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8.23 Feeding behavior comparator circuit
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or near darkness. When a sufficient amount of ambient light is reintroduced, power to the first layer, drive system, and second layer is restored.
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Let s look at the behavior of our three-layer stimulus-response photovore robot and see if we can classify its behavior as intelligent. In complete darkness the robot remains still, conserving all its power via layer 3. As ambient light is introduced and increased, layer 3 restores power to the drive system and first two layers. At this point, layer 1 takes over and controls the direction of the robot. The robot searches and moves toward the source of light. As the robot moves toward the light source, the light intensity increases. When the light reaches a sufficient intensity, layer 2 cuts power to the drive system allowing the robot to feed (charge its batteries) through the photovoltaics. Whether you decide to classify this robotic behavior as intelligent or not is an individual preference and one that can clearly be debated on both sides of the fence. In the least, it illustrates how complex behavior patterns can be generated using a layered stimulus response.
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BEAM robotics
Mark Tilden founded BEAM robotics while at the University of Waterloo in Canada. The inspiration for BEAM-style robots came from a talk given by Rodney Brooks of MIT that Mark had attended in 1989. Dr. Rodney Brooks s approach to robotics is a stimulusresponse system he refers to as subsumption architecture. BEAM is a multidimensional acronym that loosely stands for biology, electronics, aesthetics, and mechanics. I say loosely because there are numerous groups of words that can be and are at times substituted in the acronym, for instance biotechnology, evolution, analog, and modularity.
BEAM competition
There is an annual Olympic competition for BEAM robotics with 14 events. The first BEAM competition was held in 1991. The inspiration for the BEAM games came from the first international Robot Olympics held in Glasgow, Scotland, in 1990. A central idea to the BEAM philosophy is robotic evolution. Start simple and evolve toward complex systems. As illustrated, the idea is to break away from standard robotic design, using top-heavy CPUs for control, and
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embrace a bottom-up approach using a layered stimulus response (neural network, nervous network systems). Mark Tilden calls his stimulus-response mechanisms nervous nets. Tilden has designed a number of interesting robots (see Fig. 8.25). They employ nervous net systems that are made using transistors. Since the nervous net system is patented (by Mark Tilden) and unpublished schematics for his nervous net system are not readily available, I do not have any nervous net system schematics to present. However, Tilden has a book in the works titled Living Machines. Figure 8.26 is titled Gumby Trks. This is a type of biomechanical walker that is being designed for a variety of terrains. Here Gumby 1.0, an eight-transistor imbedded-bicore walker about 1 ft long, makes tracks across a sand desert. Figure 8.27 is titled Walkman 1.0. The first of the 12-transistor Microcore walkers, this device was put together from the remains of five similar Walkman cassette players. It has seven sensors including two eyes and can handle very complex terrains with its five-motor design.
8.25 Beam robots
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8.26 Gumby Trks
8.27 Walkman 1.0
Electronic flotsam
BEAM robotists pride themselves on using discarded electronics in the construction of their robots: for instance, solar cells from calculators, high-efficiency electric motors from Walkmans and cassette players, along with pulleys, switches, capacitors, components, gears, and solenoids. Gathering this electronic flotsam and converting it into useful robots is a project in recycling engineering. The BEAM robotic competition is open to everyone. All competitors start on equal footing. Seven-year-old robotists have as much chance of winning as a professor from a prestigious college. In some cases the 7-year-old won!
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