Robotics Links
updated 2004-05-23.
This is just something I threw together that I thought you might find useful.
I can only write about what I hear about, so if you know something that I've
left out, please tell me. Comments?
includes:
Much of that stuff isn't used in most robots, but I haven't found a better
way to organize it yet. [FIXME: this is getting long. delete redundant stuff ...
break into several files ?]
2002-07-25:DAV: I had no idea. According to http://www.androidworld.com/prod05.htm,
as of 03/10/2002 my little collection of links here is the 4th largest robotics
page in the world. Whee !
David also maintains related files:
- http://massmind.org/techref/pcbs.htm
- ISA, EISA, PCI, VME, and other plug-in cards [FIXME:
redirect everyone pointing to robot_links.html#isa over to schematic.html#isa
]
- 2D encoders (position sensors) machine_vision.html#2d_encoders
- astro_links.html#satellite
Some microsatellites use the 68HC11 CPU. I hear the Voyager interstellar
probes used Forth on the RCA CDP1802 processors (???)
- computer_architecture.html#os
has a few RTOS for robots and other real-time, small-processor
environments
- nanotech.html
for building really, really small robots.
- searching
for electronic devices (Chipdir, etc.)
- keyboard
information, technical information on making your own devices that plug into
the "keyboard socket".
- Machine
Vision includes LEDs, lamps, strobes, Infrared Sensors, infrared data
communication protocols, as well as RobotCams, CCD cameras, and CCD interface
chips.
- Scanning
Tunneling Microscopes
- ultrasonic
sonar information,
- web-connected
telerobotics and digital cameras
- Low-cost lasers
- bps FAQ
- EMI tools
- schematic.html has
some relevant schematics; points to the circuit diagram for "A Miniature
High-Rate Speed Control with Battery Eliminator Circuit (BEC)" by Stefan
Vorkoetter and the nifty Boondog links.
- pc_card_faq.html
very small electronic parts
- "switching
power supplies" DC-DC converters
- clockless
logic
- Extremely
Simple CPU Architectures
- FORTH computer_architecture.html#forth
is a popular language for robots.
- computer_architecture.html#replication
discusses robot replication (robots building robots)
[Consider making a "parts" section of robot_links; make CPUs a subs-section.]
[FIXME: this page is way to large. Split into smaller pages and cross-link; trim
out some of the lower-quality stuff]
[FIXME: do I need a section on AI (artificial intelligence) ?
]
(see also #androids for
some amazing pictures).
- "$50 robot project" http://lcamtuf.coredump.cx/bocio/"Building
a fully featured, smart robot with sight, hearing, radar and many other nice
features, when you only have $50." http://lcamtuf.coredump.cx/robot.txt"Feel
free to point out [typos], and, more importantly, any ways to improve the
design." [FIXME: read and email ... point to robot wiki ...] "As soon as you
are done, be sure to send me a photo and a story of your robot." [TODO: ...
build one ?]
- Gerard Sequeira http://machinegrid.com//* was at http://geocities.com/gear996/*/
- Friendly Robotics(R), home of the RoboMower(R) http://www.friendlyrobotics.com/sells
the "RoboMower RL-800 Automatic Lawn Mower" robotic lawn mower (via online
resellers it links to) for $700 (as of 2003-05-23).
- http://robots.net/has tons of amateur
robotics information. Lots of people posting photos of their creations. [robot
# news]
- Hylands Underwater Vehicles http://www.huv.com/uSeeker/has lots of
details on how he built the thrusters http://www.huv.com/uSeeker/thruster/
- http://www.robotdude.com/
- Robots and Robotics News http://dailynews.yahoo.com/fc/Tech/Robots_and_Robotics/has
the latest robot news
- http://www.robotics.com/trilobot/
- http://www.robotics.com/robomenu/
- a robot dubbed Nomad demonstrated the technologies necessary for robotic
planetary exploration by traversing 138 miles of northern Chile's barren
Atacama Desert in 45 days. http://www.gpsworld.com/1098/1098feat.html
- "Palm Pilots Now Becoming Robots" article by Daniel Sorid 2001-01-04 http://dailynews.yahoo.com/h/nm/20010104/tc/palm_robot_dc_2.htmlA
Palm Pilot + a screwdriver + this $299 kit http://acroname.com/robotics/parts/R81-PPRK-2.htmlfrom
Acroname http://acroname.com/designed by
people in the Carnegie Mellon University - The Robotics Institute - the Toy
Robots Initiative and the Manipulation Lab http://www.cs.cmu.edu/~pprk/[FIXME:
read]
- Zanthic Technologies Inc. http://www.zanthic.com/"Zanthic
Technologies is a provider of embedded microcontrollers and microcontroller
development systems based on the popular 68HC11 processor and CAN (Controller
Area Network) interface."
- the Miniature Autonomous Robotic Vehicle (MARV). http://www.sandia.gov/isrc/Capabilities/Prototyping/Small_Smart_Machines/MARV/marv.htmlMARV
is one cubic inch in size and is made primarily from commercial parts using
ordinary machining techniques.
- thumbnails that link to large, detailed photos of toy tanks converted to
autonomous robots. http://www.cs.cmu.edu/~heller/tankpictures.html
- micromachines and microrobots http://www.etl.go.jp:8080/etl/robotics/People/ferreira/work.htmlhas
some nice photos. (some "ultrasonic" motors)
- aibo http://www.world.sony.com/robot/the
robot dog developed by Sony.
- Cricket the 6 legged Robot http://home.earthlink.net/~henryarnold/
- RoboTuna http://web.mit.edu/afs/athena/org/t/towtank/www/tuna/
- E-Bot: The Educational Robot http://home.earthlink.net/~apendragn/ebot/with
detailed instructions, the PCB board, etc.
- contest: http://www.ee.nmt.edu/~bruder/ee382/contest.html.
contest97: http://www.ee.nmt.edu/~bruder/ee382/contest97.html.
contest96: http://www.ee.nmt.edu/~bruder/ee382/contest96.html.
More resources: http://www.ee.nmt.edu/~bruder/ee382/ee382.html.
- The Robot Menu Where robot builders show off their creations http://www.robotics.com/robomenu/
- The Dallas Personal Robotics Group (DPRG) http://www.dprg.org/pics.html
- the Cobot photo gallery http://othello.mech.nwu.edu/~peshkin/cobot/gallery/.
A cobot http://whatis.com/cobot.htm"collaborative
robot" http://othello.mech.nwu.edu/~peshkin/cobot/.
is a passive robot for direct physical interaction with a human operator,
within a shared workspace.
- Collaborative Motion Control, Inc. http://cobot.com/make work easier for humans,
rather than replacing them. http://popularmechanics.com/popmech/sci/tech/9704TURBJM.html
- Ron's Robot Lab
http://members.aol.com/RonOuul/
- ASA Project Gallery
http://vvv.com/asa/gallery.html Some really cool robots.
- Mondo-tronics http://www.robotstore.com/lots of robot
kits. Consider buying book here on BEAM robots.
- http://www.kristech.com/misc/review.html"The
Tractor-Pull Test
For this test, the Scooter was placed on a solid
surface, connected by a length of chain to a 1/2-ton Chevy pickup truck, and
activated. The test was to determine the robot's traction and pulling power
under a load.
The 1/2-ton Chevy pickup truck was pulled a total of 0.00
micrometers in 60-seconds. ...
Scooter is a perfect first robot kit. -Pam
"
- Haptics Photo Gallery http://haptic.mech.nwu.edu/intro/gallery/on
the Haptics Community Web Page http://haptic.mech.nwu.edu/has a bunch
of devices for generating tactile feedback and/or force feedback, via a wide
variety of methods (exoskeletons, cobots, classic force-feedback, direct
tactile stimulation, etc).
- RoboMec Oy http://www.robomec.fi/apparently sells
material-handling industrial robots, as well as robot programming and
installation services. Their webmaster, Matti Lipponen, assures me (as of 1999 Aug 22) that he will
put pictures of their industrial robots on the web page Real Soon Now.
- Inuktun Services Ltd. http://www.inuktun.com/``design and
manufacture of miniature remotely operated inspection systems and modular
components for use in confined spaces, underwater and hazardous
environments.'' ``the Micro VGTV is capable of changing shape during
operation''
[FIXME: should I comb out prosthesis and put them in a seperate section ?]
see also tiny CPUs computer_architecture.html#simple_cpu
.
On one end of the scale we have isolated autonomous robots.
In the middle we have swarms of small robots that communicate, but try to
avoid crashing into each other.
Over at #modular I talk
about robots that are built out of physically attaching many identical modules.
In theory, the base module can be even simpler than the simplest isolated
autonomous robot.
Some ideas that drive me towards tiny robots:
- safety: A smaller robot is less likely to be physically able to hurt a
human.
- less breakable: Because of scaling laws, a smaller piece of material (or
the entire robot of the same type) is proportionally stronger. In other words,
I can make each part out of cheaper / easier to machine materials without
worrying about it breaking.
- cost: smaller is often cheaper. This is especially important if I'm going
to build a lot of them.
- redundancy: If I build several robots, I'm not so upset when one of them
breaks.
- ... any other ideas ?
some "tiny robot" projects:
tiny robots
[Some of these overlap into my "flying robots" category -- merge ?]
- photographs of Smart-Dust prototypes. http://www.cs.berkeley.edu/~jhill/spec/
the
single chip mote vision is a reality. The high level details are that it
measures approx 2mmx2.5mm, has an AVR-like RISC core on it, 3K of memory, 8
bit On-chip ADC, FSK radio transmitter, Paged memory system, communication
protocol accelerators, register windows, 32 Khz oscillator, SPI programming
interface, RS232 compatible UART, 4-bit input port, 4-bit output port, ...
memory-mapped active messages, FLL based frequency synthesizer, Over-sampled
communication synchronization
Jason Hill [FIXME: read more about "TinyOS"]
- "Smart Dust: Communicating
with a Cubic-Millimeter Computer" article by Brett Warneke, Matt Last, Brian
Liebowitz, Kristofer Pister. in _Computer_ magazine 2001-01. [DAV has this on
paper]
- "Spies in the Skies: Researchers are developing tiny, airborne devices
that can look and listen as they float" article by Peter Kupfer, Chronicle
Staff Writer http://www.sfgate.com/cgi-bin/article.cgi?file=/chronicle/archive/2000/11/20/MN62513.DTL&type=scienceKristofer
Pister developing "smart dust"
Many devices (printers, etc.) now use not just
standard Internet Protocol but have a small web server embedded in them for
input and to indicate status rather than using floppy disks or LCD panels or
tiny little keyboards or other proprietary communication protocols.
[FIXME: Is there a better file for me to keep this category ?]
web appliances
- Stanford University Wearable Computing Laboratory World's Smallest
Operational Web Server (to date) http://wearables.stanford.edu/
- Embedded Ethernet: vendors that have Ethernet on their microcontrollers.
http://microcontroller.com/EmbeddedSystems.asp?c=21
- ~$77 USD http://www.dontronics.com/projecsystems.htmlsmall,
solid-state Web server with 32k nonvolatile memory, 2 A/D inputs for 0-5v
measurement, etc.
recommends _TCP/IP Lean: Web Servers for Embedded Systems_ book by Jeremy
Bentham.
- Tiny TCP/Tiny WEB Servers/etc. http://unusualresearch.com/tinytcp/tinytcp.htm
- Embedded systems as web servers(!) see _Personal Engineering_ http://www.pein.com/1996 Dec p. 8 "The
shrinking Web server" article by Russ Lindgren;
- Connecting an M68HC08 Family Microcontroller to an Internet Service
Provider (ISP) Using the Point-to-Point Protocol (PPP) http://e-www.motorola.com/brdata/PDFDB/docs/AN2120.pdf
- TINI: Tiny InterNet Interface http://www.ibutton.com/TINI/
- embedded web server http://www.jumptec.de/"world's smallest web
server" looks like it's slightly smaller than a deck of playing cards.
- ``An Embeddable HTTP Server: Web-enabling embedded devices'' article by M.
Tim Jones _Dr. Dobb's Journal_ October 2001 http://www.ddjembedded.com/resources/articles/2001/0110h/0110h.htm
- http://www.suroot.net/html/article.php?sid=87&mode=thread&order=0&thold=0``
uIP ... is probably the smallest TCP/IP stack ever written in a high level
language. uIP is written in the C programming language and the source code is
free to distribute and use for both non-commercial and commercial use (the
full BSD-style license is here). Follow the link near the bottom of the page
for a c64 running as a web server. '' http://sourceforge.net/projects/ucip/
- IPic - A Match Head Sized Web-Server http://www-ccs.cs.umass.edu/~shri/iPic.html"this
chip includes a web-server, which I do believe to be the smallest web-server
-- in physical size as well as in code-size. " (has lots of links to other
small embedded web servers, including one that runs on the C64)
- uWebserver http://www.mycal.net/wsweb/
- An Internet Oven Monitor by Bill Eichin http://www.elecdesign.com/Pages/magpages/dec1799/ifd/1217ifd1.htm
I hear "netcat" could be useful.
ftp://avian.org/src/hacks/nc110.tgz
Other than Apache, http://www.imatix.com/also has a free web
server. Lots of open source software here.
anonymous proxy server in 100 lines of Perl
http://www.ics.uci.edu/pub/websoft/libwww-perl/archive/1996h2/0404.html
- http://www.barnnetwork.com/barnnet/has
a embedded system that displays status via the web.
- the article '$25 Web Server' on www.circuitcellar.com/online ???
- Embedded Internet Workshop http://www.circuitcellar.com/eiw_proc/proceedings.htmEmbedded
Web Servers
- Atmel Corp. http://www.atmel.com/and
emWare Inc. http://www.emware.com/are
integrating emWare's EMIT (Embedded Micro Internetworking Technology) software
with Atmel's 8 bit Flash AVR microcontrollers ... so "developers can quickly
create Internet-enabled embedded networks for AVR-controlled electronic
devices ... user interfaces can be a ... standard web browser ... through a
remote web server, a directly connected laptop, or a PDA." -- from article in
_Electronic Design_ http://www.elecdesign.com/1998-11-01.
- Patriot Scientific Corporation http://www.ptsc.com/interesting radar systems,
designed native Java "shBoom(tm) microprocessor for "embedded web servers". http://www.circuitcellar.com/articles/misc/tom-92.pdf
- http://www.zdnet.com/anchordesk/story/story_2363.htmlweb-enabled
embedded systems
- QNX Software Systems Ltd.
(QSSL) a demo that fits a full HTML 3.2 browser, POSIX-certified real-time OS,
windowing system, TCP/IP, embedded Web server, Internet dialer, text editor,
file browser and other applications onto a single, self-booting 1.44 MB
floppy. ... using less than 2 MB of RAM and 4 MB of ROM ... You can download
the demo from Internet Appliance Toolkit (AIT) http://www.qnx.com/iat... the Odin Reference
Design Kit "all the hardware you need ... NTSC TV and SVGA monitor out, PC
Card socket ... fax/modem, Ethernet, ... schematics ... bill of material ...
to build a full-featured Internet appliance for under $200 ... with Odin and
the AIT" ... Odin from National Semiconductor http://www.national.com/ns486... --
from advertisement in _Computer Design_ http://www.computer-design.com/1997
Nov
- U S Software http://www.ussw.com/Hillsboro, OR sells TCP/IP
protocol suite for many embedded processors.
[ Intelligent Instrumentation, Inc. http://www.instrument.com/ethernet data
acquisition system ] is very similar ...
See also nanotech.html and computer_architecture.html#replication
for some more ideas on self-replication.
- Doug Reeder http://www.cis.ohio-state.edu/~reeder/reeder.htmlhas
some interesting stuff on three-legged (!) robots, or "triped".
- ``RoboCat: A 4-CPU 4-Legged Walking Robot or SPI Communications With the
68HC11'' by Tom Dickens http://home1.gte.net/tdickens/68hc11/robocat/robocat.html
- MIT Leg Laboratory http://www.ai.mit.edu/projects/leglab/robots/robots.htmlWalkers,
Running & Hopping Robots ( including classic 1 legged hoppers ), and
Miscellaneous Robots.
- ``Dino robot has leg up, or two Technology that puts model upright could
one day help the disabled walk'' By Kathleen Fackelmann USA TODAY http://www.usatoday.com/usatonline/20010820/3556819s.htm
- become a member of the
legged robots email list by sending a blank message to:
legged-robots-subscribe@egroups.com it will respond with further information.
- Gokiburi, the 6 legged walker http://geocities.com/ahmetonat/altibacak.htmlby
Ahmet ONAT http://geocities.com/ahmetonat/
"Servo Basics" by Ahmet ONAT http://geocities.com/ahmetonat/servobasics.htmlhas
a nice, simple, NE555 + variable resistor, schematic for testing servos /*
was: http://turbine.kuee.kyoto-u.ac.jp/staff/onat.html */
- Simulation of a Subsumption Architecture Robot: Genghis genghis.zip
by Noel J. Rode. ( cool !)
- "a six legged walker. 3 DOF per leg, for a total of 18 degress of freedom,
all in a package about 2 feet long." -- Dylan Horvath
- Lynxmotion: lots of pre-assembled and
kit robots, including $150 Hexapod Walker Kit (includes microcontroller that
runs BASIC)
- M & T
SYSTEMS $124 HEXWALKER(tm) robot (complete kit, includes preprogrammed PIC
chip)(PIC 16C56...It contains the BASIC interpreter ) "HexWalker is small
enough to be easily portable and yet large enough to be worked on without a
microscope. " This site also says "Forget The Memory Effect" Myth.
modular
robots: robots that are built from *lots* of identical pieces.
Buzzwords: metamorphic; reconfigurable; smart matter; ...
reconfigurable robots: robots with parts that can be disconnected and then
re-connected in a different configuration. (The really cool ones can reconfigure
themselves "self-reconfigure", rather than requiring a human with a
screwdriver).
[is this related to replication computer_architecture.html#replication
?]
[FIXME: move elsewhere ... to its own file perhaps ?] [microdisplays ... wearable_electronic.html
]
(in no particular order)
- National Semiconductor Corporation (NYSE:NSM) http://www.national.com/appinfo/fpd/vivid/"has
acquired the operations of Vivid Semiconductor, Inc., a flat-panel display
design firm"
- Three-Five Systems, Inc. http://threefive.com/LCD & OLED displays
- MicroDisplay Corporation http://www.microdisplay.com/"single-panel
LCOS (Liquid Crystal on Silicon) microdisplay"
- Displaytech, Inc. http://displaytech.com/"microdisplays ...
for ... digital still camera and camcorder viewfinders"
- Zight Corporation formerly
named Colorado MicroDisplay
- Candescent Technologies Corporation http://candescent.com/"ThinCRT" flat panel
display technology
- http://holyjoe.org/rainbow.htmtalks
(with photos) about the annoying ``rainbows'' on some LCD panels. Also has
photos illustrating the fact that it *is* possible to make LCD panels that you
can read while wearing polarized sunglasses, no matter how you turn the
display around: ``All I know is that it can be done, so manufacturers should
do it!''.
- Planar Systems, Inc. http://www.planar.com/(Nasdaq: PLNR) sells
"embedded LCD displays" and LCD TVs and Plasma TVs.
- https://cybernetman.com/sells some
touch-screen displays
- [flat-panel] http://www.earthlcd.com/ all kinds of LCDs from full-size,
full-color LCD monitors and touch monitors to small graphic LCDs to (~$7)
small serial character LCDs.
- http://www.mosaic-industries.com/
- Intecolor http://www.intecolor.com/
- Xycom (10.4 inch VIS
640x480 color active flat panel display)
- Crystaloid (touch screen
LCD module)
- Lucas Control System
Products (Touch screen computers ... can be completely sealed ...
infrared-based touch screen)
- Elo TouchSystems Inc.
("Curved transparent touchscreen", apparently a touch sensor to stick to the
face of a monitor)
- Dolch Computer Systems
http://www.dolch.com/ ("flat-panel monitors and intelligent displays ...
640x480 to 1280x1024 ... all available with touchscreen interfaces ... Pentium
embedded computers ... fiber-optic interfaces ...)
- B&R Industrial Automation http://www.br.automation.industry.net/has
flat-panel PC
- xycom http://xycom.com/has AMD5x86
flat-panel touch screen PC (with IrDA infrared port)
- QSI Corporation http://www.qsicorp.com/$705 Graphic
Terminal; text and graphics; 240x128 pixels; backlit touch screen; EIA-232 or
EIA-422 interface.
- C Sys Labs Inc. http://www.rdrop.com/~cary/html/sells
graphic flat panel LCDs (touchscreen)
- QSI Corporation http://www.qsicorp.com/sells graphic
flat-panel LCDs (touch screen)
- ZF Microsystems http://zfmicro.com/flat-panel computer
- $450 (in 100 s) OP7100 C programmable graphic LCD touch screen Z World http://www.zworld.com/
- Polar Vision sells ``enhancement films'' for LCD panels FIXME
The exact opposite of these LCD panels is huge projection displays such as http://www.virtual-reality.com/.
microcontroller chips (AVR, PIC, BASIC
Stamp, etc.) that can be used to build Robot Brains
. (what about 16 bit and 32 bit microcontrollers, like the 680x0 and ARM ?)
including PIC C compilers C language
[FIXME: move all this info to http://massmind.org/]
PIC Microcontroller Programmers http://massmind.org/techref/microchip/devprogs.htm
- MC68HC11 and M68HC12 RESOURCES http://www.coe.montana.edu/ee/cady/ee361/hc11lnks.htmlots
and lots of links. [Perhaps let him maintain this list ?]
- 68hc11 FAQ http://fame.gmu.edu/faqs/68hc11.faqby
Russ Hersch (David Cary is mentioned)
- the gcc compiler for the hc6811 processor ftp://ftp.visi.com/users/ottol/
- F11-UK: Single Board Computer and PygmyHC11 Forth Programming Language http://www.figuk.plus.com/f11uk.htmuses
Motorola 68HC11 microcontroller. Looks pretty nice. Price: £52.00 (U.K.
Pounds) plus postage and packing,
- GNU Development Chain for Motorola 68HC11 http://home.worldnet.fr/stcarrez/m68hc11_port.html
- http://www.eskimo.com/~archer/has
GCC for the Motorola MC68HC11, lots of ham radio links.
- ICn: Native Mode C Compiler for HC11 Microcontrollers http://www.ai.sri.com/people/erratic/icn.html"ICn
is a native mode C compiler for HC11-based robotics applications. Source files
for a Unix version of ICn are available" apparently a improved version of IC
(Interactive C) is a C compiler for HC11 boards originating from MIT: the Rug
Warrior board (featured in the Jones and Flynn book).
- Handyboard Resources http://www.cs.dartmouth.edu/~jonh/robots/legos/handyboard-resources.htmlexplains
how to download interactive C (IC), has a few bug patches, and explains how
you can make improvements. [FIXME: if the ICn makes this page obsolete, email
webmaster and ask to add a link to ICn]
- the F68HC11 has Forth on-chip in masked ROM. sold ($32.50 in 1s on
2000-12-29) by New Micros http://www.newmicros.com/cgi-bin/store/order.cgi?form=prod_detail&part=F68HC11FN-V3_5[FIXME:]
They also sell several compilers for the 68HC11, including * Forth * Basic *
small C
- http://www.mot.com/pub/SPS/MCU/has
lots of files for the Motorola ucontrollers. (68HC12, 68HC332). It is rumoured
that a C compiler lurks here.
- Technological Arts http://www.interlog.com/~techartinteresting
$75 68HC11 module designed to plug vertically into a standard solderless
breadboard, includes PC serial cable for reprogramming the 68HC11 in-circuit.
/* was http://www.io.org/~techart */
- http://mot-sps.com/sps/General/chips-nav.htmlclaims
that Hamilton-Hallmark is selling a $49 68HC11 evaluation kit.
- ftp://ftp.cygnus.com/pub/embedded/motorola/has
a copy of much of Motorola's free software development tools. Under the
"/68hc11/" they apparently have a M68HC11 simulator, a C compiler based on
CGG, FORTH, and Fuzzy Logic development tools.
- ftp://ftp.ee.ualberta.ca/pub/motorola/ibmhas
a copy of as11new.exe (the freeware assembler for the 68HC11 ver. 1.03)
- MARC4 from Atmel/Temic (typically programmed in FORTH)
- Sanyo 5800 and 5700 series of processors
- "Sanyo and µEM come to mind concerning ultra low power micros (with LCD
interface)." -- Stefan Wimmer 1999/09/02 http://www.cellware.de/
[FIXME: I have 68HC11 stuff scattered back and forth between here and #68HC11. Should I
merge them together, or how to discriminate what goes where ? ]
- http://wearables.blu.org/softwear.htmllinks
to Linux software for programming the PIC, 68HC11, 6502, 68705,6303, 6803.
- Avocet Systems, Inc. http://www.hmi.com/"tools you need for YOUR
embedded systems development project. From in-circuit emulators to Background
Mode Debugger (BDM) solutions, from C compilers, assemblers, and simulators to
an RTOS solution for any processor..."
- http://www.microcontroller.com/even
has computer jokes and information on developing C/C++ on a Linux host http://www.microcontroller.com/microcontrollers/news/D_CADUL/d090730cad_linux.htm.
Also, Tutorials http://www.microcontroller.com/Learn-Embedded/Embedded-Systems-Tutorials.aspon
Controller Area Network (CAN) and low-power system design.
DonTronics http://www.dontronics.com/has lots of free
information. sells "Simmsticks" (tiny, low-cost little boards with a MicroChip
PICmicro microprocessor or a Atmel 89Cx051 microprocessor), programmers for them
that plug into a PC parallel port, and some software tools to write programs for
them (assembly, BASIC compilers, C compilers). Interesting "paperless" business
concept: only physical hardware is delivered; everything that other people
handle with shipping disks or paper documentation is handled instead via the web
or email.
PIC16C84 info http://www.geocities.com/SiliconValley/Network/3656/including
a free C compiler and other GPL utilities for the PIC.
Microchip PIC and parallax STAMP microcontrollers http://www.pacifier.com/~mcginty/
microEngineering Labs, Inc.
http://www.melabs.com/mel/picproto.htm sells "raw" PIC prototyping boards
(buy the PIC, crystal, capacitors, regulator, etc. seperately) for about $10.
(It seems that the board + all the parts should run less than $30 but I can't
tell whether it needs a $50 programmer or not).
Square 1 Electronics http://www.zapcom.net/~squareone PIC
book _Easy PIC'n_
``The first and only C++ compiler for PICmicro and Scenix processors''
(Shareware $90) ``Pascal-compiler for PICmicro and Scenix micros'' ``The
SmartBow® Software is a way to easilly create an HTML-document with a set of
Virtual Controls (LEDs, buttons, displays etc.) connected to you code running on
Microchip®, Scenix® or any other microprocessos.'' and other PIC related
shareware and postcard-ware. http://www.geocities.com/SiliconValley/Network/3656/Pavel
Baranov
-- Tom Mornini ----------------------------------------------------------
-- Parallax, Inc. ------------------------------------------------------
-- Makers of really cool PIC development tools & the BASIC Stamps ------
-- http://www.parallaxinc.com/ ftp://ftp.parallaxinc.com/pub --
Scenix Semiconductor Inc. http://www.scenix.com/ claims to sell "world's
fastest 8 bit µcontroller" Scenix designed the SX-18 ($3.24 in 1,000 units in
1997 Aug _Electronic Design_ p. 50) and SX-28 ($3.48 in 1,000 units in 1997 Aug
_Electronic Design_ p. 50) chips to be pin- and object-code- compatible with the
PIC 16C5x series from Microchip, but at 50 MHz (1 instruction per clock,
branches 3). Also In-Circuit Programmable, 2028x12bits EEFLASH, 136 Bytes RAM,
all outputs sink and source 30 mA, etc.
http://www.sx-forum.com/has an online
discussion forum about the SX series of processors from Ubicom http://www.ubicom.com/(formerly known as
Scenix).
Parallax http://www.parallaxinc.com/ uses the
Scenix chips in a $199 "SX Development System" including 2 SX chips, a board,
software, and a manual. Includes ICE-like single-stepping, full-speed emulation,
in-circuit programming, etc.
Microchip Technology Inc. 1-888-MCU-MCHP http://www.microchip.com/produces lots of
interesting components:
Produces the PIC "FLASH RISC MCU" PIC
microcontrollers (Don Lancaster is enamored with). Some PIC chips have "2-wire
In-Circuit Serial Programming(tm)". (free technical library CD-ROM) KeeLoq code
hopping devices Serial EEPROMs QuickASIC (?)
$0.75 each (in 1 000s) 25LC640: 8 pin serial EEPROM, 8 K * 8 bits; 2 MHz
clock; 2.5 V to 5.5 V (price from EEPN 1998 July p.17)
The chips that have FLASH program memory ($6.60 in ones from Digi-Key) that
can be erased and reprogrammed by plugging a In-Circuit Serial Programming
(ICSP) programmer into a 5 pin ICSP socket look pretty cool. Too bad that (as of
1998-08-07) none of the FLASH memory PICs have a PWM peripheral. (Looks like
they're planning some for next year...) [FIXME: move information to http://massmind.org/
see computer_architecture.html
for more about CPUs and microcontrollers in general.
Cypress sells a
8-bit USB Microcontroller for under $1 (in quantity).
http://www.cypress.com/cypress/whathot/hot_top.htm
PC-104 single-board computers. (I suppose one *could* use them for other
purposes).
see ucontrollers
for more detailed robot brain info (and alternatives to PC-104 Robot
Brains).
Also see vlsi.html#pci for more
PCI information (relevant for PC/104-Plus) and schematic.html for
some information relevant to designing PC-104 boards.
- The PC/104 Consortium http://www.pc104.org/"The Consortium
maintains and distributes the PC/104 specifications and serves as a liaison to
standards bodies including IEEE P996.1." Includes a free copy of the latest
PC/104-Plus (PCI) and PC/104 standards.
- The Journal of PC/104 Controlled Systems http://www.controlled.com/pc104/
- Chase Scientific Co. http://www.chase2000.com/$1895
CS20-PC/104 dual 12-bit differential input channels 10 MSPS 32 bits digital
I/O four 12-bit analog outputs 32 Kwords per channel
Information about programmable chips, and the
devices needed to program them. (FIXME: move devices needed to program ucontrollers
such as the PIC to #udevelopment
).
See also vlsi.html
(
vlsi.html#PCI_on_FPGA ) for more detailed information on chip design and
using FPGAs, and computer_architecture.html#FPGA
for information on reconfigurable computing.
- "Programmable-logic directory" By Brian Dipert, Technical Editor -- EDN,
8/30/01 http://www.e-insite.net/ednmag/index.asp?layout=article&articleid=CA152730&pubdate=8/30/01"highlights
the architectures available for your next design. Find out what's new, what's
obsolete, and what's evolved in PALs, PLDs, and FPGAs."
- ??? FPGA http://mentor.com/fpga/techpapers/,
http://mentor.com/fpga/seminars/
- Dillon Engineering http://dilloneng.com/is doing some
interesting things with FPGAs, including a FFT implemented in floating point
(!).
- http://www.fpga-faq.com/includes
"Links to prototype boards with FPGAs" "Archives of Comp.Arch.FPGA"
- (FPGA, CPLD, PLD) Free and Low-Cost Software http://www.optimagic.com/lowcost.shtml/[FIXME:
check this out]
- Nicholas C Weaver: ``My current primary research is in developing Fixed
Frequency FPGAs.'' http://www.cs.berkeley.edu/~nweaver/
- MIPS Technologies, Inc. http://www.mips.com/
- http://www.waferscale.com/has
nifty chips that combine a address decode PLD, FLASH memory, SRAM, CPLD, all
on one chip. Also in-system programmable (ISP) using JTAG. Under $10 in
quantity. (This lets you use a MCU with *no* built-in memory for a 2-chip
system).
- VHDL ProtoBoard the prototyping tool for WARP2 VHDL http://www.techniprise.com/vhdl.htmSupports
Cypress $99 VHDL Software; ISA Bus Peripheral Mode Full 16-bit ISA bus
Interface;
- ICT Inc. http://www.ictpld.com/ "zero
power" (3 V, 5 uA) simple PLDs includes Schmitt triggers on all inputs (very
convenient); free software to qualified users.
- Quicklogic Corp. http://www.quicklogic.com/sells FPGAs.
- Nu Horizons Electronics Corp.
http://www.nuhorizons.com/ distributes several brands of CPLDs. (Xilinx,
and probably others)
- Insight Electronics
http://www.insight-electronics.com/ distributes several brands of CPLDs.
(Atmel, Xilinx, and probably others)
- Marshall Industries
http://www.marshall.com/ distributes several brands of FPGAs. (Vantis,
Xilinx, and probably others)
- $15.50 (in 1 000s) A54SX16 FPGA from Actel http://www.actel.com/320 MHz max clock rate;
16 000 gates; 3.3 V output, 5 V tolerant input; max 175 I/O; (price from 1998
May EE Product News p. 1)
- Free Designer FPGA development software is available on Actel's Web site
Actel http://www.actel.com/free to
designers using its devices. "enables engineers to get started using HDL"
- "Superflash http://www.ssti.com
http://www.superflash.com ... sector size of 256 bytes ... Look for 0.24 u
by 1999."
- Xilinx Inc. http://www.xilinx.com/
FPGAs http://www.hh.avnet.com/gateway/xilinx/xlnxgate.html
- Cypress Semiconductor
http://www.cypress.com/
- Altera Corp http://www.altera.com/
- AMD http://www.amd.com/
- Vantis http://www.vantis.com/ ("The
programmable logic company from AMD") CPLDs JTAG-ISP FPGA
- Atmel http://www.atmel.com/ sells
"SPLD" = Simple Programmable Logic Device (16V8, 20V8, 22V10, etc.) Also sells
FPGAs up to 200 MHz. interesting CPUs and FLASH chips and FPGAs. Too bad their
advertisements don't list prices.
- Standard Programmable Devices
http://www.asset-intertech.com/
- micro Engineering Labs
http://www.melabs.com PIC programmers "from $34.95".
- General Device Instruments
http://www.generaldevice.com/ lots of device programmers.
-
- M2L
Electronics http://www.cs.ucla.edu/csd-grads-gs3/loving/www/m2l.html
device programmer for PIC (?) for $60 (?).
- BP Microsystems http://www.bpmicro.com
sells chip programmers.
-
- The Programmable Logic Bookstore (FPGA, CPLD, Synthesis) http://www.optimagic.com/books.html
- comp.arch.fpga http://www.dejanews.com/bg.xp?level=comp.arch
- FPGA Links http://www.ee.ed.ac.uk/~idr/fpga_links.html???
- "All Xilinx FPGAs ... The
user can reconfigure the device at any time by pulling the PROGRAM pin Low ...
Partial reconfiguration is not possible." -- http://www.rdrop.com/~cary/html/"Xilinx
Family ... XC4000XL ... provide distributed on-chip RAM. Select-RAM(tm) memory
can be configured as level-sensitive or edge-triggered, single-port of
dual-port RAM." http://www.rdrop.com/~cary/html/
- Field Programmable Analog Array (FPAA) (analog version of Field
Programmable Gate Array (FPGA)) http://sps.motorola.com/fpaa
- $60 (in 1 000s) for a 9000
gate package; larger packages available. SRAM-based DL6000 family of CMOS
FPGAs 1998-05 Dynachip Corp.
- FPGAs listed in ChipDir http://www.hitex.com/chipdir/f/fpga.htm
see also 2-way
infrared data communication
look at: ...
http://www.unitrode.com DC motor drive chips audio amp chips
Zagros Electronics (robot parts ?) http://walden.mo.net/~zagros/zagros.htm
interesting mechanical parts + companies
robot company http://www.rwii.com
sells tiny RE016-042 motor, 16 mm diameter, 43.5 mm long, maximum continous
torque over 5 mNm, efficiency exceeds 80%. Maxon Precision Motors, Inc.
http://www.maxonmotor.com
"BEAM, which stands for Biology, Electronics, Aesthetics, and Mechanics
(amongst others) is a system founded by Mark W. Tilden while at the University
of Waterloo (Canada) that allows first time [robot] enthusiasts to get started
easily."
- BEAM robots (!) (incredibly simple ... Mark Tilden) BEAM e-mail list and
you can find all of the related sites from: http://www.webconn.com/~mwd/beam.html
- "Robots from Rubbish" http://www.wired.com/news/news/wiredview/story/11285.htmlarticle
on BEAM robotics (biology, electronics, aesthetics, and mechanics), with some
good links.
- "A lot of people think that building robots is a complicated thing that is
limited to university researchers and military techies with huge budgets on
hand. Although that may be true in some cases, it's definitely not a universal
problem. All you need to a robot with is some simple tools, a few parts, a
little time to assemble it, a lot of time to figure out what went wrong, a few
pizzas to get you back in the robot-building mood, a couple of multi-letter
discussions to the BEAM mailing list to find out what went wrong ...and a good
sense of humor" http://www.welcome.to/beam/Has lots of
recommendations for tools, parts, etc. Lots of good links, too.
- BEAM ROBOTICS http://nis-www.lanl.gov/robot/includes
"Plans for building your own solaroller. "
- "the MicroCore" papers by amiller (who ?) about BEAM robots in the style
of Mark W. Tilden. http://vsim.freeservers.com/amiller/microcore.htmlgives
step by step details trying to explain how to build a BEAM robot. "the only
way to see if something is gonna work is to build the sucker"
- Dave Hrynkiw, Founder of Solarbotics Ltd http://www.solarbotics.com/sells robot
parts; in particular "Robot technology based around the BEAM philosophy as
invented by Mark Tilden." Has a nice little gallery of BEAM robot photos.
DAV personally is interested in machines that do stuff that humans can not do
or would prefer not to do.
Other people try to make androids -- machines that look and act as much like
humans as possible.
Flying robots, sometimes called UAVs
(autonomous unmanned vehicles
).
This includes every (?) artificial thing that flies that
- (a) is not directly controlled by a human inside the craft (is unmanned),
unlike ultralights, 747s, etc., and
- (b) is not directly controlled by a human outside the craft (is
autonomous), unlike RC (radio control) aircraft.
perhaps distantly related to 3d_design.html#paper_airplanes
I think it's kinda cool that NASA links to my list of flying robots http://w2.nasatech.com/WWWboard/messages/761.html.
see also 3d_design.html#submarine
- ``Navy accelerates robot submarine plans'' article 2002-03-17 ``miniature
autonomous underwater vehicles'' robot submarines mentions Chuck Pell and
Gordon Caudle at Nekton Research http://www.cnn.com/2002/TECH/science/03/17/robot.submarines.ap/index.html``Mine-hunting
underwater drones are expected to begin operating from a submarine by December
2004. '' `` The Central Intelligence Agency caused a stir in military circles
when it used armed Predators to launch deadly airstrikes in Afghanistan last
fall, the first drone-authored strikes in U.S. combat history. ''
- http://dmoz.org/Recreation/Models/Boats_and_Ships/RC/Power/radio
control boats
- http://dmoz.org/Recreation/Boating/Boatbuilding/building
boats and submarines
- ``SCIENTISTS CREATE ROBO-FISH CYBORG USING A LAMPREY'S BRAIN ... NO,
REALLY'' article By Tom Henderson http://www.smalltimes.com/document_display.cfm?document_id=1489``Dr.
Ferdinando Mussa-Ivaldi and his fellow researchers at Northwestern University,
the University of Illinois at Chicago and the University of Genoa in Italy use
the brain stem and part of the spinal cord of a lamprey to control a wheeled
robot. ... All that remains of the fish in the lab is a thin slice of neural
matter a little more than a centimeter long, kept alive in a solution rich in
sodium, potassium, magnesium and glucose. ... researcher, Karen Fleming ...
This is high tech done on the cheap. ... The robot is stabilized by several
pieces of fishing line attached to it from above, strung through pulleys made
of Legos that are attached to what looks like pieces of an Erector Set.
Dangling from the lines are washers, nuts and bolts added for extra weight and
tension. ... Animal-machine cyborgs are becoming reality at research
institutions around the world ... '' [people that scare me ? prosthetics ?]
- How to Build a Submarine ... for under $400.00 http://www.submarine.freehosting.net/(apparently
radio controlled ?)
- http://www.ferroboats.com/
`` a boat building method using steel wires covered with a sand and
cement plaster, patented in 1855 by the French... Ferciment boats built
before 1855 are still in existence and at least one is still afloat. ...
Ferro-cement, often referred to as "concrete". It is the cheapest and
easiest form of construction for boats over 25 ft. And apart from
strip-plank composite construction, it is the only viable material for large
round-bilge boats within the amateur capability, without the requirements of
special tools or a weather-proof building. ''
See also servo. Servo motors
have built-in electronics that make them simpler/easier/cheaper to use than
trying to interface directly to a motor.
PID algorithms, PID tuning techniques, and related things.
[FIXME: move to massmind ?]
H bridge circuits and H bridge chips [FIXME: more on schematic.html ?]
- Control Tutorials for Matlab | mirrors: http://wwweng.uwyo.edu/tutorials/matlab/ctm/|
http://rclsgi.eng.ohio-state.edu/matlab/|
http://www.engin.umich.edu/group/ctm/Check
out the quick tips at the bottom of the PID page. Has a bunch of tutorials on
PID, state space control, etc. as applied to the Inverted Pendulum, airplane
pitch control, and other real-world problems. (Also has a tutorial on how to
use Matlab to work with problems like this).
- "Why Use Fuzzy Logic?" http://www.aptronix.com/fide/whyfuzzy.htm
- "Comparison of PID Control Algorithms (All Controllers Are Not Created
Equal)" http://www.expertune.com/artCE87.html[not
very easy to understand]
- Don Lancaster http://www.tinaja.com/has some interesting
information on "magic sinewaves", which in some cases is more efficient than
standard pulse-width-modulation (PWM). [FIXME: where else do I have "magic
sinewave" info ?]
- "AN857: Brushless DC Motor Control Made Easy" app note by Ward Brown 2002
http://www.microchip.com/download/appnote/pic18/00857a.pdfincludes
3 phase MOSFET circuit diagrams, PIC assembly language code, pictures of
waveforms, etc.
Dave Dilatush <dilatush at HOME.COM> on 2001-04-25 04:47:17 PM
Please respond to pic microcontroller discussion list <PICLIST at MITVMA.MIT.EDU>
To: PICLIST at MITVMA.MIT.EDU
cc: (bcc: David Cary/TULSA/BRUNSWICKOUTDOOR)
Subject: Re: [EE]: RMS vs Average voltage?
...
OK, well for what it's worth, here are my PID bookmarks:
http://www.mcjournal.com/main/vol1num2/articles/tutser2/tutser2.htm
http://www.expertune.com/tutor.html
http://www.expertune.com/artCE87.html
http://members.aol.com/pidcontrol/pid_algorithm.html
http://rclsgi.eng.ohio-state.edu/matlab/PID/PID.html
http://instserv.com/pid.htm
http://www.jashaw.com/pid/
-
- http://www.frc.ri.cmu.edu/robotics-faq/18.html#18.10L298H
Dual H Bridge motor control chip approximately $7.99
SGS-Thomson
The L293D, motor driver on a chip, is an SGS-Thomson part and is second
sourced by Unitrode. In spite of its utility it is not readily available in
small quantities. This part is a dual full H-bridge that can drive motors up
to 0.6A.
The significance of the 'D' in L293D is that it is diode protected. There
is a reverse biased diode that shunts the reverse EMF from a motor to the V+
supply. The L293B doesn't have this diode so it must be provided externally.
- Remote Control Motor Driver http://www.zetex.com/3.0/appnotes/design/dn19.pdfstandard
H bridge; explains how the TO92 style ZTX869 and ZTX968 transistors can drives
a motor at 40 W continuous (5 A continuous rating * 12 V ...)
servo motor information
see also oscillator
schematics schematic.html#oscillator
servo motor protocol: It's a
digital 5V protocol. 2 ms lo is full forward. 1.5 ms lo is neutral. 1 ms lo is
full reverse. The rest of the period it is high. Servos and speed controllers
should not care exactly how long the period is. Typical R/C receivers send a new
pulse every 16 ms; 20 ms seems almost as common. There is a 3 pin plug, carrying
GND, +5V, and the data line (which switches between GND and +5V). Unfortunately,
the plug is not standardized. Plugs should be keyed so that they only plug in
the right way.
- Paul Campbell http://www.taniwha.com/~paul/fc/has
detailed information on his "flight computer" (open source hardware and
software), which can listen to an R/C servo channel, and also drive a R/C
servo.
- 4QD http://www.argonet.co.uk/users/4qd/
manufacture MOSFET speed controllers for battery operated electric motors.
(Golf buggies, Powered wheelbarrows, robots, etc). Lots of GIF schematics. A
description of servo motor protocol http://www.4qd.co.uk/ccts/pwpm.html.
Subject: Re: [Q] How to convert analog to PWM for servos?
From: Byron A Jeff <byron at cc.gatech.edu>
Date: 13 Jan 1996 03:51:17 GMT
In article <30F6E1BB.2E63@ucsd.edu>, Nathan Parker wrote:
>Does anyone know of a simple circuit to convert a 0 -> 5v
>analog signal to the 1 -> 2ms pulse width modulation required
>(one pulse every 20ms or so) for RC servos? I'm interested
>in connecting something like a pot-joystick to a couple of
>these servos.
A PIC 16C71 microcontroller from Microchip would probably do a very good
job. It's an 18 pin part with EPROM, 36 bytes of RAM, and 4 channel A/D
converter along with a 8 bit timer with pre-scaler.
So it could do the job all by itself.
It's serially programmable and there are several inexpensive programmers
available. You can check out Microchip's web page at
http:/www.ultranet.com/mchip
Hope this helps,
BAJ
--
Another random extraction from the mental bit stream of...
Byron A. Jeff - PhD student operating in parallel - And Using Linux!
Georgia Tech, Atlanta GA 30332
###
Subject: Re: [Q] How to convert analog to PWM for servos?
From: Robert Hazen rhazen at eskimo.com
Date: Sat, 13 Jan 1996 22:48:31 GMT
Nathan Parker (ngparker at ucsd.edu) wrote:
: Does anyone know of a simple circuit to convert a 0 -> 5v
: analog signal to the 1 -> 2ms pulse width modulation required
: (one pulse every 20ms or so) for RC servos? I'm interested
: in connecting something like a pot-joystick to a couple of
: these servos.
Run the analog signal into on input of a comparitor and connect a
triangle generator to the other input. You can probably get by with a
free-running oscillator connected to a simple RC to give an approximation
of a crude approximation of a triangle. (It'll be exponential, but that
ought to be ok.) Bear in mind, depending on the values you pick, you can
run the circuit lock-to-lock, that is always high or always low. You'll
need to select values and perhaps divide down the 5V so you output always
stays in the duty cycle you want.
###
Subject: Re: [Q] How to convert analog to PWM for servos?
From: CC015012 at brownvm.brown.edu (john 015)
Date: Sat, 13 Jan 1996 11:52:46 EST
In article <30F6E1BB.2E63@ucsd.edu>, Nathan Parker said:
>Does anyone know of a simple circuit to convert a 0 -> 5v
>analog signal to the 1 -> 2ms pulse width modulation required
>(one pulse every 20ms or so) for RC servos? I'm interested
>in connecting something like a pot-joystick to a couple of
>these servos.
Generate a triangle wave (555, CMOS Schmitt, op-amp [using
positive feedback]) with the right freqency. Compare this
voltage with a variable voltage and voila.
john
###
Subject: [Q] How to convert analog to PWM for servos?
From: Nathan Parker
Date: Fri, 12 Jan 1996 14:33:31 -0800
Does anyone know of a simple circuit to convert a 0 -> 5v
analog signal to the 1 -> 2ms pulse