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NeuLog Sense Autonomous Manual

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Autonomous

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Summary of Contents for NeuLog Sense Autonomous

  • Page 1 Sense Autonomous...
  • Page 3 Sense Autonomous 2_28 © All rights reserved. The material in this book may not be copied, duplicated, printed, translated, re-edited or broadcast without prior agreement in writing. For further information contact info@neulog.com  www.neulog.com ...

  • Page 5: Table Of Contents

    Contents Chapter 1 – Control and Robots ..................... 1 Robots .......................... 1 Control systems ......................2 SENSE autonomous ..................... 3 RobocklySense ......................4 RobocklySense installation ..................4 Starting the RobocklySense program ................5 Experiment 1.1 – Direct Mode ....................6 1.1.1...
  • Page 6 Challenge 1.14 – Moving along corridors ................55 Chapter 2 – Brain Units ......................56 Brain units ........................56 NeuLog sensors as brain units ................... 57 Changing Brain unit ID ....................58 Experiment 2.1 – Sound Sensor .................... 59 2.1.1 Challenge exercise –...

  • Page 7: Chapter 1 - Control And Robots

    The SENSE robots are a series of robots and "brain" units for study, programming and making robots with wide variety of robot applications. The sense autonomous is a robot enables us to program many robot applications and functions such as movement on a line, movement along walls, tracking, AGV (Automatic Guided Vehicle), autonomic car, autonomic guard vehicle, autonomic taxi driver, environment monitoring, manipulating car and more.

  • Page 8: Control Systems

    Control systems A robot is a computerized control system. A "Control system" may be defined as a group of components, which can be operated together to control multiple variables, which govern the behavior of the system. Examples:  Air-conditioning systems control the temperature in the room. ...

  • Page 9: Sense Autonomous

     A flash memory for the user programs  USB connector for connection to PC or MAC The sense autonomous comes with an adapter for external battery. Such battery can be a standard Power Bank with USB outlet. You may also have the NeuLog battery module BAT-202, which can be plugged directly into one of the SENSE sockets.

  • Page 10: Robocklysense

    The RobocklySense uses special blocks that can read the inputs, operate the outputs, and read any of the data from NeuLog sensors. The RobocklySense is very user friendly and it is easy to create and run robotics programs.

  • Page 11: Starting The Robocklysense Program

    Starting the RobocklySense program You can find the RobocklySense program icon on your computer desktop screen. Click on the RobocklySense icon to run the RobocklySense software. The program is opened in a browser and the following screen appears: This screen is for Direct mode (explained in experiment 1.1). Exit is done in two steps.

  • Page 12: Experiment 1.1 - Direct Mode

    Equipment required:  Computer  RobocklySense software  SENSE autonomous  USB connection cable Discussion: RobocklySense software enables the user to operate the SENSE controller directly. We shall learn how to operate the SENSE motors and to read its sensors directly...
  • Page 13 Procedure: Observe the SENSE. Identify the communication cable inlet. Hold the SENSE and turn it. The SENSE includes:  Two motors with wheels.  One pivot wheel.  Five range sensors made of an infrared (IR) LED and phototransistor each. ...
  • Page 14 This Direct mode window is for manual control and test of the robot optional units: Sense, Robo, Robo Ex, Brain arm, Brain servo, Brain motor or NeuLog sensor. The following screens are Direct mode windows of the Robo, Brain arm and NeuLog sensor.

  • Page 15: Sense Movement

    1.1.1 SENSE movement The SENSE robot has 9 movement commands: Forward both wheels rotate forward Stop both wheels stop Backward both wheels rotate backward Left deviate right wheel rotates forward fast and left wheel rotates forward slower a little Left turn right wheel rotates forward fast and left wheel rotates forward very slowly Left rotate...

  • Page 16: The Sense Sensors

    1.1.2 The SENSE sensors The SENSE has five wall range sensors on its perimeter and one line sensor on its bottom, having the following names:  Bottom sensor  Front sensor  Right front sensor  Right back sensor  Left front sensor ...
  • Page 17 Observe the Direct screen and the read values around the SENSE picture. These values are the read values of the SENSE sensors. Place the SENSE on a white surface. The value of the bottom sensor should be above 500. Place the SENSE on a black surface. The value of the bottom sensor should go down dramatically.

  • Page 18: Experiment 1.2 - First Programs

    Downloading a program to the controller and running it. Equipment required:  Computer  RobocklySense software  SENSE autonomous  USB connection cable  BAT-202 Battery module Discussion: A computer program is composed of chains of instructions according to the programming language instruction set.
  • Page 19 Procedure: Connect the SENSE to the PC using the USB cable. Run the RobocklySense software. The Direct screen appears: The direct mode enables you to test the system and its wiring before programming and running the programs. This stage saves a lot of frustration in development.

  • Page 20: First Program - Forward

    1.2.1 First program – forward Move to Block mode. A computer program is composed of chains of instructions. Click on the Program button and a list of program instruction list will appear:...
  • Page 21 Click on the Program start instruction block and drag it to the right. Click on the Sense button and a list of Sense instructions will appear: Click on the SENSE Drive instruction block, drag it, and attach it to the Program start instruction block.
  • Page 22 Click on the General button and select the Delay instruction block. Drag this block and attach it under the Drive instruction block. Change the delay value to 3 seconds. Click on the Sense button and select the Stop instruction block. Drag this block and attach it under the Delay instruction block.

  • Page 23: Program Download

    The SENSE comes with an adapter for external battery. Such battery can be a standard Power Bank with USB outlet. You may also have the NeuLog battery module BAT-202, which can be plugged directly into one of the SENSE sockets...

  • Page 24: Forward And Backward

    Press the Start/Stop button and you will see the robot move forward for 3 seconds and then stop. Please note: The SENSE LED blinks while running. Connect again the SENSE to the PC and wait until the menu line is changed back to the following.
  • Page 25 Drag the instruction blocks and build the following program: Click on the Save button and save the program under the name PROG2. Click on the Program Download button. Click on the Run button. The SENSE moves forward for 3 seconds, moves backward for 3 seconds and then stops.

  • Page 26: Turning Left And Right

    1.2.4 Turning left and right Change the program to the following one: Pay attention to the Drive instructions. Click on the Save button and save the program under the name PROG3. Click on the Program Download button. Click on the Run button.
  • Page 27 Change the program to the following one: Click on the Save button and save the program under the name PROG4. Click on the Program Download button. Click on the Run button. The SENSE rotates to the right for 3 seconds, rotates to the left for 3 seconds, and then stops.

  • Page 28: Challenge Exercises - Moving In A Square

    1.2.5 Challenge exercises – Moving in a square Task 1: Change the Drive instructions in the program to the Deviate instructions. Observe the SENSE movement. Task 2: Make a program that moves the SENSE in a 30x30 cm square until it returns to its original place.

  • Page 29: Experiment 1.3 - Interactive Programs

    Moving the SENSE between line and a wall. Equipment required:  Computer  RobocklySense software  SENSE autonomous  USB connection cable  BAT-202 Battery module Discussion: In this experiment, we will move the SENSE between two black lines. The position of the lines limits its motion.

  • Page 30: Memories And Variables

    1.3.1 Memories and variables In the delay instruction, we write a number that determines the length of the delay in seconds. We call a number that is part of the instruction a constant. When we want to change this number, we have to search for the relevant instruction. In programming, we prefer to use variables instead.
  • Page 31 Before starting the experiment, print two black lines as follows:...
  • Page 32 Procedure: Connect the SENSE to the PC using the USB cable. Run the RobocklySense software. Test the SENSE motors as described in experiment 1.1. Test the SENSE Bottom sensor as described in experiment 1.1. Record the values of the Bottom sensor when the SENSE is on a white surface.
  • Page 33 Create the following program, which moves the SENSE forward for 3 seconds and stops. Click on the Save button and save the program under the name CART1. 10. Click on the Program Download button. 11. Place the SENSE on the table or on the floor and click on the Run button.

  • Page 34: Wait Until

    1.3.2 Wait until We shall replace the delay instruction with Wait until instruction. Click on the Sense button and a list of input instructions appear: Click on the 'Wait until Sense ID 1 Bottom sensor > [memory1]' instruction block and drag to the program above the Delay instruction block. Change the check sign from >...

  • Page 35: Endless Loop

    Delete the Delay instruction block and check that you get the following: Place the SENSE on a white surface with a black line on it. Run the program. The SENSE should move forward and stop when it reaches the black line. 1.3.3 Endless loop Most of the control and robotic programs are programs that run in endless loop.

  • Page 36: Movement Between Two Lines

    1.3.4 Movement between two lines Change the program so the SENSE will move between two lines. Pay attention to the Delay instructions. They are added in order to be sure that the robot will move from the current black line and wait before moving to the other black line. Save the program under the name CART2.

  • Page 37: Experiment 1.4 - Procedures As New Instructions

    Reacting to sensors. Equipment required:  Computer  RobocklySense software  SENSE autonomous  USB connection cable  BAT-202 Battery module Discussion: A computer program is composed of chains of instructions. Instead of having a single chain of instructions, we can divide the program to procedures, which are short chains and give a name for each chain.
  • Page 38 Procedure: Connect the SENSE to the PC using the USB cable. Run the RobocklySense software. Move to Block mode. Click on the Open button and open the program CART2. Check that you have the following program: If not, build this program and save it under the name CART2. Place the SENSE between two black lines and run the program.

  • Page 39: Programs And Procedures

    1.4.1 Programs and procedures Click on the Program button and a list of general instructions appear. Click on the Procedure name button and drag it to the right. The Procedure name instruction has a field for the procedure name. Write in this field the name FORWARD.
  • Page 40 Create the following main program: Note: Instead of using the Drive instructions in the main program, we use the Run procedure instruction from the General instruction list. This opens up more options as we shall see later. Save the program under the name CART3. The main program and the procedures are saved under this name.

  • Page 41: Definitions

    1.4.2 Definitions The definition of memory1 is done in every loop of the program; we only have to do it once. It also slows down the program cycle time. In order to do it only once we create a main procedure without the definitions that runs in endless loop.

  • Page 42: Challenge Exercises - Between A Wall And A Line (Ii)

    1.4.3 Challenge exercises – Between a wall and a line (II) Task 1: Improve the CART4 program so that the SENSE will move between a wall in front and a black line at the back. Run and check. Task 2: Improve the CART4 program so that the SENSE will move between a wall in front and a black line at the back, as in Task 1, but the main procedure should be as follows:...

  • Page 43: Moving Along A Black Line

    1.4.4 Moving along a black line To move the SENSE along a black line we use slow turn procedures of the SENSE. In slow turns, one wheel rotates and the other wheel stops. This way the SENSE still moves forward while turning. In the main program, we do the movement according to the following idea: Turning left until the SENSE find a black surface, and then turning right until the SENSE find a white surface.

  • Page 44: Challenge Exercise - Along A Complex Black Line

    Create the following main program which includes a MAIN procedure: Note: Pay attention to the compare signs (< and >). Save the program under the name CART5. Put the SENSE near the black line. Run and check the SENSE movement. Change the value of memory1 to create smooth movement of the SENSE.

  • Page 45: Experiment 1.5 - Conditions And Decisions

     AND condition. Equipment required:  Computer  RobocklySense software  SENSE autonomous  USB connection cable  BAT-202 Battery module Discussion: 1.5.1 If – then instruction In the previous experiment, we learned about the Wait until instruction. This is one of the condition instructions.
  • Page 46 Procedure: Connect the SENSE to the PC using the USB cable. Run the RobocklySense software. Move to Block mode. Click on the Open button and open the program CART5. Check that you have the following program: If not, build this program and save it under the name CART5.
  • Page 47 Place the SENSE on the black line circle and run the program. The SENSE should go along the black line. Stop the program. Change the main program and the main procedure to the following: The If Sense instruction is in the Sense instruction list. Save the program under the name CART6.
  • Page 48 13. Build the following STOP procedure: 14. Change the main program and the main procedure to the following: We added another variable that relates to the front wall sensor. In every cycle, the main procedure checks the distance from the wall and calls the STOP procedure when the SENSE is close to the wall.
  • Page 49 18. We have to improve the STOP procedure to wait until you take off your hand. Change the STOP procedure to the following: 19. Save the program under the name CART7. 20. Put the SENSE near the black line. 21. Run and check the SENSE movement. 22.

  • Page 50: Off And On With Different Values

    1.5.2 OFF and ON with different values In control systems, we usually prefer that the OFF condition value will be different from the ON condition value. The reason for that is because we want to avoid having the system "bounce". Change the program and procedures to the following: The STOP value is higher than the WAIT value.

  • Page 51: And Condition

    When we change the STOP value, we have to change the WAIT value. The following program makes sure that the WAIT value (memory3) will always be lower than the STOP value (memory2). Run and test this program. 1.5.3 AND condition We would like to stop the SENSE only when it is close to the wall and only when it is on the black line.
  • Page 52 Create the AND BOTTOM procedure with a single instruction: Change the main procedure to the following one: Analyze the program and the procedures. Save the program under the name CART8. Put the SENSE near the black line. Run and check the SENSE movement. Put your hand in front of the SENSE, while it moves.

  • Page 53: Or Condition

    1.5.4 OR condition Instead of stopping near the wall, we would like that the SENSE will turn around and continue on the black line to the other direction. The SENSE will turn to the left when it is on a white surface or when it is close to the wall or both.

  • Page 54: Challenge Exercise - Along Two Lines

    1.5.5 Challenge exercise – Along two lines Task 1: Prepare two black lines as follows: Put an obstacle on the inner line and let the SENSE move along this line. When it meets the obstacle, it moves to the outer line and goes along it. 1.5.6 Movement along a wall To move the SENSE along a wall, we use the same algorithm of moving the...
  • Page 55 Take a round box (cylinder) to be used as the first exercise wall. CART6 is the basic program for movement along a black line. Change the main procedure of CART6 to use the Right Front sensor instead of the Bottom sensor. Change the value of memory1 for distance of 4cm from the wall.

  • Page 56: Challenge Exercises - Along Walls

    1.5.7 Challenge exercises – Along walls Task 1: Improve the WALL1 program so the SENSE goes forward when it does not sense a wall on its right side. The SENSE stops when it meets a wall, turns to the left and starts moving along this wall.

  • Page 57: Challenge 1.6 - Counting

    Challenge 1.6 – Counting Draw block lines on a white paper. Create a program that moves the robot through the block lines and make it stop on the fourth line. Use variables to count the lines. The Program start should be as the following:...

  • Page 58: Challenge 1.7 - Automatic Movement

    Challenge 1.7 – Automatic movement Create a program that moves the robot according to the following figure: Create an AROUND procedures that moves the cart from point to point. The Program start should be as the following: Challenge 1.8 – Loops Use loop commands to make the robot do the following cycles 3 times.

  • Page 59: Challenge 1.9 - Loops And Procedures

    Challenge 1.9 – Loops and procedures Convert each turn and forward movements into a procedure so the main program will have only the loop and run procedure instructions. The program should do the same as the program in challenge 1.8. Challenge 1.10 –...

  • Page 60: Challenge 1.12 - Movement In A Labyrinth

    Challenge 1.12 – Movement in a labyrinth Build a labyrinth as follows: Create a program that moves the robot from the START point to the FINISH point without touching the walls.

  • Page 61: Challenge 1.13 - Exiting A Circle

    Challenge 1.13 – Exiting a circle Draw a wide black line as follows: Put the robot inside the circle. The robot should not cross the black line or move along the black line. Create a program that makes the robot exit the circle according to the above rules. Challenge 1.14 –...

  • Page 62: Chapter 2 - Brain Units

    Chapter 2 – Brain Units Brain units Some of the input units can have their own "brain". The NeuLog sensors are such brain units. They send to the control unit, upon request, processed data such as: temperature ( C or F), light intensity in Lux, distance in meters, etc.

  • Page 63: Neulog Sensors As Brain Units

    The sensors are plugged to each other with almost no limitation on the composition and number of sensors in the chain. NeuLog has over 50 different sensors. Some sensors perform as two to three sensors. The SENSE has three sockets for NeuLog sensors.

  • Page 64: Changing Brain Unit Id

    Changing Brain unit ID As said before, every brain unit has ID number. The ID number enables us to use up to nine brain units of the same kind. We just have to take care that each one of them will have different ID number. In Direct mode screen, we have a special icon for changing the ID number of the unit.

  • Page 65: Experiment 2.1 - Sound Sensor

    40 dB represents silence. In this experiment, we shall use it at dB mode and we assume its ID is 1 as the default ID. Selecting the range should be done by the NeuLog software.
  • Page 66 Procedure: Plug the NUL-212 sound sensor into one of the SENSE sockets. Connect the SENSE to the PC using the USB cable. Run the RobocklySense software. Move to Block mode. Create a program that waits for a sound level of 70 dB, moves the SENSE to a wall, and then stops.

  • Page 67: Challenge Exercise - Wait For Sound

    Place the SENSE in front of a wall and run the program. The SENSE should not move. Clap your hand or make high sound. The SENSE should move towards the wall and stop. 2.1.1 Challenge exercise – Wait for sound Task 1: Improve the program so: (a) The SENSE will wait for a sound above 70 dB, then moves...

  • Page 68: Experiment 2.2 - Motion Sensor

    USB connection cable  BAT-202 Battery module  NUL-213 NeuLog motion sensor Discussion: The motion sensor uses an ultrasonic transducer to both transmit an ultrasonic wave, and to measure its echo return. Objects in the range of 0.15 to 10 meters can accurately be measured to give distance, velocity, and acceleration readings using this method.
  • Page 69 Ultrasonic waves are emitted from the sensor and spread out in a cone pattern at about 15° around the point of reference. Motion sensor The ultrasonic transducer is a device that can convert pulse train to transmitted ultrasonic pulses. These pulses can sense and convert back to electronic pulse train by another similar ultrasonic transducer, or by itself.
  • Page 70 In this experiment, we shall use it at distance range and we assume its ID is 1 as the default ID. Selecting the range should be done with the NeuLog software.
  • Page 71 Procedure: Plug the NUL-213 motion sensor into one of the SENSE socket with its transducer directly to the front of the SENSE. Connect the SENSE to the PC using the USB cable. Run the RobocklySense software. Move to Block mode. Create a program that moves the SENSE forward to a wall and stops 30 cm away from it.

  • Page 72: Challenge Exercise - Moving In A Distance Range

    2.2.1 Challenge exercise – Moving in a distance range Description: Going forward towards a wall, stop 30cm before the wall, then go backward and stop at 50cm from the wall and return. Task 1: Improve the program so the SENSE will: ...

  • Page 73: Experiment 2.3 - Brain Tracking Unit

     Moving to an IR (infrared) transmitter.  Following an IR transmitter. Equipment required:  Computer  RobocklySense software  SENSE autonomous  USB connection cable  BAT-202 Battery module  SNS-101 Brain tracking unit  SNS-160 IR transmitter Discussion: 2.3.1...

  • Page 74: Brain Tracking Unit

    2.3.2 Brain tracking unit The brain unit, in a rigid plastic case, can be plugged into one of the SENSE sockets. The brain tracking unit has two IR (infrared) sensors that enables it to track the IR transmitter. The two IR sensors are at the same line with an opaque partition between them. When IR light falls on both of them, it means that the SENSE is in front of the IR light source.
  • Page 75 Procedure: Plug the brain tracking unit into the front socket of the SENSE. Plug the IR transmitter into a backup battery. Put the battery backup on a 3cm high surface. Connect the SENSE to the PC using the USB cable. Run the RobocklySense software.

  • Page 76: Challenge Exercise - Tracking The Sense With An Ir Transmitter

    Place the SENSE on the floor and run the program. The SENSE should turn to the left until it 'sees' the infrared beam. 10. Plug the IR transmitter into battery module or power bank, move it slowly and check that the SENSE tracks it. 11.

  • Page 77: Experiment 2.4 - Brain Gripper Arm

    Moving an object from one place to another.  Drawing pictures with the brain gripper arm. Equipment required:  Computer  RobocklySense software  SENSE autonomous  USB connection cable  SNS-167 Brain gripper arm  A wooden rod  A marker Discussion: 2.4.1...
  • Page 78 Procedure: Plug the brain gripper arm into the front socket of the SENSE. Connect the SENSE to the PC using the USB cable. Plug battery to one socket of the SENSE. Run the RobocklySense software. The Direct screen appears: Change the selected Unit to Brain arm. Play with the buttons on the screen.
  • Page 79 Move the gripper to mid position. Open the gripper. Put the wooden rod between the gripper fingers. Close the gripper. Raise the gripper. The close function closes the gripper for two seconds, measures the angle of the gripper servo motor and holds it in this angle. This is why the gripper can hold objects with different thickness.
  • Page 80 12. Move to Block mode. 13. Create a program that does the following: Opens the gripper Raises the arm Moves the Sense forward and stops when the wooden rod between the gripper fingers Lowers the arm to mid position Closes the gripper Raises the arm Moves forward for 2 seconds Lowers the arm to mid position...
  • Page 81 14. Build the following program and its main procedure: 15. Observe the program and make sure that you understand all of its instructions. 16. Download the program. 17. Disconnect the SENSE from the computer. 18. Press the SENSE Run/Stop button. 19.

  • Page 82: Challenge Exercises - The Sense With Gripper Arm

    2.4.2 Challenge exercises – the SENSE with gripper Task 1: Change the last program to make the SENSE to rotate in about 90 with the raised wooden rod before moving forward with it. Task 2: Plug Sound sensor to the SENSE and make it wait for hand clapping before picking up the wooden rod.

  • Page 83: Experiment 2.5 - Robot And Science Experiment

    Experiment 2.5 – Robot and Science experiment Objectives:  The Neulog light sensor.  Running an experiment while moving.  Using the SENSE as a USB module with Neulog software. Equipment required:  Computer  RobocklySense software  SENSE autonomous ...

  • Page 84: Light Intensity Vs Distance

    This is done by selecting the “Module setup” button on the light sensor module box in the NeuLog application. The Neulog light sensor is able to adjust to 3 different sensitivity settings for ambient light because of its ability to change the internal hardware amplifier gain through the application.
  • Page 85 Procedure: Plug the NUL-204 light sensor and the NUL-213 motion sensor units into the socket of the SENSE, as in the following picture. Plug the BAT-202 (Battery module) to the second socket. Put a flashlight near the wall as in the following picture. Connect the SENSE to the PC using the USB cable.
  • Page 86 Build the following program: Observe the program and make sure that you understand all of its instructions. Download the program. 10. Disconnect the SENSE from the PC and place it on the floor against the flashlight as in the following picture. 11.
  • Page 87 12. Connect the SENSE to the PC. 13. Exit the RobocklySense program. 14. Run the Neulog software and wait for the following screen. 15. Click on the Load experiment button for the following screen.

  • Page 88: Challenge Exercise - Magnetic Fields Vs Distance

    16. Click on the Load experiment orange button for loading the experiment results from the sensors. 17. You can see on the graph the two seconds delays at the beginning and at the end, when the distance and the light are constant. 18.

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