Exploring Lego Mindstorms Ev3 Tools And Techniques For Building And Programming Robots Park pdf download
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Exploring Lego Mindstorms Ev3 Tools And Techniques For Building And
Programming Robots 1st Edition Eun Jung Park
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The Logo Brainstorm Book A Comprehensive Guide For Exploring Design
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Table of Contents
Chapter 1: Introducing LEGO MINDSTORMS EV3
Understanding the EV3 Set: It Begins When You Open the Box
Comparing EV3 and NXT
Summary
Chapter 2: Building the Auto-Driver: A Starter Vehicle
Getting Started with the Auto-Driver
Understanding the EV3 Brick Interface
Summary
Chapter 3: Getting Started with Programming
What Is Programming?
Launching the EV3 Software
Downloading Programs to a Robot
Summary
Chapter 4: Exploring Action Blocks Part 1: Programming Motors
Understanding the Basics of Block Programming
Getting to Know the Input Values for the Motors
Controlling Motors with the Large Motor Block and the Medium Motor
Block
Controlling Two Motors with the Move Steering Block
Using the Move Tank Block to Control the Power Level of a Motor
Summary
Chapter 5: Exploring Action Blocks Part 2: Using Display, Sound and Brick
Status Light Blocks
The Display Block
The Sound Block
The Brick Status Light Block
Summary
Chapter 6: Exploring Flow Blocks
The Start Block
The Wait Block
The Loop Block
The Loop Interrupt Block
The Switch Block
Summary
Chapter 7: Building the Spy Rabbit: A Robot That Can React to Its
Surroundings
Understanding the Spy Rabbit
Testing the Moving Parts of the Spy Rabbit
Summary
Chapter 8: Sensing the Environments: Using the Infrared, Touch, and Color
Sensors
Understanding Sensors
Intro to the EV3 Sensors
Using the Infrared Sensor and Remote Infrared Beacon
Using the Touch Sensor
Using the Color Sensor
Summary
Chapter 9: Using the Timer and the Rotation Sensor
Understanding the Timer
Understanding the Motor Rotation Sensor
Summary
Chapter 10: Building Mr. Turto: A Sea Turtle Robot
Understanding Mr. Turto
Testing Mr. Turto's Movements
Summary
Chapter 11: Programming with Data Wires and Using My Blocks
What Is a Data Wire?
How Do Data Wires Work?
Sensor Blocks and Data Wires
Introducing My Blocks
Summary
Chapter 12: Using Data Operations Blocks
The Variable Block
The Constant Block
The Array Operations Block
The Logic Operations Block
The Math and Round Blocks
The Compare, Range, and Random Blocks
The Text Block
Summary
Chapter 13: Building the Big Belly Bot: A Robot That Eats and Poops
Understanding the Big Belly Bot
Programming the Big Belly Bot
Summary
Chapter 14: Design Your Own Robot: How Did Guapo, the Robotic Puppy,
Come to Be?
Build Guapo, the Robotic Puppy
Set a Goal: What Do You Want to Build?
Decide on Moving Parts and Sensors
Build and Modify: From Core Sections to Decorative Sections
Time to Program
Summary
Appendix: Using Bluetooth and WiFi with the EV3 Brick
Using Bluetooth with the EV3 Brick
Using WiFi to Download a Program to the EV3 Brick
Using Apple iOS Devices with the EV3 Brick
Foreword
Introduction
End User License Agreement
List of Illustrations
Figure 1.1
Figure 1.2
Figure 1.3
Figure 1.4
Figure 1.5
Figure 1.6
Figure 1.7
Figure 1.8
Figure 1.9
Figure 1.10
Figure 1.11
Figure 1.12
Figure 1.13
Figure 1.14
Figure 2.1
Figure 2.2
Figure 2.3
Figure 2.4
Figure 2.5
Figure 2.26
Figure 2.27
Figure 2.28
Figure 2.29
Figure 2.30
Figure 2.31
Figure 2.32
Figure 2.33
Figure 2.34
Figure 2.35
Figure 2.36
Figure 2.37
Figure 2.38
Figure 3.1
Figure 3.2
Figure 3.3
Figure 3.4
Figure 3.5
Figure 3.6
Figure 3.7
Figure 3.8
Figure 3.9
Figure 3.10
Figure 3.16
Figure 3.17
Figure 3.18
Figure 3.19
Figure 3.20
Figure 3.21
Figure 3.22
Figure 3.23
Figure 3.24
Figure 3.25
Figure 3.26
Figure 3.27
Figure 4.1
Figure 4.2
Figure 4.3
Figure 4.4
Figure 4.5
Figure 4.6
Figure 4.7
Figure 4.8
Figure 4.9
Figure 4.10
Figure 4.11
Figure 4.12
Figure 4.13
Figure 4.14
Figure 4.15
Figure 4.16
Figure 4.17
Figure 4.18
Figure 4.19
Figure 4.20
Figure 4.21
Figure 4.22
Figure 4.23
Figure 4.24
Figure 4.25
Figure 4.26
Figure 4.27
Figure 4.28
Figure 4.29
Figure 4.30
Figure 4.31
Figure 4.32
Figure 4.33
Figure 4.34
Figure 4.35
Figure 4.36
Figure 4.37
Figure 4.38
Figure 4.39
Figure 5.1
Figure 5.2
Figure 5.3
Figure 5.4
Figure 5.5
Figure 5.6
Figure 5.7
Figure 5.8
Figure 5.9
Figure 5.10
Figure 5.11
Figure 5.12
Figure 5.13
Figure 5.14
Figure 5.15
Figure 5.16
Figure 5.17
Figure 5.18
Figure 5.19
Figure 5.20
Figure 5.21
Figure 5.22
Figure 5.23
Figure 5.24
Figure 5.25
Figure 5.26
Figure 5.27
Figure 5.28
Figure 5.29
Figure 5.30
Figure 5.31
Figure 5.32
Figure 5.33
Figure 5.34
Figure 5.35
Figure 5.36
Figure 5.37
Figure 5.38
Figure 5.39
Figure 5.40
Figure 5.41
Figure 5.42
Figure 5.43
Figure 6.1
Figure 6.2
Figure 6.3
Figure 6.4
Figure 6.5
Figure 6.6
Figure 6.7
Figure 6.8
Figure 6.9
Figure 6.10
Figure 6.11
Figure 6.12
Figure 6.13
Figure 6.14
Figure 6.15
Figure 6.16
Figure 6.17
Figure 6.18
Figure 6.19
Figure 6.20
Figure 6.21
Figure 6.22
Figure 6.23
Figure 6.24
Figure 6.25
Figure 6.26
Figure 6.27
Figure 6.28
Figure 7.1
Figure 7.2
Figure 7.3
Figure 7.40
Figure 8.1
Figure 8.2
Figure 8.3
Figure 8.4
Figure 8.5
Figure 8.6
Figure 8.7
Figure 8.8
Figure 8.9
Figure 8.10
Figure 8.11
Figure 8.12
Figure 8.15
Figure 8.13
Figure 8.14
Figure 8.16
Figure 8.17
Figure 8.18
Figure 8.19
Figure 8.20
Figure 8.21
Figure 8.22
Figure 8.23
Figure 8.28
Figure 8.29
Figure 8.30
Figure 8.31
Figure 8.32
Figure 8.33
Figure 8.34
Figure 8.35
Figure 8.41
Figure 8.42
Figure 8.43
Figure 9.1
Figure 9.2
Figure 9.3
Figure 9.4
Figure 9.5
Figure 9.6
Figure 9.7
Figure 9.8
Figure 9.9
Figure 9.10
Figure 9.11
Figure 9.12
Figure 9.13
Figure 9.14
Figure 9.15
Figure 9.16
Figure 9.17
Figure 9.18
Figure 10.1
Figure 10.2
Figure 10.3
Figure 10.4
Figure 10.40
Figure 10.41
Figure 11.1
Figure 11.2
Figure 11.3
Figure 11.4
Figure 11.5
Figure 11.6
Figure 11.7
Figure 11.8
Figure 11.9
Figure 11.10
Figure 11.11
Figure 11.12
Figure 11.13
Figure 11.14
Figure 11.15
Figure 11.16
Figure 11.17
Figure 11.18
Figure 11.19
Figure 11.20
Figure 11.21
Figure 11.22
Figure 11.23
Figure 11.24
Figure 11.25
Figure 11.26
Figure 12.1
Figure 12.2
Figure 12.3
Figure 12.4
Figure 12.5
Figure 12.6
Figure 12.7
Figure 12.8
Figure 12.9
Figure 12.10
Figure 12.11
Figure 12.12
Figure 12.13
Figure 12.14
Figure 12.15
Figure 12.16
Figure 12.17
Figure 12.18
Figure 12.19
Figure 12.20
Figure 12.21
Figure 12.22
Figure 12.23
Figure 12.24
Figure 12.25
Figure 12.26
Figure 12.27
Figure 12.28
Figure 13.1
Figure 13.2
Figure 13.3
Figure 13.4
Figure 13.5
Figure 13.35
Figure 13.36
Figure 13.37
Figure 13.38
Figure 14.1
Figure 14.2
Figure 14.3
Figure 14.44
Figure 14.45
Figure 14.46
Figure 14.47
Figure A.1
Figure A.2
Figure A.3
Chapter 1
Introducing LEGO MINDSTORMS EV3
Did you get a box that looks like the one shown in Figure 1.1?
Figure 1.1 The LEGO MINDSTORMS EV3 set, item number 31313
If you did, you are ready to use this book. Several versions of the LEGO
MINDSTORMS set are available, but throughout this book we use the LEGO
MINDSTORMS EV3 set, which has a LEGO item number of 31313. This
chapter provides a brief overview of the equipment in the set and what it does.
Motors
You will program the EV3 motors, shown in Figure 1.3, to create the movements
of your robot. Saying that the EV3 brick is the brain of a robot, the motors are
like muscles. As our muscles generate all of our body movements, the motors
will power all the actions of your robot such as driving, walking, lifting,
spinning, and so on.
Figure 1.3 The EV3 Motors: The large motors and the medium motor
As you can see in Figure 1.3, the large and medium motors have quite different
appearances. The large motor is bigger than the medium motor, and the body
size represents the strength of the motor. Also, the two motors move in different
directions: The large motor's movement is parallel with the body of the motor
whereas the medium motor's movement is perpendicular with the body of the
motor, which allows you to effectively design a robot that can achieve your goal.
Sensors
Within the EV3 set, you will find a touch sensor, a color sensor, and an infrared
sensor (see Figure 1.4). As you build the projects from this book, you will learn
to use these sensors to make your robots interactive. In other words, your robot
will be able to decide its action based on the inputs from its surroundings. For
example, let's say you have a vehicle type robot. With an infrared sensor, it can
detect how far an object is in front of it. Based on the data from the sensor, the
robot can play a louder sound when it gets closer to the object.
Cables
This set contains two types of cables (see Figure 1.6): connector cables and a
USB 2.0 cable. Connector cables are for plugging the motors and sensors into
the EV3 brick. The USB cable is used to download a program to the EV3 brick
from your computer.
Figure 1.6 The connector cables and the USB 2.0 cable
EV3 Software
To give your EV3 robot instructions, you must use the EV3 software specifically
designed for this set. If you are looking in the box for an installation disc, you
will be looking for a while. LEGO offers its free EV3 software only as a
download from www.LEGO.com/mindstorms. From the main page, click the
Downloads link to display the page shown in Figure 1.7. Then click the
Download button.
Figure 1.7 Downloading the EV3 software
Don't worry if you don't have the EV3 software available when you want to test
out your robot. There is an app that comes with the brick that allows you to
program your robot. The program that you can create with this app will be
simpler than with the EV3 software, but it is still very useful! You will see where
you can find this app on the brick when we go over the EV3 brick interface in
“Building the Auto-Driver: A Starter Vehicle.”
The download page contains options for choosing the operating system (Mac OS
X and Win32) and language. If you download the installation file for PC, you
will see a file with a .exe extension; for Mac, it will be a .dmg file. After the file
downloads to your computer, just double-click the file icon and follow the
instructions that pop up on your screen.
Connector Pegs
The set contains many small parts, but the majority of the pieces look like the
connector pegs shown in Figure 1.9. Note that they are also called connecter
pins.
Figure 1.10 Connector peg with friction versus a frictionless connector peg
If you put a connector peg on a beam, you will notice that the beam can be
turned easily. However, if instead you use a connector peg with friction, it will
be more difficult to turn the beam because the little bumps on the peg create
more resistance.
Mechanical Pieces
When you design your robot's movements, the mechanical pieces allow for a
more efficient construction (see Figure 1.11). These pieces provide, but are not
limited to, mechanical advantages such as switching the direction of gear
movement, building a drive train, changing the speed of gear movements, and so
on.
Figure 1.11 The EV3 mechanical pieces: spur gears, double bevel gears,
worm gear, cam, and so on
Figure 1.12 Organize your EV3 set.
Summary
In this chapter, you learned about the following:
The electronic components of EV3
The EV3 software download and installation process
Characteristics of the principal building parts
Compatibility between NXT and EV3 components
Chapter 2
Building the Auto-Driver: A Starter Vehicle
Now that you learned what kind of parts you have in the set, it is time to put
them together to make a robot. In this chapter, starting with some of these parts,
you build your first robot: Auto-Driver. In addition, you will get an introduction
to working with the EV3 brick interface and use the apps in the EV3 brick to
make the robot move.
Figure 2.2 Counting the number of holes on the beam to find its length
Figure 2.7 Step 2: Adding the second large motor to the base
Figure 2.8 Step 3: Attaching the supporter to the base
Figure 2.20 Step 15: Building the frame for the third wheel
Figure 2.21 Step 16: Building the frame for the third wheel
Figure 2.22 Step 17: Adding the third wheel to the frame
Figure 2.23 Step 18: Attaching the third wheel to the body of the Auto-Driver
Figure 2.24 Done
Figure 2.25 Connecting connector cables
Now that you have finished assembling your Auto-Driver, it is time to wake it
up.
Author: Various
Language: English
TRAVEL NUMBER
The best type of a St. Bernard dog was famous Bary, who, after
saving thirty-nine lives, was unfortunately shot by an English traveler
he was trying to rescue, who mistook him for a wolf. His stuffed skin
is now in the museum at Bern. Since then there has always been a
“Bary” among the dogs. The present dog of that name has already
saved three lives, while Pallas and Diana have saved two each.
St. Bernard dogs, imported mostly from England in recent years,
have become decidedly popular in America. They are chiefly of the
long-haired kind, much larger and with rather flatter heads and
longer muzzles than the dogs at the St. Bernard hospice.
Nevertheless, they are genuine St. Bernards, and are descended
from those originally brought to England from Switzerland for Lord
Dashwood, about one hundred years ago.
In their home country this breed of dogs is by no means confined
to the St. Bernard mountain. Raised in most Alpine valleys, they
have become, so to speak, the national dog of Switzerland, and are
foremost in public favor. While the long-haired type prevails in the
lower cantons, nothing but the short-haired variety are employed at
the hospice, the former type being unfitted for the peculiar mountain
work. Enormous snowfalls in spring and autumn force them
sometimes to dig their way under the snow for two or three days; on
occasions they remain in the icy fields for a week or two, returning
to the hospice reduced to mere skeletons. The coat of the long-
haired dogs dries much slower, and the dripping from the fur
congeals, causing rheumatism and other ailments and making them
soon unfit for their work.
Drawn by André Castaigne.
THE ST. BERNARD HOSPICE
The general belief that the original St. Bernard race died out long
ago is unfounded. There can be no doubt that the present dogs are
descended from those kept at the hospice in the Middle Ages,
crossed with Danish bulldogs and Pyrenean dogs about five
centuries ago, that they might inherit size and strength from the
former and intelligence and keen scent from the latter. St. Bernard,
the founder of the hospice, is represented in ancient pictures
accompanied by a large white dog. The insecurity of the much
frequented route between Italy and the North in early times caused
the monks to keep dogs for their own protection, till their usefulness
for life-saving purposes made them indispensable companions.
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