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OP$"DATA":RE$"DATA":DA$:SC$:CL$:FI$SC$"SCORES":10?5330?+50c?0 |?<<0C>>>30c33> > L3  + scccc0csCsc`Cx [~cccc033sCCcpCLf<  ?>33?330333333~ + 35f3}M SHOPWARE Educational Systems products are guaranteed to function as advertised and in keeping with the documentation which accompanies the software. The diskettes are guaranteed to always be free of defects due to manufacturing, programming, handling 4츘 - " *̆-7Ԕ𿏀!  Հ$ )    &𸟇𜌎# Յ Ȉ  %  Օ lnopqrstuvwxyz{|Ձ\Y  [  TԄ[츘:*(FpՀՀkiՐ!ܜd 𰰀aс ǀa𿇀^ԃ ames are registered >.trademarks of their respective owners. >C >F >}SHOPWARE >$SHOPWARE.N >}TITLE >.Robotics Fundamentals >.Copyright (c) 1989 >.SHOPWARE Educational Systems >$TITLE.N >Y5 >.Text by Donn Leiske >.Art by Wayne Roseberry >C >.Program by >.Steve Luce, Ken Linder >.and Kevin Horne >C >Y5 >.Brand and product nwner! Simply return the disk to SHOPWARE and we will promptly send you a replacement disk. We stand behind our software! SHOPWARE Educational Systems Route 1, Box 330-E Aberdeen, WA 98520 (206)-532-3392 >P >F hjand shipping. If the purchaser uses a backup at all times, and the SHOPWARE diskettes are stored safely, SHOPWARE will replace, without question, any defective SHOPWARE product. >P This service is offered even if the error is a mistake on the part of the o:Հ>T  ]𿏜]Օ]^Յ  Ӏa aՅ Ձiب ĄnՁՀpu 1@BEH@BEH("B (**x C8x@???>82$($($($28>??????@tptptptpttptptDp$t0p0tp|p4p~~~~~~?*U*UUxxx|~~ŝ?xpq?x?pp?8~~~~|}pweikKS}||q?U*U**'?|ycO??pp~`~ ppp~<||}??? ``~Յ`~~~D]]A[SGgO ?GqU*U**  aA|y|~~~~>>^^>>~~~~~~~|'''/+*""&&"&":;+)l*U*UU||||~ ACx(T  T(CCCK'CU*U**iP(Pn (  wTP@PUz**(((**E{(({+Kjw?_Oooogwwwwwwwww7?gooO_?; ppooO_???)? pp~~~~|}}y{{swgooO_???/O/OOm @@@I+@@@h  @@PI P@@@J - ( $D  D PPPP)( RPFU A (U?@@@Z ? 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'$TEXTA/ %ALBUM#C#INDEX)#Systems SW560 5 /SW560A.3/L5 T111 ROBOTICS ROBOTICS FUNDAMENTALS INTRO.FILE 5 Parts Identification SW560 1 /SW560A.1/L1/ T111 Industrial Robots SW560 2 /SW560A.1/L2/ T111 Microcomputer Controllers SW560 3 /SW560A.2/L3/ T111 Robot Control Programming SW560 4 /SW560A.2/L4 T111 Robot Sensing 4 SHOPWARE 0 SHOPWARE.N 1753 TITLE 4698 TITLE.N 7281 .END 7960  Ā@ #*I` `$@`gEDD#@<`~ 4`7L@ ,24Y@@'Xx  x=  9x  x=  @@@8*X@``@@@ 5````````````````` U*U*U U*U*Uxy{~~~{yx~~rs~rr *U*U* *U*U*?_OooO_?'?_OooO_?U*U*U U*U*U~<00$$ 8 LlllllL  *U*U* *U*U*fv~~~~~~>Y@@Y U*U*U U*U*U`GOOG`gOO@L\||||||x1801 *U*U* *U*U*sssssss*ULLLL LLL>n`n~>q366v663q *U*U* *U*U*0cggcpqyc?}9LllgllL U*U*U U*U*U ))!sssLMONLLL00000 *U*U* *U*U*bwwszzx|< go{x{og ?<8:37&, CGO_ *U*U* *U*U* @@~~~| U*U*U U*U*UOOO@OOOOsssssssa?ccc?cccc *U*U* *U*U*9yyyyyyq8998<<99p p U*U*U U*Urur5252ur5rurururururururururururururururururu2525rururur(T*U* *U*U*qqqqU*U*U U*U*U|qwgohhogwq||qwgohhogwq|*U*U* *U*U*??U*U*U U*U*UcsG{s>}BORD1 ROBOT SENSING SYSTEMS The basic industrial robot is unable to react to many of its surroundings. Sound, light, heat and movement are some examples of inputs that are not available to the simple robot. >>MOBILE In many industrial uses for the robotors could also be used on the conveyor that moved the cans toward the robot. This input could tell the robot how fast cans are coming down the conveyor and if the supply of cans would run out for some reason. Optoelectronic sensing systems have been used he beam of light is broken, telling the robot to stop picking up cans until the next box is in place. >P At that time the light beam would then be unbroken between the emitter and the receiver of the optoelectronic sensing system. >>CONVEYER A pair of sensding a beam of light to the receiver on the other side of the conveyor. >P As long as the beam of light is on, the robot will know that the box has not moved and that more cans may be placed in the box. >>PACKING2 When the box is moved down the conveyor, tnd fill it too full. The robot could even drop cans onto the boxes conveyor, setting the cans down when the box is moving down the conveyor. >>PACKING1 The optoelectronic sensing system can solve this problem with an emitter on one side of the conveyor senveyor belt toward the robot. The robot picks up a can from the conveyor, pivots around and places the can into the box for shipping. >>BORD2 Without light sensing, the robot might move cans into the boxes too slowly and not fill a box in time or too fast aore is not very often used with robotic's light sensing systems. >>CONVEYER An example of how an industrial robot can use an optoelectronic sensing system is a robot working on an assembly line where boxes are being filled with cans. Cans move down the conere are other components besides the phototransistor that can be used for "catching" the light, but some other devices are not as accurate as those needed in some robotic's applications. The selenium cell for instance is slow in responding to light, theref screen. The LED's used for the robot's optoelectronic sensor system on the other hand sends out infrared light which is somewhat invisible. The robot's LED sends the light signal while a phototransistor acts as the detector, catching the light. >>BORD2 The detector. Most emitters are infrared light-emitting diodes. These are most popular because they are very sturdy and will last almost indefinitely. >>CALCULATOR Many calculators use light-emitting diodes (LED's) to light up the numbers on the calculator'sS are one of the most common kinds of sensors in industry and robotics. Basically this sensor is made up of two devices. The first unit, called the emitter, is the light source. It sends a beam of light that is then received by the second device, called thing systems, the robot would be blind, deaf, and dumb. >P There are many kinds of sensing systems which can help the robot be aware of its surroundings including pressure... >P ...motion, and how close it is to another object. >>BORD2 OPTOELECTRONIC SENSOR these kinds of inputs are useful. Robot sensing devices allow the robot to have "feeling" for its surroundings. A mobile robot may need to be able to keep track of where it started, where it's been, and what is happening around it. >>NOEVIL2 Without senscommonly in industry for years and now they have many uses for robots used in the industrial process. >>ROBOTYUPPY Another kind of sensing system used with robots is having to do with temperature. Temperature sensing is the most common type of external measurement used in industry... >P ...with over 50% of all sensing systems being temperature related. >>CELSANDF Temperature is measured in different units of measurement. >P The most common household unit of measurement in the United States is Fahrenheit witnce it has. >C >}RESISTIVE The principle on which the resistive sensor works is that the conductor inside the sensor changes resistance as it heats up. The conductor is often a coil of fine wire made of nickel, copper, or platinum. >P Some of them use semis the easier the water can flow through the hose, thus having less resistance. The smaller the hole, the more resistance. >C Some balloons blow up easily, while others blow up with a great deal of effort. The easier the balloon is blown up the less resistaure changes. >>HOSE1 Another kind of temperature sensor used by industrial robots to keep track of nearby temperatures is the "Resistive Sensor." Resistance is how hard it is to have water run through a garden hose. >$HOSE.N The larger diameter the hose ie indicating thermostat. >P As the bimetallic strip moves with temperature changes, the tip points to the correct temperature markings on the scale. >P The main advantages of bimetallic sensors are that they are inexpensive and adjust quickly to temperats, it straightens out, once again making electrical contact. The process begins all over again. On a car's turn signal, this cycle happens several times per second, making the light flash. >>INDICTHERM A common industrial use for a bimetallic sensor is thcity passes through the flasher. As the two metals heat and stretch at different speeds the bimetallic strip bends and disconnects the electrical contact. >P The electricity stops flowing, turning off the turn light of the car. As the bimetallic strip cool >P This provides such a simple and inexpensive kind of device that bimetallic sensors are used for many common things as well as industrial applications. >>BORD2 An example is the flasher for a car's turn signal. When the turn signal is turned on, electrion the principle that different kinds of metals will expand to heat and shrink to cold at different rates. By fastening two different kinds of metal strips together, the sandwich of metals strips will bend as the two metal strips expand at different rates.perature measurements have clear advantages, in industry and robotics. There are several common temperature sensing devices used in industry by robots. We will discuss only the Bimetallic and Resistive Sensors. >>METALSTRIPS The "Bimetallic Sensors" work nt is zero degrees. Kelvin is different from Rankine in that the amount of degrees between water melting and boiling is 100 degrees, while Rankine is 180 degrees. >P Because Kelvin seems more logical and Rankine has more accurate measurement, these two tem0 degrees below zero, while in Fahrenheit it is almost 500 degrees below zero! >>BORD2 An advantage then for industry using Kelvin or Rankine temperature measurements is that there are no "below zero" temperatures. Absolute zero for both units of measurememmon in industry. >P Kelvin and Rankine units of temperature measurement are the same in that they both start measuring at the same point, called "Absolute Zero." >P This is considered the coldest measurable temperature. Absolute Zero in Celsius is over 25ee at a glance that the Celsius unit of temperature measurement is more logical with freezing and boiling points of water being 0 and 100 degrees. >>RANKNKELV There are two units of temperature measurement that are little known around the house, but are coh water freezing at 32 degrees and boiling at 212 degrees. >P The common household temperature unit of measurement in Canada and many other countries is Celsius with water's freezing point being 0 degrees and boiling at 100 degrees above zero. >P You can sconductors instead of a conductor. The basic difference is that as temperature rises the conductor's resistance increases, while the resistance decreases with a semiconductor. >P Resistive Sensors can be very small and measure a very wide range of temperatures. >>ULTRASONIC "Ultrasonic Sensors" use and measure sound signals. Robots can use this kind of measurement for avoiding running into objects while moving about. Ultrasonic sensors are able to hear sounds that are far beyond the human ear's range of sou. Optoelectronic sensor B. Bimetallic sensor C. Liquid crystal sensing device D. Resistive sensor E. Ultrasonic sensor >#A An optoelectronic sensor was used. >E >B >P 9. An optoelectronic emitter is used to do what? A. Send out a light signal B.tems D. Rector systems E. Devicory systems >#B Robots are blind deaf and dumb without sensing systems. >E >B >P 8. The lesson used an illustration of a robot filling boxes. The sensors detected if the box had moved. What kind of sensor was used? Aing device D. Resistive sensor E. Ultrasonic sensor >#E Ultrasonic sensors are used to measure levelness. >E >B >P 7. Without what kind of systems, would the robot be deaf, blind, and dumb? A. Industrial systems B. Sensing systems C. Leveling sys the echo E. Scuba divers all have these attached to their suits >#D Sending a sound out and monitoring the echo. >E >B >P 6. Which device can check to see if a surface is level? A. Optoelectronic sensor B. Bimetallic sensor C. Liquid crystal sensasonic sensor >#E The ultrasonic sensor. >E >B >P 5. How can an ultrasonic sensor measure movement and distance? A. Listening for high frequency winds B. Keeping track of polarities C. Monitoring light changes D. Sending a sound out and monitoringor >#D A resistive sensor monitors temperature by measuring resistance. >E >B >P 4. Which device can hear sounds that the human ear cannot? A. Optoelectronic sensor B. Bimetallic sensor C. Liquid crystal sensing device D. Resistive sensor E. Ultrrs >E >B >P 3. What is the name of the temperature sensing device that checks how hard it is for power to flow through the device? A. Optoelectronic sensor B. Bimetallic sensor C. Liquid crystal sensing device D. Resistive sensor E. Ultrasonic sensng device that is similar to a car's turn signal flasher? A. Optoelectronic sensor B. Bimetallic sensor C. Liquid crystal sensing device D. Resistive sensor E. Ultrasonic sensor >#B Bimetallic temperature sensors are used for car turn signal flashe A. Optoelectronic sensor B. Bimetallic sensor C. Liquid crystal sensing device D. Resistive sensor E. Ultrasonic sensor >#A The optoelectronic sensor monitors changes in light near the robot. >E >B >P 2. What is the name of the temperature sensioving, and find a pathway that does not have any obstructions. >>NOEVIL2 With the addition of different sensors a robot does not have to be deaf, dumb, and blind. >>QUIZ.PIC >.SENSING >.SYSTEMS >B >>M 1. What is the name of the sensor that detects light.e of light around the robot. By adding a temperature sensor a robot can keep track of changes in temperature in nearby air or liquid. With the use of ultrasonic sensors a robot can hear sounds that humans cannot hear, keep from running into things while mjects near the robot. The time it takes for the sound to bounce and return back to the robot can tell the robot how far the object is from the robot. >$SOUND.N >}BORD2 With the addition of optoelectronic sensors a robot can be aware of light and the absenchicknesses of objects, levelness of a surface, and movements of other objects. >>SOUND1 Two devices work together to make up an ultrasonic sensor. The transmitter sends the sound signal and the receiver picks up the sound as it is bounced back off other obnd. >P This is useful in that the robot can use sound to measure distance from other objects without producing an annoying sound that a human could hear. >P Ultrasonic sensors can help robots not only navigate without running into other things, but sense t Send out a sound signal C. Receive a light signal D. Receive a sound signal E. All of the above >#A An optoelectronic emitter is a device that sends out a light signal. >E >B >P 10. In which two temperature measurement scales is absolute zero at zero degrees? A. Fahrenheit and Rankine B. Rankine and Kelvin C. Kelvin and Celsius D. Celsius and Rankine E. Celsius and Fahrenheit >#B One reason industry uses Rankine and Kelvin temperature scales is that absolute zero is zero degrees. >E >P You h@ @ 5T @   2 %5WV|9,$0@000 ```H@  T`pX4$ @@` `PA@@0$l<   3W @)xn+W((PP `@ (HP0@@  PPP*. 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