vb.net barcode reader from webcam Proprioceptive and Environmental Sensing Mechanisms and Devices in Software

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Proprioceptive and Environmental Sensing Mechanisms and Devices
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and below. This is due to the possibility that the robot might try to drive under something that is not quite high enough, or try to drive up onto something and get the bottom edge of the bumper stuck, before it trips the sensor. Both of these cases are potential showstoppers if the robot has no idea it has hit something. This is where a bumper compliant and sensitive to bumps coming from any direction is very helpful. If there is a chance the robot will be operating in an environment where this problem will arise, this additional degree of freedom, with sensing, makes the bumper s suspension system more complex but vital. Let s start by looking at the simplest case, the one-dimension sensing bumper.
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SIMPLE BUMPER SUSPENSION DEVICES
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The one-dimension (1D) bumper only detects bumps that hit the bumper relatively straight on, from one direction. Although this may seem too limiting, it can be made to work well if there are several smaller bumpers, each with their own 1D sensor. Together they can sense a large area of bumps from many directions. There are also layouts that are basically 1D in design, but, by being compliant, can be made to sense bumps from arbitrary directions. Since straight-on or nearly straight-on bumps are the most common and produce the largest forces, it is better to use a design that allows the bumper to have the longest travel in that direction. Bumps can be detected around the sides of the robot without as much motion from the bumper. This is why a compliant 1D bumper suspension can be used for 2D detection. There are many ways to attach bumpers that are basically 1D bumpers, but that can also function as 2D bumpers. Some of these methods, or variations of them, can be used as is, with no additional devices required. Usually, though, a secondary device must be incorporated into the layout to positively locate the nominal position of the bumper. This facilitates repeatable sensing by the limit switch. The spring-centered plate layout is shown in Figure 11-14. The moving plate is so loosely positioned it requires a vibration damper or it will wobble constantly. The V-groove centering block shown in Figure 11-12, is a basic method of realigning the bumper after encountering a bump, but there are several others that work nearly as well. The V-groove layout is essentially two reversed bump limit switch layouts at 90 to each other. It is therefore effective for bumpers designed to detect bumps from straight or nearly straight on.
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Figure 11-12 Tension spring V-groove layout
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Three Link Planar
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A very useful and multipurpose mechanical linkage is something called a four-bar link. It consists of four links attached in the shape of a quadrilateral. By varying the lengths of the links, many motions can be generated between the links. A 3D version of this can be built by attaching two planes (plates) together with three links so that the plates are held parallel, but can move relative to each other. This could be called a five-bar link, since there are now essentially five bars, but the term fivebar link refers to a different mechanism entirely. A better name might be 3D four-bar, or perhaps three link planar. Figure 11-13 shows the basic idea. If the base is attached to the chassis, and the top plate is attached to the bumper or bumper/shell, a robust layout results. This system is under-constrained, though, and requires some
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Figure 11-13 Three link planar
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Proprioceptive and Environmental Sensing Mechanisms and Devices
Figure 11-14 Tension spring star layout
other components to keep it centered, like the V-groove device discussed previously, and some sort of spring to hold the top plate in the groove.
Tension Spring Star
A simple to understand spring-centering layout uses three tension springs in a star layout (Figure 11-14). The outer ends of the springs are attached to the chassis and the inner three ends all attach to a plate or other point on the frame that supports the bumper. This layout is easy to adjust and very robust. It can be used for robot bumpers that must detect bumps from all directions, provided there is an array of sensors around the inner edge of the bumper, setup as a switch-as-hard-stop layout. This layout requires a damper between the chassis and plate to reduce wobbling.
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