HDTenEightyP/NetNews huggingface dataset:
From: kai@nicedel.north.de (Kai Schlichting)
Newsgroups: comp.robotics
Subject: Re: Questions about Tracked Robot Vehicles
Keywords: robot accuracy
Date: 11 Apr 92 03:38:34 GMT
Article-I.D.: arc.1An+Qxj010n
Organization: Archimedes !RUCP Users

feng@srvr1 (Liqiang Feng, ) writes:

> 
> I knew that one of the big problems with the tracked vehicle is severe 
> slippage especially during the turning. I do not have any experience 
> with tracked vehicle, I have several questions and like to hear from 
> knownledgable netters:
> 
> 1. If I instruct a tracked vehicle to turn 90 degrees, what kind error 
> in orientation I should expect? say on concrete floor? 5 degrees, 10 degrees 
> or more ? In other words, is dead reckoning still a feasible option for 
> navigation? 
Here's what I've experience in the ISC (Intelligent Sensing and Control)
lab in the AI dep of the Uni of Edinburgh,Scotland,last summer:
You can't really ever rely on the accuracy of the machine when turning or
even moving, you ALWAYS gotta program it assuming that it turns 45 instead
of 90 degrees,maybe 120,depending on the floor structure,contact of tyres
with ground,actual acceleration (which is a BIG prob,as it changes the
friction- at least with 3-tyred vehicles),down to mechanical spikes in the
gear box,down to different battery power while the vehicle is in operation.
You can really clog up your vehicle with more sensor's,like IR,ultra sound,
compass,gyro..but we experienced there,that more data does always mean
more pain to the programmer,in fact you have TOO MUCH data with which you
dont know what to do with and wgich isn't always usefull to archive the
goal. (we had goals of navigating through a lab,finding back,reacting to
light sources/killing all of them and finding solutions NEVER to get stuck)
> 
> 2. Is this error consistent or more random in nature? Seems to me it is 
> random. 
Things like failing motors/mechanical structure are quiete consistent,but
once you have dealed with them programming the machine and you
actually change the set up (the machine itself) (which you do a lot! because
some kind of setups are a lot better to solve certain probs/environments,
and you generally improve the tasks solution by changing the machine,both
mechanically and sensors setup etc.) ,you start all over again,because
the software can't deal properly with the new setup/new probs arise.
Other things like floor's friction ,light conditions,battery power sucks
are more random-like,but who said that humans,which are the copied
'machines' in the end,can't deal with this (outside the lab,too- ha!).
> 
> My E-mail: feng@caen.engin.umich.edu
> 
> Thanks a lot.
bye,Kai.

--------------------------------------------------------------- 
Tel.:  +49 421 556803 (voice)
E-mail: kai@nicedel.north.de (private UUCP site)
       j08i@dhbrrz41.bitnet (not valid;gets forwarded to rs550)
       j08i@rs550.zfn.uni-bremen.de (University)
---------------------------------------------------------------
Newsgroups: comp.robotics
From: marbun@envmsa.eas.asu.edu (Marbun,Leo P)
Newsgroups: comp.robotics
Subject: Beginner's Robotic Project Wanted!
Keywords: robotic, beginner, project.
Date: 8 Apr 92 01:14:00 GMT
Article-I.D.: envmsa.7APR199218143280
Organization: Arizona State University, Tempe, AZ
News-Software: VAX/VMS VNEWS 1.4-b1

Hi....

I am currently taking my first robotic course, and new to this newsgroup,
so please forgive my ignorance. The information that I need may have been
posted. If you have it, please kindly e-mail me or repost.

I plan to build a simple-to-build but programmable robotic arm (please re-
commend me other kind if this is too difficult for a beginner). I don't
know much about electronics, and as in this stage, I am more interested in
programming a robot. So some kind of robot kit is preferable. I also have 
a 286-compatible computer lying around. I want to use it as the controller, 
please enlighten me about its feasibility, ease of use, and cost 
(cost of A/D board or interface board), because I read from this newsgroup 
about using Commodore 64 as a start.

Last year, I saw a flyer about 6-freedom robotic arm from an electronic 
store. I am sorry I don't remember much about it. But if you know it, or
have it, let me know your impression about it.

Please respond via e-mail. I will summarize to the net.

Thank you!

Leo.
Newsgroups: comp.robotics
From: ubaberne@uxa.ecn.bgu.edu (Bruce Abernethy)
Newsgroups: comp.robotics
Subject: Re: Lego Robots
Date: 8 Apr 92 12:54:12 GMT
Organization: Educational Computing Network


Following along with the LEGO Robotics thread . . .

We have been using a Mac version of the LEGO robotics interface during this
school year.  This product is called HyperBot and it is a standard
HyperCard stack.  By using HyperCard and the Serial Toolkit XCMDs the
children create a stack which controls an external box.  This box uses
it's own Microprocessor to control 4 sensors and 4 DC motors (or lights, etc.).
The voltage can range from 0 - 9 volts in 24 increments.  Using the 
supplied software the students can make fairly complex projects.  If they
know a little HyperTalk then they can add digitized sound, animations,
QuickTime movies, voice (MacinTalk/PlainTalk), and anything else that
you can do in HyperCard.

I know this explanation is not extremely clear or complete.  If you are
interested in details about this project I would be glad to answer them.
As of this week the Hardware and Software is final.  The documentation should
be finished by Friday.  It is really nice.  I have had two 9-week classes of
8th graders doing just HyperCard and Robotics and the projects have been
amazing.

Bruce Abernethy
Deer Path Junior High School, Lake Forest, IL 60045
Newsgroups: comp.robotics
From: khorn@luke.eecs.wsu.edu (Keith Horn - ME313)
Subject: Issac Asimov
Organization: Washington State University
Date: Wed, 8 Apr 92 23:58:43 GMT


Here is a poem that my friend wrote after he heard that Isaac Asimov.

	My soul has grown deep like the rivers
	My heart lies broken with my dreams
	Today fantasy and science fiction must both be silent
	As their advocate and biographer lays now.

	And wonder, realizing that time marches callously along,
	will another voice be raised to fill the void?

			-J. S.
		-in honor of Isaac Asimov
		 dead this April 5, 1992
		 may he rest in peace
keith horn
e-mail  khorn@yoda.eecs.wsu.edu
From: al152931@mtecv2.mty.itesm.mx
Newsgroups: comp.robotics
Subject: HELP!: i need the manual of AVSIM51
Date: 12 Apr 92 02:31:01 GMT
Reply-To: al152931@mtecv2.mty.itesm.mx
Distribution: alt


     hi! 
         Do you have the manual of AVSIM51?
         Here,in Mexico,i can't find it!
         if you can give me a copy,i'd be eternally grateful!!

  send me e-mail for response,please,to:
         al152931@mtecv2.mty.itesm.mx

  my name and address is:
               
          Aaron Sari~ana Toledo
          Filosofos 301,Depto. 303-C
          Col. Tecnologico
          Monterrey, N.L.
          Mexico
                                     thanks!!
From: cyberman@toz.buffalo.ny.us (Cyberman)
Newsgroups: comp.robotics
Subject: Re: Commodore help
Date: 10 Apr 92 00:17:50 GMT
X-Maildoor: WaflineMail 1.00r

DM>In article <Yds=uYG00VolEnD0oe@andrew.cmu.edu>, fc0v+@andrew.cmu.edu (Frankli
DM>hang) writes:
DM>|> Hi,
DM>|>   I was wondering if anyone knows of a simple hack that will allow the
DM>|> commodore 64 to work off dc battery supply.  I've heard that the
DM>|> computer uses the waveform off the ac powersupply as a timer.  Recently

DM>I don't know about that.  60 Hz seems awfully slow for a computer, even the
DM>C64.  I know it runs at 1MHz (there's a crystal inside).  I believe the
DM>9 VAC (is it 9 ?) is used to power the tape drive.  It may also be used for
DM>the RF modulator, but I'm not entirely sure.  If you need a TTL level 60 Hz
DM>oscillator, why not use a 555?  It would be quite simple to get a 50%
DM>duty cycle square wave out of it at 0 to 5 VDC.  Hope this helps.

The 60cylce clock was for the interupt system which is faster
than a PC's.

        STEPHEN CYBERMAN@TOZ.BUFFALO.NY.US
        commiserated at Thu  04-09-1992  16:56:43
---
 * SLMR 2.1a * The Thrill of Victory and the Agony of Delete.
From: smith@sctc.com (Rick Smith)
Newsgroups: comp.robotics
Subject: Re: Questions about Tracked Robot Vehicles
Date: 9 Apr 92 13:16:50 GMT
Article-I.D.: sctc.1992Apr9.131650.7721
Organization: SCTC

feng@srvr1 (Liqiang Feng, ) writes:

>1. If I instruct a tracked vehicle to turn 90 degrees, what kind error 
>in orientation I should expect? say on concrete floor? 5 degrees, 10 degrees 
>or more ? 
>2. Is this error consistent or more random in nature? Seems to me it is 
>random. 

Your intuition is probably correct.

>In other words, is dead reckoning still a feasible option for 
>navigation?                       ^^^^^^

I didn't think dead reckoning had _ever_ been a feasible option for
navigation. I had the impression that even oceangoing vehicles only
used it as a method for choosing which continent they arrived at.

Rick.
smith@sctc.com          arden hills, minnesota
From: hari@obiwan.jpl.nasa.gov (Hari Das)
Newsgroups: comp.robotics
Subject: Call for Abstracts for Telemanipulator Technology Conf.
Date: 14 Apr 92 14:15:24 GMT
Organization: Jet Propulsion Laboratory, Pasadena, CA

DEADLINE FOR ABSTRACT SUBMISSION: APRIL 20, 1992
*********************************************************************
		ANNOUNCEMENT AND CALL FOR PAPERS
Telemanipulator Technology
Part of SPIE's OE/Technology `92
15-20 November, 1992
Hynes Convention Center,
Boston, Massachusetts, USA

Program Chair: Hari Das, Jet Propulsion Laboratory.

Program Committee: Dov Adelstein, NASA Ames Research Center,
		   Blake Hannaford, University of Washington,
		   Samuel Landsberger, Cornell University,
		   Sukhan Lee, USC,
		   Thomas Sheridan, MIT.

This program will address problems associated with technologies 
developed to facilitate remote manipulation by human operators.  
Target applications for these technologies include hazardous 
and/or unstructured workplaces, where the task environment may
be beyond the range of direct human manipulation and sensing, and 
where human sensory information processing and decision-making 
skills allow telemanipulators to outperform purely autonomous 
systems.

A variety of fields related to telemanipulation will be covered 
in this program.  In addition to hardware implementation (e.g., 
electronics and computer architectures, master-slave systems, 
anthropomorphic manipulators, hand controllers, and sensors), 
new telemanipulator developments in modeling, analysis and 
control that help deal with communication delays and provide
stable high bandwidth operation will be considered.  Other 
topics such as sensory presentation to improve visualization
of remote or virtual environments, virtual environments 
for operator training and time delay compensation, 
man-machine interfaces for complex teleoperator system 
management, and studies of operator training and performance 
will also be included.

Papers in the following areas and related topics are being 
solicited:

        - hardware implementation for telemanipulators and
                telemanipulator components
        - modeling, analysis, and control of telemanipulators
        - telepresence and virtual environments
        - sensory information processing and presentation
        - man-machine systems and operator aids
        - human operator training and performance evaluation

*********************************************************************
	-----------------------------------------
	|  Abstract Due Date: April 20, 1992.   |
	|Manuscript Due Date: October 19, 1992. |
	-----------------------------------------
Fax or mail four copies of your abstract (at least 200 words)
by 20 April 1992 to:

		OE/Technology `92
		SPIE, P.O. Box 10, Bellingham, WA 98227-0010
		Fax: (206) 647-1445
		Phone: (206) 676-3290
**********************************************************************
From: txh@philabs.philips.com (Teun Hendriks)
Newsgroups: comp.robotics
Subject: Re: Questions about Tracked Robot Vehicles
Date: 9 Apr 92 16:24:45 GMT
Article-I.D.: philabs.1992Apr9.162445.22504
Organization: Philips Laboratories, Briarcliff, New York

In article <1992Apr9.131650.7721@sctc.com> smith@sctc.com (Rick Smith) writes:
>feng@srvr1 (Liqiang Feng, ) writes:
>
> [deleted ..]
>
>>In other words, is dead reckoning still a feasible option for 
>>navigation?                       ^^^^^^
>
>I didn't think dead reckoning had _ever_ been a feasible option for
>navigation. I had the impression that even oceangoing vehicles only
>used it as a method for choosing which continent they arrived at.
>

Well, for civil aircraft crossing the atlantic ocean it is still very
much used. There is still a three to four hour gap in which no
wall-based radio beacon can be received and during this period, they use
INS (inertial navigation system) for dead-reckoning.

It is pretty accurate too, the drift is of the order of an mile per hour
so once you reach the other side, you're only 4-5 miles off, not much
considering that you've bridged a distance of maybe 2000 miles.

Now, to put such systems ($$$) on a robot and waiting 15 or more minutes
to have them lined up is another issue...

-Teun

-- 
Teun Hendriks                                     tel: 	(914)-945-6408
Philips Laboratories                              fax:  (914)-945-6014
345 Scarborough Road
Briarcliff Manor, NY 10510,USA			email:	txh@philabs.philips.com
Newsgroups: comp.robotics
From: ab56503@uxa.cso.uiuc.edu (Surfer Doolittle)
Subject: Majoring in Robotics/Bionics
Organization: University of Illinois at Urbana-Champaign
    I'm an undergraduate at the University of Illinois at Urbana-
    Champaign and I would like to know if there is anyone out there
    who is currently or has already majored in the field of robotics or
    bionics.  I am interested in the field immensly as it is applied
    to eventually mimicking human movement and behavior in the future.
    If anyone out there has any pertinent information that I should
    know about to get in on the ground floor of robotics I would
    appreciate it if they would e-mail me at my address.  
    (ex.:  references of other people to talk to, literature, schools,
    and anything else one would think of.).  Thank you.
Date: Thu, 9 Apr 1992 20:52:05 GMT

    Ari Braginsky
A

    P.S.  May Issac Asimov be in one of his better worlds right now.

    Email at: ab56503@uxa.cso.uiuc.edu
From: gerry@cmu.edu (Gerry Roston)
Newsgroups: comp.robotics
Subject: Re: Dead reckoning
Date: 10 Apr 92 16:02:53 GMT
Reply-To: gerry@cmu.edu (Gerry Roston)
Distribution: comp.robotics
Organization: Field Robotics Center, CMU

Nivek, I'm hurt!  NO mention of my work!  (sniff)   :-)

I will be presenting a paper at IROS about the use of dead reckoning
for WALKING machines that does not involve the use of any sensors,
other than the joint encoders.  The results obtained show a dead
reckoning error, for the Ambler, of less than 2%.  I suspect that when
we repeat these tests as the Ambler walks around outdors, that the
error will be less.  [Why?  Because I suspect that the error in my
ground truth measurements were high due to the confined conditions of
the building in which the earlier tests were done.]

If anyone is interested, I can send you a postscript version of the
paper...

--
Gerry Roston (gerry@cmu.edu)    | The study of theology, as it stands in the
Field Robotics Center,          | Christian churches, is the study of
Carnegie Mellon University      | nothing; it is founded on nothing; it rests
Pittsburgh, PA, 15213           | on no principles; it proceeds by no
(412) 268-3856                  | authority; it has no data; it can
                                | demonstrate nothing; and it admits of no
The opinions expressed are mine | conclusion.  Thomas Paine
and do not reflect the official | 
position of CMU, FRC, RedZone,  | 
or any other organization.      |
From: hollombe@polymath.tti.com (The Polymath)
Newsgroups: comp.robotics
Subject: Re: De[a]d reckoning and robot navigation
Date: 13 Apr 92 00:50:40 GMT
Article-I.D.: ttidca.34501
Organization: The Cat Factory

In article <JAK.92Apr11220313@bimini.cs.brown.edu> jak@cs.brown.edu writes:
}In article <34409@ttidca.TTI.COM> hollombe@polymath.tti.com (The Polymath) writes:
}> [ my definition of ded reckoning ]

} [The OED's definition of dead reckoning ]

}What sources do you have that give "ded reckoning"?

My pilot's ground school, taken some 25 years ago.  I guess the instructor
hadn't read the OED.  He never the less taught me to successfully navigate
a small aircraft.  Oh well.  I bow to superior authority (and stand
corrected -- this is more exercise than I anticipated (-: ).

The Polymath (aka: Jerry Hollombe, M.A., CDP, aka: hollombe@soldev.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 {rutgers|pyramid|philabs|psivax}!ttidca!hollombe
Newsgroups: comp.robotics
From: hattori@convex.com (Mato Hattori)
Subject: Re: The Robot Sumou Tournament, special offer !!
Organization: Engineering, CONVEX Computer Corp., Richardson, Tx., USA
Date: Mon, 6 Apr 1992 06:32:02 GMT
X-Disclaimer: This message was written by a user at CONVEX Computer
              Corp. The opinions expressed are those of the user and
              not necessarily those of CONVEX.

I would like to follow up my own article.

I'm so glad to receive responses from so many people who want to 
see the Robot Sumou Information Package.

In order to keep the quality of the round table, I will divide the
list into few groups.  I mean I will make plural packages, and 
plural round efforts.  Sothat, don't hesitate to participent in the
round.

And, most of all, here is a great offer.

This offer can be possible with Mr.Sjur Jonas Vestli in Switzerland.
He has an equipment to convert the video format from NTSC to PAL.
I will list him as the first person in the Europe.  Therefore the
all European people can see the video without any trouble.

I would like to inform you his e-mail address, and I would like to 
say thank you to him.

	Sjur Jonas Vestli : vestli@ifr.ethz.ch


Thanks,
--
Mato Hattori
Convex Computer, U.S.A.   / NKK Corporation, Japan
email: hattori@convex.com / hattori@csrd.nkk.co.jp
voice: 1+214-497-4304     / 81+44-322-6277
Newsgroups: comp.robotics
From: marcel@ADS.COM (Marcel Schoppers)
Subject: Re: Questions about Tracked Robot Vehicles
Summary: encoders & inertial nav
Keywords: robot accuracy
Organization: Advanced Decision Systems, Mtn. View, CA (415)960-7300
Distribution: na
Date: Tue, 14 Apr 1992 21:40:53 GMT


I was just involved in a project in which a robot, equipped with encoders
on the drive wheels, moved over a regular asphalt road, and suffered perhaps
5% error in estimated position.  That was enough to make a two-robot convoy
(twice the error) impossible after less than a minute of motion.  (I realize
you asked about idler wheels, but rubber tyres on asphalt don't slip much so
I expect the performance will be similar.)

Marcel
From: pic@mlb.dmt.csiro.au (Peter Corke)
Newsgroups: comp.robotics
Subject: Details of Unimate Puma servo systems
Date: 9 Apr 92 04:48:08 GMT
Organization: CSIRO Division of Manufacturing Technology, Melbourne, Australia

I've finally gotten around to merging a number of technical notes related
to the operation of the Unimation Puma servo system into one coherent technical
note.  Given that this may be of interest to others on the net I'm making
PostScript versions of the documents available for anonymous ftp.  The
document covers the communications protocol to the arm interface board,
details of the digital servo board operation and disassembly, position
loop, and finally analog board operation at current and velocity loop level.
This is based on work we did here during the mid 80's on controller design
and dynamic modelling for force control, and goes considerably
beyond the details found in the anonymous `Breaking Away From VAL' 
document (BTW does anyone know where this came from? -- I suspect Stanford).

Also available is an annotated disassembly of the 6503 EPROM in a form that 
can be reassembled using the Frankenstein cross-assembler package available 
on the net.   I have blown new EPROMs based on this, and they did work.
The comments should not be taken as gospel, some of that stuff is pretty 
convoluted.  The version I disassembled was from a Mark I controller, and 
an EPROM labelled v5.  I've done a similar thing for a Kawasaki Mark I 
controller, and there were lots of differences.

The files are available for anonymous ftp from mlb.dmt.csiro.au.  They
live in the pub subdirectory and are;

    -r--r--r--  1 ftp      ftp        226241 Apr  9 14:14 mtm226-a4.ps.Z
    -r--r--r--  1 ftp      ftp        227927 Apr  9 14:14 mtm226-letter.ps.Z
    -r--r--r--  1 ftp      ftp          9193 Apr  9 14:16 servo.s.Z

The suffix -a4 indicates its formatted for A4 paper, -letter is for US 8.5x11"
paper.  servo.s is the annotated 6503 source code.

Hopefully this may be of some interest.  If you do make use of any of this I'd
be grateful if you'd acknowledge or cite the source.

		Peter
-- 
Peter Corke,                           PHONE: +61 3 487-9259
Senior Research Scientist              INTERNET: pic@mlb.dmt.csiro.au
CSIRO Div. Manufacturing Technology    ACSNET or CSNET:pic@mimir.dmt.oz.au
Locked Bag 9, Preston, Australia. 3072 
Newsgroups: comp.robotics
From: feng@srvr1 (Liqiang Feng, )
Subject: Questions about Tracked Robot Vehicles
Date: Wed, 08 Apr 92 16:50:34 EDT
Organization: The University of Michigan, Ann Arbor


I knew that one of the big problems with the tracked vehicle is severe 
slippage especially during the turning. I do not have any experience 
with tracked vehicle, I have several questions and like to hear from 
knownledgable netters:

1. If I instruct a tracked vehicle to turn 90 degrees, what kind error 
in orientation I should expect? say on concrete floor? 5 degrees, 10 degrees 
or more ? In other words, is dead reckoning still a feasible option for 
navigation? 

2. Is this error consistent or more random in nature? Seems to me it is 
random. 

My E-mail: feng@caen.engin.umich.edu

Thanks a lot.
From: nagle@netcom.com (John Nagle)
Newsgroups: comp.robotics
Subject: Re: Questions about Tracked Robot Vehicles
Date: 10 Apr 92 18:05:29 GMT
Article-I.D.: netcom.x_tj49j.nagle
Organization: Netcom - Online Communication Services  (408 241-9760 guest)


        In general, measuring distance by dead reckoning from wheel or
track information may be useful, but trying to obtain heading from
relative track motion is too error-prone to use alone.  However,
if you combine a magnetic compass and relative wheel/track info,
you can get reasonably decent data.  The two must be combined in
the frequency domain, using suitable filters.  This is how the 
Etak system (inside the Blaupunkt Travel Pilot) does it.

					John Nagle
Newsgroups: comp.robotics