1. To sense whether or not a door is open, the robot uses the ultrasonic sensor.
2. By using the loop, we don't have to program for every door. It will continue after it checks a door.
3. The robot does not always turn back to straight after looking in the doorway, so it can go off to the right and possibly miss the next line marking the doorway. However, multiple searches in the doorway would not affect the reliability of the ultrasonic sensor. It should still be able determine whether or not the door is open, even if the robot has checked in several other doors already.
Monday, December 13, 2010
Wednesday, December 8, 2010
Gears and Speed
1. see chart
2. see chart
3.
i.No. The different gear sizes caused it to go different distances. The robot is also not very precise.
ii. see chart
iii. To calculate the average speed.
4. see chart
5. No. This was only three trials with one gear ratio. We need to test different ratios and do more tests in order to conclude anything.
6. That is not how far it went. The back wheels did not start at the line, so measuring from the line to the back wheels with not include the length of the robot in the distance traveled.
7. 18.64 cm/s
8. 51.77 cm/s
9. 51.77 cm/s
10. 18.64 cm/s
11. see chart
12. see chart
13. 156.83 cm
14. 52.28 cm/s
15.
i. 18.64 cm/s
ii. 52.28 cm/s
iii. no
16.
i. 51.77 cm/s
ii. 52.28 cm/s
iii. yes
17.
i. Hypothesis B did a much better job of predicting average speed.
ii. The actual speed for Condition 2 was 52.28 cm/s and Hypothesis B predicted that it would be 51.77 cm/s, which is very close.
iii. Yes. We have disproved it twice, so we can conclude that it is incorrect.
iv. No. We will need to prove it more than twice to conclude that a hypothesis is incorrect.
v. Hypothesis B has the stronger support for it at this moment.
18. see chart
19. see chart
20. 55.83 cm
21. 18.61 cm/s
22.
i. 51.77 cm/s
ii. 18.61 cm/s
iii. no
23.
i. 18.64 cm/s
ii. 18.61 cm/s
iii. yes
24.
i. Hypothesis B
ii. The actual speed for Condition 3 was 18.61 cm/s and Hypothesis B predicted that it would be 18.64 cm/s, which is very close.
iii. Yes. We have disproved Hypothesis A already, so disproving it again proves that it is incorrect.
iv. No. We have only proved it twice, which could be flukes. We must test other ratios and more trials in order to conclude that it is absolutely correct.
v. Hypothesis B because it has been very accurate.
25. Hypothesis B was correct. To prove this we took different gear ratios and tested them to see how far they would go in three seconds. We then calculated the average speed and used the theories to predict how far they should have gone. Hypothesis B was correct since it was the more accurate.
26.
i. B
ii. A
iii. directly proportional
iv. It would be directly proportional because if it has a bigger wheel size, it will travel farther.
27. (36/6)*(16/16)= (x/3)*(18/6)
x =12 cm
28. (1.5)*(1)=(x)*(8/24)
x = 4.5
No. It will go too fast.
29. (9)*(1)=(15)*(36/x)
x = 60 teeth
2. see chart
3.
i.No. The different gear sizes caused it to go different distances. The robot is also not very precise.
ii. see chart
iii. To calculate the average speed.
4. see chart
5. No. This was only three trials with one gear ratio. We need to test different ratios and do more tests in order to conclude anything.
6. That is not how far it went. The back wheels did not start at the line, so measuring from the line to the back wheels with not include the length of the robot in the distance traveled.
7. 18.64 cm/s
8. 51.77 cm/s
9. 51.77 cm/s
10. 18.64 cm/s
11. see chart
12. see chart
13. 156.83 cm
14. 52.28 cm/s
15.
i. 18.64 cm/s
ii. 52.28 cm/s
iii. no
16.
i. 51.77 cm/s
ii. 52.28 cm/s
iii. yes
17.
i. Hypothesis B did a much better job of predicting average speed.
ii. The actual speed for Condition 2 was 52.28 cm/s and Hypothesis B predicted that it would be 51.77 cm/s, which is very close.
iii. Yes. We have disproved it twice, so we can conclude that it is incorrect.
iv. No. We will need to prove it more than twice to conclude that a hypothesis is incorrect.
v. Hypothesis B has the stronger support for it at this moment.
18. see chart
19. see chart
20. 55.83 cm
21. 18.61 cm/s
22.
i. 51.77 cm/s
ii. 18.61 cm/s
iii. no
23.
i. 18.64 cm/s
ii. 18.61 cm/s
iii. yes
24.
i. Hypothesis B
ii. The actual speed for Condition 3 was 18.61 cm/s and Hypothesis B predicted that it would be 18.64 cm/s, which is very close.
iii. Yes. We have disproved Hypothesis A already, so disproving it again proves that it is incorrect.
iv. No. We have only proved it twice, which could be flukes. We must test other ratios and more trials in order to conclude that it is absolutely correct.
v. Hypothesis B because it has been very accurate.
25. Hypothesis B was correct. To prove this we took different gear ratios and tested them to see how far they would go in three seconds. We then calculated the average speed and used the theories to predict how far they should have gone. Hypothesis B was correct since it was the more accurate.
26.
i. B
ii. A
iii. directly proportional
iv. It would be directly proportional because if it has a bigger wheel size, it will travel farther.
27. (36/6)*(16/16)= (x/3)*(18/6)
x =12 cm
28. (1.5)*(1)=(x)*(8/24)
x = 4.5
No. It will go too fast.
29. (9)*(1)=(15)*(36/x)
x = 60 teeth
Tuesday, December 7, 2010
Get in Gear
1. Yes. The robot went faster.
2. Increasing the motor power would allow the wheels to move faster.
3. If you make the gear of the wheel axle smaller, the robot will go faster. If it is bigger, it will go slower.
4. It went faster. It went twice the distance in the same amount of time. We timed the robot, and saw that it went faster.
5. It will go slower. It went half the distance in the same amount of time.
6. To make it go faster, you can increase the power or swap the wheel gear to a smaller gear.
7. To make it go slower, you can decrease the power or swap the wheel gear to a bigger gear.
8. The larger wheel will go on the motor.
9.
i. same
ii. very slow
iii. To go faster, the gear on the wheel must be smaller than that on the motor. To go slower, the gear on the motor must be smaller than that on the motor. To go the same speed, the gears must be the same size.
iv. If the wheel gear is smaller than 16, it will go faster. If it is 16, it will go the same speed. If it is bigger than 16, it will go slower.
10.
i. It was only set to motor rotations, not wheel rotations. Since the wheel gear was smaller, it rotated more in the same amount of time.
ii. It was only set to motor rotations, not wheel rotations. Since the wheel gear was bigger, it rotated less in the same amount of time.
iii. No. It the wheel gear is smaller, than you will have to figure out the ratio between the motor gear and the wheel gear to figure out how many motor rotations will equal a wheel rotation.
11.
i. small gear on the wheel and large gear on the motor.
ii. large gear on the wheel and small gear on the motor.
iii. large gear on the wheel and small gear on the motor.
iv. small gear on the wheel and large gear on the motor.
12. Different gears work better for high speeds than they would for towing and having lots of power.
2. Increasing the motor power would allow the wheels to move faster.
3. If you make the gear of the wheel axle smaller, the robot will go faster. If it is bigger, it will go slower.
4. It went faster. It went twice the distance in the same amount of time. We timed the robot, and saw that it went faster.
5. It will go slower. It went half the distance in the same amount of time.
6. To make it go faster, you can increase the power or swap the wheel gear to a smaller gear.
7. To make it go slower, you can decrease the power or swap the wheel gear to a bigger gear.
8. The larger wheel will go on the motor.
9.
i. same
ii. very slow
iii. To go faster, the gear on the wheel must be smaller than that on the motor. To go slower, the gear on the motor must be smaller than that on the motor. To go the same speed, the gears must be the same size.
iv. If the wheel gear is smaller than 16, it will go faster. If it is 16, it will go the same speed. If it is bigger than 16, it will go slower.
10.
i. It was only set to motor rotations, not wheel rotations. Since the wheel gear was smaller, it rotated more in the same amount of time.
ii. It was only set to motor rotations, not wheel rotations. Since the wheel gear was bigger, it rotated less in the same amount of time.
iii. No. It the wheel gear is smaller, than you will have to figure out the ratio between the motor gear and the wheel gear to figure out how many motor rotations will equal a wheel rotation.
11.
i. small gear on the wheel and large gear on the motor.
ii. large gear on the wheel and small gear on the motor.
iii. large gear on the wheel and small gear on the motor.
iv. small gear on the wheel and large gear on the motor.
12. Different gears work better for high speeds than they would for towing and having lots of power.
Friday, December 3, 2010
Article Journal Post #15: Robot Space Plane
The U.S. Air Force's first unmanned re-entry spacecraft landed Friday after a top secret mission in space, beginning in April. The Air Force will not say exactly what the plane's objectives were, but they say that it performs "risk reduction, experimentation and concept of operations development for reusable space vehicle technologies." It was most likely testing avionoics or reusable insulation. The newest reusable reentry spacecraft, the X-37B is planned to launch sometime next spring. It is designed for a vertical takeoff like a rocket to low orbits, where it can automously descend back to Earth on command and land horizontally on a runway, like a plane. This is the first craft since the shuttles to have this capability.
This technology is great. When the space shuttles are retired next spring, astronauts will need some way to get to the International Space Station. They will have to buy seats on Russian rockets, which is extremely expensive, until we come up with a replacement for the shuttles. The X-37Bs sound very similar to the design of the orbiters, but are automously controlled. Having the controls on autopilot makes the astronaut pilot's job much easier. It can make landings and dockings more precise, lessening the chance of error and calamity.
article
supporting article 1
supporting article 2
This technology is great. When the space shuttles are retired next spring, astronauts will need some way to get to the International Space Station. They will have to buy seats on Russian rockets, which is extremely expensive, until we come up with a replacement for the shuttles. The X-37Bs sound very similar to the design of the orbiters, but are automously controlled. Having the controls on autopilot makes the astronaut pilot's job much easier. It can make landings and dockings more precise, lessening the chance of error and calamity.
article
supporting article 1
supporting article 2
Field of View
1.
i. It made a snowman figure.
ii. It represents the area that the sensor can detect objects. It detects near and far in a wide range, but not as well in the middle.
2.
i. 60 cm
ii. 62 cm away from the sensor, directly in front
3.
i. The widest detection range is bigger than the robot's width.
ii. Yes. the NXT is narrower than 35 cm, so if an object is at the edge of the range, the robot will not run into it.
4. 2 cm
5. 10 cm
6. 1:5
7.
i. The graph is the same pattern as the actual dots. We can see that the robot is smaller than the detection range.
ii. The size of the dot pattern is smaller.
iii. Yes. It is the same information, just smaller.
8.
i. The scale factor means that every one centimeter on the paper is equal to five actual centimeters.
ii. 4.4 cm
iii. 11.5 cm
9.
i. directly in front of the sensor
ii. 12 cm away
iii. 60 cm
iv. The farthest it can detect is 62 cm right in front of the sensor.
10.
i.Yes, at about 50 cm, the robot's side ranges narrowed.
ii.50 cm
iii. Different amounts of frequency of the waves are needed to detect something farther away than something closer.
11. The detection area was in the shape of a circle. As it got farther away, the rebounded waves got weaker until it switched to distance mode, where it had the same circular pattern.
12. We put the sensor on a flat line on the floor. Looking at the sensor readings, we saw how far away the robot could detect an object. Then, at intervals of 10 cm (10,20,30,40,50, and up to your point of farthest detection), we found how far to the sides the sensor could detect an object. We then recorded the points on a scaled graph.
13.
i. It was 52 cm, directly in front of the robot's sensor.
ii. The widest detection part is about 31 cm wide at a distance of 40 cm away from the robot.
14.
i. 2:25
ii. It is about 170 cm, right in front of the sensor.
iii. 115 cm wide
iv. No, it doesn't have the gourd like shape, indicating the mode switch.
15.
i. 62 cm
ii. .0018 seconds
iii. .0018 seconds
iv. .0036 seconds
v. .0038 seconds
vi. They are really fast. It has to be able to detect to the hundred thousandths place.
i. It made a snowman figure.
ii. It represents the area that the sensor can detect objects. It detects near and far in a wide range, but not as well in the middle.
2.
i. 60 cm
ii. 62 cm away from the sensor, directly in front
3.
i. The widest detection range is bigger than the robot's width.
ii. Yes. the NXT is narrower than 35 cm, so if an object is at the edge of the range, the robot will not run into it.
4. 2 cm
5. 10 cm
6. 1:5
7.
i. The graph is the same pattern as the actual dots. We can see that the robot is smaller than the detection range.
ii. The size of the dot pattern is smaller.
iii. Yes. It is the same information, just smaller.
8.
i. The scale factor means that every one centimeter on the paper is equal to five actual centimeters.
ii. 4.4 cm
iii. 11.5 cm
9.
i. directly in front of the sensor
ii. 12 cm away
iii. 60 cm
iv. The farthest it can detect is 62 cm right in front of the sensor.
10.
i.Yes, at about 50 cm, the robot's side ranges narrowed.
ii.50 cm
iii. Different amounts of frequency of the waves are needed to detect something farther away than something closer.
11. The detection area was in the shape of a circle. As it got farther away, the rebounded waves got weaker until it switched to distance mode, where it had the same circular pattern.
12. We put the sensor on a flat line on the floor. Looking at the sensor readings, we saw how far away the robot could detect an object. Then, at intervals of 10 cm (10,20,30,40,50, and up to your point of farthest detection), we found how far to the sides the sensor could detect an object. We then recorded the points on a scaled graph.
13.
i. It was 52 cm, directly in front of the robot's sensor.
ii. The widest detection part is about 31 cm wide at a distance of 40 cm away from the robot.
14.
i. 2:25
ii. It is about 170 cm, right in front of the sensor.
iii. 115 cm wide
iv. No, it doesn't have the gourd like shape, indicating the mode switch.
15.
i. 62 cm
ii. .0018 seconds
iii. .0018 seconds
iv. .0036 seconds
v. .0038 seconds
vi. They are really fast. It has to be able to detect to the hundred thousandths place.
Wednesday, December 1, 2010
Obstacle Detection
1. The robot went forward until it ran into the wall and stopped.
2. The touch sensor felt the wall and told the robot to stop.
3. No. The robot could bump into a fragile item and break it. Running into things all the time could ruin the robot as well. It is better than running into something and trying to keep going.
4. The robot is able to sense where things are, but it can only do that by running into them.
5. The robot ran until it sensed the wall and stopped a couple inches from it.
6. It sensed the wall because of the radar, which told the robot to stop.
7. The robot stopped about four centimeters from the wall, measuring from the front of the sensor.
8. The robot will stop when it sees obstacles and will not run into them, but it may not see the smaller objects.
9. It is not as reliable as the touch sensor because it is unable to sense smaller obstacles. However, it is good if you want to avoid something without running into it first.
10.
i. We changed the wait for block from touch sensor to ultrasonic sensor. The touch sensor senses where things are by running into them and the ultrasonic sensor senses where things are by bouncing radar waves off of them.
ii. One stops after it runs into an obstacle, and the other stops right before it runs into something.
11. The robot will stop when it sees obstacles and will not run into them, but it may not see the smaller objects.
12.
i. The ultrasonic sensor depends on a variety of variables, like the light sensor and the sound sensor, so you need to set a threshold so the robot knows how far to look ahead. It also has a range that it can detect, so you need to set it to how far you want it to look ahead.
ii. If the threshold is changed, the robot will stop closer or farther away from the obstacle.
13.
i. to detect walls
to navigate a maze
to determine exactly where obstacles are
the sensor is easier to use
ii. robots that are trying to navigate on their own and robots going through a maze. Scales and computer mice are also touch sensors
iii. It would not be acceptable when the obstacle is fragile or if it in a small area.
14.
i. so you don't run into things
more efficient and easy to program
to detect from far away where an object is
to map out an area
ii. No. It cannot see some smaller objects.
iii. A robotically-driven tractor navigating a field
iv. If the robot is traveling over bumpy terrain with small rocks, it may not be able to see them.
15. The touch sensor can detect obstacles by feeling when the robot runs into something. The light sensor can detect obstacles by looking for the shadow of an object. A thermal detector or infrared sensors could detect humans or animals in the area. Magnets could detect the distance, like a metal detector.
16. ??????
17. Yes.
18. It detects hard objects easier because it is more rigid and bounce the waves back easily.
19. The smallest object detected was the ruler.
20. No.
21. Yes. The thinner objects can be seen easier by the sensor.
2. The touch sensor felt the wall and told the robot to stop.
3. No. The robot could bump into a fragile item and break it. Running into things all the time could ruin the robot as well. It is better than running into something and trying to keep going.
4. The robot is able to sense where things are, but it can only do that by running into them.
5. The robot ran until it sensed the wall and stopped a couple inches from it.
6. It sensed the wall because of the radar, which told the robot to stop.
7. The robot stopped about four centimeters from the wall, measuring from the front of the sensor.
8. The robot will stop when it sees obstacles and will not run into them, but it may not see the smaller objects.
9. It is not as reliable as the touch sensor because it is unable to sense smaller obstacles. However, it is good if you want to avoid something without running into it first.
10.
i. We changed the wait for block from touch sensor to ultrasonic sensor. The touch sensor senses where things are by running into them and the ultrasonic sensor senses where things are by bouncing radar waves off of them.
ii. One stops after it runs into an obstacle, and the other stops right before it runs into something.
11. The robot will stop when it sees obstacles and will not run into them, but it may not see the smaller objects.
12.
i. The ultrasonic sensor depends on a variety of variables, like the light sensor and the sound sensor, so you need to set a threshold so the robot knows how far to look ahead. It also has a range that it can detect, so you need to set it to how far you want it to look ahead.
ii. If the threshold is changed, the robot will stop closer or farther away from the obstacle.
13.
i. to detect walls
to navigate a maze
to determine exactly where obstacles are
the sensor is easier to use
ii. robots that are trying to navigate on their own and robots going through a maze. Scales and computer mice are also touch sensors
iii. It would not be acceptable when the obstacle is fragile or if it in a small area.
14.
i. so you don't run into things
more efficient and easy to program
to detect from far away where an object is
to map out an area
ii. No. It cannot see some smaller objects.
iii. A robotically-driven tractor navigating a field
iv. If the robot is traveling over bumpy terrain with small rocks, it may not be able to see them.
15. The touch sensor can detect obstacles by feeling when the robot runs into something. The light sensor can detect obstacles by looking for the shadow of an object. A thermal detector or infrared sensors could detect humans or animals in the area. Magnets could detect the distance, like a metal detector.
16. ??????
17. Yes.
18. It detects hard objects easier because it is more rigid and bounce the waves back easily.
19. The smallest object detected was the ruler.
20. No.
21. Yes. The thinner objects can be seen easier by the sensor.
Monday, November 22, 2010
Faster Line Tracking
1. The robot spun in circles with a slight hesitations when it reached the black line.
2. The robot was moving too fast to properly register the black line, so it got lost on the right side of the line.
3. Put the sensor closer to the robot's axis of rotation at the back so it can register the line better.
4. The turning centers are underneath the wheels.
5. If we did not change the programming, the robot would track the line behind it, which would be pointless.
6. Since the sensor is on the center of the turn, it will stay in the center of the robot and remain on the black line longer.
7.
i. done
ii. 30% power, 24 seconds
iii. 91% power, 14 seconds
iv. 14/24 = 58.33%
8. There is a left backwards swing turn and a right backwards swing turn.
9. Right and left are dependent upon the person and the direction they are facing. Define left and right from the direction it is going, not the direction it is facing. Or you could say that Motor C is the left wheel and motor B is the right wheel.
2. The robot was moving too fast to properly register the black line, so it got lost on the right side of the line.
3. Put the sensor closer to the robot's axis of rotation at the back so it can register the line better.
4. The turning centers are underneath the wheels.
5. If we did not change the programming, the robot would track the line behind it, which would be pointless.
6. Since the sensor is on the center of the turn, it will stay in the center of the robot and remain on the black line longer.
7.
i. done
ii. 30% power, 24 seconds
iii. 91% power, 14 seconds
iv. 14/24 = 58.33%
8. There is a left backwards swing turn and a right backwards swing turn.
9. Right and left are dependent upon the person and the direction they are facing. Define left and right from the direction it is going, not the direction it is facing. Or you could say that Motor C is the left wheel and motor B is the right wheel.
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