2009-09-30

Sariel.pl的樂高齒輪教學


消息來源:CAVE小小原始人科學創意工坊 - Gear Tutorial 齒輪入門說明 by Sariel

Sariel.pl原始文章出處:Gears Tutorial

樂高的齒輪一直是動力機械、NXT樂高機器人的主角。

探奇教室的動力機械課程也不斷教導大家如何使用齒輪,

齒輪種類、從動輪與驅動輪、惰輪、棘爪跟棘輪、齒輪比、轉速與力量、齒輪組合(複合式齒輪)、蝸桿與蝸輪、齒條與齒輪.....

齒輪的變化如此之多,現實世界中也大量應用許多齒輪,有時候讓人眼花撩亂。

波蘭華沙的Paul先生(Sariel.pl) 有感於許多人仍然不知道齒輪的原理,特地撰寫這篇文章,詳細介紹樂高齒輪的種種知識。

(好像在上機動學!

有興趣的讀友可以先睹為快,有機會再與大家討論!

Sariel.pl原始文章出處:Gears Tutorial


2009-09-29

HiTechnic新感應器---NXT IRReceiver Sensor (NIR1032)

這種產品介紹感覺好像在幫HiTechnic打廣告,真應該跟相關廠商收錢。

不過介紹NXT最新消息本來就是這個部落格的宗旨,所以有最新的東西還是馬上介紹給各位玩家。

(我也很想玩,是不是又到了團購時間呢?


以前的IR Link是從NXT傳輸出去,送訊號給PF motor的IR receiver。

這次的NXT IRReceiver Sensor (NIR1032)是接收IR remote的訊號,你可以使用PF系列的遙控器手動遙控你的NXT機器人。

Control your NXT robot with the HiTechnic IR Receiver Sensor and a LEGO Power Functions IR Remote Control. The IRReceiver decodes commands from a Power Functions Remote Control and your NXT program can use the commands to directly control NXT motors or to control other functions in your program.



例如:


Power Functions IR Speed Remote Control Item #8879

Power Functions IR Remote Control Item #8885

真奇怪,為何不做一個可以接收,可以遙控的東西呢?就像RCX的IR Tower。可以接收可以發射,多好阿!

這樣設計需要兩個輸入端,真是浪費寶貴的輸入端。

直接做一個可以雙向溝通的東西,不是也正好讓NXT多一種無線傳輸的功能嗎?

看來需要再跟HiTechnic建議才是。

消息來源:nxtasy.org

2009-09-28

教師節快樂!

看到Google的孔子像,想到今天是教師節。

祝各位老師教師節快樂!

我的新書名稱可能為『孔子也愛玩樂高機器人』!

2009-09-26

奇摩部落格『飛翔的鮪魚』的文章---『我快受不了的樂高課』

這位家長(媽媽?)『飛翔的鮪魚』在他的部落格發表了這麼一篇文章:

我快受不了的樂高課


看完文章後發現這位媽媽最不滿意的應該有兩點:

1. 『亂』: 秩序是亂成一團,學生們一定是在外面的地上玩,有時還東奔西跑的。

2. 『超時下課』:如果能減少混亂的時間,提升教學品質,一定可以省下更多的時間!

看到這篇文章,我第一個反映是:『我也會這樣嗎?』

這裡的我有兩種角色:父親跟老師。

的確,當我帶著小朋友參加其他課程及活動時,也會觀察上課的秩序及活動安排。

那麼,我在上課時也有這種情況嗎?

(如果有的話,請家長不吝指教,直接反應,當面溝通喔!

課室管理最重要的一點就是建立教室規則,讓孩子共同遵守秩序,不僅利他也能利己。

至於守時,前幾天剛好看到廖玉蕙教授的文章『時間將屆,鈴聲響起...』(點擊連結看全文),真是心有戚戚焉。

樂高老師大家一起加油!希望能給家長對於樂高課更好印象喔!

也請其他老師提供寶貴意見!謝謝!


樂高機器人8547 NXT 2.0 官方的新機器人模型3/10

樂高官網公佈第三個NXT樂高機器人模型--Manty

Laurens Valk所創作的Manty 應該是一隻螳螂,六隻腳行走的螳螂。

作者提到這台機器人比較像Praying Mantis

平常抬頭挺胸、大搖大擺的走路,遇到前方有怪獸出現時,就會縮頭縮腦地後退。動作模樣非常有趣。

詳情請連結樂高官網,可以下載建構圖示,製作簡介,程式及示範影片。

Building instructions

Bio of Manty

Program (zip)

Video

消息來源:The NXT STEP


2009-09-23

單顆馬達的多重輸出

最近的WRO比賽,大家都在討論有關國中組競賽如何使用單一馬達完成複合式動作。

不論是抓舉或是轉向,利用連桿、齒輪、滑輪的應用應該可以完成這些複雜的動作。(但是機構設計都需要很複雜的考慮。)

探奇曾經使用蝸桿,利用馬達正反轉做出不同的輸出。

看看別人的作品是激發靈感的好方法:M1C的討論串






NXT新舊韌體差異--FileAccess

這是一篇NXT技術性文章,記錄1.28與1.05 FileAccess的差異。

論壇討論文章轉貼如下:

Actually, except when asked to test something under 2.0, I still use 1.1... mostly because I don't have a problem with it, and 2.0 has one very serious draw-back from my point of view; try logging a bunch of data rapidly, and you'll find that occasionally the FW stalls everything while (apparently) moving files. This can stall the FW for as much as a second in test I did earlier, which I think you can see would cause some... problems, with any program making use of file writing excessively. You can get around this if you know what you're doing by only opening fixed-sized files... but that only works, of course, if you already know what (how much) you are going to write before you write it.

The other thing to realize is that motor control occurs on the secondary processor in the NXT, which does not have updated FW... so at least some of the motor control issues will likely remain. On these, I'm honestly not sure - I've not done a detailed study of, say, edge-following under 1.1 vs 2.0. It would be interesting running the "same" program under the two version, to see if there's a discernible difference in performance.

Since at least this year, the LEGO color sensor isn't allowed in FLL, the ability to address it under 2.0 really has no impact for FLL. Personally, I don't think adding floating point helps in FLL at all (I rather think it detracts, actually), so to my way of thinking, that's another non-issue (or even drawback).

--
Brian Davis


What Brian is talking about is an artifact of the FileAccess block in NXT-G. Since the firmware does not have a native file growing operation the FileAccess block implements this feature in VM code. If you try to write to a file that is already full or does not contain enough free space for the amount of data you are trying to write then it performs a fairly complex algorithm in VM code to create a new larger file and copy all the data from the original file to the new file then writing the data you wanted to write and renaming the file and deleting the old file. It takes a lot of VM operations to do all that. In the 1.0x firmwares the VM would execute 20 operations no matter how long it took before allowing other modules to execute their code. In the 1.2x firmwares the VM is much better at keeping to the strict 1ms cycle for all the firmware modules. So what would happen in the 1.0x firmwares with fast dataloggging that did not specify a large file size to begin with is that whenever it needed to resize the datafile it would starve the other modules while it excecuted these 20-operation chunks of the FileAccess block's growth algorithm. In the 1.2x firmwares the growth algorithm takes a lot longer since sometimes only 1 operation will fit into the allotted time (since file writes can periodically take more than 1 ms). This makes the VM code appear to "stall" but it definitely does not stall other firmware module operations, in fact it is better behaving than it used to be with respect to "stalling" everything in the firmware.

Another thing that changed in the standard 1.28 firmware is that whenever a program ends it truncates any open files to just the filled space by calling CROPDATAFILE instead of CLOSE. As you can see below in the enhanced NBC/NXC 1.28 firmware I switched it back to the 1.0x way of just closing any open files. If you close a file programmatically then this code never executes since the file handle table entry will be zero and the standard FileClose system call does not perform any truncation.

CODE
  //Close any files we had opened programatically
  for (i = 0; i < MAX_HANDLES; i++)
  {
    //Copy i to tmp, because we pass a pointer to it to pFunc
    tmp = i;
    //Close file
    if (*(VarsCmd.FileHandleTable[i]) != 0)
      pMapLoader->pFunc(CLOSE, &tmp, NULL, NULL);
//      pMapLoader->pFunc(CROPDATAFILE, &tmp, NULL, NULL);
  }


With respect to a native FileResize operation I began work on that for the enhanced NBC/NXC firmware but I did not finish it. There is a system function exposed in the NXC API but it currently does not do anything in the firmware. The problem is tricky. You don't want to write a single file resize function that attempts to do the entire operation in one fell swoop since that will take more than 1ms and would starve other firmware modules. So it probably needs to be written to operate in chunks as the firmware round-robins through all the modules, including the Loader module which is responsible for all file I/O. Which means you would need to have some sort of "resize is busy" status response code and a way to query the loader module for the current resize status so that in your VM code you could call FileResize and then loop while the Loader module is busy resizing your file. In any case, I need to figure out how long it actually takes the Loader module to create a file of size X (for various values of X), how long it takes the Loader module to read X bytes from a file, how long it takes to write X bytes to a file, and how long it takes to delete a file of size X.

If anyone wants to help me figure this all out I'd be happy for the assistance.

John Hansen


2009-09-21

NXT與NXT之間的藍牙接收發送程式



一般人不會有兩台NXT主機,不過擁有兩台以上的NXT主機也是一件非常有趣的事。

許多玩家在學校或是樂高教室可以使用兩台NXT主機互相『通訊』。

但是傳送的訊息,不一定能夠順利接收。

建立NXT藍牙連線後,除了確認NXT主機螢幕上所顯示的<>符號,

也可以一開始使用Master NXT傳送檔案給Slave NXT,確認NXT與NXT的藍牙連線正常,

再來就是NXT-G程式,先看看發送程式:

只要確保發送對象的NXT代號(1, 2, 3)以及信箱號碼(1-10),應該可以傳遞成功。



接收程式就比較麻煩,因為不知道Master何時會傳送訊息,我們最好使用『守株待兔』的癡癡等待方法,如下圖:



程式一開始先進入一個迴圈,不斷確認信箱是否收到新的訊息,如果確認收到訊息,則跳出迴圈,處理接收到的新訊息。

有需要的同好可以試試看這個方法,善用你的NXT藍牙通訊喔!

歡迎大家一起實作討論!



2009-09-20

NXT體適能訓練機

探奇曾經介紹一些讓人驚豔的作品,這些都是成年樂高迷華麗成熟的作品。

讓我們返璞歸真

讓學齡學童或是青少年用自己的想法做出NXT樂高機器人作品。

這位加拿大的小朋友,Ktgorgi,在他的部落格:News on NXT Projects提出一些NXT的計畫。

例如這個NXT Trainer,結合NXT的感應器,在我們運動時,協助我們進行計時或計次的工作。

雖然構造及程式很簡單,卻很實用,還結合體適能的運動訓練記錄,這種互動效果非常強烈的機器人計畫,真的是很棒的點子!

除了自己的部落格外,Ktgorgi也在NXTLOG 2.0發表他的機器人計畫。

你有沒有自己的想法呢。讓NXT樂高機器人在日常生活中幫助我們。歡迎分享你的看法喔!



2009-09-19

NXTCam colormaps

在NXT上使用NXTCam辨識追蹤物體應該是一件很有趣的事。

不過在使用上並沒有想像中來得容易,

有人提問NXTCam的Colormap資料為何?由於說明書上並沒有說清楚,所以只能用猜測的。

(例如:可能是RGB的上下限值)

mindsensors forum,Deepak Patil先生回答了這個問題,才知道我的推測錯誤。

(是採用遮罩處理方式)

如果有人正在尋找NXTCam的Colormap資料,相信會有很大的幫助!

轉貼如下:(資料來源:mindsensors forum

The colormap is a 48 byte buffer.
From this buffer each of RGB color is assigned 16 bytes for that color.
i.e. first 16 bytes are for Red, next 16 for green and remaining 16 for blue.

These 16 bytes store matching preference for that color's absolute value ranges as
0-16-32-48-64-80-96-112-128-144-160-176-192-208-224-240-255
i.e. first byte is set for color range 0 to 16, second byte for range 16 to 32 and so on...
each bit in the byte contains mask for each object (i.e. 8 objects) which is set to 1 if you want matching object.

example -
if you want 1st object to match red color in range of 16 to 48, you will set first bit to 1 in byte 1 and byte 2.
or if you want 4th object to match any shade of red (0 to 255) then you will set 4th bit of all 16 bytes to 1.

We do have NXTCam_PrepareColormap() and NXTCam_WriteColormap() functions in NXC library, which you can probably adapt to your needs.

CH Lego blog的Mindsensors MagicWand kit 組裝測試

ch_lego大大又有新的文章發表。

Mindsensors公司特別配合Extreme NXT 書中 的I2C實驗專題,發售簡單套件Magic Wand kit

書中及原廠所展示的字樣是LEGO,ch_lego大大將它改為『加油』的中文字樣,真是有趣!

有興趣的同好不妨試試看!

(我想在台灣應該也可以找到相同的零件)

ch_lego部落格的文章:請點擊連接觀賞。

Mindsensors MagicWand kit 組裝測試

Mindsensors MagicWand 組裝測試 (II)

(作者在文中說明因為焊接錯誤,只有七顆LED,還能照樣顯示中文,真強。
探奇認為如果改成16顆LED,應該一定可以完整顯示16x16的中文字喔!)




2009-09-17

2009 NI 美商國家儀器 LabVIEW 全方位體驗日-台中場

這一篇嚴格來說不算正式的研習情報,比較像遊記。

這是今天在台中  裕元花園酒店 溫莎廣場的研討會場。免費停車喔!真貼心!

美商國家儀器公司National Instruments 的招牌果然很夠力!




很久以前就聽過這裡辦的研討會都很享受,果然有很氣派的挑高大空間。




下圖:會場周邊有NI各式軟硬體展示。沒有NXT展示,不過聽說可以參加抽獎,獎品有NXT喔!



還有『阿土伯』的示範,我還以為跟ADOBE有關,結果是......(賣個關子)

那位阿土伯真的很有趣!



下圖:原本寫著『午餐自理』,已經盤算好中午就到樓下的麥當勞隨便吃,結果竟然供應午餐,真是太太太感動了!

雖然是『便當』,但是在飯店裡的高級餐盒,菜色真的很不錯喔!重點是NI的經理請客,免費!

我排隊拿的是豬排,還有魚排(真想再拿一個),還有那好好好好喝的海鮮濃湯...........終於讓我體會到高級餐廳的享受。




還有限量版的漫畫及2009NI LabVIEW試用光碟(三片DVD),真是有吃又有拿(台語發音)!



研討重點還是要寫一下啦!

介紹今年新出的LabVIEW 2009,從今年開始改名稱,不再用7.x 8.x表示。

7.x版也已經不再支援,(什麼!那那那NXT-G呢?難道LEGO沒有要求NI改用LabVIEW 2009重新編寫NXT-G?)

期待十月份發行的LabVIEW LEGO MINDSTORMS NXT Module 2009

除了介紹LabVIEW 2009,LabVIEW Tips,LabVIEW團隊開發方法,還有LabVIEW迷思大破解。

看到這麼好用的LabVIEW,想起好久以前的PLC Ladder,感嘆科技真是進步!

總體來說,NI努力營造活潑的發表會,還真的很努力用心喔!

(狗腿一下!NI的員工都要求必需是俊男美女嗎?真是太厲害了!

(以後一定天天跑這種研討會!吹冷氣,看電影,學新知,又有飯吃......@_@)

雖然NI的最佳代言人Whitney Houston沒有到場,但是現場仍然以影片呈現祝福研討會順利,請自行搜尋天后的歌聲

我只有找到代唱者的影片





NI will always LabVIEW

2009-09-16

崑山科技大學資工系2009機器人專題研習營(二)

2009機器人專題研習營()


製作機器人是很多人的夢想,但機器人控制牽涉到的科技相當廣其中軟體設計看不見摸不著,可說最難入門,2009機器人專題研習營()介紹NXT C的使用,大家反應熱烈,本系特再邀請CAVE機器人講師團隊來介紹MSRDS的使用,並配合Lego機器人套件教學,歡迎大家踴躍報名。


 


主辦單位: 崑山科技大學資工系


協辦單位:嵌入式軟體聯盟(ESW)


地點: 崑山科技大學資工系(I5301)


費用: 免費


課程內容與時間:如下表


日期


10/4  SUN  9:00~16:00 6 hours


主題


MSRDS  智慧型機器人程式模擬與開發


主講人


CAVE機器人講師團隊


曾吉弘老師  黃兆民老師  盧建邦老師


 


9:00~ 10:00


LEGO MindStorms介紹 


l NXT intelligence brick


l Servo motor


l Sensors


 


10:00~ 11:00


MSRDSVPL環境介紹 


l VPLS元件介紹


l 程式基本流程控制


l 並行程式控制


11:00~ 12:00


虛擬機器人模擬環境


 


13:00~ 15:40


感測器與機器人行為


l 手電筒


l 手控馬達


l 依光亮度/量測距離決定馬達轉速


l 超音波漫遊


l 光感應器隨機運動


15:40-16:00


總結


 


報名: 請於9/30mailFAX報名,因設備只有30套限30名,請事先報名。


連絡人:劉乙萱 06-2050018, 0911-650450 ,yihsuan@mail.ksu.edu.tw


在Mac OS 10.6 安裝NXT-G的方法

消息來源nxtasy.org:

LEGO MINDSTORMS NXT installation on Snow Leopard

在Snow Leopard (Mac OS 10.6)好像無法安裝NXT-G。

轉貼樂高提供的安裝方法如下:

“Copy all files from the Mindstorms CD to a folder on your desktop.
Open that folder and look under “Parts”.
Locate MindstormsUnivEdu.pkg or MindstormsUnivRet.pkg.
Right-click and choose “Show Package Contents”.
Navigate into the Contents/Resources directory and delete the “preflight” file.
Close this package and run the meta-package from the [folder on your] desktop to install Mindstorms NXT.”

有Mac的同好可以試試喔!

另外轉貼一些軟體的安裝情形:

***消息來源:NI LabVIEW論壇 Mark LabVIEW R&D ( BLAQmx

I want to clear up any confusion of what software and versions referred to in this thread.  There is no version 2.9 for both LEGO MINDSTORMS NXT and the LabVIEW Toolkit for MINDSTORMS NXT.  The versions and supported operating systems are summarized bellow (Mac OS = 10.4 and newer; Windows = XP, Vista):

  • LEGO MINDSTORMS NXT 1.0 (1.1) - Supported on Mac OS and Windows
  • LEGO MINDSTORMS NXT 2.0  - Supported on Mac OS and Windows 

  • LabVIEW Toolkit for MINDSTORMS NXT 1.0 and 1.0.1 patch
    • LabVIEW 7.1 - Supported on Mac OS and Windows
    • LabVIEW 8.0 - Supported on Mac OS and Windows
    • LabVIEW 8.2 - Supported on Mac OS and Windows
    • LabVIEW 8.5 - Supported on Mac OS and Windows

  • LabVIEW Toolkit for MINDSTORMS NXT 2.0
    • LabVIEW 7.1.1 - Supported on Windows only
    • LabVIEW 8.5.1 - Supported on Windows only
    • LabVIEW 8.6.1 - Supported on Windows only

  • LabVIEW LEGO MINDSTORMS NXT Module 2009 (Releases in October) 
    • LabVIEW 2009 - Supported on Mac OS and Windows


NXT-G blocks can only be created with LabVIEW 7.1.   LabVIEW 7.1 may work on Mac OS 10.6, but since LabVIEW 7.1 was developed well before Snow Leopard NI cannot guarantee it will function correctly.  The LabVIEW NXT Module 2009 does not support support the creation of NXT-G blocks.  


To install LEGO MINDSTORMS NXT 1.1 on Mac OS 10.6 (Snow Leopard)
  1. Copy all files from the MINDSTORMS CD to a folder on your desktop.  
  2. Open that folder and look under "Parts".  
  3. Locate MindstormsUnivEdu.pkg or MindstormsUnivRet.pkg.  
  4. Right-click (control-click) and choose "Show Package Contents".  
  5. Navigate into the Contents » Resources directory and delete the "preflight" file.  
  6. Close this package and run the meta-package (LEGOMindstormsEngRet.mpkg) from the desktop to install MINDSTORMS NXT. 

To install LEGO MINDSTORMS NXT 2.0 on Mac OS 10.6 (Snow Leopard)
  1. Copy all files from the MINDSTORMS CD to a folder on your desktop.  
  2. Open that folder and look under "Parts".  
  3. Locate MindstormsUnivEdu.pkg or MindstormsUnivRet.pkg.  
  4. Right-click (control-click) and choose "Show Package Contents".  
  5. Navigate into the Contents/Resources directory and delete the "preflight" file.  
  6. Close this package and run the meta-package from the desktop to install MINDSTORMS NXT



To install LabVIEW Toolkit for MINDSTORMS NXT 1.0 and 1.0.1 patch on Mac OS 10.6 (Snow Leopard)
  1. Follow normal installation procedure 



To install LabVIEW LEGO MINDSTORMS NXT Module 2009 on Mac OS 10.6 (Snow Leopard)
  1. Follow normal installation procedure 



Please let us know if these address all of your questions.  
 
 
Cheers,
Mark
LabVIEW R&D 
Message Edited by BLAQmx on 09-14-2009 11:17 AM



好康相報!購買樂高積木好時機!台南林老師的好康消息!

看到林老師的發文,我想一定要趕快告訴大家。

趕快連到林老師的部落格,我也要去大採購了喔!

樂高教具限時"特殺"優惠價(9/15~9/30)!!

http://tw.myblog.yahoo.com/robot-mindstorms/article?mid=1955


2009-09-14

以NXT完成的自動櫃員機:NXT Based ATM Machine

有一陣子沒有介紹這種大型作品了!

這一台NXT Based ATM Machine是為了Brickworld 2009而創作,由美國伊利諾州的Ron McRae創作的MOC (My Own Creation)

包含HiTechnic的IR Link以及Codatex的RFID sensor,可以讀取RFID作為晶片金融卡,

插入『金融卡』時,這一台自動櫃員機可以存錢、可以提款;如果沒有插入『金融卡』,可以直接兌換零錢,還能辨識紙鈔的正反面(正面接受,反面退回)。

控制程式語言為NXC,據說寫了上千行程式......

還有許許多多細微的調整功能:

Bill scanner can be calibrated to accept any type of banknote
Machine accepts only the type of bill for which it is calibrated
Tolerances for bill acceptability are adjustable directly on-brick
Viewable histogram compares calibration and live data from bill scanner
Functional numeric keypad uses a combination of touch and light sensors
Entire customer database is restored from flash memory at startup
Customer database is automatically saved after each transaction
ATM card is retained if wrong PIN code is entered three times
ATM card is retained after a period of inactivity
Coin and banknote value can be configured directly on-brick
Uses a custom created 9x13 pixel rotated text font (pictured below)
NXT buttons function as selectors for menu options displayed on-screen


探奇也曾經介紹該作者的NXT吃角子老虎機.....

真是太厲害了!






哪一天某家銀行推出這種ATM的話,一定會大受歡迎!






2009-09-13

nxtprograms.com的Combination Lock Box

探奇曾經在去年發表文章介紹我們的LEGO NXT金庫密碼,可惜至今還未完成。

但是這種利用馬達內建角度感應器的輸入方法應該已經被大家所應用。

(看來我要去申請專利

後來有人做了超大型的樂高NXT保險箱(6.5公斤重),也是利用這個原理輸入數字,

這種稱為Combination lock的保險箱鎖,的確很有趣,不過製作重達6.5公斤的保險箱,恐怕只有少數人才能擁有這麼多積木製作完成。

現在nxtprograms.com發表新模型:NXT Combination Lock Box

以簡單的方式建構箱子,放入藍色球及紅色球,利用Combination Lock的原理,輸入三個號碼(1-50),符合密碼就會開箱。

程式比較複雜,大家可以試著寫寫看!

2009-09-12

2009 WRO 高中組競賽作品--高雄前鎮高中

影片資訊寫著;

WRO 2009 台灣賽的作品 ─
隊名:海龜號 ─
學校:高雄市立前鎮高中 ─
學生:龔育玄 蘇芳儀

先收集所有球,再依序放入指定位置,真厲害!

消息來源:
2009奧林匹克機器人大賽全國賽高中組機型--海龜號



2009-09-11

如果你的NXT主機螢幕出現問題......

不知道是不是有人遇到NXT主機螢幕的問題,

特別是某一些NXT主機,聽說因為零件冷銲的緣故,使得螢幕無法顯示?而且故障比例很高?

在台灣應該可以要求代理商保固或維修,不過我還是很擔心這種狀況發生!

在nxtasy.org有一些人討論如何自行修復NXT主機螢幕,請參考nxtasy.org連結(更正:nxtasy.org已經不存在)。

(注意!拆了NXT就不再有任何保固,請三思!先看看文章或影片就好!)

(無論如何我是不會去碰它的,記得曾經拆開一般的計算機,當場就報銷了!

也可以看看這篇文章,有很詳細的圖解喔!

Repair Lego NXT Brick LCD

拆開NXT之後,將三顆電容重新銲接,就OK了!

或是直接觀看youtube的影片:由javapda提供。乘機看看NXT內部的結構,例如按鍵,喇叭...







2009-09-10

PF motor (Power Functions) 馬達內部分解圖

最近樂高的產品中所用的馬達都是PF 馬達。

在教育版的動力機械中,不論是9628或是8293,也都是使用PF Motor。

這種馬達的特性都是低轉速,高扭力。

所以大家對於PF馬達內部的減速機構應該很有興趣。

可惜我們沒有那麼多經費可以隨意地拆開馬達(拆了就裝不回去了!

有機會能夠看到馬達內部的運轉是一件很難得的事,真感謝樂高迷願意犧牲自己的馬達,

在TechnicBRICKs就有這些圖片,請大家連結慢慢觀賞。

TBs TechNugets 10 - Inside the PF M-Motor

Brian Davis' photos from the PF XL-Motor internals

終於知道馬達內部減速是使用行星齒輪系,真是厲害。

有機會再好好解釋這些齒輪關係。

延伸閱讀:Philo先生的解析Power Functions™ presentation




2009-09-07

2009WRO全國賽的結果

今天聽說自由時報及蘋果日報有WRO相關報導。

www.era.org.tw也公布總決賽及創意賽的成績。

恭喜得獎隊伍!

其他參賽隊伍也經歷了美好的一仗!

台南林老師在他的部落格發表

2009奧林匹克機器人大賽全國賽國中組"比賽失敗的機型"

有國中組練習比賽的影片喔!

林老師說:歡迎大家在他的部落格留言討論分享技術!


2009-09-06

leJOS NXJ 0.85公布!

leJOS NXJ 0.85已經於9/2發佈。

根據官網敘述,這是過渡版本,所以用0.05表示。當然也期待0.9的更新,甚至1.0的正式發表。

這一版的主要更新如下:

  • better support and documentation for MAC OS X, including the Fantom USB driver
  • a Netbeans plugin
  • improved JVM speed and many more amazing improvements by Andy
  • support for the new LEGO color sensor in the NXT 2.0 set
  • now supports the instanceof keyword
  • detection of rechargeable batteries and improved battery indicator
  • nanosecond timers and improved timer support with the Delay class.
  • % operation on floats and doubles
  • Class, including the isAssignableFrom(Class cls) method
  • display of LCD screen in ConsoleViewer
  • major speed and accuracy improvements to the Math class from Sven
  • platform independent lejos.robotics packages
  • new navigation proposal (work in progress) that is platform independent, supports more vehicles, has better localization support, and new concepts of pose controllers and path finders
  • preliminary support for probabilistic robotics, including general purpose KalmanFilter class using matrix algebra
  • reworking of the Monte Carlo Localization classes
  • limited java.awt and java.awt.geom classes

詳細更新註解轉貼如下:

leJOS NXJ 0.85 beta
-------------------

Andy Shaw has added:

- Improvements to the speed of the Java VM including changes to the alignment of data.
- A new object format for .nxj files.
- Access to VM structures from Java using the VM class.
- Synchonization and locking of class data.
- Support for instance of on all data including interfaces and arrays.
- Support for Cloneable interface on objects and arrays
- Support for detection of rechargeable batteries and improved battery indicator.
- Improved i2c support including remote i2c from the PC.
- Increased ADC sensing frequency
- Support for nanosecond timers and improved timer support with the Delay class.
- Support for % operation on floats and doubles
- Improvements to SensorPort class and firmware support for sensors
- Added support for isAssignableFrom
- RFID sensor sample
- Optional display of LCD screen in ConsoleViewer#
- Refactoring of startup menu vode
- Several bug fixes

Andy Shaw and Sven Koehler have added:

- Support for the Class class.

Andy Shaw and Brian Bagnall have added:

- Support for the new LEGO color sensor in the NXT 2.0 set
- A new ColorSensorTest sample

Sven Koehler has added:

- Much improved versions of the java.Math classes with bug fixes,
accuracy improvements and in some cases, dramatic speed improvements.
- Improvement to the firmware make files and other minor firmware improvements
- A new benchmark project for testing Math performance.
- New flashwrite project
- Improvements to SAM-BA support in pccomms and improvements to flash utilities

Brian Bagnall, Roger Glassey and Lawrie Griffiths have added:

- Improved package structure with all NXT-specific classes in lejos.nxt subpackages
and all robotics support in lejos.robotics.
- New proposal for navigation which is platform independent, supports more
type of vehicles, has better localization support, and supports new concepts
of pose controllers and path finders. Includes support for probabilistic robots.
Supports platforms for mounting sensors on. Has interfaces for better hardware
abstraction. This proposal is still work in progress.
- Removal of deprecated navigation classes and classes superseded by the new proposal

Shawn Brown has added:

- Better support and documentation for MAC OS X including make the fantom USB driver the default.
- Raname of nxjpccomm scripty to nxjpc and addition of nxjpcc script

Lawrie Griffiths has added:

- Reworking of the Monte Carlo Localization classes to make them easier to use.
- A new Homer MCL sample.
- Support for java.awt and java.awt.geom Rectangle, Line and Point classes#
- lejos.geom package that extends java.awt.geom
- Removal of activity based subsumption classes.
- MotorPort for PF motors via HoiTechnic IRLink
- Improvements top Matrix code asnd addition of LUDecomposition
- General purpose KalmanFilter class using matrix algebra and a KalmanTest sample
- Moved mapping support from lejos.localization to lejos.robotics.mapping
- Corrections to common class warning so that it does not appear in the API docs.
- Improvements to the release build files.
- Updated TachoCount pcsample that demonstrates improved control and diagnostics for remote access using LCP.
- Various bug fixes.

Lawrie Griffiths and Brian Bagnall have added:

- Improvments to RemoteMotor support

Brian Bagnall has added:

- Support for rotation and elevation platforms.
- Rationalization of steer and arc methods in pilots.
- Improvements to GPS support and a GPSInfo sample
- Deletion of redundant samples.

Roger Glassey has added:

- A Netbeans plugin
- Improvements to TachoPilot abd SimpleNavigator
- New obstacle avoidance samples
- A Pose class
- Various bug fixes

Dirk Sturzebecher has added:
- TachoMotor interface
- SimpleNavigator bug fix








2009-2010 FLL主題:Smart Move: Transforming Transportation(2009.09.23更新)

2009WRO選拔已經結束。

恭喜各個參加隊伍,不論是校際盃、初賽還是決賽,你們都已經盡力完成任務!也得到很寶貴的參賽經驗!

下面是自由時報的報導:紅字是我加的

機器人選拔賽分成創意賽組與競賽組,
創意賽組國小組由霹靂獅隊、福星高照隊及慈小霹靂貓隊;
國中組由磊機AE隊、WWⅡCreator隊及飆車族;
高中職組由少林隊、calligraphist robot隊及TAS隊取得國際賽代表權。

競賽組國小組由神投手隊、長頸鹿隊(中區第一名)、隆峰神射手隊(中區第二名)、投籃派對隊及不倒翁隊;
國中組由同心協力隊(南區第一名)、神奇隊及R.Buster隊(北區第一名)
高中職組由曼秀雷敦隊(中區第三名,台中縣立大里高中)、雄工隊(南區第三名)及鳳山商工隊(南區第一名)
取得代表台灣參加2009國際奧林匹亞機器人大賽資格。



接下來應該是FLL,有興趣還可以看看今年的FLL比賽規則:

Smart Move: Transforming Transportation


TechBrick網頁已經提供相關比賽資訊及網路資源。

有興趣的人可以點擊玉山機器人協會連結參考看看喔!

FLL的比賽分為兩部分:競賽與研究報告,必須同時完成。所以FLL是考驗大家團隊合作的力量。

競賽部分比較單純,就是讓機器人完成任務得分。

研究報告比較像科展,針對主題做出一份報告,需要有書面資料,口頭報告。

比賽時還要全體動員。

希望大家不要只重視機器人競賽部分,研究報告及大家團結合作的過程更為重要喔!

這才是FLL的精神!



2009-09-05

Mac版的NeXT Tools介面大公開

上一篇文章介紹Mac上也有圖形介面的NXT公用程式(點擊連結探奇文章

目前John Hansen先生已經知道無法在Mac OS 10.6執行,他正在釐清是否跟Fanton有關。

像我一樣沒有Mac的朋友,可以到阿吉老師的CAVE部落格觀看文章,

阿吉老師已經發文介紹這個公用程式的介面。

NeXT Tool on MAC OSX 10.5 介面分享 上篇

NeXT Tool on MAC OSX 10.5 介面分享 下篇



2009-09-01

在Mac上使用的NXT公用程式--NeXT Tools(9/3更新下載點)


(圖片來源:Programmable Brick Utilities

感謝John Hansen先生的努力,現在在Mac上也有圖形介面的NXT專用公用程式了!

看到圖形這麼漂亮,真嫉妒擁有Mac的NXT玩家!

根據John Hansen先生的說法,應該可以在Mac 10.4.x及10.5.x執行。

(抱歉!我沒有Mac可以執行,下次試試Virtual Box)

John Hansen先生也很希望Mac使用者能多加測試這些公用程式,並且回饋意見,這樣會有更多的進步喔!

相信很快就會有Mac版的BricxCC可用!真是令人期待!

資料來源:nxtasy.org論壇

下載連接:Programmable Brick Utilities

這些公用程式包含:Direct controller, Diagnostics, Watch, Piano, Joystick, Remote, NeXT Explorer, NeXT Screen, Messages, Memory Map, Clear Memory, MIDI Conversion, Wav->RSO, Find Brick, Turn off brick, Close communication, and Firmware download



WRO2009奧林匹克機器人全國賽總決賽即將來臨

這一篇文章有一些綜合資訊,請大家自行選擇觀看。

1. 轉貼玉山機器人協會的公告:WRO2009奧林匹克機器人全國賽總決賽-競賽規則

一定要看!國小組兩顆乒乓球。國高中沒有太大變化。

2. WRO2009奧林匹克機器人全國賽北區初賽成績公告

3. WRO2009奧林匹克機器人全國賽總決賽賽程表

上次發文介紹國小組的比賽影片

這次有人(萬能機器人的生活點滴)發表文章介紹國中組比賽:

文章連結:2009 WRO 北區賽 國中組

有國中第一、第二名的照片及第三名的影片。

該文作者也有公布youtube的相關影片(請點擊youtube連結

大家加油喔!

延伸閱讀:

樂構-樂高機器人的家部落格文章:[轉載]WRO2009奧林匹克機器人全國賽北區初賽成績公告 {國中組破紀錄}