HDTenEightyP/NetNews huggingface dataset:
From: mathis@tigger.cs.Colorado.EDU (Don Mathis)
Subject: Re: FAQ
Organization: University of Colorado, Boulder
Date: Fri, 14 Aug 1992 21:58:46 GMT

In article <BsvHEn.4D9@acsu.buffalo.edu> hinkle@acsu.buffalo.edu (Steven Hinkle) writes:
>Does this group have a FAQ somewhere?  I would like to start building and
>programming robots as a hobby but have no real experience.  I need some
>start-up information. 


Get the book:

"The Robot Builders Bonanza : 99 Inexpensive Robotics Projects",
by Gordon McComb.

I also knew nothing until I checked this out of the library.  It's excellent.

- Don Mathis
From: hinkle@acsu.buffalo.edu (Steven Hinkle)
Newsgroups: comp.robotics
Subject: FAQ
Date: 12 Aug 92 13:27:58 GMT
Organization: State University of New York at Buffalo/Comp Sci

Does this group have a FAQ somewhere?  I would like to start building and
programming robots as a hobby but have no real experience.  I need some
start-up information. 

Steven Hinkle
Newsgroups: comp.robotics
From: hesse@fzi.de
Subject: Need: references of communication protocols between robots
Reply-To: hesse@fzi.de
Organization: FZI Forschungszentrum Informatik, Karlsruhe, Germany
Date: Thu, 13 Aug 1992 17:01:36 GMT


	Hi,

I need some references of communication protocols between autonomous
robots. 

Members of my research group built at the moment three small robots 
that communicate in future via IR-moduls. 
The communication protocol must allow collision-free dialog between
two or more robots. Also a broadcast communication (Hello world).

Nevertheless all references are welcome.

Thank s in advance
	
	Bye

		Jan
___________________________________________________________________
Jan Hesse                                       
Tel:   +49-721-9654-311    Forschungszentrum Informatik FZI
Fax:   +49-721-9654-309	   Dept. Tech. Expert Systems and Robotics
email: hesse@fzi.de	   Haid-und-Neu-Strasse 10-14
			   D-7500 Karlsruhe West-GERMANY
___________________________________________________________________	
Newsgroups: comp.robotics
From: petesk@microsoft.com (Pete Skelly)
Subject: Re: balancing_act
Date: 16 Aug 92 21:45:15 GMT
Organization: Microsoft Corporation


One of the current favorites is the Laser Gyroscope.
I believe these are being used in planes, boats, etc.

Kind of expensive, though.

I'd say, however, that your best bet would be to use
accelerometers in conjunction with a standard gyro.
When you get to a point in your motion that is most
stable while on the ground, you can then use the
accelerometers to tell where down is (gravity looks
like acceration), and use that information to recalibrate
your gyro.

You can also take into account the fact that vertical lines
exist alot in the world, especiall in man-made areas.  Use
a vision system with a simple vertical line detector.

petesk@microsoft.com
My Opinions...
From: hampster@wyatt.ksu.ksu.edu (Kip J. Mussatt)
Newsgroups: comp.robotics
Subject: Re: Trouble with stepper motor
Date: 15 Aug 1992 23:54:56 -0500
Organization: Kansas State University
NNTP-Posting-Host: wyatt.ksu.ksu.edu
Keywords: stepper motor

mathis@tigger.cs.Colorado.EDU (Don Mathis) writes:

>I've got a 4-phase stepper motor that I'm trying to control, by
>sending it the required sequence of 4-bit patterns (1001, 1010, 0110,
>0101, repeat), and the motor runs for 2-6 seconds (hundreds of steps)
>and then it gets confused and just starts wiggling.

>Has anyone else had this problem?  

>The motor behaves as it would behave if it had gotten out of
>synchronization with the step commands, but I can't imagine why this
>would suddenly happen after hundreds of successful steps.

check the speed of the signals you are giving it, if they are too fast
the motor can not mechanically keep up with them and funny things can   
happen.  I realize that too fast for a stepper is quite, fast but I had
a similar problem with running them too fast and if I bumped the stepper, 
or gave it a push, it would start running backwards.  Anyways, just a
thought.

-KJM 

hampster@matt.ksu.ksu.edu
From: bobeson@nonskid.Eng.Sun.COM (Robert Ellefson)
Newsgroups: comp.robotics
Subject: Re: balancing_act
Date: 15 Aug 1992 01:35:27 GMT
Organization: Sun Microsystems
Distribution: world
Reply-To: bobeson@nonskid.Eng.Sun.COM
NNTP-Posting-Host: nonskid

In article 19699@constellation.ecn.uoknor.edu, rwmurphr@uokmax.ecn.uoknor.edu (Robert W Murphree) writes:
>williamb@ee.ubc.ca (william burchill) writes:
>
>>Could somebody post some information or suggest a book on sensors 
>>for detecting balance, i.e. orientation relative to the horizontal plane?
>>I'm praticularly interested in knowing what different types are available. 
>>Are there any without moving parts?
>I have at home somewhere some product literature on an electronic
>level which sells for 100- several 100 dollars.  NO moving parts.
>don't know about interfacing it.
>I'll try to dig it up next week.


I met the inventor of this device a little while ago.
It sells for $80 in a decent number of hardware stores; you might
want to go out to your nearest ACE or whatever and take a look.
I don't remember the name of his company; this was their only product,
although they sold it to Bosch for marketing in Europe/Asia.

The device uses an accelerometer in solid state of some sort.
They've got a patent on it, and aren't too keen on talking, it seems.
(although I might have got that impression because the fellow was just
more interested in drinking his beer than talking shop :-)

Anyhow, it is based on a small (1"x2") removable unit that has
an LCD display and a couple of buttons.  Even if nothing else, you
could decode the lines they use to output to the LCD display.
This thing is quite accurate, as well as precise to at least 1 degree inclination.
Two of them would give you planar information, of course.

Joe Bob says: check it out...

-Bob Ellefson

Newsgroups: comp.robotics
From: abond@rvgs.vak12ed.edu (Andrew H. Bond)
Subject: source for linear stepper motors?
Organization: Virginia's Public Education Network (Roanoke)
Date: Thu, 13 Aug 92 02:31:06 GMT

	I am looking for a source for linear stepper motors,
prefferably used, surplus or otherwise cheap. Most places that
sell such devices want several hundred to several thousand
dollars apiece for the suckers, advertising them as precision
devices fr tracking mirrors and such. I just want them to hack
with, as they are much more useful than the rotary kind, but
much more difficult to find. Any help appreciated.
		-AHB
-- 

		Andrew H. Bond

			no matter how bad the election gets remember:
From: markey@flash.ATC.Olivetti.Com (Tim Markey)
Newsgroups: comp.robotics
Subject: CHEAP POLARIOD SOURCE
Date: 14 Aug 92 17:06:11 GMT


     I recently bought a Stanley ultrasonic measuring tape from a mail order
     catalog. I believe it was All Electronics or Altronics (The one with
     the flying genies on the front).  The cost was $14.95.  It has the 
     ultrasonic transmitter, a board and an lcd which displays the distance.
     The distance goes from about 2-30 feet somewhat reliably.   I believe
     that Stanley discontinued this product and these have been liquidated.
     I haven't opened it up yet and destroyed it.  Has anyone looked at one
     of these before.  Is it possible to use this board to interface with
     a microcontroller via the lines which go to the LCD?

     TJM
From: steve.rainwater@ocitor.fidonet.org (Steve Rainwater)
Sender: FredGate@ocitor.fidonet
From: brutzman@taurus.cs.nps.navy.mil (Don Brutzman)
Newsgroups: comp.robotics
Subject: Re: Papers available on NPS Autonomous Underwater Vehicle
Summary: Correction to ftp address
Date: 12 Aug 92 13:42:17 GMT
Reply-To: brutzman@cs.nps.navy.mil (Don Brutzman)
Organization: Naval Postgraduate School, Monterey CA

My original post included an incorrect ftp address.  The correct site
for anonymous ftp has address 120.131.1.13 and is called

taurus.cs.nps.navy.mil

I apologize for any inconvenience.
regards, Don
Newsgroups: comp.robotics
From: tim@media.mit.edu (Tim Anderson has no real life.)
Subject: Correction - it's SGS-THOMPSON TDA7272
Followup-To: self
Summary: speed control - correction
Keywords: speed control
Organization: MIT Media Laboratory
Date: Wed, 12 Aug 1992 13:48:05 GMT
Expires: Thu, 12 Nov 1992 05:00:00 GMT

The part is made by SGS-THOMPSON, not exar. OOPS.

It's in a 20pin dip.

-- 

<>V<>V<>V<>V<>V<>V<>V<>V<>V<>V<>V<>V<>V<>V<>V<>V<>
These views were held by Tim Anderson at the time.
	He probably regrets it already.
Newsgroups: comp.robotics,ca.wanted,misc.wanted
From: gat@robotics.jpl.nasa.gov (Erann Gat)
Subject: WANTED: PXL2000
Organization: Jet Propulsion Laboratory
Date: Wed, 12 Aug 1992 22:16:33 GMT

WANTED: Fisher Price PXL2000 video cameras, preferably working but
will also take broken ones.  WIll pay $$$, amount depends on condition.

Erann Gat
gat@robotics.jpl.nasa.gov
From: sean@cs.tamu.edu (Sean Graves)
Subject: Looking for info on American Robotics arm
Organization: Computer Science Department, Texas A&M University
Date: Sun, 16 Aug 1992 18:40:13 GMT

I am trying to get some information on a 6-dof arm made by a company call
American Robotics.  I'm not sure if they are still in business.  Does anybody
use this brand of arm?  I cannot locate a model number on it anywhere, but it
appears to be named 'Merlin' -- I'm not sure if that is a model name or what.

If someone has one of these arms, and would be willing to let me ask them a few
questions, please respond.  In particular, I would like to find someone who has
a manual I could look through.

Thanks in advance

Sean Graves
sean@cs.tamu.edu
From: elmo@deakin.OZ.AU (Andrew Elms)
Newsgroups: comp.robotics
Subject: books on hexapod robot construction
Date: 16 Aug 92 04:42:03 GMT
Organization: Deakin University, Victoria, Australia

Hi!
   Thanks for all the information everyone has potsed about the 6 legged beasts
   they have given me some good leads.
   I am haveing trouble in getting my hands on a book about consrution of a
   hexapod robot. I have tried to get some of the ones that have been mentioned
   on the news group but havent had any luck! I am really after something that
   goes through it in a realativly simple manner but at the moment i will take 
   anything i can grab. I would really appreciate any suggestions

				Thanks heaps
					Andrew Elms 
					(elmo)
From: rjus@uonline.com (ren_just)
Newsgroups: comp.robotics
Subject: Re: FAQ
Date: 15 Aug 92 12:07:00 GMT
Organization: Just Computers!

mathis@tigger.cs.Colorado.EDU (Don Mathis) writes:
: In article <BsvHEn.4D9@acsu.buffalo.edu> hinkle@acsu.buffalo.edu (Steven Hinkle) writes:
: >Does this group have a FAQ somewhere?  I would like to start building and
: >programming robots as a hobby but have no real experience.  I need some
: >start-up information. 
: 
: 
: Get the book:
: 
: "The Robot Builders Bonanza : 99 Inexpensive Robotics Projects",
: by Gordon McComb.
: 
: I also knew nothing until I checked this out of the library.  It's excellent.
: 

I have this book and it is very good to get you started.  Others that have
some worth as well are -

  "Interfacing Test Circuits With Single-Board Computers", 
  by Robert H. Luetzow, TAB Books Inc.

  "Build Your Own Universal Computer Interface", 
  by Bruce Chubb, TAB Books Inc.

You might also want to look at back issues of Circuit Cellar Ink.  There
are various articles on robotics and such.  What kind of information were
you looking for?
From: rwmurphr@uokmax.ecn.uoknor.edu (Robert W Murphree)
Newsgroups: comp.robotics
Subject: Re: balancing_act
Date: 19 Aug 92 21:08:07 GMT
Article-I.D.: constell.1992Aug19.210807.27401
Organization: Engineering Computer Network, University of Oklahoma, Norman, OK, USA

See my post on wedge innovations electronic spirit level. 
I suppose  my inclination would be to go with accelerometers at
3 perpindiculars and some kind of cheap gyroscope.  
Some cheaper gyroscopes, where cheap means on the order of 
1000 dollars are now being made available.
From: nivek@cs.cmu.edu (Kevin Dowling)
Newsgroups: comp.robotics
Subject: Re: Looking for info on American Robotics arm
Date: 16 Aug 92 21:09:00 GMT
Article-I.D.: cs.Bt3HF1.HKL.1
Reply-To: nivek@cs.cmu.edu
Organization: Robotics Institute, Carnegie Mellon

American Robot Company became Cimflex  which later bought or merged with
Teknowledge. It is now Cimflex Teknowledge and is no longer making robots.
They mainly do systems design and AI-factory applications. They were doing
well through the mid-80's when the whole robotics industry crashed and burned.
Not sure how they're doing today.

The Merlin won some design awards and it is a pretty nice counterbalanced
puma-like design. We have one - Pretty cheap if someone wants one. We have
no use for it and we had some problems with the controller at one point.

Try contacting Cimflex in Pittsburgh, PA (412) 787-3000

						nivek

---

aka: Kevin Dowling			Carnegie Mellon University
tel: (412) 268-8830			The Robotics Institute
adr: nivek@rover.ri.cmu.edu		Pittsburgh, PA 15213
From: sremis@tolstoy.helios.nd.edu (steve remis)
Newsgroups: comp.robotics
Subject: Re: PUMA-560 ARM _ singular points
Keywords: PUMA,SINGULAR POINTS
Date: 14 Aug 92 17:07:45 GMT
Reply-To: sremis@tolstoy.helios.nd.edu (steve remis)
Organization: University of Notre Dame, Notre Dame

In article <1992Aug12.171255.13584@morgan.ucs.mun.ca>, raghu@morgan.ucs.mun.ca (Raghu B) writes:
|> Can any one tell me any reference books are any valuable materials,
|> from where I can find the singular points for a PUMA-560 arm.
|> I know that they are the extreme ends of the workspace. But
|> I don't know how to find those values. Is there any algorithm
|> or any set of equations which can be solved to get those arm
|> joint angles theta1, theta2 and theta3.
|> 
|> 	Any kind of help is highly appreciated.
|> 
|> 
|> 				Raghu .B


There are singularities which occur at the limits of the workspace.  These
values occur when sin(theta3) = 0, as discussed in the DeMers followup.

However, this arm geometry (called the _articulated_arm_) also has internal
workspace singularities.  An easy way to find these singularities is to 
examine the plane formed by the axes of rotation of the first two joints.
This (vertical) plane passes through the shoulder center, and rotates with
theta1.  Any time the controlled point on the forearm lies in this plane, the
arm is also singular.  Usually this "controlled point" is the center of the
wrist, but it could be any point in space attached to this link.  You cannot
move the controlled point horizontally in this plane at these singularities.

Steve
-- 

Steve Remis 
PhD Student
University of Notre Dame
sremis@tolstoy.helios.nd.edu 
Newsgroups: comp.robotics
From: pallantj@unvax.union.edu (Joseph Pallante)
Subject: Vendors
Keywords: supplies
Organization: Union College, Schenectady, NY
Date: Wed, 12 Aug 1992 21:37:26 GMT

I am looking for a good supplier or two of parts I may be interested in
for a project.

Specifically Servos, batteries, and sensors.  (Of course)

I doubt this is a FAQ, forgive me if it is.

If you have any suggestions, I would appreciate a phone number so
I can get a catalog from them.

Thank you!

Joe

Newsgroups: comp.robotics
From: hollombe@polymath.tti.com (The Polymath)
Subject: Re: Trouble with stepper motor
Keywords: stepper motor
Organization: The Cat Factory
Date: Tue, 18 Aug 1992 00:46:44 GMT

In article <1992Aug14.214916.4173@colorado.edu> mathis@tigger.cs.Colorado.EDU (Don Mathis) writes:
}I've got a 4-phase stepper motor that I'm trying to control, by
}sending it the required sequence of 4-bit patterns (1001, 1010, 0110,
}0101, repeat), and the motor runs for 2-6 seconds (hundreds of steps)
}and then it gets confused and just starts wiggling.
}
}Has anyone else had this problem?  
}
}The motor behaves as it would behave if it had gotten out of
}synchronization with the step commands, but I can't imagine why this
}would suddenly happen after hundreds of successful steps.
}
}Can anyone give me some advice?

Sounds like you're trying to drive it too fast.  Could something be
causing your clock rate to drift?  Try slowing down just a little.

The Polymath (aka: Jerry Hollombe, M.A., CDP, aka: hollombe@polymath.tti.com)
Head Robot Wrangler at Citicorp                   Turn the rascals out!
3100 Ocean Park Blvd.   (310) 450-9111, x2483     No incumbents in '92!
Santa Monica, CA  90405
Newsgroups: comp.robotics
From: williamb@ee.ubc.ca (william burchill)
Subject: balancing_act
Organization: University of BC, Electrical Engineering
Distribution: na
Date: Fri, 14 Aug 1992 18:19:00 GMT

Could somebody post some information or suggest a book on sensors 
for detecting balance, i.e. orientation relative to the horizontal plane?
I'm praticularly interested in knowing what different types are available. 
Are there any without moving parts?

I recently saw a t.v. program which showed a 1 legged hopping robot in
action. How did this sense its balance? Could someone direct me to a 
technical publication on this work?

thanks.

Newsgroups: comp.robotics
From: R2MA@VM1.CC.UAKRON.EDU
Subject: WANTED: POLOROID ULTASONIC SENSOR
Organization: The University of Akron
Date: Thu, 13 Aug 1992 20:18:53 GMT

 
Am working on the development of a AMV and need the Poloroid range
sensor as soon as possible.  If anyone has one that they are not
using anymore I will be very glad to buy it.  I would also really
appreciate any information about the sources for this sensor.
I just found out that Micromint Inc.,one of the sources , just
went out of bussiness.  Any information on other sources would
be greatly appreciated.
                                              Thank You
email: r2ma@vm1.cc.uakron.edu                 Madhu
ph: (216) 376-1289
Newsgroups: comp.robotics
From: bws@ccs.carleton.ca (Brian Sullivan)
Subject: Miniboard
Organization: Carleton University
Date: Fri, 14 Aug 1992 12:20:12 GMT

Took a look at the miniboard, and found it very interesting. 

I would like to pick up a couple of the boards that are being made.
I'll send of a cheque in the new few minutes. 
 
One question. The documentation talks about a high speed bus. 
What is it used for, and does the library provide any way to
use it?
Newsgroups: comp.robotics
From: rwmurphr@uokmax.ecn.uoknor.edu (Robert W Murphree)
Subject: Re: balancing_act
Organization: Engineering Computer Network, University of Oklahoma, Norman, OK, USA
Distribution: na
Date: Fri, 14 Aug 1992 20:24:48 GMT

williamb@ee.ubc.ca (william burchill) writes:

>Could somebody post some information or suggest a book on sensors 
>for detecting balance, i.e. orientation relative to the horizontal plane?
>I'm praticularly interested in knowing what different types are available. 
>Are there any without moving parts?
I have at home somewhere some product literature on an electronic
level which sells for 100- several 100 dollars.  NO moving parts.
don't know about interfacing it.
I'll try to dig it up next week.
Newsgroups: comp.robotics
From: fredm@media.mit.edu (Fred G Martin)
Subject: MiniBoard specifications
Organization: MIT Media Laboratory
Date: Sat, 22 Aug 1992 05:04:05 GMT

Several people have asked "what is the Mini Board."  Here is a brief
synopsis of the board and its features.  If you would like the full
article describing the board, follow the FTP instruction at the end of
this letter.  Gregory Ratcliff (gratclif@magnus.acs.ohio-state.edu) is
still accepting orders for a bulk board run (he's doing this on a
non-profit basis).

Cheers,
Fred Martin

Fred Martin | fredm@media.mit.edu | (617) 253-7143 | 20 Ames St. Rm. E15-301
Epistemology and Learning Group, MIT Media Lab     | Cambridge, MA 02139 USA



			  THE MINI BOARD 2.0

	 A miniature controller board for small mobile robots

The MINI BOARD 2.0 is a complete embedded computer board for robotic
applications.  It can directly power four DC motors and receive inputs
from numerous sensors.  Its miniature size (smaller than a business
card) makes it suited well for mobile applications as well as other
embedded control.

It can be programmed in 6811 assembler code or C for stand-alone
operation, or it can serve as a serial-line based controller operated
by a desktop PC.

  * overall dimensions: 3.3" by 1.86", smaller than a business card.
    If desired, an off-board serial connector can be used, allowing an
    additional .6" of board length can be chopped off. 

  * nearly all parts can be purchased from Digikey (including all
    connectors and switches).  Extensive use of resistor packs 
    minimizes component count.

  * uses Motorola 68hc811e2 microprocessor with 2048 bytes of
    internal, electrically erasable PROM and 256 bytes of RAM.

  * four motor drivers for bidirectional control of small DC motors
    (up to 600 mA current, 36 volts each motor).

  * eight analog inputs; eight digital inputs or outputs; several
    timer and counter I/O pins, all broken out to convenient header
    ports. 

  * on-board 5v regulator allows board to be powered by any DC power
    source from 5.6 to 36 volts.

  * RS-232 compatible RJ-11 port for communication/program download
    between host PC.

  * two modular high speed serial jacks, allowing networks of multiple
    MB 2.0's to be constructed using common 4-wire phone cable.
    Multiple-mastering bus protocols supported.

  * optional battery level monitoring using voltage divider from
    supply voltage before regulation.

  * XIRQ line broken out to a pad:  when this line is given 12.5v,
    an 'hc711e9 chip with 12K of EPROM can be programmed in place.

  * MS-DOS software provided for downloading programs to board.  6811
    monitor program provided for recording changes in sensor state, 
    controlling motors and interacting with other board features over
    serial line.

  * C/assembler libraries provided for code development using
    Dunfield Development Systems' Micro-C compiler.

To get the complete article discussing the Mini Board, including PC
artwork, use anonymous FTP to "cher.media.mit.edu" in directory
pub/miniboard.
From: shanwang@sara.cc.utu.fi
Newsgroups: comp.robotics
Subject: Re: Muscle Wire
Date: 16 Aug 92 16:17:15 GMT
Organization: University of Turku, Finland

&>>-----------------------------------------------------------------------------
&>>In article <55706@olivea.atc.olivetti.com>, markey@flash.ATC.Olivetti.Com (Tim Markey) writes:
&>> 
&>>     Has played with muscle wire?  There are kits available for an 
&>>     outrageous price.  What I want to know is how strong is this stuff?
&>>     Could it ever be used for artificial limbs? 
&>> 
&>>     TJM
&>>
&>>	Hi, can anybody who know this subject give us some info. about recent
&>>	research ?
&>>
&>>	--S.W.
&>>
&>>-----------------------------------------------------------------------------
Newsgroups: comp.robotics
From: fculpepp@norfolk.vak12ed.edu (Fred W. Culpepper)
Subject: Re: Where do i get gears and things ?  
Organization: Virginia's Public Education Network (Norfolk)
Date: Wed, 12 Aug 92 19:46:43 GMT

rivan@bnr.ca  writes:
> 
>   I just started designing my first robot and have realized
> that where I live is a lousy place to find gears.  I remember
> my robotics lab in university having lots of nice aluminum
> gears and other goodies like sealed bearings.  But hwere
> did they come from.   Does anyone know of a mail order catalog
> that specializes in these things ?  Any direction would
> come in handy.
> 
> Rob


Rob:

	My standard supplier for years has been:

		Stock Drive Products
		2101 Jericho Turnpike
		New Hyde Park, NY  11040
		Tel: (516) 328-3300
		Fax: 516-326-8827

	If you call, ask for Mr. Herb Arum.  He has extensive
knowledge of the components that they sell.  Quality is
excellent.

Fred W. Culpepper
OLD DOMINION UNIVERSITY (Retired)
fculpepp@norfolk.vak12ed.edu

		
-- 
Newsgroups: comp.robotics