Robotics, Mechatronics, and Artificial Intelligence

by Braga

• ISBN13: 9780750673891
• ISBN10: 0750673893
• Format: Paperback
• Copyright: 2001-10-25
• Publisher: Elsevier Science

Summary

Accessible to all readers, including students of secondary school and amateur technology enthusiasts, Robotics, Mechatronics, and Artificial Intelligence simplifies the process of finding basic circuits to perform simple tasks, such as how to control a DC or step motor, and provides instruction on creating moving robotic parts, such as an "eye" or an "ear." Though many companies offer kits for project construction, most experimenters want to design and build their own robots and other creatures specific to their needs and goals. With this new book by Newton Braga, hobbyists and experimenters around the world will be able to decide what skills they want to feature in a project and then choose the right "building blocks" to create the ideal results. in the past few years the technology of robotics, mechatronics, and artificial intelligence has exploded, leaving many people with the desire but not the means to build their own projects. The author's fascination with and expertise in the exciting field of robotics is demonstrated by the range of simple to complex project blocks he provides, which are designed to benefit both novice and experienced robotics enthusiasts. The common components and technology featured in the project blocks are especially beneficial to readers who need practical solutions that can be implemented easily by their own hands, without incorporating expensive, complicated technology.

Table of Contents

Acknowledgments	xvii
About the Author	xix
Fundamentals of Robotics and Mechatronics	1	(16)
Purpose	1	(1)
History	1	(2)
The Structure of Robotics and Mechatronics Projects	3	(6)
Control	4	(1)
Actuators	4	(5)
Using Basic Blocks in Projects	9	(1)
Suggested Projects	9	(5)
Additional Information	14	(1)
Review Questions	15	(2)
Motion Controls	17	(18)
Purpose	17	(1)
Theory	17	(1)
Direction	17	(1)
Speed	17	(1)
Characteristics	18	(1)
Voltage	18	(1)
Current	18	(1)
Power	18	(1)
Speed	19	(1)
Basic Blocks	19	(13)
Simple DC Control	22	(1)
Reversing the Direction	22	(1)
Two-Way Control	22	(1)
Controlling Two Motors with One Switch (I)	23	(1)
Controlling Two Motors with One Switch (II)	23	(1)
Half-Wave Rectifier	24	(1)
Full-Wave Control	24	(1)
Two-Speed Block Using Diodes	25	(1)
Multi-speed Control Using Diodes	25	(1)
Two-Speed Voltage Change from the Source	26	(1)
Power Booster	26	(1)
Multi-step Power Booster	27	(1)
Adding Inertia	27	(1)
Series-Parallel Switch	28	(1)
Motors in Series and Parallel	29	(1)
LED Direction Indicator	29	(1)
Current Indicator	30	(1)
Adding Sound (I)	30	(1)
Adding Sound (II)	31	(1)
Two-Wire x Two-Motor Control	32	(1)
Suggested Projects	32	(1)
Additional Information	32	(1)
Review Questions	33	(2)
Controlling Motors, Relays, and Solenoids with Transistors	35	(24)
Purpose	35	(1)
Theory	35	(6)
The Relay	35	(1)
Basic Blocks Using Relays	36	(1)
Turning a Load On or Off	37	(1)
Current Reversion	37	(1)
Series-Parallel Switching (I)	37	(1)
Series-Parallel Switching (II)	38	(1)
Timed Relay	39	(1)
Short-Action Relay	39	(1)
Flasher	40	(1)
Passive Buzzer	40	(1)
Locked Relay	41	(1)
The Transistor as a Switch	41	(3)
Bipolar Transistors	41	(2)
Field Effect Transistor or FETs	43	(1)
Practical Blocks	44	(4)
Switching with an NPN Transistor	44	(1)
Switching with a PNP Transistor	45	(1)
Using an NPN Darlington Pair	45	(1)
Using a PNP Darlington Pair	46	(1)
Using a Darlington NPN Transistor	46	(1)
Using a Darlington PNP Transistor	47	(1)
Complementary Driver (I)	47	(1)
Complementary Driver (II)	47	(1)
Power FET Drives	48	(1)
More Blocks Using Relays and Transistors	48	(6)
Delayed Relay	49	(1)
Timed Relay	49	(1)
Long-Interval Delayed Relay	49	(1)
Long-Interval Timed Relay	50	(1)
Delayed Relay Using Power FET	50	(1)
Holding Circuit	51	(1)
Working with the Blocks	52	(1)
Reversing a Motor for a Few Seconds	52	(1)
Reversing and Stopping a Motor	53	(1)
Reversing a Motor and Reducing Its Speed	54	(1)
Suggested Projects	54	(1)
Additional Information	54	(3)
Information about Relays	54	(2)
Information about Transistors	56	(1)
Review Questions	57	(2)
H-Bridges	59	(24)
Purpose	59	(1)
Theory	59	(3)
Half Bridge	59	(1)
H-Bridge or Full Bridge	60	(2)
Practical Circuits	62	(12)
Simple Half Bridge Using Symmetric Supply	63	(1)
Half Bridge Using Darlington Transistors	64	(1)
Full Bridge Using Complementary Bipolar Transistors	65	(1)
Full H-Bridge with Feedback	66	(1)
Full Bridge Using NPN Transistors	66	(1)
Full Bridge Using NPN Darlington Transistors	67	(1)
Full Bridge with Logic Control	68	(1)
Full Bridge with Logic Control and External Enable	69	(1)
Power MOSFET H-Bridge	69	(1)
H-Bridge Using Power MOSFETs with Enable	70	(1)
Combined Bipolar + MOSFET H-Bridge	71	(1)
Combined Darlington + Power MOSFET H-Bridge	72	(1)
R-S Flip-Flop H-Bridge	72	(1)
Complete H-Bridge	72	(2)
Integrated H-Bridges	74	(2)
H-Bridge Using the LMD18200	74	(2)
H-Bridge Using the LM18201	76	(1)
Additional Information	76	(2)
Special Recommendations	78	(2)
Decoupling Capacitors	78	(1)
Transistor Protection	79	(1)
Current Sensing	80	(1)
Fuses	80	(1)
Suggested Projects	80	(1)
Review Questions	81	(2)
Linear and PWM Power Controls	83	(16)
Purpose	83	(1)
Theory	83	(4)
Two Types of Controls	84	(1)
Linear Controls	84	(1)
Pulse Width Modulation	84	(2)
Two Forms of PWM Controls	86	(1)
Basic Blocks	87	(10)
Linear Controls	87	(1)
Electronic Rheostat	88	(1)
Linear Control Using a Darlington Transistor	88	(1)
Linear Power Control Using a Zener Diode	89	(1)
Constant Current Sources	90	(1)
Constant Current Source Using Transistor	90	(1)
Constant Current Source Using the LM350T (3 A)	91	(1)
Variable Constant Current Source Using the LM338 (5 A)	92	(1)
PWM Blocks	92	(1)
PWM Basic Control Using the 4093 CMOS IC	92	(1)
PWM Control Using the 4001/4011 CMOS IC	92	(2)
Medium/High-Power PWM Control Using the 555 IC	94	(1)
Medium-Power PWM Using the 555 IC and a PNP Transistor	94	(1)
Anti-phase PWM Power Control Using the 555 IC	94	(2)
Power Anti-phase PWM Control Using the 555 IC	96	(1)
PWM Control Using the LM350	96	(1)
Additional Information	97	(1)
Suggested Projects	98	(1)
Review Questions	98	(1)
Power Control Using Thyristors	99	(20)
Purpose	99	(1)
Theory	99	(6)
Silicon Controlled Rectifiers	99	(2)
Triacs	101	(1)
Other Devices of the Thyristor Family	102	(3)
Basic Blocks Using SCRs	105	(10)
Turning a Load On and Off with an SCR	105	(1)
Delayed Turn-On Switch with SCR	106	(1)
Touch Switch Using an SCR	106	(1)
Triggering an SCR with Positive Pulses	107	(1)
Triggering SCRs with Negative Pulses	107	(1)
Crowbar Protection	107	(2)
Overcurrent Protection	109	(1)
R-S Flip-Flop Using an SCR	109	(1)
SCRs in AC Circuits	110	(1)
Simple AC Switch	110	(1)
Full-Wave AC Switch (I)	110	(1)
Full-Wave AC Switch (II)	111	(1)
Dimmer and Speed Control	111	(2)
Full-Wave Dimmer	113	(1)
Dimmer Using UJT and SCR	113	(1)
Blocks Using Triacs	114	(1)
High-Power AC Switch	114	(1)
High-Power Dimmer	114	(1)
Additional Information	115	(1)
Care when Using Inductive Loads	115	(1)
Characteristics of Some Common SCRs and Triacs	115	(1)
Suggested Projects	116	(1)
Review Questions	116	(3)
Solenoids, Servomotors, and Shape Memory Alloys	119	(18)
Purpose	119	(1)
Theory	119	(5)
Shape Memory Alloys	119	(2)
The Solenoid	121	(1)
The Servomotor	122	(2)
Practical Blocks	124	(10)
Blocks for Electronic Muscles (SMAs)	124	(1)
Simple Drive Circuit for SMAs	124	(1)
Rheostat for SMA	125	(1)
Constant Current Source	125	(1)
NPN Transistor Drive for SMA	126	(1)
Using a Bipolar PNP transistor	126	(1)
Driving SMA from Power MOSFETs	126	(1)
Blocks for Solenoids	127	(1)
Turning a Solenoid On and Off	127	(1)
Determining the Force of a Solenoid	127	(1)
Intelligent Control for Two Solenoids	128	(1)
Intelligent Solenoid Control Using Darlington Transistors	129	(1)
Intelligent Control Using CMOS Logic	130	(1)
Intelligent Circuit Using CMOS IC and Power CMOS	130	(1)
Current Sensing (I)	130	(1)
Current Sensing (II)	131	(2)
Blocks for Servos	133	(1)
Servo Control Using DC Motors	133	(1)
Control for R/C Standard Servos	134	(1)
Additional Information	134	(1)
Suggested Projects	134	(1)
Review Questions	135	(2)
Stepper Motors	137	(18)
Purpose	137	(1)
Theory	137	(3)
How It Works	138	(2)
How to Use Stepper Motors	140	(2)
Voltage and Current	140	(1)
Sequence	141	(1)
Step Angle	141	(1)
Pulse Rate	141	(1)
Torque	142	(1)
Braking Effect	142	(1)
Blocks Using Stepper Motors	142	(10)
Standard Block Using Bipolar NPN Transistors	142	(1)
Standard Block Using Darlington NPN Transistors	142	(1)
Driving a Stepper Motor with PNP Transistors	143	(1)
Using PNP Darlington Transistors	144	(1)
Driving a Stepper Motor with Power MOSFETs	145	(1)
Step Generator Using the 555 IC	145	(1)
Step Generator Using the 4093 IC	146	(1)
Step-by-Step Generator	147	(1)
Control for Two-Phase Stepper Motor	147	(1)
Using ICs	147	(1)
Driving a Stepper Motor with the ULN2002 and ULN2003	148	(1)
Driving Stepper Motors with the MC1413/MC1416	148	(1)
Complete Stepper Motor Control with the SAA1027	148	(2)
Complete Stepper Motor Control Using the UCN4202	150	(1)
LED Monitor for Stepper Motor Operation	151	(1)
Additional Information	152	(1)
Suggested Projects	152	(1)
Review Questions	153	(2)
On-Off Sensors	155	(20)
Purpose	155	(1)
Theory	155	(4)
Debouncing	157	(1)
Switches as Sensors	158	(1)
Reed Switches	158	(1)
Home-Made Sensors	159	(1)
Programmed or Sequential Mechanical Sensors	159	(1)
Basic Blocks Using Sensors	159	(12)
Turning a Load On	160	(1)
Turning a Load Off	160	(1)
Contact Conditioner with a Capacitor	160	(1)
Low-Current Turn-On Sensor with Contact Conditioner	161	(1)
Low-Current Turn-Off Sensor With Contact Conditioner	161	(1)
Contact Conditioner Using the 555 IC	162	(1)
Contact Conditioner Using the 4093 CMOS IC (I)	163	(1)
Contact Conditioner Using the 4093 CMOS IC (II)	163	(1)
TTL Contact Conditioner Using the 7400 IC	163	(1)
Contact Conditioner for Two Sensors--Bistable	164	(1)
Contact Conditioner for SPDT Sensor	164	(1)
Contact Conditioner for Two Sensors	165	(1)
Notes on Compatible Blocks	165	(1)
Controlling Motors and Loads	165	(1)
Direction Control Using a Mechanical Sensor	165	(1)
Controlling Two Loads	166	(1)
High-Low Sensor	166	(1)
High-Power Motor Control	166	(1)
Timed Sensor Using a 555 IC	167	(1)
High-Current Control for Mechanical Sensors	168	(1)
Multi-voltage Control for Mechanical Sensors	168	(1)
Priority Switch	169	(1)
Tachometric Sensor	170	(1)
Missing Pulse Detector	170	(1)
Suggested Projects	171	(1)
Additional Information	171	(2)
Review Questions	173	(2)
Resistive Sensors	175	(18)
Purpose	175	(3)
Theory	175	(1)
The LDR or CdS Cell	175	(1)
Negative Temperature Coefficient Resistors	176	(1)
Pressure Sensors	177	(1)
Potentiometers as Position Sensors	177	(1)
Touch Sensors	177	(1)
How to Use Resistive Sensors	178	(1)
Practical Blocks	179	(12)
Basic Resistive Sensor Circuit (I)	179	(1)
Basic Resistive Sensor Circuit (II)	179	(1)
Basic Block Using a PNP Transistor (I)	179	(1)
Basic Block Using PNP Transistor (II)	180	(1)
Differential Sensor	180	(1)
Snap Action for Resistive Sensors (I)	181	(1)
Snap Action for Resistive Sensors (II)	182	(1)
Increasing Sensitivity	182	(1)
Light-Activated Circuit Using an SCR	183	(1)
Dark-Activated Circuit Using an SCR	184	(1)
Priority Circuit Using Resistive Sensors	184	(1)
Opto-Isolator Using LDR	185	(1)
Opto-Isolator with Logic Input (TTL and CMOS)	185	(1)
Current Sensor Using an NTC	186	(1)
Thermal Crowbar	187	(1)
Light/Temperature-Controlled Oscillator	187	(1)
Light-Sensitive/Temperature-Dependent Oscillator	187	(1)
Light/Temperature-Dependent Oscillator	188	(1)
Light/Temperature-Triggered Monostable	188	(1)
Fast Monostable Sensor	189	(1)
Light/Temperature-Dependent Oscillator	190	(1)
Additional Information	191	(1)
Suggested Projects	191	(1)
Review Questions	191	(2)
Operational Amplifiers and Comparators	193	(20)
Purpose	193	(1)
Theory	193	(6)
Operational Amplifiers and Comparators	193	(2)
The Window Comparator	195	(1)
How to Use Operational Amplifiers and Comparators	196	(1)
Choosing an Opamp	197	(1)
Power Supplies	198	(1)
Practical Blocks	199	(11)
Voltage Follower	199	(1)
Amplifier with Gain	199	(1)
Driving an NPN transistor	200	(1)
Driving a PNP Transistor	201	(1)
Basic Voltage Comparator	201	(1)
Negative Voltage Comparator	202	(1)
Using Resistive Sensors (I)	202	(1)
Using Resistive Sensors (II)	203	(1)
Resistive Sensors Driving PNP Transistor	203	(1)
Differential Sensor	204	(1)
Touch Sensor/Pressure Sensor	205	(1)
Delayed Turn-On Relay	205	(1)
Driving TTL Blocks	206	(1)
Power Comparator	206	(1)
Low-Frequency Squarewave Oscillator	206	(1)
Double Comparator	207	(1)
Step Comparator	208	(1)
Window Comparator (I)	209	(1)
Window Comparator (II)	209	(1)
Additional Information	210	(1)
Suggested Projects	211	(1)
Review Questions	211	(2)
Remote Controls and Remote Sensing	213	(22)
Purpose	213	(1)
Theory	213	(1)
Wires	213	(1)
Light	213	(1)
Infrared	214	(2)
Sound	214	(1)
Radio	215	(1)
Electromagnetic Interference	215	(1)
Choice and Use of a Remote Control	216	(1)
Blocks	216	(18)
Remote Control Using Wires	216	(1)
Multi-wire Control	217	(1)
Sequential Control Using Wires	218	(1)
Matrix Control	219	(1)
Tone Generator	220	(1)
Ac Switch (I)	221	(1)
AC Switch (II)	221	(1)
PLL Tone Decoder	222	(1)
Multi-tone Transmitter	223	(1)
Multichannel Tone Decoder	223	(1)
Remote Control Using the AC Power Line, Transmitter	224	(1)
Remote Control Using the AC Power Line, Receiver	224	(1)
Flashlight Remote Control	225	(1)
Infrared Transmitter	226	(1)
Infrared Receiver	227	(1)
Sound/Ultrasonic Transmitter	227	(1)
Low-Impedance Sound/Ultrasonic Receiver	228	(1)
Audible Receiver for Electret Microphone	228	(1)
30 to 100 MHz Transmitter Block	229	(1)
Using a Small FM Radio as Remote Control Receiver	230	(1)
30 to 100 MHz Super-Regenerative Receiver	230	(1)
Coder Using the MC145026	230	(1)
Decoder Using the MC145026	230	(2)
Additional Information	232	(1)
Suggested Projects	232	(2)
Review Questions	234	(1)
Logic Blocks	235	(22)
Purpose	235	(1)
Theory	235	(3)
Gates, Inverters, and Buffers	235	(2)
Monostable/Bistable	237	(1)
Counters and Decoders	238	(1)
Voltage-Controlled Oscillators	238	(1)
Memory	238	(1)
How to Use Logic Blocks	238	(1)
Blocks	239	(14)
NOR Gate Using a Transistor	239	(1)
NAND Gate Using a Transistor	239	(1)
Logic Inverter Using a Transistor	240	(1)
Basic Monostable Using the 555 IC	240	(1)
Sequential Monostable	241	(1)
Multi-timing Using the 555 IC	241	(1)
Bistable Block	241	(1)
Complete Bistable Using the 4013 IC	242	(1)
Frequency Divider	243	(1)
Frequency Divider Using the 4020 IC	244	(1)
Divide-by-10 Counter Using the 4017 IC	244	(1)
Divide-by-n Using the 4017 IC	245	(1)
Programming with Diodes	246	(1)
Digital-to-Analog Converter (DAC)	246	(1)
Sequential Programming Using a Diode Matrix	247	(1)
Voltage-Controlled Oscillator	247	(2)
Logic Switch	249	(1)
Diode Matrix	249	(1)
R/2R Network--DAC	249	(1)
Binary Coded Decimal Counter/Decoder	250	(1)
Complete DAC	251	(1)
64-Bit RAM	251	(2)
Additional Information	253	(1)
Suggested Projects	254	(1)
Review Questions	255	(2)
Intelligence and the Computer	257	(16)
Purpose	257	(1)
Theory	257	(3)
What is Intelligence?	257	(1)
Intelligence by Hardware and Software	258	(1)
Electronic Neurons and Neural Networks	258	(1)
Fuzzy Logic and Intelligent Software	259	(1)
Microcontrollers and Microprocessors	259	(1)
Personal Computers	260	(1)
Using the Hardware	260	(1)
Blocks	260	(11)
Learning Circuit Using Power MOSFET	260	(1)
Learning Circuit Using an IC	261	(1)
Sample-and-Hold Circuit	261	(1)
High-Power Learning Circuit	262	(1)
Light-Conditioned Circuit	262	(1)
Thermal Memory	263	(1)
Teachable Window Comparator	264	(1)
Electronic Neuron (I)	265	(1)
Electronic Neuron (II)	265	(1)
Learning Circuit Using The 4017 IC	266	(1)
Integrate-and-Fire Neuron Using Operational Amplifiers	266	(1)
Connecting a Computer	267	(1)
Simplest Parallel Interface	268	(1)
Parallel Interface (II)	268	(1)
Isolated Interface (I)	268	(1)
Isolated Interface (II)	269	(1)
Interface for AC-Powered Loads	269	(1)
Data Acquisition Interface Using Comparators	270	(1)
Data Acquisition Interface Using the ADC0808	270	(1)
Additional Information	271	(1)
Other Microcontrollers	272	(1)
Suggested Projects	272	(1)
Review Questions	272	(1)
Other Blocks: Light and Sound Effects	273	(16)
Purpose	273	(1)
Theory	273	(2)
Light Effects	273	(1)
Sound Effects	274	(1)
Other Blocks	274	(1)
Self-Defense	275	(1)
Power Supplies	275	(1)
Battery Chargers	275	(1)
Blocks	275	(11)
Low-Voltage LED Flasher	276	(1)
Block 317-LED Lamp Flasher	276	(1)
Fluorescent Lamp Inverter	277	(1)
Fluorescent Lamp Flasher	278	(1)
LED Sequencer	278	(1)
Driving Incandescent Lamps	279	(1)
Bar/Dot Display Driver	280	(1)
Variable-Sound Siren	281	(1)
Dual-Tone Siren	281	(1)
Sound and Light	281	(1)
High-Voltage Defense	282	(1)
Solenoid Gun	283	(1)
Laser Gun	284	(1)
General-Purpose Power Supply	284	(1)
Battery Charger	285	(1)
Additional Information	286	(1)
Musical Modules	286	(1)
Other Circuits	287	(1)
Suggested Projects	287	(1)
Review Questions	288	(1)
Working Safely	289	(4)
The Importance of Safety	289	(1)
Experimental and Industrial Robots	289	(2)
Safety Rules	291	(2)
Answers to Review Questions	293