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DPRG: BOUNCE dprglist@dprg.org: Non-member submission from [bill harrison <bill@sinerobotics.com>]

Subject: DPRG: BOUNCE dprglist@dprg.org: Non-member submission from [bill harrison <bill@sinerobotics.com>]
From: Jim Brown jimbrown at airmail.net
Date: Tue Jan 13 19:10:21 CST 1998

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>Date: Tue, 13 Jan 1998 12:07:10 -0800
>From: bill harrison <bill at sinerobotics.com>
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>Organization: sine robotics
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>To: Corey Hansen <nzhansen at ihug.co.nz>
>CC: SRS List <srs at seattlerobotics.org>, DPRG List <dprglist at dprg.org>
>Subject: Re: Neural Network(Yes!) robot revised
>References: <00af01bd1fcd$6bff6ba0$b1964cd1 at nzhansen.ihug.co.nz>
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>        IMHO, I think you have hit opon one important point but talk about it
>indirectly:  I think the best way to aproach a robot building task like
this is
>to start simple and very structured (like dark room with only one bright
>when learning to find a light).  As you succeed, you add complexity and
>gradually aproach a "real world" situation.  Probably you won't get to the a
>real world environment, as you'll find this to be very difficult for
robots as
>        But you will have accomplished a lot if you can do a neural
network even
>in a simple environment.  Good luck.
>                Cheers,        Bill
>Corey Hansen wrote:
>> Hi,
>> Alright , here's what I have on the issue of my robot. 8 inputs; 3 IR , 4
>> bumper switches , and a Cds cell. The robot compiles all the inputs so they
>> are represented by an 8 bit variable. The robot then goes to the address in
>> the code which corresponds to the sensor inputs. Now the robot needs to
>> decide on the motor output remembering the values of the 7 variables
>> representing the outputs. Now that the robot has the output figured out it
>> starts it. Now it waits until a sensor input(s) change(s). Now it compares
>> the older input with the new. If the input is lower then before then the
>> robot upgrades the  previously used output degrades the others  , or vice
>> versa if the input is higher. Then the robot repeats this , learning the
>> best use of outputs of the most common inputs.
>> Another thing is the need for long term learning. For this the robot needs
>> power for a long period. I could tether it but , not as neat. So I'm going
>> to try to make a charging station for it. I'm going to have a low voltage
>> detector connected before the regulator to detect when the batteries get
>> low.
>> The output of this is connected to the XIRQ pin to alert the robot. Then
>> robot needs to search for the station. This makes use of the front
facing IR
>> sensor and the Cds cell. The robot , when alerted , will turn in place
>> it sees an IR signal with it's sensor. This front facing sensor is set to
>> receive 38khz modulated IR so its range is about 20 feet(According to my
>> testing) If the robot doesn't see the station when it has turned a few
>> then it will go back into normal operation for a minute or so to get into a
>> new position and repeat the looking process.
>> When(If) it does see the station it will head in its direction. The only
>> to know when it is near is the use of the Cds cell which will be facing
>> down. During normal operation it will be treated as a bumper switch. But ,
>> during low battery operation it'll detect white paper that will surround
>> charging station. Now that it knows it's in the charging area it'll just
>> head forward until it hits something. When it hits something it will now
>> know it's ready to charge because on the end of the bumper switches will be
>> the charging probes. The charging station will be circular so that it
>> doesn't matter what angle of impact the robot came at , and there will be
>> tin foil pads properly spaced for the probes. I'll include a rectifier
>> bridge to protect against reverse polarity.
>> What's coming through the probes will be 7 or so volts , and the bridge
>> drop that a bit. What's connected here will be connections to the motor
>> battery , processor power pins , and the input to the voltage regulator. In
>> between the voltage regulator and the power pins will be 1 or 2 darlington
>> transistors. These darlington's will be used to isolate the  battery power
>> so it can charge. These transistor will be controlled by the micro. Oh ,
>> the motors need to be stopped so that their batteries will charge. Now I'll
>> have the robot sit there for a certain amount of time , and then it will
>> turn on the darlington's  , and motor backwards UNTIL it sees , with the
>> cell , that it's cleared the white paper. Now it goes back into normal
>> operation.
>> Notice the large use of the future tense!
>> Any suggestions would help , a lot.
>> :David
>> davehansen at geocities.com
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