HDTenEightyP/NetNews huggingface dataset:
From: cmcmanis@pepper.Eng.Sun.COM (Chuck McManis)
Newsgroups: comp.robotics
Subject: Re: gcc cross compiler for the 6811?
Date: 7 Oct 1992 05:33:50 GMT
Organization: Sun Microsystems, Mt. View, Ca.
NNTP-Posting-Host: pepper

In article <1992Oct5.163314.23669@cc.gatech.edu> (Doug MacKenzie) writes:
>How about using one of the Motorola 6833x micro-controllers and avoid the
>whole 6811 compiler problem completely?  The new 68333 is a 68332 with
>64K bytes of EEPROM, 4K battery backed ram & 8 channel 10bit A/D unit,
>all on one chip.  In march, samples were $199, I assume the price is less
>now.

Sounds pretty cool, does Mot sell an EVB board for this?

>You put one of those on a board with some motor drivers and maybe some
>extra memory and I'll buy it.

I'd second this, plus I could use my Amiga directly for development. Its
so amazing at how many incredibly cheap tools are available for the old
IBM PC class of machine. It used to be unusual that I had a computer in
my house, now my mostly computer illiterate neighbor asked about my
SparcStation 1+, "So do you run up against the 640K memory limit that
home computers have ?" Sigh. I'd like to be snotty and brag about having
16 MB of memory except that he'd remind me he only paid $99 for a complete
C development system.


--
--Chuck McManis						    Sun Microsystems
uucp: {anywhere}!sun!cmcmanis   BIX: <none>   Internet: cmcmanis@Eng.Sun.COM
NIS+ Architect
These opinions are my own and no one elses, but you knew that didn't you.
From: fredm@media.mit.edu (Fred G Martin)
Newsgroups: comp.robotics
Subject: Re: 68HC11EVBU fanout data
Date: 13 Oct 92 16:23:10 GMT
Organization: MIT Media Laboratory

In article <1992Oct12.163640.25052@hemlock.cray.com> kilian@cray.com
(Alan Kilian) writes: 

>The synchronous connections are generally daisy chained so that each CPUs
>output only drives one other CPUs input. This way you can connect an infinite
>number of CPUs together. Like this:
>
>   CPU A                  CPU B           CPU C
>+-----------+          +----------+     +-----------+
>|    MOSI   +---->-----+ MOSI MISO+-->--+ MOSI MISO +-->--+
>|    MISO   +--<-+     |          |     |           |     |
>+-----------+    |     +----------+     +-----------+     |
>                 +----------------------------------------+
>Now believe it or not this diagram is correct.
>CPU A is the master. CPUs B&C are slaves.

Alan,

While this arrangement will probably work technically, I don't think
it's standard practice.

First off, it's generally not problematic for a CMOS output to drive
lots and lots of CMOS inputs.  10 is easy, 100 is likely to be
possible.  So there isn't a fan-out problem in the first place that
might need to be solved by the daisy-chaining scheme.  Also, in your
solution, the SCK (serial clock) line from the master must drive all
of the slaves, so if there is a fan out problem, the daisy-chain
doesn't solve it.

Second, your scheme is very sensitive to the exact number of CPUs in
the chain.  If the master CPU (CPU A in your example) wants to get
data back from CPU B, it must know exactly how many CPU's are in the
return data path (in your example, one; CPU C).  This isn't a very
easy arrangement to deal with in software: if you add a CPU to the
loop, either you have to change a bunch of constants or get the
network to figure out for itself how many CPUs there are.


The more accepted solution will tie together each of the MOSI, MISO,
and SCK lines for each CPU.  The one CPU is the master (its Master Out
Slave In functions as output) and all the other CPUs are slave (their
MOSIs are input).  Likewise, a given slave can respond to the master
by driving its MISO (Master In Slave Out).

This topology is much more robust when it comes to adding and removing
nodes; if each node has a unique ID, then the master can send out a
network package of sorts that is addressed to a particular slave.  If
that slave doesn't respond, well then it is not connected.  But
communication with all of the other slaves can continue without
modification.


	- Fred
From: krings@cse.unl.edu (Axel Krings)
Newsgroups: comp.robotics
Subject: References wanted 4 real-time workloads (more specific)
Date: 15 Oct 1992 05:55:07 GMT
Organization: University of Nebraska--Lincoln	
Distribution: world
NNTP-Posting-Host: cse.unl.edu


Sorry for re-posting. 
Since some people suggested that the original post was not clear enough
I'll try to be more specific.

I am looking for references to "real world" applications for real-time systems 
with hard deadlines. 

Basically I need the description of workloads, and any reference to
papers that describe control applications. The information I hope to
find are:
  1) description of the task system (precedence graph)
  2) information about max task durations (deadlines)
  3) how may processors the workload is intended for
  4) identification of critical tasks (vs tasks with soft or no deadlines)

Info on platform, language etc are not essential for our simulations since 
they use only the task graph of the workload.

Any responses will be appreciated

Thanks 
	Axel

---------------------------------------------------------------------------
Papers describing such workloads are:
---------------------------------------------------------------------------
A paper by P.Shaffer (IEEE Control Systems June 1990)
"A Multiprocessor Implementation of Real-Time Control for a Turbojet Engine",
gives the computation graph for the control program of a supersonic turbofan
with afterburner is given. This is a 64 vertex graph, and for each the 64 
procedures the max duration is indicated.


"Synthesis of a Real-Time Message Processing System with Data-Driven Timing
Constraints," Al Mok , Prasanna Amerasinghe, Moyer Chen, Supoj Suthanthavibul,
Kamtorn Tantisirivat, Proceedings of the real-time Systems Symposium, San Jose, California, Dec. 1987, 133-143.
--
------------------------------------------------------------------
Axel Krings                            | email: krings@cse.unl.edu
Dept. Comp.Science & Engineering       | phone: 402-472-2402
University of Nebraska - Lincoln       | fax  : 402-472-7767
From: schmidtg@iccgcc.decnet.ab.com
Newsgroups: comp.robotics
Subject: <None>
Date: 14 Oct 92 11:12:09 EST


Greetings,

A few years ago in the "Mathematical Recreations" column in Scientific
American, a "Braitenberg" vehicle was described (essentially a robotic
vehicle with very simple behavior).  At the time, plans were made available
for those interested in building their own home made vehicles.  I have
since discovered that the plans are no longer available and would like
to obtain a copy from someone who may happen to have them.  Does anyone
have any info on this?


Thanks in advance,


-- Greg Schmidt		schmidtg@iccgcc.decnet.ab.com
Newsgroups: comp.robotics
From: miller@ee.tamu.edu (Kelly M Miller)
Subject: DC motor
Organization: Texas A&M University
Distribution: comp.robotics
Date: Wed, 7 Oct 1992 03:09:47 GMT



What is a source for dc servo motors? In particular,
how much would a PM DC brushed  servo motor cost?
With a peak torque of 300 oz-in? 1100 oz-in? 3000 oz-in?

How much do optical encoders cost?

Finally where can one get mounting and gear hardware for
the motors? Dynamometers? servo amps?

if any one out there works for a company that makes these,
please email me. 

I am trying to outfit  a real time control lab. 


kelly

 

Newsgroups: comp.robotics
Subject: 
Summary: 
Expires: 
Followup-To: 
Distribution: 
Organization: Texas A&M University
Keywords: 


What is a source for dc servo motors? In particular,
how much would a PM DC brushed  servo motor cost?
With a peak torque of 300 oz-in? 1100 oz-in? 3000 oz-in?

How much do optical encoders cost?

Finally where can one get mounting and gear hardware for
the motors? Dynamometers? servo amps?

if any one out there works for a company that makes these,
please email me. 

I am trying to outfit  a real time control lab. 


kelly
From: ck3i+@andrew.cmu.edu (Christopher Kristof)
Newsgroups: comp.robotics
Subject: Gyros, Accelerometers, & Inclinometers
Date: 14 Oct 92 14:16:22 GMT
Article-I.D.: andrew.cer9kqu00iVgM2j9Rs
Organization: Freshman, CIT general, Carnegie Mellon, Pittsburgh, PA


	Does anyone know of ANY sources for reasonably priced quartz gyros,
accelerometers, and/or inclinometers?  So far I've only found one
supplier of quartz gyros, and they wanted $1000+ dollars for one! (I'd
need three of them to sense yaw, roll, and pitch.)
	I plan to use the components in an electrically powered flying robot,
so they need to be quite light.  I'd like to get information on any
suppliers of the previously mentioned items, even if their products are
not so light or reasonably priced.
Newsgroups: comp.robotics
From: m20163@mwunix.mitre.org (Nahum Gershon)
Subject: Applied Imagery and Pattern Recognition Workshop
Summary: A forthcoming exciting workshop in Washington DC.
Keywords: Robotics, image processing, virtual reality, pattern recognition, comp
Organization: The MITRE Corporation
Date: Fri, 9 Oct 1992 19:27:43 GMT


    The 21st Applied Imagery and Pattern Recognition Workshop

The 21st Applied Imagery and Pattern Recognition Workshop will be 
held on October 14-16, 1992 at the Cosmos Club in Washington DC.  
The 3-day workshop will include sessions on

Virtual Reality
Machine Learning
Robot Navigation
Medical Imaging
Environmental Remote Sensing
and
Smart Weapons and Military Applications.

The Cosmos Club is located at 
2100 Massachusetts Avenue, NW
Washington, DC
Metro:  Dupont Circle


For more information and registration, please contact:

Dr. Michael Selander
The MITRE Corporation
7525 Colshire Drive
McLean, VA 22102
(703) 883-7294
(703) 883-3315 (fax)
mike@mwunix.mitre.org






(
From: alberto@cbis.ece.drexel.edu (Alberto D. Lacaze)
Newsgroups: comp.robotics
Subject: Information about ODEX II
Date: 9 Oct 92 13:59:20 GMT
Distribution: na
Organization: Drexel University, College of Engineering, Philadelphia, PA

We are a group of researchers and graduate students at Drexel University who
are upgading the ODEX II ( a six legged robot built by Odetics Corp.).
Anyone who is interested in sharing information about the robot (i.e. 
communication protocols,  programs, etc) please post in the group or 
mail me at :

alberto@cbis.ece.drexel.edu

Thanks
Newsgroups: comp.robotics,comp.ai
From: sean@cs.tamu.edu (Sean Graves)
Subject: Looking for Sacerdoti SRI report
Organization: Computer Science Department, Texas A&M University
Distribution: na
Date: Sat, 10 Oct 1992 22:58:46 GMT

Hello folks, I'm looking for a tech report that I hope one of you
may have.  The reference is:

Sacerdoti, Earl D., "A Structure for Plans and Behavior" Tech Report
SRI Project 3805, Stanford Research Institute, 1975.

I tried to get a copy through Interlibrary Services, but they say
that SRI lists this report as 'missing.'

If anybody has a copy of this report, I would appreciate it if you
would let me know.

Sean Graves
sean@cs.tamu.edu
Newsgroups: comp.robotics
From: nanders@plains.NoDak.edu (Noel Anderson)
Newsgroups: comp.robotics
Subject: Re: gcc cross compiler for the 6811?
Date: 7 Oct 92 11:48:38 GMT
Organization: North Dakota Higher Education Computing Network

In article <ld4tluINN9hm@exodus.Eng.Sun.COM> cmcmanis@pepper.Eng.Sun.COM (Chuck McManis) writes:
>In article <1992Oct5.163314.23669@cc.gatech.edu> (Doug MacKenzie) writes:
>>How about using one of the Motorola 6833x micro-controllers and avoid the
>>whole 6811 compiler problem completely?  The new 68333 is a 68332 with
>>64K bytes of EEPROM, 4K battery backed ram & 8 channel 10bit A/D unit,
>>all on one chip.  In march, samples were $199, I assume the price is less
>>now.

>Sounds pretty cool, does Mot sell an EVB board for this?

The latest issue of _Embedded Systems Programming_ indicates that the evaluation
board sells for about $500.  They also gave essentially the same specs for
the processor as given above.  The 68F333 has 64 KB of flash EPROM.


-- 
Noel W. Anderson                   nanders@plains.nodak.edu (Internet)
Asst Prof, Computer Engineering         "I speak for myself, not NDSU"
EE Dept, North Dakota State University         nanders@plains (BITNET)
Newsgroups: comp.robotics,comp.ai
From: sean@cs.tamu.edu (Sean Graves)
Subject: Re: Looking for Sacerdoti SRI report
Organization: Computer Science Department, Texas A&M University
Distribution: na
Date: Sun, 11 Oct 1992 00:00:37 GMT

In article <1992Oct10.225846.20527@tamsun.tamu.edu> sean@cs.tamu.edu (Sean Graves) writes:
>Hello folks, I'm looking for a tech report that I hope one of you
>may have.  The reference is:
>
>Sacerdoti, Earl D., "A Structure for Plans and Behavior" Tech Report
>SRI Project 3805, Stanford Research Institute, 1975.
>



Thanks to everyone who replied!  (No more replies necessary...)

Sean



Newsgroups: comp.robotics
From: rg@msel.unh.edu (Roger Gonzalez)
Subject: Advice wanted: motor control chips/amplifier boards?
Organization: Denning Mobile Robotics
Distribution: comp
Date: Thu, 15 Oct 1992 02:35:43 GMT


Being a lazy software engineer with more money than patience with a soldering
iron, I'd like suggestions for the best price/feature balance for motor
control chips and for amplifier boards.

I'm going to be using two 36v motors with some sort of encoder rigged up on
the output shaft between the motor and wheel.  (Differential drive critter)

I'm looking at using two HCTL1100 (?) chip, around $40 a pop, but I could
probably get them at a discount from work.  I've seen an amplifier board that
had everything I need (PWM, dc/dc convs etc) on it but it cost about $280.
And I would need two of em.

So I may just wire up one of the things from the back of McComb's book.

I hope to use one of these $300 sbc's that are advertised in Embedded Systems
or in Circuit Cellar INK.  A lot of them seem to have oodles of digital and
analog i/o lines.

Any suggestions for other simpler motor control chips or cheaper amp boards?

-Roger
--
ARTIFICIAL FLOWERS:  Pieces of plastic and metal, crudely fashioned to
  bear a limited, superficial resemblance to real flowers, but with no
  credible attempt to match their internal complexity in terms of form,
  function, or behavior.

ARTIFICIAL INTELLIGENCE: Really smart computers.

Roger Gonzalez - rg@msel.unh.edu     (508) 658-7800 (fax -2492)
Denning Mobile Robotics, 21 Concord Street, Wilmington MA 01887
From: dulimart@cps.msu.edu (Hansye S. Dulimarta)
Newsgroups: comp.robotics
Subject: Chimera
Date: 9 Oct 92 05:26:19 GMT
Organization: Department of Computer Science, Michigan State University
Originator: dulimart@ahmeek.cps.msu.edu


Just recently, I learned about Chimera and am thinking of using it in
my research. Before going further, I would like to hear from others
about their experiences using this system. Any information,
including: system installation, software development (tools), user
interface, programming, etc., are welcome.

I'll post the summary to this newsgroup if there are enough interest.
Thanks in advance.


Hans.
-- 
|_|_|_|_|  _|_|_ |_|_|_|_| Hans Dulimarta [dulimart@cps.msu.edu]
|_|_|_|  _|_| |_|_ |_|_|_| Pattern Recognition & Image Processing Laboratory
|_|_|  _|_|_ X _|_|_ |_|_| Department of Computer Science
|_|   |_|_|_|_|_|_|_|  |_| Michigan State University
From: langston@memstvx1.memst.edu (Mark C. Langston)
Newsgroups: comp.robotics
Subject: MiniBoard and Amiga
Date: 8 Oct 92 00:22:43 GMT
Organization: Memphis State University


  Is there anyone out there who has successfully compiled, run, and
downloaded 6811 code to the mini board using an Amiga?  If so, I would
be interested in talking to you, since that is my dilemma...

please email me,


-- 
+--------8<------Cut Here------8<------Cut Here------8<------Cut Here---------+
  Mark C. Langston   |  "Secrecy is the beginning of tyranny."                 
  Psychology Dept.   |  "Always listen to experts.  They'll tell you what can't
  Memphis State U.   |     be done, and why.  Then do it."                      
      "Pftph!"       |           -From the notebooks of Lazarus Long
From: baden@sys6626.bison.mb.ca (baden)
Newsgroups: comp.robotics
Subject: /* FORMULA NEEDED *\
Date: Fri, 16 Oct 92 15:46:24 CST
Organization: System 6626 BBS, Winnipeg Manitoba Canada

 
        I was speaking with a prof from U of Waterloo a while ago, and he 
was telling me about a formula that was used to position a multi-segment 
arm.  All that was given was the point where the end effector was to be 
(in space) and the formula would calculate the angles required by each of 
the joints in order to place the end effector at that point... ie:
 


                        0---0
                       /     \
                      /       \
 desired position => o         \
                                \
                                0----0---0--o <= original position
 
        The diagram is not to proper scale, for obvious reasons, however 
        it best describes what I'm looking for.
 
   If anyone can help me with this, it would be greatly appreciated!
 
        >>Baden<<

Newsgroups: comp.robotics
From: dstewart+@cs.cmu.edu (David B Stewart)
Subject: Re: Reponses to Chimera II question.
Organization: The Robotics Institute, Carnegie Mellon University
Date: Wed, 14 Oct 1992 20:59:03 GMT

In article <1992Oct13.210421.19885@msuinfo.cl.msu.edu> dulimart@cps.msu.edu (Hansye S. Dulimarta) writes:
>Sometimes ago I requested information about Chimera II and here are the
>responses I received.
>
>the Sun 3/160 and the Ironics IV-3220 both have the same CPU (68020) so 
>no cross-compilation is require in our case.  Currently a Sun3 is required
>on your network so that the real-time programs may be compiled.

Please note that the above restriction only applies to Chimera II. 
In Chimera 3.0, due to be released next month, the GNU C compiler is used,
and it can run either on a Sun3, or on a Sun4 as a cross compiler. 
In addition, GNU C++ is also supported.

~dave

-------------------------------------------------------------------------------
David B. Stewart  - email: <dstewart@cmu.edu>            The Robotics Institute
snail mail:       - ECE Dept., Carnegie Mellon University, Pittsburgh, PA 15213
Current Projects: - Chimera 3.0 Real-Time Operating System
		  - Reconfigurable Sensor-Based Control Systems
From: page@nosc.mil (Ward C. Page)
Newsgroups: comp.robotics
Subject: OOOPSS... Lost Stiquito info
Date: 9 Oct 92 00:11:44 GMT
Article-I.D.: nosc.1992Oct9.001144.6705
Organization: Naval Ocean Systems Center, San Diego



I recently moved all my stuff from a Sun 4 to my new HP 9000/750 and
somehow lost the info on where to get all the Stiquito stuff (kits,
ftp address, etc...)  Could some kind soul please e-mail this to me
or re-post it to this newsgroup?!  Thanks!!

Ward Page
Artificial Intelligence Technology Branch
NCCOSE RDT&E (NRaD)
San Diego, CA
page@cod.nosc.mil

-- 
Ward Page
NCCOSC RDT&E
San Diego, CA
page@cod.nosc.mil
Newsgroups: comp.robotics
Subject: FTP site for robotics papers?
From: bushbo@hiramb.bitnet
Date: 12 Oct 92 20:22:06 -0500
Organization: Hiram College
Nntp-Posting-User: bushbo

hello
 i need to know any information on subsumption architecture and/or
legged robots and their controllers....any information would be helpful
like an FTP address. i am particularly interested in any papers from
MIT and their insect robots....for i am in a design stage of a robot and
i am having some design problems.....thanks very much....brian

-- 

brian o. bush
IN%"bushbo@hiramb.bitnet"

   /
   \ yber                       

Newsgroups: comp.robotics
From: cam@castle.ed.ac.uk (Chris Malcolm)
Newsgroups: comp.robotics
Subject: Re: Help to find UMI
Keywords: company selling robots
Date: 14 Oct 92 23:58:07 GMT
Organization: Edinburgh University


-- 
Chris Malcolm    cam@uk.ac.ed.aifh          +44 (0)31 650 3085
Department of Artificial Intelligence,    Edinburgh University
5 Forrest Hill, Edinburgh, EH1 2QL, UK                DoD #205
From: keithley@apple.com (Craig Keithley)
Newsgroups: comp.robotics
Subject: GNU tools for 68HC11?
Date: 16 Oct 92 00:04:28 GMT
Followup-To: comp.robotics
Organization: Apple Computer, Inc.

Oh, the wonders of netnews.  Having spied the ad for Coactive Aesthetics in
Circuit Cellar Ink, I thought I'd post to comp.robotics and ask if anyone
had seen the HC11 patches floating around.  Imagine my suprise at seeing
the subject "re: gcc cross compiler for the 6811?". 

But the original question has expired, and perhaps the answer to my
question as well.  So I'll ask again.  Are the patches to the HC11 GNU tool
set available anywhere?

Thanks,

Craig Keithley
Apple Computer, Inc.
keithley@apple.com
Newsgroups: comp.robotics
From: kilian@cray.com (Alan Kilian)
Subject: Braitenburg simulator code runs on Miniboard 2.0
Organization: Cray Research, Inc.
Date: 8 Oct 92 16:20:38 CDT

A while back I wrote a Braitenburg vehicle simulator for the X-Window system.
I have since ported it to the IBM PC.
I have just finished a new feature. The simulator can now write an output
file that can be loaded into a Motorola MC68HC811E2 microcontroller and
run the simulation on a real robot.

The features are:
  Up to 50 neurodes
  Up to 8 sensor neurodes (Analog input neurodes)
  Up to 4 motor output neurodes in PWM mode
  Up to 8 digital output neurodes (On/off for motor or light bulb or whatnot)

You can simulate the vehicle with the simulator and then compile the
neurode map into an HC11 program that gets executed on the robot.

I'll supply the source code which runs on UNIX or DOS. 
(I use Microsoft quick "C" I don't know if it will compile with anything else.)

Here is what I need:
  I need a program written in "C" that takes binary and writes a S19 file.

It shouldn't be tough it's just that I don't want to write it.

I'm currently in Boston so I won't be testing the code for a few more days. 
You'll just have to wait.

If you have any ideas for any more features I'd love to hear from you.

      -Alan Kilian


-- 
 -Alan Kilian           kilian@cray.com 612.683.5499 (Work) 612.721.3990 (Home)
  Cray Research, Inc.   655 F Lone Oak Drive, Eagan  MN, 55121 
                        "It's based on actual math". -Dilbert
From: TXK9@psuvm.psu.edu
Newsgroups: comp.robotics
Subject: Auto grasping...
Date: 7 Oct 92 16:47:20 GMT
Article-I.D.: psuvm.92281.124720TXK9
Organization: Penn State University

Imlooking for a good lead paper on auto grasping. Perhaps using vision sensors
in an unstructured environment where the object to be grasped is not known befo
re hand thus making CAD based object or feature recognition which is very activ
e field of research a poor direction of atttempt.  There is a lot of literature
 available on vision based navigation, control, even more on vision application
in various aspects of adaptive control.  But are there any real good work done
auto grasping. Please correct me or enlighten me on texts or some ongoing
research. Thanx.
PS: I 'll be glad to discuss auto grasping as relevant to my research with
any one willing to hear!!!!
------------------------------------------------------------------------
Kesh Kesavadas                         FULCRUM
Industrial Engg.               CIM LAB:V-PAD and AI group
Penn. State Uty.                     814-867-5922
------------------------------------------------------------------------
From: schoi@casbah.acns.nwu.edu (Scott Choi)
Subject: Milling base
Organization: Northwestern University, Evanston Illinois.
Date: Wed, 7 Oct 1992 13:27:59 GMT

I don't know if this question belongs to this group, but here it goes
anyway..

I am looking for 5 axis CNC (it stands for Computer Numerically Controlled,
I am told) milling base.  It would have to be controlled by PLCs with
1/1000 inch precision.  

It will be used for laser cutting.  If you know a machine like this, or
have other suggestions, please let me know.  Thanks in advance.

schoi@nwu.edu

Scott Choi