Eureka Index

i i i “BOOK” — 2012/7/18 — 12:27 — page 541 — #559 i

Index

A “15” puzzle using, 169–172 Absorbing states, 344 foraging problem, 296–302 Acceleration, 70, 208–212, 427–428 formal verification of, 140 fuel consumption problem, 162–163 Accelerometers, 49–50, 390–391 Heron’s, square root calculation using, Accuracy versus precision, 109–111 128–129, 286–288 Acoustic localization, 504–516 heuristic (informed guess), 121–122, 172 cones of confusion, 220, 510–511 Kalman filter (KF), 412–424, 427–433, continuous sound source and, 515 521–526 cues, 505 LEGO challenges using, 162–172 head related transfer functions (HRTF), maze solutions from, 120–123, 127, 141–142 505–506 naïve sort, 163–164, 165 interaural level differences (ILD), 505 Pledge, 121–123, 127, 162 interaural time differences (ITD), 505, predict-correct, 430–433 507–510 problem solver exercises using, 148–162 Nic_3 robot design, 508–516 programmer’s use of, 116–117, 120–123, spatial direction of sound, 510–512 127–129 proof by infinite descent, 167–168 Adaptive (learning by doing) programs, 346, 363–368 quicksort, 164–165 random walk algorithms, 297–302 Aelianus, Claudius, 256 rational and irrational numbers, 167–168 Agent embodiment and disembodiment, 259–260 recursive functions, 148–155 Agents (function and program), 114 recursive predictor/corrector, 418–420 Algorithms, 116–117, 120–123, 127–129, 140–146, sine/cosine calculation efficiency, 156–162 148–172, 296–302, 412–424, 430–433, spigot, 464–467 464–467 study of for problem-solving, 116–117 Babylonian, 128–129 sweep scan algorithm, 297 Boolean logic and, 120 Toepler’s, 129 CORDIC (coordinate rotation digital Tower of Hanoi, 148–155 computer), 156–162 Turing machine and, 116, 119 Dijkstra, 140–142, 166, 169–172 turning by a constant angle algorithm, divide and conquer, 143–146, 148–156, 164 300–302 exponential growth and, 155–156 Z-series computers and, 116–117 541 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 542 — #560 i

542 Index

Al-Jazari’s musical “robot band,” 113–114 Bearing (azimuth), 70 Al-Khwäizmï robot navigation behavior, 310–315 Bee “waggle dance,” 5, 123, 182–183, 201–202 Analog audio, 492–493 code, 182–183, 201–202 Angle (phase), 79 maze algorithm strategies and, 123 Angle sensor, 65–69 robot design based on, 182–183, 201–202 Animal mimicry, 36–38, 50–51, 244, 249–251, 481, Behavior of robots, 248–251, 263, 292–341, 488–491 357–372 animal as a machine, 36 animal mimicry and, 249–251 animal mimicry (cognition), 244, 249–251, avoid-to-the-left, 313 481 dead reckoning navigation, 310–315 cricket sound creation, 488–491 decision-making functions, 357–363 Jansen mechanism applications, 37, 51 effects of actions, 249 robot designs inspired by nature, 50–51 emergent, 292–294 sensors for, 8 environmental interaction and, 248–249, synchronization of locomotion, 36–37 292–296 walking mechanisms, 37 event-driven, 323–327 Animation of Braitenberg vehicles, 260 foraging problem, 296–302 Antikythera mechanism, 117–118 goal-oriented, 292–293, 302 Apollo guidance computer (AGC), 412–415 intelligence and, 251, 292–294, 357–372 Archimedes, 35–36, 131, 464 intelligent robots, 292–341 Archimedes’ palimpsest, 35 learning programs, 346, 363–372 Archimedes’ planetarium, 118 Aristotle, 384 morphology and, 292–293 Arithmetic and Logic Unit (ALU) operations, mysterious, 303–304 157–160 priorities of multiple functions, 357–363 Arkin, Ronald, 249 repetitive “buggy,” 304 Artiﬁcial intelligence (AI), 119, 245–248 semaphore algorithm signals and messages, challenges of, 248 315–323 robotics and, 119, 245–248 sensors and, 295–296, 304, 311–315, 317–321, Turing test, 245 333–334 Automata, 76–79, 117–120, 244–245 suspension of tasks, 357–363 Antikythera mechanism, 117–118 transition probability, 366, 368–372 Archimedes’ planetarium, 118 turning, 302–304 chess player of Maelzel, 76–78, 244 virtual bee robot, 296–302 computers and robots compared to, 117–120 wait functions, 304, 323, 361 Mechanical Turk, 77–78 Bell, Alexander Graham, 492 pantograph, 78–79 Bell, Eric Temple, 2 Pascaline, 118 Bellman, Richard E., 366 robotics and, 244–245 Benedettelli, Daniele, 471 Avoid-to-the-left behavior, 313 Benzoni, Girolamo, 3 Azimuth (bearing), 70, 79 Berliner, Emile, 492 Berners-Lee, Timothy John, 176 B Bernoulli, Jacob, 306 Babylonian algorithm, 128–129 Bernoulli robot behavior, 302–306 Bach, Johann Sebastian, 183 Binary number implementation, 126–127 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 543 — #561 i

Index 543

Binary phase-shift keying (BPSK), 181–182 LEGO challenges, 282–289 Bionic mimicry of nature, see Animal mimicry magnetotaxis, 259, 271 Bitmap conversion to curves, 476 perception and reactions, 259 Blind Juggler robot, 216–218 phototaxis, 269, 271–272 Bohr, Niels, 2–3 polarotaxis, 288 “Bombe” cypher, 184 problem solver exercises, 272–282 Bonaparte, Emperor Napoleon I, 142–143 pulse-width modulation (PWM), 278–281 Boolean logic, algorithms and, 120 random walk algorithms, 297–302 Boulette’s Institute of Technology (BIT), 14 robot intelligence and, 296–302 Boyscout and Follower program, 123 robotics and, 254–291 Brainstorming, 387 sweep scan algorithm, 297 Braitenberg, Valentino, 260, 262, 268 synthetic psychology, 259–260, 268–269 Braitenberg vehicles, 259–265, 268–269, 285 thinking capabilities of, 254–255, 296 animation of, 260 transistors, 281–282 data-logging with, 285 turning by a constant angle algorithm, design of, 259–265 300–302 dual sensor reactions, 268–269, 270–271 Light-dependent resistor (LDR), 263–264 monosynaptic reﬂex arc, 261–262 C NXT programming, 260–261 Calibration of paper encoder, 65–69 open-loop trajectory of, 264–265 Capacitors, 102–103 sensor values, 259–265 Cardan suspension (gimbal), 89–90 steady state of, 263 Cartesian coordinates, 54–55 Vehicle 1 design and behavior, 259–265 Catching a free-falling ball, model for, 239–240 Vehicle 2 behavior, 268 Cauchy robot design, 269–271 Vehicle 3 behavior, 268, 269 Cauchy, Augustin Louis, 269–270 Brake mode, 281 Cavalieri, Bonaventura Francesco, 272–273 Bratzel, Barbara, 11 Cesar’s cipher, 199–201 Bricoleurs, 57, 59–60 Champollion, Jean-François, 183 Brightness, adjustment of. 472–473 Chebyschev, Pafnuty L., 62 Brooks, Rodney A., 248–249, 355, 506 Checksum, 181, 194, 437–438 Brown, J. P., 150 Chess player of Maelzel, 76–78 Bucket brigade problems, 303–304, 311–315 Chongzhi, Zu, 131 Bugs, 254–291, 296–302 Choosing between tasks, 362–363 Braitenberg vehicle designs, 259–265, Church’s thesis, 116 268–269 Circuit board etching, 96–99 Cauchy robot design, 269–271 Clarke, Arthur C., 129 convergence of a sequence, 268–271, 286–288 Cleanup diagram, LabVIEW, 147 Fermat problem, 272–278 Clock models, 232–238 foraging problem, 296–302 data-logging subroutines, 234–235 geotaxis, 259, 271 pendulum, 232–237 Helmholtz vehicle design, 266–267 rolling ball, 237–238 honeycomb pattern characteristics, 256–259 Closed-loop control, 215–216, 218–219 insect behavior, 254–255, 269, 271–272 Coast mode, 281 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 544 — #562 i

544 Index

Code breakers, 174–205 Cones of confusion, 220, 510–511 bee “waggle” dance, 182–183, 201–202 Conquerors, 140–173 Cesar’s cipher, 199–201 CORDIC (coordinate rotation digital checksum, 181, 194 computer), 156–162 cryptograms, 183–184, 199–204 Dijkstra algorithm, 140–142 decryption, 183–184, 199–201 divide and conquer algorithm, 143–146, encoding, 181–183 148–156 endianness, 204 emotions expressed by GASTON, 143–146 LEGO challenges, 195–204 exponential growth and, 155–156 Mars Rover telerobotic project, 174–182, Napoleon’s theorem, 142–143 184–185 problem-solving by, 140–147 Morse code, 202–203 sine/cosine calculation efficiency, 156–162 problem solver exercises, 185–194 spaghetti code, 146–147 problem-solving methods by, 175, 183–184 Tower of Hanoi algorithm, 148–155 rules for, 182–183 “Consul,” the educated monkey, 73–74 telerobotics, 174–182, 184–185, 195–199 Continuous-sound locator design, 219–222 Cohen, Danny, 204 Contrast, adjustment of, 472–473 Collision avoidance, 76–77 Control, 215–219, 252 Colossus Mark 1 computer, 117 closed-loop, 215–216, 218–219 Compass design, 57–58, 83–85, 87–90, 91–96, 103, comparison of methods, 215–216 434–435 . See also Dead reckoning; open-loop, 215–218 Direction master robotic development, methods for, 252 Earth’s magnetic field measurement, 83–85 Convergence sequence, 268–271, 286–288 electronic sensors, 87–88 Conversion functions, 70–71 electronic, 83–85, 87–90 Coordinates, 54–55, 79–81 gimbal (Cardan suspension), 89–90 CORDIC (coordinate rotation digital computer) Hall-effect sensors, 83, 87–88 algorithm, 156–162 magnetic, 57–58 Counting pulses, 46–48 magneto-resistive permalloy sensors, 84–85 Course, 70 needle, 83–84 Create Sub.vi tools, LabVIEW, 147 NXT configuration as, 103 Cremonini, Cesare, 385 RCX control program for, 88–89 Crenshaw, Jack W., 129, 413 Serendipity boat navigation, 434–435 Crickets, sound creation, 488–491 tilt error, 89–90 Cross-correlation function, 495–498 Computer science, LEGO RIS for education of, 12–13 Cruise task, 311–313, 324, 358–360 Computers, 116–120, 131 Cryptograms, 181–184, 199–204 automata and robots compared to, 117–120 “Bombe” cypher, 184 Colossus Mark 1, 117 Bach motif, 183 Electronic Numerical Integrator and bee “waggle” dance code, 182–183, 201–202 (ENIAC), 117 binary phase-shift keying (BPSK), 181–182 read/write capabilities, 119 Cesar’s cipher, 199–200, 201 sine and cosine calculations using, 131 decryption, 183–184, 199–201 Turing machine, 116, 118–119 DNA code, 183 Z-series, 116–117 encoding, 181–183 Concorde TSP solver, 296 LEGO challenges, 195–204 Conditional probability, 376–377 Morse code, 202–203 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 545 — #563 i

Index 545

Rosetta stone, 183 Discoverers, 31–56 safe or puzzle box design, 199 Archimedes’ palimpsest, 35–36 WWII “Ultra Secret,” 183–184 bionic mimicry and, 36–38 Cues, sound, 505 direction master robot design, 32–34, 39–41 Cyclops robot design, 288–289 importance of, 31–32 Internet use and, 32–35 D LEGO challenges, 45–55 Da Vinci robot, 346, 368–372, 378. See also lightning vehicle robot design, 38, 42–43 Dynamic learning programs problem solvers exercises, 39–44 da Vinci, Lèonardo, 6, 36, 51–53 Data communication, 179–181 robot motion and, 36–38, 39–55 Data-logging subroutines, LabVIEW, 234–235, south-pointing chariot, 34 285, 329 Disembodiment, 259–260 Data Viewer for upload and comparison, Dispatching function, 326 LabVIEW, 329–330 Distance (magnitude), 79 David, Brian, 22, 433 Distance, robot driving of, 45–46 de Mestral, George, 36 Divide and conquer algorithm, 143–146, 148–156, de Solla Price, Derek J., 118 164 Dead reckoning, 44, 57, 310–315 DNA code, 183 Deadlock situation, 317 Don’t think–react! design, 274–275 Decibel, dB, 487–488 Downloading HTML ﬁles, 196–199 Decision graphs, 368–369 Drawing, 99–100, 445–480 Decision tables, 318–321 adjustment of picture values, 472–477 Decryption, 183–184, 199–201 Deep Blue, 245–246 Euler’s identity and, 463 Deformation theorem for simple closed curves, histograms for values of, 472–475 121 LEGO parts used for, 99–100 Degrees of freedom (DOF), 220–222 Pi-writer, 463–470 Delay function as memory, 302–303 plotter control, 445–448, 477 Descartes, René, 6, 36, 54–55, 244 polar (RR) plotter, 454, 471–479 Dewey, John, 11, 366 Pythagoras’ theorem and, 450–451 Dewey robot, 346, 363–368. See also Adaptive robotic calligraphy, 467–479 learning programs robotic hand for, 471–479 dGPS unit, 439 rule of thumb, 449–451 Differential equations for rotation, 39–41 Spigot algorithm for, 464–467 Differential gear train, 34 trigonometry for, 448–454 Digital numbers, programming and, 136–138 Digital signal processing (DSP), 493–495 xy-plotter, 454–463 Dijkstra, Edsger Wybe, 140–141, 316 Drunken sailor problem, 335–337, 344–346, Dijkstra algorithm, 140–142, 167, 169–172 363–365 Dinsmore 1655 electronic compass, 87, 91–96 Dual-drive kinematics and path integration, Direction master robot, 32–34, 39–41, 57–58 328–333 kinematics of design, 39–41 Dual-drive robot program, 394–397 magnetic compass for, 57–58 Duct tape, inventive use of, 58 shaft-encoder design, 33–34 Dudeney, Henry Ernest, 4 sensors used for, 39–41 Duty cycle, 278 transmission design, 33 Dynamics of physical systems, 207 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 546 — #564 i

546 Index

E counting pulses, 46–48 Earth’s magnetic field measurement, 83–85 differential equations for, 39–41 Edge detection, 474–475 gradual gray-toned, 65–69 Edison, Thomas Alva, 58–59, 492 hysteresis technique for, 47–48 Education, 6–16, 383–389. See also Learning light sensors and, 65–69 programs paper (transmission) shaft, 33–34, 65–69 brainstorming, 387 rotation sensors and, 39–41 computer science, 12–13 Encoding, 181–183 Hole-in-the-Wall project, 9 Endianness, 204 instruction versus dictation, 383–385 Engelberger, Joseph F., 119 LEGO Robotics Invention System (RIS), Enumerator list, LabVIEW, 358–359 10–16 Environmental interaction, robot behavior and, Montessori methods, 9, 11 248–249, 292–294 open-ended projects and, 383–389 Epistemology, 7 physics by design method, 11 Eppler, John W., 162–163 project-based learning, 386–388 Equilibrium (Nash), 206 rational versus empirical methods, 6–7 Error, 89–90, 103–105, 407–409, 423–424 real-world applications and, 7–8 estimation variance, 423–424 resistance to change and, 383–386 measurement, 407–409 robotics clubs and organizations, 13–16 nonorthogonality, 103–104 science, technology, engineering, and nonparallelism, 103 mathematics (STEM), 7 propagation, 407–409 trigonometry, 7–8 tilt, 89–90 “Turtle graphics,” 12 Estimation, 411–424. See also Prediction and Egg of Columbus, 2–5. See also Problem solving estimation Einstein, Albert, 390 Etching printed circuit boards, 96–99 Electronic devices, 83–85, 87–103, 410–411 Euler’s identity, 463 capacitors, 102–103 Event-driven (flags) behavior, 323–327, 352 compass design, 83–85, 87–90, 103 Event handling, 326 connecting Dinsmore 1655 sensor to NXT, Event status variable, 324, 353 91–96 Exhaustion, method of, 273 Ohm’s law, 88, 100–101 Exponential growth, 155–156 operational amplifiers (op-amps), 410–411 printed circuit board etching, 96–99 F resistors, 100–101 Fermat problem, 272–278 sensors, 87–88 calculation methods for, 272–274 Electronic Numerical Integrator and Computer LabVIEW program for, 276–277 (ENIAC), 117 omnidirectional holomonic platform Electronic sensors, compass design using, 87–88 (OHP), 275 Embodiment, 259 robot design for, 273–276 Emotions expressed by GASTON, 143–146 Steiner points, 273–274 Empirical density function, 228–230 time difference of arrival (TDOA), 276 Empirical methods, 6–7, 206–207 Fermat’s Last Theorem, 2 Encoder devices, 33–34, 39–41, 46–48, 65–69 Fermi, Enrico, 5 angle sensors from, 65–69 Ferrari, Mario, 72, 467–468 calibration of, 65–69 Fibonacci, Leonardo, 116, 164 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 547 — #565 i

Index 547

“15” puzzle challenge, 169–172 Gauss, Carl Friederich, 83–84, 109–110, 163, Filtering property, 415–416 212–214, 223–228, 407 Finite state machines (FSM), 248, 346–363, 377 Gauss’ linear fit method, 223–232 disjunctive, 356 Gaussian (normal) distribution, 212–214, 227–228 event flags, 352 Geomagnetism, 83–84 event variables, 353 Geotaxis, 259, 271 functionality graphs, 347–350 Gimbal (Cardan suspension), 89–90 LabVIEW programs for, 351–354, 360–363 Global positioning system (GPS), 397–310, Moore robot demonstration of, 347–354 428–430, 434–441 Moore-state control variable, 351–354 indoor (iGPS), 397–310, 428–430 robotics use of, 248, 346, 348 National Marine Electronics Association Rodney robot, 346, 355–363 (NMEA), 439 state transitions, 353–354 navigation problem, 397–310 subsumption architecture, 346, 355–363 Serendipity boat navigation, 434–441 transition tables, 351 Gradient pad generation, 71–73 Firmware, 16, 18–19 Gray, Elisha, 492 First-come, first-served (FCFS) queue, 316 Gyroscope design, 104 Fix, 70 Flags, event status and, 323–327 Floating-point numbers, 136–137 H Flory, Paul, 36 HAL9000, 246–247 Flow charts, 319 Hales, Thomas C., 256 Flying machines, robot re-creation of, 51–54 Hall-effect sensors, 83, 87–88 For Inspiration and Recognition of Science and Hamming code, 194 Technology (FIRST), 14 Harrison, John, 107–108 Foraging problem, 296–302, 334 Head related transfer functions (HRTF), 505–506 Fourier transform, 495, 500–501 Helmholtz vehicle design, 266–267 Frey, Karl, 386–387 Heron of Alexandria, 128 Fuel consumption problem, 162–163 Heron’s algorithm, 128–129, 286–288 Functionality graphs, 347–350 Hestenes, David, 207 Heuristics (informed guess), 106–107, 121–122, G 127, 172 Galilei, Galileo, 208, 232–233, 383 High-Altitude Long Endurance (H.A.L.E.), 26–28 Gasperi, Michael, 38, 60, 120, 406, 489 Histograms, 201, 231, 472–475 GASTON, 14–19, 59–60, 143–146 Hoare, Tony, 164–165 commission of, 14 Hole-in-the-Wall Education project, 9 emotions expressed by, 143–146 Honeycomb conjecture (pattern), 256–259 inventors use of teamwork for, 59–60 HTML files, downloading, 196–199 ROBOLAB software for, 16–19 rules for development of, 14–15 Hughes, David E., 492 sensors for, 15 Hurbain, Philippe (Philo), 22, 92, 106, 145, 207–211, 275, 279 sensor multiplexer “mood-meter” design, 60 Huygens, Christiaan, 233 Ultimate ROBOLAB (UR) software for, Hypertext Transfer Protocol (HTTP), 175–179 18–19 Hysteresis, method of, 47–48 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 548 — #566 i

548 Index

I behavior and, 251, 292–306 Indoor global positioning system (iGPS), Bernoulli behavior, 302–306 397–310, 428–430 bucket brigade problems, 303–304, 311–315 dual-drive robot program, 394–397 computational perspective of, 294–296 infrared/ultrasonic indicators, 398–410 dead reckoning navigation, 310–315 Mars simulation use if, 428–430 decision tables and, 318–321 Pythagoras’ theorem, 394 delay function as memory, 302–303 Thales’ theorem, 394 drunken sailor problem, 335–337 thunderbolt signal concept, 398–404 dual-drive kinematics and path integration, 328–333 trilateration, 398–403 emergent behavior of, 292–294, 302–303 Inertial navigation, 107–109 environment interaction and, 292–296 Infinite descent, proof by, 167–168 event-driven behavior, 323–327 Infrared/ultrasonic indicators, 398–410 flags, event status and, 323–327 Inhibitors, 356 foraging problem, 296–302, 334 Insect behavior, see Bugs LabVIEW programs for, 302, 304–305, Intelligence, 244–245, 342–381. See also Artificial 311–313, 317–318, 320–323, 324–325, intelligence (AI) 329–332 adaptive learning program, 346, 369–368 LEGO challenges, 333–340 choosing between tasks, 362–372 Nelson semaphore behavoir, 315–323 cruise and course correction, 358–360 NXT-G 2.0 program for, 303–305 Da Vinci robot, 346, 368–372, 378 Piccard event driven behavoir, 323–327 Dewey robot, 346, 363–368 problem-solving exercises, 328–333 Drunken sailor problem, 344–346 random numbers and, 307–310 dynamic learning programs, 346, 368–372 random walk algorithms, 297–302 finite state machine (FSM), 346–363, 377 reaction delays, 335 GASTON “wow” effect, 342–343 rotation sensor values and, 311–315 LabVIEW programs for, 358–362, 367–369, semaphore algorithm signals and messages, 373–375 315–323 LEGO challenges, 375–380 Seven bridges of Königsberg problem, 302, line detection/following, 356–358 337–339 Markov chain, 344–345, 347, 373–375 Star Wars problem, 339–340 Moore robot, 346, 347–354 sweep scan algorithm, 297 touch sensors, 295–296, 304, 311–312, object avoidance, 360–362 317–321, 333–334 probability, 344–346, 366, 368–372, 376–378 travelling salesman problem (TSP), 296 problem-solver exercises, 373–375 turning by a constant angle algorithm, robot functions, 342–381 300–302 robot state, 343–346 virtual bee, 296–302 robotics and, 244–245, 292–294 wait-for-pressed functions and, 304 Rodney robot, 346, 355–363 walking the grid problem, 335 sampling problems, 375–376, 379–380 Intensity graphs, 71–72, 472–474 sensors and, 357–363, 366–368 Interaural level differences (ILD), 505 subsumption architecture, 346, 355–363, 377 Interaural time delay (ITD), 220, 512 transition probability, 366, 368–372 Interaural time differences (ITD), 505, 507–510 Intelligent robots, 251, 292–341 Internet use, 32–35, 175–181, 196–199 Al-Khwäizmï navigation behavior, 310–315 binary phase-shift keying (BPSK), 181–182 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 549 — #567 i

Index 549

data communication, 179–181 J discovery and, 32–35 Jacquard, Joseph-Marie, 114 Hypertext Transfer Protocol (HTTP), Jansen, Theo, 37 175–179 Jansen mechanism applications, 37, 51 POST command, 178–179 Jones, William, 131 robot control over the web, 196–199 TCP listener, 177–178 K telerobotics, 175–181, 196–199 Kalman ﬁlter (KF), 412–424, 521–526 Transmission Control Protocol/Internet Kalman gain (K), 420 Protocol (TCP/IP), 175–178 Kalman, Rudolf, 413–414 two’s complement numbers, 179–180 Keith, Mike, 463 Interrupt service routine, 326 Kekulé, Friedrich August, 36 Inventors, 57–82 Kilpatrick, William H., 386–387 bricoleurs, 57, 59–60 Kinetics, see Motion direction master robot design, 39–41, 65–69 KMZ51 sensor, 84–85 gradual grey paper shaft encoder Kneip, Laurent, 18, 219 calibration, 65–69 Kolmogorov, Andrey, 213 LEGO challenges, 70–81 Kremer, Gerhard, 55 linkages, 61–63, 70–81 Kroll, William Justin, 86 magnetic compass design, 57–58 navigation, 69–70 L never-give-up philosophy, 59, 63 LabVIEW for LEGO MINDSTORMS (LVLM), problem solver exercises, 65–70 22–24, 42–43, 65–69, 70–72, 147, problem-solving methods by, 57–64 152–154, 196–197, 230–232, 234–235, sensors, 39–43, 65–69 267, 270, 276–277, 280, 302, 304–305, tinkering by, 57–63 311–313, 317–318, 320–323, 324–325, trial-and-error approach, 57, 59, 63 329–332, 351–354, 358–362, 367–369, 373–375, 498–499, 501 Inverse-square law, 285–286 Al-Khwäizmï navigation robot, 311–313 Inversor (Peaucellier) linkage, 62–63, 74–75 Bernoulli robot, 302, 304–305 Inverted pendulum design, 218 calibration using, 65–69 Investigators, 83–112 Cleanup diagram, 147 accuracy versus precision, 109–111 Create Sub.vi tools, 147 compass design, 83–85, 87–90 Data Viewer, upload and comparison using, electronic devices, 83–85, 87–103 329–330 gyroscope design, 104 data-logging subroutines, 234–235 heuristic vehicle path, 106–107 delay function, 302–303 inertial navigation, 107–109 density function subroutines, 231–232 LEGO challenges, 99–111 Driver Sub.vi, 196–197 navigation of a mobile robot, 104 enumerator list, 358–359 nonorthogonality error, 103–105 Fermat problem solution using, 276–277 nonparallelism error, 103 ﬁnite state machine (FSM), 351–354, 360–363 NXT as a compass, 103 Histogram.vi, 231 problem solver exercises, 91–99 intelligent robot programs, 302, 304–305, problem-solving methods by, 85–86 311–313, 317–318, 320–323, 324–325, tire grip evaluation, 104–106 329–332 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 550 — #568 i

550 Index

LabVIEW for LEGO MINDSTORMS (LVLM) ROBOLAB software and, 16–21 (continued) sensors for, 15 intensity graphs, 71–72 Ultimate ROBOLAB (UR) software and, Linear Fit.vi, 230–232 18–19 Main Application Instance, 42–43 Leine, Remco, 218–219, 390 modeling subroutines 230–232, 234–235 Light-dependent resistor (LDR), 263–264 Nelson semaphore robot program, 320–323 Light sensors, 33, 46–48, 65–69, 266–267, 270–271 NXT test program, 65–69 Lightning vehicle robot, 38, 41–43 Piccard event-driven program, 324–325 Limkilde, Peter, 75 pseudorandom generator, 309–310 Line detection/following, 125–126, 356–363, 389, robot design using, 22–24 394–395 robot intelligence, 351–354, 358–362, Linkages, 61–63, 70–81 367–369, 373–375 automatons, 76–79 shift registers, 42–43 Solve Linear Equations.vi, 70–71 Chebyschev, 62–63 sound2.llb library, 498–499, 501 collision avoidance, 76–77 Std Deviation and Variance.vi, 231–232 “Consul,” the educated monkey, 73–74 Tower of Hanoi program, 152–154 conversion functions, 70–71 tracking objects using, 196–197 inventor solutions, 61–63 wait-for-pressed functions, 304 inversor (Peaucellier), 62–63, 74–75 Landmark for positioning, 71 Jansen, 37, 51 Laplace transform, 234 pantograph, 77–79 Latitude, 54 parabola points as a vehicle course, 75–76 Leaky integrator, 366, 488–489 parallel motion, 61–62 Learn state, 366 polynomial ﬁt (conversion functions), 70–71 Learning programs, 346, 363–372 RR plotter, 454–455 adaptive (learning by doing), 346, 366–368 teleoperation, 76–79 dynamic, 346, 368–372 Watt, 61–62 reinforcement, 363–368 way integration, 76–77 robot intelligence and, 346, 363–372 Loyd, Sam, 169 Least signiﬁcant byte (LSB), 204 Least squares, method of, 212–213, 230, 421 Locomotion, see Animal mimicry Legacy motor, 38, 41–42, 145, 187, 279, 283–285 LOGO software, 12 LEGO Code Pilot, 114–116 Longitude, 54, 107–108 LEGO MINDSTORMS, 10, 13, 16–25. See also Longitude Act, 107–108 LabVIEW for LEGO MINDSTORMS Look-up tables, 132–133, 318–319 (LVLM) Loudness, 485 LEGO Robotics Invention System (RIS), 10–25 Louis XI, King of France, 143 BIT rules for design using, 14–15 Lucas, Edouard, 149 development of, 10 Ludolphine number, 131 education using, 13–25 LUXPAK weather balloon payload, 26–28 LabVIEW for LEGO MINDSTORMS (LVLM), 22–24 LOGO software and, 12 M MINDSTORMS, 10, 13, 16–25 Machina Speculatrix, 119–120, 130 NXT design, 10, 21–23 Magnetic compass design, 57–58, 83–91 RCX design, 10, 13, 16, 17–21 Magneto-resistive permalloy sensors, 84–85 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 551 — #569 i

Index 551

Magnetotaxis, 259, 271 degrees of freedom (DOF), 220–222 Magnitude (distance), 79 dynamics of physical systems, 207 Main Application Instance, LabVIEW, 42–43 Gaussian (normal) distribution and, Markov chain, 344, 347, 373–375 212–214, 227–228 Mars environment simulation, 174–175, 424–433 Gauss’ linear fit method, 224–232 Mars Rover telerobotic project, 174–182, 184–185 inverted pendulum design, 218–219 design process, 174–175 LabVIEW subroutines, 230–232, 234–235 RCX infrared communication for, 179–181 LEGO challenges, 237–240 ROBOLAB for, 175 method of least squares, 212–213 web server for, 175–179 Nash equilibrium, 206 Martin, Fred, 13, 264–265 open-loop control, 215–218 pendulum clock model, 232–238 Massey, Walter, 6 PID controller model, 238–239 Matari`c, Maja J., 119, 243, 252, 343 problem solver exercises, 223–237 Maybeck, Peter S., 414–415 problem-solving methods by, 206–207, Maze strategies, 120–123, 124–127, 141–142 212–215 algorithms for, 120–123, 141–142 rational versus empirical methods, 206–207 Boyscout and Follower program, 123 residuals, calculation of, 225–232 deformation theorem for simple closed rolling ball clock model, 237–238 curves, 121 seesaw robotic design, 207–212, 237 Dijkstra algorithm for, 141–142 Segway PT design, 218–219 perfect maze, 121 system and control theory for, 207 Pledge algorithm for, 121–123, 127 system state and, 211–212 right- and left-hand rules, 121 trajectory calculations, 213–214 robot project for, 124–126 Modulo function, 65 Theseus mouse robot, 120 Monosynaptic reflex arc, 261–262 topology and, 121, 123–124, 141–142 Montessori, Maria, 9 McCarthy, John, 245 Montessori education methods, 9, 11 Mechanical Turk, 77–78 Moore robot, 346, 347–354. See also Finite state Melde’s experiment, 482–485 machines (FSM) Michaelis, M. M., 218 Morphology, 292–294 Microphones, 492–393 Morse, Samuel, 202 Milios, E., 220–221, 506 Morse code, 202–203 Mindsensors vision subsystem v3 for NXT Most significant byte (MSB), 204 (NXTCam3), 196–197 Motion, 36–38, 44–55, 213–214, 278–281. See also MINDSTORMS, 10, 13, 16–25. See also LabVIEW Sensors for LEGO MINDSTORMS (LVLM) accelerometer functions, 49–50 Mitra, Sugata, 9 bionically inspired designs, 50–51 Möbius strip environment, 293–294, 389 brake mode, 281 Modelers, 206–242 Cartesian coordinates for, 54–55 Blind Juggler robot, 216–218 coast mode, 281 catching a free-falling ball, model for, counting pulses, 46–48 239–240 da Vinci’s flying machines, 51–54 closed-loop control, 215–216, 218–219 dead reckoning, 44 continuous-sound locator design, 219–222 direction master robot design, 39–41 data-logging subroutines, 234–235 driving the distance, 45–46 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 552 — #570 i

552 Index

Motion (continued) Mars environment simulation, 424–433 driving the straight line, 45 mobile robot design for, 104, 310–315 duty cycle, 278 operational amplifiers (op-amps), 410–411 Jansen mechanism applications, 37, 51 perspective and, 389–392 lightning vehicle robot design, 41–43 prediction and estimation, 411–424 light sensor, 33, 46–48 Serendipity robot boat, 433–442 multiple stops, 46 Stonehenge circle problem, 392–397 pulse-width modulation (PWM), 278–281 terminology for, 69–70 reaching the target, 46 zero gravity, 390–391 rotation sensor, 41, 49–50 Needles, compass use of, 83–84 south-pointing chariot, 34, 51 Nehmzow, Ulrich, 292 tachometer values, 48–49 Nelson, Lord Horatio, 323 trajectory calculations, 213–214 Nelson robot semaphore behavior, 315–323 travel distance calculations, 48–49 Never-give-up philosophy, 59, 63 Motors, 278–285 Newton’s inverse-square law, 285–286 Braitenberg vehicles, 285 Nic_3 robot design, 22, 508–516 characteristic curve of transistor, 283–285 Nicholas, Adrian, 53 data-logging configurations, 285 Noble, David, 31 LEGO challenges, 282–289 Nonorthogonality error, 103–104 pulse-width modulation (PWM), 278–281 Nonparallelism error, 103 speed-regulated design, 282–283 Normal (Gaussian) distribution, 212–214, transistors, 281–282, 283–285 227–228 Multiple stops by a robot, 46 Numerical derivation, 41 Mysterious behavior, 303–304 NXT hardware and software, 10, 21–23, 91–96, 103, 131–135, 195–197, 279–281, N 303–305 Bernoulli robot using NXT-G 2.0 program, Nahin, Paul, 463 303–305 Naïve sort, 163–166 compass configuration by, 103 Nakamura, Shuji, 85–86 design of, 10, 21–23 Napoleon’s theorem, 142–143 Dinsmore 1655 sensor connected to, 91–96 Nash, John, 206 Mindsensors vision subsystem v3 for Nassi-Shneiderman-Diagram (NSD), 319–320 (NXTCam3), 196–197 National Marine Electronics Association optical connection, 195–196 (NMEA), 439 pulse-width modulation (PWM), 279–281 Navigation, 44, 57, 69–70, 104, 107–109, 310–315, serial communication to/from RCX/NXT, 389–444 195–196 accelerometer, 390–391 sine and cosine calculation using, 131–135 Al-Khwäizmï robot behavior, 310–315 Apollo guidance computer (AGC), 412–415 dead reckoning, 44, 57, 310–315, 393 O indoor global positioning system (GPS), Object avoidance, 76–77, 313, 360–362 397–470 Ohm, George Simon, 206–207 inertial, 107–109 Ohm’s law, 88, 100–101, 206–207 Kalman filter (KF), 412–424 Omnidirectional holomonic platform (OHP), 275 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 553 — #571 i

Index 553

Open-ended projects, 383–519 Plotter control, 445–448, 456–463, 477 brainstorming, 387 Poe, Edgar Allan, 77, 118 drawing, 445–480 Polar coordinates, 79–81 education, instruction versus dictation, Polar (RR) plotter, 454, 471–479 383–385 Polarotaxis, 288 navigation, 389–444 Polya, George, 5–6 project-based learning, 386–388 Polynomial fit (conversion functions), 70–71 sound, 481–519 Position, 44, 46, 54, 70, 71, 389–444, 454–471, Open-loop control, 215–218 484–485, 505, 510–515 Operational amplifiers (op-amps), 410–411 POST command, 178–179 Osborn, Alex, 387 Precedence effect, 15, 501–502 Precision versus accuracy, 109–111 P Predict-correct algorithm, 415–424, 477 Pantograph, 78–79 Prediction and estimation, 411–424 Papert, Seymour, 12, 27, 385 Apollo guidance computer (AGC), 412–415 Pappus of Alexandria, 256 estimation error variance, 422–424 Parabola points as a vehicle course, 75–76 filtering property, 415–416 Parallel motion, 61–62 Kalman filter (KF), 412–424 Parity check, 194 recursive predictor/corrector algorithm, Pascal, Blaise, 118 418–420 Pascaline, 118, 130–131 samples, 416 Path (track), 70 state estimates, 418 Pauli, Wolfgang, 2–3 Primary Guidance, Navigation and Control Peaucellier, Charles Nicolas, 62–63 System (PGNCS), 412–413 Peirce, Benjamin, 463 Printed circuit board etching, 96–99 Pendulum clock model, 232–237, 238 Probability, 344–346, 348–349, 364–366, 368–378 Pendulums, accelerometer functions using, 49–50 conditional, 376–377 Perception and reactions, 259, 482–488 decision graphs, 368–369 Perfect maze, 121 distribution, 369–371, 373–374 Perspective, navigation and, 389–392 random determination, 348–349 Phase (angle), 79 transition, 344–346, 364–366, 368–372, 378 Photoresistor-based sensors, 15 vectors, 373–375 Phototaxis, 269, 271–272 Problem solving, 1–242 PHP-hypertext preprocessor, 197–198 bee “waggle dance,” 5 Physics by design method, 11 challenges of, 25–29 Pi (π), calculation of, 131 code breakers, 174–205 Piazzi, Giuseppe, 213–214 communication and, 5 Piccard family achievements, 327 conquerors, 140–173 Piccard robot, event-driven behavoir, 323–327 discoverers, 31–56 PID controller model, 238–239 education and, 6–16 Pierre-Simon, Marquis de Laplace, 234 Egg of Columbus, 2–5 Piscopia, Elena Lucrezia Cornaro, 383 electronic devices, 83–85, 87–103 Pitch, 485, 516–517 Fermat’s Last Theorem, 2 Pi-writer, 463–470 Hole-in-the-Wall Education project, 9 Pixels, 472–477 inventors, 57–82 Pledge algorithm, 121–123, 127, 162 investigators, 83–112 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 554 — #572 i

554 Index

Problem solving (continued) Pascaline, 130–131 LEGO robotics used for, 1 Pledge algorithm for robots, 127 LEGO Robotics Invention System (RIS), Shannon’s Ultimate Machine, 129–130 10–25 square root calculation, 128–129 mathematics and, 5–9 Turing machine, 126–127, 130 modelers, 206–242 Project-based learning, 386–388 never-give-up philosophy, 6, 59, 63 Pseudorandom generator, 309–310 programmers, 113–139 Pulse width modulation (PWM), 278–281 Pythagoras, 60–61 puzzles and, 3–4 Pythagoras’ theorem, 394, 450–451 researcher role in, 5, 9 science and engineering for, 6–7 Q strategy, tactics, and tools for, 2–6 Quicksort, 164–165 thinking outside the box, 3–5 tinkering, 57–64 R Tippe top, 2–3 Rabinowitz, Stanley, 464–465 trial-and-error approach, 57, 59, 63 Rádl, Emanuel, 269 RampPattern.vi, LabVIEW, 231–232 Program for International Student Assessment (PISA), 9 Random numbers, 307–310 Random walk algorithms, 297–302 Programmers, 113–139 Rational and irrational numbers, 167–168 agents (function and program), 114 Rationalist methods, 6–7, 206–207 algorithms, 116–117, 120–123, 127–129 RCX controller device, 10, 13, 16, 17–21, 88–89, Al-Jazari’s musical “robot band” design, 179–182, 195, 501–504 113–114 compass driver, 88–89 artiﬁcial intelligence and, 114, 120 development of, 10 comparison of automata, computers, and ﬁrmware for, 501–504 robots, 117–120 infrared communication, 179–182 digital numbers, 136–138 LEGO RIS design, 13, 16, 17–21 Jaquard loom design, 114 serial communication to/from NXT, 195 LEGO challenges, 127–138 Reaction delays, 335 LEGO Code Pilot, 114–116 Recursive functions, 148–155 maze strategies, 120–123, 124–126 Recursive predictor/corrector algorithm, problem solver exercises, 124–127 418–420 robot requirements of, 113–114 Reid, G. L., 220–221, 506 robots and, 113–114, 117–120, 122–124, Reinforcement learning, 363–372 124–126, 127–138 Reist, Philipp, 216–218 visualization (imagination) of, 120–121, 124 Repetitive “buggy” behavior, 304 Researcher role in problem solving, 5, 9 Programming, 113, 124–136 Residuals, calculation of, 225–232 binary number implementation, 126–127 Resistors, 100–101 digital numbers and, 136–138 Resource starvation, 316 Heron’s algorithm, 128–129 Reverse engineering, 88 LEGO challenges, 127–136 Rhombic dodecahedron, 256, 272 look-up tables, 132–133 Ries, Adam, 116, 164 Machina Speculatrix, 130 ROBOLAB software, 16–21, 150–151, 175 maze strategy for robot, 124–126 development of, 16–21 NXT calculation of sine and cosine, 131–135 GASTON use of, 16–19 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 555 — #573 i

Index 555

Mars Rover telerobotic project, 175 development of, 243–247 Tower of Hanoi problem using, 150–151 don’t think–react! design, 274–275 ultimate (UR), 18–19, 150–151, 501 emotions expressed by, 143–146 Robot Institute of America (RIA), 113 Fermat problem-solving designs, 273–276 Robotics, 207–212, 243–381, 471–479 intelligence of, 342–381 animal cognition and, 244 intelligent, 292–341 artificial intelligence (AI) and, 245–248 invention of, 119–120 automata and, 244–245 inverted pendulum design, 218–219 behavior of robots, 248–251, 263, 292–341 maze strategies for, 124–126 Braitenberg vehicle designs, 259–265, modelers and, 213–222 268–269 open-loop control, 215–218 bugs, 254–291 polarotaxis functions, 288–289 calligraphy using, 467–479 programmers and, 113–114, 116–120 control methods for, 252 Robot Institute of America (RIA) definition, convergence of a sequence, 268–271, 113 286–288 steady state of, 263 Deep Blue, 245–246 think-hard–act-later design, 273–274, development of robots, 243–247 296–297 drawing hand design, 471–479 trajectory calculations, 213–214 Fermat problem, 272–278 Rodney robot, 346, 355–363. See also Finite state HAL9000, 246–247 machine (FSM) Helmholtz vehicle design, 266–267 Rogers, Chris, 11, 16, 18, 343, 390 intelligence and, 244–245, 292–294 Rolling ball clock model, 237–238 intelligent robots, 292–341 Rosetta Stone, 183 problem-solving perspective of, 243–253 Rotation sensors, 41, 49–50, 311–315 seesaw design, 207–212 Rudder control, 440–441 self-awareness and, 250–251 Rule of thumb, 449–451 sensors and, 260–271 Steiner points, 257–258, 273–274 S Turing test, 245 Samples, 416 Watson, 246 Sampling problems, 375–376, 379–380 Robots, 113–114, 116–120, 122–124, 124–126, Sampling theorem, 379 143–146, 168–169, 196–199, 213–221, 243–251, 263, 274–276, 288–289, Satellite perspective, 426 292–341, 342–348 Schlitt, Herbert, 213 architecture of, 116 Schmidt, Stanley F., 413 artificial intelligence (AI) and, 119, 245–247 Science, technology, engineering, and automata and computers compared to, mathematics (STEM), 7 116–120 Seesaw robotic design, 207–212, 237 behavior of, 248–251, 263, 292–294 Segway PT design, 218–219 closed-loop control, 215–216, 218–219 Self-awareness, robotics and, 250–251 complex, design of, 168–169 Semaphore algorithm, 315–323 continuous-sound locator design, 219–222 Sense-act processing, 255 control of over the web, 196–199 Sense-think-act processing, 255, 294 degrees of freedom (DOF), 220–222 Sensor watcher task, 323–325 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 556 — #574 i

556 Index

Sensors, 15, 33, 38–43, 46–50, 60, 65–69, 83–85, Sound, 219–221, 481–519 87–88, 260–271, 295–296, 304, 311–315, acoustic localization, 504–516 317–321, 333–334, 357–363, 366–368, analyzing, 492–504 489–491 animal mimicry and, 481, 488–491 angle, 65–69 animats, 488–491 Braitenberg vehicles, 260–265, 268–269 crickets, 488–491 calibration of, 65–69 cross-correlation function, 495–498 combined light and touch, 357–363 cues, 505 compass design using, 83–85, 87–88 digital signal processing (DSP), 493–495 differential equations for, 39–41 ear, system of, 482–483, 485 dual, reactions to, 260–265, 270–271 interaural time differences (ITD), 505, electronic, 87–88 507–510 Hall-effect, 83, 87–88 LabVIEW sound2.llb library, 498–499, 501 Helmholtz vehicle design, 266–267 location of sources in space, 219–221 intelligent robot behavior and, 295–296, 304, Melde’s experiment, 482–485 311–315, 317–321, 333–334 microphones, 492–494, 510–512 KMZ51, 84–85 Nic_3 robot design, 508–516 legacy motor, 38, 42–43 perception, 482–488 light, 33, 46–48, 65–69, 266–267, 270–271 RCX ﬁrmware for, 501–504 multiplexer “mood-meter” design, 60 robot implementation of, 506 photoresistor-based, 15 sensors, 489–491 precedence effect from, 15 spatial direction of, 510–512 robot intelligence and, 357–363, 366–368 spectral analysis, 498–500 robotics and, 260–267 time delay (lag), 501–503 rotation, 39–41, 49–50, 311–315 Sound pressure levels (SPL), 488 shaft encoders and, 39–41, 65–69 South-pointing chariot, 34, 51 sound, 489–491 Spaghetti code, 146–147 touch, 295–296, 304, 311–312, 317–321, 333–334, 366–368 Spatial direction of sound, 510–512 values, reactions to, 260–265 Spectral analysis, 498–500 Serendipity robot boat navigation, 433–442 Speed (velocity), 70 Sessa, 155 Sperling, Walter, 150 Seven bridges of Königsberg problem, 302, Spigot algorithm, 464–467 337–339 Square root calculation, 128–129 Shaft encoders, see Encoders Star Wars problem, 339–340 Shannon, Claude, 120, 129, 216, 379 State estimates, 418 Shannon’s Ultimate Machine, 129–130 State space, 343–344 Shift registers, LabVIEW, 42–43 State transitions, 344–346, 353–354 Signal semaphore, 323 State variables, 343–344 Signals and messages, 202–203, 315–323, 398–410 Steady-state errors, 239 infrared/ultrasonic indicators, 398–410 Steady state of vehicles, 263 Morse code, 202–203 Steiner points, 257–258, 273–274 semaphore algorithm, 315–323 Stigmergy, 255, 259 Simon, Herbert A., 248 Stochastic matrix, 373 Simpson, Thomas, 273 Stochastic process, 230 Sine/cosine calculation, 131–135, 156–162 Stonehenge circle problem, 392–397 SmartBird, 53 Straight line, robot driving of, 45 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 557 — #575 i

Index 557

Strategy for problem solving, 6 Tippe top, 2–3 Structogram, 319–320 Tire grip evaluation, 104–106 Stuart, David, 183 Toepler, August, 129 Subsumption architecture, 248, 346, 355–363, 377 Tools, 6 Sun Tzu, 143 Topology and maze strategy, 121, 123–124 Sweep scan algorithm, 297 Torricelli, Evangelista, 272–273 Synchronization of locomotion, 36–37 Touch sensors, 295–296, 304, 311–312, 317–321, Synthetic psychology, 259–260, 268–269 333–334 System and control theory, 207 Tower of Hanoi algorithm, 148–155 System state, 211–212 Track (path), 70 Tracking objects using LabVIEW, 196–197 T Trajectory calculations, 213–214 Tachometers, 41–43, 48–49 Trammel, 99–100 Tactics, 6 Transistors, 281–282 Target, reaching goal of, 16 Transition probability, 344–346, 366, 368–372 Taxicab geometry, 172 Transition tables, 344, 351 TCP listener, 177–178 Transmission Control Protocol/Internet Protocol Teleoperation, 76–79. See also Automata (TCP/IP), 175–178 Telerobotics, 174–182, 184–185, 195–199 Transmission shaft-encoder, 33–34 data communication, 179–181 Travel distance calculations, 48–49 downloading HTML ﬁles, 196–199 Travelling salesman problem (TSP), 296 Mars Rover project, 174–182, 184–185 Trial-and-error approach, 57, 59, 63 Mindsensors vision subsystem v3 for NXT Trigonometry, 7–8, 448–454 (NXTCam3), 196–197 drawing programs use of, 448–454 NXT to RCX serial communication, 195 educational methods for, 7–8 optical NXT to NXT connection, 195–196 Tuft’s Center of Engineering Educational PHP-hypertext preprocessor, 197–198 Outreach (CEEO), 19–21 RCX to NXT serial communication, 195 Turing, Alan, 118–119, 245 robot control over the web, 196–199 Turing machine, 116, 118–119, 126–127, 130 tracking objects using LabVIEW, 196–197 Turing test, 245 web server for, 175–179 Turning by a constant angle algorithm, 300–302 Thales’ theorem, 394 “Turtle graphics,” 12 Theory of indivisibles, 273 Two’s complement numbers, 179–180 Theseus mouse robot, 120 Think and act separately robot design, 275 U Think-hard–act-later robot design, 273–274, Ultimate Machine (Shannon’s), 129–130 296–297 Ultimate ROBOLAB (UR) software, 18–19, Think-the-way-you-act robot design, 275 150–151, 501 Thomson, Sir William (Lord Kelvin), 63 Uniform Resource Locators (URL), 196–199 Thresholding, 46–48, 472–476 Thunderbolt signal concept, 398–404 V Tilt error, 89–90 Valéry, Paul, 6 Timbre, 485 Valin, J.-M., 506 Time delay (lag), 427–433, 501–503, 512 van Ceulen, Ludolph, 131, 464 Time difference of arrival (TDOA), 276 van Soest, Johannes Leendert, 220–221 Tinkering, 57–63. See also Inventors Vectors, 81 i i

i i i i i “BOOK” — 2012/7/18 — 12:27 — page 558 — #576 i

558 Index

Vehicle course of ﬁve parabola points, 75–76 Walter, W. Grey, 119–120 Vehicle path, heuristics of, 106–107 Wang, Eric, 21 Velocity (speed), 70 Water-rockets, 53 Vernier, David, 105–106 Watson, 246 Viète, François, 464 Watt, James, 61–62 Virtual bee robot, 296–302 Way integration, 76–77 Visualization (imagination) of programmers, Weather balloon payload, 27–28 120–121, 124 Web, see Internet use Volder, Jack E., 157–159 Web server for Mars Rover project 175–179 von Békésy, Georg, 482 Webb, Barbara, 249–250, 488–489 von Frisch, Karl, 5, 182–183 Wiles, Andrew, 2 von Helmholtz, Hermann, 265, 482 WWII “Ultra Secret,” 183–184 von Kempelen, Johann Wolfgang Baron de Pázmánd, 77 X von Lindemann, Ferdinand, 463 xy-plotter robot, 19–20 von Neumann, John, 117, 319 xy-plotter, 454–463 von Zach, Franz Xaver, 214 W Z Wagon, Stan, 464–465 Z-series computers, 116–117 Wait functions, 304, 323, 361 Zeitz, Paul, 6, 28 Walking mechanisms, 37 Zero gravity, 390–391 Walking the grid problem, 335 Zig-zag scan algorithm, 297 Wallach, H., 220 Zuse, Konrad, 116–117

i i