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39.2.2 CHARACTERIZING THE PROBLEM
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After documenting and becoming very familiar with what is supposed to be happening in the robot, you will spend some time setting up experiments to observe what is actually hap-
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39.2 THE PROCESS OF FIXING PROBLEMS
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pening. The effort required for this is not trivial and will test your ingenuity to come up with different methods of observing what is happening while having a limited budget and resources for test equipment. Spending a few minutes thinking about the problem can result in some very innovative ways of observing the different aspects of the robot in operation and help guide you to the root cause of the problem. You will find that some failures are intermittent; that is to say they will happen at seemingly random intervals. By characterizing the operation of the robot and comparing the results to the documented expected operation, you should find situations where the operating parameters are outside the design parameters, leading to the opportunity for failure either immediately or at some later time. Once you become familiar with documenting the expected operation of your robot as well as characterizing different robot problems, you ll discover that there really is no such thing as a random failure. Each failure mode has a unique set of parameters that will cause the failure and allow you to understand exactly what is happening. The conditions leading up to a mechanical failure can be extremely difficult to observe on the basic robot. Plastic or cardboard arrows attached to different points in the robot s structure will help illustrate flexing that is not easily observed by the naked eye. A small cup of water can also be used to show the operating angle of different components of the robot as well as the acceleration of the robot during different circumstances. A digital camera s photograph of the robot in operation, with indicators such as arrows and cups of water will help you to observe deformations of the robot s structure and allow you to measure them by printing out the picture and measuring angles using a protractor. When searching for electrical problems during the operation of the robot, your best friend is the LM339 quad comparator along with a few LEDs and potentiometers. The potentiometers are wired as voltage dividers and used to provide different extreme values for the different electrical parameters that are going to be measured (Fig. 39-1). When the robot exceeds one of these parameters, an LED wired to the LM339 comparator output will light. This allows you to easily observe any out-of-tolerance electrical conditions during robot operation, requiring just a few minutes of setup. Depending on how the robot is powered, you may have to add a separate power supply (a 9-V radio battery works well to allow a good range on the potentiometers) to the circuit in order to test it if you suspect the robot s power supply is sagging. If a programming failure is suspected, you will discover that the best method of characterizing what is happening is by recording the inputs followed by the outputs. Again, LEDs are your best tool for observing what are the inputs causing the bad outputs. You can also use an LCD (although this will require you to stand over the robot to see exactly what is happening) or output a different sound or message when there are specific inputs to the microcontroller. Once you have the actual inputs and output commands, you can set up a state diagram (showing the changing inputs and outputs) to help you understand exactly what the program is doing in specific cases. When coming up with methodologies for observing what is happening in the robot when the failure is taking place, remember Heisenberg s Uncertainty Principle, which states that the apparatus used for measuring a subatomic particle parameter will affect the actual measurement. This is very possible in robotics when you are trying to characterize a failure; often the equipment used to record the failure will end up changing the behavior of the robot, hiding the true nature of the problem. For example, adding an LCD to display the
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