Index
A
accelerometers, 94
accessibility
environments, 52
fully accessible environments, 53
partially accessible environments, 53
actions
programmable actions and behaviors (seven criterion of defining a robot), 11
transitions, 70
Actions section (softbot frame), unit1 robot scenario, 224, 232-235
Active mode (ultrasonic sensors), 140
actuators
defining, 17
error rates, 74
linear actuators, 161
motors
current, 161
direct/indirect drivetrains, 177-178
duty cycles, 165
R.E.Q.U.I.R.E., 183
resistance, 161
torque, 161, 165-167, 182-183, 203-204
voltage, 160
output transducers, actuators as, 159-160
performance, 74
robot effectiveness, 18
rotational actuators, 161
weight restrictions, 74
A/D (Analog-to-Digital) converters, 97-98
aerial robots, 15
Agent Technology from a Formal Perspective, 343
ambient light and color sensors, 118-119
storing readings, 100
Arduino
Arbotix controller, 297
Arduino Uno microcontrollers, 76-78
ArduoCopter, 337
OpenRov, 337
programming and Arduino compatibility, 337-338
Arkin, Ronald, 343
ARM microcontrollers, 36
ARM7 microcontrollers, 79
ARM9 microcontrollers, 79
arms
configuration space, 201
PhantomX Pincher Robot Arm (Trossen Robotics), 85-87, 204, 207, 220, 297-299
RS media, 207
Tetrix arms, 297
types of, 201
asynchronous data transfers
unit1 robot scenario, 235
ATmega microcontrollers, 79
AUAV (Autonomous Unmanned Aerial Vehicles), 15
autonomous operations (seven criterion of defining a robot), 12-13
hybrid autonomous robots, 221-222
Midamba Facility Scenario #1, 338-339
proactive autonomous robots, 221-222
reactive autonomous robots, 221-222
softbots, 221
autonomy, five essential ingredients of, 222
B
Beginner’s Guide to Programming Robots, The, 31
Behavior Based Robotics, 343
behaviors and programmable actions (seven criterion of defining a robot), 11
bevel gears, 170
bipedal mobility and terrain challenges, 180
birthday party robot scenario, 24-25, 266-267
blocking. See synchronous data transfers
Braun, Thomas, 343
build examples
unit1 robot scenario
five essential ingredients of, 222-223
pseudocode, 231
sensors, 222
BURT (Basic Universal Robot Translator), 21, 35, 36
Facility Scenario #1, STORIES, 325-337
initialization preconditions/postconditions, 249-261
intentions, programming, 282-299, 304
Java translation, unit1 robot scenario, 227-239
motors
paths to specific locations, 191, 194-197
programming via Arduino, 198-200
programming
paths to specific locations, 191, 194-197
sensors
tracking colored objects, RS Media, 124-128
tracking colored objects, Pixy vision sensors, 130-134
softbots, frame BURT translation example, 223, 227-239
unit1 robot scenario
decisions robots make/rules robots follow, 280-281
initialization preconditions/postconditions, 249-261
programming intentions, 282-299, 304
softbot frame BURT translation example, 223, 227-239
unit2 robot scenario, STORIES, 325-337
wheeled robots, 186-191, 194-200
C
end user calibration process, 112
one point calibration, 113
thresholding method, 120
two point calibration, 113
ultrasonic sensors, 113, 141-142
Calibration Minimum and Maximum mode (color sensors), 118
cameras (digital), 116
active mode, 102
passive mode, 102
capability matrixes, 37-39, 87, 308-309
Charmed Labs sensors, 113
CHIMP (CMU Highly Intelligent Mobile Platform), 80, 181
closed-loop control and servos, 173-174
Ambient Light Level mode, 118
Color ID mode, 118
Component RGB mode, 118
detection range, 119
lighting, 119
Normalized RGB mode, 118
Red mode, 118
Reflected Intensity Level mode, 118
reflective color sensing, 116
shielding, 119
similarity matching, 120
unit1 robot scenario, 222
comparing, 107
HiTechnic compass sensors, 154-157
Component RGB mode (color sensors), 118
composite state/substate (statecharts), 68
configuration space, arms and DOF, 201
contact sensors, 94
Continuous mode (ultrasonic sensors), 139-140
controllers
microcontrollers
A/D converters, 97
Arduino Uno microcontrollers, 76-78
ARM microcontrollers, 36
ARM7 microcontrollers, 79
ARM9 microcontrollers, 79
AT microcontrollers, 79
commonly used microcontrollers, 23
components of, 20
end effectors, 22
EV3 microcontrollers (Mindstorm), 78-79, 103
I2C serial communication, 105-106
processors, 21
RS Media microcontrollers (WowWee), 78
serial ports, 103
UART serial communication, 104-106
multiple controllers, 74
performance, 74
processors, 20
costs of building robots, 344-345
criterion of defining a robot, 10
instructions, 12
interacting with environments, 11
nonliving machines, 13
power sources, 11
programmable actions and behaviors, 11
reprogramming data/instructions, 12
sensing the environment, 11
current (electrical) and motors, 161
D
DARPA Disaster and Recovery Challenge, 180-181
DARPA Robotic Challenge Finals 2015, 80
DC (Direct Current) motors, 162
advantages/disadvantages of, 183-184
duty cycles, 165
gears
benefits of, 167
bevel gears, 170
changing rotational direction, 171
gearing down, 167
gear sets, 170
idlers, 169
spur gears, 170
total gear efficiency, 171
worm gears, 170
R.E.Q.U.I.R.E., 183
servos, 172
advantages/disadvantages of, 183-184
EA, 173
NXT LEGO servos, 176
PWM signals, 173
Tetrix motors (Pitsco), 186-191
Decision symbol
pseudocode, 57
decisions robots make/rules robots follow, 280-281
deliberative programming, 323
detection range (color sensors), 119
deterministic environments, 52-53
diaphragms (sound sensors), 93
differential steering, 186
digital cameras, 116
active mode, 102
passive mode, 102
tracking colored objects
output of, 99
storing readings, 100
dimension/weight (sensors), 108
direct/indirect drivetrains, 177-178
DOF (Degree of Freedom), 84-85
configuration space, 201
duty cycles and motor speed, 165
E
EA (Error Amplifiers) and servos, 173
economics of robot builds, 344-345
EEPROM (Electrically Erasable Programmable Read-Only Memory) chips, 74
effectiveness, measuring, 17, 87-89, 245-246
Embedded Robotics: Mobile Robot Design and Applications with Embedded Systems, 343
encoders
motors, 175
optical encoders, 96
Tetrix encoders (Pitsco), 176
Encyclopedia Britannica, defining robots, 10
end effectors
arms, 182
microcontrollers, 22
endoskeletons, 220
entry/exit actions (statecharts), 68
environmental sensors, 94
environments
accessibility, 52
defining, 52
deterministic environments, 52-53
fully accessible environments, 53
interacting with (seven criterion of defining a robot), 11
internal state, 94
nondeterministic environments, 52-53
partially accessible environments, 53
READ sets
birthday party robot scenario, 54-56
defining, 53
Test Pad (NXT Mindstorms), 53-54
RSVP, 52
sensing (seven criterion of defining a robot), 11
SPACES
preconditions/postconditions, 247-261
R.E.Q.U.I.R.E. checklists, 245-246
DARPA Disaster and Recovery Challenge, 180-181
mobility concerns, 179
visual programming environments, 30
episodes, 267
error rates, 74
EV3 microcontrollers (Mindstorm), 78-79, 103, 113
event triggers (transitions), 70
expectation driven programming, 267
exteroceptive sensors, 94
F
Facility Scenario #1, 310
programming languages, 342
state diagrams, 324
final state (statecharts), 68
first generation language. See machine language
floorplans (RSVP), 47
birthday party robot scenario, 49-50
flowcharts
birthday robot scenario, 58, 61, 65
common symbols of, 57
Input symbol, 58
loops, 63
Output symbol, 58
Start symbol, 57
Stop symbol, 57
FOV (Field of Vision)
Pixy vision sensors, 134
frames (softbot)
asynchronous instructions, 235
BURT translation example, 223, 227-239
Scenarios/Situations section, 224, 236-239
synchronous instructions, 235
frequencies, pH measurement scale, 82-84
full loads (torque), 166
fully accessible environments, 53
fully automated robots, 52
G
gears
benefits of, 167
bevel gears, 170
gearing down, 167
gear sets, 170
idlers, 169
rotational direction, changing, 171
spur gears, 170
total gear efficiency, 171
worm gears, 170
Granat, Kyle, 220
graphical language programming, 29
guard condition (transitions), 70
gyroscopes, 94
H
HC-SR04 ultrasonic sensors, 148
hexapods, PhantomX AX Metal Hexapod (Trossen Robotics), 220
HiTechnic sensors, 113, 154-157
How to Program Autonomous Robots, 308
HR-OS1 Humanoid Endoskeleton (Trossen Robotics), 220
human senses/sensor comparisons, 91
hybrid autonomous robots, 221-222
I
I2C (Inter Integrated, I2 part, Circuit) synchronous serial communication, 105-106
idlers and gears, 169
image sensors, 124
indirect/direct drivetrains, 177-178
indoor/outdoor terrain challenges, 178
DARPA Disaster and Recovery Challenge, 180-181
mobility concerns, 179
initial state (statecharts), 68
initialization preconditions/postconditions
coding preconditions/postconditions, 252-261
power up preconditions/postconditions, 251
Input and Output symbol (pseudocode), 57
input devices, sensors as, 93
Input symbol (flowcharts), 58
instructions
Arduino compatibility, 337-338
deliberative programming, 323
differential steering, 186
episodes, 267
expectation driven programming, 267
Facility Scenario #1, 310
programming languages, 342
RSVP state diagrams, 324
instruction vocabulary, 224
languages, 342
motors
paths to specific locations, 191, 194-197
wheeled robots, 184-191, 194-200
object-oriented programming, 266
PASS, 323
paths to specific locations, 191, 194-197
processors, 20
programming languages, 25
graphical language programming, 29
machine language, 26
Midamba programming scenario, 30, 42-44
puppet mode, 29
taxonomies of, 27
visual programming environments, 30
reactive programming, 323
recommendations for first time programmers, 348-349
responsibility, 345
RSVP, 349
mapping scenarios, 48
Test Pad (NXT Mindstorms), 48
scenarios
defining, 267
scenario-based programming and safety, 345
scripts, 267
sensors
seven criterion of defining a robot, 12
situations, 267
STORIES, 349
object-oriented programming, 304-305
object-oriented programming, 272-273
overview of, 268
unit1 robot scenario, 269-271, 274-299, 304-305, 325-337
telerobots, 13
unit1 robot scenario, 269, 319
STORIES, 269-271, 274-299, 304-305, 325-337
intentions, programming, 282-299, 304
interacting with environments (seven criterion of defining a robot), 11
internal state, 94
internal transitions (statecharts), 68-70
inverse kinematics, 203
IR (infrared) sensors, 116
J-L
Java
BURT translation, unit1 robot scenario, 227-239
STORIES, 305
defining, 203
inverse kinematics, 203
planar kinematics, 213
languages (programming), 25, 342
graphical language programming, 29
machine language, 26
Midamba programming scenario, 30
scenario vocabulary (ROLL model), 44
situation vocabulary (ROLL model), 42
task vocabulary (ROLL model), 43
pseudocode and flowcharts, 56-58
puppet mode, 29
robot vocabulary, 47
ROLL model, 39
robot capabilities, 41
scenario vocabularies, 44
situation vocabularies, 42
task vocabularies, 43
taxonomies of, 27
tool-chains, 27
visual programming environments, 30
layouts, POV diagrams and Facility Scenario #1, 315-316, 319
LED
Pixy vision sensors, 129
reflective color sensing, 116
light sensors, 116
lighting, 119
linear actuators, 161
loops
closed-loop control and servos, 173-174
flowcharts, 63
M
machine language, 26
mapping scenarios and RSVP
Test Pad (NXT Mindstorms), 48
MaxBotix EZ1 ultrasonic sensors, 152-153
Merriam-Websters Dictionary, defining robots, 10
microcontrollers
A/D converters, 97
Arduino Uno microcontrollers, 76-78
ARM microcontrollers, 36
ARM7 microcontrollers, 79
ARM9 microcontrollers, 79
ATmega microcontrollers, 79
commonly used microcontrollers, 23
components of, 20
end effectors, 22
EV3 microcontrollers (Mindstorm), 78-79
languages, 25
machine language, 26
processors, 21
RS Media microcontrollers (WowWee), 78
sensors, 21
serial ports, 103
I2C serial communication, 105-106
UART serial communication, 104-106
V3 microcontrollers, 103
Midamba
Facility Scenario #1, 310
programming languages, 342
RSVP state diagrams, 324
scenarios, 349
programming scenario, 30, 42-44
unit1 robot scenario, 308-309, 319-321, 325-337
unit2 robot scenario, 308-309, 317-319, 325-337
sensors, 84
Mindstorm EV3 microcontrollers, 78-79
mobility
differential steering, 186
terrain challenges, 179
motors
commonly-used motors, 255
current, 161
advantages/disadvantages of, 183-184
duty cycles, 165
R.E.Q.U.I.R.E., 183
Tetrix DC motors (Pitsco), 186-191
direct/indirect drivetrains, 177-178
duty cycles, 165
gears
benefits of, 167
bevel gears, 170
changing rotational direction, 171
gearing down, 167
gear sets, 170
idlers, 169
spur gears, 170
total gear efficiency, 171
worm gears, 170
programming
paths to specific locations, 191, 194-197
wheeled robots, 184-191, 194-200
R.E.Q.U.I.R.E., 183
resistance, 161
servos, 172
advantages/disadvantages of, 183-184
EA, 173
NXT LEGO servos, 176
PWM signals, 173
terrain challenges, 178
DARPA Disaster and Recovery Challenge, 180-181
mobility concerns, 179
torque, 161, 165-167, 182-183, 203-204
voltage, 160
N
names (statecharts), 68
nondeterministic environments, 52-53
nonliving machines, robots as (seven criterion of defining a robot), 13
Normalized RGB mode (color sensors), 118
NXT LEGO servos, 176
NXT Mindstorms, Test Pad
RSVP, 48
O
object-oriented programming, 266
Ohm’s Law, 161
one point calibration method and sensors, 113
ontologies, unit1 robot scenario, 271
OpenRov (Arduino), 337
open-source robots, 220, 344-345
optical encoders, 96
optical sensors, 94
OS (Operating Systems), ROS, 221
outdoor/indoor terrain challenges, 178
DARPA Disaster and Recovery Challenge, 180-181
mobility concerns, 179
Output symbol (flowcharts), 58
output transducers, actuators as, 159-160
P
Parallax Ping))) ultrasonic sensors, 150
partially accessible environments, 53
Parts section (softbot frame), unit1 robot scenario, 224, 231-232
PASS (Propositions and Sensor States), 323
Passive mode (ultrasonic sensors), 140
passive sensors
examples of, 103
PIR sensors, 101
performance, 74
PhantomX AX Metal Hexapod (Trossen Robotics), 220
PhantomX Pincher Robot Arm (Trossen Robotics), 85-87, 204, 207, 220, 297-299
Ping mode (ultrasonic sensors), 139-140
pinion gears, 167
PIR (Passive Infrared) sensors, 101
attributes of, 134
FOV, 134
tracking colored objects, 128-129
planar kinematics, 213
planning and RSVP
mapping scenarios, 48
Test Pad (NXT Mindstorms), 48
postconditions/preconditions (SPACES), 247
action choices for unmet conditions, 248
robot initialization, 249
coding preconditions/postconditions, 252-257
power up preconditions/postconditions, 251
where preconditions/postconditions come from, 257-261
unmet conditions, 248
pot (potentiometers) and servos, 172
potential, measuring, 17, 87-89, 245-246
POV (Point of View) diagrams, Facility Scenario #1, 315-316, 319
power sources (seven criterion of defining a robot), 11
preconditions/postconditions (SPACES), 247
action choices for unmet conditions, 248
robot initialization, 249
coding preconditions/postconditions, 252-257
power up preconditions/postconditions, 251
where preconditions/postconditions come from, 257-261
unmet conditions, 248
proactive autonomous robots, 221-222
processors
controllers, 20
instructions, 20
microcontrollers, 21
Process symbol
pseudocode, 57
programmable actions and behaviors (seven criterion of defining a robot), 11
programming
Arduino compatibility, 337-338
BURT, 21
deliberative programming, 323
differential steering, 186
EEPROM chips, 74
episodes, 267
expectation driven programming, 267
Facility Scenario #1, 310
programming languages, 342
RSVP state diagrams, 324
instruction vocabulary, 224
graphical language programming, 29
machine language, 26
Midamba programming scenario, 30, 42-44
puppet mode, 29
taxonomies of, 27
tool-chains, 27
visual programming environments, 30
motors
paths to specific locations, 191, 194-197
wheeled robots, 184-191, 194-200
object-oriented programming, 266
PASS, 323
paths to specific locations, 191, 194-197
reactive programming, 323
recommendations for first time programmers, 348-349
responsibility, 345
RSVP, 349
mapping scenarios, 48
Test Pad (NXT Mindstorms), 48
scenario-based programming and safety, 345
scenarios
defining, 267
scenario-based programming and safety, 345
scripts, 267
sensors, 16
situations, 267
speed, 17
STORIES, 349
object-oriented programming, 304-305
object-oriented programming, 272-273
overview of, 268
unit1 robot scenario, 269-271, 274-299, 304-305
strength, 17
unit1 robot scenario, 269, 319
STORIES, 269-271, 274-299, 304-305, 325-337
proprioceptive sensors, 94
common symbols, 57
Input and Output symbol, 57
Process symbol, 57
Start and Stop symbol, 57
Start Decision symbol, 57
unit1 robot scenario, 231
puppet mode, 29
PWM (Pulse Width Modulated) signals and servos, 173
Q-R
reactive autonomous robots, 221-222
reactive programming, 323
READ (Robot Environmental Attribute Description) sets
birthday party robot scenario, 54-56
defining, 53
Test Pad (NXT Mindstorms), 53-54
reality checks
R.E.Q.U.I.R.E., 87-89, 245-246
recommendations for first time programmers, 348-349
Red mode (color sensors), 118
Reflected Intensity Level mode (color sensors), 118
reflective color sensing, 116
refresh rate (sensors), 107
reliability (sensors), 108
repeatability (sensors), 108
reprogramming data/instructions (seven criterion of defining a robot), 12
R.E.Q.U.I.R.E. (Robot Effectiveness Quotient Used in Real Environments), 17, 87-89
motors, 183
resistance, motors, 161
response time (sensors), 107
responsibility programming, 345
Robosapien (RS Media), tracking colored objects, 124-128
robots. See also softbots
aerial robots, 15
AUAV, 15
hybrid autonomous robots, 221-222
Midamba Facility Scenario #1, 338-339
proactive autonomous robots, 221-222
reactive autonomous robots, 221-222
softbots, 221
birthday party robot, 24-25, 266-267
environments
interacting with, 11
sensing, 11
fully automated robots, 52
instructions, 12
Midamba, 84
nonliving machines, robots as, 13
open-source robots, 220, 344-345
power sources, 11
programmable actions and behaviors, 11
reprogramming data/instructions, 12
ROV, 15
seven criterion of defining a robot, 10-13
skeleton of, 22
speed, 17
strength, 17
UAV, 15
underwater robots, 15
vocabulary, 47
ROLL (Robot Ontology Language Level) model, 39
robot capabilities, 41
scenario vocabularies, 44
situation vocabularies, 42
softbot frame, unit1 robot scenario, 225-239
task vocabularies, 43
ROS (Robot Operating System), 221
rotational actuators, 161
rotational speed, 161
Rouff, Christopher A., 343
ROV (Remotely Operated Vehicles), 15
RS Media
arms, 207
microcontrollers, 78
tracking colored objects, 124-129
RSVP (Robot Scenario Visual Planning), 349
Facility Scenario #1, 313-319, 324
flowcharts, 47
birthday robot scenario, 58, 61
common symbols of, 57
Input symbol, 58
loops, 63
Output symbol, 58
Start symbol, 57
Stop symbol, 57
mapping scenarios, 48
Test Pad (NXT Mindstorms), 48
rules robots follow/decisions robots make, 280-281
running current, 161
Running Man, 80
S
safety
Open Source Robots, 220
scenario-based programming, 345
SARAA (Safe Autonomous Robot Application Architecture) robots, 346-348
scenarios
autonomous robot design, 242-244
birthday party robot scenario, 266-267
defining, 267
Facility Scenario #1, 310
programming languages, 342
RSVP state diagrams, 324
mapping via RSVP, 48
Test Pad (NXT Mindstorms), 48
programming scenarios, determining, 23-25
safety and scenario-based programming, 345
STORIES
object-oriented programming, 272-273
object-oriented programming, 304-305
overview of, 268
unit1 robot scenario, 269-271, 274-299, 304-305
unit1 robot scenario, 269, 319
STORIES, 269-271, 274-299, 304-305, 325-337
vocabularies (ROLL model), 44
warehouse scenarios, 310-339, 342
Scenarios/Situations section (softbot frame), unit1 robot scenario, 224, 236-239
scripts, 267
second generation language. See assembly language
self-transitions (statecharts), 68-69
sensing environments (seven criterion of defining a robot), 11
sensitivity (sensors), 108
sensors
accelerometers, 94
storing readings, 100
end user calibration process, 112
one point calibration, 113
two point calibration, 113
Charmed Labs sensors, 113
color sensors, 80
Ambient Light Level mode, 118
Calibration Minimum and Maximum mode, 118
Color ID mode, 118
Component RGB mode, 118
detection range, 119
lighting, 119
Normalized RGB mode, 118
Red mode, 118
Reflected Intensity Level mode, 118
reflective color sensing, 116
shielding, 119
similarity matching, 120
unit1 robot scenario, 222
comparing, 107
HiTechnic compass sensors, 154-157
contact sensors, 94
controllers, 20
storing readings, 100
dimension/weight, 108
environmental sensors, 94
error rates, 74
EV3 Mindstorms sensors, 113
exteroceptive sensors, 94
frequencies, ph measurement scale, 82-84
gyroscopes, 94
HiTechnic sensors, 113
human senses/sensor comparisons, 91
I2C serial communication, 105-106
image sensors, 124
input devices, sensors as, 93
IR sensors, 116
light sensors, 116
low-end versus high-end sensors, 16
optical sensors, 94
performance, 74
PIR sensors, 101
attributes of, 134
FOV, 134
training Pixy to detect objects, 129
problems with, 111
programming, 16
proprioceptive sensors, 94
ranging sensors, 94
reality checks, 80-81, 88-89, 84
refresh rate, 107
reliability, 108
repeatability, 108
response time, 107
robot effectiveness, 17
sensitivity, 108
sensor states. See PASS
serial ports, 103
sound sensors, 93
SPACES, 242
preconditions/postconditions, 247-261
R.E.Q.U.I.R.E. checklists, 245-246
troubleshooting, 111
types of, 16
UART serial communication, 104-106
ultrasonic sensors, 80, 88, 94, 116
Active mode, 140
HC-SR04, 148
infrared sensors, 103
Parallax Ping))), 150
Passive mode, 140
reading data types, 141
sample readings, 140
storing readings, 100
unit1 robot scenario, 222
voltage resolution, 108
unit1 robot scenario, 222
Vernier sensors, 113
vision, 115
WowWee sensors, 113
serial ports
asynchronous data transfers, 104-106
sensor/microcontroller interfaces, 103
synchronous data transfers, 105-106
servos, 172
advantages/disadvantages of, 183-184
commonly-used servos, 255
EA, 173
NXT LEGO servos, 176
PWM signals, 173
seven criterion of defining a robot, 10
instructions, 12
interacting with environments, 11
nonliving machines, 13
power sources, 11
programmable actions and behaviors, 11
reprogramming data/instructions, 12
sensing the environment, 11
shielding (lighting), 119
sight and sensors, 115
similarity matching, color sensors, 120
situations
defining, 267
situation vocabularies (ROLL model), 42
skeleton, 22
softbots. See also robots
autonomous robots, 221
frames
asynchronous instructions, 235
BURT translation example, 223, 227-239
Scenarios/Situations section, 224, 236-239
synchronous instructions, 235
sound sensors, 93
source state (transitions), 70
SPACES (Sensor Precondition/Postcondition Assertion Check of Environmental Situations)
preconditions/postconditions, 247
action choices for unmet conditions, 248
unmet conditions, 248
R.E.Q.U.I.R.E. checklists, 245-246
speed
pinion gears, 168
programming, 17
rotational speed, 161
wheel gears, 168
spur gears, 170
stall current, 161
Start symbol (flowcharts), 57
Start and Stop symbol (pseudocode), 57
state diagrams
Facility Scenario #1, 324
statecharts (RSVP), 47
birthday robot scenario, 66-67, 70-72
composite state/substate, 68
composite/substates, 68
entry/exit actions, 68
final state, 68
initial state, 68
names, 68
parts of, 68
validation statements, 69
Stop symbol (flowcharts), 57
STORIES (Scenarios Translated into Ontologies Reasoning Intentions and Epistemological Situations), 349
object-oriented programming, 272-273, 304-305
overview of, 268
unit1 robot scenario, 269, 325-337
decisions robots make/rules robots follow, 280-281
object-oriented programming and efficiency, 304-305
programming intentions, 282-299, 304
storing sensor readings, 100
strength, programming, 17
switches, 96
I2C serial communication, 105-106
unit1 robot scenario, 235
T
target state (transitions), 70
task vocabularies (ROLL model), 43
Tasks section (softbot frame), unit1 robot scenario, 224
telerobots, 13
terrain challenges, 178
DARPA Disaster and Recovery Challenge, 180-181
mobility concerns, 179
Test Pad (NXT Mindstorms)
RSVP, 48
Tetrix arms (Pitsco), 297
Tetrix DC motors (Pitsco), programming, 186-191
Tetrix encoders (Pitsco), 176
thresholding method, 120
tool-chains, 27
torque
full loads, 166
pinion gears, 168
wheel gears, 168
total gear efficiency, 171
tracking colored objects
Pixy vision sensors, 128
attributes of, 134
FOV, 134
training Pixy to detect objects, 129
transitions (statecharts)
actions, 70
event triggers, 70
guard condition, 70
parts of, 70
source state, 70
target state, 70
treads/tracks, terrain challenges, 179
two point calibration method, sensors, 113
U
UART (Universal Asynchronous Receiver-Transmitter) serial communication, 104-106
UAV (Unmanned Aerial Vehicles), 15
ultrasonic sensors, 80, 88, 94, 116
Active mode, 140
HC-SR04, 148
infrared sensors, 103
Parallax Ping))), 150
Passive mode, 140
readings
data types, 141
sample readings, 140
storing, 100
unit1 robot scenario, 222
voltage resolution, 108
underwater robots, 15
unit1 robot scenario, 269, 319
five essential ingredients of, 222-223
pseudocode, 231
sensors, 222
softbot frame, 223
asynchronous instructions, 235
Scenarios/Situations section, 224, 236-239
synchronous instructions, 235
SPACES
preconditions/postconditions, 247-261
R.E.Q.U.I.R.E. checklists, 245-246
decisions robots make/rules robots follow, 280-281
object-oriented programming and efficiency, 304-305
programming intentions, 282-299, 304
Urban Dictionary, defining robots, 10
V
validation statements (statecharts), 69
Vernier sensors, 113
vision and sensors, 115
visual planning. See RSVP
visual programming environments, 30
vocabulary
ROLL model, 39
robot capabilities, 41
scenario vocabularies, 44
situation vocabularies, 42
softbot frame, unit1 robot scenario, 225-239
task vocabularies, 43
voltage
motors, 160
voltage resolution
A/D converters, 97
ultrasonic sensors, 108
W-X-Y-Z
warehouse scenarios, 310
programming languages, 342
RSVP state diagrams, 324
weight/dimension (sensors), 108
weight restrictions, actuators, 74
wheeled robots, 180, 184-191, 194-200
Wikipedia, defining robots, 10
worm gears, 170
WowWee
RS Media microcontrollers, 78
sensors, 113