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5.32 1525 electronic analog compass
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The output of this compass is comprised of two sine waves, one of which is 90 degrees out of phase with the other (see the sine-cosine configuration in Fig. 5.32). The amplitude of each wave correlates to direction. If a 90-degree portion of a sine wave is measured with an 8-bit A/D converter, a compass directional resolution of 1 degree is obtained.
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Using a global positioning system (GPS), a robot can know precisely where on Earth it s located. While the need for a GPS is not obvious for amateur robotists, the cost of GPS systems are coming down if the need arises.
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The human ear has an auditory range from 10 to 15,000 Hz. Sound can be picked up easily using a microphone and amplifier. Microphones typically have an auditory range that surpasses that of human hearing. Sound is a useful tool for robotists. We use hearing primarily for communication (language). Speechrecognition systems are a hot topic in robotics. Because of this, we devote an entire chapter (see Chap. 7) to building a speechrecognition circuit and interfacing. But don t skip over the following information. Robotic sound systems are pretty useful.
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Sound may be used for games, range finding, and collision and obstacle avoidance. To play a game of robot tag, robots are fitted with a two-tone oscillator and receiver. Each robot can generate and recognize two tones. Let s say the A tone is 3000 Hz and the B tone is 6000 Hz. Tones are generated for 1 s whenever a robot s bumper switch is activated. The robot that s it generates the B tone whenever its bumper collides with another robot. A not it robot generates the A tone. Upon collision, the it robot generates the B tone. The not it robot hearing the B tone changes states and becomes it. And the it robot hearing the A tone from the not it robot changes states and becomes not it. Two not it robots will both generate the A tone and leave the collision with their states unchanged. Although we are using sound as an example here, be aware that this technique can be applied using infrared light. Ultrasonics are often used for range finding and collision detection. Many robotists have written on the Polaroid Company s ultrasonic modules (see Fig. 5.33). These modules are used in Polaroid cameras to quickly measure the subject s distance from the camera and focus the lens to produce sharp pictures. When interfaced to a microcontroller, the units can accurately measure distance. If one needs or wants distance measurements for the robot, the Polaroid sensor is the way to go. The ping can measure distances up to 30 ft. The sensor may also be rotated (using a servo or stepper motor) like a radar to build a navigation map and find an obstaclefree path.
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40 kHz Sound
Trans
Solid Object
Recv
Reflected Sound
4" 5"
5.34 Outline of ultrasonic collision detector
Every time the Polaroid transducer is energized, there is an audible click from the Transducer. I find the constant clicking from the sensor annoying. Although the module is ultrasonic, when the electronics pump the ultrasonic signal to the transducer, some audible sound is also generated. It is relatively easy to build a basic ultrasonic collision avoidance system that, being completely ultrasonic, is silent. The basic operation follows the same scheme used for infrared collision avoidance, except we are using sound instead of light. Figure 5.34 shows the overview schematic. The transmitter sends a 40-kHz signal to an ultrasonic transducer. Another transducer (receiver) is positioned alongside the transmitter transducer. When the robot approaches a wall or obstacle, the 40-kHz sound is reflected back to the receiver, whose output increases in amplitude. When the output increases beyond the preset point, the comparator trips, relaying that there is an obstacle detected.
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