Building the Chassis Plexi-Glass and Aluminum Braces  Mounted a single board, servos  Adaptable for turret/QTI mounting 
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Position Servos • Position servos are motors that are designed to rotate to a specified position and hold it • enable_servos(); – Activates all servo ports • disable_servos(); – De-activates all servo ports • set_servo_position(,); – Rotates servo in the specified port to the specified position – set_servo_position(2,123); • Sets the position for servo port 2 to 123 • If servos are enabled, the servo in port 2 rotates to position 123 – Position range is 0-255 – You can preset a servo’s position before enabling servos – Default position when servos are first enabled is 128 • get_servo_position() • • – Returns an int for the specified servo whose value is the current position for which the servo is set Note: Servos may run up against their stops at low or high position values. Giving a servo such a position command will suck power at an alarming rate! Note: Servos acting weird or not working is an indication the battery is low
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Step 1. Order Groups of SUD Capabilities SUD Camera Requirements SUD-cap3.1 The remote system shall use pan/tilt/zoom cameras to supply video image and microphones to supply audio. SUD-cap3.2 The cameras shall provide manual and automatic focus capabilities. SUD-cap3.3 The remote system shall send synchronized audio and video to the Head Mounted Display (with headphones) at the local site. SUD-Adaptability-NFR3.4 The configuration of the remote site shall be adaptable during the operation of the system and support configurations of two to six cameras and two to eight microphones. SUD-cap3.5 The video output of the cameras at the remote site shall be S-video (i.e., Y/C). SUD-Adaptability-NFR3.6 If a camera at the remote site fails, then the system can detect this and adapt the system by switching to the remaining two cameras to obtain the video feed while the system is running. SUD-cap3.7 The cameras shall be color cameras. SUD Head Mounted Display Requirements SUD-cap2.1 The system shall be able to display the image of the remote meeting site to a local user with a head mounted display. SUD-cap2.2 The head mounted display video image shall be in color and be 3-dimensional. SUD-cap2.3 The head mounted display video shall be displayed in such a way that the viewpoint displayed changes in accordance with the local user’s head movements (orientation). SUD-Adaptability-NFR2.4 The resolution of the head mounted display system shall be dynamically adaptable by the system to provide VGA or SXVGA. SUD-cap2.5 The default resolution of the head mounted display shall be of SXGA (1280 x 1024). SUD Authentication Requirements SUD-cap6.1 The system shall support identification and password authentication. SUD-cap6.2 The system shall support fingerprint scanning authentication. SUD-Adapatability-NFR6.3 The system shall be configurable to support identification and password or fingerprint scanning authentication when the system is installed.
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Sample code for Composite Pattern Example Assume we have additional Equipment classes such as Bus, Cabinet, etc. We can assemple equipment into a (simple) computer (CompositeEquipment object). Cabinet * cabinet = new Cabinet(“PC Cabinet”); Chassis * chassis = new Chassis(PC Chassis”); Cabinet -> Add(chassis); Bus * bus = new Bus(“MCA Bus”); bus -> Add(new Card(“100 Mbs Ethernet”) ); chassis ->Add(bus); chassis -> Add (new FloppyDisk(“3.5 in Floppy”) ); cout << “ the net price is “ << chassis -> NetPrice( ) << endl;
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Candy Glass  Similarities between Candy and Glass – – – – Amorphous solids Tendency to crystallize under certain conditions Glass former: SiO2 (Silicate) for glass, C12H24O12 (Sucrose) for candy Glass modifier: Na2CO3 for sodium silicate glass, H2O for candy, reduces melting temperature and decreases chemical durability – Other stuff: Corn syrup reduces crystallization in candy. Dr. Jain’s paper says that adding stuff to glass can increase glass forming ability. (Source: Jain, Himanshu and Isha Jain, “Learning the Principles of Glass Science and Technology from Candy Making.” Lehigh University. University. No Date. Lehigh University. 5 Aug. 2005 .) Note: Corn syrup is made of simpler sugars than sucrose. Sucrose is fructose C12H24O12 and glucose C12H24O12 bonded together. Corn syrup is fructose, glucose, water and other stuff which the Karo company does not disclose.  Differences between Candy and Glass – Candy will decompose (C12H24O12 bonds will break) at a temperature that is very high or when not much water is present (Source: Jain, Himanshu. Personal Interview. June 2005.) – Melting temperature Tm and glass transition temperature Tg are much lower for candy than for glass.
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Servo Mounting with Optional Hardware (1)  Futaba 3003/3004 Servos  Servo Mounting Hardware  4 per Kit  Rubber grommet (2)  Mounting Hardware for each  Brass spacer (4)  To eliminate damage to  Mounting screw (4) mounting holes Note: There are 16 of each screw, spacer, grommet in the Return Kit for BEST Hubs that provide servo mounting hardware. July, 2012 20 Copyright © 2012 BEST Robotics, Inc. All rights reserved.
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District Recommendation 1: District Recommendation 1: In order to meet the standards, the team recommends that [1] the Board of Trustees examine its role in the development of policies and [2] ensure that it acts in a manner consistent with its approved policies and bylaws. The team further recommends that the Board of Trustees take steps to [3] ensure that all policies are developed or revised within the framework of the established input and participation process. (III.A.3, III.A.3.a, III.D.3, IV.A.2, IV.B.1.e, IV.B.1.j) Actions Taken to Resolve Deficiencies: 1. Board Examination Role: • The Board Handbook has been updated to clarify the role of the Board and ensure new Board Trustee training. The Board Handbook was approved by District Assembly. • Board received ACCJC training on the role of the Board in June 2015. The Board received further direction on Board roles and responsibilities at the August 2015 Board retreat from the speaker/facilitator, a trustee at the Butte-Glenn Community College District in Oroville. • The new Trustee, appointed November, 2015, has participated in two training sessions. Training focused on outstanding issues currently impacting the District and Board of Trustees; and Board Handbook, Board Policy, committee structures, and how board governance differed from District operations.
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The Typical BEST Robot Model  The robot can be driven either in Tank or in Arcade mode.  The joystick has four analog channels and four digital channels  The controller can drive Up to 10 motors and servos in analog mode Up to 4 servos in digital mode Can read up to 8 analog sensors (such as potentiometers) Can read up to 8 digital sensors (such as limit switches) Simulink library has an icon for each of the possible functions: to read the joystick, to drive motors and servos, and to read sensors.       Our next example robot will run in arcade driven by two motors; there will be two actuator motors, one with a limit switch and four servos  Analog joysticks to motors and digital sticks to servos September 10, 2016 Copyright © 2010 BEST Robotics, Inc. All rights reserved. 16
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Position Servos • Plug-in order in the servo ports is black, red, yellow with black toward the left – Ports are 0-3 on XBC • • • • • • Enable Servos: enable_servos(); (activates all servo ports) Disable Servos: disable_servos(); (de-activates all servo ports) Set servo position: set_servo_position(2,127); (moves servo 2 to position 127, position range is 0-255) Get servo position: get_servo_position(2); (returns an int corresponding to the position at which that servo is set) Note: Servos may run up against their stops at low or high position values. Giving a servo such a position command will suck power at an alarming rate! Note: Servos acting weird or not working is an indication the battery is low
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Handy Board Position Servos • Plug-in order in the servo ports is black, red, yellow with black toward the expansion board edge (left) – You can remember this by associating it with alphabetic order (black, red, yellow) • • • Enable Servos: init_expbd_servos(1); (activates all 6 servo ports) Disable Servos: init_expbd_servos(0); (de-activates all 6 servo ports) Servos’ positions are set by the globals servo0,servo1,…,servo5 (these are predefined global variables and correspond to the servo ports) – Save power by limiting values to • the range [1000, 3900] Note: Servos acting weird or not working indicates the battery is low
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In-Class Activity 1 • Read and work activity 6 in Chapter 2 of Parallax’s Robotics with the Board of Education Shield for Arduino. The activity makes reference to the “BOE Shield,” a piece of hardware designed by Parallax to interface with the Arduino. The shield contains a breadboard as well as a few switches and connectors that we don’t have, but not to worry. The Arduino programs and the information about the Parallax servos are correct for our setup. • Complete the assembly of your boe-bot chassis before beginning activity 6. The completed chassis should include both servos, the arduino, and the breadboard. For power, you can leave your robot tethered to the USB cable or use a battery pack.
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Servos Four servos are supplied. Servos can be used to operate various mechanisms on the robot (e.g., grippers). Servos can rotate up to 120 degrees (+/- 60 degrees). Servo horns CAN be modified.
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Handy Board Servos • Plug-in order is black, red, yellow with black toward the expansion board edge (left) • Servo plugs are pins sticking out of expansion board • Servos in packages are standard position servos • Servo with trim knob is a speed servo
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4. In order to test the strength of ceramic, solid cylindrical specimens of length 100 mm and diameter 5 mm are placed in axial tension. The tensile stress, , which causes 50% of the specimens to fracture is 120 MPa. For the same material, cylindrical components of 25 mm lengths are required to withstand an axial stress, 1, with a survival probability of 99%. Given that m = 5 for this material, determine 1. 5. As a materials engineer you are required to design a glass window for a vacuum chamber. The opening can be adjusted for a circular disc of radius R and thickness t. It is freely supported in a rubber seal around its periphery and subjected to a uniform pressure difference p = 0.1 MPa. The window is a critical component and requires a failure probability of 10-6. The design life of the component is 1000 hours. The modulus of rupture tests of the glass discs to be used resulted in a mean strength of 300 MPa in a short term (60 second ) bending test. What are the permissible dimensions for this window? [Assume Poisson’s ratio is 0.25, the Weibull’s modulus is 5 and the stress corrosion susceptibility parameter is 5. Assume the elastic modulus is 70 GPa and KIC = 0.75 MPa m1/2. Further, assume the maximum stress in the plate is max ~ p R2 / t2; Show all work]. 6. You are offered an opportunity to earn $10 million by simply hanging on a rope for only one minute. The rope is attached to a glass sheet (300 cm long by 10 cm wide and 0.127 cm thick). Complicating the situation is the fact that: (a) the glass sheet contains a central crack with total length of 1.62 cm that is oriented parallel to the ground.; (b) the rope is suspended 3 m above a pit of poisonous snakes. The fracture toughness of the glass is 0.75 MPa m1/2. Would you try for the prize? Explain why by showing the calculation that demonstrates you could receive the prize or would die trying. [email protected] Virtual Course on Glass - The Properties of Glass: Mechanical Properties of Glass Lecture 12 2
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