABLE><BR> <BR> </CENTER><BR> <BR> <BR> <BR> <BR> =09<BR> <BR> </body></html><BR> <BR> --------------9E7AED148E2B1E0CBDBA52C2--<BR> <BR> <BR> <BR> 6171 Thu, 23 Sep 1999 23:28:53 EDT [alt-beam] PCB Layouts alt-beam@egroups.com, beam@spindle.corp.sgi.com TurtleTek@aol.com Greetings List,<BR> <BR> It's been a while. I haven't been BEAMing for the past few months but now <BR> with winter starting up, I'm getting back into it. So, quick question:<BR> Where (websites) can I find PCB layouts for popular circuits (photopopper, <BR> SEs, etc)? <BR> <BR> Thanks,<BR> <BR> -TurtleTek<BR> "I'm back!"<BR> <BR> <BR> <BR> 6172 Fri, 24 Sep 1999 13:19:16 -0400 [alt-beam] motor found (i think) beam@sgiblab.sgi.com SG <Sparkyg@seark.net> <BR> --=====================_938207956==_<BR> <BR> i don't know who was looking for this, but i remeber someone asking where<BR> they could get the bg micro motors.<BR> i remebered reading about a source on one of Ian's past news<BR> items.<BR> it was originally posted on 04/02 1:31 PM <BR> by Jonathan A Wolter <BR> <BR> i dug it up for ya... and even included a clip from thier online catalog,<BR> (apparently, you take the external gearhead off)<BR> heres the info:<BR> <BR> MIGHTY-MIGHT GEARHEAD MOTOR <BR> 2-24 VDC Reversible <BR> 50 mA, 40 in/oz max torque, 10 to 1400 rpm <BR> Motor comes with external gear train 1-3.4" L x 1-1/16: W x 5/8" H<BR> (easily removed). Motor size including built in gearhead is 13/16"L x<BR> 11/16" dia. shaft size 5/84" dia x 7/16"L Actual weight is 1 oz. unit<BR> has two shaft and mounting holes, the external gear train has 3 holes for<BR> mounting. New. <BR> Shipping wt 1 lb. <BR> TM97MTR3083...........$19.95 <BR> <BR> hmmmmm, $19.95.<BR> so much for inexpensive robotics.<BR> heres where they are:<BR> <A HREF="http://www.herbach.com/">http://www.herbach.com/</A> <BR> <BR> --=====================_938207956==_<BR> <BR>Attachment: <A HREF="images/06170c.jpg">motor.jpg</A> <BR> <BR> --=====================_938207956==_<BR> <BR> <BR> <BR> <BR> --=====================_938207956==_--<BR> <BR> <BR> <BR> 6173 Fri, 24 Sep 1999 00:18:01 -0700 [alt-beam] Re: motor found (i think) beam@sgiblab.sgi.com Darrell Johnson <wundoba@pacbell.net> SG wrote:<BR> > <BR> > hmmmmm, $19.95.<BR> > so much for inexpensive robotics.<BR> > heres where they are:<BR> > <A HREF="http://www.herbach.com/">http://www.herbach.com/</A> <BR> <BR> Depends on what you compare it to.. kind of expensive compared to some<BR> of the other surplus motors that show up, but most of those motors are<BR> crap. They're sure a lot cheaper than buying new motors from the<BR> manufacturers... so get them while you can.. I got all mine when bgmicro<BR> had them for cheap, which was a total fluke, and they never expected<BR> them to get them back there again.<BR> <BR> Darrell<BR> -- <BR> _______________________________<BR> BICOREEOS..they're BEAMtastic!!<BR> <A HREF="http://home.pacbell.net/wundoba">http://home.pacbell.net/wundoba</A> <BR> <BR> <BR> <BR> 6174 Fri, 24 Sep 1999 21:48:14 -0400 [alt-beam] Hey Darrell J ! beam@sgiblab.sgi.com SG <Sparkyg@seark.net> just gotta tell ya that i visited your site and<BR> watched the mov of the 2DOF head - AMAZING !<BR> very very cool!<BR> then looked at your regular head, (em, not YOUR head, but your first head.<BR> er...ok, your first project head.)<BR> thanks for putting up the schematic! I was confused about the LED till i<BR> realized it was just an indicator light. (btw, Fled and LED are synonomous<BR> right?)<BR> i guess hats off go to the Wilfmyster too for designing the circuit.<BR> Is this the standard head circuit now?<BR> i gotta build one of these fer my desk!<BR> <BR> -Sparky<BR> ps:<BR> thing i'm confused about is on the 2DOF, how in the world it knows which<BR> engine to fire? hmmm....<BR> <BR> <CENTER> <A HREF="index.html"> Home </A> </CENTER> </BODY> </HTML>