Robotics Data driven robotics 3 D modeling Google

Robotics Data driven robotics, 3 D modeling, Google Sketch. UP Lab: obtain information about 'room' to store in file to upload to computer to draw Homework: Google Sketch. UP: Sign up, download and produce something (your room, a piece of furniture, toy…. )

Old Acronyms • • Computer Aided Design Computer Aided Manufacturing Computer Integrated Manufacturing Resource Planning Enterprise Resource Planning Companies: Oracle (People. Soft), SAP • more….

Data Driven robotics • Use data in some form to generate tasks for robot – For example, positions on circuit boards for placement and/or testing. • Note: automation may be forced by the – scale (very small) and – precision requirements • In addition, shear volume of information makes [flexible] automation better fit

Robodoc • Dr. Bargar, orthopedic surgeon, regarding hip replacements: I design the implant using 21 st century CAD/CAM, but I put it in using 18 th carpentry. • Place pins in hip (fiducial marks / calibration) • Use CAT scans to design implant and generate positions for robot arm.

Build to order manufacturing • Data in order generates instructions for manufacturing – What set of parts – What gets in final package – What color, size, etc.

3 D modeling necessary? • Robot, through the use of sensors, may either – Generate by itself the 'world map' or – Do without it • Relates to use of GPS while driving: still look around and follow rules of the road!

3 D modeling • Create virtual world consisting of – Combinations of primitive shapes, chiefly polyhedra • Vertices, edges, faces, PLUS some designation to determine what is inside and what is outside. Can be done in order of the edges constituting the faces • Render (show pictures of the world) • Perform calculations to answer questions – Is there a path – production of path for robot

3 D modeling • Curved surfaces generally consist of facetted polyhedra • May not be visible or important to model • Does contribute to time requirements, especially for rendering

3 D model • Alternative (or additional) approach to use of primitive 3 D shapes is to use lines and arcs and operation that generates a 3 D shape by sweeping (projecting) the 2 D shape – Google Sketch. UP push/pull

Faces • Color and/or texture • Apply (wrap) surface, with specific properties of reflectance

Rendering Define position of eye (aka camera), focus point, type of projection, light sources • Go from wire frame – Show all vertices and edges To • Picture, with appropriate hidden line / hidden surface removal, shadows • Many different methods. Ray tracing is one of the most common

Google Sketch. UP 7 • Available for free • There is a Pro version • Uses lines, rectangles, arcs, circles, plus implicit dependences (induced objects) • 3 D Warehouse: user created archive of buildings, stuff, including Lego (but mostly not Mindstorms) – Connection with Google Earth

Google Sketch. UP • [if it is in the lecture room] demonstrate

Lego Digital Designer • Lego offering: free • One function is to order the parts after building a model • Does not appear to have Mindstorms (technic) parts. • http: //factory. lego. com/getstarted/

LDraw. org • Organized user group • Free download of system files plus part libraries • Libraries of Lego parts – Official (approved by the organization standards committee) and unofficial – It appears that the Mindstorms parts are slowly being added.

My. Block • NXT-G version of subroutine • Can have data wires going in and coming out – Cannot add these after the fact. • Create blocks within larger program and then select and Create My. Block – Can design a look for the block, write description

My. Block Benefits • Makes programs more understandable • Can re-use code in one program or several Negatives • Clunky process to create. Need to know data wires in and out.

Discussion • Each group indicate plans for mapping

Homework • Postings • Download Google Sketch. UP: use and report – Let me know if you need an invitation to join gmail. – Do tutorials / watch videos – Produce something (house, table, monster? ), print and bring to class AND put in link on moodle • Lab: Complete mapping project • Check schedule for midterm date and midterm guide