Penn State Abington

Robotics for Educators

August 5, 6, 7, 2003
version 1.1
Bob Avanzato
Penn State Abington
(email: [email protected])

© 2003 R. Avanzato 1
 Welcome to Penn State Abington
Instructors:
Bob Avanzato
Associate Professor of Engineering
Penn State Abington
[email protected]

Shivang Patel (Undergraduate Teaching Assistant)

Sophomore PSU Abington Comp Sci major

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 Workshop Description
Participants will work in teams to design, construct, and program mobile
robots. Discover how robotics can enhance student motivation and
learning in a wide range of disciplines from science to art. Building
robots is a highly interdisciplinary activity that involves creative
problem solving, teamwork, leadership, and project management.
The Lego® Mindstorms™ robot kit will be the primary tool used in this
workshop, and other robot technologies will be introduced. Support and
preparation for local and national student robot competitions will be
discussed.
This workshop is appropriate for any K-12 educators interested in
integrating robotics into the classroom or any school activity. This
workshop will be limited to 12 participants. No prior experience in
robotics or programming is necessary, only an interest in having fun
while learning is required. 15 hours of ACT 48 credits are available. 
(This workshop is sponsored by the Boeing Company.)

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 Workshop Topics -1
• Objectives of workshop.
– Familiarize K-12 educators with the educational benefits of hands-on robotics
• What is a robot?
– Examples of robots in the movies and literature.
– Autonomous versus remote-controlled robots.
– Real-world applications of robots.
– Robot demonstrations.
• Project-based and Problem-based Learning Approaches.
• Introduction to Lego® Mindstorms™ Robot (RIS) Kit.
• Construction of a Robot.
– Lego construction techniques and tips
– Motors and gears
– Sensors for Robots (light, temperature)
• Programming a Robot to Perform a Task.
– Introduction ROBOLAB Investigator Software
– NQC (Not Quite C)
– Other support languages

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 Workshop Topics -2
(continued)

• Working Effectively in Teams.  

• Comparison of Robot Controllers
– LegoMindstorms, Basic Stamp, HandyBoard, others
• Robot Design Competitions.
– FIRST LEGO League Contest
– FIRST Competition
– Penn State Abington Robot Contests
– BotBall
• Integrating Robotics into the Curriculum.
• Assessment and Evaluating Student Outcomes.
• Handheld computers and robotics.
• Future of robotics in education.
• Support Resources for Robotics (textbooks, web sites, etc)
• Exploring grant and funding opportunities.
• Final Comments and Evaluation.

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 Workshop Outcome
Task for each workshop educator:

• Construct a robot and create a computer program to

instruct the robot to complete a task.
– team effort
– demonstrate to participants
• Develop a proposal or plan for an activity, lesson plan,
or curriculum enhancement based on hands-on robotics.
– Include educational objectives, materials required, costs, time,
support needed, training, assessment.
– Present plan to workshop participants on last day.
– Proposal can be done individually or in team of 2.
– Include a working demonstration or model.

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 Workshop Materials and Handouts
• Erwin, Ben, “Creative Projects with Lego Mindstorms”
(gift to participants)
• Martin, Fred, “Art of Lego Design” (article)
• Powerpoint Lecture notes (this document)
• “Hank” Robot Assembly Instructions
• Pitsco Lego Dacta Catalog
• Robo-Hoops Robot Contest Web Page
• Questionnaire

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 Tentative Workshop Schedule

Day 1: Day 2: Day 3:

• Introduction • RoboLab • Handheld
• Questionnaire Investigator Computers and
• Discuss Objectives • Comparison of Robotics
• Programming • Integrating
What is a Robot?
Languages robotics into the
• Robot Demos
• Hands-on Projects curriculum
• Introduction to •
• Lunch (free) Hands-on Projects
Lego Mindstorms
• Robot Contests • Lunch (free)
RIS kit
• Hands-on Projects • Participant
• Lunch (free)
Presentations and
• Intro. to RoboLab Discussion
• Hands-on Projects • Workshop
Evaluations

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 Fill out Questionnaire
• Name, email
• School
• How many years have you been a teacher?
• Grades taught?
• Subjects taught?
• Have you ever been involved in robotics? If yes, briefly
explain.
• What are your interests/goals in taking this workshop?
• How did you learn about this workshop?

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 Contents
• Part 1 - Overview - What is a Mobile Robot?
• Part 2 - Construction of a Mobile Robot
• Part 3 - Programming a Mobile Robot with RoboLab &
Challenges
• Part 4 - RoboLab Investigator (Collecting & Analyzing Data)
• Part 5 - Comparison of Programming Languages
• Part 6 - Robot Contests and Exhibits
• Part 7 - Handheld Computers and Robotics
• Part 8 - Discussions, Presentations, Conclusions, Evaluations

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 PART 1

What is a Mobile Robot?

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 What is a Robot?
• Robot Trivia Quiz
• What is a robot?
• Penn State Abington Robot Design Contests
• Robot Contest Videotape
• Robot Demonstrations:
– Firefighting Robots
– Robo-Hoops Robots
– Palm PDA robots
– Sony AIBO Dog
• What do you learn from robotics?
• How can you get involved in Robotics?
• Robot books, websites, and handout
• Questions and Answers

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Name that Robot!!!

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http://www.the-robotman.com/nv_fs.html

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http://www.the-robotman.com/nv_fs.html

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http://www.the-robotman.com/nv_fs.html

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http://www.the-robotman.com/nv_fs.html
© 2003 R. Avanzato 17
http://www.the-robotman.com/nv_fs.html
© 2003 R. Avanzato 18
http://www.the-robotman.com/nv_fs.html

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http://www.the-robotman.com/nv_fs.html

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http://www.the-robotman.com/nv_fs.html

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http://www.neurotechnology.neu.edu/

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www.snakerobots.com
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http://www.us.aibo.com/

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http://www.roombavac.com/ http://www.brookstone.com/
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RoboWars & BattleBots – R/C
Impact on Robotics?
http://www.robotwarsextreme.com/extreme/

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 Our Definition of a Robot
• Computer Brain
• Software
• Sensors
– Visual
– Touch
– Audio (and others…)
• Power supply
• Locomotion (wheels, gears, motors, etc)
• Autonomous – not remote-controlled

© 2003 R. Avanzato 27
 Penn State Abington
Robot Contests
Robo-Hoops -- basketball-playing robots (K-12,
college). Contest Sat Dec 6, 2003

Trinity College Regional Firefighting – robots

explore maze; extinguish candle. K-12; college &
beyond. March/April 2004

Robo-TrailBlazers – robots navigate around

obstacles, follow white line; interact with electric
train (1998-2001)

>>>> Robot Contest Videotape (10 min) <<<<

© 2003 R. Avanzato 28
 Robot Demonstrations
• Firefighting PalmBot
• TankBot
• Palm Robo-Hoops Robot
• HandyBoard Robo-Hoops Robot
• LegoMindstorms Invention (RIS) Robot
• AIBO Sony Dog (Navigator and wireless
LAN)

© 2003 R. Avanzato 29
 What do you learn from robotics?
• Creative-problem solving.
• Teamwork.
• Hands-on science education.
• How to complete an open-ended project.
• Intro. to engineering and programming.
• How to deal with engineering “failures.”
• Others?

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How can you get involved in robotics?
• Start a robot club at your school
• Participate in (or attend) a robot contest.
• Ask teacher or school for support.
• Use robotics for a science fair project.
• Attend a robotics camp/workshop.
• Buy a Lego Mindstorms Invention System.
• Robotics is appropriate for all ages.
• Schedule a demonstration in your school.
• Read a Robot Book. Search the Internet.

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Lego Robot Summer Camp
Penn State Abington

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 Upcoming Robot Events
• Robo-Hoops Robot Contest. Penn State Abington. Sat. Dec 6, 2003. Open to
public. Free admission and parking.

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 Useful Web Sites (short list)
• More information on Lego Mindstorms: www.legomindstorms.com
• Lego Mindstorms for Schools: www.lego.com/dacta/robolab/
• NASA robot site (cool robot of the week plus over 200 robot links)
http://ranier.oact.hq.nasa.gov/Telerobotics_Page/coolrobots.html
• Robot vendor plus news: www.robotstore.com
• First Lego League International Robot Contest (ages 9-14)
www.firstlegoleague.org
• Search and rescue robots: http://www.csee.usf.edu/robotics/USAR/
• New area of robotics: biomimetic robots --- robots inspired by animals.
Check out web site for robot lobster:
http://www.neurotechnology.neu.edu/
• Website for robot snakes: http://www.snakerobots.com/main.htm
• Penn State Abington Robotics: www.ecsel.psu.edu/~avanzato/robots/

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Ask questions!!!

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 PART 2

Construction of a Mobile
Robot

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 Overview of Lego Robot Kits
• LegoMindstorms Robotics Invention System (RIS)
– Commercially available (Toys-R-Us, Target, Zany Brainy, Amazon.com, etc)
– Contains RCX brick & RCX software (runs on PC only , not Mac)
– Contains challenges, video tutorials, Constructopedia
– Contains 2 bump sensors, 1 light sensor, 2 motors
– 700+ Lego pieces; retail price = ~ $200

• LegoMindstorms RoboChallenge Robot Kit

– available only through Pitsco LegoDacta (www.pitsco-legodacta.com)
– contains RCX brick, no software included
– Contains 2 bump sensors, 2 light sensor, 2 motors
– Must buy RoboLab software (~$220 for site license)
– 700+ Lego pieces; retail price = ~ $200

• Both kits are roughly equivalent; suggest RoboChallenge

© 2003 R. Avanzato 39
LegoMindstorms Robot Kit Inventory
• RCX brick (requires 6 AA batteries; 6-10 hours of use)
– Inputs for 3 sensors are labeled: 1, 2, 3
– Outputs for 3 motors are labeled: A, B, C
– Buttons: View, On/off, Pgm (select 1 of 5 pgms), Run
• IR tower -- serial (needs 9v battery) or USB connection to PC
• IR tower cable (connects tower to PC)
• Lego plates and beams
• Lego motors with cables and connectors
• Lego wheels (different sizes) and axles
• Lego treads
• Lego gears (8, 16, 24, 40-tooth gears, worm gears)
• Lego connectors
• Lego sensors (2 bump/touch, 2 light sensors, 1 rotation, 1 temperature)
• Lego IR Remote Control (must be purchased separately)
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 Motor Demonstration

• Connect 2 Lego motors with one motor cable (do not use
RCX brick)
• Connect a large wheel directly to the end of each motor.
• Observe: there is no electrical power connected to either
motor.
• Manually rotate or spin one of the wheels.
• Observe behavior of wheel on other motor.

• Explain behavior.
• Think of useful application.

© 2003 R. Avanzato 41
 Designing and Constructing Robots
with Legos
• Lesson Learned: It is not easy to build a sturdy robot platform with Lego
(but it can be done).
• Recommendation: Build a simple robot using predefined directions.
• Many designs can be found in Lego literature, books, on the Internet.
• Once a robot platform built, it is easy to redesign, modify, or expand.
• Lego designs can be made quite sturdy using "bracing" techniques.
• See Fred Martin paper "Art of Lego Design" (you have a copy)
• Hint: Always have a working, moving robot for the team.

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 Team Exercise: Build "Hank" Robot

• Form teams --- 2 participants in each team

• Construct "Hank" robot platform from printed directions (each
participant has a copy)
• Once built, test operation with Lego IR Remote Control
• Only the motors can be operated with the remote (we will need to
program the robot to test the bump sensors)
• CAUTION: One Remote Control can and will operate many
robots!!!! You may cause someone else's robot to fall off a table!!!
• HINT: Turn off your robot when not in use
• "Drive" the robot on a variety of surfaces; Observe "turning" behavior
• Does the robot always go perfectly straight? (It never will!)

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 Robot Exercises with Remote Control
• Debugging note: if robot wheels are not moving "forward" when you
command them to move forward, then change connector orientation on
robot.

• What is the "gear ratio" of this robot? Explain.

• What would happen if you exchanged the gears? (That is, place the
larger gear on the motor axle, and the smaller gear on the wheel axle.)

• Try it and observe results. What happens to the speed? torque?

• Use bicycle (example 21-speed) to explain relationship between speed

and torque (turning force).

• What type of gear ratio would be appropriate for a race? tug of war?
© 2003 R. Avanzato 44
 PART 3

Programming a Mobile Robot

with RoboLab & Challenges

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 Problem-based Learning Approach
• Start with clear problem statement
• Provide a minimum of pre-task skills
• Allow students to develop skills in context for problem
• Students ask relevant questions during solution process
• Mini-lectures or demonstration (5 - 15 minutes) on an "as-needed" basis
• Student-directed learning process
• Students work in small teams (2 to 4 students in a team)
• Each team is responsible for one robot
• Each member of a team has a role (rotate roles)
• Students take responsibility for learning process
• Problems are "open-ended"
• There is no "single" correct solution.
• "Failure" is an important component of robot design
• Role of instructor as "facilitator" and "team manager".

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 Introduction to RoboLab Software
• Developed by Tufts University College of Engineering
• Sold by Pitsco-Lego Dacta (not available in retail stores)
• RoboLab is integrated into Pitsco-Lego Dacta educational products
• RoboLab runs on a PC or Mac
• Visual programming (as opposed to text based like C, Java, etc)
• Based on National Instruments "Labview" product (used in industry)
• RoboLab used successfully in K-8, high school, college
• 3 modes -- 1) administrator, 2) programmer, 3) investigator
• Programming levels available (each level adds features):
– Pilot (1, 2, 3, 4) -- I recommend Pilot 1, 2 (for beginners' training only)
– Inventor ( 1, 2, 3, 4) -- I recommend Inventor 3 (most features), 4(all features)
• Investigator -- data collection, analysis, plotting (e.g. temperature)
• Workshop Goals: Introduce a minimum set of useful skills that will
enable educator to achieve a wide range of activities.

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 RoboLab Tour - Pilot
• Start (launch) RoboLab software
• Go into Administrator. Explore.
• Select Training Missions (tutorials; only available in RoboLab 2.5 version)
• Go into Programmer. Explore.
– Select Pilot level 1 (double click)
• Observe program
• Explain operation of program
• Download program to robot
(select arrow icon)
• Note the program # (from 1 to 5)
• Run robot (turn on; hit run button)
– Select Pilot Level 2 (double click)
• Explain, modify, run, test program

© 2003 R. Avanzato 48
 Software Design Approach
• Software Design Cycle:
– Write software on PC
– Download to robot
– Run robot and observe
– Make changes to software on PC, repeat
• Writing software (or code) requires understanding of the problem
• Software is a "plan"
• Compare writing software to building a house or a race car or space
station
• Testing is an important part of software design
• Hint: Always run robot 3 to 5 times before making any changes
• Write software in small steps -- test each step before progressing
• Software has 2 audiences: 1) robot and 2) people (communication)
• Avoid complicated, unmanageable code
• Goal: write software for a "3rd grade" audience!
© 2003 R. Avanzato 49
 RoboLab Lab #1 Move Forward
• Select Inventor Level 3 (or 4) (Hit "Back" in Pilot mode)

• Part #1) Discuss and test a program that will control a robot to move forward for 2 seconds, then stop. Enter this program in RoboLab

• Part #2) Design a program that will control a robot to move exactly 3 feet, then stop. Test. You may modify above program. Demonstrate.
• Question: What would happen if you removed the Wait icon? Try it.

wait

© 2003 R. Avanzato 50
 Helpful RoboLab Commands
• If code diagram disappears -- select Windows => Show Diagram
• Use space bar to quickly switch between Mouse pointer arrow and
wiring tool.
• Use right click ==> replace to replace an icon element with another.
• To show functions -- select Windows menu => Show Functions
Palette
• To show tools -- select Windows menu => Show Tools Palette
• To remove bad wires -- select Edit menu => Remove Bad Wires
• Left button double-click on any icon to get documentation.
• Use Tab key to select different tools (arrow, writing tool, text tool, etc.)
• To remove or delete an icon, select (left click with arrow tool) and hit
delete key or backspace.
• Select “Context Help” to see definitions and examples for each icon
• Standard cut and paste tools work well in RoboLab.

© 2003 R. Avanzato 51
 RoboLab Lab #2 Square
• Step #1: Discuss and implement the following program

• Step #2: Design and implement a program to control a

robot to move in the path of a square (with dimension of 2
feet on a side)

• Question: How would you make a robot move in a

circular path? Try it. (Hint: use a power level setting for
the motor.)
© 2003 R. Avanzato 52
 RoboLab Lab #3 Repeated Motion
(loop)
• Step#1: Discuss and implement the program below. What does it do?

jump to
land forward for 2 sec reverse for 2 sec repeat
forever
• Step#2: modify above program so that it repeats 4 times only. Use loop structure below

Note: could this looping be

used to make square program
more efficient? Explain.
4
© 2003 R. Avanzato 53
 RoboLab Lab #4 Bump Sensor
• Step#1: Discuss and implement the program below. What does it do?

wait for bump

• Step #2: Design a program which will control a robot in the following
way. The robot will move forward in a straight line until it reaches a
wall. The robot can initially start from any distance away from the wall.
After the robot hits the wall, it will reverse direction move away from the
wall until the robot is 2 feet away from the wall, then it will stop.

• Step#3: Modify above task, so that the process repeats forever. Hint :
use a loop (jump).
© 2003 R. Avanzato 54
 RoboLab Lab #5 Light Sensor
• Connect as light sensor to port 2 of the robot. The light sensor should
be pointing down at the floor. A light sensor reads a value of 0 (dark)
to 100 (bright light)
• Step#1: Discuss and implement the program below. What does it do?

wait for light sensor

reading to increase

• Step #2: Design a program which will control a robot in the following
way. The robot will move back and forth between 2 white lines on a
black surface. The robot will be initially placed on the black surface.
The robot will always face one direction. Hints: 1) solve a simpler
problem first; 2) you might need a "loop". Assume the white lines are 1
to 2ft apart. © 2003 R. Avanzato 55
 RoboLab Lab #6 Tones & Music - 1
• Step#1: Discuss and implement the programs below. What does each do?

• Question: Can you write your own song? Try it.

(Also, try Windows => Piano Player)

© 2003 R. Avanzato 56
 RoboLab Lab #6 Tones & Music - 2

• Step#1: Discuss and implement the program below. What does it do?

split - run
2 tasks at
same time!

• Step#2: Modify above so that musical note sequence is played 3 times (while robot moves forward).

• Question: Can robots dance?

© 2003 R. Avanzato 57
 RoboLab Lab #7 Forks
• Step#1: Discuss and implement the program below. What does it do?

"if"
fork

• Step#2: Modify the above program to perform functions other than

playing different notes.

• Note: Programmers often fret about when it is appropriate to use a "wait" command and when to use a "fork" command
in a loop. Sometimes either can be used. Otherwise, experiment.

© 2003 R. Avanzato 58
 RoboLab Lab #8 Rotation Sensor
• Step#1 Discuss and implement the program below. What does it do?

50

• Step#2: Design a program to move the robot exactly 3 feet

forward (then stop) using rotation sensor. What are the
advantages of using the rotation sensor instead of the time
(wait for n seconds) method?
Note: rotation sensor detects 1/16th of a full rotation.

• Step#3: Implement the square path program using rotation

sensor instead of time.
© 2003 R. Avanzato 59
 More Projects…Try it!
• Flashlight command. Robot stops until it "sees" bright light reflected on
surface, then it moves forward. When bright light is removed, robot stops. Try 2
ways: 1) use "wait for" bright light icon and a "wait for" dark icon, or 2) use a
light fork within a repeat (jump) loop.
• Follow white line. Robot uses light sensor to follow a white line (on a black
background). Hint: detect and follow the edge! Use wait or if fork.
• Obstacle Avoidance. Robot moves forward until hits obstacle. When obstacle is
hit, robot backs up, turns to one side, then proceeds to move forward again. You
can have the robot respond differently to the right and left touch sensor. Hint: try
using an "if" fork for each touch sensor and place inside a loop..
• Music Player. Design a robot that moves forward and that plays a particular
tune or tone while the robot is traveling over a white surface, and another
tune/tone while the robot is traveling across a dark surface. Hint: use an "if" fork
for the light sensor. A wait icon may not work - why?
• Tug of War. Connect robots with string. Design robot with maximum pulling
power.
• Collect the Trash. Design a robot to collect and pickup empty soda cans.
• Be Creative. Design and implement your own creation!
© 2003 R. Avanzato 60
RoboLab Basic Building Blocks
(there are more advanced commands)

4
150

© 2003 R. Avanzato 61
 Software Design Issues
• Software should start out as a plan that can be expressed in plain English.
• Software should be kept simple. Encourage students to rewrite software and simplify if
possible. Program is small steps.
• Designing software is similar to designing hardware (e.g. house, car). There are good designs
and bad designs.
• Software logic must be discussed and shared -- try writing software solutions on a whiteboard
for discussion (code "walk-through")
• There are often many solutions to a software problem -- strive to attain the simplest solution.
• Encourage (require) students to annotate their software solutions.
• Unless well-managed, the software can be dominated by a single programmer,and the software
can be unintelligible to other team members. (This is true in a 4th grade robot class and also in
industry).
• Learning software by modifying well-chosen examples works well for many students and
professionals.
• It is not necessary (and not advisable) to learn every RoboLab command. Stick with a small set
of commonly-used commands.

© 2003 R. Avanzato 62
 Programming Languages
• All programming languages share basic building blocks
– sequence of execution
– loops (repeat)
– conditional (if/fork)
– Variables
– Functions or subroutines

• The thought processes are basically the same

• Once you learn to program in one language, other languages

are not difficult.

© 2003 R. Avanzato 63
 Discussion

• Reactions?
• Thoughts?
• Ideas?
• Concerns?

• What role does the instructor play

in assisting students with software
development?

• Is this fun? painful?

© 2003 R. Avanzato 64
 PART 4

RoboLab Investigator
(Collecting & Analyzing Data)

© 2003 R. Avanzato 65
 Introduction to RoboLab Investigator
• What is RoboLab Investigator?
• Allows programs to be created that direct the robot to
collect data from sensors, and store the sensor data on the
robot.
• After robot completes the task, Investigator software
allows the stored sensor data to be uploaded to the PC,
where it can be plotted and analyzed.
• What type of sensors can be used with Investigator?
– light, touch, temperature, pH, voltage, velocity, wind
speed, etc.
• What are the educational applications of Investigator?
• Can the robot be programmed to move around while it is
collecting and storing sensor data? Yes.

© 2003 R. Avanzato 66
 To Start Investigator

1. Click on "Investigator" Button

2. Click on "New Project" button

3. Enter an arbitrary project file name. Example "my data"

(without the quotes)

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 Sample Investigator Program

- Explain program. What sensor? Where is it plugged-in?

- How many sensor data points will be stored? How many data points per second?
© 2003 R. Avanzato 68
Uploading Data in Investigator

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 Investigator Overview

Program mode
Calculation
mode
Journal view

View & Upload mode

compare mode

Delete data set or view

Add new data set or view
© 2003 R. Avanzato 70
 Lab #1 Light Sensor with RoboLab
Investigator
• Step #1: In Investigator (Program Level 1), download the program
from previous slide onto the robot. Make sure the light sensor is
plugged into the appropriate port. (Note: must use port #1.)
Download and run the program on the robot to collect the light data.
• Step #2: Go into Upload Area, and select the arrow to upload the
collected data from the robot to the PC. You should see plot
displayed.
• Step #3: Go into the View and Compare Area. Select "Measure"
from the top center menu.
• Step #4: Find the min, max, and average value

© 2003 R. Avanzato 71
 Lab #2 Temperature Sensor with
RoboLab Investigator
• Step #1: Modify Investigator (Program Level 1) to look like program below.
Explain program. Plug in temperature sensor to the appropriate port. (Note:
must use port #1.) Download and run program on robot.

• Step #2: Go into Upload Area, and select the arrow to upload the collected
data from the robot to the PC. You should see plot displayed.
• Step #3: Go into the View and Compare Area. Select "Measure" from the top
center menu.
• Step #4: Find the min, max, and average temperature value

© 2003 R. Avanzato 72
 Lab #3 Light Sensor and Moving
Robot
• Step #1: Modify Investigator Program Level 2 to look like program below. Explain
program. Plug in light sensor (facing down) to the appropriate port. Download and run
program on robot.

• Step #2: Go into Upload Area, and select the arrow to upload the collected data from the
robot to the PC. You should see plot displayed.
• Step #3: Go into the View and Compare Area. Select "Measure" from the top center menu.
• Step #4: Find the min, max, and average light value
• Step #5: Redo the experiment with a higher sampling rate (example: 0.01 sec). Explain
results.

© 2003 R. Avanzato 73
 Investigator Hints
Click on icon to enlarge window

Normal Download &

download plot data
“live” while
collecting

Autoscale y axis (useful)

© 2003 R. Avanzato 74
 RoboLab Investigator Discussion
• What are some interesting applications of Investigator?
• How can Investigator be used in General Science, Physics, Chemistry,
Technology, Math, etc.
• Investigator data can be exported to MS Excel.
• What types of sensors would be useful?
• Interesting documented applications of Investigator:
– Record inside refrigerator temperature and light (correlate data)
• See Ben Erwin book for this example
– Sensor to record when bird visits feeder
– Record platform position and velocity of accelerating robot.
• Creative Applications? Field work?
• Comments?

© 2003 R. Avanzato 75
 PART 5

Comparison of Programming
Languages for LegoMindstorms
RCX Robot

© 2003 R. Avanzato 76
 RCX Software
• RCX code is icon-based
• RCX code is bundled with retail
LegoMindstorms RIS kit
• RCX code does not support data collection
• RCX has been used successfully in K-8
• RCX not as powerful as RoboLab, but RCX
code is improving.
• Some beginners prefer RCX code over
RoboLab.
• We will be demonstrating RCX software
version 1.5. There is a new version called 2.0
which has increased capabilities.

© 2003 R. Avanzato 77
 Not Quite C (NQC)
• Text-based as opposed to icon-based
• Similarities to industry programming languages such as
C and C++
• Supports data collection
• Freeware
• Large community of users
• Attracts more experienced programmers
• As programs grow in complexity, there are advantages for
text-based programming (qualitative)
• NQC was designed by David Baum
• website: http://www.baumfamily.org/nqc

© 2003 R. Avanzato 78
 Comparison of Software Languages
Task: Move robot forward for 2 seconds, then stop

RoboLab

// NQC Example
task main ()
{
// turn on motors A and C
OnFwd ( OUT_A); NQC
RCX OnFwd ( OUT_C);

Wait ( 200 ); // 2 seconds

Off ( OUT_A );
Off ( OUT_C );
}
© 2003 R. Avanzato 79
 Language Guide for the RCX Brick
Language Type Cost Audience Level of Data
Difficulty Collection
RoboLab icon $220 for K-8, HS, easy - yes
(PC or Mac) site license college medium (w/ analysis)
RCX Code icon ? K-8 easy no
(PC only)
NQC text free middle- medium yes
(PC or Mac) college
Interactive text free middle - medium yes
C (IC) (PC only) college
Visual Basic text free adv. HS - medium - ?
(PC only) college hard
Java text free adv. HS - medium - ?
(PC or Mac) college hard
m

© 2003 R. Avanzato 80
 What is "best" language?
• LegoMindstorms supports a variety of programming languages.
• Language choice depends on educational objectives.
• RoboLab is a good choice for a wide range of students in an
educational setting.
• NQC and IC4 are good choices for preparation for C/C++
• Note: PBasic language for the Basic Stamp microprocessor is
more difficult (low level) and requires some knowledge of
electronics.
• Note: IC 4 also supports the MIT HandyBoard ($300) robot
controller.

© 2003 R. Avanzato 81
 Language References
• RoboLab
– www.pitsco-legodacta.com
– www.lego.com/dacta/robolab
– "Creative Projects…", Ben Erwin, Chapter 16, App E
• RCX Code
– shop.LEGOshop.com
– "Creative Projects…" Ben Erwin
• NQC
– http://www.baumfamily.org/nqc
– "Creative Projects…", Ben Erwin, Chapter 17
• Interactive C 4.0
– KISS Institute (BotBall); www.kipr.org
• Visual Basic
– "Creative Projects…", Ben Erwin, Chapter 15

© 2003 R. Avanzato 82
 PART 6

Robot Contests and Exhibits

© 2003 R. Avanzato 83
 Robot Contests and Exhibits

• Penn State Abington (videotape)

– Robo-hoops (Dec 2003)
– Firfighting (March, April 2004)
• FIRST Competition (videotape)
• FIRST LegoLeague
• BotBall (videotape)
• Trinity College Firefighting (videotape)

© 2003 R. Avanzato 84
 Penn State Abington Robot Contests
• Open, free contests
• Offered each December and March April on a Saturday
• Any h/w or s/w is allowed ( robot size requirement 12" x 12" x 12")
Does this affect playing field? Answer: no)
• Divisions: K-5th, 6-8th, HS, College+
• Robo-Hoops robot basketball (1995-1997, 2002, 2003)
• TrailBlazers (1998-2001)
• Firefighting Regional (with enhancements; 1995-2004)
• Local/regional participation; maximum of 30 robots
• http://www.ecsel.psu.edu/~avanzato/robots/contests/
• Affords flexibility; one day event
• Free parking; Free pizza!!!!
• Educate audience and have fun!
• Encourages participation with low-cost equipment (Lego Mindstorms)

© 2003 R. Avanzato 85
 FIRST Robot Contest
• International Contest: Website: www.usfirst.org
• High school students
• 6 weeks to build robot; $6K - $10K
• Remote control robots (joystick) -- recently added autonomous mode
using Basic Stamp (Pbasic)
• Stresses mechanical design, electrical design, teamwork
• Large robots (example: pick up beach balls, etc)
• Founded by Dean Kamen (Segway inventor)
• Industry partners with high school (sometimes problematic)
• Strict timelines and schedule
• Regionals held annually at Drexel Univ. each March
• Finals in Disney World, Florida; moving to Atlanta GA
• High visibility; expensive
• Very successful.
• Video Gallery: http://www2.usfirst.org/2003comp/gallery/gallery.html
© 2003 R. Avanzato 86
 First LegoLeague Contest
• International level contest
• Audience: 9-14 year old students
• Use LegoMindstorms robot kits
• Statistics for 2002: 30,000 students, 44 states, 5 countries
• ~50% use RoboLab software; ~50% use RCX code
• "Creative Projects with Lego Mindstorms" book has a chapter on First
Lego League
• Website: www.firstlegoleague.org
• Regional and state tournaments scheduled
• Themes:
– “Mission Mars” (2003)
– “City Sights” (2002)
– “Arctic Impact” (2001)
• line- following, picking up small objects, navigation

© 2003 R. Avanzato 87
 BOTBall Robot Contest

• Website: http://www.botball.org/
• LegoMindstorms and MIT HandyBoard
• National contests
• Fixed set of components
• Recommends Interactive C.
• Move white and black ping pong balls on 4ft by 8ft platform.
• Provides teacher training
• 6 weeks to build robots
• 51 high schools & middle schools participated in 2002/2003
• Conference hosted in Norman, OK
• SEE VIDEOTAPE

© 2003 R. Avanzato 88
 Trinity Firefighting Robot Contest
• Autonomous robot must extinguish candle in maze
• Robots can use any hardware or software (max size: 12" x 12" x 12")
• International contest held each April at Trinity College, Hartford CT.
• Penn State Abington offers regional contest 2-3 weeks prior to Trinity.
• Penn State Abington sponsors bus trip to Hartford, CT
• $50 registration fee for Trinity contest
• Requires overnight stay (Saturday and Sunday event) for Phila area
participants
• Students can participate multiple years .
• Trinity offered first firefighting contest in 1994.
• Penn State Abington has been participating in firefighting since 1995.
• Possible to use Lego Mindstorms and beyond

© 2003 R. Avanzato 89
 Robot Contest Issues
• Pros and cons of a robot contest
• What is the impact of competition?
• Gender issues?
• Robot contest versus Exhibition/Robot Show
• Can robot contests support science fair and research
projects?
• Ideal student team size? Roles?

© 2003 R. Avanzato 90
 PART 7

Handheld Computers & Robotics

© 2003 R. Avanzato 91
 What is a Palm™ PDA?
• Handheld Computer
• Intuitive interface
• Beyond a personal organizer
• IR Beaming!
• Low price ($90 - $400)
• Stylus-based data entry
• Sync with desktop PC
• 5,000+ software apps
• Database, spreadsheet
• Doc’s, images, e-books
• Web access!
© 2003 R. Avanzato 92
Penn State Abington IST 110 Fall 1999
© 2003 R. Avanzato 93
Palm PDA Tour

© 2003 R. Avanzato 94
© 2003 R. Avanzato 95
PalmEFG

© 2003 R. Avanzato 96
© 2003 R. Avanzato 97
© 2003 R. Avanzato 98
 PalmPilot Links for Educators
• Palm website for education applications. Contains success stories for K-
12 and college
http://www.palm.com/us/education/

• PalmGear is an online supplier for Palm OS software. There are over

10,000 applications for the Palm. Freeware and shareware can be
downloaded from this website. The is divided into categories.
http://www.palmgear.com

• ImagiWorks is a supplier of data collection technology for the Palm for

use in K-12 and college classrooms.
http://www.imagiworks.com/

• Center for Highly Interactive Computing in Education at the University

of Michigan (free products)
http://www.handheld.hice-dev.org/
http://www.goknow.com/
© 2003 R. Avanzato 99
 Entering Test on PalmPilot

http://www.palm.com/us/products/input/Palm_Graffiti.pdf
© 2003 R. Avanzato 100
 PART 8

Discussions, Curriculum,
Presentations, Conclusions,
Evaluations

© 2003 R. Avanzato 101

 What to buy?
Suggestions: (See Pitsco Lego Dacta catalog in your materials)

• Team Challenge Set. ….. $199….purchase 1 per team.

• Robot RCX, Legos, 2 light sensors, 2 motors, 2 touch sensors
• Model # 979793 (serial port) or #979794 (USB)
• Remote Control….. $21…..purchase 1 per robot/team
• Model # 779738
• Extra Motor…. $16….purchase 1 per robot/team
• Model # 775225
• Angle/Rotation Sensor…$17…. purchase 1 per robot/team
• Model #979891
• Temperature Sensor……$28……purchase 1 per robot/team
• Model # 979889
• RoboLab 2.5 software….$229 for site license…1 per school
• Model # 900063-012
•Using RoboLab Teacher’s Guide…$49…..1 per teacher
•Model # 900065
© 2003 R. Avanzato 102
 Project Management
• Students underestimate the time required to finish a task
by a factor of 2 to 100!
• Testing is an important part of designing a robot and
requires time. Testing will require as much time as
designing and building.
• Ask students to estimate the time required to complete a
task. Then, compare their estimate to the true time.
• Designing a robot is often an open-ended project – there
is no end.
• Students will be tempted to a complete redesign days
before a contest – this is often not a good idea!
• Establishing milestones at regular intervals is critical!!!!

© 2003 R. Avanzato 103

 Robotics-Based Curriculum
• CMU Robot Academy and Curriculum Guide (K-12)
http://www.rec.ri.cmu.edu/education

• Kiss Institute of Practical Robotics (Botball contest)

http://www.botball.org (follow link from Educ. Resources)

• NASA Robotics Education Project

http://robotics.nasa.gov

• Tufts University RoboLab and Curriculum Guide

http://www.ceeo.tufts.edu/

© 2003 R. Avanzato 104

 Participant Presentations
• Present outline of a proposal to integrate a robotics activity into your
school or organization
• What are objectives?
• Include name of your school. Describe audience.
• What materials will be needed?
• What hardware and software required?
• Will students work in teams? How big are teams?
• What teacher or student training is necessary?
• What is estimate of costs? How much time is required?
• How many PCs or laptops will you need?
• How will you assess results?
• Other issues, concerns, goals, etc.
• Share results with other participants
• Include any demonstration of working robot (if possible).
• Provide copy to workshop instructor.

© 2003 R. Avanzato 105

 Discussion Topics
• How beneficial is robotics?
• How can robotics be integrated into the curriculum?
• Gender Issues
• Pros and Cons of robot competitions
• What is the ideal number of students for a team?
• What are the future directions in robotics
• Does the teacher need to be expert designer and programmer?
(Answer: No)
• Will robotics curriculum become too structured?
• How to get funding for robotics?
• Can robotics be used with students with learning difficulties?
• Would you like be teach a summer robot camp at Abington? (We
need instructors)
• Other topics?

© 2003 R. Avanzato 106

 Goals
• Wide access of students to robotics
• Integrate robotics into curriculum
• Robotics for the non-traditional learner
• Mentorship programs
• Collaboration of K-5, middle, high school, university, and
industry for funding to support robotics
• Training for teachers. (What training is required?)
• Training for students. (What training is required?)
• PSU Center for Robotics for Philadelphia metro area
• Introduction to robotics at K-8; continue through HS and
beyond
• Integration of robot Contests and Exhibits
© 2003 R. Avanzato 107
 Workshop Evaluation & Feedback
• Fill out evaluation form (anonymous; do not sign your name)
• Evaluate overall course quality
• Identify workshop strengths and weaknesses
• What did you like best? worst?
• Suggest ideas for improvements
• Indicate interest in future workshops -- identify topics
• What is best way to notify teachers of workshops
opportunities?
• What is the best format (duration, times, locations, etc.) for
workshops?

© 2003 R. Avanzato 108

 Penn State Abington Robotics Program
• Contact:
Bob Avanzato
Penn State Abington
email: [email protected]
phone: 215-881-7358

• Fall 2003 - Bob A. will be spending a sabbatical at University of Penna

GRASP Robot Lab (research and outreach) from Sept to Dec. 2003.

• Penn State Abington Robotics Program web page:

www.ecsel.psu.edu/~avanzato/robots

• Robo-Hoops Robot Contest -- Sat December 6, 2003 (all are welcome)

© 2003 R. Avanzato 109