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Tuesday, December 13, 2011

Why learn MATH?
“Why do I need to know fractions? Square roots? Algebra or geometry? I mean, why do we ever even need them in real life? I am never going to be a mathematician, and I hate math. So why do I have to learn this?”

Unfortunately, because of the way math is usually taught, this is the attitude of a lot of otherwise intelligent people.

Did you ever wonder why almost nobody says, “Why do I have to learn how to read? I am not going to be a writer or a teacher.” Almost no one says, “Why do I have to learn how to walk? I am not going to be a hiker or an athlete.” Wouldn’t it sound silly if someone said that? Yet it makes as much sense as the argument against learning math.

You don’t learn to read so that you can just read schoolbooks. Reading is a tool to gather information. That information may help you learn material, it may entertain you,it may open your mind to new Ideas, it may change your life.
The same goes for walking. You walk to get somewhere. To go and experience things. When you learned to walk, you were (luckily) too young to have negative feelings towards learning. Otherwise you might have said, “What the heck do I want to walk to Daddy for? He can already walk, let him walk to me!”
Now that you are older, you know that it wasn’t just about walking to Daddy. It was the beginning steps to get you to be able to walk anywhere you want and get to new experiences. You don’t have to be a hiker to know the value you get from walking.

Walking and reading are more basic things than most of the math you may learn in school. They are easy. But walking is easier than reading, yet you didn’t stop there; you did learn how to read.  Why are so many people then, satisfied with stopping at something as simple as reading, and then being beaten so easily by math?
One reason may be because it is not so easily apparent that math and critical thinking have as many payoffs as walking and reading. One of the main payoffs is that it helps you to understand patterns in life and use them in ways you never have before.  But it is not apparent and it is not likely for you to realize the payoff until many many years later, not unlike teenagers would not appreciate parenting until they are parents themselves.

If you can ask a person, “Do you respect your mind? Are you curious about your world?” and he says “yes”, he’s just answered the question about why he should learn math. If he says, “no,” then the problem isn’t math, is it?

- Copied and edited from an article in Math Mojo Chronicles.  http://www.mathmojo.com/chronicles/2007/08/06/why-shuld-we-learn-math/

Sunday, October 30, 2011

Using "My Block" in Mindstorms NXT-G Programming

There are many reasons why one may want to use "My Block" in NXT-G Programming.  I will only discuss the writing of My Block for the purpose of streamlining/modularizing the program.  With the use of My Block for a group of blocks that are intended for a specific task, it may be possible to have a complete program fit in one page on screen, with each My Block being an individual page.


For FLL competition where the team jointly work on programming, the ease of program distribution is very important.  Without knowing how to save "My Block" inside the main program, the distribution of program can be a nightmare.

When a "My Block" is created, the "My Block.RBT" is saved in a default directory, usually as "...\My Documents\LEGO Creations\MINDSTORMS Projects\Profiles\Default\Blocks\My Blocks".  This is usually different from your working directory where you save your main program.  If you simply save your main program and distribute it, the other user will get a "Broken My Block" (see picture below.)



Note: An NXT-G program that contains a use of a My Block (an instance of a My Block inserted from the Custom Palette) does not actually store the contents My Block inside the main program file. Instead, the program contains only a reference to the My Block, which is essentially the name of the My Block along with some information about where the block came from.

To save your program with My Block altogether, do the following.  Select "Tools - Create Pack and Go" from the top menu bar.  This will generate an .RBTX file format which allows you to share the complete program (with My Block files).

Important Note!!!  If you have an earlier version of .RBTX and you have since modified your program (either My_Block.RBT or Main_Program.RBT), do NOT select "overwrite" when you open the earlier version of .RBTX.  If you select "overwrite", your updated "My_Block.RBT" will be lost.  I recommend that you save both .RBTX (by Creating Pack and Go) and .RBT (by save) each time you modify your programs.


Note:  The Create Pack and Go feature is not available on versions of the NXT software prior to NXT 2.0, and the Pack and Go file storage format (.rbtx) is not readable by earlier versions either.  If you save a program in this format, it will not be directly readable by users with the NXT 1.X software or the “NXT-G 2.0” software from LEGO Education.
 

For (lots) more information about My Block, please see the NXTPrograms page

Logging Data in Mindstorms NXT-G Program

In most situations where the robot does not perform as you expect it to, writing a test program to isolate and execute only the part in question would be a good way to debug your program.  In some cases, you can also monitor the robot sensor reading and/or other internal variables from the NXT view window and/or your laptop if the USB cable is connected.  However, if the reading is dynamic and the change is faster than your eyes can read, you would need to log your data.

Data Logging is a very good way to debug your software.  However, you should keep in mind that with NXT writing information to its memory, the data log block does take time and it may slow down the program execution just a tiny bit. 

A good example of data logging with NXT-G is shown in the figure above and its detailed description can be found in
http://thenxtstep.blogspot.com/2007/09/datalogging-with-nxt-g.html

Other data logging information can be found in

http://www.teamhassenplug.org/NXT/DataLogging/Beginning_Datalogging.htm

Note that the Education Version of NXT-G 2.0 offers a new and improved Data Logging Block.  However, most of us have the commercial NXT-G 2.0 software.  If you do have the Educational Version, you can read the link below about how to use the Data Logging Block.
http://thenxtstep.blogspot.com/2009/02/nxt-g-20-datalogging.html

Monday, October 24, 2011

Light and Color Sensors Calibration


The light sensor reads light intensity and its raw value reading ranges from 0 to 1023.  By using the Calibration Tool for light sensor that's built in in Mindstorm NXT-G software, one can NORMALIZE the light intensity reading to range between 0 and 100.  You want to calibrate the light sensor because
1)It is easier to work with a number between 0 and 100.
2)During the calibration, you already tell NXT brick/brain about the MINIMUM, i.e. the darkest black, you can find on the mat, and the MAXIMUM, i.e., the brightest white you can find.  So the NXT brick/brain doesn't need to worry about any raw value reading that's beyond the minimum and maximum.  This allow you to work with a better resolution.  That is, it allows you to read the different grey area, say, from 1 to 99.


The calibration procedure is best explain in this Millerbots instruction video


As for the color sensor, the Mindstorm NXT-G software does not have an equivalent calibration software for it.  Moreover, there is no proper built-in viewer to read the color sensor reading from the small viewing window of NXT brick.  I recommend reading the light intensity reading of a color sensor directly from the laptop, as explained in this video.  And I recommend a manual "calibration" procedure as below.  You place the robot/color sensor on the darkest black, make a note of the laptop reading.  This will be your manual minimum value.  Then you place the robot/color sensor on the brightest white, make a note of the laptop reading.  This will be your manual maximum value.  Therefore, if you need a threshold for line following, it can be the average of the two values.

P.S. I have found the line following performance using either a calibrated light and color sensor is about the same.

Monday, December 6, 2010

Reading First Forum Tips

I like the following posts in First Forum re some lurch steering problem we have.
(quoted from  http://forums.usfirst.org/showthread.php?t=12856&page=3)
 
LOL Comets, BTW, is an all-girls team that won THE Championship Award.
http://www.youtube.com/watch?v=_1xqRx45Bws&playnext=1&list=PLD6FB6D5DFB96B47C&index=1

 
 
09-19-2009, 11:26 AM
Member
 
Join Date: Apr 2009
Location: Southern California
Posts: 47
Default Re: NXT move vs motor block help needed

Looking at how this topic has changed, and if I am not mistaken, you have two issues:

1. Robot veers in a certain direction when it starts (we have the same problem)
2. Turns using the move or motor block are not consistent (everyone has that problem)

For the first item, our team decided to run the robot for the first 50 degrees at different powers supplied to each motor. For example, if your robot veers left (towards the B motor), then your B motor block would run at 45% power and the right (C motor block) would use 50% power. Both blocks would use unlimited and the rotation sensor would be used to change the power and remaining degrees you want your robot to move.

For the second item, I would suggest you accept that slippage, surface, and of course the robot is made out of plastic is not precise. You can minimize the turns using a different method to arrive at the desired destination, and design attachments to allow for the variability, i.e., your robot will end at a specific spot in a + or - 2 inches, so my attachments have to be wider.

Getting your kids involved in learning and understanding PID is really a function of their age and interest. However, PID is something they cannot control. So the challenge is to solve the symptom of the problem, which is perhaps the approach that would be appropriate.
  #25  
Old 09-19-2009, 12:34 PM
Senior Member
 
Join Date: Sep 2008
Location: Elgin, Illinois
Posts: 197
Default Re: NXT move vs motor block help needed

Quote:
Originally Posted by durant7 View Post
Got them again on Sunday. Any suggestions for the rookie coach accepted? Hope to move on to touch sensor which brings in the switch logic next but I feel as though we have not exhausted the move/motor/bot engineering yet. Alas Nov 14th is around the corner.
A PID algorithm is already built into the MOVE block. The MOTOR block has it too but it's implemented differently. Each has their strength depending on how you use them.

I wasn't sure from your post if you are measuring the accuracy of distance or turning but either way I have a few suggestions for you to consider.

1. Your wheel diameters are likely different enough to cause the robot to drift to one side. Try changing sides and see if it drifts the other direction. BTW- drift isn't bad so long as it's consistent. If it's consistent then you can predictably compensate for it. But eliminate as many variables as you can first.

2. Check and see if the wheels are placed the same way on each axle.

3. Smaller wheels take more revolutions (motor degrees) to travel the same distance as larger wheels. More degrees = higher resolution. Smaller wheels should be more accurate than larger ones.

4. Have the team explore using a skid or roller vs. a swivel castor.

5. Have the team explore the differences between point turns and swing turns using MOVE and MOTOR blocks.

6. Explore the differences in accuracy with a wide wheel base vs. a narrow wheel base.

7. Explore accuracy in distance and turning where the center of gravity is shifted closer or farther away from the drive wheels.

==========

You're doing a great job coach. Keep it up. Stay thirsty my friend.
__________________
Cheers!

got robot? -- FLL Team 280
Cat herding since 2008

Monday, November 29, 2010

Schedule for the tournament:

  • Robot Match Schedule  pdf
  • Judging Schedule  pdf
  • Lakeland High School Campus Map  pdf
  • Venue Layout Map  pdf
  • Team Pit Map (ver. 2)   xls   pdf
  • Tournament agenda  doc
Remember Millerbots 1 is team 1907. Millerbots 2 is team 10171.

Monday, November 22, 2010

Robotics Tips re Dead Reckoning

Let's review some basics again.  Here is a tip for dead reckoning using the two driving motors to go straight or turn.

"TEST YOUR MOTORS. Firmly mount your motors in a fixture and run them simultaneously with a Lego beam mounted like the minute hand on a clock. Place move blocks in a loop that rotate the motors in 1 degree increments in a full circle. If the motors are aligned, them the pointers will be aimed in the same position. Also try rotating the motors in 90 and 180 degree increments.

Pick the 2 that are the most closely aligned as your drive wheels. "


- quoated from "Coach David" in FLL Forum (post #10)
http://forums.usfirst.org/showthread.php?t=13137

Wednesday, November 17, 2010

Fantastic Four & Team 1/2 Awards

Our Mission Program Four is now FANTASTIC!
Check out the you tube video
http://www.youtube.com/watch?v=huJ_-13qr7k

The link below are unlisted youtube videos of both teams of Millerbots being awarded at the ceremony.  (The videos are posted as unlisted youtube videos instead of attachment here as it offers better resolution for similar amount of uploading time.)
Champion's Award (and Creative Presentation Award)

http://www.youtube.com/watch?v=TjSHoMpOfFE


Robot Innovation and Strategy Award

Saturday, November 13, 2010

We Are The Champions!

Normally I don't like Spongebob. My class will understand when I say I think he's too sassy. :)  But, I thought this video was funny...

Link: CONGRATULATIONS, MILLERBOTS!

Congrats to all of you! Good work!

p.s. I neglected to mention Henry's mom and the Uffords today in my thank yous. Henry's mom made the headbands for the kids, and the Ufford family organized the dinner at Buddy's. THANK YOU!

Monday, November 8, 2010

Map to Tournament and Buddy's

Hi all. The information about the tournament has been on the blog for a few weeks, but here it is again:
Allen Park Middle School, 8401 Vine, Allen Park, 48101  
Event Time:  8:00 - 4:00     
All students must be there by 8:30 a.m.
Concessions are available for lunch.
Attached you will find the competition Schedule.
Millerbots 1 (Bone Foam) is team 1907
Millerbots 2 (Leukemia) is team 10171
At 4:30 p.m. we are meeting at Buddy's Pizza in Dearborn for a banquet to celebrate our hard work.  The price includes Pizza (cheese or pepperoni), three types of salad, bread, and a soda or tea. Rebecca Hayes, Taylor's mom, will be collecting money at the BEGINNING of the meeting on Thursday. If you plan to attend the banquet, please bring cash. Thank you.
$15.00 -- Adults
$8.00 -- Children 10 and under


Link: Map to Tournament and Buddy's

Sunday, November 7, 2010

IMPORTANT INFORMATION

There will be a cloze test on the below items Thursday at lunch recess. (Some key words will be deleted; students must fill in the blanks.) Cloze tests require the ability to understand context and vocabulary in order to identify the correct words or type of words that belong in the deleted passages of a text. The test is not a competition, and you will not receive a grade. You will take this test to show yourself and your teammates that you are serious about your team membership.
The judges are looking for:


n  There is BALANCE between Core Values, Research Project, and Robot. One is not more important than the others.
n  Team engages OTHERS in GENUINE enthusiasm and fun in a POSITIVE, fun way.
n  Team members can cite multiple SPECIFIC examples from everyday life for each of the core values (at school, at sports, at your place of worship).
n  There is a process for making decisions by members of the team.
n  Time management and role identification (Remember mission leaders were team members who took home the robot.)
n  STUDENT INITIATIVE (students identify what needs to be done and do it independently).
n  Balanced involvement and respect for ALL ideas from ALL members of the team.
n  ALL members are respectful to their teammates and other teams – even in the most difficult situations.
n  Gracious Professionalism is including all members of your team at all times, respecting your teammates and others, and cooperation.

(The judges will be looking for the above components in your team problem-solving session, as well as asking for evidence of these components from your team’s season.)


Be able to answer the following questions aloud: (Talk to your teammates at recess, on the bus, etc. if you need help.)
n  How is your robot able to withstand the rigors of competition without much repair?
n  How did your team streamline parts and need for changes during each heat?
n  Is your robot’s speed, force, and accuracy predictable?
n  Does your robot achieve its purpose every time?
n  Are your programs easy to follow for new team members? Can you explain them to others? Are your ideas easily teachable?
n  How/ why do you use jigs?
n  How did your team design multiple robots/appendage/program and then test, choose best option, and move forward?
n  How and why were the missions developed? How were the tasks grouped into missions?
n  What are the unique or unexpected (innovative) features of your robot or programming?
n  What are all of the Core Values of FLL?
n  How did your team incorporate the FLL Core Values in programming and mechanics?


Use ‘WE’, not ‘I’ or ‘Mr. Tseng’. J


Monday: We will make new posters and practice your presentation.
Tuesday: We practice a teamwork task and practice your presentation.
Wednesday: We practice a teamwork task and practice your presentation.
Thursday: Cloze Quiz on Judge’s Criteria and Verbal Quiz on Programming/ Mechanics.
Friday: Final rehearsal of your presentation and more judging practice.



A Cheesy Inspiration

Lazytown Teamwork Song

At the 26th second mark:

Teamwork. Do it together.
Millerbots. Team forever.
We're all for one.
And one for all.
We'll help each other stand tall.

Millerbots 2 Research (Help!) -- Know this

We need more research on Chemotherapy and Radiation: How do they help cure leukemia? How do they harm the body?


Our team researched the cutting-edge world of Biomedical Engineering to find out how nanobots might repair bone marrow in children with leukemia.  At the very beginning of this Robotics season, our team voted to research a topic having to do with the skeletal system.  One of our research searches led us to nanorobots  in medicine.  We’ll tell you more about that in a bit.  We also voted to write a song about our research.

The problem we identified is “How can Biomedical Engineering heal leukemia?”


To find out what doctors are currently doing to heal leukemia, we read books, scoured the internet and met with graduate students, David Lai and Dana Begun, from the University of Michigan Biomedical Engineering department.  We gathered lots of information. Bill Nye videos on the Skeletal System

Discovery Channel’s “How Will Nanobots Help Cure Cancer?”

The Incredible Human Body.  Directed by Karen Goodman and Kirk Simon.  National Geographic.  2002

Colombo, Luann. Uncover the Human Body. Bellevue Publishers Group, 2002.
Cox, Alexander. Body Science. New York: Ling, 2009.                    Ganeri, Anita. Body Basics: Bones. New York: ___, 2009.
Lindsay, Mary. The Visual Dictionary of the Human Body. New York: Kindersley, 1991.
Simon, Seymour. Bones: Our Skeletal System. New York: HarperCollins, 2000.

We learned about:

Bones
Ÿ  Bones function to move, support, and protect all of the organs in the body.
Ÿ  Bones contain fibers.
Ÿ  The largest bone in the body is the thigh bone, the Femur.

Bone Marrow
Bone marrow is a flexible tissue found in the hollow interior of the bones.  In the big bones of adults, the marrow produce blood cells.  Bone marrow also prevents the back flow of lymph, working as an important part of the lymphatic system.

Leukemia
Cancer of the blood is called leukemia.  About 90% of leukemia is diagnosed.  The word leukemia means white blood cells.  Most forms of leukemia are treated with pharmaceutical medications. Leukemia is cancer.


We learned about current treatments for leukemia and Nanorobotics:




Current treatments of leukemia
The best cure for leukemia is getting a bone marrow transplant.  Patients are given transplants so they can be given higher doses of a drug that helps fight leukemia.  If they don’t get transplants, they can’t have enough of the cure they need.  The drug destroys cancer cells but also destroys good cells and is harmful to your body.  The new marrow can make up the cells it lost.

Nanorobotics
Nanorobotics is an emerging field that deals with the controlled manipulation of objects with nanometer scale dimensions. 


Then we devised with Nan robots:

Our innovative solution is:
The use of nanobots to deliver healthy bone marrow to leukemia patients. The nanobots would also remove the damaged marrow from the bone.
The nanobots would be injected by a shot and travel through the bloodstream to complete their job. Then, the nanobots would travel to the vena cava where there would be a filter. From there, doctors would make a small cut and remove the nanobots.

These nanobots, themselves, are not expensive to make; they are simply small pieces of metal guided through the body by magnetic fields controlled by doctors.

Nanobot bone marrow repair is preferred over today’s surgery methods because it’s less painful, leaves no scars, less chance of infection or death, and chemotherapy kills cells all over the body – not just cancer cells. Nanobots are BETTER!

In addition to this solution, we sang the song that you just heard to the students at our school, to children at our local library, and people at the Walton Woods retirement community. There, people pledged to eat at least ten calcium-rich foods or drinks during the next week. Eating calcium-rich foods makes bones stronger, and strong bones are less likely to break.

<We at the hospital
Nanobots are movin
Through the blood… through through the blood>

Millerbots 1 Research (Know this)

Millerbots  Research (Titanium Bone Foam)
Our team researched the cutting-edge world of Biomedical Engineering to find out how surgeons repair badly broken bones. At the very beginning of this Robotics season, our team voted to research the topic having to do with the skeletal system. One of our earliest research searches led us to bone foam. We will tell you more about that in a moment. We also voted to write a song about our research.
The problem we identified is “How do surgeons repair badly broken bones?” We know that biomedical engineering goes back to ancient times. Archeologists in Egypt found a mummy with an artificial toe that is 3,000 years old. We also know that amputation (cutting and removing of a human appendage) was a widely used practice.

To find out what doctors are currently doing to repair badly broken bones, we read books, scoured the Internet, and met with graduates students from the University of Michigan Biomedical Engineering department David Lai and Dana Begun. We gathered a lot of information.
Videos:
Bill Nye  “Bones”
Skeleton. Directed by David Hutt. Eyewitness, 1994.
The Incredible Human Body. Directed by Karen Goodman and Kirk Simon. National Geographic, 2002.
Books:
Colombo, Luann. Uncover the Human Body. Bellevue Publishers Group, 2002.
Cox, Alexander. Body Science. New York: Ling, 2009.                
Ganeri, Anita. Body Basics: Bones. New York: ___, 2009.
Lindsay, Mary. The Visual Dictionary of the Human Body. New York: Kindersley, 1991.
Simon, Seymour. Bones: Our Skeletal System. New York: HarperCollins, 2000.


We Learned about Bones
            General:
  1. Bones function to move, support, and protect all of the organs in the body.
  2. Organs found on bones are marrow, endosteum, periosteum, nerves, blood vessels, and cartilage.
  3. Bones contain fibers.
  4. The largest bone in the body is the thigh bone, called the femur.
  5. Calcification is the process by which calcium helps to strengthen bones.

Strength:
Bones are a compound material; the solid is calcium and the gel is collagen, which makes bones strong and lightweight. Bone strength is from vitamin D, calcium, and the physical activity you do.
To make bones strong, a person needs to have vitamin C, vitamin D, and physical activity. If you don’t have these things, your bones are not going to be very strong.

Osteoporosis. Osteoporosis is caused by poor bone density and can trigger disabilities caused by severely weakened bones like compression fractures of the spine and hip fractures. Some treatments you can get to resolve or lessen the impact of osteoporosis are parathyroid hormone, calcitonin, and taloxifene. There are no early symptoms that you can identify for osteoporosis.

Types of Breaks

There are four main types of bone breaks: displaced, nondisplaced, open, and closed. In a displaced bone break, the bones break into more than two pieces. In a nondisplaced break, the bone breaks all the way through or cracks either part of the bone, but it does not move and it maintains its alignment. In an open break, the bone comes through the skin. In a closed break, the bone stays inside the skin.
            We learned about titanium bone foam and other ways doctors are currently repairing badly broken bones.

Bone Foam: What Is It?
Germany’s Fraunhofer Research Group made a bone-replacing material called resabone, then they made something better called titanium foam (bone foam). Bone foam is like a metal sponge. Recent bone foam was invented by Afsaneh Rabiei of North Carolina State University. Bone foam is the bones’ “favorite” kind of replacement.
Titanium bone foam helps bodies heal after traumatic injuries and bone breaks.

Other Ways Doctors Fix Bones
There are many ways a doctor can heal a broken bone. One way is a cast. A cast keeps the bones held together until the bone heals itself.

           
            We also researched nanorobotics. Nanorobotics is an emerging field that deals with the controlled manipulation of objects with nanometer scale dimensions.
            Then we devised this new adaptation of bone foam delivery with nanorobots. Our innovative solution is:

The use of nanobots to deliver titanium bone foam to patients with traumatic bone breaks.
The nanobots, loaded with molecules of titanium bone foam, would be injected by a shot and travel through the bloodstream to complete their job. Then, the nanobots would travel to the capillaries in the small intestine, where the bad marrow and nanobots would “get in line” to be excreted.

These nanobots, themselves, are not expensive to make; they are simply small pieces of metal guided through the body by magnetic fields controlled by doctors.

Nanobot bone marrow repair is preferred over today’s surgery methods because it’s less painful, leaves no scars, less chance of infection or death, and chemotherapy kills cells all over the body – not just cancer cells. Nanobots are BETTER!

In addition to this solution, we sang the song that you just heard to the students at our school, to children at our local library, and people at the Walton Woods retirement community. There, people pledged to eat at least ten calcium-rich foods or drinks during the next week. Eating calcium-rich foods makes bones stronger, and strong bones are less likely to break.

<I eat good food because I want strong bones
But if they break
How to they make       new bones?
Nanobots are shot with new bone foam
I’ll keep my real bones
I’ll take my Flintstones>