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30.3 Contact Detection
QR Code 2d Barcode Scanner In None
Using Barcode Control SDK for Software Control to generate, create, read, scan barcode image in Software applications.
QR Code Creation In None
Using Barcode creator for Software Control to generate, create QR Code image in Software applications.
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QR Code Decoder In None
Using Barcode decoder for Software Control to read, scan read, scan image in Software applications.
Quick Response Code Drawer In Visual C#.NET
Using Barcode printer for Visual Studio .NET Control to generate, create QR Code 2d barcode image in VS .NET applications.
30.4 Soft Touch and Compliant Collision Detection
Create QR Code ISO/IEC18004 In .NET Framework
Using Barcode creator for ASP.NET Control to generate, create QR-Code image in ASP.NET applications.
QR Code Creation In VS .NET
Using Barcode creator for .NET framework Control to generate, create QR Code 2d barcode image in Visual Studio .NET applications.
30.4.1 Laser Fiber Whiskers 30.4.2 Piezo Disc Touch Bar 30.4.3 Other Approaches for Soft-Touch Sensors
Making Denso QR Bar Code In Visual Basic .NET
Using Barcode creation for VS .NET Control to generate, create QR Code 2d barcode image in .NET framework applications.
Code 128B Printer In None
Using Barcode creator for Software Control to generate, create ANSI/AIM Code 128 image in Software applications.
548 555 558
Making Bar Code In None
Using Barcode creation for Software Control to generate, create bar code image in Software applications.
Create EAN / UCC - 13 In None
Using Barcode creator for Software Control to generate, create GS1 128 image in Software applications.
30.5 From Here 31 Sound Input and Output 31.1 Cassette Recorder Sound Output 31.2 Electronically Recorded Sound Output
Drawing GTIN - 12 In None
Using Barcode printer for Software Control to generate, create GS1 - 12 image in Software applications.
ANSI/AIM Code 39 Creator In None
Using Barcode drawer for Software Control to generate, create Code-39 image in Software applications.
31.2.1 Hacking a Toy Sound Recorder 31.2.2 Using the ISD Family of Voice-Sound Recorders
Delivery Point Barcode (DPBC) Generator In None
Using Barcode encoder for Software Control to generate, create USPS POSTal Numeric Encoding Technique Barcode image in Software applications.
Data Matrix Encoder In Java
Using Barcode maker for Java Control to generate, create Data Matrix 2d barcode image in Java applications.
558 559 559 561
Draw 1D Barcode In VB.NET
Using Barcode generator for .NET Control to generate, create 1D Barcode image in Visual Studio .NET applications.
Printing Code39 In Java
Using Barcode generator for BIRT reports Control to generate, create Code 3/9 image in Eclipse BIRT applications.
561 562
Create GTIN - 13 In .NET
Using Barcode drawer for Reporting Service Control to generate, create EAN-13 Supplement 5 image in Reporting Service applications.
2D Barcode Encoder In Visual Studio .NET
Using Barcode maker for VS .NET Control to generate, create 2D Barcode image in Visual Studio .NET applications.
31.3 31.4 31.5 31.6 31.7 31.8
EAN / UCC - 14 Recognizer In Visual C#
Using Barcode decoder for VS .NET Control to read, scan read, scan image in Visual Studio .NET applications.
1D Encoder In .NET
Using Barcode drawer for ASP.NET Control to generate, create Linear image in ASP.NET applications.
Sirens and Other Warning Sounds Sound Control Audio Amplifiers Speech Recognition Speech Synthesis Sound Input Sensors
31.8.1 31.8.2 31.8.3 31.8.4 Microphone Amplifier Input Stage Tone Decoding Detection Building a Sound Source
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571 572 573 576
31.9 From Here 32 Robot Vision 32.1 Simple Sensors for Vision 32.2 One-Cell Cyclops 32.3 Multiple-Cell Light Sensors
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CONTENTS
32.4 Using Lenses and Filters with Light-Sensitive Sensors
32.4.1 Using Lenses 32.4.2 Using Filters
586 588
32.5 Introduction to Video Vision Systems
32.5.1 Robot View Digital Camera
32.6 Vision by Laser Light 32.7 Going beyond Light-Sensitive Vision
32.7.1 32.7.2 32.7.3 32.7.4 Ultrasonics Radar Passive Infrared Tactile Feedback
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595 595 596 596
32.8 From Here 33 Navigation 33.1 A Game of Goals 33.2 Following a Predefined Path: Line Tracing
33.2.1 Computer Controlled Line Following
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33.3 Wall Following
33.3.1 33.3.2 33.3.3 33.3.4 33.3.5 33.4.1 33.4.2 33.4.3 33.4.4 Variations of Wall Following Ultrasonic Wall Following Soft-Contact Following with Foam Wheels Dealing with Doorways and Objects Coding Your Wall-Following Robot Optical Encoders Magnetic Encoders The Function of Encoders in Odometry Errors in Odometry
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33.4 Odometry: The Art of Dead Reckoning
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33.5 Compass Bearings 33.6 Ultrasonic Distance Measurement
33.6.1 Facts and Figures 33.6.2 Interfacing a Polaroid 6500 Ultrasonic Range Finder
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617 618
33.7 Where Am I : Sighting Landmarks
33.7.1 33.7.2 33.7.3 33.7.4 33.7.5 Infrared Beacon Radio Frequency Identification Landmark Recognition Other Techniques for Beacons and Lighthouses Coupled Sonar and IR Light
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CONTENTS
33.8 Exploring Other Position-Referencing Systems
33.8.1 Global Positioning Satellite 33.8.2 Inertial Navigation 33.8.3 Map Matching
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33.9 From Here 34 Fire Detection Systems 34.1 Flame Detection
34.1.1 Detecting the Infrared Light from a Fire 34.1.2 Watching for the Flicker of Fire
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629 631
34.2 Using a Pyroelectric Sensor to Detect Fire 34.3 Smoke Detection
34.3.1 34.3.2 34.3.3 34.3.4 34.3.5 Hacking a Smoke Alarm Interfacing the Alarm to a Computer Testing the Alarm Limitations of Robots Detecting Smoke Detecting Noxious Fumes
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632 634 635 635 635
34.4 Heat Sensing 34.5 Firefighting 34.6 From Here
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35 Experimenting with Tilt and Gravity Sensors 641 35.1 Sensors to Measure Tilt 642
35.1.1 Building a Balance System with a Mercury Switch 35.1.2 Building a Balance System with a Ball-in-Cage Switch 643 643
35.2 Using an Accelerometer to Measure Tilt
35.2.1 35.2.2 35.2.3 35.2.4 35.3.1 35.3.2 35.3.3 35.3.4 35.3.5 What Is an Accelerometer Additional Uses for Accelerometers Single- and Dual-Axis Sensing The Analog Devices ADXL Accelerometer Family Wiring Diagram Understanding the Output of the ADXL202 Orienting the Accelerometer Control Interface and Software Additional Uses
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35.3 Constructing a Dual-Axis Accelerometer Robotic Sensor
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35.4 Alternatives to Store-Bought Accelerometers
35.4.1 Constructing the Piezo Disc Accelerometer 35.4.2 Limitations of the Piezo Disc Accelerometer
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35.5 From Here
CONTENTS
36 Home Robots and How Not to Chew Up Your Furniture 36.1 Sensing the Environment: Protecting the Furniture and the Robot 36.2 Movement Algorithms 36.3 Communicating with the Robot 36.4 From Here
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PART 7 PUTTING IT ALL TOGETHER
37 Robot Tasks, Operations, and Behaviors 37.1 What Does My Robot Do : A Design Approach
37.1.1 An Itinerary of Functions 37.1.2 Additional Features
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37.2 Reality versus Fantasy 37.3 Understanding and Using Robot Behaviors
37.3.1 37.3.2 37.3.3 37.3.4 37.3.5 When a Behavior Is Just a Simple Action Wall Following: A Common Behavior The Walt Disney Effect Robotic Functions and Error Correction Analyzing Sensor Data to Define Behaviors
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37.4 Multiple Robot Interaction 37.5 The Role of Subsumption Architecture 37.6 From Here 38 Integrating the Blocks 38.1 Basic Program Structure 38.2 Allocating Resources
38.2.1 I/O Pins 38.2.2 Internal Features
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674 675
38.3 Getting a Program s Attention Via Hardware
38.3.1 Timer Interrupt 38.3.2 Hardware Interrupt 38.3.3 Glass Half-Empty, Half-Full
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38.4 Task-Oriented Robot Control
38.4.1 Programming for Tasks 38.4.2 Multitasking Error Modes for Optimal Flexibility
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38.5 From Here
xxii
CONTENTS
39 Failure Analysis 39.1 Types of Failures
39.1.1 Mechanical Failure 39.1.2 Electrical Failure 39.1.3 Programming Failure
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39.2 The Process of Fixing Problems
39.2.1 39.2.2 39.2.3 39.2.4 39.2.5 39.2.6 Documenting the Expected State Characterizing the Problem Hypothesizing about the Problem Proposing Corrective Actions Testing Fixes Implementing and Releasing the Solution
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39.3 From Here 40 Setting Up Workshops, Demonstrations, and Competitions 40.1 Choosing the Venue
40.1.1 Venue Needs
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40.2 Competition Events
40.2.1 Scrounging for Prizes
40.3 Alerting the Public and the Media 40.4 From Here Appendix A Further Reading A.1 Hobby Robotics A.2 LEGO Robotics and LEGO Building A.3 Technical Robotics, Theory, and Design A.4 Artificial Intelligence and Behavior-Based Robotics A.5 Mechanical Design A.6 Electronic Components A.7 Microcontroller/Microprocessor Programming and Interfacing A.8 Electronics How-To and Theory A.9 Power Supply Design and Construction A.10 Lasers and Fiber Optics A.11 Interfacing to Computer Systems A.12 Magazines A.13 Classic Robot Fiction
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