Salvius Robot Project: July 2012

Salvius Robot Project

The Open Source Humanoid Robot

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Speakers

(6 comments)


The common name for an electroacoustic transducer is 'speaker'. Speakers are simple devices that convert electrical signals into sound. Speakers are composed of three main parts; a magnet, coil and cone. There is a permanent magnet that is attached to the housing at the back of the speaker. Then a coil rests over the magnet and is attached to the cone. The cone is simply a rigid material that allows the coil to produce sound. When current passes through the coil a magnetic field is created. The magnetic field repels the permanent magnet and causes the coil to moved forward or backward rapidly. The vibration is amplified by the cone.

Heatsinks

(1 comment)

Three commonly found heatsinks and a larger one with a fan mounted on it to assist cooling.
Many integrated circuits and power regulators produce heat as they operate. The heat is the natural result of current passing through the semiconductors that they are made out of. Semiconductors have their names because they are only semiconductive and do not conduct electricity as well as some other materials. Therefore the natural resistance semiconductors have to current expends the energy of some of the electrons passing through them as heat.

Excessive heat can damage electronic devices. In order to combat the problem of heat generated in electric circuits heatsinks are sometimes attached to components that generate the most heat. Heatsinks are made of thermally conductive materials and have folds made into them in order to increase surface area so that the heat from the component is dissipated into the air quicker. Heatsinks are also sometimes attached with a layer of thermally conductive past. The paste helps to insure that heat is conducted efficiently between the component and the heatsink.
A power regulator attached to a large heatsink.

Fuses

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A fuse is a component used in electronic circuits to prevent overloads. In the event that more current is passing through a circuit that the circuit can handle or if a short occurs the fuse will break and save the rest of the circuit. This is why a fuse is sometimes referred to as sacrificial device.

Fuses work on a simple principal. When a there is a current overload the result is heat. This is because all materials, including the wire that the circuit is made of, have resistance. Resistance is the natural opposition that materials have to electric current. As electrical energy is conducted through a circuit some of the energy is consumed in the process of pushing the electrons through the material. The consumed energy is converted into heat. When a fuse blows it is because too much current was passing through it. Too much current results in an even greater amount of heat and can damage a circuit. Fuses are rated for how much current they can conduct. If more current passes through a fuse than it is rated for the fuse will heat up until the thin filament in its center blows and disconnects the circuit form the power source.

Diodes

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A diode is an electrical component that only allows electricity to flow in one direction. The material used to make a diode is usually a semiconductor such as silicon. The reason that a diode can block electricity in one direction and conduct it in the other is because of the p-n junction that is formed by the silicon semiconductor. The p-n junction is a boundary that is formed between a piece of p-type silicon and n-type silicon. The 'p' in the p-type semiconductor represents the fact that it is positively polarized, the same can be said for the n-type in which the 'n' indicates that the semiconductor is negative. Both the p-type and n-type semiconductors have aproximately the same level of conductivity.

The side of the diode that is connected to the p-type semiconductor is known as the anode. The anode is the negative side of any electrical device, on a diode this side is usually marked by a white line. The complete opposite can be said for the side of the diode connected to the n-type semiconductor which is known as the cathode. The cathode is the positive side of any electrical device.

Depending on the voltages of the two semiconductor regions the junction between the two semiconductors can become depleted of charge carriers. Once the carriers are depleted the semiconductor will no longer conduct electricity. This property is described as either forward bias and reverse bias. Bias in a semiconductor is the applied voltage to the p–n junction. When no current is passing through the diode the electrons in the p-n junction return to a state of equilibrium. That means that that all of the electrons return to the p-type side of the junction and all of the holes return to the n-type side. Holes are the conceptual and mathematical opposite of an electron.

Forward bias is when the positive side of the power source is connected to the anode and the negative side of the power source is connected to the cathode. The flow of current through the diode causes the p-type side to repel the holes and the n-type side to repel the electrons. This pushes the holes and the electrons close together in the center of the junction. As the holes and the electrons get closer together the electrical resistance of the n-p junction decreases thus allowing current to flow through the diode.

Reverse bias is when the negative side of the power source is connected to the cathode and the negative side of the power source is connected to the anode. The flow of current through the diode with this polarity causes the p-type side to attract the holes and the n-type side to attract the electrons. This pulls the holes and the electrons to opposite sides which depletes junction. When the junction is depleted no current can pass through.

Transistors

(18 comments)



A transistor is an electronic component that uses semiconductors to amplify and switch electronic signals and power. Transistors are composed of a semiconductor material with a minimum three terminals for connection to an external circuit. A voltage or current applied to one pair of the transistor's terminals changes the current flowing through another pair of terminals. Because the controlled (output) power can be higher than the controlling (input) power, a transistor can amplify a signal. Transistors replaced vacuum tubes and are more efficient. Today, some transistors are packaged individually as shown in the picture above, but more often they are embedded in integrated circuits.

A single model of transistor can be made in several different packaging materials which are usually made of glass, metal, ceramic, or plastic. The only thing that the package material often dictates the power rating and frequency characteristics of that particular transistor. Power transistors have larger packages with a hole so that they can be bolted to heat sinks to enable cooling.

There are two types of transistors, which have slight differences in how they are used in a circuit. A bipolar transistor has terminals labeled base, collector, and emitter. A small current at the base terminal (that is, flowing from the base to the emitter) can control or switch a much larger current between the collector and emitter terminals. For a field-effect transistor, the terminals are labeled gate, source, and drain, and a voltage at the gate can control a current between source and drain. The collector in some power transistors may be connected directly to the metal of the enclosure.

Transistors are commonly used as electronic switches, both for high-power applications such as switched-mode power supplies and for low-power applications such as logic gates. Transistors are commonly used to amplify a signal. The design of a transistor uses its common-emitter amplifier to allow a small change in voltage connected to the base of the transistor to produce a larger change in the output of the transistor.



There are many different types of transistors and most look virtually the same making it impossible to tell the difference between two types without looking them up. The two most common types of transistors are NPN and PNP. These two types represent the two basic types of setups for transistors.

In a PNP transistor, the current passes through the emitter before it reaches the base, and the current leaving the base passes through the collector; for example, "emitter-base-collector." PNP is an acronym for the polarity of the transistor; the emitter is positive, the base is negative, and the collector is positive. The majority current carrier in a PNP transistor are holes, or a lack of electrons, rather than electrons.

In a NPN transistor, the emitter and collector reverse roles, so the current passes through the collector before reaching the base and leaves through the emitter; for example, "collector-base-emitter." An NPN transistor's polarity is negative-positive-negative, and the majority current carriers are electrons instead of holes. Because NPN and PNP have opposite charges, the battery's bias, or polarity powering the transistor, is reversed.


The labeling methods for transistors can sometimes be inconsistent but there is a general rule for naming them that can be used to find out more about a transistor based on the information provided on its label.

The types of some transistors can be determined based on the information provided in the label. There are three major semiconductor labeling standards. In each standard there is an alphanumeric prefix that provides clues to type of the device. The three labeling standards are include the Japanese Industrial Standard, Pro Electron Standard, and the JEDEC EIA370 Standard. There are also other naming conventions that are standard to specific companies which only adds to the confusion and may not always provide a reliable source of determining the transistor's identity. These issues that occur in manufacturing labels are only added to when yo consider how some transistors have duplicate labels such as the J176 low-power Junction FET and the higher-powered MOSFET 2SJ176 (both of which are labeled J176).

The first category of transistors is based on the date that the type of semiconductor material was first used to make transistors. The

metalloid germanium (1947) and silicon (1954)— in amorphous, polycrystalline and monocrystalline form; the compounds gallium arsenide (1966) and silicon carbide (1997), the alloy silicon-germanium (1989), the allotrope of carbon graphene (research ongoing since 2004), etc.

The other categories are as follows:

The Second category is structure: BJT, JFET, IGFET (MOSFET), IGBT, and "other types"

Electrical polarity (positive and negative) : NPN, PNP (BJTs); N-channel, P-channel (FETs)

Maximum power rating: low, medium, high

Maximum operating frequency: low, medium, high, radio frequency (RF), microwave (The maximum effective frequency of a transistor is denoted by the term fT, an abbreviation for transition frequency—the frequency of transition is the frequency at which the transistor yields unity gain)

Application: switch, general purpose, audio, high voltage, super-beta, matched pair

Physical packaging: through-hole metal, through-hole plastic, surface mount, ball grid array, power modules.

Amplification factor hfe or βF (transistor beta).

Using this classification taxonomy a particular transistor can be described as something along the lines of: silicon, surface mount, BJT, NPN, low power, high frequency switch.

Types of transistors: (including some more unusual types)
  • Bipolar junction transistor 
  • Heterojunction bipolar transistor 
  • Schottky transistor 
  • Avalanche transistor 
  • Darlington transistor 
  • Insulated gate bipolar transistor 
  • Photo transistor 
  • Multiple-emitter transistor 
  • Multiple-base transistor 
  • Field-effect transistor 
  • Carbon nanotube field-effect transistor (CNFET) 
  • Junction gate field-effect transistor (JFET) 
  • Metal semiconductor field effect transistor (MESFET) 
  • High Electron Mobility Transistor (HEMT, HFET, MODFET) 
  • Metal–oxide–semiconductor field-effect transistor (MOSFET) 
  • Inverted-T field effect transistor (ITFET) 
  • Fin field-effect-transistors (FinFET) 
  • Fast-recovery epitaxial diode field-effect transistor (FREDFET) 
  • Thin film transistor 
  • Organic field-effect transistor (OFET) 
  • Ballistic transistor 
  • Floating-gate transistor 
  • Field-effect transistor (FET) 
  • Ion-sensitive field effect transistor 
  • Electrolyte-oxide-semiconductor field effect transistor (EOSFET) 
  • Deoxyribonucleic acid field-effect transistor (DNAFET) 
  • Diffusion transistor 
  • Unijunction transistors 
  • Single-electron transistors (SET) 
  • Nanofluidic transistor 
  • Multigate transistors 
  • Tetrode transistor 
  • Pentode transistor 
  • Trigate transistors 
  • Dual gate FETs 
  • Junctionless Nanowire Transistor (JNT) 
Resources: What Is a PNP Transistor? | eHow.com http://www.ehow.com/info_10026494_pnp-transistor.html#ixzz21B92sdPWhttp://en.wikipedia.org/wiki/Transistor

Arduino

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"Arduino is an open-source electronics prototyping platform based on flexible, easy-to-use hardware and software. It's intended for artists, designers, hobbyists, and anyone interested in creating interactive objects or environments." - http://www.arduino.cc


Both the code and the designs for Arduino are open source so you can either purchase one from a dealer or make your own. You can find reference designs for different models of the arduino at http://arduino.cc/en/Main/Hardware.

AI pseudo code (proof of concept)

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This is some pseudo code that I have been working on for an AI program that can make decisions based on its experience. I've placed a copy of the code bellow in case anyone wants to see it. So far it is incomplete and there are a few things that I have not figured out how to do yet but as you can tell this will be a somewhat simple program. I will post updates later.

Goal: make decisions based on experiences and a few pre-programmed 'instincts' in order to make decisions about the present.

Begin loop

Declare the following variables
     Const sensorGoalValue As Decimal = .50
     Output1 = motor1
     Output2 = motor2
     sensor input = lightSensor

Get values from sensors

Convert sensor values to percents

Determine if sensor value is new
     if sensor value is new
          write present conditions to database
          look for closest matching conditions in database

     ElseIf  database Not empty AndAlso sensor value has been experienced in the past
          load corresponding database conditions

     else (database is empty or unavailable)
          try something random based on logic or instincts

End loop

Piezoelectricity

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Piezoelectricity is the property of various materials to either generate an electricity when mechanical stress is applied. These materials can also function by doing the opposite, they can generate mechanical power when voltage is applied. Until mechanical stress or electrical power is applied to the material it remains overall electrically neutral.



Piezoelectric materials can generate astounding amounts of voltage. For instance, if you properly apply mechanical stress to a 1 cm cube of quartz with 2 kN (500 lbf) of correctly applied force can produce a voltage of 12,500 V.

The piezoelectric property commonly is found in materials with a crystalline structure. This is because the structure of the crystal contains positive and negative electrical charges; each separated from the next but placed at symmetric locations throughout the crystal. Each side of the crystal structure forms an electric dipole. Dipoles are pairs of equal and oppositely charged or poles separated by a distance. When dipoles are near each other they tend to be aligned in regions called Weiss domains. The domains are usually randomly oriented, but can be aligned during a process by which a strong electric field is applied across the material. This process is called poling. Poling is usually at elevated temperatures. There is also a process called poling that is referred to when polarizing permanent magnets but the only relation that the two terms have is the meaning that they are creating polarities of some sort within a material.Spatially separated charges result in an electric field. This means that in a piezoelectric material there will always be an electric potential.

Some commonly used piezoelectric materials are listed bellow. All of these are either naturally occurring or man-made.
  • cane sugar
  • quartz
  • berlinite
  • Rochelle salt
  • topaz
  • tourmaline
  • Dry bone
  • Tendon
  • Silk
  • Wood due to piezoelectric texture
  • Enamel
  • Dentin
  • gallium orthophosphate (GaPO4)
  • Langasite (La3Ga5SiO14)
  • Man-made ceramics
  • Tetragonal unit cell of lead titanate
  • barium titanate (BaTiO3)
  • lead titanate (PbTiO3)
  • lead zirconate titanate (Pb[ZrxTi1-x]O3 0<x<1)
  • potassium niobate (KNbO3)
  • lithium niobate (LiNbO3)
  • lithium tantalate (LiTaO3)
  • sodium tungstate (Na2WO3)
  • Ba2NaNb5O5
  • Pb2KNb5O15
  • Polyvinylidene fluoride (PVDF)
  • Lead-free piezoceramics
  • Bismuth ferrite (BiFeO3)

Application of piezoelectric materials:

Electric cigarette lighters, gas grill and stove igniters use piezoelectric piezoelectric crystal to ignite a flammable gas. When you press a button a hammer to hits a chunk of some sore of piezoelectric. This generates a high enough voltage to allow electric current to jump across a small spark gap. This heats and ignites the gas.


Photo by Anthony
Piezoelectrics are also commonly used for detecting sound such as in piezoelectric microphones. When sound waves hit the material it distorts and produces an electric signal. The term transducer is sometimes used when the device both sends and detects mechanical force. This is usually used in ultrasonic sensors which emit a sound and then detect the vibration when it bounces off a surface.

Relay Polarity Thing

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That's all I could think to call it. This small circuit uses diodes to turn on only one device based on the polarity of the power source. This can be very useful for some projects. I used this to control a large 12 Volt motor with a 9.5 volt receiver from an RC car.

Ubuntu USB webcam server using Motion

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Motion is an open source webcam server for Linux operating systems. This software allows you to capture images from a camera connected to computer or server. Motion has many features that make it very versatile. You can set up your webcam server to take a picture every specified interval of time. You can also configure Motion to only take pictures when motion is detected. Motion can handle as many cameras as you need it to (within the reasonable limits of your server that is). If you connect your camera via USB 1 inputs they will only handle one camera. Cameras connected via USB 2 inputs may allow you to connect several cameras using a divider.

For my webcam server that I run on the robot I set it up so that the server continuously captures an image and overwrites the same file every time.

The first thing that you will need to do is prep your computer to compile the source code for motion.

Here you can download the tar package for Motion.
Or if you want to set this up the way that I did you can download my code from here.


Then extract the file to a directory such as /usr/local

cd /usr/localtar -xvzf /path/to/motion-3.2.X.tar.gz

Before you compile the code be sure to have build essential installed:

sudo apt-get install build-essential

You will now have created a directory called motion-3.2

Now change to the new directory

cd motion

Run configure. You can start with the defaults. If you need to modify the installation parameters you can read the next section.

./configure

Build the code

make

Install the code

make install

Replace the motion.conf, thread1.conf, thread2.conf located in /etc/motion/ with the ones that I have included in my zip file download.

To start motion open terminal and type:

sudo motion

To add Motion to startup automatically start with the server, just open “System” from the menu bar on the top of the screen, then “Preferences,” then “Sessions.” Create a new startup program type in a name for it and then type motion in the command section. Click“OK.” Then restart the server.

If you are modifying the motion.conf or thread.conf files you will have to restart motion after you make a change to them. To do this you can restart the computer or use the following command:

sudo /etc/init.d/motion restart

Also, if you only have more than a single webcam you will need one thread.conf file. For each additional camera that you use you will need to add another thread.conf file (thread1.conf, thread2.conf, thread3.conf) You will also need to add the links to these files at end of the motion.conf file.

More information about Motion:
http://www.lavrsen.dk/foswiki/bin/view/Motion/WebcamServer
http://manpages.ubuntu.com/manpages/precise/man1/motion.1.html

Troubleshooting your cam:
http://askubuntu.com/questions/57314/logitech-webcam-pro-9000-only-works-when-motion-is-run-as-root

Update: The following shoes the only changes that I currently have made to my Motion.config files:

target_dir /var/www/
snapshot_filename image
jpeg_filename image

Electrical Schematic Symbols

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Electrical schematics are symbolic representations of electronic circuits. Just as there is an almost never ending variety of electronic components there is a equally never ending amount of symbols to accompany them. Bellow you will see several of the most common schematic symbols and their function labeled underneath.
Image generated using Nevron Diagram for .NET ( http://www.nevron.com )

Like I previously said, there is an almost never ending amount of schematic symbols so if your not sure on one just remember that most symbols are variations of similar items, if you don't know one look for the next closest symbol.

Ohm's Law

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Ohm's law is a mathematical equation that is used to show the relationship between voltage, current, and resistance in a circuit. The law states that the current moving through a conductor between two points is directly proportional to the potential difference across the two points. Ohm's Law enables the calculation of one part of the formula when two other variables are known.

Example:

If you know the voltage in the circuit is 9 Volts and that the resistance is 100 Ohms then you can calculate the current (Amps).

I = V/R
I = 9/100
I = .09

You now know that the current in the circuit is .09 amps.

For other measurements you can use three basic formulas as shown bellow using the Ohm's Law Triangle.

The Ohm's Law Triangle


Helps remember Ohm’s law:
I = V/R
V = IR
R = V/I

There are more ways to calculate Ohm's Law in parts of a circuit. To remember the formulas the following Ohm's Law Chart can be very helpful. To use the chart select the letter from the middle circle that corresponds to what you want to calculate. Then choose the correct formula based on what two measurements you already know from the circuit.



Making very simple belt-driven wheels

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This is a quick instructional video I put together on how to make the belt driven wheels that I am using for Salvius. They are extremely simple and easy to make.

H-Bridge Motor Controllers

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The H-bridge is a simple but effective method for controlling the direction of a motor. This system uses four switches (usually relays per motor). When two of the switches on either side of the motor are closed the motor turns in one direction. When the opposite two relays are closed the motor turns in the opposite direction. The H-bridge reverses the flow of electricity that is traveling through a motor. This reversal results in a change in direction of the motor because the permanent magnets in the motor will either repel or attract the motor coils depending on the polarity of the incoming power source.

In the two schematics bellow the closed relays are indicated by red arrows, the direction of the motor by the green arrow and the flow of electricity by the yellow line.

Usually when a circuit is hooked up like this the two opposite relays that control the motor direction are wired together so that they close at the same time.

If you want to control the speed of the motor as well you can add a potentiometer (variable resister) between the connection traveling from the motor's power source and the positive (+) side of the H-bridge.


Robot Facial Remodeling Completed

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These are the most recent pictures of Salvius. The new face features a curved plexiglass panel that fits the contour of the robot's face whereas the previous panel was flat and left a gap on either side vulnerable. I removed the Inferred transmitter and receiver for now because I never hooked them up to anything and now I plan to make it so that the robot can use the same LEDs that it uses for night vision to transmit inferred signals to do things like turn off a TV.