vb.net barcode reader from webcam RELATING SIMULATIONS TO THE REAL WORLD in Software

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CHAPTER
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RELATING SIMULATIONS TO THE REAL WORLD
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uilding a robot is an enjoyable challenge and programming it is a rewarding task. Traditionally, you could not uncouple these two activities. In order to program a robot you had to build one. Nowadays, many people are able to easily build a very capable robot thanks to the plethora of kits and powerful components available at affordable prices. However, despite being easier, building a robot can still be an obstacle for many due to various factors. If you are interested in programming a robot but not building one, or you want to defer building one until after you acquire more skills but want to experiment with programming a robot, RobotBASIC and this book have shown you many projects and algorithms that demonstrate the power and utility of a simulator. You may nd that the simulator satis es your curiosity about controlling a robot enough that you do not need to control a real robot. However, if you do decide to control a real robot, the role of RobotBASIC is not over. In fact, RobotBASIC can be a powerful tool in controlling a real robot, and all the knowledge and experience you have gained from reading this book, is very much transferable to the real-world. RobotBASIC can help you in moving from the simulated realm to the real one. RobotBASIC s simulated robot is a great prototyping tool for doing research and development for robotic algorithms and ideas. You can use the simulations to demonstrate the principles of an idea without the expense of actually creating the hardware to test out
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the idea. Once the prototyping life cycle has run its course you will be ready to try out the ideas that have been developed on an actual robot. The characteristics of the simulated robot in RobotBASIC have been carefully designed to be achievable in a robot that can be affordably built using kits or from readily available components. This chapter will show you how to construct a robot from an affordable kit (with some additional modi cations) that emulates the characteristics of our simulated robot. However, just building the robot is not the end. You will need to port the algorithms to the robot s microcontroller. This chapter will show you four ways of achieving this.
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17.1 A Historical Perspective
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The eld of hobby robotics has come a long way. A change in attitude toward the hobby is occurring. People now are not satis ed with just building a robot; rather they want to make it do useful things. The focus of the hobbyist is shifting from building a robot to programming a robot. 17.1.1 EARLY HOBBY ROBOTICS In the 1980s when hobby robotics was just starting, building a real robot was very dif cult. If you wanted circuitry to drive your motors or needed any type of sensors you had to build them yourself. This meant that you had to have a reasonable knowledge of electronics if you wanted to build a robot with even minimal capabilities. While building everything from scratch was certainly an enjoyable challenge for the skilled few, building a robot remained more of a dream than a reality for the majority of people interested in the hobby. Most creations consisted of modi ed toys or crude platforms powered by windshield wiper motors salvaged from junk cars. Many robots had only one sensor a front bumper mounted on a leaf switch. Of course, the skilled hobbyist dabbled with infrared light-emitting diodes (LEDs), phototransistors, and other such devices, to build obstacle-detection circuitry that enabled the robot to deal with its environment without actual collisions but such state-of-the-art sensors were often unreliable. The makeshift infrared sensors used in those days were easily blinded if the robot turned toward a window. A robot that worked well at home often exhibited erratic behavior when it was demonstrated at a club meeting where uorescent bulbs illuminated the room. In the years that followed, hobbyists learned to modulate the infrared emitters to solve these problems but those without electronics experience often found it dif cult to adjust their oscillators and lters properly. More sophisticated sensors such as ultrasonic rangers and electronic compasses were not even attempted until decades later and even then they had to be individually designed and constructed. There were many how-to books that promised to guide you through the hard stuff, but the average reader often had a dif cult time duplicating the authors works. People who managed to overcome the above dif culties faced a further challenge. A robot without a central processor (a brain) cannot make effective use of external sensors. In the early days there were no single chip microcontrollers and software development environments were limited.
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