tag:blogger.com,1999:blog-81847522454433752602024-03-13T09:45:39.369-07:00PORPOISE ROBOTICS: Robotics with a PurposeAnonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.comBlogger27125tag:blogger.com,1999:blog-8184752245443375260.post-91381972453469774432012-06-07T16:07:00.003-07:002012-06-07T16:07:56.441-07:00Serving up the Robotic Claws<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjNNrJJ9LWV7ICC9oCDEJg5a8Gt4rmlNEYYao28YJ3KD9UfNIjsL4G_dJGEaRi27j28qRMDx7BV3sdUpGj-hbIQGK3_rkzP59JoCxXoTaJ89x7uOR7mn01wXpb128RDOXfkqQeDERUF3W0/s1600/SeaHawkwithClaws7.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjNNrJJ9LWV7ICC9oCDEJg5a8Gt4rmlNEYYao28YJ3KD9UfNIjsL4G_dJGEaRi27j28qRMDx7BV3sdUpGj-hbIQGK3_rkzP59JoCxXoTaJ89x7uOR7mn01wXpb128RDOXfkqQeDERUF3W0/s320/SeaHawkwithClaws7.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">To carry the Sea Perch to its mission deployment site, you will equip the Sea Hawk deck with Robotic Claws. The claws hold the Sea Perch in place by its grappling poles until you are ready to send your Robosub on its dive. You can order the claws from Sparkfun here: <a href="http://www.sparkfun.com/products/10332">http://www.sparkfun.com/products/10332</a></td></tr>
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<tr><td class="tr-caption" style="text-align: center;">Ideally you can mount the claws with three servos to get three axes of motion, but that adds to cost and complexity. To compromise, we eliminate the swivel servo at the base and fix the "arm" of the robot in place. This means that at the end of the mission the Sea Perch pilot must carefully drive the Robosub into the docking bay. Once it is all the way forward in the docking bay, the large "wrist" servo, which moves up and down, turning on the X axis, can be used to make the open claw descend oover the grappling pole. Then the little servo which controls the opening and closing of the claw itself can be closed, gripping the pole.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6bla2wI4UjXsT7R_SYqhTo9moRIzO6zxfvi8KiMeGNHmno8bPrXLPnxrQo2GNE8KF9VK-FCNptM0ZuhHmKNFNKRWq8_Yh-BFUL_yFjgV2ndgEQrx-Ji-m_iYA1Xk6PPQpq5bsgGQaSAc/s1600/SeaHawkwithClaws1.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6bla2wI4UjXsT7R_SYqhTo9moRIzO6zxfvi8KiMeGNHmno8bPrXLPnxrQo2GNE8KF9VK-FCNptM0ZuhHmKNFNKRWq8_Yh-BFUL_yFjgV2ndgEQrx-Ji-m_iYA1Xk6PPQpq5bsgGQaSAc/s320/SeaHawkwithClaws1.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Our design calls for two claws, one on each side of the Sea Hawk. You can save time and money by running them simultaneously in parallel motion, or you can experiment with having independent control of each claw.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzmSmyi4GdS_TcIKbGjaBFuHxn4RR7MGq9FtGLqovsYDQn1BEIxR6_D4PzOA01PWyWM6tv5GfRMTIA0vemAMx4P7WGpr1QFZ71g4donFu3GRhvAWEubWWo-flogo9lmEuFaH-cBWGBSAo/s1600/SeaHawkwithClaws1png.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzmSmyi4GdS_TcIKbGjaBFuHxn4RR7MGq9FtGLqovsYDQn1BEIxR6_D4PzOA01PWyWM6tv5GfRMTIA0vemAMx4P7WGpr1QFZ71g4donFu3GRhvAWEubWWo-flogo9lmEuFaH-cBWGBSAo/s320/SeaHawkwithClaws1png.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Each servo of each claw NEEDS ITS OWN BATTERY! They run off of 5 V, so you can use 4 battery holders that each have 4 AA batteries in them. If you try to run two servos off of the same battery you will experience issues where sometimes it works, and sometimes it doesn't. To avoid that , give each servo its own battery. You hook the positive and negative wires from the servo to the battery and the signal wire to a mini-breadboard, then from there to one of the pins on your Arduino. </td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2hxlbKhehCJ0eSKTLQOjLqMnRqxt0BOFVqpiFrvMOQqIOYmKx_Sj8P0f4tYZOsSAzUhuuyTkitNqG07KYu56mdQnTrxvThMZCQW4-xM95RV23tz3NBBPiPVSe_MhL78Ofmnf1G81WL50/s1600/SeaHawkwithClaws2.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2hxlbKhehCJ0eSKTLQOjLqMnRqxt0BOFVqpiFrvMOQqIOYmKx_Sj8P0f4tYZOsSAzUhuuyTkitNqG07KYu56mdQnTrxvThMZCQW4-xM95RV23tz3NBBPiPVSe_MhL78Ofmnf1G81WL50/s320/SeaHawkwithClaws2.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">What we do is to control the two claw Servos from the Adafruit Motor Shield in the Sea Perch control box. the Adafruit has two locations for Servos on it. This way you send a command to the Adafruit shield to open the claws, dropping the Perch and allowing you to start driving it with the same Motor Shield, using the down propellor only. We hook up the to large wrist servos to pins on the Arduino in the Sea Hawk control box. This way, when the Sea Perch returns from its mission, you use the Adafruit to control its motors to get it in docking position and the Sea Hawk Arduino to control the wrists so they can move up and down over the grappling poles. When the position is right you turn off the Sea Perch motor and use the Adafruit to close the claws. Simple? Is anything in robotics simple?</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYSBkrBBhMCmp40cjWDX6i_J5Z7-X8ebb2tjIYL0pHj7129ShPfSoA1BxD5hrdZ1us_1HX9Ava4pP5hsJ0XYFLzNATOygXLYxA-d03dT2z7vyYpInwbCf4tKUcPQG5eAAahRfjXFgl4fQ/s1600/SeaHawkwithClaws4.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYSBkrBBhMCmp40cjWDX6i_J5Z7-X8ebb2tjIYL0pHj7129ShPfSoA1BxD5hrdZ1us_1HX9Ava4pP5hsJ0XYFLzNATOygXLYxA-d03dT2z7vyYpInwbCf4tKUcPQG5eAAahRfjXFgl4fQ/s320/SeaHawkwithClaws4.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Once the Sea Perch is "docked and locked" in the Sea Hawk you use your bluetooth Android phone with Amarino to drive the pair back to shore.</td></tr>
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-7595590364875958312012-06-07T12:50:00.002-07:002012-06-08T08:57:29.945-07:00Arduino Sandwhich 2: The Sea Perch<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh3fpC7v6lFpRsIH5LSf7okHy1QIE7Zj_Yl30AbX7mBvLOZIrUciP24wnMxAfKZZIDErTn3j5Z55_aNNVIGoH3lNyG8srzjqpafMqwqjkOCNU-kH8Cgh8ohnEt8Y84y7DbQ168laiaMl9g/s1600/SeaPerchArduinoStackinaBox.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh3fpC7v6lFpRsIH5LSf7okHy1QIE7Zj_Yl30AbX7mBvLOZIrUciP24wnMxAfKZZIDErTn3j5Z55_aNNVIGoH3lNyG8srzjqpafMqwqjkOCNU-kH8Cgh8ohnEt8Y84y7DbQ168laiaMl9g/s320/SeaPerchArduinoStackinaBox.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Sea Perch Arduino Sandwhich sits in a similar Otter 2500 box on the bow of the Sea Hawk. Its stack is only three boards high for now.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjyp77tAj8K35b3Z6fn3x34FGATFgm9oZI8wGw0KozU9s0JvKaW6moNvHbXgDyueYZuOKoUrNdVzP6mAUQyNRZ-9zJImVVwSg16UcvKGI0Npt6EiLdTrMvPMDJpI0KWiqupPA1CR2ak-EE/s1600/SeaPerchArduinoStackOPEN.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjyp77tAj8K35b3Z6fn3x34FGATFgm9oZI8wGw0KozU9s0JvKaW6moNvHbXgDyueYZuOKoUrNdVzP6mAUQyNRZ-9zJImVVwSg16UcvKGI0Npt6EiLdTrMvPMDJpI0KWiqupPA1CR2ak-EE/s320/SeaPerchArduinoStackOPEN.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">As with the Sea Hawk sandwhich, an Arduino Uno R3 forms the bottom layer. It also needs its own power source (a 9 V battery through the barrel plug; note that the battery is in a separate Otter Box and note that you don't want to use a normal 9 V battery brick because it won't last long enough for the mission and when it starts to get weak the logic will go crazy and your robosub won't behave properly. Use a NiMH hobbyists 9V battery pack!)</td></tr>
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<tr><td class="tr-caption" style="text-align: center;">The second part of the stack is the ADAFRUIT MOTOR SHIELD whch comes in a kit from Adafruit and which you will solder together yourself. It is the only inexpensive motor shield we know that can handle up to 4 motors and 2 servos, making it ideal for the Sea Perch. Note that the Adafruit Motor shield needs its own battery source, which should be an 11.1 V to 12 V hobby battery. Make sure you remove the jumper on the shield so that you isolate the power from the Arduino board because you DO NOT want to power the motor shield from the Arduino power supply!<br />
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ONCE AGAIN: MAKE
SURE YOU REMOVE THE JUMPER ON THE JUMPER PINS SHOWN ABOVE SO THAT YOU CAN USE A
SEPARATE POWER SUPPLY FOR THE MOTORS AND A SEPARATE POWER SUPPLY FOR THE
ARDUINO. The Adafruit Shield comes with the little black plastic jumper
in place here and this would make both the Arduino and the Motor Shield
use the same power supply (either plugged in to the terminals on this
shield or into the barrel jack of the Arduino). The problem with this
is possible motor noise interference and erratic behavior on the part of
the Arduino. Safest is to remove the jumper so your Adafruit Shield
looks like ours in the picture above. You can read more about the topic here: <a href="http://forums.adafruit.com/viewtopic.php?f=31&t=26226">http://forums.adafruit.com/viewtopic.php?f=31&t=26226</a></td><td class="tr-caption" style="text-align: center;"> </td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh5B_Mq02dTVAqlyfboI0uYZ1XhyphenhyphenK8X5dC-i9fOQ7UfG1t-r1gERILx3Z0PrNMFEa4dIqIkivDK1nsKy4TF1LseQk1im1Hkiq0_l48UekSJJl6JcEOoTW47_BmaA9M1tBv9p6qO2cqBdyQ/s1600/SeaPerchArduinoStack2.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh5B_Mq02dTVAqlyfboI0uYZ1XhyphenhyphenK8X5dC-i9fOQ7UfG1t-r1gERILx3Z0PrNMFEa4dIqIkivDK1nsKy4TF1LseQk1im1Hkiq0_l48UekSJJl6JcEOoTW47_BmaA9M1tBv9p6qO2cqBdyQ/s320/SeaPerchArduinoStack2.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The top of the Stack is an Xbee shield. We recommend the one from Sparkfun because it plugs right into the stackable headers and will work (should work!) right out of the box without any configuration or wiring. It draws its power from the Arduino board and once you have loaded up our "running the Sea Perch from the computer keyboard" sketch onto the Arduino and you plug the Xbee USB dongle into your computer and open the serial monitor in the Arduino IDE it should work as though you are connected to the board, only wirelessly.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiSQX6bb8bgLEBYZouBR9hkYx0M97ou-eHGWv_ZA_ik6_xur9dEKGo4QgBwSyaFRVgRrxcZ1uTcNCTT6Fi7JJ4VTyH8oomC7bjPyTZ69P0qGy17nHzhUe5nZfVDvZu_iFujoGSzZbesLeM/s1600/SeaPerchArduinoStack.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiSQX6bb8bgLEBYZouBR9hkYx0M97ou-eHGWv_ZA_ik6_xur9dEKGo4QgBwSyaFRVgRrxcZ1uTcNCTT6Fi7JJ4VTyH8oomC7bjPyTZ69P0qGy17nHzhUe5nZfVDvZu_iFujoGSzZbesLeM/s320/SeaPerchArduinoStack.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">With this configuration you should be able to pilot your Perch wirelessly from your laptop, safe and dry on the shore!</td></tr>
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-33999638765599080442012-06-07T12:13:00.000-07:002012-06-07T12:13:05.294-07:00Arduino Sandwhich 1: The Sea Hawk Each Otter Box 2500 on the bow of the Sea Hawk contains a different "Arduino Sandwhich". An arduino uno R3 board is common to both of them, but the shields on them differ because of the different needs of the Sea Perch and Sea Hawk. <br />
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The beauty of using Arduino Shields is that they mount piggy back onto the Arduino and the pin assignments are such that you don't lose the functionality of the Arduino board (the stackable female headers make it so that when you plug a wire into the analog or digital inputs on the top board you are effectively plugging into the same pin on the Arduino down below) and generally, for the specific function of the Shield, it is already wired to accept logic from and send logic to the Arduino. So using shields makes things very compact and plug and play.<br />
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjInPPY9_7H7rP-eC9JytLMlQh48b4ACQW-XwyYY1djnN_dEwJRsFBdCrMMeHFk84CGebiYIe-1NJfudUlk9e49CmyZtz4uRqfqgGIoVw4xkm1eazhXyo-UofDR_qY5fFPIy6XHEw4Mro4/s1600/SeaHawkArduinoStackinbox.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjInPPY9_7H7rP-eC9JytLMlQh48b4ACQW-XwyYY1djnN_dEwJRsFBdCrMMeHFk84CGebiYIe-1NJfudUlk9e49CmyZtz4uRqfqgGIoVw4xkm1eazhXyo-UofDR_qY5fFPIy6XHEw4Mro4/s320/SeaHawkArduinoStackinbox.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Sea Hawk uses 4 boards for its basic functionality. They fit inside the Otter Box 2500 and leave just enough room for wiring.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjaPoMIamBxUkfKnozFlhLoXpy6uwAvqrRHHG0xCMbFnoiZuVPLzi326-TKTWur2pJvSrt0Fc_jC_GQWItq4xxaQki2cYUsl5tfXPZh2UwLKvQMM24lFMTb32fqE0NsmOYkdoKHAhoAckM/s1600/SeaHawkArduinoStack5.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjaPoMIamBxUkfKnozFlhLoXpy6uwAvqrRHHG0xCMbFnoiZuVPLzi326-TKTWur2pJvSrt0Fc_jC_GQWItq4xxaQki2cYUsl5tfXPZh2UwLKvQMM24lFMTb32fqE0NsmOYkdoKHAhoAckM/s320/SeaHawkArduinoStack5.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Arduino Uno R3 is at the ground floor of the stack. It needs its own 9 volt power supply (at the barrel plug shown in the middle top of the picture). The grey box is a USB connector for uploading the programming code (called an Arduino "sketch") to the board. You load it once before you send the Sea Hawk out to sea...</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvdX1hGvQI4KbO3tr0aRuuAJqfEzs2ivK4dhMFnzs_jyb17Fr7dLr4Ak_GE5VhLNHe-oKAdGPRhETh4VJs_MpqQaYmfaD9yZQZkgCStMkokOnpXWG3-5D-YyeZzJXW3361UE2babrLZ8Y/s1600/SeaHawkArduinoStack4png.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvdX1hGvQI4KbO3tr0aRuuAJqfEzs2ivK4dhMFnzs_jyb17Fr7dLr4Ak_GE5VhLNHe-oKAdGPRhETh4VJs_MpqQaYmfaD9yZQZkgCStMkokOnpXWG3-5D-YyeZzJXW3361UE2babrLZ8Y/s320/SeaHawkArduinoStack4png.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The second layer of the "sandwhich" for the Sea Hawk is the Arduino Motor Controller, found at Radio Shack. This requires its own 11 to 12 volt power supply to run the motors.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi4No3hxH3I-AQqCsPsPCRAECrljD-Id_8TqUoPPHdExcYXxGFf-G-C6aGaYVIZw4ZkBFbL4rcvff5u0tAUxrYVgbwAs7QYCgVcDp1pV4HUCW8Uwknakt_WTMcHUjWf1-L2UM8tQclRUwc/s1600/SeaHawkArduinoStack3.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi4No3hxH3I-AQqCsPsPCRAECrljD-Id_8TqUoPPHdExcYXxGFf-G-C6aGaYVIZw4ZkBFbL4rcvff5u0tAUxrYVgbwAs7QYCgVcDp1pV4HUCW8Uwknakt_WTMcHUjWf1-L2UM8tQclRUwc/s320/SeaHawkArduinoStack3.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The next thing we put on the Sea Hawk stack is a GPS Shield. This enables the Sea Hawk to report where it is as it carries the Sea Perch to its mission location,.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi__G_p7gnhjIvthXR7JxcrAWjBCEOZoXdIbCOV1KOOmWCx0nqwVXu6wfJMl1RoMebKdY3gVf3T1BZljspS5XX2gGyWuU8S_sQh_awtNBYilmtFybOzSxSsrWndKmNQwGB93QuY7HGGYbU/s1600/SeaHawkArduinoStack2.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi__G_p7gnhjIvthXR7JxcrAWjBCEOZoXdIbCOV1KOOmWCx0nqwVXu6wfJMl1RoMebKdY3gVf3T1BZljspS5XX2gGyWuU8S_sQh_awtNBYilmtFybOzSxSsrWndKmNQwGB93QuY7HGGYbU/s320/SeaHawkArduinoStack2.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The top of the stack is an Arduino Prototyping Board with a MiniBreadboard adhered to the space between the female headers. Note the orientation of the breadboard; you need to mount it so that the long side of the rectangle is between the headers so that you can mount the bluetooth Bluesmirf wireless chip and the Navigational compass properly (make sure that the pins of these devices are in breadboard holes that are not electrically connected!!)</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgdmwMp-Osq6PoWoW9b6S2_QVeRV-SRJriYLIQ4QHMtkV8jMlwgHNGvbpqMBAxgYpdiRy1nOlhyklT0pnO5EXtrlnFhONY_KgaUFmHFo0p00_eFiuOrQfRcC2JTgX3EUqkShCWDfNHal5U/s1600/SeaHawkArduinoStack1.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgdmwMp-Osq6PoWoW9b6S2_QVeRV-SRJriYLIQ4QHMtkV8jMlwgHNGvbpqMBAxgYpdiRy1nOlhyklT0pnO5EXtrlnFhONY_KgaUFmHFo0p00_eFiuOrQfRcC2JTgX3EUqkShCWDfNHal5U/s320/SeaHawkArduinoStack1.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The bluetooth module on top allows us to drive the Sea Hawk from our Android phones using the Amarino apk. We need to keep the Prototyping shield with the Bluesmirf and compass on top so that we can wire them to the Arduino female headers. Unlike the motor shield and the GPS, which are internally wired through their header pins to the Arduino, the prototyping shield merely provides a pass through for the arduino pins and a breadboard; you have to wire the breadboard to the pins to get them to talk.</td></tr>
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-21442017452244498512012-06-05T16:52:00.003-07:002012-06-08T08:20:39.679-07:00Systems Integration: Putting it all together<div class="separator" style="clear: both; text-align: center;">
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<tr><td class="tr-caption" style="text-align: center;">The complete Sea Hawk/Sea Perch configuration (shown without wires or zip ties)</td></tr>
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In this section you will learn how the Sea Hawk/Sea Perch platform is configured.<br />
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The Sea Hawk Skin, made of two layers of corrugated plastic, is zip tied to the endskeleton.<br />
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The hacked Sea Perch docks inside the opening in the Sea Hawk with the grappling poles to the rear. <br />
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Four large otter boxes are placed on the Sea Hawk deck. The ones on the wings, shown in yellow, contain the batteries (each yellow box has a 9V battery for the Arduino microcontroller, a 11.1 V battery for the propellor motors and 2 6 V battery packs for extra servos.. In this way the contents of the yellow boxes are identical.)<br />
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The otter boxes on the front deck, shown in red, hold the Arduinos and their corresponding motor shields and wireless transceivers. The one on the starboard side we designate for the Sea Hawk. The one on the port side we designate for the Sea Perch.<br />
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In the artist's rendering above, two Arduino Unos are shown sitting on top of the Otter boxes they will eventually go in.<br />
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The rendering above gives a closer look at the relative sizes of the microcontrollers and the otter boxes.<br />
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In the rendering above we shown the beginning of the "Arduino sandwhich" that will go in each box. The Arduino on the left has an Adafruit Motor Shield stacked on it. This is identified by the three 16 pin IC chips on the board. The one on the bottom and the top are Dual "H-bridge" motor controllers, each one corresponding to a separate channel or "bridge" that can take two motors and up to 1.2 amps current. The specifications say, "4 H-Bridges: L293D chipset provides 0.6A per bridge (1.2A peak) with thermal shutdown protection, 4.5V to 25" The Adafruit also has connectors for up to two servos and so it can be used to run the robotic claws that hold the Sea Perch in place. We've chosen this shield for the Sea Perch because it can handle all three Sea Perch motors and the robotic claws, albeit running at different times so as not to overload the board. The specs say, "<br />
<b>Up to 4 bi-directional DC</b> motors with individual 8-bit speed selection (so, about 0.5% resolution) <br />
<b>Up to 2 stepper motors</b> (unipolar or bipolar) with single coil, double coil, interleaved or micro-stepping. <b>2 connections for 5V 'hobby' servos</b> connected to the Arduino's high-resolution dedicated timer - no jitter!"<br />
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We are using 3 Jameco bi-directional 0.6A DC motors for the Sea Perch and 4 servos; two of the servos (the one's opening and closing the claws) will be run off of the Adafruit, drawing their 5V power from the same 11.1 Volt battery that powers the Sea Perch motors. The two other servos, controlling the 'wrists' of the robotic claws, will be run from pins on the Arduino board and require their own battery sources (a separate battery pack for each servo).<br />
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On the right we see the begining of a motor shield for controlling the Sea Hawk propeller motors. This shield is not yet populated with all its electronic components and is used for illustration purposes only.<br />
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<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhdoW0zxStXmgAdfL1wZ7b2_WbNkmAqTkCtktBtCA-VYBU0XgKmRbm6cskFQ8Sc8oj6S0d77cfctx9e-tFOQIeM92QbplDSm6yl3bGGPT1z5Gfk3BnbBW-bSC5sVqUf_NYTLeyKrm9h9s0/s1600/mshield_LRG.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhdoW0zxStXmgAdfL1wZ7b2_WbNkmAqTkCtktBtCA-VYBU0XgKmRbm6cskFQ8Sc8oj6S0d77cfctx9e-tFOQIeM92QbplDSm6yl3bGGPT1z5Gfk3BnbBW-bSC5sVqUf_NYTLeyKrm9h9s0/s320/mshield_LRG.jpg" width="320" /></a></div>
Above is a picture of the Adafruit motor shield mounted on the Arduino and connected to some of its possible motors and servos. The adafruit comes as a kit and must be assembled by the student (a great learning experience). The kit can be ordered here:<br />
<a href="http://www.adafruit.com/products/81">http://www.adafruit.com/products/81</a><br />
Instructions for building the motor shield can be found here:<br />
<a href="http://www.ladyada.net/make/mshield/solder.html">http://www.ladyada.net/make/mshield/solder.html </a><br />
The picture shows a green shield, my rendering shows a red shield (reminiscent of Spark Fun) but the real kit now comes in blue! Just sayin...<br />
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Below are some pictures of some of the infrastructural finishes for a floating moving craft:<br />
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhVzkyqX5xEEKGT_hy7mT7sSm7QBUWiBar1ZZOTU0Fru4XzExANTwJ1EZk9-KFHI-X09pPBeOpyZ5Q01DmwVfz7iFoHA-xtqHItr2YEzPL9l-bdsXccSaTp_rF9jZepy8DYarKwukgLDuw/s1600/SeaPerchwithmotormounts2.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhVzkyqX5xEEKGT_hy7mT7sSm7QBUWiBar1ZZOTU0Fru4XzExANTwJ1EZk9-KFHI-X09pPBeOpyZ5Q01DmwVfz7iFoHA-xtqHItr2YEzPL9l-bdsXccSaTp_rF9jZepy8DYarKwukgLDuw/s320/SeaPerchwithmotormounts2.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here the motor mounts have been added to the Sea Perch at the 3 Tee positions.</td></tr>
</tbody></table>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEia6QlBeusxucd7ZrYZiDUV9bM4R8NSK0pRHNLPQEAWLyl0dG2QcmQPaK_7nlT7IuUbcQhY_TaJj62ooQyTKDchQa6cd26_nD-iKK8T_KZfcjmRX9Uw5qJ9rA88Ut11PBalJhbZZ3H7e4k/s1600/SeaPerchwithmotormounts.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEia6QlBeusxucd7ZrYZiDUV9bM4R8NSK0pRHNLPQEAWLyl0dG2QcmQPaK_7nlT7IuUbcQhY_TaJj62ooQyTKDchQa6cd26_nD-iKK8T_KZfcjmRX9Uw5qJ9rA88Ut11PBalJhbZZ3H7e4k/s320/SeaPerchwithmotormounts.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">It is a bit easier to see from the side. Note that the motor mounts are 3" pieces of 1/2 inch PVC with the top part of the last two inches cut out so the motors can be taped to them with duct tape.</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3tUUVAkpDq0FCIVMu-0hx0BwQVD3WEXLGVsLfnpvro3CcxzMmvCYeIZgowUy-O3L9G2XtOm5SpkMSrKsu-J4LjPYco0PF3cWaAhyWHsbp6dwfr34f6JalmG3OBWbQye7ylqV1WEb1P1c/s1600/SeaHawkwithmotormounts1.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3tUUVAkpDq0FCIVMu-0hx0BwQVD3WEXLGVsLfnpvro3CcxzMmvCYeIZgowUy-O3L9G2XtOm5SpkMSrKsu-J4LjPYco0PF3cWaAhyWHsbp6dwfr34f6JalmG3OBWbQye7ylqV1WEb1P1c/s320/SeaHawkwithmotormounts1.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">We add the same motor mounts to the back Tees of the Sea Hawk endoskeleton.</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiKss1HgZvDUwu3ykV54u2ERy2Oc3ITOVdJ6BaiDuGqsMJ-0nG-7Qp0vgCIHWXzTJUQDLoctPmw-z_S3DVMw531F7coYkKaqIF4bpue2cveqITA2e0cGFICDUy-Ps08QqhOTyVQ0nOgT9g/s1600/SeaHawkwithmotormounts2.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiKss1HgZvDUwu3ykV54u2ERy2Oc3ITOVdJ6BaiDuGqsMJ-0nG-7Qp0vgCIHWXzTJUQDLoctPmw-z_S3DVMw531F7coYkKaqIF4bpue2cveqITA2e0cGFICDUy-Ps08QqhOTyVQ0nOgT9g/s320/SeaHawkwithmotormounts2.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">At sunset, in the evening light, it the contrasting shadows make it easier to make out how the motor mounts are cut.</td></tr>
</tbody></table>
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvsfelenE9BBfVBEp1Z4DZ8tLa3_xqa0XfWoD1zBANq8Zgi60S5cLmVaNHB_-aEpXW5tNmvwU3OTNRcb90Biz1_Joqvk8eWDmxW35LZ-SkfqUw7R0odgawnV_YRrPtSuiV_7GkCNPToWI/s1600/SeaHawkwithmotormounts3.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvsfelenE9BBfVBEp1Z4DZ8tLa3_xqa0XfWoD1zBANq8Zgi60S5cLmVaNHB_-aEpXW5tNmvwU3OTNRcb90Biz1_Joqvk8eWDmxW35LZ-SkfqUw7R0odgawnV_YRrPtSuiV_7GkCNPToWI/s320/SeaHawkwithmotormounts3.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">This picture was also taken when the sun was setting in the virtual world. You can clearly see how the motor mounts look and their ideal orientation.</td></tr>
</tbody></table>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhJP-Z0k8sMXIZYqr6wn52AtswO8QWBR31EcNqt1iN23NgeqY34J3ImQr43bOdBBvaptPrqoFKeXTNMtfyPoLgX53cMKJjz73o0JyJBucBAZyYFr7Bi3rglK8pQLqcotGthVq0Z8B4BvEA/s1600/SeaHawkSeaPerchwithmotormounts.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhJP-Z0k8sMXIZYqr6wn52AtswO8QWBR31EcNqt1iN23NgeqY34J3ImQr43bOdBBvaptPrqoFKeXTNMtfyPoLgX53cMKJjz73o0JyJBucBAZyYFr7Bi3rglK8pQLqcotGthVq0Z8B4BvEA/s320/SeaHawkSeaPerchwithmotormounts.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Sea Perch docked into the Sea Hawk with their motor mounts attached and with the Sea Hawk Skin attached.</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgtudL2i0in3BlJJ8RnDkOgw2cz2CjBpU-PRmgz8mpFod_jyTvSQ26WZX2Hv32xLbR039L_jNvbH2hh_WuJb40cJ97CooPngmg6-hiezHQbk3gaJyJvzoa1B9fzZ6wG5-rfhEZZuDyTmjU/s1600/SeaHawkendoskeletonwithbottles.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgtudL2i0in3BlJJ8RnDkOgw2cz2CjBpU-PRmgz8mpFod_jyTvSQ26WZX2Hv32xLbR039L_jNvbH2hh_WuJb40cJ97CooPngmg6-hiezHQbk3gaJyJvzoa1B9fzZ6wG5-rfhEZZuDyTmjU/s320/SeaHawkendoskeletonwithbottles.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Sea Hawk frame with the two side bottle pontoons.</td></tr>
</tbody></table>
<div style="text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhOJteN46CzWeG0BpUTEWglEQ8eRiFpcx3XYR0Sbt4H6r7SGxOiWRdVqqf4VMzfJTORD36osgEcQl5OIbtm5Y2IdkZ1FvNMR8ds1NM1GfocoFWPsyNHLyca5HXS4S6DnEIr0GuVBMCukIg/s1600/SeaHawkrearwithbottles.png" style="margin-left: 1em; margin-right: 1em;"><br /></a></div>
<br />
<div style="text-align: center;">
</div>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjymrWaua9JcCa2yNk_JglvfXpPdHAb1eXLJw9e6uSdpdUA-l0NqI1ucRbFTMPIe9BevrDv_aWaQ0YQ7cmeH0RIwE8QMQ1kGz2RyOkWZ2T-gDtWgJ3rdmMeLLGqRChLPuQ_IoGqMeYjayU/s1600/SeaHawkSeaPerchendoskeletonswithbottlesandmotors.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjymrWaua9JcCa2yNk_JglvfXpPdHAb1eXLJw9e6uSdpdUA-l0NqI1ucRbFTMPIe9BevrDv_aWaQ0YQ7cmeH0RIwE8QMQ1kGz2RyOkWZ2T-gDtWgJ3rdmMeLLGqRChLPuQ_IoGqMeYjayU/s320/SeaHawkSeaPerchendoskeletonswithbottlesandmotors.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here we see the PORPOISE-pimped Sea Perch with its motors attached and the Sea Hawk with its motors attached. In this Blender file I didn't bother to add the wires or the electrical tape that we use to strap the motors (in their film canisters) to the motor mount. We also see here the insertion of the 2 liter water bottles into the wing holders. I haven't bothered to show the mesh tangerine bag that we use to zip tie them to the wings, nor the zip ties themselves. Use your imagination!
</td></tr>
</tbody></table>
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEikjTwqy5DVrNgCw0dmsO86mj7Gyy7Ejr5I0NX3c4qusfcvi6yJjXzZZpDoQ_Eao6mlPQZeymP7nNL2_cTt4pjmxGtAWdwDPZG7osJJoLKcM9DoSPQc2DSOHvP6SJIr4ol8AvpT2wWo2TY/s1600/SeaHawkSeaPerchendoskeletonswithbottlesandmotorsrear.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEikjTwqy5DVrNgCw0dmsO86mj7Gyy7Ejr5I0NX3c4qusfcvi6yJjXzZZpDoQ_Eao6mlPQZeymP7nNL2_cTt4pjmxGtAWdwDPZG7osJJoLKcM9DoSPQc2DSOHvP6SJIr4ol8AvpT2wWo2TY/s320/SeaHawkSeaPerchendoskeletonswithbottlesandmotorsrear.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here is a rear view of the motors and the side water bottle floats. It shows that the Sea Perch can help drive the Sea Hawk; in fact you could forget the motors on the Sea Hawk and just use the Sea Perch to drive itself and the Sea Hawk into position, letting the Sea Hawk just float around while the Sea Perch dives, but how fun would that be (not!). Besides, the Sea Perch motors are generally too weak to move the Sea Hawk very fast or far so all they can really do is give a boost.</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhOJteN46CzWeG0BpUTEWglEQ8eRiFpcx3XYR0Sbt4H6r7SGxOiWRdVqqf4VMzfJTORD36osgEcQl5OIbtm5Y2IdkZ1FvNMR8ds1NM1GfocoFWPsyNHLyca5HXS4S6DnEIr0GuVBMCukIg/s1600/SeaHawkrearwithbottles.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhOJteN46CzWeG0BpUTEWglEQ8eRiFpcx3XYR0Sbt4H6r7SGxOiWRdVqqf4VMzfJTORD36osgEcQl5OIbtm5Y2IdkZ1FvNMR8ds1NM1GfocoFWPsyNHLyca5HXS4S6DnEIr0GuVBMCukIg/s320/SeaHawkrearwithbottles.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here is the same angle as above but with the Sea Hawk skin added and the motos removed.</td></tr>
</tbody></table>
<div style="text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgtudL2i0in3BlJJ8RnDkOgw2cz2CjBpU-PRmgz8mpFod_jyTvSQ26WZX2Hv32xLbR039L_jNvbH2hh_WuJb40cJ97CooPngmg6-hiezHQbk3gaJyJvzoa1B9fzZ6wG5-rfhEZZuDyTmjU/s1600/SeaHawkendoskeletonwithbottles.png" style="margin-left: 1em; margin-right: 1em;"></a></div>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgkgDdC2gvNB-mVzdApFpi4gR13OuuBeVTt3s99ev993bZFKH86ngOYMfH2Tg3jJ9RQAh3Pnbg0cX0_d8IheQJFS9Gg7zBmmRN51B-WYc-_Mm7C6oK4km_DyONnBUBeQzPuSnz_UJdQbzo/s1600/SeaHawkSeaPerchendoskeletonswithbottlesandmotorsskinrear.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgkgDdC2gvNB-mVzdApFpi4gR13OuuBeVTt3s99ev993bZFKH86ngOYMfH2Tg3jJ9RQAh3Pnbg0cX0_d8IheQJFS9Gg7zBmmRN51B-WYc-_Mm7C6oK4km_DyONnBUBeQzPuSnz_UJdQbzo/s320/SeaHawkSeaPerchendoskeletonswithbottlesandmotorsskinrear.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here is the same picture as above, but with the Sea Hawk deck skin and the motors attached..</td></tr>
</tbody></table>
<div style="text-align: center;">
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifvefc9HAgjkOTdvOIt0iMWKTs3LnW8xf2MLjk0Ip5epJwZP6NcOG-ZXrdfA46wBirAOP9GH_eAws0leWrWU0kq1o7ycKtW_Gj4Ge5g2wpcRpWUmSyPc4S0px4v-VaWa9KdHYL8G-v-sw/s1600/SeaHawkSeaPerchwithpropellors.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifvefc9HAgjkOTdvOIt0iMWKTs3LnW8xf2MLjk0Ip5epJwZP6NcOG-ZXrdfA46wBirAOP9GH_eAws0leWrWU0kq1o7ycKtW_Gj4Ge5g2wpcRpWUmSyPc4S0px4v-VaWa9KdHYL8G-v-sw/s320/SeaHawkSeaPerchwithpropellors.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The skin and motors added but the bottles removed.<br />
<div style="text-align: left;">
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<div class="MsoNormal" style="text-align: left;">
The Sea Hawk motors are twice as powerful as the Sea Perch
motors, but their set up (wiring and water proofing by sealing<span style="mso-spacerun: yes;"> </span>with electrical tape and<span style="mso-spacerun: yes;"> </span>placing in a film or pill canister<span style="mso-spacerun: yes;"> </span>with toilet bowl wax) is
identical.<span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal">
</div>
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<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgrq2Ny3ejjqJwIizeWL2q9O63aYZyeL2-tLmCShL0XxJWf-3DMwxYnCb84KDLd-fDQdDLQcB34G-fTvXBmehPrn9vZbW99kvw6lDwGPnvDOG0YYErL_vI0XkdtUi3mNCPQ1QKlC_JHGbI/s1600/20120608_163559.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgrq2Ny3ejjqJwIizeWL2q9O63aYZyeL2-tLmCShL0XxJWf-3DMwxYnCb84KDLd-fDQdDLQcB34G-fTvXBmehPrn9vZbW99kvw6lDwGPnvDOG0YYErL_vI0XkdtUi3mNCPQ1QKlC_JHGbI/s320/20120608_163559.jpg" width="320" /></a></div>
<br />
<span style="font-size: small;"><br /></span><span style="font-size: small;">The only exception is
that we save time by buying propellers that can be mounted on the shaft of the
motor with a small Allen screw. We buy them in hobby shops.<span> </span>They look like this: </span><br />
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<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEitpPow4YVOXNLcFF0gRvrKsWA9WHb_EXvoguUiwwLzrgdrZNu2NMUO9Mn8LMTW_Z57P_KZZKJAMF42tjmTP0aoa64-rWgTt1khmEGWIDsgl8pb24hr8xZMsUtvq9nM25Rns2FfaitcW_c/s1600/20120608_163739.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEitpPow4YVOXNLcFF0gRvrKsWA9WHb_EXvoguUiwwLzrgdrZNu2NMUO9Mn8LMTW_Z57P_KZZKJAMF42tjmTP0aoa64-rWgTt1khmEGWIDsgl8pb24hr8xZMsUtvq9nM25Rns2FfaitcW_c/s320/20120608_163739.jpg" width="320" /></a></div>
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<br /></div>
<div class="MsoNormal" style="text-align: left;">
When buying propellers, MAKE SURE YOU GET A LEFT PROPELLOR
AND A RIGHT PROPELLOR.<span style="mso-spacerun: yes;"> </span>Otherwise
your Sea Hawk will go around in circles!<span style="mso-spacerun: yes;">
</span>Craft with two propellers use a principle called “counter-rotation” in
which the propellers spin in opposite directions (but always with dual forward
thrust or dual backward thrust) so that the craft can go straight and not be
biased by the direction of turn of the propellor.</div>
<div class="MsoNormal" style="text-align: left;">
For more info on this principle see</div>
<div class="MsoNormal" style="text-align: left;">
<a href="http://en.wikipedia.org/wiki/Counter-rotating_propellers">http://en.wikipedia.org/wiki/Counter-rotating_propellers</a></div>
</td></tr>
</tbody></table>
</div>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZ21Wqfp0BwKaiR2xYdFTDKSipfRZetHaaYNbd2kUF_KVuHC2pzKvNI8mYuUeyeuQndgblYHtXCBAsClrJcgnT0sGzqmkp0W9QPJnhPFZtNsT5qEAhwXLuU5DAS9v9Nn6o5eGCxHIHMaU/s1600/SeaHawkSeaPerchwith+everything1.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZ21Wqfp0BwKaiR2xYdFTDKSipfRZetHaaYNbd2kUF_KVuHC2pzKvNI8mYuUeyeuQndgblYHtXCBAsClrJcgnT0sGzqmkp0W9QPJnhPFZtNsT5qEAhwXLuU5DAS9v9Nn6o5eGCxHIHMaU/s320/SeaHawkSeaPerchwith+everything1.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">A top view of the Sea Perch/Sea Hawk hybrid with the 4 Otter Box 2500 series mounted. In this picture the Arduino boards and their motor shields are sitting on top of the boxes they will go in. In real life they would be inside the Otter boxes, safe from the elements!</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifom5wpmAb1c3hxTolWgxPfIvmkuwXLY_ooudOzAzsSxq9auS19kemMr78hp0TnwyZa4fBzt7te6OTM4_IXgi3qRA4OrMx071jioO8tiW_syKxBAv2cUAofoeF5TKhktO6q582IIt5oVU/s1600/SeaHawkMilkJug1.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifom5wpmAb1c3hxTolWgxPfIvmkuwXLY_ooudOzAzsSxq9auS19kemMr78hp0TnwyZa4fBzt7te6OTM4_IXgi3qRA4OrMx071jioO8tiW_syKxBAv2cUAofoeF5TKhktO6q582IIt5oVU/s320/SeaHawkMilkJug1.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">In this rendering we add the 1 gallon milk jug to the prow of the ship. Place it with the handle facing down and zip tie the handle of the jug to the PVC pipe beneath it. You need to have some flotation in the front of your ship as the side wing bottle pontoons will not support the weight of the front. If, after you have put the batteries and controller boards on the Sea Hawk the front rides too high in the water you can try using a half gallon milk or orange juice jug (with a handle for the Zip Ties) instead. Or you can put some water in the gallon milk jug to precisely adjust its buoancy. Or you can put a weight (a mast head ? A wooden mermaid?) on the prow of the ship. </td></tr>
</tbody></table>
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<br />
<div style="text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhL7mosgTrZhr4dy-J-rtRDVXF9-xMf1KMSjBGCmWB8aFzfI1oTCuwl0TpKQMLP7W1gzRXO8BWp6B83fhDmyikyh5DTlZtlzBB4_L3ODoBn4u8j-8BGtPoG-o-hMfEIwdWREstNZUYDYEU/s1600/SeaHawkMilkJugFront.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhL7mosgTrZhr4dy-J-rtRDVXF9-xMf1KMSjBGCmWB8aFzfI1oTCuwl0TpKQMLP7W1gzRXO8BWp6B83fhDmyikyh5DTlZtlzBB4_L3ODoBn4u8j-8BGtPoG-o-hMfEIwdWREstNZUYDYEU/s320/SeaHawkMilkJugFront.png" width="320" /></a></div>
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<div style="text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgABVU6ByD6loyi4XjOD9eAlk5NcupzWRt1bohixKJtB46e6m7P2KdCF4HzTuEu3Wk33dv7FCJ52SmLkx3Jj4hefgIPGC_XIIMs6Y2exxoA7EMyTQ9wExkNyFc_CETNok8P5jgx1wXczDw/s1600/SeaHawkMilkJugAll.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgABVU6ByD6loyi4XjOD9eAlk5NcupzWRt1bohixKJtB46e6m7P2KdCF4HzTuEu3Wk33dv7FCJ52SmLkx3Jj4hefgIPGC_XIIMs6Y2exxoA7EMyTQ9wExkNyFc_CETNok8P5jgx1wXczDw/s320/SeaHawkMilkJugAll.png" width="320" /></a></div>
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<div style="text-align: center;">
<br /></div>
<div style="text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg1xSuEvOzhDysyUf4gCeArDuCE6O8EUktaTwpi03eAaOec43JffRJTlcnDV1_2XEMly5YOH9yWuxbJ0mjfGfnjwVl4hqr6YpKHv8y_7MNcBFex5Y3NbFtXXwq-jdp6gJdUsSD6Bq8WMHs/s1600/SeaHawkMilkJugBack.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg1xSuEvOzhDysyUf4gCeArDuCE6O8EUktaTwpi03eAaOec43JffRJTlcnDV1_2XEMly5YOH9yWuxbJ0mjfGfnjwVl4hqr6YpKHv8y_7MNcBFex5Y3NbFtXXwq-jdp6gJdUsSD6Bq8WMHs/s320/SeaHawkMilkJugBack.png" width="320" /></a></div>
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<div class="separator" style="clear: both; text-align: center;">
</div>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjouEuN9S4iHEGKOneBnFWkm4qQ-48AqFwsVukCKEgRkkj75YADTr9Dl3qGnc2YYi0RI_cRgavUKCar5iafNfI91zkDWKkbVDqE72zboA7Iq_peA8433CQYxgaJwbPjK3pg0pJ1emkR5aA/s1600/TwoArduinoswithMotorShield.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjouEuN9S4iHEGKOneBnFWkm4qQ-48AqFwsVukCKEgRkkj75YADTr9Dl3qGnc2YYi0RI_cRgavUKCar5iafNfI91zkDWKkbVDqE72zboA7Iq_peA8433CQYxgaJwbPjK3pg0pJ1emkR5aA/s320/TwoArduinoswithMotorShield.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">No, these aren't imperial star cruisers on their way to blast the rebel alliance on Endor, these are the two "Arduino sandwhiches" you will be using. The one on the left is an Arduino Uno with an Arduino Motor Shield (which you can pick up at Radio Shack for 35 bucks) for running the Sea Hawk motors. The one on the right is the Arduino Uno with an Adafruit Motor Shield for running the Sea Perch.</td></tr>
</tbody></table>
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<br />
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifYvgEaF1RYgocNSwDbI2_J7tQ4S_ftGZW7hkvbl8ZIAxXK4kB-1elorfQm67Vn9LuaRXDhlLxH7Q3HCAeKBWjW3bEeG-TiAaBpzKmg_auFP0qQbeCeVL6T5LZRDtNUNwjaUnXS_EyqQk/s1600/TwoArduinoswithMotorShieldTop.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifYvgEaF1RYgocNSwDbI2_J7tQ4S_ftGZW7hkvbl8ZIAxXK4kB-1elorfQm67Vn9LuaRXDhlLxH7Q3HCAeKBWjW3bEeG-TiAaBpzKmg_auFP0qQbeCeVL6T5LZRDtNUNwjaUnXS_EyqQk/s320/TwoArduinoswithMotorShieldTop.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here are the motor shields seen from the top. I did my best to populate them with the visible chips and connectors but left out all the tiny surface mounted resistors, capacitors, voltage regulators etc. They won't be necessary for following the tutorial, so why bother putting them in?</td></tr>
</tbody></table>
<div style="text-align: center;">
<b>Hooking up the Batteries:</b></div>
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEguZF5Lb8XxcLbZhMzgxGmS4VAGL_k6fpXkpmVrdbKKbHBXmGTaABcbjEwJU5ciYjHZXIgSNME7G9yl4uzjvj2yFqhdoNFvKhR1EqIj9gReQvYVnMb_EwRGZHa4Zqapi4sRzlEptP6kmwk/s1600/12Vbatteryhookup.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEguZF5Lb8XxcLbZhMzgxGmS4VAGL_k6fpXkpmVrdbKKbHBXmGTaABcbjEwJU5ciYjHZXIgSNME7G9yl4uzjvj2yFqhdoNFvKhR1EqIj9gReQvYVnMb_EwRGZHa4Zqapi4sRzlEptP6kmwk/s320/12Vbatteryhookup.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">This image shows how the batteries would be hooked up if they were floating in outer space. But they aren't.</td></tr>
</tbody></table>
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEitTAftwD-NZkoHlrl2zn4HJiOym4HsaqkBkrGnmSSXrbwYEAUZEl1b5vGIs9_YxxRjTq19i_txcXZsgxfYVzuA_gUG-XMp054SF9BLoCX20Yd42fdi0FFBTl5vScqpgF4QFp6GlTlOyZE/s1600/12Vbatteryhookup2.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEitTAftwD-NZkoHlrl2zn4HJiOym4HsaqkBkrGnmSSXrbwYEAUZEl1b5vGIs9_YxxRjTq19i_txcXZsgxfYVzuA_gUG-XMp054SF9BLoCX20Yd42fdi0FFBTl5vScqpgF4QFp6GlTlOyZE/s320/12Vbatteryhookup2.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here is how the 12V batteries that power the motors are hooked up to their respective motor shields.</td></tr>
</tbody></table>
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEibyV2vzIiKdGQCH65oCHQpADma2cmI29hYU1MuOH9HisVncIxdcW5ySPhYODf5AGvYSl_s1AP1wEwvIbIO86VXW1Y9LV7Vq1gz8aN9ZYSLoz1eutSAWfi1CpEuWKOLGka7ru2tJb3JYTs/s1600/12VbatteryhookupAdafruit.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEibyV2vzIiKdGQCH65oCHQpADma2cmI29hYU1MuOH9HisVncIxdcW5ySPhYODf5AGvYSl_s1AP1wEwvIbIO86VXW1Y9LV7Vq1gz8aN9ZYSLoz1eutSAWfi1CpEuWKOLGka7ru2tJb3JYTs/s320/12VbatteryhookupAdafruit.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Note that the Adafruit motor shield, used for powering the Sea Perch Motors, hooks up to the screw terminal on the side. Make sure and observe polarity so you don't blow things up!</td><td class="tr-caption" style="text-align: center;"><br /></td><td class="tr-caption" style="text-align: center;"><br /></td></tr>
</tbody></table>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgU9NJ1UmkYRfg-t1net3lTJXArcNCVGgNWJNdBE0Mcz8Sym5hBiTGER4_Pn_eeqvfMNxo7nLYpuqI0A2EWo70j3lHJGQkBOa2LzzsVx50plX6AAZowwiDyBaqEu5GmqPOoBjyW-I00L4I/s1600/AdafruitMotorShield.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgU9NJ1UmkYRfg-t1net3lTJXArcNCVGgNWJNdBE0Mcz8Sym5hBiTGER4_Pn_eeqvfMNxo7nLYpuqI0A2EWo70j3lHJGQkBOa2LzzsVx50plX6AAZowwiDyBaqEu5GmqPOoBjyW-I00L4I/s320/AdafruitMotorShield.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Note that +M (for positive) and GND (for ground) are marked above the screw terminals on the circuit board.</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh_hitLOeq_DT4hjAHcwuIXWyrK1Dc1ecRz8gU3nHUU2tWVe5eSYbJHb7BZBQDR10oBEaKIRuccVNRPTpGPwwp0uhGeX7iAcnIYnmFEfugA0kuqspfk-W11KadXH1F8xsfJ-8a9qNbBp3I/s1600/12VbatteryhookupArduinoMS.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh_hitLOeq_DT4hjAHcwuIXWyrK1Dc1ecRz8gU3nHUU2tWVe5eSYbJHb7BZBQDR10oBEaKIRuccVNRPTpGPwwp0uhGeX7iAcnIYnmFEfugA0kuqspfk-W11KadXH1F8xsfJ-8a9qNbBp3I/s320/12VbatteryhookupArduinoMS.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">For the Arduino Motor Shield you run the 12V battery wires into the right most set of screw terminals along the row. But BE CAREFUL! You must read the polarity silkscreened on the board. In this case, with the board oriented the way we have it, Vin (or Voltage In, which stands for +) is ABOVE the GND terminal. That is why in our 3D rendering above the red and black wires from the battery CROSS. It can be misleading because the other screw terminals, which go to the motors of the Sea Hawk, have the negative above the positive. </td></tr>
</tbody></table>
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<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSic2iXq2fHrBg6d1Ww1iAPN0ZO-LZtobj7Op797kw-bQepWK3UfY3eVw1yy422zBYi55a68UYVf4DlWCXXlh9jjQulvAz_jMIVH-udcW0K7YHw8gk3z8WtkIVO6fdDnGNG1s6Z04jKJo/s1600/ArduinoMotorShield.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="313" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSic2iXq2fHrBg6d1Ww1iAPN0ZO-LZtobj7Op797kw-bQepWK3UfY3eVw1yy422zBYi55a68UYVf4DlWCXXlh9jjQulvAz_jMIVH-udcW0K7YHw8gk3z8WtkIVO6fdDnGNG1s6Z04jKJo/s400/ArduinoMotorShield.jpg" width="400" /></a></div>
<div style="text-align: center;">
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjFQ36soIJD8GGTRdEr6MwwO_5brHVrWI7OYR9FEKDqFsGqKsYun5mbrtvVtK9dG5EVp4WS8BlBKT_Az62fvkfmZ8I3LTlzTTvulSmCL7eNddqToh2Ok5DA-pgbhwwUKpPInPCUCjMwtC8/s1600/12VbatteryhookupArduinoMSCU.png" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjFQ36soIJD8GGTRdEr6MwwO_5brHVrWI7OYR9FEKDqFsGqKsYun5mbrtvVtK9dG5EVp4WS8BlBKT_Az62fvkfmZ8I3LTlzTTvulSmCL7eNddqToh2Ok5DA-pgbhwwUKpPInPCUCjMwtC8/s320/12VbatteryhookupArduinoMSCU.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">In this close up you can see how the battery wires hook up to the Arduino Motor Shield.</td><td class="tr-caption" style="text-align: center;"><br /></td><td class="tr-caption" style="text-align: center;"><br /></td><td class="tr-caption" style="text-align: center;"><br /></td><td class="tr-caption" style="text-align: center;"><br /></td></tr>
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Our next series of pictures will show how the motors are hooked up to the Motor Shields. Stay tuned!Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-80888825712489222782012-06-04T16:46:00.001-07:002012-06-04T16:46:27.772-07:00Modifications to the basic Sea Perch platform for use with the Sea Hawk<div class="separator" style="clear: both; text-align: center;">
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In trying to describe how to modify a standard Sea Perch so that we can use it with the Sea Hawk in our PORPOISE robotics program we find that words and even photographs aren't nearly clear enough given the limited time teachers and students have in class and in after school robotics clubs.<br />
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Since the modifications are rather simple when you have a model in front of you, we've gone ahead and created a 3D model as an .obj that you can use in any 3D program and will soon be posting it for downloading. In the meantime, these renderings from various angles should help you get a better sense of how to hack your perch and turn it into a vehicle that can dock with the Sea Hawk.<br />
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgddtF9tdKqztjnMOhKlOYavSdmeFwzWUIga5f-SLpmla1Md_DJ_KPgxUmxBtB8YS08G9RffeO-qJREABbImysQUlYiNUnTpltXoNcB0V8oXHNQjahUrpZkBE_Fq-HZa-LkIoXT3_Arj6c/s1600/SeaPerch1.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgddtF9tdKqztjnMOhKlOYavSdmeFwzWUIga5f-SLpmla1Md_DJ_KPgxUmxBtB8YS08G9RffeO-qJREABbImysQUlYiNUnTpltXoNcB0V8oXHNQjahUrpZkBE_Fq-HZa-LkIoXT3_Arj6c/s320/SeaPerch1.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">This is the basic Sea Perch as described in the<a href="http://www.seaperch.org/action/document/download?document_id=254"> Sea Perch_ROV_Build_Manual_2011-02.pdf.</a></td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg5SxRtwJZ0Fblg7866R2iXUTCDkRXrBVNJAOev1fbYtN5YoNS1_qSGJulYxruqYIdZIBtVQdOuyYsYJEhhOEonWLh3Q8EcQffuHf-Vpw8X15UC7hRpbHhvs7PyMHdbhPtSZi2a_Gxj9Wg/s1600/SeaPerch2.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg5SxRtwJZ0Fblg7866R2iXUTCDkRXrBVNJAOev1fbYtN5YoNS1_qSGJulYxruqYIdZIBtVQdOuyYsYJEhhOEonWLh3Q8EcQffuHf-Vpw8X15UC7hRpbHhvs7PyMHdbhPtSZi2a_Gxj9Wg/s320/SeaPerch2.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The first thing we do is cut the two 5 inch back sections of PVC into two 2 inch sections (save the 1 inch residuals for some other project!) and fit two Tees, one on each pipe, facing backward. These will be your new rear motor mounts!</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgFzYkvHuHBg-vMjcQI250_fAkNXI-0kdP6vJZkATMO1Bx45KQ7qrdbQtklv0Xd2a5tMqLwWFTN9bzaE_5BPwvFNWJRCTa6ECaGIrCWz17Jd9xrRPFydoLyUhHqCtM87oxt6L-Hh8ZzGGc/s1600/SeaPerch3.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgFzYkvHuHBg-vMjcQI250_fAkNXI-0kdP6vJZkATMO1Bx45KQ7qrdbQtklv0Xd2a5tMqLwWFTN9bzaE_5BPwvFNWJRCTa6ECaGIrCWz17Jd9xrRPFydoLyUhHqCtM87oxt6L-Hh8ZzGGc/s320/SeaPerch3.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Next cut the 4.5" center pipe into two 1.75 inch pieces and insert another T here, facing down.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjJXF4uZGWolIWFDYQIyCCSbXqTYByjnORwUnS2Wbpt95_bdKCcxAl9hUs2QO4YFNtig6qzgYFidDqvy9E3DV_X72-fyAj3vkGaQaS8n8lf4QFxnddERAd7ZMqM7lZM2Gs7I5kpsj9SErQ/s1600/SeaPerch4.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjJXF4uZGWolIWFDYQIyCCSbXqTYByjnORwUnS2Wbpt95_bdKCcxAl9hUs2QO4YFNtig6qzgYFidDqvy9E3DV_X72-fyAj3vkGaQaS8n8lf4QFxnddERAd7ZMqM7lZM2Gs7I5kpsj9SErQ/s320/SeaPerch4.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Put a 2 inch piece of pipe in the T and place an elbow on it, facing forward.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgh9U5aLU38MgZkxqpKlbOGlMNgx5IdHj4rfXgpD8KnsDhBBQakS7hj4avtzWttCZ436dOwV8uORr-I1yURAi_ERdM1FhPC0FYQFRHAtHPIzM_mofhYE1vO7-KBcGi1ET6qG6Vn4BHgTHw/s1600/SeaPerch5.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgh9U5aLU38MgZkxqpKlbOGlMNgx5IdHj4rfXgpD8KnsDhBBQakS7hj4avtzWttCZ436dOwV8uORr-I1yURAi_ERdM1FhPC0FYQFRHAtHPIzM_mofhYE1vO7-KBcGi1ET6qG6Vn4BHgTHw/s320/SeaPerch5.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Place another 2 inch piece of pipe in the open end of this elbow, facing forward, and put another elbow on the horizontal forward facing pipe, pointing up. This is where you will mount your up/down motor.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRTuB5FX8YAtI_umGhGiGLPauH5t5sYYuFuwLI21ee18yes9q8F-xPHV5a8y3GI-DKAomLmZsc3rv5Oa5t47el-HVcnuJ2DBJ34SfExZLJBNoMibq0HxHxDAEaZI7XIG841Dbmh3GIwIg/s1600/SeaPerch6.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgRTuB5FX8YAtI_umGhGiGLPauH5t5sYYuFuwLI21ee18yes9q8F-xPHV5a8y3GI-DKAomLmZsc3rv5Oa5t47el-HVcnuJ2DBJ34SfExZLJBNoMibq0HxHxDAEaZI7XIG841Dbmh3GIwIg/s320/SeaPerch6.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Remove the elbows from the rear of the Sea Perch and replace them with Tees so that there are open holes on the top.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjFgPKWbmO43EqhkI1jMG_Ex2Ggha5caDbvt4_bSnr1vNqZOeJf9n6BsNEEAA8lWDair_NLDEooD3bMG-b1zzWkLiW0ZjxvPvepvCSvdyz8MCqrVVPTiMcdjs9dYwTrERUuZIK01ynhE58/s1600/SeaPerch7.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjFgPKWbmO43EqhkI1jMG_Ex2Ggha5caDbvt4_bSnr1vNqZOeJf9n6BsNEEAA8lWDair_NLDEooD3bMG-b1zzWkLiW0ZjxvPvepvCSvdyz8MCqrVVPTiMcdjs9dYwTrERUuZIK01ynhE58/s320/SeaPerch7.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Put 4" pipes in each of the Tees and cap them with 1/2" caps. These will be the grappling grips that the robotic claws of the Sea Hawk will grasp. The caps ensure that the Sea Perch doesn't slip through the claws when they are closed.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhhFvbFbsZvtsN6YCa3JbisTmN-svIl4Lnmi9o0TKaXCVnZ_ITz40i5p_NvM6DpqVwGeHa0IFFkXJGHRYGyjxuKdVD8WNPkKMrm47Rowns-iqk3qJTrypx0ww-1tzeIGo87VzXHnOEzAuU/s1600/SeaPerch8.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhhFvbFbsZvtsN6YCa3JbisTmN-svIl4Lnmi9o0TKaXCVnZ_ITz40i5p_NvM6DpqVwGeHa0IFFkXJGHRYGyjxuKdVD8WNPkKMrm47Rowns-iqk3qJTrypx0ww-1tzeIGo87VzXHnOEzAuU/s320/SeaPerch8.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Replace the two elbows at the top of the front of the Sea Perch with 1/2" three way connectors and connect the space between them with a 4.5" piece of pipe.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg-81kh7o8Jx_i78MTddy645XEEekEcRnRvx3-WqNjYwPGUwz6No8mPev18zvAkXT67EESFa4Lf_zQ00cO6MSD8xQS-OahmRU6nGGHCEziQbqLG-LMMgBVPaoIC-It1V64sR3aNeUmKzTg/s1600/SeaPerch9.png" imageanchor="1" style="clear: left; margin-bottom: 1em; margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg-81kh7o8Jx_i78MTddy645XEEekEcRnRvx3-WqNjYwPGUwz6No8mPev18zvAkXT67EESFa4Lf_zQ00cO6MSD8xQS-OahmRU6nGGHCEziQbqLG-LMMgBVPaoIC-It1V64sR3aNeUmKzTg/s320/SeaPerch9.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The new pipe crossing the top front of the Sea Perch is where you will eventually mount a camera and/or a spotlight for recording your underwater missions.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgFsGdSy9qgSI-EUSSnJQlmhZdbZqCE3Q_UaC9QmJumwLo66BiXfu6J8veDGIXo69PawRh6vGQkb5_tRK5NQ8pco9ddVn24Zefr_BgA2J6Dd2K5uqsvJzCsGK_vLVMM8tmC7dtM1wHAAPg/s1600/SeaPerch10.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgFsGdSy9qgSI-EUSSnJQlmhZdbZqCE3Q_UaC9QmJumwLo66BiXfu6J8veDGIXo69PawRh6vGQkb5_tRK5NQ8pco9ddVn24Zefr_BgA2J6Dd2K5uqsvJzCsGK_vLVMM8tmC7dtM1wHAAPg/s320/SeaPerch10.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Voila, your Sea Perch endoskeleton mod is done. You've pimped your perch!</td></tr>
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-10073516498011669662012-06-04T06:38:00.000-07:002012-06-05T10:18:35.810-07:00Revisions to the Sea Hawk Endoskeleton<div class="separator" style="clear: both; text-align: center;">
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZP8yVFygxvhnT_Uge4vblqPRRqHaGlVprY0p6W6b8m-AMXLWBq8zH2tf1_YMMC_O8FNDbbG8s7YUOl8L71YK_tVNHqXsKXQaYytAR_1BEL_DtdlJsOKhUw-5j7kkwPGcLZy3jjhVs19E/s1600/20120419_170449.jpg" imageanchor="1" style="clear: right; float: right; margin-bottom: 1em; margin-left: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZP8yVFygxvhnT_Uge4vblqPRRqHaGlVprY0p6W6b8m-AMXLWBq8zH2tf1_YMMC_O8FNDbbG8s7YUOl8L71YK_tVNHqXsKXQaYytAR_1BEL_DtdlJsOKhUw-5j7kkwPGcLZy3jjhVs19E/s320/20120419_170449.jpg" width="320" /></a> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjIj8xDKGv3xwTzo3tFyII9H-MghviZUzu178W-cyjeD3DaysOlyPFSt-j1pW7UKiD0sS79zX8dQS5Ob0Yq1JobZgoXt00ZkItQMMz4crj7DGypnA7n5jtS1fM11mDTa5e2EVXxnuaJ9FM/s1600/20120415_163804.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjIj8xDKGv3xwTzo3tFyII9H-MghviZUzu178W-cyjeD3DaysOlyPFSt-j1pW7UKiD0sS79zX8dQS5Ob0Yq1JobZgoXt00ZkItQMMz4crj7DGypnA7n5jtS1fM11mDTa5e2EVXxnuaJ9FM/s320/20120415_163804.jpg" width="240" /></a><br />
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Thanks to student input and field testing there have been some substantial revisions to the Sea Hawk endoskeleton. This meets our goal of having stakeholder involvement in the development of this robotics program "of the people, by the people, for the people."<br />
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In particular we have seen a lot of parent-advisor involvement in the development of this program, which is a dream come true for those of us in the teaching profession. In terms of Sea Hawk design we appreciate the contributions of Venice High School Robotics Club parent adviser Annette Mercer who suggested, among other things, the use of an easy to obtain tangerine mesh bag to hold the wing bottle floats and zip tie them to the endoskeleton, and the contributions of Washington Preparatory High School Robotics Club parent adviser Roy Harper who suggested, among other things, the use of a gallon milk jug in place of the three water bottles we were using for the front floatation of the craft because of its appropriate volume and the ease with which it attaches to the endoskeleton with a zip tie. Naturally the students and teachers themselves had many great suggestions for improving the robo-boat. The collaborative process for innovating simple but effective improvements through involvement and engagement by parents, students and teachers, is one of the hard to quantify yet most important results of a program designed not for but along with the end users of a STEM curriculum.<br />
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On this page you will find photographs and 3D diagrams and a new tutorial on how to build the Sea Hawk.<br />
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First, the 3D images:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgKZllFcJ1QxvEOaPFkbLY-WfpqBDKCLCPv76ddQSimy-XiCAmtHlCNhO_KW8FmU40v74hMkeZU3fYU9Hme4UcrnfLDoUHFCRUi7x-nxR-JV-RCC2pw4qlQQL1R2XJ0EtLbJnbzF5hG5h8/s1600/SeaHawk1.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgKZllFcJ1QxvEOaPFkbLY-WfpqBDKCLCPv76ddQSimy-XiCAmtHlCNhO_KW8FmU40v74hMkeZU3fYU9Hme4UcrnfLDoUHFCRUi7x-nxR-JV-RCC2pw4qlQQL1R2XJ0EtLbJnbzF5hG5h8/s320/SeaHawk1.png" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvfEztwlIryI2G9hASATB1vLCSabMugBe82x3lxfHhbeQcOKbUounzNHIB1Ei3aQop_uy2Ld-qTov0f8Ww_4Pd1fYP7E3p8yVwC0e-Iiqc-9CzqLXk1O51yr8vrOgmsarovPqNMLONUss/s1600/SeaHawk10.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvfEztwlIryI2G9hASATB1vLCSabMugBe82x3lxfHhbeQcOKbUounzNHIB1Ei3aQop_uy2Ld-qTov0f8Ww_4Pd1fYP7E3p8yVwC0e-Iiqc-9CzqLXk1O51yr8vrOgmsarovPqNMLONUss/s320/SeaHawk10.png" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh4uKT0KgrDh_dkDk12T5dssYpVlzEA4AqZUMANFC0voOOTZ_rYBhN78z3_A8E7ahrrhh723ooIReOjETdxnUfTVbmgVJs9rQvNtvDplhmScONM0Ksze7M5SwtsinzeB1uTUfy7d3hOl7I/s1600/SeaHawk2.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh4uKT0KgrDh_dkDk12T5dssYpVlzEA4AqZUMANFC0voOOTZ_rYBhN78z3_A8E7ahrrhh723ooIReOjETdxnUfTVbmgVJs9rQvNtvDplhmScONM0Ksze7M5SwtsinzeB1uTUfy7d3hOl7I/s320/SeaHawk2.png" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjD9c3CmE9hoV6A-b118QcAFWT7bBjXdUMuHDW-3ZvSpl0SficIlD1F4PMWKPe_o7KTSAcm91hng9OFqOmqUXdGY9nIseI5hGWWvf5MJXGPvNPCLEFaK-9ueTkDSKt89MPD5630j-gPcqk/s1600/SeaHawk3.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjD9c3CmE9hoV6A-b118QcAFWT7bBjXdUMuHDW-3ZvSpl0SficIlD1F4PMWKPe_o7KTSAcm91hng9OFqOmqUXdGY9nIseI5hGWWvf5MJXGPvNPCLEFaK-9ueTkDSKt89MPD5630j-gPcqk/s320/SeaHawk3.png" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhZIAjkApa33XjKbrS9isLzphVBFbgjZZYS8iG24X5vLlABfo4h0oc8jeA_1ve4kpwoSyyRuP8JQya7jqAdrat0oWt5v6W7_vZvdj6B6z-nXmgFJiJnIkcITYoTn74yM1F5N8-T0qB4yUY/s1600/SeaHawk4.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhZIAjkApa33XjKbrS9isLzphVBFbgjZZYS8iG24X5vLlABfo4h0oc8jeA_1ve4kpwoSyyRuP8JQya7jqAdrat0oWt5v6W7_vZvdj6B6z-nXmgFJiJnIkcITYoTn74yM1F5N8-T0qB4yUY/s320/SeaHawk4.png" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEidWvcbin2AoZ41Ms1_LLsg0FtMUVUf7P6PbavdZkHOSDXFrAxVKL6hc7I5pZbvCCN837XE9fYz5UirA1Rx6SayoQBWjrJDw42aI6RBvTNNNto5gk5z2W42IsLTaYX6BE9fgVCoyMb8Wg4/s1600/SeaHawk5.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEidWvcbin2AoZ41Ms1_LLsg0FtMUVUf7P6PbavdZkHOSDXFrAxVKL6hc7I5pZbvCCN837XE9fYz5UirA1Rx6SayoQBWjrJDw42aI6RBvTNNNto5gk5z2W42IsLTaYX6BE9fgVCoyMb8Wg4/s320/SeaHawk5.png" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiW0vee9oLp_y1hWKi4R4zMLrVACOMEYaC1l9xWnCLiRAZKDy6YtfVU6RJDtJ-ERBpzRP2f3Cx1yJMrj63FY0M5OXIZl4_Td-Htp-HY1fnndGYSpS8o-NQNPHi9zGAluJZCJRdqtCZYfsg/s1600/SeaHawk6.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiW0vee9oLp_y1hWKi4R4zMLrVACOMEYaC1l9xWnCLiRAZKDy6YtfVU6RJDtJ-ERBpzRP2f3Cx1yJMrj63FY0M5OXIZl4_Td-Htp-HY1fnndGYSpS8o-NQNPHi9zGAluJZCJRdqtCZYfsg/s320/SeaHawk6.png" width="320" /></a> <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj_AXeHcLCyXMOb6iab15aCpAhZznI_mQeFI03M6ypwRs3MB5jHxlZygL98-WKiIuXzeA0xfI9WBPWz1ZTLODgL8tqkGAli0jJpMq8fDPwxvMGhrdPD52ziEVXy1PwusKwJvcaw3an7pBU/s1600/SeaHawk7.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj_AXeHcLCyXMOb6iab15aCpAhZznI_mQeFI03M6ypwRs3MB5jHxlZygL98-WKiIuXzeA0xfI9WBPWz1ZTLODgL8tqkGAli0jJpMq8fDPwxvMGhrdPD52ziEVXy1PwusKwJvcaw3an7pBU/s320/SeaHawk7.png" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQBKS0KXRXJuutQ3EYs9Gzo6nZlCpFFLUgTZgA-Glm9If7EORcqSSuljMUqFXfVdEPn9wL_yGhmKIY-JMqoEcT63Lc3ODmgudEOtvhICrfJJc7GvUF2mdpIlSJQ9ZUaGqjsVt-fOdScQI/s1600/SeaHawk8.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQBKS0KXRXJuutQ3EYs9Gzo6nZlCpFFLUgTZgA-Glm9If7EORcqSSuljMUqFXfVdEPn9wL_yGhmKIY-JMqoEcT63Lc3ODmgudEOtvhICrfJJc7GvUF2mdpIlSJQ9ZUaGqjsVt-fOdScQI/s320/SeaHawk8.png" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgN4R_sqcJSfVTWNxNBQxnjPKQ4YvHICgTzvXnUweBS7aBtOv7Rygrv53gJl7C3M0SYv_saDEhJt1q9z3S6tSrp9OFz0bz7UtAejmlIUsKc-kR1kt2fKKAcQ330OtKX6PNAwxZUtVtpBqY/s1600/SeaHawk9.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgN4R_sqcJSfVTWNxNBQxnjPKQ4YvHICgTzvXnUweBS7aBtOv7Rygrv53gJl7C3M0SYv_saDEhJt1q9z3S6tSrp9OFz0bz7UtAejmlIUsKc-kR1kt2fKKAcQ330OtKX6PNAwxZUtVtpBqY/s320/SeaHawk9.png" width="320" /></a><br />
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Note one more revision that is not in the images above -- a downward facing T placed on the bottom of the bow brace at the bottom next to the elbow. This serves as a mounting point for a castor or wheel (without a motor) that will keep the Sea Hawk the same height above ground when you do put motorized wheels on the rear downward facing Tees, and will enable the craft to be driven around the classroom.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj1FcRqdQ0LN2DVTVcuJR8JyoP8ufomCPSsGlzGgMaQ6i8tP5lw2FGfVfqzEdru3cl2AVpCeWUQ5Otl4Poomob0rqbWLpyOBvbgTXHimImyH5u2gE-ZpzJmflf8D-vXFEur9K5MSfFQnV4/s1600/SeaHawk12.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj1FcRqdQ0LN2DVTVcuJR8JyoP8ufomCPSsGlzGgMaQ6i8tP5lw2FGfVfqzEdru3cl2AVpCeWUQ5Otl4Poomob0rqbWLpyOBvbgTXHimImyH5u2gE-ZpzJmflf8D-vXFEur9K5MSfFQnV4/s320/SeaHawk12.png" width="320" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgOVbBDY0NyEelxGI2bnQfoX1hjUp3ZYBDobRl8xFwjyPRyuYwEZ28H-APy6D-e5MEfiZkX362yLxdPCFt2_BZk0uNUoHwxvgkDQdCoPChly4qfIiFwdVKgvTxey8yzFvq6dL1cZEOhjwk/s1600/SeaHawk13.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgOVbBDY0NyEelxGI2bnQfoX1hjUp3ZYBDobRl8xFwjyPRyuYwEZ28H-APy6D-e5MEfiZkX362yLxdPCFt2_BZk0uNUoHwxvgkDQdCoPChly4qfIiFwdVKgvTxey8yzFvq6dL1cZEOhjwk/s320/SeaHawk13.png" width="320" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj4XlMOt-MeCPQTTczTG24pR6aPUEXeDgF88zmcfwAAc3FelxcswlQcog18i_VLF-A1g38DiHTgJxbHnvK4Evs_5wIT1xlBpelQt4Gbro-xVg_pXMbJJgT3cjJn41Y2XIQtWB5zFZhqt9k/s1600/SeaHawk14.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj4XlMOt-MeCPQTTczTG24pR6aPUEXeDgF88zmcfwAAc3FelxcswlQcog18i_VLF-A1g38DiHTgJxbHnvK4Evs_5wIT1xlBpelQt4Gbro-xVg_pXMbJJgT3cjJn41Y2XIQtWB5zFZhqt9k/s320/SeaHawk14.png" width="320" /></a></div>
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Here are some pictures to help you translate the 3D images into the real world:<br />
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEirKGkxYCAILylheNsq7fh-of7vxd_5OE55J7yIlhQ9-s555WY5el2Gbq3awqczIkkNcPur_2p8aQgZGpZxSG_jDy2iPaCY_LlZYcOzjA0BAheSTrRm28juV_QTxfIrZDzs0ZxAVEiCS34/s1600/20120415_171350.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEirKGkxYCAILylheNsq7fh-of7vxd_5OE55J7yIlhQ9-s555WY5el2Gbq3awqczIkkNcPur_2p8aQgZGpZxSG_jDy2iPaCY_LlZYcOzjA0BAheSTrRm28juV_QTxfIrZDzs0ZxAVEiCS34/s320/20120415_171350.jpg" width="240" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The first thing we have to avoid is the possibility of the vessel capsizing. To avoid the situation we see in the photo above we increased the robusticity of the bottle float holding wings and secured all the PVC pipes and the bottles themselves with zip ties. This way the craft can be disassembled for transport and then reassembled in the field.</td></tr>
</tbody></table>
<div style="text-align: center;">
</div>
<div style="text-align: center;">
<b> Additional wing and motor support</b></div>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgA6u4DsHdfekeVn772kVUpoZKu4_o3bRADGKH5v7_jkqrXmpH53ddlEmoOB06dVSZXa1hSpG6P_hBcBqcVsELYLkpZwMlXNyRh6EixP2t5gg3O8JIx7peho_T7_yuAyOf0wUMe_g6e3eY/s1600/20120426_082153.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgA6u4DsHdfekeVn772kVUpoZKu4_o3bRADGKH5v7_jkqrXmpH53ddlEmoOB06dVSZXa1hSpG6P_hBcBqcVsELYLkpZwMlXNyRh6EixP2t5gg3O8JIx7peho_T7_yuAyOf0wUMe_g6e3eY/s320/20120426_082153.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The wing configuration was changed to have extra support for the bottles and is now connected to the main frame so that the motors have more stability.</td></tr>
</tbody></table>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6VTHgE3s2itwphfGBwzjwkFP4V8eVROvBdyhu_KkyWRCyzrMiU1AqVPen9QHmUm3kIcmskXOyb74lP-UqH2of5O06bvXUecpSU0IkkSEfvFGPlzMiGcjHc4FeTAU-ZTV4pmf2ILdiLbU/s1600/20120426_082225.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6VTHgE3s2itwphfGBwzjwkFP4V8eVROvBdyhu_KkyWRCyzrMiU1AqVPen9QHmUm3kIcmskXOyb74lP-UqH2of5O06bvXUecpSU0IkkSEfvFGPlzMiGcjHc4FeTAU-ZTV4pmf2ILdiLbU/s320/20120426_082225.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The back brace has a backward facing T for the propeller motor mount and a bottom facing female screw plug on a three way joint acting as a stand when the craft is out of the water; this location can also be used for mounting a wheel motor for driving the craft in a classroom.</td></tr>
</tbody></table>
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<div style="text-align: center;">
<b> Use of milk gallon jug for stern flotation</b></div>
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<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEglrntOHRQHwUvjg3oHqVYuLsFXRXJFOeKiWPwnAIgunZhLgpA3U7N5oJxHbKq3MHUeNpH-KZY1VWTmzctL51KEV-lajJXXXCOGUjOzIfXAI9qjRL9BqYT__kMcU9D2T3-NJ_k20-JEFns/s1600/20120426_082230.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEglrntOHRQHwUvjg3oHqVYuLsFXRXJFOeKiWPwnAIgunZhLgpA3U7N5oJxHbKq3MHUeNpH-KZY1VWTmzctL51KEV-lajJXXXCOGUjOzIfXAI9qjRL9BqYT__kMcU9D2T3-NJ_k20-JEFns/s320/20120426_082230.jpg" width="320" /></a></div>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAZbzo9VVBebcCc-adL6XksCfNHLsDkO8jQZlnEmPUGv1XmvWjGTyTYKX0FKT1WEoMh1vzDXVbnBnBjfA4F0k-A08scQz26Zf9RBZmXe_PIHxNJDDSLCIKWkb710-VmPOB7PpMDUy4eqA/s1600/20120426_082219.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAZbzo9VVBebcCc-adL6XksCfNHLsDkO8jQZlnEmPUGv1XmvWjGTyTYKX0FKT1WEoMh1vzDXVbnBnBjfA4F0k-A08scQz26Zf9RBZmXe_PIHxNJDDSLCIKWkb710-VmPOB7PpMDUy4eqA/s320/20120426_082219.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">A gallon milk jug for front flotation was suggested by Roy Harper, the parent advisor to the Washington Prep High School Robotics club. It is easy to obtain and easy to zip tie, from its handle, to the front endoskeleton support. It then fits nicely inside the nose of the Sea Hawk. </td></tr>
</tbody></table>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiGpt2Tx0HoupktxY2nHOjXIM7_fwdHeuabBky3mVO_5ul8WEOi28LoPkboSPRHHbSZmb6B_x-fTbo_wl4af3ly7AMvhXaqbBqov0LaNt9lckOLar8Q3OjuKw839zjfRq0bfSe2ALZXNrI/s1600/20120426_082205.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiGpt2Tx0HoupktxY2nHOjXIM7_fwdHeuabBky3mVO_5ul8WEOi28LoPkboSPRHHbSZmb6B_x-fTbo_wl4af3ly7AMvhXaqbBqov0LaNt9lckOLar8Q3OjuKw839zjfRq0bfSe2ALZXNrI/s320/20120426_082205.jpg" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi8ge4W3BCCIPFOx759bv0p58xqCuIVAZrf7fBf2cLgc9wzjBWZytAHPQ6jbKzJwvl5aiITSlE5Xo_W4Dc6Vv7KDsjIcsjuaqfkJaDQ0mMlVXxQKIyqSMeE3BqeDa8KvneTlgiKExF5HMk/s1600/20120426_082212.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi8ge4W3BCCIPFOx759bv0p58xqCuIVAZrf7fBf2cLgc9wzjBWZytAHPQ6jbKzJwvl5aiITSlE5Xo_W4Dc6Vv7KDsjIcsjuaqfkJaDQ0mMlVXxQKIyqSMeE3BqeDa8KvneTlgiKExF5HMk/s320/20120426_082212.jpg" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh1rEHP-8qzfC7jZy6yK9TqDNmOTIl1xE87V6PRpKDlgZZZJsAfcyd1ZUpXOOGHIYp2ZpiliI84qkmtefUPemkUCVBS6wZ9Mye9pMKOepA1K61crAiRYSgVsrnrETWG-Ub0bXyXkwA6498/s1600/20120426_082150.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh1rEHP-8qzfC7jZy6yK9TqDNmOTIl1xE87V6PRpKDlgZZZJsAfcyd1ZUpXOOGHIYp2ZpiliI84qkmtefUPemkUCVBS6wZ9Mye9pMKOepA1K61crAiRYSgVsrnrETWG-Ub0bXyXkwA6498/s320/20120426_082150.jpg" width="320" /></a> <br />
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<div style="text-align: center;">
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<div style="text-align: center;">
<b>Use of fruit/vegetable mesh bag to hold port and starboard wing flotation bottles and zip tie them to craft. </b><br />
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjM8sC7tb32GReJ6Q_U6OAnGaF1z3Gx809T_TULji_CcGCmmOUPPOsZ7ktOtIa8SroUfJXp8iF_Mi058u63_bEhscnzhvEBxSrIMfb0YYXseOq2A0FrOXDFyEt9atjuz_eTPJMKHz654zY/s1600/20120419_164311.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjM8sC7tb32GReJ6Q_U6OAnGaF1z3Gx809T_TULji_CcGCmmOUPPOsZ7ktOtIa8SroUfJXp8iF_Mi058u63_bEhscnzhvEBxSrIMfb0YYXseOq2A0FrOXDFyEt9atjuz_eTPJMKHz654zY/s320/20120419_164311.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">One of the most important simple improvements is the use of a mesh bag to hold the bottle and zip tie it to the endoskeleton. Annette Mercer, the parent advisor to Venice High School Robotics Club, happened to have a bag of tangerines with her when we were looking for an inexpensive and simple solution and suggested we try it. It works like a charm, and they are really easy to get in most grocery stores (if they don't have them for tangerines or oranges, try the potato section!)</td></tr>
</tbody></table>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiE48rTfFc2x_BfpUgN5phErX80bra3PluN8UaeKaqAbdqEB6cip6LqfRbunmfb5F2XSSXyU6v1tkxBV4K9SJcYG-TNqIzEDcGVGkt9bI6vf9cgM5fcHibAgzPfpeUfyf0EmSE8X0X7uY/s1600/20120419_164317.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiE48rTfFc2x_BfpUgN5phErX80bra3PluN8UaeKaqAbdqEB6cip6LqfRbunmfb5F2XSSXyU6v1tkxBV4K9SJcYG-TNqIzEDcGVGkt9bI6vf9cgM5fcHibAgzPfpeUfyf0EmSE8X0X7uY/s320/20120419_164317.jpg" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg93iQKYx83ZCCc1i3XEVb6Q3Db_3bYAPOWoD_c5o8JyFk82GktyJyJE69O0-AKnpVBKaTqcs4AD1iMtX9yogxi2JveqzkPw_DRxfgTSszmb1SBO36hZqkT2rGDBVbcZGPJSsW5Gg3OG3c/s1600/20120419_164321.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg93iQKYx83ZCCc1i3XEVb6Q3Db_3bYAPOWoD_c5o8JyFk82GktyJyJE69O0-AKnpVBKaTqcs4AD1iMtX9yogxi2JveqzkPw_DRxfgTSszmb1SBO36hZqkT2rGDBVbcZGPJSsW5Gg3OG3c/s320/20120419_164321.jpg" width="320" /></a><br />
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<div style="text-align: center;">
<b> Use of LA Robotics Club Ardbot classroom vehicle for testing of code to be used on Sea Hawk</b></div>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi53nrCy9qn4pbGc53m_gbl6BGHLbE5KXQK_x_1LYlfVXPQziEFJx0fWUD4HYolSWwfSJF84TcMlN4M5iwV8pKYNa7N1NGHPT7w69PN7gEdb6wvk4I2w8DNxRwXDd6VMr1yMSanhI58Obk/s1600/20120419_164351.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi53nrCy9qn4pbGc53m_gbl6BGHLbE5KXQK_x_1LYlfVXPQziEFJx0fWUD4HYolSWwfSJF84TcMlN4M5iwV8pKYNa7N1NGHPT7w69PN7gEdb6wvk4I2w8DNxRwXDd6VMr1yMSanhI58Obk/s320/20120419_164351.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The LA robotics club ardbot allows students to test code for movement and sensors on the arduino on a table top. This code, with only slight modifications, can then be downloaded to the arduino on the Sea Hawk. This enables us to go from classroom to ocean fairly easily.</td></tr>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiHCBVuWkrXs22J_buRG_CeSTS6sHeA7M7wQV0VMhdSllmcSMxZICbcy6rXhurejmv4WE0DTGJDwQyl10Ye71oEXs2dyFd3E9Dp3QLnOFjEGml-i-FPBM8-1LLOpeTD6Sgy8s_zGOHzQkM/s1600/20120419_164800.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiHCBVuWkrXs22J_buRG_CeSTS6sHeA7M7wQV0VMhdSllmcSMxZICbcy6rXhurejmv4WE0DTGJDwQyl10Ye71oEXs2dyFd3E9Dp3QLnOFjEGml-i-FPBM8-1LLOpeTD6Sgy8s_zGOHzQkM/s320/20120419_164800.jpg" width="320" /></a><br />
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<b>Use of zip ties for port</b><b>ability and quick dissaembly/assembly</b></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhCiOMTdyr_jI1P7iHtdGWf0CcvFn9zzza7xI97noicAhIwfzwlD3en5i_kBXkL9LtVR3j9gaeZag4bpnoad4q-0LH0KjabDrMr845LRUvFdYfkzcpj5mcTJ6TSk1v6FkgNrf9ah1AhPpk/s1600/20120419_170444.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhCiOMTdyr_jI1P7iHtdGWf0CcvFn9zzza7xI97noicAhIwfzwlD3en5i_kBXkL9LtVR3j9gaeZag4bpnoad4q-0LH0KjabDrMr845LRUvFdYfkzcpj5mcTJ6TSk1v6FkgNrf9ah1AhPpk/s320/20120419_170444.jpg" width="320" /></a></div>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiV-8evWRZwPw9QKTckcAhU6K4t9j4cOMbIRAXpWSOj6fGzt8UnJbrH2fWqbyt5uzD9cvQqA7F9M6KQTfTYDCMPlxgUi3A6pPQIHeQRbFRbNgxB9xwzPa5BTl17DuboCWb3wYRdES9cT-0/s1600/20120419_170500.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiV-8evWRZwPw9QKTckcAhU6K4t9j4cOMbIRAXpWSOj6fGzt8UnJbrH2fWqbyt5uzD9cvQqA7F9M6KQTfTYDCMPlxgUi3A6pPQIHeQRbFRbNgxB9xwzPa5BTl17DuboCWb3wYRdES9cT-0/s320/20120419_170500.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The students of Venice High School Robotics Club decided that zip ties would be the best way to hold the craft together without using any PVC glue. We had asked them for a solution to the problem of getting a Sea Hawk to the high glacial lakes in remote areas like Nepal. They reasoned that nuts and bolts would take far too long to assemble and dissassemble and might rust. They would also be heavy. Plastic zip ties, on the other hand are cheap and lightweight could go through small holes and be quickly pulled tight; when the craft needed to be taken apart and thrown in a duffel bag they could easily be snipped and pulled off. Their hunch was right.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhGcLCNAR6v_1GwbwOju1uKK-MC8ITh_a7ctI-ewi8qBZRmMaQmAn-nwrvBFCKaZHJmm1wwKvH_Rv5xxYfh0YdYHtxppetF64gFfIEwDabcMrGzpgQ9SOCz6gjYhCLcR6l5HGYcswwAuFQ/s1600/20120415_182310.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhGcLCNAR6v_1GwbwOju1uKK-MC8ITh_a7ctI-ewi8qBZRmMaQmAn-nwrvBFCKaZHJmm1wwKvH_Rv5xxYfh0YdYHtxppetF64gFfIEwDabcMrGzpgQ9SOCz6gjYhCLcR6l5HGYcswwAuFQ/s320/20120415_182310.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Though merely held together with zip ties (no PVC glue used so craft can be completely disassembled for transport in a small duffel bag when riding a bus or flying to Nepal and trekking through the Himalayas to glacial lakes!) the Sea Hawk is sturdy enough when assembled with all its electronics to be easily carried to the testing site.</td></tr>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjv6TxWFGlUIZzQ4oRo5mbFbc2SoPEtL0xbiSHTzRULtCtJmiSH9ppMUoBJyIjX5qRh56eT79FGsV4LYeJG5U8t7tIQ_qmmSN2e444OEuxtS8AegZUjfKNIOJDIZYW0yVvlTn3as3V2TE0/s1600/20120415_182334.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjv6TxWFGlUIZzQ4oRo5mbFbc2SoPEtL0xbiSHTzRULtCtJmiSH9ppMUoBJyIjX5qRh56eT79FGsV4LYeJG5U8t7tIQ_qmmSN2e444OEuxtS8AegZUjfKNIOJDIZYW0yVvlTn3as3V2TE0/s320/20120415_182334.jpg" width="240" /></a> <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjk44oaLfu24P6oc4xu4933c8xGSuB5sBj4ljKrzPCx1lbTAV1aMtnmMJVcfLIb4Rs29uPBt7J4_466P5SDzqudJpZEoU5xaCsrDUyo19eTaydM-ZuWO4BFjuBtZ25fu8NKCWOcOmW67Kg/s1600/20120415_182349.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjk44oaLfu24P6oc4xu4933c8xGSuB5sBj4ljKrzPCx1lbTAV1aMtnmMJVcfLIb4Rs29uPBt7J4_466P5SDzqudJpZEoU5xaCsrDUyo19eTaydM-ZuWO4BFjuBtZ25fu8NKCWOcOmW67Kg/s320/20120415_182349.jpg" width="240" /></a><br />
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCgPVpQqr552IvuN83lqV2JTTQjvMwM6p4EG01c-iIoGxAslZFK2NmZXeSOUGKsHqzW6vkFAkPnzREdYhyphenhyphenl55sBtlkRSMABAlEN88ghjw3x1VCzBNJpfyOPnzS09OHkCS2lQWDHD7y1c0/s1600/20120415_182514.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCgPVpQqr552IvuN83lqV2JTTQjvMwM6p4EG01c-iIoGxAslZFK2NmZXeSOUGKsHqzW6vkFAkPnzREdYhyphenhyphenl55sBtlkRSMABAlEN88ghjw3x1VCzBNJpfyOPnzS09OHkCS2lQWDHD7y1c0/s320/20120415_182514.jpg" width="240" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">One hand holds the Sea Hawk, the other a bag with the laptop in it that will control the craft.</td></tr>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjjgzDoW3iJi1PyiTNo0s7vBfnBVWA7HXEWRdQ6hmCEC5DEk_-VMqjWA2EO80B5C0KvO5kteezOErW-sEvOsfT9FcB084OGbvO1YQeZUzVzkK4ouLSBNQUDVIviXzh93-8FBDmulvEkA7o/s1600/20120415_170914.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjjgzDoW3iJi1PyiTNo0s7vBfnBVWA7HXEWRdQ6hmCEC5DEk_-VMqjWA2EO80B5C0KvO5kteezOErW-sEvOsfT9FcB084OGbvO1YQeZUzVzkK4ouLSBNQUDVIviXzh93-8FBDmulvEkA7o/s320/20120415_170914.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here the craft is ready to go in the water. It is piloted from the keyboard of the laptop using an Xbee. The rope in the picture is merely to be able to recover the craft in the event of a battery or other electronic failure. </td></tr>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh9Gbar3Qileen8HjsK7CgJi9HX-UrZBdngLbceB9_q0hDc1mw2_0Z6I4QPHxDMlthsyVzbFE-gxZEoQhHUOdrt8jIDqHaTjKj1xtkFH-QjfmRGH8pY5eoUUDz44AbAWb5HBTxOq2DM24w/s1600/20120415_170940.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh9Gbar3Qileen8HjsK7CgJi9HX-UrZBdngLbceB9_q0hDc1mw2_0Z6I4QPHxDMlthsyVzbFE-gxZEoQhHUOdrt8jIDqHaTjKj1xtkFH-QjfmRGH8pY5eoUUDz44AbAWb5HBTxOq2DM24w/s320/20120415_170940.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Xbee on the craft can be seen in the open box on the bow of the ship. It is mounted on a motor shield that controls the two propellors which in turn is mounted on an Arduino Uno. The batteries for both the Arduino (9V) and for the motor shield (11.1 V) are in the rear box in front of the staboard robotic claw.</td></tr>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhPxGOco9er5zJVMH18WvEWVvWS8r5ypTjk69NFQqqdCR-n5Op0kSBEJHv1Lt6cFLc4lDmvl_aYS0GA69L_6vu3kE1teqE0QCNEPxqnkCnG8gVlzLery4v0DwVNsVmjON7yG_fak0-Mku8/s1600/20120415_171330.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhPxGOco9er5zJVMH18WvEWVvWS8r5ypTjk69NFQqqdCR-n5Op0kSBEJHv1Lt6cFLc4lDmvl_aYS0GA69L_6vu3kE1teqE0QCNEPxqnkCnG8gVlzLery4v0DwVNsVmjON7yG_fak0-Mku8/s320/20120415_171330.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The setup ready to go.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh-BIeUqkZKlV-HvtoVnGNAXuxDd0IsdRdHuw4NZAX58NVhAk2arjX9_6y6gYM00MHVr9r0yyr_BsfBIf0Y7St04pSmaROMCotcaavqGV3aftqTsdun7Lgts7KQs8VUBKDfT0j8E-nmblo/s1600/20120415_171045.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh-BIeUqkZKlV-HvtoVnGNAXuxDd0IsdRdHuw4NZAX58NVhAk2arjX9_6y6gYM00MHVr9r0yyr_BsfBIf0Y7St04pSmaROMCotcaavqGV3aftqTsdun7Lgts7KQs8VUBKDfT0j8E-nmblo/s320/20120415_171045.jpg" width="240" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The craft is launched in the water and steered using the game control keys on the keyboard.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjjNpctUhtyxXBoOlJ0ppapf9ldqdl1iZG1TrucbH-HdGpZYtVEKjLv3k_IkE7dLLDHCcdBOeIXpDfK4Cz3JYmVk0e_gGowzwwgn9bFP-ojiXlzH_9UiXN1EFW0yyE629XZGubTjwx_XX0/s1600/20120415_171106.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjjNpctUhtyxXBoOlJ0ppapf9ldqdl1iZG1TrucbH-HdGpZYtVEKjLv3k_IkE7dLLDHCcdBOeIXpDfK4Cz3JYmVk0e_gGowzwwgn9bFP-ojiXlzH_9UiXN1EFW0yyE629XZGubTjwx_XX0/s320/20120415_171106.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The craft, using Sea Perch style Jameco motors (.6 amps) has a hard time moving against the wind and current. This suggests the importance of moving up to 1.2 amp motors for any practical use and not using the same motors as the Sea Perch. Also, without the extra control boxes for the Sea Perch, which was not used in this test, the gallon jug provides a bit too much buoyancy. For similar tests an easy solution is to put some water in the milk jug before starting, or use a half gallon orange juice jug (we like jugs with handles because they are easy to zip tie to the stern endoskeleton piece).</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhqtubwkQ593Tsc9nXtwGI5qZ49phf_jq09KMYEhvWlnRsVRhExs0KAmUeZHzKODSRP74dzmvcdDiVr89TElubSMuyATVmNyi0JMjlGVTRftVanPeNV3jRfxHsCM-30kL_nG2vdZZot7u0/s1600/20120415_171147.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhqtubwkQ593Tsc9nXtwGI5qZ49phf_jq09KMYEhvWlnRsVRhExs0KAmUeZHzKODSRP74dzmvcdDiVr89TElubSMuyATVmNyi0JMjlGVTRftVanPeNV3jRfxHsCM-30kL_nG2vdZZot7u0/s320/20120415_171147.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The craft on its way, heading out to sea. Note this craft has no sensors because we hadn't worked out the best way to waterproof the sensors on this day.</td></tr>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgWeILyxsP912r4f-0EuNBbAWvmjZRdkXdZ4Dw5h1vOeWJL-t76kgT4rIcc6t_4xAf7cr90z5YiSLBaSZrfN_EYskJBspXZIiFCR00HEn201bp6bTjMU0X1_HT4f36SVqKjF56LMy7oFxA/s1600/20120415_171154.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgWeILyxsP912r4f-0EuNBbAWvmjZRdkXdZ4Dw5h1vOeWJL-t76kgT4rIcc6t_4xAf7cr90z5YiSLBaSZrfN_EYskJBspXZIiFCR00HEn201bp6bTjMU0X1_HT4f36SVqKjF56LMy7oFxA/s320/20120415_171154.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The teacher pilots the craft from the laptop while walking around (operating distance turned out to be more than 50 meters) as his son maintains the tow rope in case there is a problem.</td></tr>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjiROGRcbQReB7Yl5zJFWAsrO6ji3HWr4lS9fFmH8-Trd_ufgAEKlGwbYwQpTG_miYQr106baydhtR6V3HcNEwGwf0e9wbabVgFiUDICYQUUsQeTtH8zqYgNRXpPj6tVs8o-1eCahnSwNQ/s1600/20120415_171159.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjiROGRcbQReB7Yl5zJFWAsrO6ji3HWr4lS9fFmH8-Trd_ufgAEKlGwbYwQpTG_miYQr106baydhtR6V3HcNEwGwf0e9wbabVgFiUDICYQUUsQeTtH8zqYgNRXpPj6tVs8o-1eCahnSwNQ/s320/20120415_171159.jpg" width="320" /></a></td></tr>
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<div style="text-align: center;">
<b> Benefits of real world testing</b></div>
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One of the nice things about taking out a roboboat into public space for testing is that kids and their families quickly get involved and the testing day turns out to be an outreach/educational opportunity.<br />
At Balboa Park on a Sunday many kids got interested in the project, like these young visitors from Atlanta, Georgia who were seeing relatives in L.A. They helped with the tests and asked if they could implement PORPOISE in their own schools when they got home. <br />
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<tr><td class="tr-caption" style="text-align: center;">One of the young people, and his mom, at the park who volunteered to help with the test.</td><td class="tr-caption" style="text-align: center;"><br /></td></tr>
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<tr><td class="tr-caption" style="text-align: center;">The boy's cousin decides robotics are fun too!</td></tr>
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-90996015556855704202012-04-16T12:03:00.001-07:002012-04-16T22:08:04.515-07:00How much bot could an Ardbot bot......if an ardbot could bot ard?<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgodNsg502V4cUZxTuMAQjeSLsqW8GLdnHcu_2DKsLIvJkoHFC7_YL6iD6N0z2s6WYXtqd0eFvme1AkJQx6psN18bsaCW9z6mXGnmwQbF44C6Dl4m3qE8bXctvVF5trZSoWZT9lsoFNmLI/s1600/20120412_174718.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgodNsg502V4cUZxTuMAQjeSLsqW8GLdnHcu_2DKsLIvJkoHFC7_YL6iD6N0z2s6WYXtqd0eFvme1AkJQx6psN18bsaCW9z6mXGnmwQbF44C6Dl4m3qE8bXctvVF5trZSoWZT9lsoFNmLI/s320/20120412_174718.jpg" width="320" /></a><br />
<br />
Or...<br />
<br />
... if you want to make a robot craft that isn't really hard...?<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjsiLuktA8q9Gp1MklD81pWnFzlCTaYI43_P8h7ueugKAkuEzWJOz56dKEIgtXvBbwdgSoCqW3_IiFy2wqRUIssBXG6tuErHsOaoxpm6qMJ6LacA5_iuIGNGs7yEqIsQTbEgnuKjaRO9D8/s1600/20120407_162651.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjsiLuktA8q9Gp1MklD81pWnFzlCTaYI43_P8h7ueugKAkuEzWJOz56dKEIgtXvBbwdgSoCqW3_IiFy2wqRUIssBXG6tuErHsOaoxpm6qMJ6LacA5_iuIGNGs7yEqIsQTbEgnuKjaRO9D8/s320/20120407_162651.jpg" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi3pgCek-qWk3CivfmEc7Igdnu4pVTsKSyp7n1kJ_PdIM5Ljy-UivdxSZMbbszmVlaUpDgGzVbkjN5hwlkey00YSsGNHvmfyKlXLVAHu9Gxkm7b3LFv4GNNBrY7KR9yVB5G4tvJ9sr94j0/s1600/20120410_155013.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi3pgCek-qWk3CivfmEc7Igdnu4pVTsKSyp7n1kJ_PdIM5Ljy-UivdxSZMbbszmVlaUpDgGzVbkjN5hwlkey00YSsGNHvmfyKlXLVAHu9Gxkm7b3LFv4GNNBrY7KR9yVB5G4tvJ9sr94j0/s320/20120410_155013.jpg" width="320" /></a><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjXbwGy9qF2MwnusuC1q8y9-vBE36SKNTW4muaZVLQrABy9SpYV1GSDGfwRG_TR_ezz5ziIORYtj70t5oXyx_Cz6hNw9WuHm709cdB5eib50FOFqMNMidcwH7PqJ1xdsnqdpp7fbDdKZ2g/s1600/20120412_161747.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjXbwGy9qF2MwnusuC1q8y9-vBE36SKNTW4muaZVLQrABy9SpYV1GSDGfwRG_TR_ezz5ziIORYtj70t5oXyx_Cz6hNw9WuHm709cdB5eib50FOFqMNMidcwH7PqJ1xdsnqdpp7fbDdKZ2g/s320/20120412_161747.jpg" width="320" /></a><br />
<br />
After attending the L.A. Robotics Club Ardbot build on Easter Saturday, expertly led by Michael Belanger (<a href="http://www.mlbelanger.com/ard-bot/">whose schematics and code are all generously available here</a>) and then replicating the workshop at both Washington Preparatory High School and Venice High School later in the week, we determined that, young or old, brave or bold, the Ardbot provides the best platform for rapidly engaging students, teachers, parents and community members in Arduino based robotics and for developing and testing the code and behaviors we want our Sea Perch/Sea Hawk to do.<br />
<br />
With this in mind, then, we now formally recommend the Ardbot build as an essential piece of our curriculum and 12 step plan for aquatic robotics, coming right after the Sea Perch build and working concurrently with the wiring of a Sea Perch junction box to be used with the Arduino. In this plan students test out code on the Ardbot, and after achieving functionality on this rolling classroom platform, learn to modify that code for the relevant robosub or roboboat motor shield (whether used with Sea Perch or Sea Hawk).<br />
<br />
Both Washington Prep High School students and Venice High students completed the basic Ardbot build and testing in under 2 hours. In the third hour they were able to control the Ardbot from the keyboards of their computers using an Xbee wireless shield. As Ian, one of the students from Venice High Robotics Club who hung out working after school until the end declared "I am so glad I stayed until we got to the really cool part!!".<br />
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhidg6uyJ5jyAbep1WsEEZvOnFqtrdOscBJg7t5wvXH1wPnwW4-B-n4VDput3FAawtSwzafaIVPNJot3uqB55sDEZvfqG3f2FaiOjQXY1NLjJZV9hPP83rAN8HiFLiGYVGVd30ffJA8j-Q/s1600/20120412_175537.jpg" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhidg6uyJ5jyAbep1WsEEZvOnFqtrdOscBJg7t5wvXH1wPnwW4-B-n4VDput3FAawtSwzafaIVPNJot3uqB55sDEZvfqG3f2FaiOjQXY1NLjJZV9hPP83rAN8HiFLiGYVGVd30ffJA8j-Q/s320/20120412_175537.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Ian (in the orange pi shirt holding the Ardbot) with Joe and Carlos at Venice High, run the Ardbot from keyboard commands sent wirelessly using the Xbee. Ian declared "I am so glad I stayed until we got to the really cool part!"</td></tr>
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<br />
Here is Michael Belanger's schematic for wiring the <span class="messageBody" data-ft="{"type":3}">Texas Instruments SN754410 Dual H-Bridge for the LA Robotics Club Ardbot:</span><br />
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<br />
In the video below, Carlos and Ian run the Ardbot wirelessly with the same code we will be using to steer the Sea Hawk:<br />
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<div class="separator" style="clear: both; text-align: center;">
<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/oF369Tc1yVc?feature=player_embedded' frameborder='0'></iframe></div>
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<br />
The code Google volunteer Joe Davorin helped us mod from Andy Harris' Boatduinode so we could run the Ardbot from the Arduino IDE serial monitor is as follows:<br />
<br />
<span style="font-size: x-small;">//this is the same Andy Tuna Harris Boatduinode code we use for</span><br />
<span style="font-size: x-small;"> //Sea
Hawk now ported </span><br />
<span style="font-size: x-small;">// to the Ardbot H-bridge via Arduino so </span><br />
<span style="font-size: x-small;">//that the
students can test out their Sea Hawks in the classroom //before testing
them in the water!</span>
<br />
<br />
<br />
<span style="font-size: x-small;">const int motorAPWM = 3;</span><br />
<span style="font-size: x-small;">const int motorAL1 = 2;</span><br />
<br />
<span style="font-size: x-small;">const int motorAL2 = 4;</span><br />
<br />
<span style="font-size: x-small;">const int motorBPWM = 10;</span><br />
<span style="font-size: x-small;">const int motorBL1 = 9;</span><br />
<span style="font-size: x-small;">const int motorBL2 = 11;</span><br />
<br />
<br />
<span style="font-size: x-small;">void setup()</span><br />
<span style="font-size: x-small;">{</span><br />
<span style="font-size: x-small;">Serial.begin(9600);</span><br />
<br />
<span style="font-size: x-small;">pinMode(motorAPWM, OUTPUT);</span><br />
<br />
<span style="font-size: x-small;">pinMode(motorAL1, OUTPUT);</span><br />
<span style="font-size: x-small;">pinMode(motorAL2, OUTPUT);</span><br />
<br />
<span style="font-size: x-small;">pinMode(motorBPWM, OUTPUT);</span><br />
<span style="font-size: x-small;">pinMode(motorBL1, OUTPUT);</span><br />
<span style="font-size: x-small;">pinMode(motorBL2, OUTPUT);</span><br />
<br />
<span style="font-size: x-small;">// stop the motors</span><br />
<span style="font-size: x-small;">analogWrite(motorAPWM, 0);</span><br />
<span style="font-size: x-small;">analogWrite(motorBPWM, 0);</span><br />
<span style="font-size: x-small;">}</span><br />
<br />
<span style="font-size: x-small;">void loop()</span><br />
<span style="font-size: x-small;">{</span><br />
<br />
<span style="font-size: x-small;">if (Serial.available() > 0) {</span><br />
<span style="font-size: x-small;">switch(Serial.read()) {</span><br />
<span style="font-size: x-small;">case 'w':</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL1, HIGH);</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL2, LOW);</span><br />
<span style="font-size: x-small;">analogWrite (motorAPWM, 255);</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL1, HIGH);</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL2, LOW);</span><br />
<span style="font-size: x-small;">analogWrite (motorBPWM, 255);</span><br />
<span style="font-size: x-small;">Serial.println("Both motors activated, moving forward");</span><br />
<span style="font-size: x-small;">break;</span><br />
<span style="font-size: x-small;">case 's':</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL1, LOW);</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL2, HIGH);</span><br />
<span style="font-size: x-small;">analogWrite (motorAPWM, 255);</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL1, LOW);</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL2, HIGH);</span><br />
<span style="font-size: x-small;">analogWrite (motorBPWM, 255);</span><br />
<span style="font-size: x-small;">Serial.println("Both motors activated, moving backward");</span><br />
<span style="font-size: x-small;">break;</span><br />
<span style="font-size: x-small;">case 'a':</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL1, HIGH);</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL2, LOW);</span><br />
<span style="font-size: x-small;">analogWrite (motorAPWM, 255);</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL1, LOW);</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL2, HIGH);</span><br />
<span style="font-size: x-small;">analogWrite (motorBPWM, 255);</span><br />
<span style="font-size: x-small;">Serial.println("Both motors activated, turning left");</span><br />
<span style="font-size: x-small;">break;</span><br />
<span style="font-size: x-small;">case 'd':</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL1, LOW);</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL2, HIGH);</span><br />
<span style="font-size: x-small;">analogWrite (motorAPWM, 255);</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL1, HIGH);</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL2, LOW);</span><br />
<span style="font-size: x-small;">analogWrite (motorBPWM, 255);</span><br />
<span style="font-size: x-small;">Serial.println("Both motors activated, turning right");</span><br />
<span style="font-size: x-small;">break;</span><br />
<br />
<span style="font-size: x-small;">case 'e':</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL1, HIGH);</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL2, LOW);</span><br />
<span style="font-size: x-small;">analogWrite (motorAPWM, 255);</span><br />
<span style="font-size: x-small;">analogWrite (motorBPWM, 0);</span><br />
<span style="font-size: x-small;">Serial.println("Left motor activated, moving forward");</span><br />
<span style="font-size: x-small;">break;</span><br />
<span style="font-size: x-small;">case 'q':</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL1, HIGH);</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL2, LOW);</span><br />
<span style="font-size: x-small;">analogWrite (motorBPWM, 255);</span><br />
<span style="font-size: x-small;">analogWrite (motorAPWM, 0);</span><br />
<span style="font-size: x-small;">Serial.println("Right motor activated, moving forward");</span><br />
<span style="font-size: x-small;">break;</span><br />
<span style="font-size: x-small;">case 'c':</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL1, LOW);</span><br />
<span style="font-size: x-small;">digitalWrite(motorAL2, HIGH);</span><br />
<span style="font-size: x-small;">analogWrite (motorAPWM, 255);</span><br />
<span style="font-size: x-small;">analogWrite (motorBPWM, 0);</span><br />
<span style="font-size: x-small;">Serial.println("Left motor activated, moving in reverse");</span><br />
<span style="font-size: x-small;">break;</span><br />
<span style="font-size: x-small;">case 'z':</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL1, LOW);</span><br />
<span style="font-size: x-small;">digitalWrite(motorBL2, HIGH);</span><br />
<span style="font-size: x-small;">analogWrite (motorBPWM, 255);</span><br />
<span style="font-size: x-small;">analogWrite (motorAPWM, 0);</span><br />
<span style="font-size: x-small;">Serial.println("Right motor activated, moving in reverse");</span><br />
<span style="font-size: x-small;">break;</span><br />
<br />
<span style="font-size: x-small;">case ' ':</span><br />
<span style="font-size: x-small;">analogWrite (motorBPWM, 0);</span><br />
<span style="font-size: x-small;">analogWrite (motorAPWM, 0);</span><br />
<span style="font-size: x-small;">Serial.println("Both motors stopped");</span><br />
<span style="font-size: x-small;">break;</span><br />
<span style="font-size: x-small;">}</span><br />
<span style="font-size: x-small;">}</span><br />
<br />
<span style="font-size: x-small;">}</span><br />
<br />
Below are some random pictures from our Ardbot builds at the LA Robotics Club, Washington Prep High and Venice High:<br />
<br />
<br />
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-32641932890596522652012-02-21T11:55:00.000-08:002012-04-05T10:30:53.203-07:00Take me to the water...You'll have to check back here for the evolving (and never final!) results of "water-proofing" (or is that "water-proving"?) -- for right now we don't have much up here, but this is where we will post videos and descriptions of the sacred process of trial and error as we test things out in the liquid phase of that universal solvent that makes this planet unique in the solar system, H2O....<br />
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Testing the Sea Perch 0.7 amp Jameco motors mounted on the Sea Hawk.<br />
At Mother's Beach in Marina Del Rey in California EZ Money Harper, his dad Roy Harper and I tested how the Sea Hawk drives with Sea Perch motors (Jameco .7 Amp motors) running off of a 9.6 V NiCd rechargeable hobby battery. They drain the battery fairly quickly and the craft doesn't move all that fast, but it does work. One issue we found we needed to resolve is to make sure we get counter-rotating propellers. In this test we had propellers that turn in the same direction and of course this made the boat turn slightly to the right. <br />
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Here EZ Money describes the results of one of our motor tests. We had the motors set up so they would counter-rotate, but since we had the same propeller on both motors it merely turned the craft around in circles. We reversed polarity so both were pushing but this, of course, biased the craft to the right. Since then we have installed a counter-rotating propeller on the right motor and now it should go straight. This is a good learning experience!<br />
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Below are earlier tests of the craft, starting with a series of flotation tests.<br />
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First Float Test of Sea Hawk Surface Craft at Mother's Beach, part 1 of 5<br />
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First Float Test of Sea Hawk Surface Craft, part 2 of 5<br />
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First Float Test of Sea Hawk Surface Craft, part 3 of 5<br />
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First Float Test of Sea Hawk Surface Craft, part 4 of 5<br />
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First Float Test of Sea Hawk Surface Craft, part 5 of 5<br />
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The above video shows that, yes, you can test out your Sea Perch in your bathtub - you just can't dive very deep. The up and down thrusters can also make a bit of a... splash. As the Hitch-hiker's Guide to the Galaxy tells us, "don't panic... and always carry a towel."<br />
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The following two videos show the appropriate winter use of a condominium swimming pool is for testing your Sea Perch/Sea Hawk/Manta Ray. Wet suit optional.<br />
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-10633558941064965322012-02-21T10:44:00.000-08:002012-02-23T12:26:32.473-08:00Pimp your Perch!<div class="separator" style="clear: both; text-align: center;">
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The Annual <a href="http://seaperch.org/seaperch_events?year=2012&month=3">Sea Perch Stakeholder's meeting</a> will take place in Newport Rhode Island March 12 and 13, 2012. This is an opportunity to share ideas for hacking the sea perch (Daryl Davidson, president of the AUVSI called it "pimping your perch" -- has kind of a ring to it!) and improving its functionality.<br />
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One of the things to come out of previous idea sharing was the new technique of using hand warmed toilet bowl wax (oh the indignity of it all! :) ) instead of melting it into a liquid, which saves time and equipment.<br />
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It will be great to see what folks have come up with this year! <br />
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Unfortunately for me, I (T.H. Culhane) will be unable attend this go-round as I have a previous commitment with the U.S. Embassy to teach the engineering of home and community scale biofuel reactors in Israel and Palestine March 11 through 16 , serving my country by helping build a foundation of resource security (energy, water and waste management) that can help dissolve tensions and provide stepping stones for a brighter common future (and this after spending February 25 through March 10 doing similar trainings in two remote parts of the Philippines.) But whether it is sharing ideas to improve the engineering of the Sea Perch or to use engineering education to improve health, hygiene, clean energy and the existential challenges of providing food and water, this kind of idea sharing is part and parcel of the same ethos: "Yes WE can -- we can make the world a better place and improve our educational systems if we all pull together and are generous with the fruits of our discoveries."<br />
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This is the core of the PORPOISE purpose!<br />
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David Grober of Motion Picture Marine will be attending the Sea Perch Stakeholder's meeting, and he will share some of the ideas we have been working with as we develop our program with Washington Preparatory High School in Los Angeles, CA, Venice High School in Venice, CA and WMST Public Charter School in Washington DC.<br />
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One of the is an innovation Motion Picture Marine's engineer, Brent Spencer, came up with for the Sea Hawk/Manta Ray robo-boat (which uses the same size motor as the Sea Perch (albeit with double the amperage for greater speed on the surface of the water) housed in the same wax filled film canisters, which the students at WMST delightedly decided could be applied to the Sea Perch too.<br />
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It involves making the Sea Perch motors easily removable and hence replaceable in competition when something goes wrong -- like the inevitable loss of a propeller! We can't tell you how many times we have seen the propellers, which are glued or epoxied to the thin motor shaft, suddenly spin off into the wild blue yonder. Or how many times we've watched one motor run slower than the other even though the code is the same and the voltage and current supplied are the same (this happened when we were demonstrating the Sea Hawk motors to the ONR at WMST last week!) -- every motor is different, try as we can for uniformity, and things like this can make or break a team's competitiveness!<br />
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So our idea was to make the motors "hot swappable", and, just as racing cars can pull into a pit stop and have their tires replaced and get right back into the race, the Sea Perch (and Sea Hawk) can be hauled out of the water, the defective motor pulled and a new one popped in and, 'voila', you are back in the game! And best of all, the motors no longer need to be mounted insecurely with zip ties -- they are plugged securely into T's.<br />
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<tr><td class="tr-caption" style="text-align: center;">Motion Picture Marine/Perfect Horizon Engineer Brent Spencer holds up a Sea Perch with the motors mounted on Ts for easy swappability.</td></tr>
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<tr><td class="tr-caption" style="text-align: center;">Brent says, "In a competitive event you want things to be easy to replace. When I'm out on a movie shoot with our Perfect Horizon Robotic Camera Stabilizer, and we are miles out to sea, if something goes wrong we can't do the trouble shooting on a boat that is pitching and rolling and bathed in salt spray. So we make our units with "hot swappable" parts that can be popped out and in. Similarly, our idea for the Sea Hawk and the Sea Perch was to make it so the motors can be pulled on and off in a jiffy, in any conditions! What works for the industry should also be part of the student's curricula!"</td></tr>
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The motors are taped tightly to a 3 inch piece of PVC that has 2 inches half cut to provide a mount, and plugged into T's. You can also see another improvement we make to our Sea Perch's -- a camera mount on the bow for underwater video collection. After all, we are "Motion Picture Marine" and the Sea Perch is no toy. Properly pimped, it can be a great tool for real underwater photography, as an upcoming episode of<a href="http://pbskids.org/scigirls/"> Sci Girls</a>, whose photographers we me with in DC last week, illustrates!<br />
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The pictures below show how we prepare the 3 inch (7.62 cm) 1/2" pvc pipes for motor mounting:<br />
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The idea for using this solution on the Sea Perch came from Brent Spencer's concept for creating such mounts for the Sea Hawk. Below we see the start of T.H. Culhane and EZ Money Harper's idea for making the Sea Hawk an amphibious vehicle; using a three way 90 degree piece TWO, count 'em, two motors can be put on the Sea Hawk boat -- rear thrusters with propellors for moving in the water, and side motors with wheels on them, for rolling around the classroom!<br />
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By giving the Sea Hawk amphibious capability, students can test their motor shield Arduino code in the classroom, working out how to best make use of the Ping Ultrasonic sensors and PIR and IR sensors and compass and GPS and bluetooth and Xbee shields without risking the boat in the water. They can drive the craft or let it move autonomously in the safety of a smooth dry land environment before taking it out to the tricky environment at sea. This also permits more schools to participate that don't have easy access to water. The hope is that everyone can get started in aquatic robotics. Eventually the craft can migrate to the water, and anyway, if we wait long enough, given sea level rise due to climate change, the water will come to us... so it doesn't hurt to get started.<br />
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Waterworld inevitable? Just ask Kevin Costner! We'll work on the "how to build your own gills" tutorial as soon as we've figured that one out!<br />
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<tr><td class="tr-caption" style="text-align: center;">Here the Sea Perch is docked with the Sea Hawk. In this Sea Perch the motors are using their traditional zip tie mounts. But note that the Sea Hawk itself uses Sea Perch type motors mounted on the T junction with the 3 inch pvc pipe mount.<br />
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As you can see from the above pictures, the Sea Hawk itself, as a roboboat platform, is essentially a way pimped out Sea Perch. It evolved from the same endo-skeleton of 1/2" PVC and it uses the same motors waterproofed with wax inside plastic film canisters (though we use motors that appear identical in size and shape but that draw 1.2 Amp rather than 0.6). Once you have the motors in the canister you can add wheels or propellers as you see fit. <br />
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<b>VENICE HIGH PIMPS THEIR PERCH </b></div>
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On February 23rd at the Robotics Club meeting at Venice High School the students started pimping their perches for use with their new Sea Hawks. </div>
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They started by removing the back pipes and cutting them into 2 inch sections and inserting a T in between. </div>
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Dana Wieland shows the Perch with the T's ready for mounting the rear motors. <br />
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Next she prepares the Perch for the new mount for the up/down motors.<br />
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While Carlos works on the Arduino program for the robotic claws that will hold the Sea Perch to the Sea Hawk.<br />
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Next Dana mounts the RGB/IR camera on the Sea Perch for its underwater photography mission.<br />
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Having completed a Sea Hawk frame and having attached the Sea Hawk skin that Dana cut the previous week, Jonathan makes suggestions for how to make the Sea Perch mate with the Sea Hawk. <br />
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Carlos and Ian experiment with attachements on the Sea Perch that will enable the robotic claws on the Sea Hawk to grab it and hold it in place. <br />
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Ian determines that the Sea Hawk should have extra PVC endoskeletal support for the Robotic Claw Servos...<br />
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-90886409767818541392012-02-20T17:03:00.000-08:002012-02-20T17:03:24.339-08:00Logos and Animations<div class="separator" style="clear: both; text-align: center;">
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The PORPOISE project is interdisciplinary and as such invites all participants to use their artistic skills to make the field of aquatic engineering fun, exciting, engaging and easy to communicate.<br />
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On this page we will post some of the works in progress that our members are creating for the initiative:<br />
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These early animations by 9th grader Benjamin Standfield give an example of how a passion for 3D animation and game creation can enhance the program: <br />
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1. Sea Perch docking in the Sea Hawk; concept done in Blender:<br />
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2. Assembly of the Sea Perch, concept, done in Blender.<br />
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And here is the original PORPOISE concept art by T.H. Culhane, using the yin-yang symbol as the basis for the programs symbology:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgCZkKkWut4xN6YSPqVG3-KNqABjDW6vG023SHmZoK2ESixpGXNCFjGanFyODWcqBqcGksCelddvgXazRngLRC9C5h4zIi4UUhaEvzpfmusF-TbxfCD90Snci91oehi-hWxJw0bcrwJmfc/s1600/PorpoiseLogo.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgCZkKkWut4xN6YSPqVG3-KNqABjDW6vG023SHmZoK2ESixpGXNCFjGanFyODWcqBqcGksCelddvgXazRngLRC9C5h4zIi4UUhaEvzpfmusF-TbxfCD90Snci91oehi-hWxJw0bcrwJmfc/s320/PorpoiseLogo.jpg" width="313" /></a></div>
Dwayne, a student at WMST Public Charter School in Washington DC, came up with this variant on the theme, arguing that to be true to the ethos of our program, both halves of the yin-yang should be utilized in the logo. In his concept art, one half represents the fish, a symbol of our common origins and the underwater aspect of our program, and the other is the cetacean (the porpoise) which evolved from the fish (the Sea Perch?) and now amphibiously inhabits two worlds, but remains connected to the fish from which it was birthed. Note also that Dwayne used the yin yang form for the eyes as well, lending the creatures more personality. This is an example of how the program itself is an evolutionary creature, drawing strength and inspiration from you, its members!<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhEB1dLq9HoUf7Y4dFYT3I8XIcBX3anBlaIVxDMzB2AeraTFFrvtoQydNAvKRpYWS-uRdKDH9phhzkDtCVDg3LvP0Z01vzA12QQo2y49LGGyF4JIZVl7hzGGxbPD9co5DGJrDasNqG-2Jc/s1600/DwaynePorpoise" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhEB1dLq9HoUf7Y4dFYT3I8XIcBX3anBlaIVxDMzB2AeraTFFrvtoQydNAvKRpYWS-uRdKDH9phhzkDtCVDg3LvP0Z01vzA12QQo2y49LGGyF4JIZVl7hzGGxbPD9co5DGJrDasNqG-2Jc/s320/DwaynePorpoise" width="320" /></a></div>
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Below, Dwayne begins to sketch out the Sea Perch for 2D animation and tutorials:<br />
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More to come! Please feel free to share your own artwork and idea!<br />
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-67328203437073006302012-02-15T16:44:00.001-08:002012-02-21T14:00:22.645-08:00Creating the Sea Hawk/Manta Ray in the virtual and real worlds.InFor this tutorial we are using Blender 2.58<br />
The tutorial describes how to create the Sea Hawk in virtual reality but the dimensions and procedure are similar for making the craft in the real world.<br />
If you want to see photos of builds at our three partner schools, scroll all the way down! <br />
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<b>Using Blender: </b><br />
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In the Scene Panel set Units to Metric (we will use Metric throughout
this program and try to avoid the kind of conversion problems that led
to a Mars probe completely missing the red planet!). Click on the
"Separate" toggle. A good tutorial for this setup is here: <a href="http://www.katsbits.com/tutorials/blender/metric-imperial-units.php#gridspacing">http://www.katsbits.com/tutorials/blender/metric-imperial-units.php#gridspacing</a><br />
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Start by changing your grid size to 1000 lines at a scale of .005 by going to View>Properties (or use the N key to call up the Properties panel) and underneath "Grid Floor" set Lines:1000, Scale .005. In this way we create a 5 meter by 5 meter grid in which each of the smallest squares in the grid is .5 cm (half a cm) which should be sufficient for our purposes. <br />
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Add a plane (Shift-A, add plane) and make its dimensions (using the Dimensions tab in the Properties window (N) X:1m and Y:1m and Z:0m. This represents the basic sheet of plastic one might use (we will add the Z dimension later).<br />
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Now move the plane into the top right quadrant by hitting "g" (for grab) then "x" (to lock in the x direction) and then ".5" (to move the cube 50 cm to the right) and hit enter. Then hit "g" again, then "y" (for locking the y direction) then ".5" and enter and your plane should be in the top right quadrant. <br />
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Now, because the plastic sheets we use to build the Sea Hawk skin come in dimensions of 36 inches by 24 inches, we need to convert inches to cms and then cut our 1 meter squared sheet accordingly. 36 inches = 91.44 cm and 24 inches = 60.96 cm. We will round this to 92 cm and 61 cm accordingly.<br />
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To cut the 1 square meter sheet, go into Edit mode (hit Tab) and use the Loop Cut and Slide Tool under Mesh Tools (usually on the left side of the screen). Click on the top part of the square and move the purple line that appears along the x axis to the right until it shows 0.84. That should be 92 cm because the entire square has 100 units on the left side and 100 on the right side (each tiny square being half a cm) so you want 184 tiny squares to equal 92 cm.<br />
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Similarly, to cut the 1 square meter piece to 61 cm in the y direction, use the Loop Cut and Slide Tool and, clicking on the left edge of the square, move the line down from zero (the middle) to .22. This equals 122 little squares which repesents 61 cm. It should look like this:<br />
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Now select the extraneous faces using the edge and face select vertices toggles and delete them leaving the plane looking like the sheet of plastic we use for our Sea Hawk skin. Save the file under "SeaHawkPlasticSheet".<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjBJ4BWrI1tA4G8H6wtdgXyIUAm9IU_jtPyUdTe2BlQq6WTxITl2HepN1qWmB7N5lCp4b3LK0sI_txO8OG0C7eOuz4NqLng0YZmfHnFGPEQ0-8MN5gSk9tUPdQE5qf3a1ku1DdFkUTHS4Y/s1600/SeaHawkCut1PlasticSheet.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="264" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjBJ4BWrI1tA4G8H6wtdgXyIUAm9IU_jtPyUdTe2BlQq6WTxITl2HepN1qWmB7N5lCp4b3LK0sI_txO8OG0C7eOuz4NqLng0YZmfHnFGPEQ0-8MN5gSk9tUPdQE5qf3a1ku1DdFkUTHS4Y/s320/SeaHawkCut1PlasticSheet.png" width="320" /></a></div>
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This is the basic sheet we will start with.<br />
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We must now cut it again, this time to the size we use for the Sea Hawk skin first layer.<br />
The Sea Hawk dimensions are 30 inches by 20 inches, which translates to 76.2 cm and 50.8 cm respectively. We will round to 76 and 51 centimeters.<br />
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Start by moving the template down into the top right quadrant so that its left bottom corner is at the origin.<br />
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Use Loop Cut and Slide again, clicking on the top of the rectangle and
move it over to 152 units (corresponding to 76 cm). Then do the same
thing clicking on the left side and move the new edge to 102 units
(corresponding to 51 cm). <br />
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Then select the faces you want to cut and remove them:<br />
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Once again move this new figure to the origin.<br />
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Now rotate the sheet by 90 degrees counter clockwise, align with the bottom left vertex to the origin and save as "SeaHawkSheet1".<br />
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Now we need to cut out the square where the Sea Perch fits into the Sea Hawk. We use the loop cut and slide tool to go up 13 inches (33 cm) and in 5 inches (12.7 cm, rounded to 12.5 cm) on either side. With our grid this means 66 units up from the origin and 25 units in from the origin on one side (along x) and 25 units in from the outer right edge on the other side:<br />
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Select the face you want to cut out (the bottom center face) and delete it:<br />
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Now select the top inner box, hit "w" for subdivide and you should end up with the following sequence of events:<br />
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Now select the lower left and top right vertices of the left top inner rectangle and hit "f" for face; this will create the horizontal triangle line. Do the same thing for the lower right and top left vertices fof the right top inner triangle and you should get this:<br />
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Sometimes it is difficult to get the faces to form correctly. When this happens it usually indicates that you may have double points or no points in the appropriate place at all. I click on the two end points of each line and click on subdivide and then select the overlapping points I've created, click "Merge" and then "remove duplicates". Then you should have faces such as seen below:<br />
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Once you have the correct geometry, select the right triangles on either side of the bow's isosceles triangle and use Mesh>Vertices>Separate>Part.<br />
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Once the parts are separated, tab from edit mode to object mode and place the right triangles on separate layers so you can rotate them. In the real world you would use your exacto knife (box cutter) on the lowest setting and simply perforate the plastic so you can fold them down to form the "beak" of the Sea Hawk.<br />
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In Edit mode, select all the faces of one piece of the boat the body of the boat for example) and tab into object mode and extrude in the Z axis .004 (this will give you the 4mm that the real plastic sheet has). Do this for each of the other pieces (the the two side right triangles). You will have to select the faces in edit mode, then toggle to object to do the extrusion. when you select them in Object mode, you should go to a side view and hit E for extrusion, then type in the .004 to get your millimeters.<br />
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To do the rotation of the front right triangles you will have to go into Edit mode and select the tip vertex of one of the triangles (at the base of the right angle at one of the top corners of the boat) and then go into Object mode and select Object>Transform>Origin to 3D cursor. Now that becomes your pivot point. (When you want to rotate the other triangle you will have to do the same procedure for the other side). <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgu1Z3IovLTuP-ABc-nMby6dXf6n7KvRLvjy5NW_nlQrRPcZgY8o8u_l62zFjw6EwDzSIRpw9z5D8hMDL4i1Qfz4WjAeLlqrNjHwFuou-Iwwfu9Z7q5UuwltvX2Gvax2VZ6pOu_QIR_X_c/s1600/SeaHawkselectingpivots.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="262" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgu1Z3IovLTuP-ABc-nMby6dXf6n7KvRLvjy5NW_nlQrRPcZgY8o8u_l62zFjw6EwDzSIRpw9z5D8hMDL4i1Qfz4WjAeLlqrNjHwFuou-Iwwfu9Z7q5UuwltvX2Gvax2VZ6pOu_QIR_X_c/s320/SeaHawkselectingpivots.png" width="320" /></a></div>
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In one of your split windows (assuming you split your windows as I did, which you do by right clicking at the top of the window where it joins the menu bar and selecting "split area") go to the appropriate side view (I hit the 3 key, you might have to hit the 1 key, depending on which side you are working on) so that you have a YZ orthogonal view (if it is in perspective view you can switch through View>Perspec/Orthogonal or hit the 5 key toggle).<br />
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You will have to use multiple views to keep adjusting the angles of rotation until you get the right triangles where you want them, but in time you should be able to fold them down as shown in the picture below. In the real world craft it is a lot easier; you just fold them into place. But in Blender, once you have them where you want them, select each right triangle (i.e. the beak of the hawk) and THEN select the surface of the boat and click "ctl P" to parent them. The parent is always the active object which is the last object selected. Now you can move the boat around by the surface sheet, but can still move and adjust the beak parts which are the children. <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiNb68wLYrWPE_1_G6lH0o6bq6kHCdUj4urQJn6FHAqjQKm2QdoN0wLGgMRFWVnARCnskBwzYibf-eiqzoXX7bDrVG1CYjvQAa0qIz-EKU8EZiLzSFv7ThUspAB5kop7ie3mEeatw3EtF0/s1600/SeaHawkSkin1.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="262" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiNb68wLYrWPE_1_G6lH0o6bq6kHCdUj4urQJn6FHAqjQKm2QdoN0wLGgMRFWVnARCnskBwzYibf-eiqzoXX7bDrVG1CYjvQAa0qIz-EKU8EZiLzSFv7ThUspAB5kop7ie3mEeatw3EtF0/s320/SeaHawkSkin1.png" width="320" /></a></div>
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Your angles will be something like X = -125, Y = -54 and Z = 89 for the port side, and X = -125, Y = 54 and Z = -89 for the starboard side.<br />
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Now move the boat to the grid by setting the Z location to 0 and align its left side to the y axis so you can start working on the wings.<br />
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This is a good time to save your work!<br />
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Now go to File>Append and select your "SeaHawkPlasticSheet" Plane. Align it so that the Sea Hawk model you just made is in the middle.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgVINZsyE8x02Vig1ZCCrme4HBBJx1XZBusyjtLZgPEruavyO58-yemSxkutWlWYM73BtRMwWPhrcdjl_KGQRVyHI_z1H9wmbX2MewAg3QsxhMuUvYrXK4XPJOEkt2VtEoTnB7M6KZ4pHM/s1600/SeaHawkwithnewPlane.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="262" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgVINZsyE8x02Vig1ZCCrme4HBBJx1XZBusyjtLZgPEruavyO58-yemSxkutWlWYM73BtRMwWPhrcdjl_KGQRVyHI_z1H9wmbX2MewAg3QsxhMuUvYrXK4XPJOEkt2VtEoTnB7M6KZ4pHM/s320/SeaHawkwithnewPlane.png" width="320" /></a></div>
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Move it to its own layer (command M) but make all layers visible. <br />
Deselect everything in object mode and then select just the Plastic sheet plane.<br />
Tab into Edit mode.<br />
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Use Loop Cut and Divide again to cut up the plane, but this time you can use your SeaHawk boat as a template, just as you would in the real world (using a sharpee instead of the Loop Cut and Divide tool!).<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjwxIoMGOivaZLCFx2DqtN5i-DYLka9GqDs0N2vTdRw-2aRKE_3tW3CZtRMyfT1HRlpbqwEabsBEdlgku7LGVNDYZXVVRv14EOqSVMnJnAofHcd7W9dUi1glcJsYRsMasx1PdGNUk3dWIg/s1600/SeaHawkLoopCut.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="262" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjwxIoMGOivaZLCFx2DqtN5i-DYLka9GqDs0N2vTdRw-2aRKE_3tW3CZtRMyfT1HRlpbqwEabsBEdlgku7LGVNDYZXVVRv14EOqSVMnJnAofHcd7W9dUi1glcJsYRsMasx1PdGNUk3dWIg/s320/SeaHawkLoopCut.png" width="320" /></a></div>
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Select the face that corresponds to the Sea Perch docking hole and hit X and delete the face:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEizqYP30CmnBiaDSRZbKmwj6CfYjJa62RBFgLwSrVFPo_eWX8SgFRQ1en84LIJu6e46pVzNbDALKbba48zNQP0juvX2y0nUdz3KBvStxvZpYQmELQYMSoM_SMKyQLV0JRlE8v9VF49_IFM/s1600/SeaHawkpunchface.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="262" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEizqYP30CmnBiaDSRZbKmwj6CfYjJa62RBFgLwSrVFPo_eWX8SgFRQ1en84LIJu6e46pVzNbDALKbba48zNQP0juvX2y0nUdz3KBvStxvZpYQmELQYMSoM_SMKyQLV0JRlE8v9VF49_IFM/s320/SeaHawkpunchface.png" width="320" /></a></div>
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Now comes a slightly tricky part: You go to line mode (the center one of the three cubes on the menu) and select the vetical line running through the nose of the craft and subdivide, then click on the horizontal line in the middle and subdivide that, and do this for both sides. Then go into vertex mode (by clicking on the leftmost of the three cubes on the bottom menu after the 3D manipulators and the word "Global") and select the vertex on the square closest to the nose of the craft,and move it up so that it lines up with the triangular side of the craft underneath.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimReLwr8ExiK0jdGBlx1cfIqXAFejZuC4AMWsYxI9KvJR2bvvggz4dzsVMmIwZmEZBGNEN06GRgfIvQP3srGmXoqIDic2uPQZ0l5unYSoprj0f5YeZ2yxRROY9PeAHvhUXtT5HqnXQ7bE/s1600/SeaHawkVertexarranging.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="262" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimReLwr8ExiK0jdGBlx1cfIqXAFejZuC4AMWsYxI9KvJR2bvvggz4dzsVMmIwZmEZBGNEN06GRgfIvQP3srGmXoqIDic2uPQZ0l5unYSoprj0f5YeZ2yxRROY9PeAHvhUXtT5HqnXQ7bE/s320/SeaHawkVertexarranging.png" width="320" /></a></div>
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The picture above shows working on the port side of the craft, the starboard has already been done). <br />
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You may have to merge some points and remove doubles, but eventually you should be able to toggle into face mode and see something like this and select the faces you want to remove.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhF8hwyUJLYdP1TmyGKwGGZ4f6YQjbS9VBV7JWRAoDvJjuwQJQZKzNmoaE96FeKTnztriFZ5eeT4IefYD1tGvFziWwEaO3pQn8Z1QwSF9U8OMi5c_yoWuLoR8Xwu17gfP54TjkcFmb1tLw/s1600/SeaHawkRemoveFaces.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="262" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhF8hwyUJLYdP1TmyGKwGGZ4f6YQjbS9VBV7JWRAoDvJjuwQJQZKzNmoaE96FeKTnztriFZ5eeT4IefYD1tGvFziWwEaO3pQn8Z1QwSF9U8OMi5c_yoWuLoR8Xwu17gfP54TjkcFmb1tLw/s320/SeaHawkRemoveFaces.png" width="320" /></a></div>
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Now we can work on the wings. You want to measure up each of the wing edges 5 and 5/8 inches (5.625 inches) which is 14.3 cm for the top edge of the wing, and 3 and 3/8 inches (3.375 inches) which is 8.6 cm for the bottom edge of the wing. In the real world you then draw lines from these points to the points at the base of the isosceles triangle that forms the nose of the craft and cut along those lines. In Blender we will make the top edge 14.5 cm (29 units in Blender) and 8.5 cm for the bottom edge (17 units in our setup in Blender) and simply select the vertices of the squares and drag them into position.<br />
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<span style="font-size: x-small;">(To mark those locations you could use the grease pencil (see http://wiki.blender.org/index.php/Doc:2.6/Manual/3D_interaction/Sketching/Drawing). You turn it on in the Tool Shelf (View>Toolshelf or hit T) and click New Layer and select a color. To use it, hold the D key down and the left mouse button. The problem with the grease pencil is that if you move your image in the layer beneath, you mark you made doesn't do with it, so choose the size you are going to work in and stick with it. I ultimately decided not to bother using it, but leave this in here for the adventurous who want another technique at their disposal.)</span><br />
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Now we want to extrude this sheet 4mm in Z so it has some dimension, and place it on top of the hull we made earlier.<br />
Hit A to select all and hit 1 to go to the front ortho view.<br />
Then hit E and type in .004 and hit return. Tab into Object mode and move the new wing surface into position and then make it the parent of the hull surface beneath (select the hull surface THEN shift right click the wing surface, then hit ctl P. If you make a mistake in the order and need to unparent, select the objects and hit Alt-P an clear).<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEggcHqyaSPBTB4Q2d_4ex2AoMYhk_QNau0Qutk-dBIbhWaDjZDm-GOMLVYetk7077rkq-PXKRPhk0l8M4-TraQNLkUVyH5CkOtfZjk7Iow7kqpNCHwd02aSjJqo6CL-p7y9ynCN00a4o3Q/s1600/SeaHawkSkins.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="242" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEggcHqyaSPBTB4Q2d_4ex2AoMYhk_QNau0Qutk-dBIbhWaDjZDm-GOMLVYetk7077rkq-PXKRPhk0l8M4-TraQNLkUVyH5CkOtfZjk7Iow7kqpNCHwd02aSjJqo6CL-p7y9ynCN00a4o3Q/s320/SeaHawkSkins.png" width="320" /></a></div>
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Voila, you now have the Sea Hawk Skin completed! You can now add color and texture as you see fit (school colors perhaps?)<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjOhkTSzfZHDR1d0ChEtcjNsknFY_qlqbmISiXwrmm77IUEzI3RLfjjGha7e-CNB30R4Q4Hk3JXmFe6kD_L1jFJtj0z4BRE6BkcFuaFiCp9TuAw8LkaKbfO4xj257IPzaEacJOW8yBSLHg/s1600/SeaHawkRender1.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="220" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjOhkTSzfZHDR1d0ChEtcjNsknFY_qlqbmISiXwrmm77IUEzI3RLfjjGha7e-CNB30R4Q4Hk3JXmFe6kD_L1jFJtj0z4BRE6BkcFuaFiCp9TuAw8LkaKbfO4xj257IPzaEacJOW8yBSLHg/s320/SeaHawkRender1.png" width="320" /></a></div>
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<a href="http://porpoiserobotics.blogspot.com/2012/02/building-spencer-sea-hawkmanta-ray.html">If you want to learn how to create the endoskeleton click here!</a><br />
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<b>Meanwhile, in the Real World:</b><br />
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Now as for building the Sea Hawk in the real world, here are some photos:<br />
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1. Start with the standard 4mm plastic sheet, 24 x 36 inches. Mark it at 20 x 30.<br />
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2. In the 20 x 30 inch section, draw a line parallel to the 20 inch side that is 13 inches in from what will be the stern of the boat, along the 30 inch long side. Draw two lines parallel to the 30 inch long side, measuring 5 inches in from each side. Mark a point midway at what will be the bow of the sheet (half way down the 20 inch side) and create an isosceles triangle by drawing down to the edges of the line you drew 13 inches in. You can also make another internal isosceles triangle as shown, but this is optional.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgOfAuKbcusIGfPI2RWkcB_RxDAlaiTH05LnR0mfExOVIPcqnqRSoNppLfwFhRUr4vogLn9BqqRDZ_KLqO-7GxXPc4mnxpswSaIaIpPVi1HIRoL3XKYcqXcWcG8-GUxL8oJ0idITzV06SU/s1600/20120213_133520.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgOfAuKbcusIGfPI2RWkcB_RxDAlaiTH05LnR0mfExOVIPcqnqRSoNppLfwFhRUr4vogLn9BqqRDZ_KLqO-7GxXPc4mnxpswSaIaIpPVi1HIRoL3XKYcqXcWcG8-GUxL8oJ0idITzV06SU/s320/20120213_133520.jpeg" width="320" /></a></div>
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3. Cut away the excess 6 and 4 inches as shown above, using an exacto knife (box cutter).<br />
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4. Carefully using the exacto knife, keeping it on the lowest setting, perforate, but do not cut all the way through, the outer edges of the larger isosceles triangle. You can then bend the resulting right triangles that make up the outer flaps of the rectangle, folding them down so that they form the "beak" of the Sea Hawk.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgJCOB4KcgEnot5KIbSjBiQGuHkiwljl3FJDaZBxDFXZbxZNITLnzFmml0KcoTRnmKDr0Jwu8G4ROkbNkEn3j_RJ9SpvjFwESDnEkv3_gKgcoZJmFLb-mAIWYG2okawC6d86aHgBUMLWd4/s1600/20120213_134742.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgJCOB4KcgEnot5KIbSjBiQGuHkiwljl3FJDaZBxDFXZbxZNITLnzFmml0KcoTRnmKDr0Jwu8G4ROkbNkEn3j_RJ9SpvjFwESDnEkv3_gKgcoZJmFLb-mAIWYG2okawC6d86aHgBUMLWd4/s320/20120213_134742.jpeg" width="320" /></a></div>
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5. Hold the Sea Hawk beak together by punching a hole through the bottom of the beak and tying with a twisty or zip tie.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjrbiWye9OlgtwJIANwVew5Xv62lZp-jqh2cddWUEFxziwxwDvzGqy_Dtln5WtxDw52xgfSLAf8X68dVR1c2Ll4kz_j6Jw73ku0Qx5HI60dpDlo-HqyB2I260dwGa4V3cNeZUatdqk3t04/s1600/20120213_141932.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjrbiWye9OlgtwJIANwVew5Xv62lZp-jqh2cddWUEFxziwxwDvzGqy_Dtln5WtxDw52xgfSLAf8X68dVR1c2Ll4kz_j6Jw73ku0Qx5HI60dpDlo-HqyB2I260dwGa4V3cNeZUatdqk3t04/s320/20120213_141932.jpeg" width="320" /></a></div>
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6. Place the Sea Hawk beak surface upside down on another 36 x 24 inch sheet of 4mm plastic (use another color if it suits you; we try to use school colors!). Place it directly in the middle, by marking it at 18 inches and then measuring 5 inches out from the center, drawing lines and then placing the Hawk's beak surface (the yellow piece) so it lines up. On the wing surface (the black piece of plastic) draw lines around the entire Sea Hawk beak surface (like the police do with chalk lines around a dead body at the scene of a crime!).<br />
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7. Now take the Beak surface off leaving the wing surface sheet on your table. <br />
You can now measure a top angle of 15 degrees off the line you drew representing the edge of the isosceles triangle with a compass to draw out the top part of the Sea Hawk's wing...<br />
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8. And a bottom angle of 25 degrees for the bottom part of the Sea Hawk's wing... or you can experiment with any angles you want (as you can see below, I tried several, but found the 15 degree/25 degree combo aesthetically sexiest!).<br />
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9. Or, alternatively, you can simply make a mark 3 3/8 inch from the bottom and another 5 5/8 inch off the bottom and connect the lines to as shown in the picture below. That way you don't need a compass (we used to all carry them in our school kit with pencils and crayons in elementary school, but try finding one in a high school today...!). <br />
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10. Cut the wing sheet out, place it on top of the beak surface as shown, and punch holes in it and the beak surface beneath it; tie them together with Zip ties. Why zip ties?<br />
Because this is the same material we used in the Sea Perch to tie things together and the Sea Hawk evolved from the Sea Perch. Evolution is conservative. It tends to recycle old parts and materials. So in biomimicry terms, the Sea Hawk uses a mutated version of the Sea Perch DNA to create creature that can climb out of the ocean...<br />
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11. Now you have the Sea Hawk "skin" that will go on the Sea Hawk endoskeleton (which also "evolved" from the Sea Perch PVC endoskeleton!).<br />
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<b>WASHINGTON PREPARATORY HIGH SCHOOL ROBOTICS CLUB: </b><br />
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In the photo above, Sea Hawk design engineer Brent Spencer of Motion Picture Marine shows Luis Camacho and EZ Money Harper how the skin will go on the PVC endoskeleton at Washington Preparatory High School (the pvc parts for two endoskeletons are laid out on the table in front of them).<br />
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Then EZ starts cutting, showing how... EZ it is to make one....<br />
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EZ and Luis lay out the PVC materials needed for two Sea Hawk's (each Sea Hawk needs 7 two foot sections of 1/2" PVC and the parts shown to their right)...<br />
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... and then they assemble one of the Sea Hawk frames...<br />
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... and then EZ mounts the skin on the endo-skeleton and places the Sea Perch in its "docking bay"<br />
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Later that afternoon, New York based environmental technology consultant Kendall Christiansen from Insinkerator (the company that makes what you call "garbage disposals" and which we call "biofuel feedstock preparation devices) visits the school to see about our renewable energy initiative there and easy shows him the Sea Perch "sitting in the dock of the bay" and they discuss ways of powering oceanic human driven water craft and robo-boats using kitchen waste... noting that every navy ship and aircraft carrier has a huge amount of canteen waste they must deal with at sea -- a unique source of energy to generate electricity if ground up and fermented rather than dumped at sea!<br />
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Meanwhile, back at the shop, Motion Picture Marine's David Grober explores inexpensive plastic boxes that can be used to house the Arduino microcontrollers and motor shields that we will add to the craft...<br />
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The aesthetics aren't great yet... but we figure it has to be something cheap and available to stay in range of school budgets... the aesthetics will come!<br />
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<b> VENICE HIGH SCHOOL ROBOTICS CLUB:</b><br />
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Meanwhile, over at Venice High School Robotics Club, Dana Wieland creates her team's Sea Hawk in the Venice school colors, blue and yellow!<br />
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Now the Venice Sea Hawk is ready for its endoskeleton and then... on to motors and sensors!<br />
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WASHINGTON MATH SCIENCE TECHNOLOGY PUBLIC CHARTER SCHOOL (WMST) IN DC: <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMJxnZ5ARwsKc2G7-HIpyWR4D2kf1ZSLjYgDp7cta7u5325MmNgiOs4DRVppOIewvijXeSx0-QxP8ErnR5pVqzaKLrCEG6GVmButxlPg-HwTQbaOQGXlzBUq41A6uMRup1QunXo4VBY3E/s1600/20120210_143433.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMJxnZ5ARwsKc2G7-HIpyWR4D2kf1ZSLjYgDp7cta7u5325MmNgiOs4DRVppOIewvijXeSx0-QxP8ErnR5pVqzaKLrCEG6GVmButxlPg-HwTQbaOQGXlzBUq41A6uMRup1QunXo4VBY3E/s320/20120210_143433.jpeg" width="320" /></a></div>
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Above, the WMST team celebrating a dog and pony build out of the Sea Hawk/Sea Perch combo.<br />
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjTDiZkxLfGfdsMto7eTVOsxia0te7_rfAMM12M4WKEO4MkBqj-Qq7LWi-L3KWCf_-c1p5lkNelKE5nZXxvcnniTXG-REW9yFlFS7SLV4qIMlrwZD2I8pKhMsKO7vzA_rWAdsYg134SyCI/s1600/20120210_151634.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjTDiZkxLfGfdsMto7eTVOsxia0te7_rfAMM12M4WKEO4MkBqj-Qq7LWi-L3KWCf_-c1p5lkNelKE5nZXxvcnniTXG-REW9yFlFS7SLV4qIMlrwZD2I8pKhMsKO7vzA_rWAdsYg134SyCI/s320/20120210_151634.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;"> An early version of the Sea Sparrow (with clipped wings and single
water bottle floats and a docked Sea Perch), with a Quadcopter that Evan
Epic Polk successfully landed on the bow.</td></tr>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6mDw948SrXV9MNcuQAntXeX_0-f9BO3n_fIOnASIW9KXKMzoRwvMwBoHn2ki5MgTzCXzkiLVJMZldgJZkRBuFBAHucCC2jCtZGkKSiViEgnkQK5DKaM7n9XXK1wcKfWWwgnjvlY6Dt-8/s1600/20120210_151639.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6mDw948SrXV9MNcuQAntXeX_0-f9BO3n_fIOnASIW9KXKMzoRwvMwBoHn2ki5MgTzCXzkiLVJMZldgJZkRBuFBAHucCC2jCtZGkKSiViEgnkQK5DKaM7n9XXK1wcKfWWwgnjvlY6Dt-8/s320/20120210_151639.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Sea Perch docked in the Sea Sparrow has the Spencer motor mount modification he developed for the Sea Hawk wherein the motors can be detached quickly for easy replacement; <a href="http://porpoiserobotics.blogspot.com/2012/02/pimp-your-perch.html">the concept is discussed in our "pimp your perch" blog post. </a></td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhOy8MCzX_tGm6ROHZvV4RHy01Wngi0ZgNL64763VGrGYO3P9A6zgNXiAYhyvwEdBECd0u3_ZghDhVIGvkDfznuahZxD04sEGyiuV291h504ATohE-H7o_phiOCMPZKMLOrMHSrqfaEe6U/s1600/20120210_151658.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhOy8MCzX_tGm6ROHZvV4RHy01Wngi0ZgNL64763VGrGYO3P9A6zgNXiAYhyvwEdBECd0u3_ZghDhVIGvkDfznuahZxD04sEGyiuV291h504ATohE-H7o_phiOCMPZKMLOrMHSrqfaEe6U/s320/20120210_151658.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">This Sea Hawk (Sea Sparrow?) has no motors of its own and actually uses the docked Sea Perch as its source of propulsion. We use it as a mobile landing platform for ROV helicopters and quadracopters, an idea the ROTC students came up with to make their robots like the marines, capable of providing security for "land, sky and sea."</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhQfsqQUbUiL9vSso6ruBuMdqpn34_ubXBGMQ2XnDlIo3kfHiwGp0uOVp-UXlxiczygomATCt4XqKb3ufam90RLUFd70XbSZOW6wxacpTvNx3ym43nYAyoRE6Qi7Uxh7el1C_fUu_HATgE/s1600/20120210_162000.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhQfsqQUbUiL9vSso6ruBuMdqpn34_ubXBGMQ2XnDlIo3kfHiwGp0uOVp-UXlxiczygomATCt4XqKb3ufam90RLUFd70XbSZOW6wxacpTvNx3ym43nYAyoRE6Qi7Uxh7el1C_fUu_HATgE/s320/20120210_162000.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Sea Hawk/Sea Perch deck, all decked out with true functionality (but no waterproofing!). Here you can see the red 11.1 V LiPo batteries that power the Motor Shields (one for the Adafruit 4 motor shield that powers the 3 Sea Perch motors (each drawing .6 amp continuous and 1.2 amp peak) , and one for the DFRobot 2 Amp motor shield that powers the Sea Hawk motors (each drawing 1.2 amp continuous and 2 Amp peak with a 2 Amp fuse). You can also see the two Sparkfun Robotic claws on servos which will hold the Sea Perch in place by its blue floats. You can see the 8 pin telephone junction box that connects the Sea Perch ethernet cable to the Adafruit Motor shield (the left motor in M1, the right motor in M3 and the up/down motor in M2). And you can see the Arduino boards with their motor shields (the blue in front is the Adafruit controlling the Sea Perch and controlling the two robotic claws via servos connected to the red mini-breadboard shown, the green on the bottom is the arduino/DFRobot motorshield sandwhich controlling the Sea Hawk motors. At the bow of the boat you can see a breadboard with an Ultrasonic Ping sensor and a PIR sensor for some autonomy, connected to the Arduino board under the DF Robot Motor Shield so that the Sea Hawk can autonomously avoid walls and objects. Not shown are the two 9.6 volt batteries needed, one to power each Arduino).</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg6v2XrEdCxTN3heGyEBK2Nlh4W413RxWnio5d3EVR-ufR94bKZDFHgtWQgbFEZ0qZgz_3Nrx5IWT3_2D5piUX9JqeJTQCtAeDAwWzmBNviGu8veWyrmYKi8aCpbc7qBu-Yj9mcVyeqQhE/s1600/20120210_161722.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg6v2XrEdCxTN3heGyEBK2Nlh4W413RxWnio5d3EVR-ufR94bKZDFHgtWQgbFEZ0qZgz_3Nrx5IWT3_2D5piUX9JqeJTQCtAeDAwWzmBNviGu8veWyrmYKi8aCpbc7qBu-Yj9mcVyeqQhE/s320/20120210_161722.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here are the PIR sensor and Ultrasonic ping Sensor and a PAL Color sensor at the Stern of the boat, above the Sea Hawk beak.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjiB7eSspRQOWWU9HzLgxy-aBel1hv5HerHsvACeL1aliDNq41vaRnwGfL9HQLTqF_cTPO8xmItBke-JYyZrjYjyX_R1Dd1D9ss8_4Y6-JwDibehA9r4yv9yW3QUjM5oBbpYtMtajHQCLg/s1600/20120210_161728.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjiB7eSspRQOWWU9HzLgxy-aBel1hv5HerHsvACeL1aliDNq41vaRnwGfL9HQLTqF_cTPO8xmItBke-JYyZrjYjyX_R1Dd1D9ss8_4Y6-JwDibehA9r4yv9yW3QUjM5oBbpYtMtajHQCLg/s320/20120210_161728.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here the PIR Motion Sensor, PING ultrasonic sensor and PAL color sensor being tested with the Sea Perch motors via the Adafruit Shield/Arduino Uno combo (normally we would use them with the Sea Hawk but we wanted to try them out with the Sea Perch)</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjPlGywttAgzFAb_TKd4IDsM9ub7BBKpF_q_4cMNv-oEacxphApJ9f1c5bDhX99rBaR6ol-9aEW6xPq6U5OiiKnS8uASq0q5NMDLhIjGjx6a1MnBELScfh-aRGt0nM5GIV9eN0hWpzU3EA/s1600/20120210_161738.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjPlGywttAgzFAb_TKd4IDsM9ub7BBKpF_q_4cMNv-oEacxphApJ9f1c5bDhX99rBaR6ol-9aEW6xPq6U5OiiKnS8uASq0q5NMDLhIjGjx6a1MnBELScfh-aRGt0nM5GIV9eN0hWpzU3EA/s320/20120210_161738.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here is a makeshift fused on-off switch with indicator light connecting the 11.1 Volt LiPo battery (red) to the Motor Shield. </td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjL8EKBFfHUQg7UFKvNhWAze3CKPsOO3vlXwXfopibkNslCCPI9o-WS9MRwaMXkzoULXsVQcNs5zBrmXPRqFy-cEQFMvT1mvrQHA4qxqbafNOrYcY95HXPbQAClIsDyOhS9e7b2uEZgw7M/s1600/20120210_161742.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjL8EKBFfHUQg7UFKvNhWAze3CKPsOO3vlXwXfopibkNslCCPI9o-WS9MRwaMXkzoULXsVQcNs5zBrmXPRqFy-cEQFMvT1mvrQHA4qxqbafNOrYcY95HXPbQAClIsDyOhS9e7b2uEZgw7M/s320/20120210_161742.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">This is the DFRobot 2A motor controller, running off of a red 11.1 V LiPo battery to control the Sea Hawk. The red mini-breadboard is used to connect the sensors and the servos, serving as an easy to to experiment with interface for plugging in different configurations.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgtLlbTaVJHVIeYpBegrVweIUIgUFJshWMZ2nhSj5HEfPDQlHgyAz0qcCKe3f_KdFlYzV58VSuForDPIDitXI_EEN__gEhgU5qjxu7vXqwY2GjJJxQKWPpNzWtGDwjkYMd7JEDEagMhNQc/s1600/20120210_161747.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgtLlbTaVJHVIeYpBegrVweIUIgUFJshWMZ2nhSj5HEfPDQlHgyAz0qcCKe3f_KdFlYzV58VSuForDPIDitXI_EEN__gEhgU5qjxu7vXqwY2GjJJxQKWPpNzWtGDwjkYMd7JEDEagMhNQc/s320/20120210_161747.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Another view of the 2A DFRobot Motor Shield on top of the Arduino that, together, control the Sea Hawk motors. Note that the Arduino must be powered separately from a 9.6 Volt NiMH or LiPo or NiCad hobby battery supply (don't use a typical 9 volt battery as they don't last long enough to do any robotics work and you will be hauling your boat in long before the competition is over to replace the battery -- use a hobby battery with enough amperage to last an hour!) The 9.6 v source for the Arduino is not shown here but you can see the 11.1 V battery that powers the Motor Shield -- it is crucial to have a SEPARATE battery source for the motors and for the Arduino! Watch your jumper settings to make sure you connect things correctly.</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi47ieE_HvqBQYwr4FLoN26v5VDmxPdKS90MeLNZMODtvAV_9AYz-hFtoL3r8jexVHpLPPqs8C9zPF5vXy9VYg9Uen4eXjDIHfgdLuNZTISmBJ83bP7aef__QtEoY9YrgiYC-wJs5t2E0E/s1600/20120210_161805.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi47ieE_HvqBQYwr4FLoN26v5VDmxPdKS90MeLNZMODtvAV_9AYz-hFtoL3r8jexVHpLPPqs8C9zPF5vXy9VYg9Uen4eXjDIHfgdLuNZTISmBJ83bP7aef__QtEoY9YrgiYC-wJs5t2E0E/s320/20120210_161805.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Sea Perch here has an IR/RGB video camera mounted on its bow for real-time underwater videography; with this, when the students pilot the Sea Perch using signals sent from their computer keyboard (using the Arduino Serial monitor) via Xbee Explorer to the Xbee Receiver which will be mounted on the Arduino/Adafruit sandwhich, they won't have to "'peer into the pool' to pilot their Perch", they will pilot it remotely wherever it is deployed. </td></tr>
</tbody></table>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjizUat3Ep0HgNU7u-oQOW1EgKPZIQ3LwHoeGIDRu_3-isVXWr8H5nWHVH0F8onPTSx5-JGRGBDZ0CobQ3DoxVUwWMATi9jXb_Zl6jUqS44DNobEApLafTWMGlpwgIFPqr_B1_bGrOX_Cc/s1600/20120210_161816.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjizUat3Ep0HgNU7u-oQOW1EgKPZIQ3LwHoeGIDRu_3-isVXWr8H5nWHVH0F8onPTSx5-JGRGBDZ0CobQ3DoxVUwWMATi9jXb_Zl6jUqS44DNobEApLafTWMGlpwgIFPqr_B1_bGrOX_Cc/s320/20120210_161816.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Here you can see an otter box (clear plastic case) with the <a href="http://seaperch.mit.edu/sensors.php">MIT Sea Perch Sensor suite</a> mounted inside and placed on the mat of the Sea Perch. The MIT Sea Perch Sensor Suite enables the Sea Perch to gather data on temperature, salinity, depth (pressure) and turbidity (light) and stores it with a clock stamp on an SD card to be uploaded upon retrieval to Google Digital Ocean. </td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhm8YntAk7Ht7n2e2l6DhyTQu40XkhVckBUgXb02TVtrD54o69FUNoDAY9TqWS_tLphmQ9DtWMPFVOfs2F9lkPCOmgRVTWuB6wLVw8cZ7Z6-uLD4B3Wltx5G9_rnwprrijWf6f0zDQicVA/s1600/20120210_161841.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhm8YntAk7Ht7n2e2l6DhyTQu40XkhVckBUgXb02TVtrD54o69FUNoDAY9TqWS_tLphmQ9DtWMPFVOfs2F9lkPCOmgRVTWuB6wLVw8cZ7Z6-uLD4B3Wltx5G9_rnwprrijWf6f0zDQicVA/s320/20120210_161841.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Sea Hawk enables the Sea Perch to leave the shore. The Sea Perch is now tethered to the white
junction box on the boat (center of picture) which connects to the Arduino-MotorShield-Xbee
sandwhich. The Sea Hawk boat, using its servo controlled robotic claws,
can take the Sea Perch anywhere!</td></tr>
</tbody></table>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjHkF062W1aN2tN9bLuOC7oKYLLaKu17g7K_jyQ97FJjmzZ_4-y9TAj_nV0xIS5Tvv-2tmwRO8LdNIRFMw4DTLp5UacFMWfyuvTXZKXsIMHIos3S63dB7hE5XgVyM-3miT-Jwme8esQVnA/s1600/20120210_161953.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjHkF062W1aN2tN9bLuOC7oKYLLaKu17g7K_jyQ97FJjmzZ_4-y9TAj_nV0xIS5Tvv-2tmwRO8LdNIRFMw4DTLp5UacFMWfyuvTXZKXsIMHIos3S63dB7hE5XgVyM-3miT-Jwme8esQVnA/s320/20120210_161953.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Mr. Nouristani put 2 Amp uses between the positive wire of each motor and the DFRobot motor shield because experiments with the ammeter showed that if the 1.2 Amp motors get stuck (for example in Sea Weed) they can draw up to 5 amps, which would burn out the chips.</td></tr>
</tbody></table>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhtlWobOsxx8VzmX43swqPrTQAm_t6GlrhynaawT7up4sU3T8EAs5r05_y4twq3ufWWIO-PsOKQ0L5WuBggXhUXdt7OPMooig_NoexLqDVuFiu48pklTwcT8aDsxB4JK6eH4ES1MTXUcIs/s1600/20120210_161850.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhtlWobOsxx8VzmX43swqPrTQAm_t6GlrhynaawT7up4sU3T8EAs5r05_y4twq3ufWWIO-PsOKQ0L5WuBggXhUXdt7OPMooig_NoexLqDVuFiu48pklTwcT8aDsxB4JK6eH4ES1MTXUcIs/s320/20120210_161850.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">WMST Robotics Club instructor Mohammed Nouristani engages in a deep thought experiment to figure out how we are going to water-proof all these messy electronics!</td></tr>
</tbody></table>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5uuyjAubgllrNAZqlftCZhX1PPzsf13PG1-_ezWu8x1cJkUfEiS6tr-mfuKMqJLhj_zZtBhmhL05zSY57MBoT2vNL3qY2m4KB0GnIGx56EDRXa0O3WBepOqV6WbN3rMq5WCu_1PKGmRw/s1600/20120210_161821.jpeg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5uuyjAubgllrNAZqlftCZhX1PPzsf13PG1-_ezWu8x1cJkUfEiS6tr-mfuKMqJLhj_zZtBhmhL05zSY57MBoT2vNL3qY2m4KB0GnIGx56EDRXa0O3WBepOqV6WbN3rMq5WCu_1PKGmRw/s320/20120210_161821.jpeg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The Sea Hawk flotation is achieved by a cluster of six 1 liter water bottles in the beak of the craft and two 3 bottle clusters of 1.5 liter water bottles under each wing of the craft. In this way the Sea Hawk takes the plastic water bottle trash problem "under its wing" and PORPOISE helps re-purpose the oceanic trash into useful items for environmental sensing. In this picture you can also see the motors mounted on the Sea Hawk, and note that they appear identical to the Sea Perch motors except for the way they are mounted (we don't use zip ties anymore, we use T's). The only difference between the Sea Hawk and Sea Perch motors from a functional standpoint is that the Sea Hawk motors are twice as powerful (1.2 Amps continuous versus 0.6 amps). As such they need more powerful motor controllers and fuses.</td></tr>
</tbody></table>
The next big challenge, besides getting the autonomy working with the sensors and getting the robotic claws working, is to get everything water proofed!<br />
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In the video above, Culhane explains the Sea Perch/Sea Hawk concept at WMST.<br />
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In the video above EZ Money and Juhayra explain the Sea Perch/Sea Hawk concept at Washington Prep.<br />
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In the video above Culhane explains the concept to EZ and Juhayra at Washington Prep; this video shows both the 11.1 V motors controlling the motors and the 9.6 Volt motors controlling the Arduinos.Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-13292051478683710922012-02-14T12:35:00.000-08:002012-04-16T11:19:50.324-07:00Building the endoskeleton of the Spencer Sea Hawk/Manta Ray Roboboat Platform(Update April 15, 2012: Note that after extensive field testing there has now been a revision in the Sea Hawk endoskeleton for greater stability and for easier placement of 2 liter soda bottle pontoons under the wings. This involves replacing the "front float support" with a copy of the "rear float support" and the installation of new braces. New directions will follow, but for now consider purchasing at least 4 more 90 degree elbows, 4 more 45 degree elbows, 4 more T's and an additional 2 foot length of 1/2" PVC pipe! Thanks!)<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjc0nkQ7tqwSP3EVQ-9R9_SNNgA9RJ1tSF0cJ1Hak3UiCrnOpZPXVAFEoQkICJE1Yn8s5pzJAYNzvtv7GEHEB_zR9bmugldBEMuVno3CLcyg4n9h-i-9sDOqVYi8VFQhhe2__v9CaYz8cM/s1600/SeaHawkBowandMaindrawing.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="296" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjc0nkQ7tqwSP3EVQ-9R9_SNNgA9RJ1tSF0cJ1Hak3UiCrnOpZPXVAFEoQkICJE1Yn8s5pzJAYNzvtv7GEHEB_zR9bmugldBEMuVno3CLcyg4n9h-i-9sDOqVYi8VFQhhe2__v9CaYz8cM/s320/SeaHawkBowandMaindrawing.jpg" width="320" /></a></div>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0z5uYpyrUiPZBI8QorlKbrh2YSaN7QumwUdBtKkPZzccbK_q3tJLIr8CoYAKL3-9eo_LUSAGnMtW07NGlxwjYe-HNS7zkVzE55II12WK29SuymTk-FAJo_9xQ8iaOOCtLqs6ayXhfkaU/s1600/SeaHawkFloats.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0z5uYpyrUiPZBI8QorlKbrh2YSaN7QumwUdBtKkPZzccbK_q3tJLIr8CoYAKL3-9eo_LUSAGnMtW07NGlxwjYe-HNS7zkVzE55II12WK29SuymTk-FAJo_9xQ8iaOOCtLqs6ayXhfkaU/s320/SeaHawkFloats.jpg" width="296" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The original Brent Spencer sketches for a PVC pipe version of his Sea Sparrow/Sea Hawk, allegedly found on anaerobically preserved papyrus scrolls in an antediluvian ship-wreck near the Red Sea.</td></tr>
</tbody></table>
<br />
(Please note: Brent Spencer, creator of the Sea Sparrow surface craft
for harbor surveillance, changed the name to "Sea Hawk" somewhere in the early part of the year 2012 AD, so we are
changing accordingly. The plans below are the property of Brent Spencer from Motion Picture Marine, who owns the copyright to the Spencer Sea Sparrow and Spencer Sea Hawk and Spencer Manta Ray robotic surface vehicles and is generously allowing PORPOISE to use and modify these craft and his concepts for educational purposes). <br />
<br />
The name Sea Hawk has a
venerable tradition in both the Navy and in Motion Pictures (to say
nothing of nature itself!). Now when we are building and operating our
roboboats we can put on the marvellous <a href="http://www.youtube.com/watch?v=C-RPzAbW7No">soundtrack music to the eponymous 1940 Errol Flynn movie (scored by Erich Korngold</a>) and get into the swashbuckling spirit of high adventure that maritime robotics is all about!<br />
(A great youtube video of Korngold conducting an Australian orchestra playing the overture <a href="http://www.youtube.com/watch?v=SIE35ifLIpQ&feature=related">can be found here</a>).<br />
<br />
And here is the list of Parts you will need to build your very own Sea Hawk Manta Ray:<br />
<b><br /></b><br />
<b>The Endoskeleton:</b><br />
Constructed
from 1/2" diameter PVC, identical to that used for the Sea Perch so as
to create an "evolutionary" pathway from "fish" to "marine mammal" or
"water bird". (STEM tie-in is the biological concept that evolution is
conservative and that organisms develop by mutation and natural
selection of old parts re-purposed for new tasks in new environments.
Thus the Sea Hawk/Manta Ray is created from the same skeletal materials
and motor/propellers as the Sea Perch!)<br />
<br />
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg__F8zLO3VIY5NXpWI6cmTO6fFRlSGmPgXRNxXw0YBJWzXNlOnPqhkzXSpNXnsR0iSiKmMEplvPcpMEj93UycNDDlkOE76SfsDOvl4CudKbtcdLk7Agnq1LoAT3IXmZMSlMzkb09RQMxg/s1600/SeaHawkPVC.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg__F8zLO3VIY5NXpWI6cmTO6fFRlSGmPgXRNxXw0YBJWzXNlOnPqhkzXSpNXnsR0iSiKmMEplvPcpMEj93UycNDDlkOE76SfsDOvl4CudKbtcdLk7Agnq1LoAT3IXmZMSlMzkb09RQMxg/s320/SeaHawkPVC.png" width="320" /></a><br />
<br />
<br />
<b>1/2 " PVC pipe: 7 pieces of 2 foot length</b>.<br />
<b>7 @ 0.94c = $6.58 </b><br />
The endoskeleton will require at total of 147 inches of 1/2" PVC pipe, ideally obtained from<b> 7 pieces of 2 foot long (24") 1/2" diameter PVC</b>. You will need 1 for the bow, 3 for the main frame, and 2 for the wing float, totalling 6 pieces, but you will need an additional piece to get the last 6 inches for the two motor mounts (3 inches each) and have at least 9 inches left over for modding the Sea Perch frame for removable motors. <br />
<br />
<b>T- fittings:</b> <b>5 @ 0.34c = $1.70</b> for boat frame only; <b>8</b> @ 0.34c = $2.72 for both boat and Sea Perch<br />
(you might as well buy a 10 pack for $1.98 and save some money; you need 5 for the boat frame = $1.70, but while you are at it, you can use three extra to mod your Sea Perch frame for it to use the same removable/exchangeable motor mounts) <br />
<br />
<b>Elbows: </b><br />
45 degrees: <b>13 @ 0.46c = $5.98</b><br />
90 degrees: <b>5 @ 0.46c = $2.30</b> (you might as well buy a 25 pack for $4.75 since you can always use more 90 degree elbows!) <br />
90 degree three-ways (aka 1/2" PVC Side Outlet): <b>6 @ $1.23 = $7.38</b><br />
<br />
Male screw adaptors (aka 1/2" PVC Male Adapter SXMPT) for three way elbows: <b>4 @0.25c = $1.00</b><br />
1/2" PVC Cap Slip: <b>1 @ 0.25c = $0.25</b><br />
1/2" Plug SPG:<b> 2 @ 0.62c = $1.24</b><br />
<br />
Loctite Gel Super Glue: <b>1 @ $2.98 </b>(we use this in initial stages rather than PVC glue because it is easier to pull apart if mistakes are made).<br />
<br />
Total cost for endoskeleton parts: $6.58 + $1.70 + $5.06 + $2.30 + $7.38 + $1.00 + $0.25 + $1.24 = $25.51 + tax (0.0925 = $2.35) <b>= $27.86</b><br />
<span style="font-size: x-small;"><br /></span><br />
<span style="font-size: x-small;">(Buyer beware: Local hardware stores charge substantially more for PVC. At Lincoln Hardware (1609 Lincoln Blvd. Venice CA 90291) the prices were $1.79 for each 90 degree 3 way PVC side outlet,and $0.79 for each 45 degree elbow -- about 2X the price from Home Depot. We purchased 13 of the former and 17 of the latter to make two boats at Venice High around the corner and those parts alone cost $39.91! Lesson learned: make one run and purchase in bulk from a wholesaler, even if it is farther away!)</span><br />
<b><br /></b><br />
<b>Bow and Main Frame:</b><br />
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhasFnmLuK2sCv_FrhiMm1f9HwSOptcni-69FlrQ-IsIUxssSFVU2EF0Q8QcriBmtLMbMv3t-UteqS6ASf9hZIPjykLh4reIz6JOu1c2l5H4QoY_VskEgiDx_-LBVYWh-ZH4wOVohAAsOg/s1600/SeaHawkBowandMain.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhasFnmLuK2sCv_FrhiMm1f9HwSOptcni-69FlrQ-IsIUxssSFVU2EF0Q8QcriBmtLMbMv3t-UteqS6ASf9hZIPjykLh4reIz6JOu1c2l5H4QoY_VskEgiDx_-LBVYWh-ZH4wOVohAAsOg/s320/SeaHawkBowandMain.jpg" width="215" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">A vector art reconstruction of the ancient Spencer scrolls done by marine robotics archaeologists in the modern era... top form is the bow, bottom is the main frame</td></tr>
</tbody></table>
<br />
The ancients used an obscure measurement system based on their body parts, where a "foot" was approximately the size of the average human's foot at that time, and "inches" the approximate size of an opposable thumb. We translate these arcane dimensions into the modern decimal system of "meters" which makes calculations much much easier!<br />
<br />
<b>Bow -</b><br />
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmAE1LMzCmBNVqYA3TyvmMeri8rIYzBZK87GXb_tfR0lsiT-zo6akVi7gVuY0eNashrtukoLtMkwffI3GZoNwwbqYRcn7C1mvHyouOwfCnbxJagciuDa9uJ3nOqCxW1ZHIGFzvx0qTwDQ/s1600/bow.png" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmAE1LMzCmBNVqYA3TyvmMeri8rIYzBZK87GXb_tfR0lsiT-zo6akVi7gVuY0eNashrtukoLtMkwffI3GZoNwwbqYRcn7C1mvHyouOwfCnbxJagciuDa9uJ3nOqCxW1ZHIGFzvx0qTwDQ/s320/bow.png" width="320" /></a><b> </b><br />
<br />
<br />
<b> </b><br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<i> </i><br />
<i>Subtotal:</i><br />
23.5 inches (59.69 cm; we use an even 60 cm) of 1/2" pipe (Use one 2 foot, or 61 cm PVC piece and cut); 1 45 degree elbow, 1 90 degree elbow, 1 1/2" PVC cap<br />
<br />
<ol>
<li>A: 1 - 1/2" PVC Cap</li>
<li>B: 1 - 8 1/2" pipe (8.5 inches = 21.59 cm; we use 21.5 cm).</li>
<li>C: 1 - 45 degree elbow</li>
<li>D: 1 - 8 1/2" pipe (21.5 cm)</li>
<li> E: 1 - 90 degree elbow</li>
<li>F: 1 - 6 1/2" pipe (6.5 inches = 16.5 cm) </li>
</ol>
<b>Main Frame -</b><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi_5xUJ55pCQ7kavJNW6kabqbZ3F8oCR1_pBi51Ojs5OiX4qljzwoanGIfb8AocEkKXPLuxaSORv7kBABmnsf2vk8KvKPenECfvdl8wDThmvhh-ROx7vloE0GsP3WwOiVwGwffEUSIvwfo/s1600/main.png" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi_5xUJ55pCQ7kavJNW6kabqbZ3F8oCR1_pBi51Ojs5OiX4qljzwoanGIfb8AocEkKXPLuxaSORv7kBABmnsf2vk8KvKPenECfvdl8wDThmvhh-ROx7vloE0GsP3WwOiVwGwffEUSIvwfo/s320/main.png" width="320" /></a></div>
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<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<i>Subtotal:</i><br />
55 inches of
1/2" pipe (Use 3 2 foot PVC pieces, i.e. 72 inches, and cut; keep the
17 inch remainder for rear float support); 5 T fittings, 2 90 degree
elbows, 4 45 degree elbows.<br />
<br />
<ol>
<li> G: 1 - T-fitting</li>
<li>H: 2 - 6" Pipes (These form the BOW) (6 inches is 16.24 cm, we use 16.25 cm)</li>
<li>I: 2 - 90 degree elbows</li>
<li>J: 2 - 4" Pipes (4 inches = 10.16 cm; we use 10 cm) </li>
<li>K: 2 - T Fittings</li>
<li>L: 2 - 3" Pipes (3 inches = 7.62 cm; we use 7.5 cm)</li>
<li>M: 2 - T Fittings</li>
<li>N: 2 - 7 1/2" Pipes (7.5 inches = 19.05 cm; we use 19 cm). </li>
<li>O: 2 - 45 degree elbows</li>
<li>P: 2 - 3 1/2" Pipes (3.5 inches = 8.89 cm; we use 9 cm) </li>
<li>Q: 2 - 45 degree elbows </li>
<li>R: 1 - 7" Pipe (This is the STERN. 7 inches = 17.78 cm, we use 18 cm)</li>
</ol>
<b>Wing Float (# of pieces are for both sides) </b>-<br />
YOU WILL NEED TO BUILD TWO OF THESE -- ONE WING FOR EACH SIDE. THE PICTURES ONLY SHOW ONE OF THE SIDES! <br />
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjV_1LW1FyvIk9cpZ0TOB9SF73qwgnZivQyV8cvw2zVqpjbA4w8PDxupSTMU5xhZD5tCm_0CEAtSMyte_NBY0hRzpY6V62_mkjHP_2Vr-b-3ACVGMDuLiKM1tNyTmbvEvLyE72g1KGeRVY/s1600/SeaHawkFloats1.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="248" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjV_1LW1FyvIk9cpZ0TOB9SF73qwgnZivQyV8cvw2zVqpjbA4w8PDxupSTMU5xhZD5tCm_0CEAtSMyte_NBY0hRzpY6V62_mkjHP_2Vr-b-3ACVGMDuLiKM1tNyTmbvEvLyE72g1KGeRVY/s320/SeaHawkFloats1.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">One of the wing floats rendered as vector graphics; note that the ancient plans call for two wings, an early example of biomimicry perhaps... Note that each wing float has a "front z" 45 degree elbow and a "rear z" 45 degree elbow. Archaeologists believe that these were the attachment points for the front and rear float supports respectively...</td></tr>
</tbody></table>
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimM3x854YnBhcDaDCGhctCWKyyyzEg3UUenl-8w__NrRJW4W7z6CMUzOmsWZYdHI2U39fa4HRDy9sxqQleGxl63m4vJ2XBpW8rPIF0p5UIgeUpRhZqr2NDRcKkJelRdkU-hCVVURkYsng/s1600/wingfloat.png" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimM3x854YnBhcDaDCGhctCWKyyyzEg3UUenl-8w__NrRJW4W7z6CMUzOmsWZYdHI2U39fa4HRDy9sxqQleGxl63m4vJ2XBpW8rPIF0p5UIgeUpRhZqr2NDRcKkJelRdkU-hCVVURkYsng/s320/wingfloat.png" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">A team of paleontologists (who normally work on reconstructing dinosaur bones!) were tasked with turning the ancient mariner's sketch into a three dimensional model, using Blender, so that it could be more easily understood by the layman.</td></tr>
</tbody></table>
<br />
<br />
<i>Subtotal: (This is the material needed for BOTH wings!)</i><br />
39.5
inches of 1/2" pipe (use 2 2 foot PVC pieces, i.e. 48 inches, and cut,
keep the 8.5 inch remainder for front float support); 4 90 degree
three-ways, 4 male screw adapters for 90 degree three-ways, 4 45 degree
elbows<br />
<br />
<ol>
<li>S: 4 - 7 1/2 " pipes (~ 19 cm)</li>
<li>T: 4 - 90 degree 3-way </li>
<li>W: 2 - 3" pipes (~7.5 cm) </li>
<li>X: 4 - male screw adapter for 90 degree 3-way</li>
<li>Y: 4 - 1 3/4" pipes (~ 4.5 cm) </li>
<li> Z: 4 - 45 degree elbows</li>
</ol>
<b>Front Float Support (From Z) </b><br />
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhPT15I2KzyNJ7ZT3WvI1cEAMz5Ha7qmkEaSuwQIuvRDUF-NPavfH8FEgxWRlSkbmF_wtBb9u7r6DXgy7byKp7Qv4DQTLgPh-_DtPZ8z0rBixpjbNlucwQLTyVMOkTWw1NRI_EwJFwlmcI/s1600/SeaHawkFloats2.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="164" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhPT15I2KzyNJ7ZT3WvI1cEAMz5Ha7qmkEaSuwQIuvRDUF-NPavfH8FEgxWRlSkbmF_wtBb9u7r6DXgy7byKp7Qv4DQTLgPh-_DtPZ8z0rBixpjbNlucwQLTyVMOkTWw1NRI_EwJFwlmcI/s320/SeaHawkFloats2.jpg" width="320" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The front float supports appear to have attached to the Z 45 degree elbow on the front part of each wing float. These seem to have held a cluster of three plastic water bottles used for flotation. The ancients seemed to have built their boats from the flotsam and jetsam that their wasteful society discarded into the water...</td></tr>
</tbody></table>
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<br />
<br />
Need 2X below to complete right and left front float supports.<br />
<i>Subtotal: </i><br />
<br />
8 inches (2 x 4") of 1/2" pipe (salvaged from the wing float
pipes remainder); 2 45 degree elbows, 2 90 degree elbows, 2 1/2" PVC
plugs.<br />
<br />
<ol>
<li>A1: 1 - 2" Pipe ( ~ 5 cm) </li>
<li>A2: 1 - 45 degree elbow</li>
<li>A3: 1 - 2" pipe (~ 5 cm) </li>
<li>A4: 1 - 90 degree elbow</li>
<li>A5: 1 - 1/2" PVC Plug</li>
</ol>
<b>Rear Float Support (From Z)</b><br />
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgVEMQ2Me0NgD5bad34QrBLWqs5gc8f16kf4gwYyuDFZZAXxlnIXNqxUClwyWbC6GPIgmxB5oO0zWlt8vnYByCwaBIIgReLJzwh-kDeOR_L9UtG4KrU9vfUZuGvjGHDpDIgn1wqcFgPjGQ/s1600/SeaHawkFloats3.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;">z<img border="0" height="217" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgVEMQ2Me0NgD5bad34QrBLWqs5gc8f16kf4gwYyuDFZZAXxlnIXNqxUClwyWbC6GPIgmxB5oO0zWlt8vnYByCwaBIIgReLJzwh-kDeOR_L9UtG4KrU9vfUZuGvjGHDpDIgn1wqcFgPjGQ/s320/SeaHawkFloats3.jpg" width="320" />r</a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Archeologists have reconstructed this rear float support and assume that the motor depicted was a variant of the Sea Perch motor, attached to a cut piece of PVC pipe and bound there with leather (similar to the way Wookies on the planet Kashyyk blend traditional organic materials with galactic federation supplied industrial materials) or with electrical tape. In later models it appears that a T was added so that the both wheels and motors could be added to the craft, enabling it to perform amphibiously.</td></tr>
</tbody></table>
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<br />
<br />
Need 2X below to complete right and left rear float supports.<br />
<i> Subtotal:</i><br />
15 inches (2 x 7.5) of 1/2" pipe (salvaged from main frame pipes remainder); 2 90 degree 3-ways, 2 45 degree elbows, 2 1/2" PVC plugs.<br />
<br />
<br />
<ol>
<li>B1: 1 - 3" pipes (~ 7.5 cm) </li>
<li>B2: 1 - 90 degree 3-way </li>
<li>B3: 1 - 4 1/2" pipes (~11.5 cm) </li>
<li>B4: 1 - 45 degree elbow</li>
<li>B5: 1 - 1/2" PVC Plug</li>
</ol>
<b>Motor Support</b><br />
<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCvuisqS5EQp-k-vTH3pi7ijlczaLaR-94hwfNS-l4undUyZFsMrgPN9Vfdor0iWKaeQda7rkeuMNPQUgihW-rkYdDy64OfKeyWLRlwrzWJbYc1spMDUmtyoISQao5xWnMaSv2GodAE7I/s1600/motor.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCvuisqS5EQp-k-vTH3pi7ijlczaLaR-94hwfNS-l4undUyZFsMrgPN9Vfdor0iWKaeQda7rkeuMNPQUgihW-rkYdDy64OfKeyWLRlwrzWJbYc1spMDUmtyoISQao5xWnMaSv2GodAE7I/s320/motor.png" width="320" /></a></div>
<br />
<br />
Need 2X below to complete left and right motor mounts.<br />
<i>Subtotal:</i><br />
6" of pipe (you will need a separate 2 foot piece of PVC for this unless you can find a 1 foot piece or some scrap; it doesn't hurt to have the extra though, since you can use 9 more inches of this two foot piece for hacking your sea Perch for exchangeable motor mounts!); 2 male screw adapters. Hacksaw.<br />
<ol>
<li>B6: 1 - male screw adapter for B2</li>
<li>B7: 1 - 3" pipe (this will receive the half cut two inches in to accommodate the motor canister; ~ 7.5 cm) </li>
</ol>
Cut pipe 2" horizontal to mount motor.<br />
<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3ARukc8a53G2P9iRlsDPhcSE0ddsYZDztU9ydRy8-iBcBHUFk-r-S7FN3VzBLmWUP0PCrvHFOrW3eKkCOHdOBZXcU8nGizabL2mvRRH0E6IBsJlhycyt-5SiO4A-ydQ0N4oUeEdmX1VI/s1600/wingwithmotor.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="180" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3ARukc8a53G2P9iRlsDPhcSE0ddsYZDztU9ydRy8-iBcBHUFk-r-S7FN3VzBLmWUP0PCrvHFOrW3eKkCOHdOBZXcU8nGizabL2mvRRH0E6IBsJlhycyt-5SiO4A-ydQ0N4oUeEdmX1VI/s320/wingwithmotor.png" width="320" /></a></div>
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<br />
<b>The finished endoskeleton:</b><br />
<br />
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<br />
<br />
<br />
<br />
<br />
<b>Floatation</b><br />
<br />
<b>6 small bottles (16.9 oz or a little more than a pint) for the front, bundled like a pyramid under the "hawk's beak".</b><br />
<b>6
large bottles (1 liter bottles; you need 2 bundles of 3 1 -liter
bottles for each wing, also bundled like a pyramid under the wing). </b><br />
<br />
Brent
recommends "Smart Water" bottles because they have a symmetrical
contour and are smooth, creating less drag. Er... and because they are
"smart" looking. <br />
<br />
<b>Skin</b><br />
<br />
Corrugated Plastics sheets<a href="http://www.blogger.com/%20http://corrugatedplastics.net"> http://corrugatedplastics.net</a> make the skin of the roboboat. We use the <a href="http://corrugatedplastics.net/24x36_white4mmCorrugatedPlasticSheets.html">4 mm (3/16") sheets that are 36.5" X 24"</a>. They cost $3.69 per sheet. <br />
<br />
We
use two sheets, one from which the basic platform is cut out and
another, with the grain going cross-wise (giving strength and
reinforcement, like in plywood) for the wings. Color is your preference;
One sheet of each in your school colors could be fun!<br />
<br />
<b><br /></b><br />
<b>Putting it together in the Real World:</b><br />
<br />
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<br />
Note the addition of a 90 degree 3 way side outlet for the motors; now the Sea Hawk uses a total of 4 motors -- two facing to the rear with propellors on them and two facing out to the sides with wheels on them. <br />
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<br />
In this way the Sea Hawk can be used in the classroom as well as in the water. The code for manoeuvring the craft can be tested out on land (particularly handy for schools that don't have easy access to water, but useful for everybody since waterproofing is another matter entirely and should not hold up the programming aspect of your robotics effort!) . So now the Sea Hawk is an Amphibious Vehicle! The inspiration came from EZMoney Harper and his dad Roy when they attended the ASNE (American Society of Naval Engineers) conference in DC and saw the vehicles on display. EZ said,"this is what the Sea Hawk should be!", so we made it so!<br />
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-51915988456528871472012-02-14T10:40:00.000-08:002012-02-14T10:50:29.583-08:00Systems Integration: the core of the PORPOISE curriculumThe core idea of the PORPOISE Robotics curriculum is creating multiple low thresh-hold high ceiling approaches to help students understand and gain facility with what is known as "systems integration".<br />
<br />
At the end of the day, when you really think about it, what we are trying to do as STEM educators is really less about teaching "programming" or how to "make robots" per se (though those are, of course, the super-fun and important vehicles we use for stimulating and nurturing cognitive growth toward systems integration acumen) and even less about finding cool ways to help students master math and science. What we are trying to do really is help our citizenry to truly understand how to problem solve through "making things talk" and making things work.<br />
<br />
Systems Integration. <br />
<br />
Our goals as a society, and hence the primary goals of this program, are really rather more about "object oriented hardware construction" and "object oriented software programming" and the long hard road we tread as we strive to learn ways to improve communication between systems... technological systems sure, but not only those... systems integration also involves good cross-talk between people, and communities, and nations, and ecological and industrial systems.<br />
<br />
In systems integration "individual hardware, software and wetware components are<br />
made interoperable with each other and other components, such as common sense knowledgebases, in order to create larger, broader and more capable A.I. systems, vehicular systems and sensory input and<br />
actuator capable platforms" (so sayeth the venerable Wiki, with my own additions...).<br />
<br />
Most systems in use today already involve some sort of integrated technologies, wikipedia informs us, " however, in recent years there has been an increasing discussion on the importance of systems integration as a field in its own right... Proponents of this approach are researchers such as Marvin Minsky, Aaron Sloman, Deb Roy, Kristinn R. Thórisson and Michael A. Arbib. A reason for the recent attention A.I. integration is attracting is that there have already been created a number of (relatively) simple A.I. systems for specific problem domains (such as computer vision, speech synthesis, etc.), and that integrating what's already available is a more logical approach to broader A.I. than building monolithic systems from scratch."<br />
<br />
PORPOISE seeks to follow this model and introduce the students to and get them "mission ready" for this emerging and powerful field in engineering. By focusing on "integrating what's already available",<br />
piggybacking on the Sea Perch model and extending out to enhanced capability through common platform agnositic, open-architecture and open source sensors, actuators, AI and programming software, surface<br />
vehicles constructed from the same readily available materials, and a plethora and plurality of possible off-the shelf microcontrollers, motor-shields and motors, servos, cameras, circuit boards, the<br />
PORPOISE curriculum uses stakeholder (student, parent and teacher) involvement, experience and creativity to evaluate and suggests "best-practice" pathways for integrating these systems without building "monolithic systems from scratch".<br />
<br />
Graduates of the program will come away with a nuanced understanding of applied problem-solving that favors flexible approaches to "making things work together". Our methodology is based on The<br />
Constructionist design methodology (CDM, or 'Constructionist A.I.') which is "a formal methodology proposed in the year 2004, for use in the development of cognitive robotics, communicative humanoids and<br />
broad AI systems. The creation of such systems requires integration of a large number of functionalities that must be carefully coordinated to achieve coherent system behavior."<br />
<br />
The free software movement and the open architecture movements have already made powerful tools "available for public exploit... The next natural step is to merge these individual software components into<br />
coherent, intelligent systems of a broader nature. As a multitude of components (that often serve the same purpose) have already been created by the community, the most accessible way of integration is<br />
giving each of these components an easy way to communicate with each other. By doing so, each component by itself becomes a module which can then be tried in various settings and configurations of larger architectures."<br />
<br />
By focusing on systems integration, the PORPOISE curriculum, making use of the numerous on-line communities of tinkerers and inventors and engineers, and the ever-evolving sets of software and hardware tools coming down the pike and on-line, will never go out of date, but can always adapt to this dynamic and expanding field where the obsolescence of certain platforms and modules is inevitable, but where<br />
we never want to see people feel their job prospects will dim as technology changes.<br />
<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-19469711379709943852012-02-13T15:13:00.000-08:002012-02-17T10:29:45.318-08:00"Get with the Program": A PORPOISE Robotics Rap...<div dir="ltr" style="text-align: left;" trbidi="on">
Can we work together to create "Wiki Raps" that can help students
(and not-so-students, like parents and teachers) learn the basic
concepts behind the kind of computer and micro-controller programming
that we all have to learn to do robotics? Could we co-create raps that,
through the writing and recording process and through the repetition
necessary for performance and joyful listening, subliminally embed
information that can help non-coders and non mechatronix builders
develop facility with the vocabulary and concepts in our field?<br />
<br />
Writing and recording and performing such "functional pieces of
'rhythm and poetry' (i.e. R.A.P) is something that Kelly Cooper of the
Office of Naval Research tasked PORPOISE members to do after listening
to our rock-a-billy Arduino song, and with our history of
"melodic-mnemonics" (a program we developed at D.E.M.M.O. Productions in
South L.A. in the 90's wherein melody acts as a carrier wave for
relevant scholarly information) we decided to jump in to the deep end of
the pool and take on the challenge.<br />
<br />
Below is our first stab at creating a rap called, "Get with the
Program". Dewayne Williams, a student at WMST in DC performed it for
Kelly on Friday February 10th and now we are opening it up to
improvements and refinements by the PORPOISE learning community.<br />
<br />
Let's see where we can take this as a collective effort, and also see
what more we can come up with to allow the marvelous medium of RAP
assist in bringing robotics of the people by the people for the people
to the people. Word!<br />
<br />
GET WITH THE PROGRAM: THE PORPOISE ROBOTICS RAP<br />
(performed by two students, A and B)<br />
<br />
A: Get with the program<br />
Go with the flow<br />
Put in your flowchart<br />
What your robot's gotta know<br />
<br />
B: A routine, a sub, method, function or class<br />
That's how we get our bot to do what we ask<br />
<br />
A: A variable...<br />
B: What's that?<br />
A: It's a shoebox for data<br />
You can make up its name as you go<br />
<br />
B: So now tell me what's a conditional statement?<br />
A: Just think of it as a fork in the road...<br />
If this, then that, if not? Well, that's that!<br />
And the else command says where to go!<br />
<br />
B: A sensor gives input to check where we're at<br />
Using branching conditions contained in the code<br />
In a loop that repeats and repeats and repeats and repeats and repeats 'til you're old!<br />
<br />
A: So get with the program, yeah<br />
Go with the flow! (B: That's wild!)<br />
For the program to run though, it must be compiled,<br />
'cause no robot reads English, our words they don't know<br />
<br />
B: We gotta teach them -- the robot's a child!<br />
<br />
A: The way the commands are assembled is syntax<br />
But it varies for Arduino, Basic Stamp or for PICAXE..<br />
<br />
B: And all gets compiled to machine code... so....<br />
<br />
A: Get with the program<br />
B: Let's learn to translate<br />
A: Start talking to robots that WE THE PEOPLE create!<br />
<br />
Each microcontroller has its "secret code"<br />
with subtle differences that you'll come to know<br />
Some are based on Basic, some are based on C<br />
interpreted to the machine through the assembler code<br />
<br />
Arduino's program structure is a type of C code<br />
But its easy to learn once you go with the flow<br />
Cut and paste other's code, like monkey C monkey do, y'all<br />
Hacking the old to come up with some new gold<br />
<br />
The program structure has only three attributes<br />
A simple dec-laration, void setup, void loop<br />
That's it, a dec-laration, void setup, void loop<br />
The code is organized into these three basic groups<br />
<br />
And you can call in powerful libraries,<br />
that others have written -- it's like "call in the troops"<br />
put them in your declaration and watch what they do<br />
giving you access to servos and motors... and soon<br />
You can mash up your own code, and you can shoot for the moon<br />
<br />
It doesn't really matter what you do<br />
You too can learn to program, hey, does that compute?<br />
From Snoop Doggy Dog to Betty Boop<br />
We've all got a place in this robotics group</div>Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-46545232546563791022012-02-09T22:33:00.000-08:002012-02-09T22:33:49.876-08:00Do you speak 3D?<div dir="ltr" style="text-align: left;" trbidi="on">
<br />
<span style="font-size: x-small;">(from the archives of T.H. Culhane, Ph.D.</span><br />
<span style="font-size: x-small;">January 8 2011</span><br />
<span style="font-size: x-small;">reprinted after working with WMST Public Charter School 9th grader and Porpoise Robotics Blender Protege Benjamin Standfield to create the Sea Perch and Sea Sparrow/MantaRay Robosub and Roboboats in a 3D gaming environment. This kid really knows how to "speak 3D!")</span><br />
<br />
Do you speak 3D?<br />
<br />
Can you talk in "animated object"? Can you communicate in "graphic novel"? Do you speak in pictures?<br />
<br />
Moving pictuers?<br />
<br />
Pictures that move people?<br />
<br />
Today's children are growing up in a world where those may soon be legitimate questions.<br />
<br />
We often say that "a picture is worth a thousand words" but we still
assume that only a small percentage of humanity will ever really develop
the skills to be considered a true "artist". Speaking in pictures,
moving or static, 2d or 3d, is still considered the domain of "experts".<br />
But it needn't always be.<br />
<br />
On January 8, 2011 in the German newspaper, "Stellen" (nrw.stellenanzeigen.de) the front page article was<br />
"Experten fur 3D-Welten: Qualifikation -- Neue Technologie wird in vielen Branchen gebraucht."<br />
The English translation: "Experts for 3D Worlds: (Get) qualified -- these new technologies will be needed in many fields".<br />
<br />
The accompanying picture shows a worker wearing a special three
dimensional visualization technology that allows him to manipulate
virtual objects in thin air. The caption reads, "Das Arbeiten mit
virtuellen und 3D Welten ist gefragt -- mit Qualifikationen kann man
sich fit dafur machen." (My loose translation: "Working with virtual and
3D worlds is in demand -- with the right qualifications one can make
oneself fit for the new jobs").<br />
<br />
The article goes on to inform the readers in this historical working
class area of Germany that many of the new jobs -- in the auto industry,
in medicine, in architecture and planning, to say nothing of film and
games -- demand facility with 3D visualization. But they point out that
getting qualified can take more than 6 months of intense study, and that
the education system is not yet equipped to equip students (much less
retrain the rest of us) for this sudden demand. In addition, training
courses can cost as much as 400 Euros a day and the software is very
expensive. However, they conclude, for those who are truly motivated,
there are tutorials on-line and there is open source software available.<br />
<br />
An interesting state of affairs. There is a tacit assumption that
the ability to translate an idea into three dimensions requires special
training and that certain barriers to entry for this heretefore domain
of experts will (should?) always exist. But is this so?<br />
<br />
Whenever I think of 3D worlds my imagination takes me to a place I've
only ever seen in a two dimensional landscape -- the Sea of Monsters in
the Peter Max designed Beatles cartoon "Yellow Submarine". There,
amidst a host of marvelous beings, a quadrupedal winged clown walks
around "speaking" three dimensional objects into existence. When we
first see him he opens his mouth and we see him produce an ice cream
cone. The vacuum monster ambles over and sucks it up. With
consternation he then speaks a gas station, an Egyptian pyramid and a
colorful tie into existence. Then the marvelous 3D talking clown gets
sucked into oblivion ("or even further" as John Lennon quips...).<br />
<br />
But while this incredible talent for reifying thought gets
annihilated and lost to the sea monster gene pool in Yellow Submarine,
that great two dimensional representation of the way the Beatles made
people feel in the late 1960s , it may in fact be evolving right here in
our own three dimensional world here on Earth in the early
two-thousand-teens.<br />
<br />
I envision a day not long from now when technology and our facility
with it allows us to answer questions by conjuring objects and animated
processes into audio-visual existence in real time. We would describe a
building or a motor or even an emotion by instantly placing the object
or representational graphic in front of the people with whom we are
conversing. <br />
<br />
On the road to that version of reality we still have a lot of work to
do, but in my mind it starts with teaching our children (and ourselves)
that it is normal to "speak 3D". Rather than continuing to operate in
linear 2d spaces, painstakingly training ourselves and our youth to put
letters together into words and words into sentences and then paragraphs
and then pages, all from left-to-right (if you are in the Western
tradition) with the proper punctuation and all just for the purpose of
describing a room, setting up a scene or describing a vector of motion
and emotion, we can start now training them to operate in what my
post-modern urban planning professor Ed Soja calls "third-space" -- a
non linear environment where the medium truly is McCluhan's massage and
our message.<br />
<br />
The problem with descriptions of third space (also the title of one
of Ed's highly stimulating books) is that they normally are only ever
done in second space. Ed writes about this brave new world using normal
textual conventions. In lectures he speaks about it from "left to
right", from "beginning to end", following the normal
prepared-speech-for-the-lecture-hall format. "Speech" is still two
dimensional. And we need people who can think, and act, in 3D.<br />
<br />
So what do we do?<br />
<br />
One of my first stabs at training myself to think and speak 3D was to
read and study Scott McCloud's mind-opening "Understanding Comics --
The Invisible Art" (and moving on to his equally riveting sequels<br />
<br />
"Reinventing Comics: How Imagination and Technology Are Revolutionizing an Art Form" and "Making Comics").<br />
<br />
Now I am toying with writing reports using the software program
"Comic Life" rather than Microsoft Word, and trying to think not only
about how to use pictures and graphs to illustrate points better, but
how to use layout and space, size and color, and other design principles
like gradation, repitition, unity, contrast, and harmony (what my
father, animation historian John Culhane, used to call "GRUCH" so I
would remember them!).<br />
<br />
My next steps are doing all the tutorials I can find and find time
for to better my skills in the Gimp, Sketchup, Blender, Unity 3D, Celtx,
CamStudio, Suicidator City Generator, MakeHuman, Scribus, Elder Scrolls
Construction Set, Sims3 and other animation, game engine, 3d
visualization audio and video production software (like many in the
NGO/Philanthropy world I can't afford Maya, 3D Studio Max or Cinema 4D
so I use what I can find).<br />
<br />
When I answer questions about our work on solar hot water systems
and biogas systems in the real world, I try more and more to answer them
using these software resources and the techniques of audio-visual
production and graphic representation I'm learning from book's like
McClouds.<br />
<br />
In effect I am trying to learn to speak 3D. And to carry on a
conversation or give an explanation using hypertext, illustrative
hyperlinks and some good 2D and moving representations of the three
dimensional (really n-dimensional) reality we inhabit.<br />
<br />
In my line of work it is actually very important to develop these
skills now, not in the future, because so many of the people we are
trying to reach (in our sustainable development efforts) are separated
from us by language barriers and cultural barriers and class barriers
and lots and lots of real three dimensional space.<br />
<br />
The use of multi-media, of music and video and gaming and -- let's
face it -- FUN -- are paramount in importance if we want to share real
solutions for empowering people and preserving or creating healthy
environments. This is a point His Excellency former Nigerian President
Olusegun Obasanjo made both publically, when we presented together at
the melody-dialouge for civilization conference in Geneva, and privately
when I stayed at his home last summer building biogas digestors with
his family and community. We are both on the board of the UNESCO
sponsored Melody Dialouge organization because we and many others (like
Melody Dialouge founder Mehri Madarshahi and 5D founder Tali Krakowsky
and I think all of us who participated in the FMX conference) believe
that we must act now to use all available channels of communication for
the necessary dialogue about real things that humanity must come
together on to preserve (and better) civilization.<br />
<br />
And so this was the intent of creating this forum on Blending
Realities here on facebook -- to create multiplier effects and
accelerators, share insights and skills so that we can be part of that
evolving generation of human beings who not only thinks, but who
eventually, inevitably will speak, in surround sound, melodic and
musically intoned, audio-visually enhanced, animated 3D. <br />
<br />
Or should we say 5D?<br />
<br />
Can you speak 5D?</div>Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-30742783665993617562012-02-06T13:40:00.000-08:002012-02-06T13:40:03.779-08:00Developing the Porpoise Concept Together at Washington Prep<div class="separator" style="clear: both; text-align: center;">
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-89529611993956627032012-02-05T22:48:00.000-08:002012-02-05T22:50:18.340-08:00Gearing up toward a Porpoise Curriculum...<span id="internal-source-marker_0.4897668967713191" style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><br />
UNFINISHED DRAFT:<br />
<br />
NOTE
THIS IS A WORK IN PROGRESS, PUBLISHED HERE ONLY IN THE SPIRIT OF CROWD
SOURCED DEVELOPMENT SO OUR FELLOW STAKEHOLDERS CAN CONTRIBUTE TO A
CURRICULUM "OF THE STUDENTS, BY THE STUDENTS FOR THE STUDENTS!"<br />
<br />
PART I: <br />
<br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">So you want to build robots?</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Welcome aboard!</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Robotics
is more than just a hobby, and more than just “the next big thing”.
Robotics is a game changer for the human civilization and for the
natural world.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">But you’ll face so many choices.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">One
of the things you are going to have to master is organizing information
into the correct folders on your computer. Just like it is impossible
to find things in a messy room, the computer won’t be able to do its
work if everything isn’t put neatly into the drawers where they belong.
When installing software for robotics this is particularly important!</span><br />
<br />
<b> Software:</b><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">In
this curriculum we favor the use of Ubuntu as our computer operating
system. We use "Natty Narwhal, the Ubuntu version 11.10. This makes a
difference because each system has its own nuances and bugs and
libraries, so for our instructions and experiences to be relevant to all
we recommend that all participants download and install this free
11.10 Ubuntu Operating System.<br />
</span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> Ubuntu is a Linux distribution, meaning that it the descendant
of the Linux operating system which has been made to act and feel
similar to the Windows and Macintosh operating environments.</span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Staying
open source is important to us because it offers the possibility to
universalize robotics education. All computer systems can run a Linux
distribution and everybody who has access to a computer can afford an
operating system like Ubuntu because it is free. </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">But
installing most of the robotics packages developed for Linux can be
daunting until you know how to do it. Ubuntu, like most Linux
distributions, doesn’t come ready to help you install packages that
come as source code. You need to prepare it.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The best tutorial that I have found is here:</span><br />
<a href="https://help.ubuntu.com/community/CompilingEasyHowTo"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">https://help.ubuntu.com/community/CompilingEasyHowTo</span></a><br />
<br />
Fortunately,
most of the software we will use in this program can be installed
automatically from the "Ubuntu Software Center" by simply clicking on
"install". And all of it is free.<br />
For those who want to go
"under the hood" and try to install software from source in the
terminal, keep the following advice in mind, gleaned from <span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">f</span><a href="http://www.eatmybusiness.com/food/2007/04/25/what-does-mean-in-linux/12/"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">rom a website:</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">
“Unix/Linux command shells don’t search the current directory for
commands, unless the current directory is listed in the $path variable.
So, unless the command is built-in like ‘grep’, ‘type’, or ‘ls’, or the
command’s path is listed in the $path variable, the command shell won’t
find the command. Unless you specify the current directory as the path
by typing “./[command]” at the command line.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The
single dot stands for the current directory. So when you type
“./cool_prog” the OS knows to run “cool_prog” from the current
directory.”</span><br />
Fortunately, most of you won't have to
worry about these nuances for most of the program. Later on you may
really desire to get deep into the command line interface. But don't
sweat it if now isn't the time.<br />
<b><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span>Microcontrollers:</b><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">We
will be using Arduino boards as our microcontrollers because they are
“open-source” in both their architecture and programming, meaning that
you can build your own from scratch and that the software is available
for free. The Arduino programming language is a simplified Java program
that does all of the heavy lifting for you. There are many variants and
clones of the Arduino. We will rely mainly on the Arduino Uno Rev 3
boards and the Sparkfun Arduino Uno clones (until the Uno is obsolete
and then we will migrate up the path with them!)<br />
</span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> We will also be using a
program such as </span><a href="http://blog.minibloq.org/"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: bold; text-decoration: underline; vertical-align: baseline;">Minibloq </span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> to help you get into coding. Minibloq is a graphical development environment for</span><a href="http://en.wikipedia.org/wiki/Arduino"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">Arduino</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> and other platforms. Its main objective is to help in teaching programming. It is specially used in robotics at high school.</span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: bold; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: bold; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: bold; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: bold; text-decoration: none; vertical-align: baseline;">Goal: Getting students confident to go under the hood.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: bold; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">We feel that too many Robotics Education programs, in an effort to make engineering
“friendly” and “fun”, sugar-coat the curriculum by using very simple
commercial interfaces which provide simple entry points into the world
of controlling robots. This is laudable in some respects (low-threshold) but many students come away with
the impression that robots are toys and that there will always be
user-friendly apps out there to do all the heavy lifting. Familiar with
using gamepads and joysticks to control video games and radio-controlled
vehicles, and now able to create simple “programs” to control easy to
assemble robots using simple graphical user interfaces, many students
may be attracted to robotics intially but may never feel the desire to
peek, much less dive, “under the hood” to develop an interest in
applying their intelligence to understanding the underlying logical
structures and creative processes that a successful career in applied
robotics engineering will demand.</span><br />
We want our
program to be "low-threshold/high-cieling" i.e. easy to get into but
with the potential for unlimited expansion and wide vistas.<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline;">Our
goals are two-pronged. On the one hand we want to invite young people
who never thought they could develop an interest in computer science and
robotics engineering to get excited about the field and get involved in
some of the activities that may make them develop a more enduring
interest. Therefore we want our program to provide for maritime
robotics the same fun and functionality that LEGO and other commercial
offerings do for terrestrial robotics. On the other hand we are
designing our program to provide a gateway into the pipeline for a
comprehensive understanding of STEM topics that can help build a new
generation of scientist-engineers who are mission ready for solving real
world problems. Since these problems can not be solved by a mere
cursory interest in robotics or an ability to create cool toys, we are
seeking to create a curriculum that makes it not just easy to make
robots, but easier to understand the tough subject material that
normally drives kids away from robotics as a rigorous discipline.</span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> <b>Why do some students shy away from robotics</b>?</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"><br />
</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Most
of the intimidation and frustration when working with computers comes
from the alien linear interface. We have to be taught languages each
having its own peculiar grammar and syntax and we have to be taught how
to read and write, channeling our brains into sequential, and (in our
case) left-to-right thinking. For organisms that evolved in a 3D
non-linear environment this can feel unnatural.</span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Computers
and robots, because they are digital and listen only to long strings of
“on-off” switches, represented by 1s and 0s, make this problem acute.
Nobody can speak “binary” so we have invented languages that interpret
what we want and translate them into a very precise code that only
machines can understand. In fact “under the hood” it is called “machine
language”.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The
most famous motto of computers and their physical counterparts - robots
- is that “they always do precisely what you tell them to but rarely
what you want”.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Our
brains use sophisticated forms of ‘fuzzy logic’ and statistical
inference to ‘guess’ at meaning and interpret what people say and figure
out what they might mean (they are not always the same thing!). That is
what makes us appear so “intelligent”. Artificial intelligence is
unable to achieve such flexibility and nuance in inference (yet!) so
unless you tell the computer or robot precisely what to do, without
error, the confusion can cause the entire system to hang. An errant
comma or the use of a semi-colon instead of a colon can screw things up,
and correct spelling is essential.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Figuring out where things went wrong, i.e. “debugging” can be a demoralizing experience.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">So much of what keeps students away from this exciting field can be the difficulty in learning to “talk” to computers.</span><br />
<br />
<b>I
thought we were talking about robots, and now you are talking about
computers. What are robots anyway, and how do they relate to my
computer?</b><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">One
thing we need to point out here before we go any further: for our
purposes in this course, computers are robots and robots are computers.
They both “compute”, i.e. engage in logical operations that are
ultimately mathematics based and that turn inputs into outputs. And they
both do “work” that most humans consider drudgery. (Remember that
“robot” is a Slavic word meaning “worker”. And the Slavs didn’t care to
be slaves... which may partially explain why a “server” these days is
not a human servant but a computer-based robot that sends information
to client computers; historically the Slavs didn’t like being serfs, led
a revolution and well, ... you get the point!)</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The
fact that the output of most computers -- the work they do -- occurs on
a screen or through audio speakers while most of what we think of as
“robots” include motion in their output is trivial. The mechanisms of
moving objects in space does tend to complicate things but the idea of
moving things and the principle of moving a pixel or a cursor on a
screen, or moving air through vibrating a speaker or moving a wheel or
an “actuator” arm in our tangible time-space are all very similar.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">This
implies that when you master the ability to create an effect on the
computer screen you are most of the way there in terms of having the
same effect in the real world. In other words, a simulation program
running in a model of the world can often be a good predictor of what
that program would do in the real world, though obviously much is left
out of the virtual world that could affect your robot in the real world.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">In
both the simulation and in the real world trial you are using electric
signals to give commands to turn things on or off. But in the case of
what we tend to call “robots” those things can be more than dots of
colored light on a screen or the frequency and amplitude of vibrations
in a speaker. It can include motors and servos (servos are basically
motors that can only spin to a certain point). Once you understand this
point it becomes clear that the drawer to your CD/DVD player, the laser
diode that moves back and forth reading your DVD, and the inkjet
printer head that moves back and forth over the blank page to create
your term paper are all robots. And here is where the fun kicks in --
many robots can be constructed from parts already found in things like
discarded DVD players, disk drives, printers and scanners. These were
all robots themselves that the computer talked to and told what to do.
And what do computers say to these “peripheral devices”?</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Mostly
computers tell motors and servers and relays “start spinning now” or
“open now” and then “okay, stop spinning now” or “close now”. They can
also, by reversing the polarity of the signal (in other words reverse
the direction of the current) tell them “now reverse your direction of
spin”. The motors themselves can spin wheels on surface vehicles, or can
spin propellers for boats and submarines, or they can move gears and
control lever arms or wing-flaps and ailerons. The rotary motion of the
motor or servo, or the creation and cessation of a magnetic field (such
as is used to control relays) can move legs, fingers, cameras,
eyeballs, you name it. </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Basically
any device that can be controlled by turning an electric current off
and on can be controlled by a computer program and if it does some kind
of work, saving us time and labor, it can be considered a “robot”.</span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: bold; text-decoration: none; vertical-align: baseline;">Do you need to program computers to make robots?</span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Well,
no. The on-off switches and the logic used to make things move can be
created by hand. In the old days of computers people flipped a huge
number of switches by hand to turn on and off electrical current to
tell the computer what to do. But electricity isn’t really necessary
to make a robot. Technically robots could be run by water wheels or old
Spanish windmills or horses going around treadmills, or wind-up springs
powering a series of mechanical switches and gates. As long as the logic
of on-off or stop-start enables work to be done, one could technically
call such a contraption a robot. Mechanical puppets and Cookoo clocks
were kinds of robots.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Sea
Perch is an example of an entry level maritime robot that is controlled
in real time by a human operator. Using a controller with with simple
on-off buttons (one controlling the forward motion and one the backwards
motion of each of three motors with a propeller) the Sea Perch can be
steered in any direction. But this limits its options. And since in
the case of an underwater robot it is difficult to get the on-off
signals to the motors through water, the Sea Perch has to be “tethered”,
i.e. it has to be connected by long wires (Sea Perch uses ethernet
cables because they are inexpensive, easy to find and can carry many
on-off signals so that 3 motors can be controlled by six of the eight
wires in the ethernet cable; two of them are not used).</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">For
water surface, terrestrial and aerial robots like boats, cars and
airplanes or helicopters, getting the signal to the craft isn’t so hard
because we can transmit on-off signals wirelessly through the air using
infra-red light (IR) or radio frequencies (RF) or even sound waves
(sonar). We can use newer services like Bluetooth (shortrange RF) and
WiFI (longer range RF) for protocols like TCP/IP, but the physics is
essentially the same.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Remember
that light, whether visible or infra-red, is a form of electromagnetic
radiation as are radio waves (on the long end of the spectrum) and
X-rays (on the short end). They don’t penetrate through water very
well, but they go through air fine, depending on the signal strength (as
a function of amplitude and frequency -- i.e. how energetic they are).
So robots moving in air can be driven by a wireless remote control
(think of radio controlled toy cars and airplanes and helicopters)
Alternately you can use wireless controllers with on-off switches to
control the movement of pixels on a computer screen or speakers (think
of a wireless X-box or PS3 or WII controller)</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">But
what about when you want to talk to your robot when it goes out of
range, or when you want a single button to control several motors to
create one coordinated movement (for example to adjust a rudder and a
propeller at the same time to keep a craft on course)? For that you
need to chain commands together and store them so that you can make them
play with the push of a single button or call (an analogy would be if
you told a humanoid robot “walk!” and that single command coordinated
the motion of both legs). This is where computer programming comes in.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Just
like Hollywood when we want to tell an actor what to do, we write what
we call a “script”. A script can move the body or control the voice of
an actor in a certain way. A script can also move an ACTuatOR. An
actuator is a type of actor; it is an object that acts according to the
commands in the script.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">We
can write a script that tells a robot to “turn left” but this action
could involve several motions. If, for example, the robot has two
wheels (or two propeller in the case of a boat) we could say “The right
propeller needs to turn on while the left one stays off” or we could say
“the right motor turns on spinning forward and the left motor turns on
spinning backward”. In Sea Perch this can be done by hand. One uses
one’s right hand to push the right toggle to make the right motor spin
forward and left hand to push the left toggle in reverse to spin the
motor backward. But if you wanted to make the robot go around in
circles all day without having to keep your hands on the buttons you
would either need to make it so that the switches stayed pressed or you
could write a script telling the one motor to spin forward and the other
backward. But then you would need a way to store that script and run
it.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The
simplest way to do that is to use your computer. You would learn (and
it isn’t that hard) to tell your computer in a language it understands
that it should send the “on” signal for forward motion to one motor and
an “on” signal for reverse motion to the other motor and save it in a
script and then “run” or “execute” the script.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The way you might do it in Lego Mindstorms for the NXT controller is</span><a href="http://www.mindstorms.rwth-aachen.de/documents/downloads/doc/version-4.03/motor_control.html"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">described here:</span></a><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">“You
could create two objects to start a driving robot (where the wheels are
attached to ports B and C and Motor B is called mB and Motor C is mC):</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">mB = NXTMotor('B', 'Power', 100);</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">mC = NXTMotor('C', 'Power', -100);</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">mB.SendToNXT();</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">mC.SendToNXT();</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">This
script tells motor B to move forward at full power (100%) forward and
motor C to move backward at full power (negative 100%). You can see how
various combinations could result in different turning speeds, and that
if mB and mC were both positive 25 the robot would move forward at a
quarter speed.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">In
our PORPOISE program we will be using Python, a higher level language
that is not so very far away from English that you wouldn’t understand
it, but close enough to machine language that it can be efficiently
compiled (it is almost impossible for human beings to write programs in
machine language; people used to write in assembly code to get closer to
an ability to read and write this language. For example, to use</span><a href="http://en.wikipedia.org/wiki/Assembly_language"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">an example from Wikipedia</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">, in machine code a sentence might look like this:</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">10110000 01100001</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Meanwhile, the same sentence in hexadecimal code, which is easier for humans to read, would look like this:</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">B0 61</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">In Assembly Language the same sentence, commented, would look like this:</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">MOV AL, 61h ; Load AL with 97 decimal (61 hex)</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">And in plain English, like this:</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">“Move a copy of the following value into </span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: italic; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">AL”</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">In between the assembly code and the plain English there are a whole bunch of “higher level languages”.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<br />
<b><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">What computer p</span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">rogramming language should I </span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">learn</span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">?</span></b><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">We
are going to start with Arduino's variant of the C language because it
gets us up and running fast and it is the one that will enable us to use
the Arduino microcontrollers we are basing the curriculum on right out
of the box. And let's face it -- serious stuff is done with C all over
the world, so it is a great skill to have under your belt.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> <br />
</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">But we will also encourage explorations of a higher level and intuitive language called Python.<br />
</span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The
best part of Python from our perspective is that it 1) is open source
and platform independent, meaning that you can run it on any computer
using any operating system, and that it is free, so everybody can afford
it and 2) it is “extensible” meaning that it will work with and talk to
all the other languages, like C and C# and C++ (which are standard but
are considered awkward and hard to learn) and Java, which is used for a
lot of web applications.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Python
is a great bridge to learning other computer languages but is a a
powerful language in its own right for serious program (the 3D game
engine Blender is written in Python).</span><br />
Don't worry
about that for now though -- as I said, we start with the simplified
Arduino version of C, for which there are huge libraries and resources
already written, so most of what you will be doing is changing
parameters to suit your particular application, cobbling together
already written modules, and hacking stuff to fit your task.<br />
Ultimately
any computer programming language can be used to run robots, and you
will probably enjoy learning quite a few, just as it is fun to travel to
different countries and experience the flavor of different human
languages. And computer languages all get translated into the same
binary code anyway!<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Anything
you write in a computer language that is not binary (1s and 0s or
“on-off” commands) has to be turned into 1s and 0s or “interpreted” or
“translated” and we call that act of translating “compling”. So we will
be using translation programs called “compilers” to do that.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">But
where should we “compile” the commands we can to give their robot. It
would seem simplest to do it straight to your computer but then you
would need to bring your computer with you wherever you want to run your
robot and the robot has to be in range of the computer – either via a
cable (like a USB cable or Ethernet cable) or WiFi, Bluetooth or IR.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Easier
would be if you could put the computer on the robot, and many people
do, but then you need a pretty big robot, and bigger usually means more
expensive.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">To
get around this people have developed “micro-controllers” which are
basically tiny computers. Because they are small they usually aren’t
that powerful and can’t hold that many scripts or programs in their
memory. But they don’t have to be very expensive either, and that is
nice if you intend to put your computer on a robot vehicle that is in or
on the water where there is a risk of water damage (or on a vehicle
that could drive off a cliff or crash into a tree!).</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The
micro-controller we will be using in this program is called an Arduino
board. Arduino, invented in Italy, is Italian for “strong friend” and
you will find it is exactly that because of how easy it makes robotic
programming.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The
Arduino Uno, which is the one we recommend, can be purchased for about
$30 on-line, but like all the software we use in this program, the
Arduino hardware board is “open-source” meaning that the plans or
“schematics” to build it from scratch are available for free on-line.
Therefore, those who want to go further and learn to manufacture their
own microcontrollers, often from spare parts and recovered junk, are
welcome to do so.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">(In
the case of MIT’s MOOS-IvP (IvP stands for “interval programming” and
is the “helm” of the craft) surface vehicle robotics they use a
ClearPath Robotics Kingfisher (</span><a href="http://www.clearpathrobotics.com/kingfisher"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">http://www.clearpathrobotics.com/kingfisher</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">) controlled by a microcomputer called a “gumstix” COM (“computer on module” see </span><a href="http://www.gumstix.com/"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">http://www.gumstix.com/</span></a><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;"> </span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">).
They are fairly powerful, but also expensive, running about $115 for
the entry module. But they enable MIT to do more elaborate things with
their robot than can be accomplished with the basic Arduino (see</span><a href="http://18.38.2.158/moos-dawg11/pmwiki/pmwiki.php?n=Talk.28-Gariepy"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">http://18.38.2.158/moos-dawg11/pmwiki/pmwiki.php?n=Talk.28-Gariepy</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">)</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Arduinos
are made to be extensible too, through add-on modules called “shields”
so the capabilities of your robot can grow and grow. In addition,
besides outputting the control signals to the motors or servos moving
your robot, microcontrollers can have INPUTS so the world can “talk” to
your robot.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">We
call the device that translates the input into electrical signals
“sensors”. Of course you are already familiar with the concept: your
mouse is an example of an input device that senses motion and sends
direction information to the CPU (Central Processing Unit – a type of
microcontroller on your computer motherboard!) that controls the
movement of the cursor on the screen. A joystick is another input
device that senses motion. A keyboard is an input device that senses
pressure or “touch”. A webcam is an input device that senses light.
All of these common input devices can be thought of as “sensors”. In a
very real sense your computer is a robot!</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">To
recap, the joystick and mouse are motion sensors, turning physical
movement into electrical signals, and a keyboard is a touch sensor, a
camera is a light sensor. The Arduino board and other microcontrollers,
like any computer, can be configured to input electrical signals as
well as to output them.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">To
make it easiest we might recommend the Teagueduino board, which is basically
an arduino that has easy to plug and play jacks mounted on it. This is
the approach used by the LEGO Nxt microcontroller (often called a
“brick”) and VEX and many others. But these microcontrollers are very
expensive and you can’t build them yourself, much less easily take them
apart to modify them. The brick becomes effectively that – a “black
box” whose insides are unknown to the student or hobbyist. Matthew
Francis Landau, a robotics student from Los Angeles who has been
building robots since he was twelve, said, “I wouldn’t put my LEGO NXT
controller on a boat. I’d be afraid I would damage it. I want something
cheap enough that I can afford to lose it but good enough that I
wouldn’t want to.” Arduinos serve that function, and Teagueduino has
all the ease of the LEGO brick. It can also be self built from free
plans available on line.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<b><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">PROGRAMMING YOUR MICROCONTROLLER</span></b><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">LEGO
has an expensive proprietary language called “Mindstorms” that is based
on LabView. It is a visual programming language (VPL) that lets
students program by moving graphical icons around on a computer screen
and connecting them with virtual wires. It is fairly intuitive and lets
you compile the code and then send it by USB to the microcontroller.
Mindstorms, like other VPLs, is considered very simple for basic
robotics tasks. The problem is that it is expensive and it doesn’t
show you how the neat picture-like (icon) programming blocks translate
into a computer code language. When you need to get under the hood and
debug you can find it very frustrating.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">With
arduino you have more options. The code itself is written in a free
software environment that compiles and sends it to the microcompiler.
The language Arduino uses is a variant of C that is considered simpler
than C, but it can also use standard C or Python so it gives maximum
flexibility. Also, because it is open source and there are a huge
number of robot enthusiasts using Arduino boards (including the Sea
Perch group at MITs Sea Grant division) you can find free example code
for almost everything you want to do and you can cut and paste and mash
up code snippets to control your robot without writing any code while
at the same time you can learn how to program over time by observing
what those blocks of code do.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Furthermore,
the open source world has created its own VPL for the Arduino so that
one can have the best of both worlds – a simple graphical programming
interface like LEGO’s and an easy “under the hood” environment for
trouble shooting and debugging.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">But
given that a code that can turn on and off motors can also turn on and
off pixels on a screen and thereby simulate movement you may be tempted
to ask “is there a way to test my program on a virtual robot on a
computer screen before testing the program on my real robot and risking
that it crash or sink because I sent it into a tailspin?”</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The answer is yes.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">This
concept, now available for LEGO at additional cost, is also available
in the now free Microsoft Robotics Developer Kit. In MSRDK you can used
a VPL to program and compile then test out your program on a virtual
robot and then, when you are satisfied, you can compile and download it
to a real physical robot. And with a free module written by Korean
University students at helloapps.com, you can “look under the hood” and
program with line code too. Helloapps even lets you choose languages
like Python and Java. So the combination of MSRDK and Helloapps SPL
(Simulation Programming Language) would seem ideal. But there are two
problems with it. The first is that you can’t model your own virtual
robot in Microsoft, so you are stuck running what the commercial vendors
have supplied to them (there is a virtual LEGO NXT robot in there, for
example). The second is that the program, which Microsoft started
making available for free in 2008 to encourage more users, only runs on
Windows and the new version that allows the KINECT sensor from Xbox to
be used, only runs on Windows 7. Microsoft’s strategy, giving MSRDK
away for free, is a great way to get more people to buy windows and
develop Microsoft based robots but doesn’t help schools and students on
tight budgets or those that use different platforms.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">We
recommend the use of the open source operating system “Ubuntu” (or
another Linux distribution; MIT uses Linux for all its robots), open
source architecture microcontrollers like Arduino, also used by MIT, and
Open Source programming languages like Python. Is there an open-source
equivalent to MSRDK for doing simulation?</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Thanks
to a project out of the LAAS in France there is. It is called MORSE –
the “Modular Open Robotics Software Simulation Environment.” It uses
Python as its scripting language and is integrated with a very powerful
Python based open source 3D modeling and game engine program called
“Blender” for its simulations. Because it is coupled with Blender, you
can prototype your own virtual robot (Blender enables mesh creation) or
download and insert any other 3D object (boats, cars, planes, trains
etc.; there are thousands of them in free 3D libraries on the internet)
and place sensors on them and operate your robot in the virtual world of
your choosing (MORSE even comes with a simulated marine surface
environment).</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">To
make a roboboat you don’t need to start from scratch, for example you
could download a hull or boat model that is somewhat like what you have
in mind and then “mod” the mesh in Blender. In this way you can learn
the principles of mesh modeling.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">WHY DO WE HAVE TO LEARN THIS?</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">I
know what some of you may be thinking: “Why do we gotta learn this?” or
“what am I ever going to do with this? How is this useful in my life?”.
Often it isn’t enough to say “one day you can use all these skills and
knowledge to get a job”. With the world changing as it is few of us
feel that we can afford to wait that long or that there is any guarantee
that today’s skills will lead to a high paying job – or any job –
tomorrow. Particularly when it comes to robotics, we realize that what
we are learning and creating may actually put many people OUT OF JOBS.
And isn’t that the point? When Czech author Carl Capek coined the term
“robot” in his 1927 ? theater play RUR, the world was eager for machines
that could replace human drudgery. Throughout the industrial
revolution, machine technology did take much of the human burden away
from lifting and pushing and digging and increasingly removed the
operator from hazardous materials and dangerous situations.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">But
those machines, whether tractors, trucks, airplanes, weapons systems or
submarines, still had to be operated by a human being. Humans had to
control the steering wheel of a car, truck, airplane or boat, or the
knobs and levers of a mill or digger or camera, and while there is
considerable expertise and art to these skills at times, many of them
are tiring and operator exhaustion can be dangerous.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Certainly
many machines can now be run from a distance by remote control,
removing the operator from many risks (crashing, drowning, being exposed
to toxins). But more and more robotics is moving toward true
“auto-mobiles” or “self-moving” machines.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">We
call them Autonomous Vehicles or Autonomous Unmanned Vehicle Systems –
the “AUVS” in the “AUVSI”, the organization responsible for today and
tomorrow’s international robotics education. Naturally the more
autonomous we make our machines the more unmanned they become, whether
they are vehicles, call centers or supermarket check-out lines. More
and more cameras adjust their f-stops, shutter speed and focus
automatically and this too is a kind of robotics.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">In
fact there are very few repetitive tasks in society, very few
fabrication tasks and even fewer design tasks that are not being
roboticized. What you and your friends need to prepare for is a future
where human creativity and compassion become the only tradeable
commodities that the robots you help create won’t replace. With this in
mind the study of robotics becomes ever more urgent. American society
alone needs at least 400,000 new mechantronics engineers in the next
half decade to solve urgent problems and keep our economies going. But
the need for other jobs will keep decreasing at the same time.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Human
workers will most likely end up being robot designers, prototype
builders, programmers, operators and technicians; when it comes to
production runs robots will mostly be making themselves.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Robots
are now what we call “embedded devices” – they aren’t clunky humanoids
from some science fiction film. Rather than build a robot that walks
like a person to push a broom or mop or vacuum, the</span><a href="http://store.irobot.com/"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">IRobot Roomba</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">
concept was simply to make an autonomous moving vacuum. Rather than
build a robot secretary or maid like in the Jetsons, your android phone
app does your scheduling and organizing while Dragon Voice Type takes
memos so you don’t have to put tire your fingers on a keyboard. Robot
surgical arms and lasers are doing the jobs that doctors once did and
with much greater safety and precision. All of these trends will
continue, with training in the control and use of robots being the
paramount human endeavor.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">This
program is designed to give you an easy and fun – and relevant – entry
into the world of robotics. By using only open source operating
systems, software and architecture and emphasizing off-the-shelf common
components (what the 4-H Robotics Program calls “Junk Drawer Robotics”)
we ensure that nobody is left behind. The curriculum is designed around
a basic PORPOISE kit that we’ve assembled to make your job easier (no
need to hunt around for parts or software) but everything in it can also
be sourced separately (some from stuff you might recycle). </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">The
basic kit enables the creation of a roboboat made from many of the same
common materials found in the Sea Perch kit – ½” PVC plumbing tubes,
foam floatation, motors and propellers, wax and old film canisters, PCB
circuit boards and boxes and electronic components – and it can be built
with most of the same tools as Sea Perch. What differs is the PORPOISE
concept turns these materials and a few others into a boat rather than a
sub
(although you can mod them into anything you like!), and the arduino
board that we recommend can be used to operate the boat autonomously –
i.e. without human operational labor. Our idea is that you start out
with 4 sensors –
much like the LEGO mindstorms kit model, but using sensors relevant
to maritime missions:</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">1) An RGB/IR light sensor and emitter</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">2)
An Ultrasonic Distance Sensor (IR doesn’t work well in bright sunlight
as those who have tried to use small RC helicopters outside can attest.
The Ultrasonic ranger emits 40 KHz chirps and receives echoes to
compute distances between 3 cm and 3 meters).</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">3) A navigational compass</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">4) A touch sensor for prow collision detection</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">We also suggest using two motors/propellers (for propulsion and steering) used to control lever arms and grips.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">One can go further and add an arduino shell with an LCD screen to notify the
status of uploaded programs. When mounted in the supplied waterproof
housing the resulting box has all the functionality of a LEGO kit, but
you will have built it yourselves and understand how it is put together.
As SERVO magazine author Anthony Cherone stated in the 08-2011 issue,
“The potential for expansion is infinite, creating opportunities beyond
immediate imagination.”</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Your
curriculum will contain the instructions for adding several more sensors
that are not included in the base kit to keep the price down, but which
can be added at any time. One of these is a GPS sensor ($60) that tells
the operator where the robot is and includes instructions for how to
upload your experiments to the MIT Sea Perch/Google Digital Ocean
Project.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Another
is a ping sensor which can be positioned behind the robot to detect
objects approaching from the rear, useful in some competitions. Another
is a vision system that enables the use of a Logitech USB Webcam for
real time views of the surroundings and for communications which can be
sent to remote laptops for live web cam feeds. This requires, however, a
more powerful microcontroller. The curriculum explains how to replace
the $30 Arduino with a $60 32-bit Netduino board (but bear in mind,
Netduino can only be programmed currently in the Microsoft .NET
environment).</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Because
of the important mission of marine robotics in environmental monitoring
instructions will also be given on how to use temperature, humidity and
pressure sensors as well as sonar depth sensing for ocean terrain
imaging (the moon has been more extensively mapped than our underwater
world) and for indicating underwater features and objects such as
schools of fish, rocks, reefs and shipwrecks.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Besides
the pushbutton touch sensor provided, instructions will be provided to help
you use accelerometers (which can be used not only to measure speed but
to determine which hull designs have greater efficiency) , pressure
transducers and flexible resistors, and vibration sensors, and even
sensitive limit switches made with piano wire “cat whiskers” to enable
your roboboat to be more intimately aware of its environment and report
back to you so you can modify code on the fly to save your mission.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">It
was this kind of sensor reporting that enabled Rutgers University’s
RU27 (“Scarlet”) to autonomously cross the Atlantic Ocean in 2009 with
only minor adjustments in code during the mission and only one
interception in the Azores to clean the craft of barnacles and fouling.
While the kit we provide doesn’t give you those capabilities out of the
box, we want you to be thinking outside of the box and this curriculum
will give you examples, suggestions and example code to help you
develop a
robotic marine craft with real possibilities.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Even
the possibility of controlling your roboboat with simple voice commands
(start, stop, left right) via microphone input to ADC ports with a
preamp and amplifier processed by a microcontroller and DSP will be covered.
Processing of visual information (video digitization, image processing)
like that being done for the MIT Kingfisher surface navigation is also
covered, though this is an advanced area that the kit can not
accommodate.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Your
curriculum will explain where many of the sensors necessary to enhance your
robots capabilities can be found in every day life and how some can
even be salvaged. Relays, actuators, servos, solenoids, accelerometers
and motors can be pulled out of old cars (accelerometers and solenoids)
printers and scanners (servos, motors) and satellite dishes
(actuators).</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Novel
and simple propulsion techniques will also be discussed (solenoids
controlling air balloons for example, chemical reactions etc.) so that
the mechantronics you are learning can be put to practical use at many
scales and with many budgets.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">What
about skills becoming obsolete? Things are moving so fast, if I learn
these programs will I still have a job? One of the reasons for using
open-source hardware and software and staying away from “black box”
proprietary technologies is precisely so that you can continue to evolve
with the art and science of this technology without incurring extra
cost.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Some
young people around the world have already taken their love of robotics
engineering and developed ideas to share with the world so that more
people can get into this exciting field. We highlight their work in
this curriculum. </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">One of these young people is South African</span><a href="http://sites.google.com/site/lukesgsfentry/home"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">Luke Taylor</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">, who, while in the 9th grade, was a finalist at the Google Science Fair in 2011. Luke wrote,</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">“Programming
robots can be slow and challenging. In trying to assist a beginner
with the NXT Mindstorms set, I asked myself whether it would not be
possible to design an application that could translate English
instructions directly into compilable code that the robot could execute.
If successful, it should be of great assistance to those struggling
with existing graphic and text-based programming languages. It could
possibly also be of use to those wanting to spend less time on writing
computer code. With this in mind, I embarked on some research, with the
aim of designing a tool that could help the robot understand commands
written in natural human language. To prove that it was possible to
develop such functionality, I decided to limit design and testing to a
prototype robot called Tribot and use only a basic set of instructions
(including default values and a limited number of variables). The
resulting application called SIMPLE not only manages to analyse and
translate English sentences into C-code and compile and download these,
but it also assists users via prompts that request required information
to program the robot effectively.”</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Another Google Science fair finalist whose work we feature is</span><a href="http://sites.google.com/site/koppula2011datacollection/products-experiment"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">Skanda Koppula</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">,
a sophomore at North Allegheny Intermediate School who used an Arduino
board to create a surface craft capable of hydrographic underwater
mapping.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Skanda writes:</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">I used the following materials in my research:</span><br />
<ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Microcontroller:</span></li>
<ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Arduino Duemilonova</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">1 USB Cable</span></li>
</ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Sensors/Data Collection Devices:</span></li>
<ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Ultrasound Transducer Rangefinder</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">GPS Arduino Module</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Bluetooth™ Gold-mate Module</span></li>
</ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Vessel Mobility Devices:</span></li>
<ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Two 3 Volt DC Motors</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Hi-Tec Full Rotation Servo Motor</span></li>
</ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">General Electronics Materials:</span></li>
<ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Solder-less Breadboard</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Lots and lots of wires...</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Two 1.5 ohm resistors</span></li>
</ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">General Construction Materials:</span></li>
<ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Foam board</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Acrylic Sheet</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Multiple Lego Technic Parts</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Balsa Wood</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Adhesive</span></li>
</ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Laptop with the Processing IDE</span></li>
<ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: circle; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Specifications: Windows 7, 2 GB, 1.86 GHz dual-core</span></li>
</ul>
</ul>
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Skanda</span><a href="http://sites.google.com/site/koppula2011datacollection/products-experiment/schematics"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">modeled his surface craft using Google Sketchup as shown here</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">. He used the open source programming language Processing to communicate with the Arduino board.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Note to teachers: As the makers of</span><a href="http://pyrorobotics.org/?page=Pyro_20Brains"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">Pyrobot</span></a><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;"> </span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">state,
“a robot experimenter need only concentrate on the behavior-level
details of the robot. Robots may feature a disparate set of sensors and
movements, and yet, depending on the specific robots or simulators used,
Pyro provides a uniform way of accessing those features without getting
bogged down by low-level details. ”</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">“Pyro has been used in many different courses at both the undergraduate and graduate level. Courses include</span>
<br />
<ul>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Androids: Design & Practice (Bryn Mawr College)</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Artificial Intelligence (Bryn Mawr College, Swarthmore College)</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Cognitive Science (Bryn Mawr College)</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Developmental Robotics (Bryn Mawr College, Swarthmore College)</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Mobile Robotics (UMass Lowell, graduate)</span></li>
<li style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; list-style-type: disc; text-decoration: none; vertical-align: baseline;"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Robotics (UMass Lowell, undergraduate)”</span></li>
</ul>
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<b><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Morphic tile scripts.</span></b><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Severin,
from Planete Science in France, recommended we use the same software
they do for kids 10 to 16 along with the Arduino board:</span><br />
<a href="http://tecnodacta.com.ar/gira/projects/physical-etoys/"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">http://tecnodacta.com.ar/gira/projects/physical-etoys/</span></a><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">He wrote:</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">“At
Planete Sciences, we mainly use (for kids between 10 and 16) Squeak +
the Arduino board (check for instance Physical Etoys, here:</span><a href="http://tecnodacta.com.ar/gira/projects/physical-etoys/"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">http://tecnodacta.com.ar/gira/projects/physical-etoys/</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">).
Not only these projects are open source and platform independants, but
Squeak/Etoys was build from the beginning with a strong educational
vision (check</span><a href="http://en.wikipedia.org/wiki/Constructionist_learning"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">http://en.wikipedia.org/wiki/Constructionist_learning</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> for instance).</span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> I've
a lot of resources readily available in French for robotic workshops. I
wanted to translate it to English since a while, but it would be quite a
task. If you can at least read French, I'd be more than happy to send
you support material.”</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">There is also an arduino simulator called Virtual Breadboard that costs $60:</span><br />
<a href="http://www.virtualbreadboard.net/HOME/tabid/166/Default.aspx"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">http://www.virtualbreadboard.net/HOME/tabid/166/Default.aspx</span></a><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">It
enables students to test code before building the Arduino board and
risking components or time soldering. It has merit to it but the price
may deter teachers from adopting it. It also only runs on Windows.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<a href="http://www.openrobots.org/morse/doc/latest/dev/builder.html"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">In PORPOISE we have adopted the philosophy behind the MORSE project</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">:
“The point when we want to simplify things, is that we often have to
limit the freedom of the user. The complexity in simplification is to
let users be free enough to make what they want without asking them to
know every concept behind our technologies...”</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"></span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">There
will always be students that will find robotics and its associated core
areas (mechatronics, programming) intimidating, alienating or simply
uninteresting. We feel, however, that this should not keep them from
being involved in the robotics education experience because one can
never predict how people’s minds change after exposure. To ensure that
we bring a wider variety of students to the table, PORPOISE proposes
that part of the curriculum involve having members of the robotics team
who are “scribes” and “documentary videographers”. By having
“photojournalists” and “film-makers” as part of the robotics team more
students can take an active role and interest. Our experiences teaching
science through video production in the inner city schools of Los
Angeles in the 1990s and in an environmental science center in Egypt in
the 2000s proved that when students are tasked with documenting a
process they train themselves to pay deep attention to what is going on,
they actively listen and ask questions and they become enthusiastic
about the topic they are covering. In writing the script, doing the
camera work and doing the editing (even in composing music for a video)
they quickly master many of the conceptual areas of the project.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">Because
video production software can be prohibitively expensive, PORPOISE,
which intends to keep costs as low as possible, has been working with an
open-source Linux based video production program called</span><a href="http://www.openshotvideo.com/"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">OpenShot Video.</span></a><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;"> </span><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> It
is as easy to use as Adobe Premiere or Final Cut Pro in many regards
(though it doesn’t show audio waveforms yet) and enables animated
titling and a host of transitions. It also outputs to formats for the
web like youtube.</span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<a href="http://www.societyofrobots.com/programming_robot_simulation.shtml"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">http://www.societyofrobots.com/programming_robot_simulation.shtml</span></a><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: bold; text-decoration: none; vertical-align: baseline;">Robot Simulation Software</span><br />
<a href="https://savage.nps.edu/AuvWorkbench/"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">AUV Workbench</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">
- Freeware, simulation software designed for expensive AUV platforms,
but easy to use with nice graphics. Developed by NPS Center for AUV
Research, Naval Postgraduate School.</span><br />
<a href="http://playerstage.sourceforge.net/"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">Player Stage</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> - Freeware, robot simulation software, but not user friendly.</span><br />
<a href="http://msdn.microsoft.com/en-us/library/bb905471.aspx"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">Microsoft Robotics Studio Visual Simulation Environment</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> - Less than user friendly robot simulation software bought from AEGIS.</span><br />
<a href="http://www.phunland.com/"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">PHUN - 2D Physics Sandbox</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> - Freeware, a 2D physics simulator that is *very* simple to learn and can even simulate water.</span><br />
<a href="http://icmit.mit.edu/robot/simulation.html"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">3D Graphic Robot Simulation</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> - Graphic java-based 3D robot arm simulator</span><br />
<a href="http://www.dmoz.org/Computers/Robotics/Software/Simulation/"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">DMOZ Open Directory list</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> - list of robot simulators</span><br />
<a href="http://simbad.sourceforge.net/"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">Sinbad</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">
- Java 3d robot simulator for scientific and educationnal purposes. It
is mainly dedicated to researchers/programmers who want a simple basis
for studying Situated Artificial Intelligence, Machine Learning, and
more generally AI algorithms, in the context of Autonomous Robotics and
Autonomous Agents.</span><br />
<a href="http://www.cyberbotics.com/"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">Webots</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> - very expensive professional robot simulation software</span><br />
<br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">(In
California we are working this semester in the Alpha Testing phase
with Washington Preparatory High School (with the students of Principal
Dr. Todd Ullah and Technology coordinator Chris Brandon and Parent
Sponsor Roy Harper) and with
Venice High School (with the students of Mr. Azadi, the sponsor of the
after
school Venice High Robotics Club, and Ms. Annette Mercer, the Parent
Sponsor of the club). Venice also has an SOC program (</span><a href="http://www.military.com/education/content/timesaving-programs/servicemembers-opportunity-colleges-soc.html"><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">Servicemembers Opportunity Colleges)</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> and parties interested in STEM education through hands on activities should also explore working with</span><a href="http://www.soc.aascu.org/socnav/Default.html"><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><span style="background-color: transparent; color: #000099; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: underline; vertical-align: baseline;">SOCNAV</span></a><span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;">, which gives credit for non-traditional learning.</span>)<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span><br />
<span style="background-color: transparent; color: black; font-family: Arial; font-size: 15px; font-style: normal; font-variant: normal; font-weight: normal; text-decoration: none; vertical-align: baseline;"> </span>Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com1tag:blogger.com,1999:blog-8184752245443375260.post-63695313639238681162012-01-31T11:22:00.000-08:002012-02-03T12:12:08.656-08:00Making sense of giving sense to the motor shield The youtube video by Stevan Dedovac is here:<br />
<br />
http://www.youtube.com/watch?v=V-92YF87huo<br />
<br />
<br />
<br />
Here is the code we hope to hack for using the Parallax Ping sensor we have with the Adafruit Motor Controller.<br />
<br />
<br />
<br />
from https://github.com/bandless55/Arduino-Robot/blob/master/ping_robot.pde<br />
<br />
by Stevan Dedovic authored August 13, 2011<br />
<br />
<br />
<br />
/* please ignore any spelling errors.<br />
<br />
Thanks. also, feel free to use this<br />
<br />
for whatever you want.<br />
<br />
(as long as i get to see thoes creations)<br />
<br />
*/<br />
<br />
<br />
#include &lt;AFMotor.h&gt;<br />
<br />
AF_DCMotor motor(2, MOTOR12_1KHZ);<br />
<br />
AF_DCMotor turn(1, MOTOR12_1KHZ); //Motor Shield Stuff<br />
<br />
<br />
<br />
int pingPin = A5; //<br />
<br />
<br />
int turnDelay = 2000; //how long a turn is. A larger number means a larger turn. and vice versa.<br />
<br />
<br />
void setup(){ //runs the motor for a really short time and then waits 3 sec.<br />
<br />
//This just gives me time to put the motor down before it starts up.<br />
<br />
motor.setSpeed(175);<br />
<br />
turn.setSpeed(255);<br />
<br />
motor.run(FORWARD);<br />
<br />
delay(25);<br />
<br />
motor.run(RELEASE);<br />
<br />
delay(3000);<br />
<br />
}<br />
<br />
<br />
void loop(){<br />
<br />
int distance = 7; //distance, in inches, that triggers the turn sequence<br />
<br />
<br />
<br />
<br />
<br />
int x = 0;<br />
<br />
x = ping(); //get distance<br />
<br />
<br />
<br />
<br />
if(x &gt; distance){<br />
<br />
motor.run(FORWARD);<br />
<br />
}<br />
<br />
<br />
<br />
else if(x &lt; distance){<br />
<br />
<br />
<br />
motor.run(BACKWARD); //instantly stop<br />
<br />
delay(250);<br />
<br />
left();<br />
<br />
motor.run(RELEASE); //THIS RELEASE AND DELAY IS ESSENTIAL.<br />
<br />
delay(100);<br />
<br />
<br />
<br />
/* So about that comment above. I found out that after turning the robot in any direction,<br />
<br />
the use of both the turning motor/servo and the movement motor used up all the power for the device.<br />
<br />
So everytime the robot turns, I make sure to wait a little after cutting off power to both motors.<br />
<br />
This ensures that the ping))) sensor recieves all the power from the batteries.<br />
<br />
Then it reruns the loop and checks the distance, and either moves foward or turns.<br />
<br />
*/<br />
<br />
<br />
<br />
}<br />
<br />
}<br />
<br />
<br />
<br />
unsigned long ping(){ //arduino ping example: http://www.arduino.cc/en/Tutorial/Ping<br />
<br />
long duration, inches, cm;<br />
<br />
pinMode(pingPin, OUTPUT);<br />
<br />
digitalWrite(pingPin, LOW);<br />
<br />
delayMicroseconds(2);<br />
<br />
digitalWrite(pingPin, HIGH);<br />
<br />
delayMicroseconds(5);<br />
<br />
digitalWrite(pingPin, LOW);<br />
<br />
pinMode(pingPin, INPUT);<br />
<br />
duration = pulseIn(pingPin, HIGH);<br />
<br />
inches = microsecondsToInches(duration);<br />
<br />
cm = microsecondsToCentimeters(duration);<br />
<br />
return inches;<br />
<br />
}<br />
<br />
<br />
void left(){ //turns the robot to the left<br />
<br />
turn.run(BACKWARD);<br />
<br />
delay(turnDelay - 100);<br />
<br />
turn.run(FORWARD);<br />
<br />
delay(100);<br />
<br />
motor.run(FORWARD);<br />
<br />
delay(turnDelay);<br />
<br />
turn.run(RELEASE);<br />
<br />
}<br />
<br />
<br />
void right(){ //turns the robot to the right<br />
<br />
turn.run(FORWARD);<br />
<br />
delay(turnDelay - 100);<br />
<br />
turn.run(BACKWARD);<br />
<br />
delay(100);<br />
<br />
motor.run(FORWARD);<br />
<br />
delay(turnDelay);<br />
<br />
turn.run(RELEASE);<br />
<br />
}<br />
<br />
<br />
long microsecondsToInches(long microseconds) //more ping stuff<br />
<br />
{<br />
<br />
// According to Parallax's datasheet for the PING))), there are<br />
<br />
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per<br />
<br />
// second). This gives the distance travelled by the ping, outbound<br />
<br />
// and return, so we divide by 2 to get the distance of the obstacle.<br />
<br />
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf<br />
<br />
return microseconds / 74 / 2;<br />
<br />
}<br />
<br />
<br />
long microsecondsToCentimeters(long microseconds) //even more ping stuff<br />
<br />
{<br />
<br />
// The speed of sound is 340 m/s or 29 microseconds per centimeter.<br />
<br />
// The ping travels out and back, so to find the distance of the<br />
<br />
// object we take half of the distance travelled.<br />
<br />
return microseconds / 29 / 2;<br />
<br />
}<br />
<br />
<br />
<br />
<br />
I've rewritten the code to include the other motor and eliminating the turn motor so we can run the Sea Sparrow:<br />
<br />
/* please ignore any spelling errors.<br />
Thanks. also, feel free to use this<br />
for whatever you want.<br />
(as long as i get to see thoes creations)<br />
*/<br />
<br />
#include <AFMotor.h><br />
AF_DCMotor rightmotor(3, MOTOR12_1KHZ);<br />
AF_DCMotor leftmotor(1, MOTOR12_1KHZ); //Motor Shield Stuff<br />
<br />
<br />
int pingPin = A5; //<br />
<br />
int leftmotorDelay = 2000; //how long a turn is. A larger number means a larger turn. and vice versa.<br />
int rightmotorDelay = 2000; //<br />
<br />
void setup(){ //runs the motor for a really short time and then waits 3 sec.<br />
//This just gives me time to put the motor down before it starts up.<br />
<br />
Serial.begin(9600); // set up Serial library at 9600 bps<br />
Serial.println("Sea Sparrow Motor test!"); <br />
rightmotor.setSpeed(175);<br />
leftmotor.setSpeed(175);<br />
rightmotor.run(FORWARD);<br />
leftmotor.run(FORWARD);<br />
delay(25);<br />
rightmotor.run(RELEASE);<br />
leftmotor.run(RELEASE);<br />
delay(3000);<br />
<br />
}<br />
void loop(){<br />
<br />
<br />
int distance = 7; //distance, in inches, that triggers the turn sequence<br />
int x = 0;<br />
x = ping(); //get distance<br />
if(x > distance){<br />
<br />
rightmotor.run(FORWARD);<br />
leftmotor.run(FORWARD);<br />
<br />
<br />
}<br />
<br />
else if(x < distance){<br />
<br />
rightmotor.run(BACKWARD); //instantly stop<br />
leftmotor.run(BACKWARD); <br />
delay(250);<br />
left();<br />
rightmotor.run(RELEASE); //THIS RELEASE AND DELAY IS ESSENTIAL.<br />
leftmotor.run(RELEASE); //THIS RELEASE AND DELAY IS ESSENTIAL.<br />
delay(100);<br />
}<br />
<br />
}<br />
<br />
<br />
/* So about that comment above. I found out that after turning the robot in any direction,<br />
//the use of both the turning motor/servo and the movement motor used up all the power for the device.<br />
//So everytime the robot turns, I make sure to wait a little after cutting off power to both motors.<br />
//This ensures that the ping))) sensor recieves all the power from the batteries.<br />
//Then it reruns the loop and checks the distance, and either moves foward or turns.<br />
*/<br />
<br />
<br />
<br />
unsigned long ping(){ //arduino ping example: http://www.arduino.cc/en/Tutorial/Ping<br />
long duration, inches, cm;<br />
pinMode(pingPin, OUTPUT);<br />
digitalWrite(pingPin, LOW);<br />
delayMicroseconds(2);<br />
digitalWrite(pingPin, HIGH);<br />
delayMicroseconds(5);<br />
digitalWrite(pingPin, LOW);<br />
pinMode(pingPin, INPUT);<br />
duration = pulseIn(pingPin, HIGH);<br />
inches = microsecondsToInches(duration);<br />
cm = microsecondsToCentimeters(duration);<br />
return inches;<br />
}<br />
<br />
void left(){ //turns the robot to the left<br />
leftmotor.run(BACKWARD);<br />
delay(leftmotorDelay - 100);<br />
leftmotor.run(RELEASE);<br />
delay(100);<br />
rightmotor.run(FORWARD);<br />
delay(leftmotorDelay);<br />
rightmotor.run(RELEASE);<br />
}<br />
<br />
void right(){ //turns the robot to the right<br />
rightmotor.run(BACKWARD);<br />
delay(rightmotorDelay - 100);<br />
leftmotor.run(RELEASE);<br />
delay(100);<br />
rightmotor.run(FORWARD);<br />
delay(rightmotorDelay);<br />
rightmotor.run(RELEASE);<br />
}<br />
<br />
long microsecondsToInches(long microseconds) //more ping stuff<br />
{<br />
// According to Parallax's datasheet for the PING))), there are<br />
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per<br />
// second). This gives the distance travelled by the ping, outbound<br />
// and return, so we divide by 2 to get the distance of the obstacle.<br />
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf<br />
return microseconds / 74 / 2;<br />
}<br />
<br />
long microsecondsToCentimeters(long microseconds) //even more ping stuff<br />
{<br />
// The speed of sound is 340 m/s or 29 microseconds per centimeter.<br />
// The ping travels out and back, so to find the distance of the<br />
// object we take half of the distance travelled.<br />
return microseconds / 29 / 2;<br />
}<br />
<br />
<br />
HERE IS SOME TRIAL CODE TO MERGE THE TWO:<br />
<br />
<br />
#include <AFMotor.h><br />
AF_DCMotor rightmotor(3, MOTOR12_1KHZ);<br />
AF_DCMotor leftmotor(1, MOTOR12_1KHZ); //Motor Shield Stuff<br />
<br />
int pingPin = A5; //<br />
<br />
int leftmotorDelay = 2000; //how long a turn is. A larger number means a larger turn. and vice versa.<br />
int rightmotorDelay = 2000; //<br />
<br />
<br />
unsigned long ping(){ //arduino ping example: http://www.arduino.cc/en/Tutorial/Ping<br />
long duration, inches, cm;<br />
pinMode(pingPin, OUTPUT);<br />
digitalWrite(pingPin, LOW);<br />
delayMicroseconds(2);<br />
digitalWrite(pingPin, HIGH);<br />
delayMicroseconds(5);<br />
digitalWrite(pingPin, LOW);<br />
pinMode(pingPin, INPUT);<br />
duration = pulseIn(pingPin, HIGH);<br />
inches = microsecondsToInches(duration);<br />
cm = microsecondsToCentimeters(duration);<br />
return inches;<br />
}<br />
<br />
void left(){ //turns the robot to the left<br />
leftmotor.run(BACKWARD);<br />
delay(leftmotorDelay - 100);<br />
leftmotor.run(RELEASE);<br />
delay(100);<br />
rightmotor.run(FORWARD);<br />
delay(leftmotorDelay);<br />
rightmotor.run(RELEASE);<br />
}<br />
<br />
void right(){ //turns the robot to the right<br />
rightmotor.run(BACKWARD);<br />
delay(rightmotorDelay - 100);<br />
leftmotor.run(RELEASE);<br />
delay(100);<br />
rightmotor.run(FORWARD);<br />
delay(rightmotorDelay);<br />
rightmotor.run(RELEASE);<br />
}<br />
<br />
long microsecondsToInches(long microseconds) //more ping stuff<br />
{<br />
// According to Parallax's datasheet for the PING))), there are<br />
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per<br />
// second). This gives the distance travelled by the ping, outbound<br />
// and return, so we divide by 2 to get the distance of the obstacle.<br />
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf<br />
return microseconds / 74 / 2;<br />
}<br />
<br />
long microsecondsToCentimeters(long microseconds) //even more ping stuff<br />
{<br />
// The speed of sound is 340 m/s or 29 microseconds per centimeter.<br />
// The ping travels out and back, so to find the distance of the<br />
// object we take half of the distance travelled.<br />
return microseconds / 29 / 2;<br />
}<br />
<br />
bool readSerial () {<br />
char in = Serial.read();<br />
switch(in) {<br />
case 'f':<br />
rightmotor.run(FORWARD);<br />
leftmotor.run(FORWARD);<br />
case 'b':<br />
rightmotor.run(BACKWARD);<br />
leftmotor.run(BACKWARD);<br />
case 's':<br />
rightmotor.run(RELEASE);<br />
leftmotor.run(RELEASE);<br />
default:<br />
return false;<br />
}<br />
return true;<br />
}<br />
<br />
bool delayWithSerial (unsigned int time) { ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////<br />
// this is basically what you need to write<br />
unsigned int startTime = millis();<br />
while(millis() - startTime > time) {<br />
if(Serial.available()){<br />
// if the readSerial function returns true, then this gives the feed back that it needs to exit the loop and be overwritten<br />
if(readSerial()) return true;<br />
}<br />
}<br />
return false; // here we are saying that we ended the time normally so we should keep going with the loop<br />
}<br />
<br />
void setup () {<br />
Serial.begin(9600); // I personally like 115200 better, or maybe 38400<br />
Serial.println("Sea Sparrow Motor test!"); <br />
rightmotor.setSpeed(175);<br />
leftmotor.setSpeed(175);<br />
rightmotor.run(FORWARD);<br />
leftmotor.run(FORWARD);<br />
delayWithSerial(25);<br />
rightmotor.run(RELEASE);<br />
leftmotor.run(RELEASE);<br />
delayWithSerial(3000);<br />
}<br />
<br />
<br />
<br />
void loop () {<br />
if(Serial.available()) {<br />
readSerial();<br />
}<br />
if(ping() < 3) {<br />
rightmotor.run(BACKWARD); //instantly stop<br />
leftmotor.run(BACKWARD); <br />
if(delayWithSerial(250)) return; // here we get the return from from the read Serial based back and then break the loop funciton, this should return it to the top of the loop function<br />
left();<br />
rightmotor.run(RELEASE); //THIS RELEASE AND DELAY IS ESSENTIAL.<br />
leftmotor.run(RELEASE); //THIS RELEASE AND DELAY IS ESSENTIAL.<br />
if(delayWithSerial(100)) return; // see comment above<br />
}<br />
}<br />
<br />
<br />
Now that we are using the DFRobot 2A Motor Shield, we need to learn its coding too. Here is an example:<br />
<br />
//Arduino PWM Speed Control:<br />int E1 = 6; <br />int M1 = 7;<br />int E2 = 5; <br />int M2 = 4; <br /><br />void setup() <br />{ <br /> pinMode(M1, OUTPUT); <br /> pinMode(M2, OUTPUT); <br />} <br /><br />void loop() <br />{ <br />// int value;<br />// for(value = 0 ; value <= 255; value+=5) <br />//<br />// { <br /> digitalWrite(M1,HIGH); <br /> digitalWrite(M2, HIGH); <br />// analogWrite(E1, value); //PWM Speed Control<br />// analogWrite(E2, value); //PWM Speed Control<br /> analogWrite(E1, 255); //PWM Speed Control<br /> analogWrite(E2, 255); //PWM Speed Control<br /> delay(30); <br />// } <br />}<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-28096824619277165002012-01-27T15:44:00.000-08:002012-01-27T15:44:30.032-08:00ASCII Table ~ Character Map When running through the <a href="http://www.sparkfun.com/tutorials/192">Xbee tutorials from Sparkfun</a>, the ASCII table serial monitor output looked too valuable to discard, so I've saved it below. Now if you want to know what each of the characters on your keyboard map out to in decimal, hexadecimal, octadecimal and binary, here they are. This could be useful for future programming, so it is a nice resource to have handy!<br />
<br />
<br />
<br />
ASCII Table ~ Character Map
<br />!, dec: 33, hex: 21, oct: 41, bin: 100001
<br />", dec: 34, hex: 22, oct: 42, bin: 100010
<br />#, dec: 35, hex: 23, oct: 43, bin: 100011
<br />$, dec: 36, hex: 24, oct: 44, bin: 100100
<br />%, dec: 37, hex: 25, oct: 45, bin: 100101
<br />&, dec: 38, hex: 26, oct: 46, bin: 100110
<br />', dec: 39, hex: 27, oct: 47, bin: 100111
<br />(, dec: 40, hex: 28, oct: 50, bin: 101000
<br />), dec: 41, hex: 29, oct: 51, bin: 101001
<br />*, dec: 42, hex: 2A, oct: 52, bin: 101010
<br />+, dec: 43, hex: 2B, oct: 53, bin: 101011
<br />,, dec: 44, hex: 2C, oct: 54, bin: 101100
<br />-, dec: 45, hex: 2D, oct: 55, bin: 101101
<br />., dec: 46, hex: 2E, oct: 56, bin: 101110
<br />/, dec: 47, hex: 2F, oct: 57, bin: 101111
<br />0, dec: 48, hex: 30, oct: 60, bin: 110000
<br />1, dec: 49, hex: 31, oct: 61, bin: 110001
<br />2, dec: 50, hex: 32, oct: 62, bin: 110010
<br />3, dec: 51, hex: 33, oct: 63, bin: 110011
<br />4, dec: 52, hex: 34, oct: 64, bin: 110100
<br />5, dec: 53, hex: 35, oct: 65, bin: 110101
<br />6, dec: 54, hex: 36, oct: 66, bin: 110110
<br />7, dec: 55, hex: 37, oct: 67, bin: 110111
<br />8, dec: 56, hex: 38, oct: 70, bin: 111000
<br />9, dec: 57, hex: 39, oct: 71, bin: 111001
<br />:, dec: 58, hex: 3A, oct: 72, bin: 111010
<br />;, dec: 59, hex: 3B, oct: 73, bin: 111011
<br /><, dec: 60, hex: 3C, oct: 74, bin: 111100
<br />=, dec: 61, hex: 3D, oct: 75, bin: 111101
<br />>, dec: 62, hex: 3E, oct: 76, bin: 111110
<br />?, dec: 63, hex: 3F, oct: 77, bin: 111111
<br />@, dec: 64, hex: 40, oct: 100, bin: 1000000
<br />A, dec: 65, hex: 41, oct: 101, bin: 1000001
<br />B, dec: 66, hex: 42, oct: 102, bin: 1000010
<br />C, dec: 67, hex: 43, oct: 103, bin: 1000011
<br />D, dec: 68, hex: 44, oct: 104, bin: 1000100
<br />E, dec: 69, hex: 45, oct: 105, bin: 1000101
<br />F, dec: 70, hex: 46, oct: 106, bin: 1000110
<br />G, dec: 71, hex: 47, oct: 107, bin: 1000111
<br />H, dec: 72, hex: 48, oct: 110, bin: 1001000
<br />I, dec: 73, hex: 49, oct: 111, bin: 1001001
<br />J, dec: 74, hex: 4A, oct: 112, bin: 1001010
<br />K, dec: 75, hex: 4B, oct: 113, bin: 1001011
<br />L, dec: 76, hex: 4C, oct: 114, bin: 1001100
<br />M, dec: 77, hex: 4D, oct: 115, bin: 1001101
<br />N, dec: 78, hex: 4E, oct: 116, bin: 1001110
<br />O, dec: 79, hex: 4F, oct: 117, bin: 1001111
<br />P, dec: 80, hex: 50, oct: 120, bin: 1010000
<br />Q, dec: 81, hex: 51, oct: 121, bin: 1010001
<br />R, dec: 82, hex: 52, oct: 122, bin: 1010010
<br />S, dec: 83, hex: 53, oct: 123, bin: 1010011
<br />T, dec: 84, hex: 54, oct: 124, bin: 1010100
<br />U, dec: 85, hex: 55, oct: 125, bin: 1010101
<br />V, dec: 86, hex: 56, oct: 126, bin: 1010110
<br />W, dec: 87, hex: 57, oct: 127, bin: 1010111
<br />X, dec: 88, hex: 58, oct: 130, bin: 1011000
<br />Y, dec: 89, hex: 59, oct: 131, bin: 1011001
<br />Z, dec: 90, hex: 5A, oct: 132, bin: 1011010
<br />[, dec: 91, hex: 5B, oct: 133, bin: 1011011
<br />\, dec: 92, hex: 5C, oct: 134, bin: 1011100
<br />], dec: 93, hex: 5D, oct: 135, bin: 1011101
<br />^, dec: 94, hex: 5E, oct: 136, bin: 1011110
<br />_, dec: 95, hex: 5F, oct: 137, bin: 1011111
<br />`, dec: 96, hex: 60, oct: 140, bin: 1100000
<br />a, dec: 97, hex: 61, oct: 141, bin: 1100001
<br />b, dec: 98, hex: 62, oct: 142, bin: 1100010
<br />c, dec: 99, hex: 63, oct: 143, bin: 1100011
<br />d, dec: 100, hex: 64, oct: 144, bin: 1100100
<br />e, dec: 101, hex: 65, oct: 145, bin: 1100101
<br />f, dec: 102, hex: 66, oct: 146, bin: 1100110
<br />g, dec: 103, hex: 67, oct: 147, bin: 1100111
<br />h, dec: 104, hex: 68, oct: 150, bin: 1101000
<br />i, dec: 105, hex: 69, oct: 151, bin: 1101001
<br />j, dec: 106, hex: 6A, oct: 152, bin: 1101010
<br />k, dec: 107, hex: 6B, oct: 153, bin: 1101011
<br />l, dec: 108, hex: 6C, oct: 154, bin: 1101100
<br />m, dec: 109, hex: 6D, oct: 155, bin: 1101101
<br />n, dec: 110, hex: 6E, oct: 156, bin: 1101110
<br />o, dec: 111, hex: 6F, oct: 157, bin: 1101111
<br />p, dec: 112, hex: 70, oct: 160, bin: 1110000
<br />q, dec: 113, hex: 71, oct: 161, bin: 1110001
<br />r, dec: 114, hex: 72, oct: 162, bin: 1110010
<br />s, dec: 115, hex: 73, oct: 163, bin: 1110011
<br />t, dec: 116, hex: 74, oct: 164, bin: 1110100
<br />u, dec: 117, hex: 75, oct: 165, bin: 1110101
<br />v, dec: 118, hex: 76, oct: 166, bin: 1110110
<br />w, dec: 119, hex: 77, oct: 167, bin: 1110111
<br />x, dec: 120, hex: 78, oct: 170, bin: 1111000
<br />y, dec: 121, hex: 79, oct: 171, bin: 1111001
<br />z, dec: 122, hex: 7A, oct: 172, bin: 1111010
<br />{, dec: 123, hex: 7B, oct: 173, bin: 1111011
<br />|, dec: 124, hex: 7C, oct: 174, bin: 1111100
<br />}, dec: 125, hex: 7D, oct: 175, bin: 1111101
<br />~, dec: 126, hex: 7E, oct: 176, bin: 1111110
<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-22918809154456568772012-01-27T15:11:00.000-08:002012-01-27T16:07:24.993-08:00If an X-bee can control RGB on an LED, why not the motors of a Sea Perch, see?<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj42LXQdSFlH0K2ZeX1dojrLaukJ1wZrxnoqqBWven2YaUE4wrcIYRt4L2ZCStwrDYNRGGdo4Wp4GIMRh9dKTSS699rbIfn2ihiTdfkgtkoUK-RGhsV3e2BTiAjRE4wPVrA_jAYLBPY8_M/s1600/20120127_132403xbee.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj42LXQdSFlH0K2ZeX1dojrLaukJ1wZrxnoqqBWven2YaUE4wrcIYRt4L2ZCStwrDYNRGGdo4Wp4GIMRh9dKTSS699rbIfn2ihiTdfkgtkoUK-RGhsV3e2BTiAjRE4wPVrA_jAYLBPY8_M/s320/20120127_132403xbee.jpg" width="320" /></a></div>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> <span style="font-family: inherit;">Good morning, Playful PORPOISEs!</span></span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"><span style="font-family: inherit;"> </span></span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> Today we make preparations for wireless communication with our Sea Sparrow </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">(and via tether, our Sea Perch). How? </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">We will use Xbee Shields.</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">What are they?</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">According to <a href="http://www.sparkfun.com/tutorials/192">Sparkfun's tutorial</a>:</span></pre>
<blockquote class="tr_bq">
<pre style="font-family: inherit;"><span style="font-size: small;">"Normally when you send data from your Arduino to your computer it
travels over a USB cable. You can use XBee as a "cable replacement",
this means the data will travel wirelessly between the Arduino and your
computer without the need for a cable to connect the two devices. "</span></pre>
</blockquote>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">I tried doing this last week using the Parallax Xbee shield kit I got from Frye's electronics.
I got the two Xbee units talking via the serial monitor (doing the echo sketch) but that was as far as</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">far as I got because of the difficulty of wiring the pins of the Xbee board to the Arduino.</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">Obviously Parallax makes their Xbee units to talk to their Basic Stamp controller or Propellor </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">Microcontroller - it is, after all, their product. </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">
</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">So I decided to go to Sparkfun for their X-Bee Shield Kit, and because it mounts directly ON the arduino</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">things are ever so much simpler!</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">With the Sparkfun Shield Kit and their on-line tutorials you are up and running right outside of the box.</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">No difficult configuring or wiring of the Xbees! Yay!</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">The getting started tutorial is fun, and it is great if you have the Sparkfun Arduino Inventor's kit because</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">the second sketch in it (replicated below) makes use of the Circuit-12 three color RGB LED tutorial using</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">this circuit here:</span></pre>
<div class="separator" style="clear: both; font-family: inherit; text-align: center;">
<span style="font-size: small;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj_0X_p-D1uuao3e6cAsVLN09tFefq2qwhH0XL1jjJ2wN3g8DS4CYygQfbip-R5d7XvazUJlEb0yfRErK5mNqmovTtBJjOx_IbxIV_MfGb-AEVSqXvjrhlL6FdBGueM8ck8O906Mde0L8c/s1600/RGBtutorial.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj_0X_p-D1uuao3e6cAsVLN09tFefq2qwhH0XL1jjJ2wN3g8DS4CYygQfbip-R5d7XvazUJlEb0yfRErK5mNqmovTtBJjOx_IbxIV_MfGb-AEVSqXvjrhlL6FdBGueM8ck8O906Mde0L8c/s1600/RGBtutorial.jpg" /></a></span></div>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> As you will readily appreciate from the quick video we made below here in the Motion Picture
Marine lab, once you have used the XBeeCableReplacement.pde sketch to send signals from the</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> X-bee Explorer (connected to a computer) to a remote battery powered Arduino </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">with the X-bee shield connected to a four pin RGB LED and demonstrated to yourself that you can</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">turn on and off the different colored lights using commands from the keyboard via the serial </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">monitor, why then you know you can modify that code slightly to turn on and off different motors from </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">a distance too!</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<div class="separator" style="clear: both; font-family: inherit; text-align: center;">
<span style="font-size: small;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/A1afAKUVK40?feature=player_embedded' frameborder='0'></iframe></span></div>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> _I think you know where I'm going with this! Instead of using the 'r' 'g' and 'b' keys to turn</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">on red green and blue lights, we can use 'f', 'b' and 'u' to control our sea perch motors! Yup,</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">this unlocks the possibility of putting the controller on the Sea Sparrow, tethered to the Sea Perch </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">underwater, and stand safely on the shore with a laptop or smart phone and tell the sea perch (and the sea</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">sparrow) where to go!</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">Cool, huh?</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">The tutorial codes are replicated below in case the github site is down for some reason.</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">Enjoy!</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">PS: It appears that contrary to the instructions below, you DON'T have to always remove the Xbee Shield or the Xbee itself </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">every time you want to upload a program to the Arduino; the work around is to place the toggle</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">switch on the shield from UART to DLINE when you are loading programs from the USB</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">Port of your computer to the board, and back to UART when you are using it to send information</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">to the XBee:</span></pre>
<blockquote class="tr_bq">
<pre style="font-family: inherit;"><span style="font-size: x-small;">"When the switch on the shield is in the "DLINE" position the hardware
serial port (which uses the RX and TX pins) of the Arduino can be used
for uploading sketches...When the switch on the shield is in the "UART" position the hardware
serial port of the Arduino is used to transfer data from the Arduino to
the XBee module."</span></pre>
</blockquote>
<pre style="font-family: inherit;"><span style="font-size: small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"> This ability to use a simple switch on the Sparkfun Shield to upload programs to the </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">Arduino (in DLINE position) and then switch to UART to use the Xbee is a great feature for</span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">students since two much removing of the XBee or shield will ultimately damage the pins </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">or the chips themselves. Thanks Sparkfun! </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;">__________________________________________________________________________</span></pre>
<pre style="font-family: inherit;"><span style="font-size: x-small;"> from the <a href="https://raw.github.com/sparkfun/xbeeconfigure/master/examples/XBeeSerialEcho/XBeeSerialEcho.pde">github sparkfun site</a>:</span></pre>
<pre style="font-family: inherit;"><span style="font-size: x-small;">(copy and paste everything below) </span></pre>
<pre style="font-family: inherit;"><span style="font-size: x-small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: x-small;">/*
XBeeSerialEcho -- Simple sketch for demonstrating two-way XBee communication
Requires:
(These items are found in the SparkFun XBee Wireless Kit Retail product
or can be obtained individually.)
* 1 x SparkFun XBee Explorer USB
* 1 x SparkFun XBee Wireless Shield
* 2 x "Series 1" Digi XBee communication modules
Instructions:
* Upload this sketch as normal to your Arduino without the XBee Wireless
Shield connected.
* Disconnect the Arduino from your computer.
* Both XBee modules should be configured to use their default
configuration and communicate at 9600 baud.
* One XBee module should be connected to the XBee Explorer board.
Ensure the orientation of the XBee module is correct with the
beveled end of the module pointing away from the USB connector
so the module outline matches the diagonal white lines
silkscreened on the board.
* The other XBee module should be connected to the XBee Wireless
Shield for the Arduino. Again, ensure the orientation of the
XBee module is correct with the beveled end pointing over the
edge of the shield away from the USB connector on the Arduino
board. The outline of the module should match the the diagonal
white lines silkscreened on the shield.
* The small switch located near the TX/RX pins on the shield
should be set to the "UART" position so the XBee module is
connected to the hardware serial port on the Arduino.
* Connect the XBee Wireless Shield to your Arduino.
* Connect the XBee Explorer USB to your computer with a mini-USB cable.
* Select the correct serial port for your XBee Explorer USB from the
Tools > Serial Port menu in the Arduino IDE.
* Connect your Arduino with the XBee Wireless Shield on it to a
power source--either a battery, a "wall wart" power adapter or
another USB port.
* Open the Serial Monitor window of the Arduino IDE and make sure
the correct communication speed of "9600 baud" is selected from
the pop-up menu in the lower right corner of the Serial Monitor
window.
* Start typing and whenever you press the button labeled "Send" or
press the "Enter" or "Return" key what you type should be echoed
back to you. (If only "garbage" is returned you probably have
the XBee modules configured for the wrong speed. Reconfigure
them to operate at 9600 baud and try again.)
* The text you type is sent from your computer, over the USB cable
to the XBee Explorer USB board. From there it is directed to the
XBee module on the board which sends it wirelessly to the second
XBee module on the shield. The second XBee module then directs
the text to the hardware serial port of the Arduino. Your
Arduino reads each character of the text from the serial port
and then sends it back (that is, "echos" it) through the serial
port to the second XBee module. The second XBee module then
sends the echoed text wirelessly to the first XBee module which
directs it to the Explorer USB board which sends it back up the
USB cable to the Arduino IDE serial monitor window. *Phew*.
Enhancements:
* You can change the configuration of the XBee wireless modules to
communicate at a faster speed (try 19200 baud and then 57600
baud) if you also change the communication speed of the
"Serial.begin()" line below and in the Serial Monitor window of
the Arduino IDE to match.
For more details and help read the XBee Shield and Explorer USB
Quickstart Guide:
<http://sparkfun.com/tutorials/192>
*/
void setup() {
Serial.begin(9600); // See "Enhancements" above to learn when to change this.
}
void loop() {
if (Serial.available()) {
Serial.print((char) Serial.read());
delay(10);
}
}</span></pre>
<pre style="font-family: inherit;"><span style="font-size: x-small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: x-small;">____________________________________________________________________ </span></pre>
<pre style="font-family: inherit;"><span style="font-size: x-small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: x-small;">After running that test successfully, I run this test (<a href="https://raw.github.com/sparkfun/xbeeconfigure/master/examples/XBeeCableReplacement/XBeeCableReplacement.pde">code below is from this site</a>):</span></pre>
<pre style="font-family: inherit;"><span style="font-size: x-small;"> </span></pre>
<pre style="font-family: inherit;"><span style="font-size: small;"><span style="font-size: x-small;">/*
XBeeCableReplacement.pde
Control the color of an RGB LED wirelessly via XBee.
Required (in addition to your Arduino):
(These items are found in the SparkFun XBee Wireless Kit Retail product
or can be obtained individually.)
* 1 x SparkFun XBee Explorer USB
* 1 x SparkFun XBee Wireless Shield
* 2 x "Series 1" Digi XBee communication modules
Instructions:
* Ensure both XBee communication modules are configured to use
their default configuration and communicate at 9600 baud.
* Put the XBee Wireless Shield onto your Arduino but do not insert
the XBee communication module.
* Wire an RGB LED to your Arduino as shown in CIRC-12 of the
SparkFun Inventor's Guide.
* Connect your Arduino to your computer using a USB cable.
* Upload this sketch as normal to your Arduino.
* Test the functionality of the sketch works when connected via
the USB cable. Open the Serial Monitor window and ensure it is
set to communicate at 9600 baud. Type a sequence of one or more
of the characters 'r', 'g' and 'b' and then press the "Send"
button. The RGB LED should change color in response. A space
character in the sequence will cause the LED to turn off.
* Disconnect your Arduino from your computer.
* Insert one XBee module into the XBee Explorer board. Ensure the
orientation of the XBee module is correct with the beveled end
of the module pointing away from the USB connector so the module
outline matches the diagonal white lines silkscreened on the
board.
* Insert the other XBee module into the XBee Wireless Shield.
Again, ensure the orientation of the XBee module is correct with
the beveled end pointing over the edge of the shield away from
the USB connector on the Arduino board. The outline of the
module should match the the diagonal white lines silkscreened on
the shield.
* The small switch located near the TX/RX pins on the shield
should be set to the "UART" position so the XBee module is
connected to the hardware serial port on the Arduino.
* Connect the XBee Explorer USB to your computer with a mini-USB
cable.
* Select the correct serial port for your XBee Explorer USB from
the Tools > Serial Port menu in the Arduino IDE.
* Connect your Arduino with the XBee Wireless Shield on it to a
power source--either a battery, a "wall wart" power adapter or
another USB port.
* Open the Serial Monitor window of the Arduino IDE and make sure
the correct communication speed of "9600 baud" is selected from
the pop-up menu in the lower right corner of the Serial Monitor
window.
* You may need to press the reset button on the shield to
redisplay the instructions.
* Control your LED as before--except you've now replaced the cable
with air!
For more details and help read the XBee Shield and Explorer USB
Quickstart Guide:
<http://sparkfun.com/tutorials/192>
*/
// LED leads connected to PWM pins
const int RED_LED_PIN = 9;
const int GREEN_LED_PIN = 10;
const int BLUE_LED_PIN = 11;
// Change this value if you want fast color changes
const int WAIT_TIME_MS = 500;
void setLedColour(int redIntensity, int greenIntensity, int blueIntensity) {
/*
This routine sets the PWM value for each color of the RGB LED.
*/
analogWrite(RED_LED_PIN, redIntensity);
analogWrite(GREEN_LED_PIN, greenIntensity);
analogWrite(BLUE_LED_PIN, blueIntensity);
}
void setup() {
// Configure the serial port and display instructions.
Serial.begin(9600);
Serial.println("Send the characters 'r', 'g' or 'b' to change LED colour:");
}
void loop() {
// When specific characters are sent we change the current color of the LED.
if (Serial.available()) {
int characterRead = Serial.read();
// If the character matches change the state of the LED,
// otherwise ignore the character.
switch(characterRead) {
case 'r':
setLedColour(255, 0, 0);
break;
case 'g':
setLedColour(0, 255, 0);
break;
case 'b':
setLedColour(0, 0, 255);
break;
case ' ':
setLedColour(0, 0, 0);
break;
default:
// Ignore all other characters and leave the LED
// in its previous state.
break;
}
delay(WAIT_TIME_MS);
}
}
</span>
</span></pre>Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com1tag:blogger.com,1999:blog-8184752245443375260.post-60563750358953809472012-01-25T18:02:00.000-08:002012-01-31T10:49:05.901-08:00Washington Prep uses a short day to make long strides...<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgNMenIzrV63SrObbeTcm6_sAqzNU_btKWbBddP7tmHWH5FMbF9ZzvJhWpG2DEaRfbMDGTK6ptmaZT91tSuAe5k7rpA4tNjPUV-We5ohXSu7G8wcVL-MzCgeA43ywW0IzTnIukVfUZqN_I/s1600/20120124_091158.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><br /></a></div>
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSuneYMTcXlrVKPpWamszh-GUsJJ6TvThZepN48N64vgmXU_uBsnh9rozhG3iHlkwzELUuL3vj5p5j_6dRW4Et3k2VY1ROOdw3-skWTveEeL32tCg39NFECx3T4ourqdCFIA7w2LG2GiU/s1600/20120124_163659.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSuneYMTcXlrVKPpWamszh-GUsJJ6TvThZepN48N64vgmXU_uBsnh9rozhG3iHlkwzELUuL3vj5p5j_6dRW4Et3k2VY1ROOdw3-skWTveEeL32tCg39NFECx3T4ourqdCFIA7w2LG2GiU/s320/20120124_163659.jpeg" width="320" /></a></div>
<br />
<br />
<br />
Tuesday January 24th was a short day in the Los
Angeles Unified School District, which means the students around the
city got out early. But three intrepid young men and women in our
PORPOISE initiative stayed long after school ended, showing that they
have "the right stuff" for putting America back on its feet -- and for
getting their feet wet and wetter in this landmark aquatic robotics
program.<br />
<br />
When most of their friends left school around
lunchtime, Erica Ponce, EZMoney Harper and Luis Camacho stayed on,
awaiting PORPOISE team leader Dr. T.H. Culhane's arrival from Motion
Picture Marine in Venice.<br />
<br />
Culhane, who spent a decade as a science teacher in the Los Angeles inner city
back in the early 90s, returned to his old stomping grounds in the
U.S. from another decade working on science and technology training
issues overseas (in Europe and the Middle East) to continue the crusade
to improve education for all. And true to his eco-tech credentials,
Culhane continued his tradition of taking public transit, which is
notoriously time consuming in a city famed for its car culture. This,
however, meant that he couldn't arrive at the school any earlier than
the usual 3:00 meeting time. <br />
<br />
The students were patient
though, and stayed until nearly 6:00 to bring the Sea Perch hack they
had started the previous week to completion.<br />
They took the <a href="https://github.com/supertunaman/Boatduinode/blob/master/Boatduinode.pde">Boatduinode.pde file</a> contributed by a young man in Texas who is generously helping us develop our program (<a href="http://www.heatsynclabs.org/boutduinode-a-pool-party-with-arduino-node-js-and-an-rc-boat/">Andy 'Tuna' Harris</a>,
who, in true Tom Sawyer fashion, developed the code so people around
the world could control his mom's pool skimmer from their web browsers
and help him clean the family pool!) and mashed it together with the
Adafruit Motor Test sketch and came up with the following code:<br />
____________________________________________________________ <br />
<br />
<span style="font-size: x-small;">#include <AFMotor.h><br /><br />AF_DCMotor motor1(1, MOTOR12_64KHZ); // create motor #1, 64KHz pwm<br />AF_DCMotor motor2(2, MOTOR12_64KHZ); // create motor #2, 64KHz pwm<br />AF_DCMotor motor3(3, MOTOR12_64KHZ); // create motor #3, 64KHz pwm<br />void setup() {<br /> Serial.begin(9600); // set up Serial library at 9600 bps<br /> Serial.println("Motor test!");<br /> motor1.setSpeed(200); // set the speed to 200/255, use motor1 on shield as left Sea Perch motor<br /> motor2.setSpeed(200); // set the speed to 200/255, use motor2 on shield as up-down Sea Perch motor<br /> motor3.setSpeed(200); // set the speed to 200/255, use motor3 on shield as right Sea Perch motor<br />}<br />void loop() {<br /> <br /> if (Serial.available() > 0) {<br /> switch(Serial.read()) {<br /> case 'l':<br /> motor1.run(FORWARD); // turn on motor1, which is left motor going forward<br /> motor2.run(RELEASE); // stop motor2, the up-down motor<br /> motor3.run(RELEASE); //stop motor3 which is right motor<br /> Serial.println("You sent 'l' = Left motor forward, Right motor off, turning left");<br /> break;<br /> case 'r':<br /> motor1.run(RELEASE); // stop motor1 <br /> motor2.run(RELEASE); // stop motor2, the up down motor<br /> motor3.run(FORWARD); //turn on motor3, the right motor, going forward<br /> Serial.println("You sent 'r' = left motor off, right motor forward, turning right");<br /> break;<br /> case 'L':<br /> motor1.run(FORWARD); // turn on motor1 forward<br /> motor2.run(RELEASE); // turn motor2, the up down motor, off<br /> motor3.run(BACKWARD); //turn on motor3 which is right motor, spinning backward<br /> Serial.println("You sent 'L' = left motor forward, right motor backward, spinning left");<br /> break;<br /> case 'R':<br /> motor1.run(BACKWARD); //turn on motor1 backward<br /> motor2.run(RELEASE); //stop motor2 which is up down motor<br /> motor3.run(FORWARD); //turn on motor3, the right motor on Sea Perch, forward <br /> Serial.println("You sent 'R' = left motor backward, right motor forward, spinning right");<br /> break;<br /> case 'f':<br /> motor1.run(FORWARD);<br /> motor3.run(FORWARD); <br /> Serial.println("You sent 'f' = Both motors forward, full steam ahead");<br /> break;<br /> case 'b':<br /> motor1.run(BACKWARD);<br /> motor3.run(BACKWARD);<br /> Serial.println("You sent 'b' = Both motors reverse, moving backward");<br /> break;<br /> case 's':<br /> motor1.run(RELEASE); // stopped<br /> motor2.run(RELEASE); // stopped<br /> motor3.run(RELEASE);<br /> Serial.println("You sent 's' = Boat stopped");<br /> break;<br /> case 'd':<br /> motor2.run(FORWARD);<br /> Serial.println("You sent 'd' = dive motor activated, diving");<br /> break;<br /> case 'u':<br /> motor2.run(BACKWARD);<br /> Serial.println("You sent 'u' = dive motor activated, surfacing");<br /> break; <br /> }<br /> }<br /><br />}</span><br />
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This enabled Erica, Luis and EZ to use the serial monitor of the
Arduino IDE on EZ's laptop to control all three Sea Perch motors using
an Arduino Uno with an Adafruit Motorshield mounted on it. EZ explains
what they are doing in the following videos:<br />
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In the above video EZ explains the code and how it controls the motors.<br />
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In the video above EZ explains how the Arduino motor controller is connected to the Sea Perch Controller.<br />
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After we had explored the code and how it works with the Sea Perch motors we started soldering the new MIT Sea Perch Sensor Suite PCB boards to start giving sense and sensibility to the little ROV. Good times ahead!<br />
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<br />Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com0tag:blogger.com,1999:blog-8184752245443375260.post-58696217826918464122012-01-20T10:54:00.000-08:002012-01-20T10:59:57.808-08:00Hacked RC Car at Washington Prep and Sea Perch Build and Venice H.S.<div class="separator" style="clear: both; text-align: center;">
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<span style="font-size: x-small;"> In this video Erica and Johayra are steering the car via the Boatduinode code that we got from Andy 'Tuna' Harris in Texas:</span><br />
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<span style="font-size: x-small;">And in this video the boys get a chance to play as EZMoney and Louis further mod Andy's code and turn it into "Carduinode" code, specifically for running the RC car:</span><br />
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<span style="font-size: x-small;">The code we are using is:<br />HACKED from Boatduinode by Andy 'Tuna' Harris. Here it is:</span><br />
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<span style="font-size: x-small;"><br />* f (activates rear motor in forward motion)<br />* r (activates front motor in right direction)<br />* b (activates rear motor in backward motion)<br />* l (activates front motor in left direction)<br />* s (stops rear motor)<br />* a (aligns front wheels motor)<br />* S (stops both motors)<br />*<br />* Note that pulling the pins LOW activates the motors, and<br />* pulling them HIGH stops them. I have no clue why, so I created<br />* power_on() and power_off() helper functions to make it less<br />* confusing.<br /><br /><br />int car_forward = 8;<br />int wheels_right = 9;<br />int wheels_left = 10;<br />int car_backward = 11;<br />int i;<br /><br />void setup() {<br />Serial.begin(9600);<br /><br />pinMode(car_forward, OUTPUT);<br />pinMode(wheels_right, OUTPUT);<br />pinMode(car_backward, OUTPUT);<br />pinMode(wheels_left, OUTPUT);<br /><br />digitalWrite(car_forward, HIGH);<br />digitalWrite(wheels_right, HIGH);<br />digitalWrite(car_backward, HIGH);<br />digitalWrite(wheels_left, HIGH);<br />}<br /><br />void power_on(int pin)<br />{<br />digitalWrite(pin, LOW);<br />}<br /><br />void power_off(int pin)<br />{<br />digitalWrite(pin, HIGH);<br />}<br /><br /><br />void loop()<br />{<br />if (Serial.available() > 0) {<br />switch(Serial.read()) {<br />case 'f':<br />power_off(car_backward);<br />power_on(car_forward);<br />Serial.println("rear motor activated, moving forward");<br />break;<br />case 'r':<br />power_off(wheels_left);<br />power_on(wheels_right);<br />Serial.println("front motor activated, wheels turn right");<br />break;<br />case 'b':<br />power_off(car_forward);<br />power_on(car_backward);<br />Serial.println("rear motor activated, moving backward");<br />break;<br />case 'l':<br />power_off(wheels_right);<br />power_on(wheels_left);<br />Serial.println("front motor activated, wheels turn left");<br />break;<br />case 's':<br />power_off(car_forward);<br />power_off(car_backward);<br />Serial.println("rear motor stopped");<br />break;<br />case 'a':<br />power_off(wheels_right);<br />power_off(wheels_left);<br />Serial.println("front motor stopped, wheels are aligned");<br />break;<br />case 'S':<br />power_off(car_forward);<br />power_off(car_backward);<br />power_off(wheels_right);<br />power_off(wheels_left);<br />Serial.println("Both motors stopped");<br />break;<br />}<br />}<br />}</span><br />
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<span style="font-size: x-small;">Here is a video of how we began the hack:</span><br />
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<span style="font-size: x-small;">Later in the afternoon, at Venice High School Robotics Club, where the students had just returned from getting a finalist medal in the FRC competition, we built two Sea Perch ROVs:</span><br />
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Many of the students learned to solder for the first time (since the LEGO FIRST competitions they have been competing in don't require much in the way of soldering, but PORPOISE is soldering intensive!)<br />
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<span style="font-size: x-small;"><br /></span>Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com1tag:blogger.com,1999:blog-8184752245443375260.post-33499837581883949242012-01-18T15:56:00.000-08:002012-01-18T15:56:55.096-08:00Washington Prep preps their motor controllers<div class="separator" style="clear: both; text-align: center;">
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Hi gang! This is your captain Dr. T speaking!<br />
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Yesterday afternoon from 3:30 to 5:30 students leading the PORPOISE program at Washington Preparatory High School started soldering their first Adafruit Motorshield and working through their first experience playing with the Arduino board and the Arduino Integrated Development Environment (IDE).<br />
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They learned about how to place polarized and non-polarized components (like capacitors and resistors) and experimented with the delay settings in the "Blink" Arduino sketch. They wired a red LED to the microcontroller using a breadboard, got familiar with how breadboards function and experimented with changing the blink rate of the LED.<br />
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EZMoney came up with a rule of thumb for placing components on the breadboard.<br />
He said, "let's show our fellow students that the power rails form a line between the plus signs down a column and the minus signs down a column, and that is like the third rail on a railroad track. Touch it anywhere and it gives you power. But when you are putting components on the insides of the breadboard, make sure you look at the numbers and letters on the board. A component's pins shouldn't ever be plugged in so that the component touches two different letters. It should touch two different numbers."<br />
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They noticed there is a groove in the center of the board for mounting shields like the XBee that we are using and that on our Sparkfun development board the groove separates the letters "abcde" and "fghij". So it is perfectly okay to have some of the pins in column b and the others over in column h since the groove separates them. It is for this reason that the isolating groove exists.<br />
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Thanks, EZ, for noticing all that and coming up with that rubric!<br />
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For "Homework" (actually, we should call it "homeplay"!) we asked the crew to start playing around with Arduino boards, breadboards and Arduino programming.<br />
"But how?" you are thinking, "We don't have enough boards to give one to each student to take home!"<br />
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The answer is to take an excursion into VIRTUAL REALITY!<br />
Two different companies have come up with open source Arduino simulators.<br />
This one from <a href="http://www.virtualbreadboard.com/">http://www.virtualbreadboard.com/</a> combines an Arduino and a breadboard but it costs $50:<br />
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This one from<a href="http://fritzing.org/"> http://fritzing.org/ </a> is combines an Arduino and a breadboard and costs $0:<br />
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<br />
Guess which one we are going with?<br />
Installing in Ubuntu was easy. We <a href="http://fritzing.org/download/0.6.5b/linux-64bit/fritzing-0.6.5b.linux.AMD64.tar.bz2">downloaded from here</a> and extracted (unzipped) the tar.bz file into a new folder we created in the Home folder called "FritzingforArduino" and then simply double clicked on the Fritzing.sh file and clicked on "Run" and it created a Fritzing application.<br />
<br />
So now our students can do all their Microcontroller and breadboard testing without spending a penny on hardware and get real familiar with both the programming and electronics side, safely, before committing to application on the real aquatic robot!<br />
<br />
And what of the robot itself?<br />
<br />
Finally, we unveiled Motion Picture Marine Engineer Brent Spencer's latest design for a low cost surface craft, this time using water bottles as flotation pontoons (the students agreed last week that water bottle trash is despoiling the ocean environment, so we should use it to help clean the place up -- fighting water with water?!)<br />
<br />
<br />
<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEia2vhelOlvSO3mbTVmXG9Q-pBjAGw9QlOkDU_zFcFrT43HOQauDn7FwjzrP1RuJyBVemsqZ1xl7jKP_X-cn5m80OU8Ond0xQwg5TCmFN9XmrDb7PGpe7QROKwa8fxk5JvhAiLCey3UIIg/s1600/20120116_172525.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEia2vhelOlvSO3mbTVmXG9Q-pBjAGw9QlOkDU_zFcFrT43HOQauDn7FwjzrP1RuJyBVemsqZ1xl7jKP_X-cn5m80OU8Ond0xQwg5TCmFN9XmrDb7PGpe7QROKwa8fxk5JvhAiLCey3UIIg/s320/20120116_172525.jpeg" width="320" /> </a></div>
<br />
<br />
The idea with the latest Sea Sparrow design is that the lowest cost easy-entry craft wouldn't need it's own motors -- it would mate with the Sea Perch and the Sea Perch motors would propel it through the water to the desired location.<br />
<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgpEmCApuP9SWueFfbklwX-Jn4jSWplNKtJEKHipsGN7R8fBfgeXLLIztRP4LmtX44Hk7mpVEmEsYfaP9MUJjxqA4KaTNS37wyUcNo5rxJaz-ObIGXMkuhfggMhjTaK3_JWsuHE9XMONSM/s1600/20120116_172505.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgpEmCApuP9SWueFfbklwX-Jn4jSWplNKtJEKHipsGN7R8fBfgeXLLIztRP4LmtX44Hk7mpVEmEsYfaP9MUJjxqA4KaTNS37wyUcNo5rxJaz-ObIGXMkuhfggMhjTaK3_JWsuHE9XMONSM/s320/20120116_172505.jpeg" width="320" /></a></div>
<br />
Once the Sea Sparrow reached the location, robotic grippe claws would release the Sea Perch, which would descend underwater to accomplish it's mission, storing data from the MIT Sea Perch Sensor Suite on the SD card. <br />
<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiwlwNHNx_0GE2gjBkVsgbeCGOHzlsa-ozKG4Lhb8e-Jh4R9HiWUW0_zhtlT95E48oZJDjR_EJalTsJsTFA9gKC7X8NuEsxEKp6aLkwbgUVsyo2ub2PJl_npzd-V36aAJi1vsmpFBHFxeo/s1600/20120116_172511.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiwlwNHNx_0GE2gjBkVsgbeCGOHzlsa-ozKG4Lhb8e-Jh4R9HiWUW0_zhtlT95E48oZJDjR_EJalTsJsTFA9gKC7X8NuEsxEKp6aLkwbgUVsyo2ub2PJl_npzd-V36aAJi1vsmpFBHFxeo/s320/20120116_172511.jpeg" width="320" /></a></div>
At the end of the mission the Sea Perch would be guided back up to the waiting Sea Sparrow, the robotic grips would secure it, and it would propel the ship home for retrieval of the data and uploading to Google's Digital Ocean.<br />
<br />
Fun!Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com1tag:blogger.com,1999:blog-8184752245443375260.post-42209314906871425902012-01-18T11:25:00.000-08:002012-01-25T16:37:59.713-08:00Purposely Open Source: UBUNTU Apps we Use in PORPOISE<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhpUe6_xose49aKRsIocf3RJ6gRW4vVxzfXI9lqq3g-5kZcqYcIN3TM-BTDjiShzPShg1fzTttkHedQ_FiRu9IdQ9WrbRtZHvCTYkpQ2vY5gfq9wN5Zg2_CpbFBPE30XBbOxxUMHmaYHzc/s1600/skullandcrossbatteries.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhpUe6_xose49aKRsIocf3RJ6gRW4vVxzfXI9lqq3g-5kZcqYcIN3TM-BTDjiShzPShg1fzTttkHedQ_FiRu9IdQ9WrbRtZHvCTYkpQ2vY5gfq9wN5Zg2_CpbFBPE30XBbOxxUMHmaYHzc/s320/skullandcrossbatteries.jpg" width="284" /></a></div>
<br />
Ahoy thar, ya scalliwags!<br />
<br />
Here at PORPOISE, when teaching young people how to use their computers to become better citizens and to learn Science, Technology, Engineering and Math (STEM) and Digital Engineering for Multi-Media Occupations (DEMMO Productions), we adventurers on the high seas of cyber-education have an answer to the Stop On-Line Piracy Act (<a href="http://en.wikipedia.org/wiki/Stop_Online_Piracy_Act">SOPA</a>) now being so furiously debated by the nation that we think is a win-win!<br />
<br />
Our answer is stay open-source and our perspective is to stop looking at software and digital media as a (much over-milked) cash cow and learn to see them instead as part of the foundational infrastructure smart nations need and must make available free of charge to ensure high productivity and competitiveness.<br />
<br />
The dot-com bubble burst. It is over. Deal with it.<br />
<br />
Humanity used the huge investments made during that era to create all sorts of fantastic tools -- software for word processing, for calculating through spreadsheets, for creating art and video and music, for manipulating images and sounds and even things in the real world, like robotic hardware. <br />
<br />
Creative artists created a wealth of songs and films and other media that do a great job of informing a world-wide audience about our languages and cultures, our dreams and fears, our histories and our challenges. They have created "games" that help the young and old perfect their hand-eye coordination and develop their imaginations and social skill-sets.<br />
<br />
The network professionals have created ways for us to talk across oceans and even to see and hear and interact with one another in real-time through group video conferencing and on-line in ways that long ago seemed the stuff of comic books and science fiction. <br />
<br />
The so-called "intellectual property" developed during this time exists as testimony to the marvelous intellect of the human race. The works exist. They can't be un-invented.<br />
<br />
It is time to put them to service for all humanity.<br />
<br />
But because many people still want to hold on to digital productions and use them to continue to garner profits through royalties (even though the transaction costs of duplication are close to zero), there will inevitably be conflicts about who gets to use what when and how. And those who don't have much money or time but want access to those tools will be tempted to pirate them.<br />
<br />
We want to avoid all of that.<br />
<br />
Fortunately, the open-source movement has also matured during the dot-com bubble years. Operating systems and software exist today that is as good as anything out there on the commercial market. Cultural/educational/entertainment material made "of the people, by the people, for the people" exists (through blogs and youtube and Vimeo and others) to keep us enthralled while we learn to make sense of the world through the arts.<br />
<br />
We now have all the tools we need to level the playing field and give equal access to the best education available on the planet to everyone on the planet.<br />
<br />
So in this program we are going to stay completely OPEN-SOURCE and OPEN-ARCHITECTURE. We invite you to by-pass the entire SOPA debacle by staying in a realm where no piracy is possible because everything has been made available for free to begin with! <br />
<br />
And just for the record, mateys -- since in this program we follow the
cyberpunk clarion call "information longs to be free", we'll be doing
this entire program using LINUX BASED OPEN-SOURCE HARDWARE AND SOFTWARE and puttin'
it all in the public domain.<br />
<br />
We're countin' on you to start
workin' with the same<a href="http://www.ubuntu.com/ubuntu/why-is-it-free"> UBUNTU Linux distribution</a> we use and "abandon ship" when it comes to Windows or Mac
for this educational initiative (go ahead and use them in your everyday
life -- we do too -- but in PORPOISE our purpose is to make robotics
education accessible to EVERYONE, from the richest to the least-wealthy,
from Tarzana to Timbuktu, so we like the software solution that South
African astronaut Mark Shuttleworth came up with to close the digital
divide: Ubuntu.)<br />
<br />
And here is a nice definition of Ubuntu from <a href="http://africanhistory.about.com/od/glossaryu/g/Ubuntu.htm">About.com</a>:<br />
<blockquote class="tr_bq">
<br />
<span style="font-size: x-small;">"Ubuntu is a Nguni word which has no direct translation into English,
but is used to describe a particular African worldview in which people
can only find fulfillment through interacting with other people. Thus is
represents a spirit of kinship across both race and creed which united
mankind to a common purpose.</span><br />
<span style="font-size: x-small;">Archbishop Emeritus Desmond Tutu has said "<i>Ubuntu is very
difficult to render into a Western language…It is to say. 'My humanity
is caught up, is inextricably bound up, in what is yours'…</i>"<sup>1</sup></span></blockquote>
<span style="font-size: xx-small;"><sup>1</sup><i> No Future Without Forgiveness: A Personal Overview of South Africa's Truth and Reconciliation Commission </i>, Desmond Tutu, © 2000.</span><br />
<br />
<br />
We've
been teaching Ubuntu in places as diverse as Maasai villages in Kenya
and the slums of Cairo to the 'hood in Los Angeles. By having a common
and evolving platform for robotics development where all the software
tools are free and open-source we ensure a dialog between users and
cultures that will erase the gulfs dividing us and give everybody a
chance to participate in "the great conversation" that humanity has been
having since we achieved self-awareness and began to look up at the
stars...<br />
<br />
Now back to our anti-pirate voice:<br />
<br />
"Har be an evolving list of the Ubuntu Software we reckon to use in this har program for various and nefarious porpoises related to aquatic and maritime robotics -- and all the media and pedagogical (thar be a big word, aye!) projects associated with said STEM educational goals!<br />
<br />
I'll be updatin' her from time to time as I makes me own discoveries so check back frequently. And if ye have yer own recommendations, do let us know down under in the comments section and we'll add 'em to the list!<br />
<br />
Arrrrh!"<br />
<br />
(Note: we give the link to the relevant websites for informational purposes, but once you are in Ubuntu you can download everything for free from the Ubuntu Software Center for easy install).<br />
<br />
<b> Taking Screenshots:</b><br />
<a href="http://shutter-project.org/">Shutter</a><br />
(Shutter also works as a decent and quick image editor for cropping and flipping etc.)<br />
<br />
<b>Resizing pictures:</b><br />
<a href="http://www.ubuntugeek.com/converseen-the-batch-image-converter-and-resizer.html">Converseen</a><br />
<br />
<b>Managing photographs:</b><br />
<a href="http://www.ubuntugeek.com/shotwell-open-source-photo-organizer.html">Shotwell Open Source Photo Organizer</a><br />
<b><br /></b><br />
<b>Making 2D pictures (the Ubuntu equivalent of Photoshop):</b><br />
<a href="http://www.gimp.org/downloads/">GIMP</a><br />
<br />
<b>3D Modelling, Animation and Game Creation:</b><br />
<a href="http://www.noobslab.com/2011/12/blender-261-is-released-ubuntulinux.html">Blender</a><br />
<br />
<b>Free model resources for Blender:</b><br />
<a href="http://e2-productions.com/repository/modules/PDdownloads/viewcat.php?cid=1">http://e2-productions.com/</a> (this is where I got the skull for the logo I created above)<br />
<a href="http://www.katorlegaz.com/3d_models/electronics_batteries/0055/index.php">http://www.katorlegaz.com/3d_models/</a> (this is where I got the battery to make the skull and crossbones batteries in the logo above).<br />
<b><br /></b><br />
<b>Word Processing/Spreadsheets/Databases (equivalent to Microsoft Office):</b><br />
<a href="http://www.openoffice.org/">http://www.openoffice.org/ </a><br />
<br />
<b>Web-browsing:</b><br />
<a href="http://www.mozilla.org/en-US/firefox/all.html">Firefox </a><br />
<b><br /></b><br />
<b>PDF Viewing (similar to Acrobat Reader):</b><br />
<a href="https://help.ubuntu.com/community/Evince">Evince Document Viewer</a><br />
<b><br /></b><br />
<b>PDF Creation and Page Layout (similar to Adobe PageMaker)</b><br />
<a href="http://www.scribus.net/canvas/Scribus">Scribus</a><br />
<br />
<b>Video Production: </b><br />
<a href="http://www.kdenlive.org/">Kdenlive:</a> The best way to install it is to <a href="http://www.kdenlive.org/user-manual/downloading-and-installing-kdenlive/installing-source/installing-mlt-rendering-engine">use the instructions here, starting with installing MTL and ALL the dependencies</a> and THEN install Kdenlive from <a href="http://www.kdenlive.org/user-manual/downloading-and-installing-kdenlive/pre-compiled-packages/ubuntu-packages">here</a>.<br />
Don't use the Ubuntu Software Center for this or you may get problems (MTL missing warnings and crashes!). But it is worth it.<br />
<br />
<a href="http://www.heroinewarrior.com/cinelerra.php">Cinelerra </a><br />
(This one you have to<a href="http://www.g-raffa.eu/Cinelerra/HOWTO/compilation.html"> install from source using these instructions </a> if you get it from <a href="https://launchpad.net/%7Ecinelerra-ppa">here</a> or<a href="http://www.heroinewarrior.com/cinelerra/cinelerra.html#COMPILING-FROM-SCRATCH"> these</a> if you get it from heroinewarrior link above; it can't be found in Ubuntu Software Center like most of the others. There are a few more Linux video editors listed here:<br />
<a href="http://www.cyberciti.biz/faq/top5-linux-video-editing-system-software/">http://www.cyberciti.biz/faq/top5-linux-video-editing-system-software/</a>).<br />
I have to say, having worked as a video editor for years on both linear AB Roll systems and non-linear systems, from AVID to Media 100 to Final Cut Pro to Adobe Premiere, that I vastly prefer Kdenlive to Cinelerra. I couldn't get the audio working in Cinelerra and it is hard to do simple edits if you are used to the stretchable timelines in Final Cut or Premiere. Kdenlive is more like those programs in any event.<br />
<br />
(Note: To properly install Ubuntu 11.10 Oneiric Ocelot, this tutorial is very helpful:<br />
<a href="http://www.techdrivein.com/2011/10/15-things-i-did-after-installing-new.html">http://www.techdrivein.com/2011/10/15-things-i-did-after-installing-new.html</a> as is this one about repositories:<br />
<a href="https://help.ubuntu.com/community/Repositories/Ubuntu"> https://help.ubuntu.com/community/Repositories/Ubuntu)</a><br />
_____________________________________________________________<br />
<br />
If you are interested in how an economy might work in an age of almost cost-free software, check out this<a href="http://www.joelonsoftware.com/articles/CamelsandRubberDuckies.html"> great essay by Joel Spolsky</a> where gives a brief economics lesson as he talks about how to properly price software and gives the advice "charge $0.05 for your software ... unless it does bug tracking, in which case the correct price is $30,000,000."<br />
<br />
Joel also has <a href="http://www.joelonsoftware.com/articles/CollegeAdvice.html">a great essay giving advice for Computer Science Majors</a> who might be worried about getting jobs after college. His thinking is seminal in our education work, so check it out!Anonymoushttp://www.blogger.com/profile/00927284438256432292noreply@blogger.com2tag:blogger.com,1999:blog-8184752245443375260.post-12953390804284597542012-01-16T09:41:00.000-08:002012-01-16T10:42:33.450-08:00"That's a Hull of a Design!" - in search of the best boat for PORPOISE<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjmwQMPmmSi_EieXcD0vsk9ODbhSzIAdvcj34HDBxKch8ICZ83R_ZYHP2yWhkIbGc3lLdokvP3Cr0HLefWl0FVImgMj2vrtHmqkh5DVnOc6CfO5XYdDaNCGNiitDZmy3EblTxGvvEtlqRU/s1600/MotherGoose3crop.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="187" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjmwQMPmmSi_EieXcD0vsk9ODbhSzIAdvcj34HDBxKch8ICZ83R_ZYHP2yWhkIbGc3lLdokvP3Cr0HLefWl0FVImgMj2vrtHmqkh5DVnOc6CfO5XYdDaNCGNiitDZmy3EblTxGvvEtlqRU/s320/MotherGoose3crop.jpg" width="320" /></a></div>
<br />
Imagine the Mission Impossible Theme playing in the background...<br />
(if your imagination is failing you today, you can always <a href="http://www.youtube.com/watch?v=XAYhNHhxN0A">click here...</a>)<br />
<br />
Your mission, should you choose to accept it, is to design a robotic surface craft that can deploy and recover your Sea Perch. Using the minimum amount of materials. At the lowest cost. <br />
<br />
To get you started we at <a href="http://motionpicturemarine.com/">Motion Picture Marine </a>(a Hollywood company specializing not only in Land and Sea Camera Stabilization through our <a href="http://www.motionpicturemarine.com/applexampl.html">Perfect Horizon Robotic Sensor Platform</a>, but Marine coordination for film and television) invite you to consider some of the options we've worked with in the real world for bringing camera subs on location in the ocean and bringing them back to shore safely with their valuable payload of motion picture footage.<br />
<br />
One you might draw inspiration from is this "Mother Goose" 47 foot Transport with 2 man sub. In the photos below, note the slot in the hull of the transport that the sub can slide into.<br />
<br />
<br />
<br />
<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgt0tM8P896dqPLTfhIBOcHVDiXQKAPNqW8R2NDenbTmp57ezooH6oyeVLCUxjxaWEfBcFvwTcFXSnKkwHgwKk17vdTkgyRbnpZigwmhc3XXTwNolBq_fg5ImZEnyU9IMxGPDtuuly64iQ/s1600/MotherGoose3.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgt0tM8P896dqPLTfhIBOcHVDiXQKAPNqW8R2NDenbTmp57ezooH6oyeVLCUxjxaWEfBcFvwTcFXSnKkwHgwKk17vdTkgyRbnpZigwmhc3XXTwNolBq_fg5ImZEnyU9IMxGPDtuuly64iQ/s320/MotherGoose3.jpg" width="247" /></a></div>
<br />
Now imagine that the real life two man sub depicted in these photos is your Sea Perch. How would you construct a boat that would accommodate your ROV? Would you be able to winch it up onto the boat? Is it feasible to lift it out of the water? Could you pilot it into a slot in the boat's hull? How would you secure it once you drove it in? <br />
<br />
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<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9LicQqPQYI7T-c9NlSM5gSXv3PoOdX_Dv4lrmgGAsngFceQ4dqUCElTKGHY4ZOLGRPTQgXEXGqAjhQ_kyT_Pcub5ePsUdmgpQk5vo22lKK41GvqYup1pLas2tyRkBI9LilfJlGJZ5f1U/s1600/MotherGoose1.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9LicQqPQYI7T-c9NlSM5gSXv3PoOdX_Dv4lrmgGAsngFceQ4dqUCElTKGHY4ZOLGRPTQgXEXGqAjhQ_kyT_Pcub5ePsUdmgpQk5vo22lKK41GvqYup1pLas2tyRkBI9LilfJlGJZ5f1U/s320/MotherGoose1.jpg" width="247" /></a></div>
<br />
<br />
Or you might draw inspiration from this "<a href="http://wam-v.com/wamv.html">Wave Adapted Modular Vessel</a>" (WAM-V) surface craft from <a href="http://wam-v.com/">Marine Advanced Research:</a><br />
<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0RfS4ZOI8IrOA64kZa-85_IcRmzN1JQ2t3R4vv7RpmCyJQ_2uVq8HqfbRQGdwnw9y-YD2yeKnz5CutzrsTkenk35jsZDefY1iQHlBvg7CBbnhSdA1R2WGNYE9GOhEPM1Pd8Njp7b9u98/s1600/WAM-V.jpeg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="231" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0RfS4ZOI8IrOA64kZa-85_IcRmzN1JQ2t3R4vv7RpmCyJQ_2uVq8HqfbRQGdwnw9y-YD2yeKnz5CutzrsTkenk35jsZDefY1iQHlBvg7CBbnhSdA1R2WGNYE9GOhEPM1Pd8Njp7b9u98/s320/WAM-V.jpeg" width="320" /></a></div>
<br />
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="http://wam-v.com/images/home_img_ss/home_imgF.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="156" src="http://wam-v.com/images/home_img_ss/home_imgF.jpg" width="320" /></a></div>
<br />
<br />
One suggestion our students came up with was to allow the Sea Perch to be a "driver module" for the boat itself. Since it has thrusters, the idea was that the Sea Perch, when it is nested inside the boat hull, could be used to drive the boat. Then when it is deployed underwater, tethered to the boat above it, it would gently drag the boat as it moved, akin to the way "SNUBA-Divers" tow their surface tank craft from beneath.<br />
<br />
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<a href="http://www.caribbeanmag.com/images/articles/Caribbean/snuba1.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://www.caribbeanmag.com/images/articles/Caribbean/snuba1.jpg" /></a></div>
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Imagine that the SNUBA divers depicted above were the Sea Perch and the dingy that their scuba tank is in was your surface craft. With this concept, the Sea Perch provides all of the motive power. Underwater the Sea Perch explores the undersea environment and tows its surface support craft via the Cat-5 Ethernet cable going from the motor control box to the Sea Perch propeller motors. The motor control box, which you hacked to work with an Arduino microcontroller and motor shield, rests safely topside where it can receive programming signals wirelessly via X-bee or Bluetooth. When the mission is over the Sea Perch is piloted up to the surface craft with which it docks. Then Sea Perch uses its motors to push the surface craft back to shore for its data collecting SD card to be removed.</div>
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This is the least expensive option, requiring just one arduino and motor shield for both the Sea Perch and the surface craft. </div>
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