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same total amount of rotation across the two wheels. One problem with the di erential is that if one wheel loses traction entirely it spins, while the wheel that is still held back by friction loses power. You can use the di erential as an input as well as an output. Instead of applying power to its frame to move the wheels, you can put a sensor on the frame and record what the wheels are doing. If both of the wheels are moving at the same rate, the frame will rotate with them. If one wheel is moving but the other is stopped, the frame rotates at one half of the moving wheel s rate. If one wheel is moving at the same speed but in exactly the opposite direction to the other wheel, the frame doesn t move at all. To measure the turn rate of the wheeled base, you need to gear the di erential to the wheels so that when they are moving in the same direction at the same rate the di erential doesn t turn. To do this, we need to reverse one of the wheels with an extra gear (Fig. 9-27). Now the di erential s rotation tells us how much our base is turning and in which direction.

%%%%%%%% ############# Team LRN Behavioral-based robotics, neural networks, nervous nets, and subsumption architecture @@@@@@@ &&&&&&&&&

We can use the di erential s special ability to make our mobile base drive forward in a straight line but turn as it drives backward. One way to do this is to put a ratchet on one of the wheels. A ratchet lets a gear move in one direction but not the other (Fig. 9-28).

6

BEAM robotists pride themselves on using discarded electronics in the construction of their robots: for instance, solar cells from calculators, high-efficiency electric motors from Walkmans and cassette players, along with pulleys, switches, capacitors, components, gears, and solenoids. Gathering this electronic flotsam and converting it into useful robots is a project in recycling engineering. The BEAM robotic competition is open to everyone. All competitors start on equal footing. Seven-year-old robotists have as much chance of winning as a professor from a prestigious college. In some cases the 7-year-old won!

Fig. 9-28.

The following is a brief synopsis of the competitions held at the BEAM games. Complete descriptions of the events and rules can be found in the BEAM guide available from the University of California. The address is listed at the end of this chapter.

The effect of the SAN on New York Life s storage costs has been significant and immediate. We haven t had to add a new Symmetrix box on our floor for a year, Polito declares. Before the SAN initiative, we faced a need to bring in three or four new Symmetrix boxes. Not having to buy those devices has saved us a couple of million dollars. In addition, it has become more manageable and less disruptive to attach new servers onto the SAN or put new DASD into existing Symmetrix frames. The SAN implementation has done more than save money on storage equipment costs, however. The Connectrix fabric also has become the foundation for several strategic initiatives aimed at reducing storage costs and ensuring reliability and performance levels on a proactive, ongoing basis.

The near wheel is invisible in this gure so you can see the ratchet. The gear replaces the spacer, and the ratchet connector meshes with its teeth. Rotating one direction, the connector rides on the teeth. Reverse it, however, and the connector locks on a gear tooth preventing further rotation. In reverse, the di erential is forced to put all of the torque into the other wheel. The base turns around the locked wheel.

Solaroller Create a solar-powered robot racer that fits into a 6 cube Maximum solar cell size is 1 2 21 2 [125 square inches (in2)] Track length is 1 meter (m); width is 6 Competitors race in full sunlight (or 500-W halogen lamp equivalent) Class A Race on level sheet of glass Class B Race on rough terrain Photovore Create a solar-powered, goal-seeking robot that can fit into a 7 cube The robot will be placed with other competitors in a closed Jurassic Park for 30 hours Those robots that show the best survival, exploration, confrontation, speed, and power efficiency, determined by review of photos and video, will be the winners Aquavore Create a solar-powered robot that can fit inside a 7 cube and be able to swim the length of a 55-gallon fish tank (distance is approximately 1 m).

Summary