Build Your Own TEAMS OF ROBOTS With LEGO MINDSTORMS NXT and Bluetooth by Hughes, Cameron -- Read -- Imperial Library of Trantor

Index

Build Your Own TEAMS OF ROBOTS with LEGO® MINDSTORMS® NXT and Bluetooth® Copyright Page Dedication About the Authors Contents Introduction Acknowledgments CHAPTER 1 It Takes Two to Tango

When the Robot We Have Is Not the Robot We Need

Special-Purpose Robots Can Be Flexible General-Purpose Robots: Fact or Fiction? Reprogrammable Robots Flexible Special-Purpose Robots and Reprogrammable Multipurpose Robots

Two Microcontrollers Are Sometimes Better Than One Possible Teams, Possible Players Do Networked Robots Equal Robot Teamwork?

Coordinating Robots Based on Time or Chronology Event-Based Robot Coordination Message-Based Coordination

The Basic BRON Approach The World of Bluetooth Devices BRON’S Believe It or Not

CHAPTER 2 Bluetooth for MINDSTORMS NXT: A Closer Look

So Exactly What Is Bluetooth?

The Myth of NXT’s Bluetooth Problem What Does Bluetooth Mean for NXT-Based Robots? Is NXT-Bluetooth Capability Software or Hardware?

A Pause for Some Bluetooth-NXT Brick Preliminaries

What’s in a Name? A Little Security (or at Least Privacy), Please! Visibility vs. Invisibility

Who Is the Initiator (Team Leader)? Physical Architecture vs. Logical Architectures After the Connection Is Made

Bluetooth Functions Don’t Wait Talk to Initiators on Line 0

Introducing the Scout Bots Setting Up the Initial Bluetooth Connection

Waiting for and Sending a Bluetooth Response

Teamwork: A Simple Bluetooth LabVIEW Application

The Team Leader Program (D1R2) The Team Member Program (D1R1) Team Mode and Bluetooth in LabVIEW

CHAPTER 3 One for All and All for One

What Are Sensors?

Sensors: The Input Transducers Sensor Types Classifying MINDSTORMS NXT Sensors

Sensors in the NXT World

Some Are Strong, Some Are Mobile, Some Are Smart What the Sensors Can Do and Cannot Do

Special Sensors Give That Extra Something

Third-Party Sensors Used in Our CSI BRON leJOS (Java) Support for Third-Party Sensors LabVIEW Support for Third-Party Sensors NXT-G Support for Third-Party Sensors

CHAPTER 4 Creating a Team of Movers and Shakers

Motors: The Output Transducer

Indoor and Outdoor Robots

Direct-Current Motors vs. Servo Motors

Controlling Speed and Torque

Here Come the Regulators: Encoders In and Out Using Torque and Speed to Determine Selection of Team Members

Summarizing DC and Servos Motors

Controlling the Motors: Tetrix Controller and NXT Brick Using the Motors

NXT-G PID Block

Robotic Arms and End Effectors Robot Arms of Different Types

End Effectors of Different Types Software Support of the Robot Arm

BRON’S Believe It or Not

CHAPTER 5 Bluetooth programming in NXT-G and LabVIEW

A Little Background Block by Block Establishing a Connection with the BRON

Connecting a PC to NXT Bricks from NXT-G and LabVIEW

Connecting to the BRON

NXT-G Connection Block LabVIEW On/Off and Connection Bluetooth Blocks Establishing a Connection to the BRON Using LabVIEW

Communicating a Message to the BRON

Sending/Receiving Messages in NXT-G Dynamically Setting Values for the Send Message Block Writing/Reading a Message Using LabVIEW

CHAPTER 6 robot environments, Teamwork Strategies, and Goals

The Robot’s World The Robot READ Set Robot Application Architecture A Simple Team-Based RAA Example

The Multipurpose Capability Matrix A Basic READ Set for D1R1, D1R2, and D3C1 Teamwork Strategies and Goals Simple Rule-Based Autonomy and READ Set + Robot Program Autonomy Environment, READ Sets, and the Team Challenge

Let’s Not Fool Ourselves, It’s Slow! A Closer Look at a Level 2 Autonomous MINDSTORMS/Tetrix-Based Team

How Do We Know When the Task Is Done?

BRON’S Believe It or Not

CHAPTER 7 Give Your Team of robots Java power with leJOS

Brief History of Java Virtual Machine for MINDSTORMS The Power of leJOS Java for MINDSTORMS NXT

A Closer Look at the leJOS Utilities

Power of Java for Building Teams

Bluetooth Communications

The Java Classes

The Robot Class

CHAPTER 8 Got Linux and Darwin on Your Team of Robots?

The Operating System as the Gatekeeper

Operating System as Silent Partner Computer-Aided Design (CAD) Software for Your Robot Designs Using Digital Designer Development Languages for Programming Your Robots The Simple NXC (Almost C) Tool Chains Using Eclipse in the Linux/Darwin Environments What About My Files? (Where Do They Go?) Linux and Darwin as Runtime Environments Runtime Capability When the Computer Is the Team Leader

The BlueZ Protocol Can Handle NXT Bricks

CHAPTER 9 Advanced Teamwork: One for All!

If It Works for Me, It’ll Work for You From Team to Collective and Back

The Collective Dividing Up the Labor Communicating with Flippy and Twisty

Solving a Rubik’s Cube

Remember the Cube: Parts of the Cube Solving the Cube

Cube Solver Design

Design Issues Cube Solver Hardware: The Frame Flipper: Flip It Well and Good! Cube Solver Software

Setting Up Programming Running the Robot What to Do Next Time BRON’S Believe It or Not

CHAPTER 10 Together We Stand: The Robot Convoy

Sometimes It Does Take a Team Using the Bluetooth Robotic-Oriented Network (BRON) for the Robot Convoy Challenges in Robot Convoys Planning for the Convoy

Limitations of Robot Vehicles Understanding Bluetooth Limitations

The Robot Convoy NXT-G Program Improvement of the Robot Convoy BRON’S Believe It or Not

CHAPTER 11 The CSI project

Overview of the CSI Project

The Tasks and Problems Encountered in Warehouse X The Capability Matrix of the CSI Project The READ Set of Warehouse X

An Approach to Solving the CSI Warehouse X Summary of the CSI Project BRON’S Believe It or Not

APPENDIX A Standard Java Classes for leJOS Bluetooth

Standard Java Classes

Class DeviceClass Class DiscoveryAgent Class LocalDevice Class RemoteDevice

leJOS Bluetooth API

Class NXTCommDevice Class Bluetooth Class NXTConnection Class BTConnection

APPENDIX B Bluetooth Robotic-Oriented Network (BRON) Team Members

BRON Cube Solver Team BRON Convoy Team BRON Crime Scene Investigation (CSI) Team

Index

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