HDTenEightyP/NetNews huggingface dataset:
From: sinster@cse.ucsc.edu (Darren Senn)
Newsgroups: comp.robotics
Subject: Miniboard 2.0 parts kits
Summary: Mouser Electronics is being friendly
Date: 25 Aug 92 19:23:44 GMT
Organization: University of California, Santa Cruz (CE/CIS Boards)
NNTP-Posting-Host: ritter.ucsc.edu

I talked with Mouser Electronics this morning, and they're willing to
"consider" discounted pricing for a Miniboard parts kit.  I'm faxing
them a parts list, and I'll post again when I get a price estimate
(probably no sooner than next week).  Anyway, I've always been able
to get some very good prices from them.  How many people would be
interested?

The kit that I'm submitting to them is basically the parts list in
the back of the miniboard specs, sans sensor parts, heat shrink tubing,
ribbon cable, DB-25 and 9 to modular jacks, and modular plug cable.
I doubt they'll be able to beat Alan Kilian's 68811 price, but
for the rest of the stuff we should be able to get some great prices.
I'll ask for price estimates for kits with and without the 68811.

Would people prefer that I include the sensor parts?

P.S.: Some of the parts I'm replacing with effective equivalents that have
    the same mounting requirements and electrical characteristics as the
    parts that Fred Martin asks for, but that shouldn't make any difference.
    Here's the list of parts that I'm replacing: Panasonic pushbutton switch
    (P8011S), SPDT miniature slide switch (EG1603-ND), 36 position female
    breakaway strip socket, power switch (SSW-222).  The breakaway strip
    sockets are being replaced with 32-position versions of the same, since
    Mouser doesn't carry ones with 36-positions.
-- 
Darren Senn                                            Phone:    (408) 479-1521
sinster@scintilla.capitola.ca.us                       Snail: 1785 Halterman #1
Wasurenaide -- doko e itte mo soko ni anata wa iru yo.     Santa Cruz, Ca 95062
Newsgroups: comp.robotics
From: doctor@kronos.arc.nasa.gov (Terry Fong)
Subject: looking for vehicle level control protocols
Summary: send me your "standard" !!!
Keywords: mobile robots, control, vehicle standards
Organization: NASA/ARC Information Sciences Division
Date: Mon, 31 Aug 1992 05:05:53 GMT

Hi all,

A while back, Jim Crowley (formerly at CMU, now at Imag, I believe)
posted a description of a standard "vehicle level" control protocol
originally developed at CMU around 1983. The protocol, which was used
on a number of CMU mobile platforms, was later adapted by TRC for their
Labmate controller.

I am interested in hearing about other attempts to develop "standard"
(i.e., portable, generic, etc.) control protocols for mobile robots.
Additionally, I am interested in what others have used for
specification of mobile robot control (i.e., command sets such as
"move x", "turn y", etc.). If you have developed a protocol/command
language, please send a description (or reference) to:

	terry@ptolemy.arc.nasa.gov

I will post a summary of all that I receive (and perhaps ask nivek to
include it in the FAQ). 

Thanks very much!

Terry Fong
NASA Ames Research Center




-- 
_______________________________________________________________________________
 "You do not understand anything     | Terry Fong <terry@ptolemy.arc.nasa.gov>
  until you understand it in more    | NASA Ames, M/S 269-3, Moffett Field, CA
  than one way..." -- Marvin Minsky  | (415) 604-6063, FTS-464-6063
Newsgroups: comp.robotics
From: fredm@media.mit.edu (Fred G Martin)
Subject: Re: Miniboard 2.0 & NMI F68HC11
Keywords: Miniboard
Organization: MIT Media Laboratory
Date: Thu, 27 Aug 1992 20:57:11 GMT

In article <1992Aug27.142429.16553@hubcap.clemson.edu>
dawill@hubcap.clemson.edu (david williams) writes: 

>   Looking at the miniboard schematic, I would say that disabling the 
>hardware echo is going to be a semi tough, but not impossible, task.

  [ explanations and ideas for fixing it follow]

Personally, I would think that the appropriate things to do are (1)
modify your software to deal with the hardware, or (2) flat out
replace the Mini Board's hacked-up serial line solution with something
normal, like the one-chip Maxim MAX233 solution.  This chip has
built-in charge pumps and voltage inverters for generating legitimate
plus and minus ten volt supplies from a single +5v supply.  Pretty
neat!

It's a tough call; maybe the Mini Board should have used this
solution.  It would have added board area and a few dollars of parts
costs, but then people wouldn't be hassled with serial line
weirdnesses.

Oh well.

	- Fred
From: cyberman@toz.buffalo.ny.us (Cyberman)
Newsgroups: comp.robotics
Subject: Re: mini board serial lin
Date: 30 Aug 92 01:03:08 GMT
X-Maildoor: WaflineMail 1.00r


     -=> David Williams spoke of "Re: mini board serial lin" <=-
    To All at 08-28-92  22:06
 DW> Ok, I deserved that.  Of *course* you guys have tested it out.
 DW> Motorola told me while I was working on my thesis that their 1488/1489
 DW> RS-232 level shifters (which just about every serial application I've
 DW> ever seen uses) can handle RS-232 levels of +5v and -0.5 (!) just
 DW> fine. Still, I can envision some situations where I would want
 DW> bidirectional high-speed transfer between the controlling computer and
 DW> the robot.  Just call it a matter of style, I suppose.  I can't wait
 DW> untill my 3 miniboards get here.
 
I didn't know that about the motorolla toys!  Hmm

If I were going to use a single board CPU like the miniboard.  I
would prefer bidirectional.  Perhaps what they need to do is use
some PAL logic to save external parts and add flexibility.  Add a
BUS that includes the serial port outputs as well.  This would
add flexibility to the system.  It's too bad the 68hc11 is
expensive or it would see a LOT more use.

        Stephen Cyberman@Toz.Buffalo.NY.US
        Scripted at Sat  08-29-1992  20:18:43

... * * * This space is for rent * * *
--- Blue Wave/QWK v2.10
                                                                        
Newsgroups: comp.robotics
From: dawill@hubcap.clemson.edu (david williams)
Subject: Re: Miniboard 2.0 & NMI F68HC11
Keywords: Miniboard
Organization: Clemson University
Date: Fri, 28 Aug 1992 13:54:19 GMT

fredm@media.mit.edu (Fred G Martin) writes:

  [ Discussion of miniboard's simple serial port deleted ]

>Personally, I would think that the appropriate things to do are (1)
>modify your software to deal with the hardware, or (2) flat out
>replace the Mini Board's hacked-up serial line solution with something
>normal, like the one-chip Maxim MAX233 solution.  This chip has
>built-in charge pumps and voltage inverters for generating legitimate
>plus and minus ten volt supplies from a single +5v supply.  Pretty
>neat!

   As a matter of fact, I've used this critter before, and it works
very well.  I can't say enough about Maxim's products:  they do what 
they're supposted to, first time.

   Note: the MAX233 is an improved version of the original, the MAX232.
the MAX232 required several external capacitors for it's charge pumps.
The MAX233, on the other hand, has no requirements for any external
parts.  (makes using it a real breeze)  The package is a 20-pin DIP.

>It's a tough call; maybe the Mini Board should have used this
>solution.  It would have added board area and a few dollars of parts
>costs, but then people wouldn't be hassled with serial line
>weirdnesses.

   You know, I have a feeling that a few people are going to be bitten
by the Miniboard's serial port:  Since the RxD and TxD lines are tied
together, a pontential point of error is going to be in the timing
of transmitted characters.  Suppose you just received a block that needs
to be responded to.  If the MiniBoard transmits at the same time the
sending computer does, the two bytes will collide at the Miniboard
interface.  This means we're going to have to use a half-duplex
scheme in which the MiniBoard "knows" when the sending computer is
guaranteed not to be transmitting.  A good example of this sort 
of scheme is the kermit protocol.

   Even worse, what if we try to hook the MiniBoard up to another 
serial port that works the same way? (sending side supplies the negative
voltage) - No communications will be possible! 

>Oh well.

   yep.  Oh well is right.  Get out the x-acto knives when you get 
the miniboard.

-- 
      Dave Williams
        dawill@hubcap.clemson.edu
           "Huh?  What?  Could you repeat the question?"
From: brian@hiramb.bitnet
Newsgroups: comp.robotics
Subject: miniboard...uses and design?
Date: 25 Aug 92 17:30:33 -0500
Organization: Hiram College

hello...
	I am interested in knowing what the miniboard was designed for and all
of its capabilities, for i am rather new to this newsgroup and have not been 
keeping up with the postings about miniboard and its purposes (uses...)
thanks in advance... bri

---
bushbo@hiramb.hiram.edu     /   
                            \ yber
From: Jan.Viljoen@cl.cam.ac.uk (Neil Viljoen on ely.cl.cam.ac.uk)
Newsgroups: comp.robotics
Subject: Looking for 68HC811E2
Date: 31 Aug 92 20:24:00 GMT
Reply-To: Jan.Viljoen@cl.cam.ac.uk (Neil Viljoen)
Organization: U of Cambridge Computer Lab, UK

PLEASE !!

If anybody has found a source for the Motorola MC68HC811E2FN anywhere in the
world would you please mail me the name and tel no of the company (Non
								   800 numbers
								   please).

Thanks Neil
  
------------------------------------------------------------------------------
Neil Viljoen			|  Tel: +44-223-334688
Univ. of Cambridge		|  Fax: +44-223-334678
Computer Laboratory		|  
Newsgroups: comp.robotics
From: fredm@media.mit.edu (Fred G Martin)
Subject: Re: Miniboard stats....
Organization: MIT Media Laboratory
Distribution: na
Date: Thu, 27 Aug 1992 04:02:54 GMT

In article <1992Aug26.222712.3055@magnus.acs.ohio-state.edu>
gratclif@magnus.acs.ohio-state.edu (Gregory W Ratcliff) writes: 

>Any objections to posting the email addresses of all who ordered boards?

If people are interested, I can set up a Mini Board mailing list on a
Media Lab machine, so that people can have more focused discussion and
provide each other with tech support, etc. that might be more
appropriate off of Usenet bandwidth.

Let me know...having the e-mail addresses of all who ordered boards
would be a good place to start!

	- Fred
Newsgroups: comp.robotics,comp.realtime
From: man@labrea.zko.dec.com (Richard Man)
Subject: Paper on subsumption based multitasking kernel available
Followup-To: comp.robotics
Reply-To: man@labrea.zko.dec.com (Richard Man)
Organization: Digital Equipment Corporation
Date: Mon, 31 Aug 92 15:08:46 GMT


I have just finished my paper "Subsumption architecture-based realtime 
multitasking kernel for programming autonomous robots," to be presented this
November at the SPIE Conference on Cooperative Intelligent in Space III. If you
are interested in a copy of the paper in postscript format, please send me a
note and I will mail it to you.

From the abstract:

	This paper describes a real-time multitasking kernel called BRET
	(Behavior-based Robot ExecuTive) that incorporates subsumption
	architecture-style communication facilities. The result is a
	portable, flexible system for building control software for
	behavior-based autonomous robots, which operate well in dynamic
	environments, including extraterrestrial areas. Unlike "pure"
	subsumption architecture implementations, this system does not
	exclude the use of traditional programming methodologies or
	impose artificial structures on the robot control system. Thus,
	traditional methods such as real-time data processing, searching
	or map making, as well as teleoperated commands can be
	integrated with the behavior-based modules.

	Two autonomous rovers named Ripley I and Ripley II have been
	built to test the software system. They were designed to use
	modified off-the-shelf hardware components in order to reduce
	construction and debugging time. Their control systems are
	described at  the end of this paper.
--
- Richard F. Man (man@labrea.zko.dec.com)
"This Dust Has No Mirror"
From: trice@mentor.cc.purdue.edu (Phil Trice)
Newsgroups: comp.robotics
Subject: Re: ARRGH: HERO2000!!!
Keywords: broken
Date: 2 Sep 92 17:16:08 GMT
Organization: Purdue University Computing Center


 >From: levas@gandalf.rutgers.edu (robert levas)
 >Message-ID: <Sep.2.11.11.42.1992.13928@gandalf.rutgers.edu>
 >Date: 2 Sep 92 15:11:42 GMT
 >Organization: Rutgers Univ., New Brunswick, N.J.
 >
 >Ok, this is my situation:
 >
 >  I have one of these pitiful Hero2000's and it doesn't work.  Yes,
 >whats new, right!?!  Well, I have to fix it, and I need lots of
 >suggestions.  I have brand new I/O and CPU boards, and the damn thing
 >wont turn on.  It gets as far as the sonar rotating (every once in a
 >while) and several lights illuminating (different ones every once in a
 >while).  What can you suggest that I do to this pitiful door stop of a
 >robot.  
 >
 >   Thanks, 
 >             ROB
 >
Rob,
	I've followed your story since the beginning, and I'm not sure
what to make of it. From the sounds of it, you've somehow substituted
most/all of the main boards, and the unit still behaves erratically.
Have you verified that the power supply (all voltages) is present and
stable? That's the only other component common to all functions.
	Check that out, and email me if the P.S. seems OK. I'd like to
help you with this (not in the way Morales did, though :-)


-Phil Trice		           Senior Computer Engineer
Purdue University	           Computing Center
Microcomputer Repair Group         Math, Room B60
(317) 494-1787, X265	           FAX: (317) 494-0566
West Lafayette, IN 47907           Internet: : trice@mace.cc.purdue.edu
***** "I fix stuff"- Enrique the juggler, from Comp.robotics ******
-- 
-Phil Trice		           Senior Computer Engineer
Purdue University	           Computing Center
Microcomputer Repair Group         Math, Room B60
(317) 494-1787, X265	           FAX: (317) 494-0566
From: brian@hiramb.bitnet
Newsgroups: comp.robotics
Subject: miniboard... parts kit?
Date: 2 Sep 92 16:45:18 -0500
Organization: Hiram College


Hello
	I am wondering if there is a parts kit for the miniboard...
like the microprocessor and all of the other parts on the board. 
					thank you very much... brian

brian o. bush
bushbo@hiramb.hiram.edu

   /
   \ yber                       
Newsgroups: comp.robotics,comp.realtime
From: tlhouns@srv.PacBell.COM (Lee Hounshell)
Subject: Re: Miniboard 2.0 - I need to support LOTS of motors..
Organization: Pacific * Bell
Distribution: na
Date: Wed, 2 Sep 1992 23:34:47 GMT

In article <1992Sep2.045803.4051@news.media.mit.edu> fredm@media.mit.edu (Fred G Martin) writes:
>In article <1992Sep2.001302.3074@PacBell.COM> tlhouns@ns.pacbell.com
>(Lee Hounshell) writes:
>
>> The robotics application I'm constructing (which will probably be
>> using the miniboard) needs to control a lot of motors.  I'll only need
>> one speed, however.  I'll also need forward/backward control.  I'm
>> thinking of a modification add-on board that will permit each of the
>> miniboard's 4 motor ports to control 16!!!  motors (for a total of 64
>> motors per miniboard). I would appreciate any net
>> feedback/comments/suggestions/etc.. that anyone may have.
>
>Wow!  That's a lot of motors!  Pray tell what ever for, I am
>curious...

Since you asked..
What I'm actually building is a "new kind" of neural network that will
be distributed (massively parallel) and also use subsumption architecture
and a GA.  This network will incorporate several origonal concepts I'd
like to test along with many of the ideas expressed in the book "Wet Mind"
by Stephen Kosslyn and Oliver Koenig (great book, by the way).  Essentially,
I am attempting to build a *real* "brain." Since I need a "body" for the
brain to control, my choices were either to build one, or to simulate one.
I'd much rather build one, I think.  However, I need a body that has motion
complexity approaching that of an "ant" or perhaps a "lizard."  To do that,
I will need the robot to have several (six, at the moment) segmented legs,
a grasper, and several types of sensors.  I also need to build in a concept
of "space" or at least be able to determine the robot's position in relation
to itself (leg/antenna position, etc..)  For the motion part, I will
require a LOT of motors, hence my requirement.  I also need some pretty
sophistocated sensor abilities.. Some of the sensor stuff can be done with
the miniboard, but I expect to also use another board to augment it's
capabilities. (any suggestions for this piece would be appreciated).

Fred, thank you very much for your suggestions.
Of the two alternatives you outlined, I think I prefer the 2nd the best
(register shifting).  It offers much better use of the miniboard and is
far more space efficient.  The only thing that worries me a little is the
random motor motion that might occur during the shifting of registers.
Nevertheless, at the moment I am leaning toward this a the solution I will
implement.

Do you know of any way I might "disable" all the motors while the
registers are being shifted into place?

Also, is anyone working on (or planning on building) a monitor program
that will enable the miniboard to be networked to other miniboards?
Perhaps we could make this a net project if the interest level is high
enough.

Thanks for the help!


-Lee Hounshell
tlhouns@srv.pacbell.com
-- 
Lee Hounshell - (510) 823-2432
tlhouns@srv.pacbell.com
Alchemical Engineer and Virtual Realist
From: koolish@BBN.COM (Richard M. Koolish)
Newsgroups: comp.robotics
Subject: erasable 68HC11s
Date: 2 Sep 92 17:41:00 GMT
Reply-To: koolish@BBN.COM (Richard M. Koolish)
Organization: Bolt Beranek and Newman Inc., Cambridge MA
NNTP-Posting-Host: bbn.com


The MC68HC711E9FS is erasable.  It comes in a ceramic package with
a window.  It has 12K of UV-EPROM and is pin compatible with the
811E2 although internal memory is at a different place.
Xref: sparky comp.robotics:1680 comp.realtime:1031
From: u895654@tasman.cc.utas.edu.au (Antonius Wirawan)
Subject: Help, ASEA IRB/6 Serial Link
Organization: University of Tasmania
Date: Wed, 2 Sep 1992 14:43:23 GMT


I am currently working on ASEA IRB/6 robot in which I have to involve
a PC as the main commands controller.

I wonder if anybody has experience in developing programs to control
ASEA IRB/6 robot via the serial link.

Suggestions or clues to get example of codes (preferably in pascal) will
be much appreciated.

--
Antonius Wirawan Pripamboedi
(u895654@tasman.cc.utas.edu.au)
Department Electrical & Electronic Engineering
University of Tasmania
From: levas@gandalf.rutgers.edu (robert levas)
Newsgroups: comp.robotics
Subject: ARRGH: HERO2000!!!
Keywords: broken
Date: 2 Sep 92 15:11:42 GMT
Organization: Rutgers Univ., New Brunswick, N.J.


Ok, this is my situation:

  I have one of these pitiful Hero2000's and it doesn't work.  Yes,
whats new, right!?!  Well, I have to fix it, and I need lots of
suggestions.  I have brand new I/O and CPU boards, and the damn thing
wont turn on.  It gets as far as the sonar rotating (every once in a
while) and several lights illuminating (different ones every once in a
while).  What can you suggest that I do to this pitiful door stop of a
robot.  


P.S. I've already though of all the good ways to destroy it entirely

   Thanks, 
             ROB
             levas@gandalf.rutgers.edu
-- 


=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 _  _  _                             |school:                 |aka: "Super
|_|| ||_)_ Robert Levas              |(908)214-8891           |   stud comp.   
| \|_||_)  levas@gandalf.rutgers.edu |RPO 0430 PO BOX 5063    |   sci. major"  
                                     |New Brunswick, NJ 08903 | -morale.rpi.edu
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
From: blake@milton.u.washington.edu (Blake Hannaford)
Newsgroups: comp.robotics
Subject: Miniboard: Basic info???
Summary: Need basic info on miniboard
Keywords: Miniboard
Date: 1 Sep 92 19:19:42 GMT
Article-I.D.: milton.blake.715375182
Organization: University of Washington

I missed the earlier postings on the "miniboard".  Can someone
fill me in on the specifications?  Is this info archived somewhere.

Thanks

Blake Hannaford
EE, Univ of Washington
blake@ee.washingon.edu
From: cmcmanis@pepper.Eng.Sun.COM (Chuck McManis)
Newsgroups: comp.robotics
Subject: Re: MC68HC11 versions map
Date: 2 Sep 1992 07:22:29 GMT
Organization: Sun Microsystems, Mt. View, Ca.
NNTP-Posting-Host: pepper

Ok so I'm confused. According to Alan's description of all the
variants of the 68HC811 the "E2" version would seem to be an
unlikely candidate for this project (with only EEPROM and no EPROM)

(Yes I'm waiting on the literature from Motorola)


--
--Chuck McManis						    Sun Microsystems
uucp: {anywhere}!sun!cmcmanis   BIX: <none>   Internet: cmcmanis@Eng.Sun.COM
These opinions are my own and no one elses, but you knew that didn't you.
"I tell you this parrot is bleeding deceased!"
Newsgroups: comp.robotics
From: meyer@dbsun.uucp (Don Meyer)
Subject: Re: sliprings
Organization: BioMerieux-Vitek, St. Louis Mo.
Date: Wed, 26 Aug 1992 16:03:44 GMT

In article <BtK62M.Mst@usenet.ucs.indiana.edu> fasano@venus.iucf.indiana.edu writes:
>... I believe
>the older version of Radio Shacks Armitron used sliprings, but I haven't
>been able to find one.

Hmmm.  I've got one of the ones that just sits there (not wheeled) and
it appears to be purely mechanical as far as movement of the gripper etc.
I think the motor is fixed in the base and power is transmited via gears
and clutches and shafts.  Haven't opened it up though...

Don


-- 
-------------------------------------------------------------------------
meyer%dbsun.uucp@wupost.wustl.edu        |||     I am at two with nature.
Opinions expressed are personal.         |||       -- Woody Allen
From: dulimart@cps.msu.edu (Hansye S. Dulimarta)
Newsgroups: comp.robotics
Subject: How to order miniboard.
Date: 30 Aug 92 00:01:05 GMT
Organization: Department of Computer Science, Michigan State University
Originator: dulimart@pixel.cps.msu.edu

I apologize if these questions have been asked before. I missed several
postings on miniboard and now I'm confused about the total price of the
hardware.  Here what I got from a number of different postings.

who              what           how much
---------------  -------------  --------
Darren Senn      parts kit       $35
Allan Kilian     processor	 $14.16
Greg Ratcliff    PCB		 X (I don't know)

Several questions I would like to ask.
(1) Are these prices correct?
(2) How much is X?
(3) Do I have to send checks to DS, AK, and GR to order and then assemble the
    components myself?

Thanks for your information.


Hans.
-- 
|_|_|_|_|  _|_|_ |_|_|_|_| Hans Dulimarta [dulimart@cps.msu.edu]
|_|_|_|  _|_| |_|_ |_|_|_| Pattern Recognition & Image Processing Laboratory
|_|_|  _|_|_ X _|_|_ |_|_| Department of Computer Science
|_|   |_|_|_|_|_|_|_|  |_| Michigan State University
Newsgroups: comp.robotics
From: feng@eecs.nwu.edu (Jay Feng)
Subject: Look for list of articles/software on boundary detection
Organization: EECS Department, Northwestern University, Evanston, Il., USA
Date: Thu, 3 Sep 1992 13:31:47 GMT

I want to study / compare different boundary detection schemes on noisy
images.  Books, papers, tech. reports and software/algorithms are
needed.  I'd be very grateful if someone could offer a list.   Also, I'm
looking for algorithm/hardware that delivers real-time performance( such
as process one frame within 1 second ).  Any public domain software on
this I can retrieve? Thanks in advance!

Jay