vb.net barcode reader sdk Starting with Electronics in Software

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CHAPTER 5 Starting with Electronics
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1. If I draw an abstract picture of my electronic circuit, what would I call it 2. What do these labels refer to: Gnd, R1, C5, S2 3. What kind of board would you build a temporary circuit on What would you call this temporary circuit Once you had it working, what kind of board would you want to rebuild it on 4. What is the component that opposes a circuit s current 5. Whose formula describes the behavior of the resistor What are some variations on this formula 6. Say you have an LED in a 9-volt circuit that can only take 15 milliamps of current. What size resistor would you put in series with the LED to keep it from burning out What if you had two 1.1 k resistors, could you make those work How much current would the LED get in this case 7. Draw a Wheatstone Bridge, and describe what it is good for. 8. What does electronics have to do with robots
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CHAPTER
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Control
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Introduction
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What makes a robot interesting is its behavior, and how that behavior adapts to, or can be reprogrammed for, changing environments. The source of behavior is the control system of the robot. When we think of robotic control, it is normal to think about computers and complicated electronics. However, the best behavioral control system is one that works automatically, without having to resort to electronics or computers. There were control systems long before there were computers, or even electronics. This short chapter explores some of the concepts behind control systems.
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CHAPTER 6 Control
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Passive Control
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The best control system is one that doesn t have to do anything, where the laws of physics do all of the work automatically. For example, think about balance. You can stand a pencil on its eraser and it will stay there. Gravity is pushing straight down through the pencil and the center of gravity is over the eraser. It could stand there for a hundred years. But it is not stable. Tip the pencil just a little bit. Perhaps you bump the desk or somebody can t resist the urge to blow on the pencil, and it falls over. Figure 6-1 shows this condition, where the center of gravity gets moved away from the eraser. When that happens, gravity s acceleration pulls that center of mass down to the table. The pencil s natural behavior takes over and you can rely on the force of gravity to make the pencil fall each and every time. What if you wanted to make something that would not tip over like the pencil How could you arrange the system so that gravity would make it return to its original position instead of tipping it over The secret goes all the way back to 2. The pencil is full of potential energy, equal to the height of its center of gravity. Given any opportunity,
Fig. 6-1. Falling pencil.
CHAPTER 6 Control
this energy will be spent and the pencil will end up with the lowest possible energy, at on the table. We need to shape the system so that the center of gravity is below the pivot point instead of above it. That way, when we bump it, the center of gravity moves up instead of down, and gravity acts to correct the bump.
BALANCING MACHINE
Try This: Figure 6-2 shows a machine that uses gravity control to keep it stable, balanced on the tip of our previous pencil. Of course, you could also tape two pencils together in an upside-down V shape (like ) and balance that instead. When this machine tips left or right the center of gravity rises and is accelerated back down until it is directly under the pivot point.
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