some robotic stem ideas craig shelden [email protected] 202-251-7578 science and engineering...
TRANSCRIPT
![Page 2: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/2.jpg)
Robot Connections with STEM
Combines disciplines• Engineering• Math• Technology• Scientific Method
Makes abstract ideas real.
![Page 3: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/3.jpg)
3
Thoughts on Programming
Clear Problem Statement
Pseudocode Draw out what’s being attempted Words First.
Program – Test – Program – Test ---> Repeat
Value of default settings… ? Make things easier to program… Make students think through every block they program
Approaches vary with goals and Team choices
![Page 4: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/4.jpg)
WeDo Programming
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Sailor Max
Basic boat movement
Basic boat movement with sound effects
basic_boat.wedoboat_sounds.wedo
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WeDo – Complex Capability with Sailor Max
storm.wedo
Motion and sound with tilt sensor
Motion and sound with tilt triggered by proximity sensor
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WeDo – NXT-G ConnectionSimilar: • Syntax• Coloring• Left – to – right
program flow
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NXT-G Simple Area Measurement
Given a circle… How to measure its area using a robot?
Circumference = 2πr
Area = π r2
r
Pause Here…
![Page 9: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/9.jpg)
NXT-G Simple Area Measurement
Given a circle… How to measure its area using a robot?
Circumference = 2πr
Area = π r2
One approach might be to:• measure all the way around
the circle• calculate the radius• calculate the area
Area = C2/(4 π)
r
![Page 10: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/10.jpg)
One Circle Measuring Solution
![Page 11: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/11.jpg)
NXT-G Simple Area Measurement
Given a circle… How to measure its area using a robot?Other ways….
Circumference = 2πr
Area = π r2
r
Are there other ways?
![Page 12: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/12.jpg)
NXT-G Simple Area Measurement
Given a circle… How to measure its area using a robot?Other ways….
Circumference = 2πr
Area = π r2
Cross on a diameter and determine measurement….
r
![Page 13: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/13.jpg)
NXT-G Complex Robotic Behavior - Sumo
![Page 14: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/14.jpg)
Consider This Program Architecture
Define Variables
Monitor Sensor # 1 Variable # 1Monitor Sensor # 2 Variable # 2
Act
Record desired data
…
Act (Values) Act
See one of the sumo programs
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Subsumptive Programming Architecture
Source: Brooks: A Robust Layered Control System for a Mobile Robothttp://people.csail.mit.edu/brooks/papers/AIM-864.pdf
See one of the sumo programs
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NXT-G – Data Collection and AnalysisArea Measurement
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NXT-G – Data Collection and AnalysisArea Measurement
How to measure the perimeter and area of an arbitrary closed shape?
Pause Here…
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NXT-G – Data Collection and AnalysisArea Measurement
How to measure the perimeter and area of an arbitrary closed shape?
Consider Descartes’ method:
Could we do this by driving a robot around the shape?
From Area the Easy Way
INSTRUCTIONS
1. Beginning with any vertex, list the coordinates of the vertices in order, moving counter-clockwise around the polygon. List the first pair again at the end.
2. Find the diagonal products from left to right.
3. Find the diagonal products from right to left.
4. Sum each column of products.5. Find their difference and divide by
2.
This is the polygon’s area.
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NXT-G – Data Collection and AnalysisArea Measurement
Need to generate (x, y) pairs as the robot follows the line around…
But unlike the plotted curve, the robot does not know what the next pair will be.
Need to find a way to remember the last point and calculate the next one.
Just a little trigonometry…
and a compass.
Inspired by Area the Easy Way
(X old, Y old)
North
Distance
(X new, Y new)
Heading
ΔX
ΔY
X new = X old + ΔX
Y new = Y old + ΔY
ΔX = Dist *Sine (Hdg)
ΔY = Dist *Cosine (Hdg)
![Page 20: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/20.jpg)
NXT-G – Data Collection and AnalysisArea Measurement
Need to generate (x, y) pairs as the robot follows the line around…
But unlike the plotted curve, the robot does not know what the next pair will be.
Need to find a way to remember the last point and calculate the next one.
Just a little trigonometry…
and a compass.
Inspired by Area the Easy Way
(X new, Y new)
Distance
(X old, Y old)
North
Heading
ΔX
ΔY
X new = X old + ΔX
Y new = Y old + ΔY
ΔX = Dist *Sine (Hdg)
ΔY = Dist *Cosine (Hdg)
Sine and cosine provide positive and negative factors that scale the sides of the right triangle.
![Page 21: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/21.jpg)
NXT-G – Data Collection and AnalysisArea Measurement
Show development of the path as the robot follows along the orange curve.
Inspired by Area the Easy Way
X new = X old + ΔX
Y new = Y old + ΔY
ΔX = Dist *Sine (Hdg)
ΔY = Dist *Cosine (Hdg)
Sine and cosine provide positive and negative factors that scale the sides of the right triangle.
![Page 22: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/22.jpg)
NXT-G – Data Collection and AnalysisArea Measurement
Show development of the path as the robot follows along the orange curve.
Inspired by Area the Easy Way
X new = X old + ΔX
Y new = Y old + ΔY
ΔX = Dist *Sine (Hdg)
ΔY = Dist *Cosine (Hdg)
Sine and cosine provide positive and negative factors that scale the sides of the right triangle.
ΔX
ΔY
![Page 23: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/23.jpg)
(X1, Y1)
(X0, Y0)
North
ΔX
ΔY
(X2, Y2)
NXT-G – Data Collection and AnalysisArea Measurement
Example path showing generated (x, y) pairs as the robot follows the line around.
Inspired by Area the Easy Way
X new = X old + ΔX
Y new = Y old + ΔY
ΔX = Dist *Sine (Hdg)
ΔY = Dist *Cosine (Hdg)
Sine and cosine provide positive and negative factors that scale the sides of the right triangle.
![Page 24: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/24.jpg)
(X1, Y1)
(X0, Y0)
North
ΔX
ΔY
(X2, Y2)
(X3, Y3) (X4, Y4)
(X5, Y5)
NXT-G – Data Collection and AnalysisArea Measurement
Example path showing generated (x, y) pairs as the robot follows the line around.
Inspired by Area the Easy Way
X new = X old + ΔX
Y new = Y old + ΔY
ΔX = Dist *Sine (Hdg)
ΔY = Dist *Cosine (Hdg)
Sine and cosine provide positive and negative factors that scale the sides of the right triangle.
![Page 25: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/25.jpg)
NXT-G – Data Collection and AnalysisArea Measurement – two plots
Circle with Distance = 1 inch
Inspired by Area the Easy Way
Rectangle with Distance = 1 inch
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NXT-G – Data Collection and AnalysisArea Measurement – two plots
Circle with Distance = 1 inch
Inspired by Area the Easy Way
Rectangle with Distance = 1 inch
Red arrows indicate error accumulated through each run.
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Mapping with More Sensors
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Mapping with More Sensors
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NXT-G – Data Collection and AnalysisPendulum Motion
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30
Data Logging
See Pendulum Program pendulum.rbtx
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Application• Measuring period of a pendulum
common exercise for students
• Period = 2π √(L/g)
84 ½ inches 12 ½ inches
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Pendulum Data
84 ½ inches
Ultrasonic sensor
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Pendulum Data
84 ½ inches
Ultrasonic sensor
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Pendulum Data
84 ½ inches
Light sensor
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Pendulum Data
84 ½ inches
Light sensor
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Pendulum Data
84 ½ inches
Acceleration sensor
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Pendulum Data
84 ½ inches
Acceleration sensor
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Pendulum Relationships
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Pendulum Relationships
Maximum Negative Acceleration
Maximum Light
Minimum Ultrasonic Range
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40
Math Excursion
See Pendulum Program pendulum.rbtx
Lower the sample Frequency to
Something near thePendulum period.
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41
Simple Data Logging
See Pendulum Program pendulum.rbtx
![Page 42: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/42.jpg)
50
Thoughts on Programming
Clear Problem Statement
Pseudocode Draw out what’s being attempted Words First.
Program – Test – Program – Test ---> Repeat
Value of default settings… ? Make things easier to program… Make students think through every block they program
Approaches vary with goals and Team choices
![Page 43: Some Robotic STEM Ideas Craig Shelden craig.shelden@comcast.net 202-251-7578 Science and Engineering Festival](https://reader035.vdocuments.mx/reader035/viewer/2022062421/56649cc15503460f949885ff/html5/thumbnails/43.jpg)
Robot Connections with STEM
Combines disciplines• Engineering• Math• Technology• Scientific Method
Makes abstract ideas real.