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- From: nivek@cs.cmu.edu (Kevin Dowling)
- Newsgroups: comp.robotics.misc,comp.robotics.research,comp.answers,news.answers
- Subject: comp.robotics.* Frequently Asked Questions (FAQ) part 4/5
- Supersedes: <c.r.part4_834903300@frc2.frc.ri.cmu.edu>
- Followup-To: poster
- Date: 16 Sep 1996 05:35:14 GMT
- Organization: Carnegie-Mellon University, School of Computer Science
- Lines: 3886
- Approved: news-answers-request@mit.edu
- Message-ID: <c.r.part4_842852101@frc2.frc.ri.cmu.edu>
- Reply-To: nivek@ri.cmu.edu
- NNTP-Posting-Host: mattock.frc.ri.cmu.edu
- Summary: This posting contains a list of Frequently Asked Questions
- and their answers about robotics. It should be read by anyone
- who wishes to post to the comp.robotics newsgroups
- Xref: senator-bedfellow.mit.edu comp.robotics.misc:8660 comp.robotics.research:743 comp.answers:21189 news.answers:81926
-
- Archive-name: robotics-faq/part4
- Last Modified: Mon Sep 16 01:00:38 EDT 1996
- _________________________________________________________________
-
- This FAQ was compiled and written by Kevin Dowling with numerous
- contributions by readers of comp.robotics. Acknowledgements are listed
- at the end of the FAQ.
-
- This post, as a collection of information, is Copyright 1995 Kevin
- Dowling. Distribution through any means other than regular Usenet
- channels must be by permission. The removal of this notice is
- forbidden.
-
- This FAQ may be posted to any USENET newsgroup, on-line service, or
- BBS as long as it or the section is posted in its entirety and
- includes this copyright statement. This FAQ may not be distributed for
- financial gain. This FAQ may not be included in commercial collections
- or compilations without express permission from the author.
-
- Please send changes, additions, suggestions and questions to:
- Kevin Dowling tel: 412.268.8830
- Robotics Institute fax: 412.268.5895
- Carnegie Mellon University net: [2]nivek@cmu.edu
- Pittsburgh, PA 15213 url: [3]http://www.frc.ri.cmu.edu/~nivek
-
- This FAQ may be referenced as:
-
- Dowling, Kevin (1995) "Robotics: comp.robotics Frequently Asked
- Questions" Available as a hypertext document at
- http://www.frc.ri.cmu.edu/robotics-faq. 90+ pages.
- _________________________________________________________________
-
- Last-Modified: Thu Dec 7 16:40:11 1995
-
-
- [4]Kevin Dowling <nivek@cmu.edu>
-
- References
- _________________________________________________________________
-
- [10] What Robotics related products are there?
-
- [3][10.1] Sensors
- [4][10.1.1] Cameras
- [5][10.1.2] Inertial, Acceleration and Heading sensors
- [6][10.1.3] Rangefinding devices
- [7][10.1.4] Force/torque, accelerometers, tactile
- [8][10.1.5] Sonar sensors
- [9][10.1.6] Pan/tilt mechanisms
- [10][10.1.7] Measuring 3 or 6DOF position
- [11][10.1.8] Measuring linear motion
- [12][10.1.9] Interfacing sensors
-
- [13][10.2] Actuators
- [14][10.2.1] RC-Servos
- [15][10.2.2] Shape Memory Materials
- [16][10.2.3] Other Actuators
- [17][10.2.4] Stepper Motors
- [18][10.2.5] Controllers
-
- [19][10.3] Imaging for Robotics
-
- [20][10.4] Wireless Communication
- [21][10.4.1] RF Modems
- [22][10.4.2] RF Video
- [23][10.4.3] RF Ethernet
-
- [24][10.5] Robot Parts: Suppliers and Sources
-
- _________________________________________________________________
-
- [10] What Robotics related products are there?
-
- Robots are amazingly interdisciplinary; systems are comprised of
- mechanics, electronics, hardware and software and issues germane to
- all these catagories. As a result, the design and constructions of
- such systems requires a corresponding variety of components and parts.
-
- This section provides information about products available for some of
- these areas.
- _________________________________________________________________
-
- [10.1] Sensors This list covers only the most frequently requested
- types of robot sensors. These include point-range sensors, cameras,
- and acoustic devices. See Sensors magazine directory for a large and
- comprehensive list. This list covers the following:
-
-
- [25][10.1.1] Cameras
- [26][10.1.2] Inertial measurement devices and gyros
- [27][10.1.3] Rangefinding devices
- [28][10.1.4] Force/torque, accelerometers, tactile
- [29][10.1.5] Sonar sensors
- [30][10.1.6] Pan/tilt mechanisms
- [31][10.1.7] Measuring 3 or 6DOF position
- [32][10.1.8] Measuring linear motion
- [33][10.1.9] Interfacing sensors
- _________________________________________________________________
-
- [10.1.1] Cameras
-
- There are a large number of cameras on the market and even many
- consumer products such as the smaller camcorders are inexpensive and
- suitable for some imaging applications. I'll try to list some
- different and unusual ones here. Note that although some of these
- cameras are very small many of them are appended to a large box of
- electronics via a cable that supplies power and transmits video. For
- mobile applications DC power inputs may be an issue as well. I've also
- included servo-lens products as well in this section.
- _________________________________________________________________
-
- _CCTV Corporation _
-
-
- 280 Huyler St. South Hackensack, NJ 07606 tel: 201.489.9595 tel:
- 800.221.2240 fax: 201.489.0111
-
- CCTV makes a number of small CCD surveillance cameras. Some as small
- as a pack of cigarettes that sell for less than $300. Small cameras --
- 'Pincam' 1.5"x1.5"x.75" pinhole camera for $200. MOD-250 and MOD-275
- are all single PC board cameras with wide angle 3.6 mm lenses 514x491V
- resolution, and composite outputs. Other cameras come in unique
- enclosures for surveilance (e.g. cigarette packs, clocks, smoke
- detectors).
- _________________________________________________________________
-
- _Cohu_
-
-
-
- P.O. Box 85623
- San Diego, CA 92186-5623
- tel: 619.277.6700 X225
- fax: 619.277.0221
-
- Cohu makes a number of solid state cameras including board level and
- remote head devices. The 1100 series is designed for OEM use. It
- outputs standard RS-170 with 768x494 CCD resolution. 10cmx4.5cmx1.6cm
- w/o lens. Other units include the 550 series Intensified Monochrome
- CCD Camera for low-light applications. The 4110 has digital output
- (eliminates pixel jitter), The 6X00 series are small monochrome remote
- head cameras and the 8000 series cameras are color remote head
- devices. A variety of ouputs are available includeing NTSC, RGB,
- PAL/Y-C. A high resolution unit, the 8410 series, provides 1134x486
- pixels (850 horz TV lines)
- _________________________________________________________________
-
- _DAK Industries_
-
-
-
- 8200 Remnet Ave
- Canoga Park, CA 91304
- tel: 800.325.0800 (ordering)
- tel: 800.888.9818 (technical)
- fax: 818.888.2837
-
- DAK sells all kinds of gadgets for the home and business. One device
- is a security camera that is smaller than a credit card (length and
- width) and 38mm deep. B/W 251,904 pixels, 60 degree lens and built-in
- microphone. Has built-in IR transmitters for seeing in total darkness.
- $199 for camera, 20m cable, AC adapter and stands. Other packages
- include monitors and two-camera switcher for $299 total. Extra cable
- is $29.90
- _________________________________________________________________
-
- _Dalsa Inc_
-
-
-
- 605 McMurray Rd.
- Waterloo, ON, Canada N2V 2E9
- tel: 519.886.6000
-
- Modular cameras -- you choose the entire configuration from the CCD
- device to the video output format. Known for their large selection of
- high speed, high sensitivity and high resolution CCD chips (up to 25
- million pixels on a single chip CCD).
- _________________________________________________________________
-
- _Edmund Scientific _
-
-
-
- 101 E. Gloucester Pike
- Barrington, NJ 08007-1380
- tel: 609.573.6250 order
- tel: 609.573.6260 customer service
-
- Edmund Scientific Catalog has some very nice looking minature CCD
- cameras. They have several models ranging from $230 to $495 list, b/w
- and color with 1/2" or 1/3" CCD's. All are board level and require
- external power supply.
- _________________________________________________________________
-
- _Electrim Corp. _
-
-
-
- P.O. Box 2074
- Princeton, NJ. 08543
- tel: 609.683.5546
- fax: 609.683.5882
-
- Offers digitial cameras and acquisition cards in an integrated system
- for use with PC's. The EDC-1000C is a complete image acquisition
- system with a 751x488v resolution camera that supports 24 bit color
- for $950 (including the PC interface card). The EDC-1000HR is the
- monochrome version. A recently released system (11/94) offers a
- ADSP2101 DSP on board the acquisition card.
- _________________________________________________________________
-
- _Elmo Mfg Corp _
-
-
-
- 70 New Hyde Park Rd.
- New Hyde Park, NY 11040
- tel: 516.775.3200
- tel: 800.974.ELMO
- fax: 516.775.3297
-
- Micro-sized cameras including a 12mm color unit, the UN411E. The
- ME441E is a remote head B&W ccd camera for machine vision
- applications. 17mm, 14g. Wide variety of features including
- electronics shuttering, field/frame modes, interlace and non-interlace
- etc.
- _________________________________________________________________
-
-
- _Gateway Electronics, Inc._
- 8123 Page Blvd
- St. Louis, MO 63130
- tel: 314.427.6116
-
- Ultra Minature Camera $149.50. 1.6" X 1.8" X 1" with a 3.6 mm wide
- angle lens a 1/3 CCD sensor 380 lines of resolution and electronic
- sutter time of 1/60 - 1/50,000 sec. 12 VDC Video Camera and monitor
- combination 9" solid state monitor. This is a closed circuit camera
- monitor system that runs on 115 VAC. There is also a microphone in the
- Camera. $125.00
- _________________________________________________________________
-
-
- _Hamamatsu Corp. _
- 360 Foothill Road
- Bridewater, NJ 08807-0910
- tel: 908.231.1116
- fax: 908.231.0852
-
- Offers a linup of general purpose single CCD cameras. The C4200 is a
- 768x493V single CCD color camera. The C3967 is a 3 CCD remote head
- color camera with 786x493V resolution. They also offer off-the-shelf
- image improvement/enhancing hardware and CCD chips (1024x1024V)
- _________________________________________________________________
-
-
- _Images Company _
- P.O. Box 140742
- Staten Island, NY 10314
- tel: 718.698.8305
-
- Microminature B/W video camera $200.00. TV Transmitter (KIT) $45.00
-
- _________________________________________________________________
-
- _Marshall Electronics _
-
-
-
- Culver City, CA
- Contact: Steve Kraig
- tel: 310.390.6608
-
- World's smallest low-cost digital camera on a single chip; under $10
- for volume users. It is the first commercially available image sensor
- to have a built-in A/D converter. The Digital Video Camera Chip,
- VVL1070 delivers a digitized B&W image through processor-compatible
- serial and parallel ports. The IC uses a proprietary CMOS sensor
- technology developed by VLSI Vision Ltd., which also is developing a
- whole series of single-chip EIA cameras that will be shortly
- introduced to the American market.
-
- The chip features a 160 x 160 pixel array. Pixel size is 10.5 x 10.5
- microns. All circuitry to drive and sense the array is packaged in a
- single Optical Quad Flatpak. The digital converter provides an 8-bit
- digital output for serial or parallel interface. Other features
- include an analog output with sync pulses, wide-range electronic
- exposure control for use with a variety of low-cost fixed-aperture
- lenses and automatic black level circuitry. Power consumption is less
- than 100mw.
-
- An Engineering Level Evaluation Kit is available to reduce development
- costs and allow designers to rapidly develop a prototype using their
- own defined interface circuitry. The kit includes a fully operational
- PCB using an LCC with glass lid mounted in an anodized aluminum
- enclosure with both a "C" mount 12mm lens and a wide-angle 4.3mm
- fixed-focus lens.
-
- Also offers both a 330 line and 510x492v resolution miniature color
- cameras.
- _________________________________________________________________
-
- _Micro Video Products _
-
-
-
- 16201 Osborne
- St. Westminster, CA 92683
- tel: 714.842.4648
- tel: 800.473.0538
-
- Mini B/W camera $179.00 2.5x2.5x5cm and 70g. 7-14 VCD and 80 milliamps
- Also carry underwater cameras, and transmitter/recievers for video.
- _________________________________________________________________
-
- _NEC America _
-
-
-
- 1555 Walnut Hill Lane
- Irving, TX 75038
- tel: 214.751.7000
- tel: 800.323.6656
-
- Offers many types of general purpose monochrome cameras as well as a
- 811x508V resolution color camera with a variety of output formats
- (RGB, NTSC, Y/C). The TI-324A is a small high-res B/W CCD camera
- designed for machine vision and robotics applications. A variety of
- other B/W and Color CCD cameras are also made.
- _________________________________________________________________
-
- _Panasonic _
-
-
-
- tel: 201.392.4576
-
-
- John Gregler - sales rep
-
- Sells a complete line of monochrome cameras and a high performance
- broadcast quality 3 CCD RGB color camera.
- _________________________________________________________________
-
- _Patrick McGuire_
-
-
-
- tel: 800-335-9777
-
- A small company (4) making cameras, wireless video transmitters.
- _________________________________________________________________
-
- _Pulnix America Inc. _
-
-
-
- 1330 Orleans Dr.
- Sunnyvale, CA 94089
- tel: 408.747.0300
- tel: 800.445.5444 x127 Katie McVeigh - sales rep
-
- Offers gereral purpose, reasonably priced CCD cameras. The TMC-7RGB is
- a 768x494V resolution color camera with electronic shutter for $1100.
- Many monochrome cameras are available including a high resolution
- 1024x1024V. The 'Card-Cam' line of cameras are small PC board cameras
- with simple C-mount remote heads.
- _________________________________________________________________
-
- _Resources UN-LTD. _
-
-
-
- 8030 South Willow Street, Bldg 2
- Manchester, NH 03109
- tel: 603.668.2499
-
- CCD Micro Camera From Chinon. $159.00 B/W 1/3" CCD with a full
- 250,000+ pixels. 350 lines of resolution. Auto gain control and
- electronic shutter. 9 VDC at 80 milliamps. Adjustable focus 4mm, f 1.8
- lens (provides 78 degree FOV, 10mm to infinity). Standard Composite
- video out. Weighs 14g, IR Sensitive. Also reportedly sold by by
- Creative Micro Electronics in Colorado. tel: 303.770.8928, fax:
- 303.796.0979
- _________________________________________________________________
-
- _Sony Electronics Inc. _
-
-
-
- 1200 N. Arlington Heights Road
- Itasca, IL 60143
- tel: 708.773.7604
-
- Sony XC/999/999P is a nice small color CCD camera the size of a
- microphone. CCD resolution is 768Hx493V. The 999 is NTSC and the 999P
- is the PAL format. XC-75 has small camera head and separate
- electronics. The XC711 is a nice general purpose single CCD color
- camera with 768x493V resolution, but not as expensive as to XC999. The
- XC-711 RR is the remote head version. An appreciable lineup of
- monochrome cameras are offered as well.
- _________________________________________________________________
-
- _Supercircuits _
-
-
-
- 13552 Research Blvd #B
- Austin, TX 78750
- tel: 512.335.9777
- fax: 512.335.1925
- net: info@ccd.scx.com
-
- Electronic timers and beepers, miniature cameras and transmitters.
- Super Circuits specializes in affordable microvideo products. One of
- the tiny cameras, the PC-9XS is about the size of a silver dollar, has
- 380 lines resolution, 1 lux rating at a price of only $149. Some of
- the cameras go down to .2 lux. Other products include small color
- cameras, ATV UHF transmitter kits, Short range transmitter sets, and
- other specialty video products.
- _________________________________________________________________
-
- _Texas Instruments _
-
-
- TI makes a full line of cameras and CCD chips includeing linear and 2D
- arrays. TI makes a $35 CCD Imager, the TC-211, with 192x165
- resolution. Newark Electronics sells the TC211-M for around US$50.00
- See TI's Array Image Sensor Products data manual for more details.
- Update: Unfortunately, Telescope Making Magazine went out of business
- with the issue mentioned above and may be hard to find. Hope to find
- copy and contact author wrt to posting it.
- _________________________________________________________________
-
- _Toshiba America _
-
-
-
- Information and Imaging Technologies Group
- 1010 Johnson Drive
- Buffalo Grove, IL 60089-6900
- tel: 800.253.5429
- fax: 708.541.1927
-
- Toshiba IK-M40A high resolution microminiature color camera. Camera
- head is 39mm long, 17mm diameter and weighs 16g. 1/2" CCD w/ 410,000
- pixels, high sensitivity (5 lux at F1.6) and electronic shutter. RGB
- output standard. uses cables up to 30m. Several lenses available.
- About $2K.
-
- Toshiba also makes a very small C-mount Lens color CCD camera, the
- IK-C40A. It is only slight larger than a 30mm cube.
- _________________________________________________________________
-
- _Wintriss Engineering Corp _
-
-
-
- 6342 Ferris Square
- San Diego, CA 92121
- tel: 619.550.7300
- tel: 800.733.8089
-
- Wintriss makes a 2048 pixel line scan camera that can be used for
- object imaging, velocity measurement and positioning with multiple
- cameras. Can be used to determine spped and trajectory of objects in
- flight. This has been used in archery applications. RS485 interface
- with 8Mb/sec serial data rate. Can be linked directly with Wintriss
- DSP boards for post-processing and communications. Price $1250.
- _________________________________________________________________
-
- _Xillix Technologies Corporation _
-
-
-
- Suite 200
- 2339 Colombia Street
- Vancouver B.C. V5Y 3Y3
- tel: 604.875.6161
- fax: 604.872.3356
-
- Specializing in High-res CCD cameras. Product line includes a 12-bit
- 1317x1035 pixel resolution. Target market has been medical imaging.
- Full computer control and compatible with a number of image capture
- and display boards.
- _________________________________________________________________
-
- [10.1.2] Inertial, Acceleration and Heading sensors
-
- An excellent summary technical report on this area can be found at:
- [34]CMU-RI-TR-94-15 (compressed)
- _Modern Inertial and Satellite Navigation_ by Alonzo Kelly, May 1994.
- Inertial measurement includes such devices as accelerometers, gyros,
- and devices for measuring orientation or acceleration of moving
- vehicles. Accelerometers are devices for measuring the rate of change
- in velocity and can provide estimations of distance or be used to
- detect high forces.
-
- Much of the initial research, development and marketing in this area
- were for military applications. However, markets and commercial units
- are now found in mass market and even consumer applications these
- days. This has brought the price of systems down significantly. There
- are several inexpensive gyros used in radio controlled helicopters.
- These are rate gyros, used to sense the rate of turn about a
- particular axis (usually vertical, for tail rotor control), and are
- designed to connect between an R/C receiver and a servo.
-
- These gyros work by modifying the PWM signal that the rx produces,
- before it gets to the servo. The sensing is usually done by a linear
- hall effect device, which senses the position of a magnet on the
- bottom of the flywheel assembly. The gyros have both sensitivity and
- gain controls, and some can be switched on and off remotely. They have
- been used for sensing rotation about an axis for a VR headset, with
- some success. The big advantage is they are relatively cheap, the big
- disadvantage is high drift rate.
-
- _________________________________________________________________
-
- _Analog Devices_
-
-
-
- One Technology Way
- P.O. Box 9106,
- Norwood, MA 02062-9106
- tel: 617.329.4700
- fax: 617.326.8703
-
- Analog Devices ADXL50 accelerometer.
-
- Power Supply........................... +5V (+/- 5%)
- Measurement Range...................... +/- 50g
- Pre-Amp Zero-g output level............ +1.8V
- Pre-Amp output span.................... +1.8V (+/-1.2V) at +/-50g
- Uncommitted amp output range........... +0.25V to +4.75V
- Overall Accuracy....................... 5% of Full Scale
- Linearity.............................. 0.5% of Full Scale
- Bandwidth.............................. DC to 1kHz
- Voltage Noise (p-p)
- at BW = 0.3kHz..................... +/-0.24% of Full Scale
- at BW = 1.0kHz..................... +/-0.48% of Full Scale
- Transverse Sensitivity................. 2%
- Unpowered Shock Survival............... 2000g
-
- Distributed by Newark, Hamilton-Hallmark and Active.
- _________________________________________________________________
-
- _Andrew Corporation_
-
-
-
- 10500 W. 153rd Street
- Orland Park, IL 60462
- tel: 708.349.5957
- fax: 708.349.5294
- fax: 800.349.5444
-
- Fiber-optic gyro. 77mm diameter by 88mm high. Analog out porportional
- to rotation rate. Also digital version available. Rate +/- 100
- degrees/sec. Stable over -40C to +85C. Power 8-13.5VDC at 250mA. Bias
- drift 0.005 deg/sec (18 deg/hr). 0.63kg $1100.00 for digital version,
- $950 for analog.
- _________________________________________________________________
-
- _AMP_
-
-
-
- P.O. Box 799
- Valley Forge, PA 19482
- tel: 610.666.3500
- fax: 610.666.3509
-
- Piezo Film Accelerometer Sensors
-
- AHC-04-08 accelerometer/shock sensor contains three sensing elements
- oriented to measure acceleration in two linear axes and one angular
- axis. Each sensor has a dedicated channel with adjustable gain, an
- adjustable comparator, and selectable output control to provide either
- a digital or analog signal. It is a low profile surface mount chip
- with 14 pins. It has internal eeprom for programming the adjustable
- gains, and output modes.
-
- Lower limit on the frequency response is typically about 7-13 Hz. This
- means if it were subjected to a steady 10 G acceleration for example,
- the output would rise to 10 G's then decay down to zero even though it
- were still at 10 G's. This is good for measuring shocks but not steady
- accelerations. About $30 for a single unit.
- _________________________________________________________________
-
- _BEI - Systron Donner_
-
-
-
- 2700 Systron Drive,
- Concord, CA 94518-1399
- tel: 510.682.6161
- fax: 510.671.6590
-
- GyroChip - a very small solid state angular rate sensor. Based a
- quartz tuning fork device - all support electronics are included. Max
- range available: +/-10 deg/sec to +/-1000 deg/sec. Input +/- 5VDC
- Output scale +/- 2.5VDC. Systron Donner also makes a variety of linear
- accelerometers and inertial measurement products. Solid state six axis
- inertial sensor. It provides analog signals for 3 axis acceleration
- and 3 axis rate. The package is 7.5cmx7.5cmx8cm, weighs ~600grams and
- takes +-15V unreg in (7W). Bias drift is on the order of 0.005 deg/sec
- short term (0.1deg/sec long term). Cost is $12,000 for one or $10,000
- for 2-9 (a good single axis rate gyro usually costs $6K+). Various
- acceleration and rate range combinations are available (up to +- 20g).
- Delivery is about 6wks. A new Gyrochip two is available as well. Specs
- aren't quite as good but it is cheaper.
- _________________________________________________________________
-
- _Endevco Corporation_
-
-
-
- 30700 Rancho Viejo Road
- San Juan Capistrano, CA 92675
- tel: 714.493.8181
- fax: 714.661.7231
-
- Variable Capacitance and Piezoresistive Accelerometers. Many models,
- contact Endevco for literature.
- _________________________________________________________________
-
- _Gyration Inc._
-
-
-
- Saratoga CA
- tel: 408.255.3016
- fax: 408.255.9075
-
- Sells small vertical and directional gyros for ~$500. These are
- standard gimballed gyros, but the drift specs probaly aren't as good
- as aircraft-quality gyros. Now also sell innovative computer pointers
- and devices termed 'Gyroengines' that provide quadrature outputs from
- heading devices. Gyroengines are $3.5K
- _________________________________________________________________
-
- _Honeywell_
-
-
-
- 11601 Roosevelt Blvd
- St. Petersburg, FL 33716
- tel: 813.579.6604
- fax: 813.579.6696
-
- Honeywll manufactures the modular azimuth and postioning system (MAPS)
- and utilizes ring-laser gyros. (RLG). The RLG uses two beams of laser
- light rotating in opposite directions along a path within a sealed and
- enclosed cavity. As the unit changes heading, the distances the beams
- travel differ. This difference is can be measured and is directly
- related to heading. When combined with linear accelerometers the unit
- provides position and orientation. MAPS has an RS-422 interface, is
- approx 22x27x38cm and is 20kg. 100W power draw. [Rad hard and rated
- for howitzer gunfire!]
- _________________________________________________________________
-
- _Humphrey_
-
-
-
- 9212 Balboa Avenue
- San Diego, CA 92123
- tel: 619.565.6631
- fax: 619.565.6873
-
- Wide variety of gyros, north seekers, vertical indicators, position
- transducers, pendulums, magnetometers, dynamic stabilization systems,
- and accelerometer devices.
- _________________________________________________________________
-
- _ICSensors_
-
-
-
- 1701 McCarthy Blvd.
- Milpitas, CA 95035-7416
- tel: 800.767.1888
- tel: 408.432.1800
- fax: 408.434.6687
-
- Model 3145. Signal Conditioned Temperature Compensated 0.5 to 4.5 Vdc
- Output. 2g, 5g, 10g, 20g, 50g, 100g, 200g ranges. $230 for 1.
-
- Model 3140: Instrumentation grade Signal Conditioned Temperature
- Compensated 0.5 to 4.5 Vdc Output. 2g, 5g, 10g, 20g, 50g, 100g, 200g
- ranges. $295 for 1.
-
- Model 3031: OEM Accelerometer Piezoresistive low cost Surface mount
- package. 2g, 5g, 10g, 20g, 50g, 100g, 200g, 500g ranges. $74 for 1.
-
- Model 3021 and 3026: OEM Accelerometer Piezoresistive low cost. 2g,
- 5g, 10g, 20g, 50g, 100g, 200g, 500g ranges. Price ranges from $98-141
- for 1, depending on g range.
- _________________________________________________________________
-
- _KVH Industries _
-
-
-
- 110 Enterprise Center
- Middletown, RI 02840
- tel: 401.847.3327
- fax: 401.849.0045
-
- also in Europe:
-
-
-
- KVH Europe A/S
- Ved Klaedebo 12
- 2970 Hoersholm
- DENMARK
- tel: +45(42)86 82 89
- fax: +45(42)86 70 77
-
- Nice small well-designed units that provide heading data. About $1K w/
- RS232 adapter.
- _________________________________________________________________
-
- _Lucas Control Systems Products_
-
-
-
- 1000 Lucas Way
- Hampton, VA 23666
- tel: 800.745.8008
- fax: 800.745.8004
-
- Schaevitz Sensors, a division of Lucas, makes a variety of
- inclinometers and accelerometers. the S05E is a compact, lightweight,
- solid state accelerometer. NEMA 4 housing. DC -1KHz freq response,
- +/-5vdc output, vibration to 20grms, less than 500mW power.
-
- Other linear servo inclinometers and accelerometers: acceleration
- ranges: +/-0.5g to +/-20g, inclinometer ranges +/-1 deg to +/- 90 deg.
- Operating temperatures -55C to 95C.
- _________________________________________________________________
-
- _Lucas NovaSensor_
-
-
-
- 1055 Mission Court
- Fremont, CA 94539
- tel: 510.490.9100
-
- Lucas makes a 1"x1"x0.5" accelerometer for about $200. Good noise
- immunity but fragile.
- _________________________________________________________________
-
- _Murata Erie North America_
-
-
-
- 2200 Lake Park Drive
- Smyrna, GA 30080
- tel: 800.831.9172
- fax: 404.436.3030
-
- Gyrostar piezoelectric vibrating gyroscope. Uses equilateral
- triangular prism with PE elements attached to faces of prism. High
- precision compared to other vibration gyroscopes. Measures augular
- velocity with good linearity. Max augular vel +/- 90 deg/sec, No
- hysteresis, 58x25x25mm, 45g, output is DC voltage porportional to
- angular rate. 22.2mV/deg/sec scale factor.
-
- Gerhard Weiss has provided some results of experiments with the unit
- at [131.246.192.2]: [35]Gyrostar.ps.Z
- _________________________________________________________________
-
- _Pewatron AG_
-
-
-
- Hertistr. 27
- CH-8304 Wallisellen, Switzerland
- Tel: +41 1 830 29 44
- Fax: +41 1 830 51 57
-
- Two-axis Inclinometer. Weight: 2.3gr, voltage: 5V, current: 20mA,
- dimension: 12 x 12 x 7 mm, Output: 2 analog output. Sine and cosine
- for 360 degree, voltage swing: +/- 0.4V, Price: about $100. Rumored to
- have a US distributor: Dinsmore. _Dinsmore Instrument Company_
-
-
-
- 1814 Remell Street
- Flint MI 45806
- tel: 810.744.1330
- fax: 810.744.1790
- net: qwae32d@prodigy.com
-
- _________________________________________________________________
-
- _Precision Navigation_
-
-
-
- 1235 Pear Avenue
- Suite 111
- Mountain View, CA 94043
- tel: 415.962.8777
- fax: 415.962.8776
-
- TCM2 Electronic Compass Sensor Module. Digital compass - incorporates
- 2-axis tilt sensor. NOT A FLUXGATE COMPASS - Magneto-inductive
- magnetometer technology. Electronic gimbaling, full 3-axis
- information, low power consumption 5vdc @ 6-12mA. Accuracy +/- 1
- degree up to 20 degrees tilt. Approx. 6x5x3 cm. -20to70C operating
- temperature. RS232 interface or analog. 0-2.5V linear. 16Hz output
- rate. $700.
-
- Precision's Vector-2X electronic compass module is about $50 and
- provides 2 deg accuracy, 1 deg resolution, 10Hz smapling, serial
- ouput. Another product the Wayfinder is targeted for VR tracking
- applications.
-
- _________________________________________________________________
-
- _Silicon Designs, Inc._
-
-
-
- 1445-NW Mall Street
- Issaquah, WA. 98027-5344
- tel: 206.391.8329
- fax: 206.391.0446
-
- Capacitive Accelerometers
-
- Model 1010, Digital output:
- Produces Digital pulse train in which the density of pulses (number of
- pulses a second) is proprtional to applied acceleration. It operates
- with a single +5 volt power supply and requires a clock of 100kHz -
- 1MHz. The output is ratiometric to the clock frequency and independent
- of the power supply voltage. Two forms of digital signals are provided
- for direct interfacing to a microprocessor or counter. This devices
- comes in a PLCC package that is smaller than a penny.
-
- Model 1210, Analog output:
- Provides two analog outputs, 1-4 volts, or 4-1 volt, with O g's at 2.5
- volts. The outputs can be used either differentially or single ended
- referenced to 2.5 volts. Two reference voltages, +5.0 and +2.5 volts
- (nominal), are required; the output scale factor is ratiometric to the
- +5 volt reference voltage.
- _________________________________________________________________
-
- _Silicon Microstructures_
-
-
-
- 46725 Fremont Boulevard
- Fremont CA. 94538
- tel: 510.490.5010
- fax: 510.490.1119
-
- Model 7170 series and 7130 series capacitive accelerometers. These are
- relatively large devices with built in ASIC signal processing.They
- have very good accuracy specs and are pre-calibrated. They also make
- pressure sensors.
- _________________________________________________________________
-
- _Summitt Instruments _
-
-
-
- Ohio
- tel: 216.659.3312
-
- Three-axis accelerometer. A tiny cube just under 2.5cm on a side.
- Approx $1K
- _________________________________________________________________
-
- _Sundance Model Products _
-
-
-
- 2427 W. Adrian St.
- Newbury Park, CA 91320
- tel: 805.498.8857
-
- Lists a solid state gyro for model helicopters. The SSG/1 is 38mm x
- 38mm x 13mm and weighs 43g. Completely solid state with no motor or
- moving parts. Claims to draw 10% of the power of a gyro with moving
- parts. No drift specs.
- _________________________________________________________________
-
- _Inclination and Tilt Sensing_ There are Electrolytic tilt sensors or
- clinometers that use a a conductive fluid, not mercury, whose
- resistance across various electrodes provides an analog signal
- proportional to tilt angle. They're not too expensive, although they
- do tend to have long settling times (up to a few seconds). A couple of
- US sources:
- _________________________________________________________________
-
- _The Fredericks Company _
-
-
-
- tel: 215.947.2500
- fax: 215.947.7464
-
- _________________________________________________________________
-
- _Applied Geomechanics _
-
-
-
- tel: 408.462.2801
- fax: 408.462.4418
-
- The smallest, cheapest model is 5x5x2 cm and about $250. It has a
- 5-terminal electrolytic cell that can measure tilt in two axes to +-20
- degrees (optional +-45 degrees). The characteristic "slosh" frequency
- is about 10 Hz, and it exhibits sub-second settling times and a
- resolution of 0.01 degrees. The output is two analog signals (X and Y,
- or Roll and Pitch, if you prefer). It runs off of a 9-volt battery.
- _________________________________________________________________
-
- [10.1.3] Rangefinding devices
-
- _Principles_ There are four basic techniques for distance measurement
- using electro magnetic radiation. These are:
- 1. Pulse Timing
- 2. Phase Comparison
- 3. Doppler Methods
- 4. Interferometry
-
- All are used in practice for distance measurement depending on the
- particular application.
-
- Pulse timing, as the name suggests, involves measuring the round time
- for a signal to be transmitted to a reflective surface and return.
-
- This is the principle used in Radar, DME for aircraft, LORAN,
- Satellite Altimetry, Airborne RADAR Altimetry, Lunar Laser Ranging
- etc. Some of the newer EDM instruments used by surveyor are also using
- pulse timing and accuracies of +/- 5mm are possible. Most of the
- military range finders also use pulse timing. The GPS system uses
- pulse timing for coarse distance measurement. Very Long Base
- Interferometry (VLBI) is also a pulse timing technique where signals
- >from pulsars are timed from two or more radio telescopes and the
- difference in times of arrival are converted to intercontinental
- distances with a precision of a few centimetres.
-
- Phase difference involves the use of a carrier wave which may be
- modulated at different wavelengths. By measuring the difference in
- phase between the transmitted signal and the received signal after it
- has been reflected from the other end of the target, the distance can
- be determined as an integer number (unknown) of wavelengths plus a
- fraction of a wavelength which is known from the phase comparison. By
- using a range of modulation frequencies the ambiguity can be resolved.
- There are many applications of this technique. A wide range of carrier
- frequencies are used ranging from visible through infra red to
- microwave and right down to VLF. Typical instruments used by surveyors
- have accuracies of +/-(1to2 mm +1to3 parts per million) and use infra
- red as the carrier. Precise positioning using GPS can be achieved by
- phase comparison of the carrier wave signals of the various
- satellites. Accuracies in position of better than 1 part per million
- can be achieved.
-
- Doppler techniques were used in the earlier satellite positioning
- systems. The received frequency of a low orbit satellite is compared
- with the actual transmitted signal as a function of time. The rate of
- change of frequency gives the slant range between the satellite and
- the observer while the instant when the two freqencies are the same
- gives the point of closest approach. By knowing the orbital parameters
- of the satellite which are transmitted, the observers position can be
- determined.
-
- Interferometric methods are the same as those used in the original
- Michelson Interferometer. It is used for metrology, high precision
- distance measurement over short distances (up to 60 metres) and in the
- definition of the metre.
-
- There are a variety of laser rangefinding devices that have been built
- and used over the past decade for robotics use. The 3D devices are
- still large, power hungry and heavy but give very nice images suitable
- for fast map building and navigation work. Expect to pay over $50K for
- these time-of-flight devices. Most AM Lidars measure phase shift
- between outgoing and reflected beams. A mirror system rasters the beam
- forming a video-camera-like image. Some devices supply the reflectance
- image as well as range which is nice for corresponding the two.
- Comprehensive references include:
-
- * Electronic Distance Measurement by JM Rueger, Springer-Verlag
- * P. Besl, ``Active, Optical Range Imaging Sensors'', Machine Vision
- and Applications, v. 1, p. 127-152, 1988.
- A longer version of Besl's paper appears in ``Advances in Machine
- Vision: Architectures and Applications'', J. Sanz (ed.),
- Springer-Verlag, 1988.
- * Other good surveys are Ray Jarvis' article in IEEE TPAMI v5n2 and
- Nitzan's article in IEEE PAMI v10n2.
-
- A good report on the characterization of a particular scanner is:
- * Experimental Characterization of the Perceptron Laser Rangefinder,
- In So Kweon, Regis Hoffman, and Eric Krotkov. Carnegie Mellon
- University Technical Report, CMU-RI-TR-91-1. 1991.
- * M. Hebert and E. Krotkov. 3-D Measurements from Imaging Laser
- Radars: How Good Are They? Int. Journal of Image and Vision
- Computing, 10(3):170-178, April 1992
- * International Journal of Robotics Research, Vol. 13, No. 4, Aug.
- 1994, pp 305-314. {get title}
-
- A number of laboratory works have also demonstrated FM or chirp
- systems which can be highly accurate (e.g. high resolution elevation
- maps of coins) but these are very specialized and I don`t know of
- commercial devices currently.
- _________________________________________________________________
-
- _Acuity Research_
-
-
-
- 20863 Stevens Creek Blvd. #200
- Cupertino, Ca. 95014
- tel: 408-252-9639
- fax: 408-725-1580
- net: contact@acuity.com or Bob Clark, rrc@acuity.com
-
- The AccuRange 400 is an optical distance measurement sensor with a
- range of 0 to 16m for most diffuse reflective surfaces. It operates by
- emitting a collimated laser beam that is reflected from the target
- surface and collected by the sensor. 0.5mm short-term repeatability,
- RS-232 output and optional 4-20mA current loop. Also PW and analog
- indication of range available. Visible or IR output available. (670nm
- and 780nm respectively) Around $2500. 5VDC@300mA. 50KHz sampling rate.
- _________________________________________________________________
-
- _Atomic Energy of Canada Ltd. (AECL)_
-
-
-
- contact: Narinder Bains (nbains@bart.candu.aecl.ca)
- net: 905.823.9040 x6120
-
- Laser Eye ranging system. It consists of a robotic head with a
- combined vision / range sensor. The sensor provides colour images and
- distance to an object in the centre of the camera field of view. There
- is of course software to process images from the camera and detect a
- target, to control the head, communication, nice GUIs, etc. Is being
- used for vehicle navigation.
-
- From the head position you get the bearing to the target and the
- rangefinder provides you with the distance. Angular resolution is
- better than 0.05 degree, the distance can be measured up to 100m with
- accuracy of ~5 cm. Note that the range measurement is 1D along the
- camera axis.
-
- The cost of the vision system and complexity of the software depends
- on your specific application: how difficult is it to detect and track
- your vehicle, how fast is it moving, is it possible to use special
- markers, is illumination constant, etc.
- _________________________________________________________________
-
- _BCT GmbH _
-
-
-
- Martin-Schmeisser-Weg 9
- D-44227 Dortmund
-
- BCT in Germany makes laser-3D-scanners with a CAD-interface
- _________________________________________________________________
-
- _ERIM (Environmental Research Institute of Michigan) _
-
-
-
-
- ERIM has built a number of custom AM laser rangefinders including
- those used in the ALV (Autonomous Land Vehicle) program. CMU and
- Martin Marietta have both used this systems in extensive work. Basic
- system was a 128x64 2fps 20m (ambiguity interval) system.
- _________________________________________________________________
-
- _Erwin Sick GmbH. _
-
-
-
- UK:
- Erwin Sick
- Optic-Electronic Ltd.
- Waldrich House
- 39 Hedley Road
- St. Albans
- Herfordshire AL1 5BN
- tel: 0727/831121
- fax: 0727/856767
-
- in US:
-
-
-
- Sick Optic-Electronic, Inc.
- 7694 Golden Triangle Drive
- P.O.-Box 444-240
- Eden Prairie, MN 55344
- tel: 612.941.6780
- fax: 612.941.9287
-
- PLS-100: This device measures distance by TOF from 4 cm up to 80 m,
- guaranteed range of 4 m (at a black lether target), is eye-safe (IEC
- Class 1), takes a 180 degree scan in 20 ms, total 25 scans a second,
- angle resolution 0.5 degree (361 scan points in a scan). This device
- is build in a industrial IP65 case. And it is rather cheap (6.900,- DM
- + VAT, in Germany).
- _________________________________________________________________
-
- _ESP Technologies _
-
-
-
- 21 LeParc Drive
- Lawrenceville, NJ 08648
- tel: 609.275.0356
- fax: 609.275.0356
-
- $15K LED based IR ranging system. 15cm diameter rotating scanning
- device with collimated LED light beam that uses phase differences to
- calculate distance. Range 0.6 to 6m. 2.5cm resolution, 15cm accuracy.
- 1Khz update rate
- _________________________________________________________________
-
- _Hammamatsu Corp. _
-
-
-
- New Jersey
- tel: 908.231.0960
- fax: 908.231.1539
-
- Hamamatsu S4282 Light Modulation Photo IC The size of a normal
- transistor (approx 1/4" square). It has 4 leads, Vcc, Gnd, Vout, LED.
- All you do is attach an IR LED to the LED lead to give you an instant
- IR proximity detector (the photo diode detector is built into the
- part). Two can be aimed at each other and they won't interfere since
- they'll be out of phase. They have another model with a lens over the
- photo diode that is claimed could be used up to 30 feet! Hammamatsu
- also sells a number of photo sensors like color sensors, position
- sensitive detectors, pyroelectric sensors.
-
- * S4282-11 short range $7.75 single unit
- * S4282-72 long range $19.00 single unit
-
- _________________________________________________________________
-
- _Hymarc_
-
-
-
- 5-38 Auriga Drive
- Ottawa, ON, Canada K2E 8A5
- tel: 613.727.1584
- fax: 613.727.0441
- net: [36]info@hymarc.com
-
- Hyscan laser digitizing systems. High speed 3D surface mapping. Hyscan
- probe retrofits to any CMM, CNC, or any other translation device.
- 10,000 points/sec.
-
-
- Model 25 Model 50
- Accuracy +/-0.025mm +/-0.050mm
- Resolution (Z) 0.003mm 0.003mm
- Depth of field 40mm 80mm
- Scan width 70mm 80mm
- Stand-off 100mm 100mm
- Size 260x110x65mm
- Weight 2.2kg
-
- _________________________________________________________________
-
- _IBEO Lasertechnik _
-
-
-
- Ingenieurburo fur
- Elektronik + Optik
- Fahrenkron 125
- D 2000 Hamburg 71
- tel: 040 645 87 - 01
- fax: 040 645 87 - 101
-
- 2D and 3D laser scanners. 8frame/sec, 220 degree view, 4600
- points/sec. Accuracy +/- 20mm (1 sigma) from 0.5 - 500? 24W power.
- System specs can be configured for variety of applications
- _________________________________________________________________
-
- _LaserMax _
-
-
-
- Rochester, NY
- tel: 716.272.5420
-
- Manufactures semiconductor laser diode packages and cylindrical
- lenses. Packages and small and rugged.
- _________________________________________________________________
-
- _Odetics _
-
-
-
- 1515 South Manchester Ave
- Anaheim, CA 92802-2907
- tel: 714.758.0300
-
- Odetics has made a number of smaller laser scanners. That is, smaller
- than their larger ERIM and Perceptron brethren. I have not heard any
- independent reviews of the product however.
- _________________________________________________________________
-
- _Origin Instruments _
-
-
-
- 854 Greenview Drive
- Grand Praire, TX 750750-2438
- tel: 214.606.8740
- fax: 214.606.8741
-
- The Dynasight sensor is a 3-D optical radar that provides real-time
- 3-D measurements of passive targets with sub-millimeter resolution.
- Automatic search and track is provided, eye-safe operation and no
- adjustments or alignment required. Original application was head
- tracking of computer users but end- effector tracking is also viable.
- Operatin range depends on target size 0.1-1.5m for 7mm target, 0.3-4m
- for 25mm target and 1 to 6m for 75mm targets. RS-232 interface.
- Accuracies 1mm cross range and 4mm down range, resolutions 0.1mm cross
- range and 0.4mm down range.
-
- A number of labs have built light stripe devices using projected light
- LCD shutters and laser line projectors determine distance through
- geometry (as opposed to directly measuring distance through
- time-of-flight means) One common need is that of generating the laser
- line.
- _________________________________________________________________
-
- _Perceptron _
-
-
-
- 23855 Research Drive
- Farmington Hills, MI 48335-2643
- tel: 313.478.7710
- tel: 800.333.7753
- fax: 313.478.7059
-
- A spin-off of ERIM, Perceptron has also built a number of AM laser
- rangefinders. CMU and Caterpillar have used these for map building and
- obstacle avoidance work in rough terrain navigation.
-
- LASAR product - provides range and reflectance. Programmable field of
- view (15 to 60 deg) Vertical viewing angle from 3 to 72 degrees. Depth
- of field from 2 to 40 meters. Up to 1024 x 2048 pixels per image
- (programmable) and 360,000 pixels/second data acquisition. VME and
- PC-compatible interface cards available. Windows software provides
- starting point for custom applications. Less than $50K with a variety
- of performance and interface options.
- _________________________________________________________________
-
- _Riegl Laser Measurement Systems _
-
-
-
- Riegl USA
- 8516 Old Winter Garden Road
- Suite 101
- Orlando, FL 32835
- tel: 407.294.2799
- fax: 407.294.3215
-
- [company HQ is Dr. Johannes Riegl GmbH, 85 km, NW of Vienna, Austria]
-
- Laser range finders, laser speed sensors, laser distance meters, motor
- scanners, laser radar systems. Pulsed laser devices. One of the
- neatest is the Laser Scout, which gives range, azimuth and inclination
- to the target and can be used with GPS to give position coordinates of
- the device you are pointing at. $10K. Accuracy up to +/- 10cm
- (depending on model)
-
- Laser Radar Scanner (LRS 90-3) is a 1D scanner with 36 deg field of
- view and a +/- 3cm accuracy. 2-80m distance, $10K. There are several
- other distance models as well.
- _________________________________________________________________
-
- _Schwarz Electro-Optics _
-
-
-
- 3404 N. Orange Blossom Trail
- Orlando, FL 32804
- tel: 407.298.1802
- fax: 407.297.1794
-
- Schwarz makes some very nice point range laser ranging devices. These
- devices are slightly bigger than a soda can. About $6-12K. CMU
- experience for use in simulated unmanned air vehicle platform worked
- well. Their MARS (marine angle range system) is a rotating laser
- device that reflects off targets in the environment. Max range up to
- 1000meters using corner prisms. Accuracy +/- 1m. Erebus (Dante)
- Scanner used Schwarz device as base.
- _________________________________________________________________
-
- _Zoller+Frohlich Elecktrotechnik_
-
-
-
- Postfach 1565
- 88231 Wangen im Allgau
- Simoniusstrabe 22
- 88239 Wangen im Allgau
- tel: (07522) 3064-67
- fax: (07522) 200 36
-
- Z+F are a spinoff from the Technical Univeristy of Munich and have
- developed some nice 2 and 3D scanning devices but primarily devlop the
- laser electronics. Initially for tunnelling inspection and
- verification. Two-frequency phase shift device (10/80MHz) with 15m
- depth of field. Resolution to .45mm, accuracy to 5mm, and 500KHz
- smapling rate. scanner mechanism provides 360 degree profiles and 2500
- pixels/profile and 200 profiles/second. 4.5mW laser (Class 1 >3m). 3D
- camera provides 58 deg horz (321 pixels) and 52 deg vert (232 lines)
- 15-bit range value, 12bit gray level value from reflection signal.
- 12kg 3D unit.
- _________________________________________________________________
-
- [10.1.4] Force/torque, accelerometers, tactile
-
- Force measurement provides indications of magnitude and direction of
- forces for use in manipulation or locomotion. A variety of control
- schemes have been implemented in force controlled systems to allow
- smooth and accurate control in situations that would otherwise be
- precluded without such devices. A number of load cells and
- acceleration measuring devices are described here:
-
- Rich Voyles embarked on a force/torque sensor comparison many months
- ago and compiled some of the results in a paper that is available via
- the web or anonymous ftp.
-
- [37]http://www.cs.cmu.edu:8001/afs/cs.cmu.edu/user/deadslug/ftp/home.h
- tml [38]ftp://ftp.cs.cmu.edu/usr/anon/user/deadslug/ft.sensor.ps.Z The
- paper is woefully incomplete. The JR3 sensor we borrowed was broken so
- we borrowed another and got limited data. The old Lord data collection
- is incomplete and the Assurance Technologies data is not fully
- included in the report. There is some data from California
- Cybernetics. If there is sufficient interest, we can finish the
- compilation. By the way, we only seek to provide the data we gathered
- an make no claims as to its accuracy or completeness. Use at your own
- risk. The opinions expressed do not represent those of Carnegie Mellon
- University nor any of its sponsors. Send e-mail to robodude@cmu.edu
- with the subject "More Force Data" if you read the report and would
- like to see it expanded. Any other comments can be put in the body.
- -Richard Voyles
- _________________________________________________________________
-
- _Analog Devices_
-
-
-
- tel: 617.937.1426
-
- Analog Devices have the ADXL50 accelerometer which comes in a 10-pin
- TO-5 can. It is primarily used with air-bags and has a 1994 projected
- price of $5 in quantities. In the Electronic Design August 8, 1991
- issue it quoted the current price as $21.75 for 1000 off quantities.
- Analog Devices ADXL50 accelerometer.
-
- Power Supply........................... +5V (+/- 5%)
- Measurement Range...................... +/- 50g
- Pre-Amp Zero-g output level............ +1.8V
- Pre-Amp output span.................... +1.8V (+/-1.2V) at +/-50g
- Uncommitted amp output range........... +0.25V to +4.75V
- Overall Accuracy....................... 5% of Full Scale
- Linearity.............................. 0.5% of Full Scale
- Bandwidth.............................. DC to 1kHz
- Voltage Noise (p-p)
- at BW = 0.3kHz..................... +/-0.24% of Full Scale
- at BW = 1.0kHz..................... +/-0.48% of Full Scale
- Transverse Sensitivity................. 2%
- Unpowered Shock Survival............... 2000g
-
- _________________________________________________________________
-
- _ATI Industrial Automation_
-
-
-
- (formerly Assurance Technologies)
- (formerly Lord Industrial Automation)
- Peachtree Center
- 503D Highway 70 East
- Garner, North Carolina 27529
- tel: 919.772.0115
- fax: 919.772.8259
- net: [39]info@ati-ia.com
-
- Largest supplier of multi-axis force sensors. Use silicon rather than
- foil strain gages for lower strain levels and increased life. F/T
- sensor ratings from +/- 15lbs to +/- 150lbs (+/- 15 in-lbs to +/- 600
- in-lbs) weights are 0.4 and 2.2 lbs for the 4 available sensors.
- Serial or parallel digital interface or analog interface. ATI also
- makes robotic tool-changers and an RCC device for assembly operations.
- An ATI sensor is also incorporated in the Hughes SMARTee end-effector.
- _________________________________________________________________
-
- _Bonneville Scientific _
-
-
-
- 1849 W. No. Temple, Bldg E.
- Salt Lake City, UT 84116
- tel: 801.359.0402
- fax: 801.359.0416
-
- Array sensor system that uses PVDF ultrasonic emmitter/detector
- attached to an elastomer material. Time-of-flight of the pulse as it
- bounces off of other side of the material is porportional to distance
- through the elastomer. The distance is porportional the pressure on
- the pad. Bonneville claims it can be made thin enough for a skin and
- they have pictures of it being used on a robot finger picking up a
- washer which can be recognized on their output graphics. Example
- product:
-
- Model 300 - 16x16 tactile sensor system - $5K
-
- TOF resolution - 12.5 ns
-
- Sheet thickness resolution - 6 microns
-
- Pressure resolution - 0.5 psi (3.4 kPa)
-
- Force resolution - 1g
-
- Rubber linearity - 5-15% deviation
-
- Overload - > 1000PSI (7000kPa)
-
- Spatial resolution - 1.8mm
-
- Scan rate on 16x16 pad - 240 Hz
-
- An evaluation kit is available SE-1 Evaluation Kit - $99.00 includes
- SE-1 sensor and electronics. SE-1 Sensor is $42 in single quantity.
- _________________________________________________________________
-
- _California Cybernetics _
-
-
-
- 10322 Sherman Grove
- Sunland, CA 91040
- tel: 818.353.5991
- fax: 818.951.3889
-
- Six DOF F-T devices. Up to 1000Hz sampling rate, reportedly easy to
- interface.
- _________________________________________________________________
-
- _Cybernet _
-
-
-
- 1919 Green Road
- Suite B-101
- Ann Arbor, MI 48105
- tel: 313.668.2567
- fax: 313.668.8780
- net: heidi_jocobus@um.cc.umich.edu
-
- PER-force - A 6dof compact force-reflecting controller. Can be used
- for teleoperationor interactive graphics applications.
- _________________________________________________________________
-
-
- _Ercon _
- Need addresses
- Somewhere in MA
-
- Conductive rubber and conductive inks. You build a semi-rigid circuit
- board with inter-digitated fingers to apply to one side of the rubber.
- The rubber has a rough surface that under increasing load allows more
- rubber to contact. They can make rubber with all sorts of conductive
- properties.
- _________________________________________________________________
-
- _Force Imaging _
-
-
-
- 3424 Touhy Avenue
- Chicago, IL 60645-2717
- tel: 708.674.7665
- tel: 800.348.3240
- fax: 708.674.6355
-
- Uniforce Force Sensors. They function similiar to a variable resistor
- in an electrical circuit. As a force is exerted on the sensor, the two
- layers of pressure sensitive material compress together and cause a
- change in resistance which corresponds to a change in pressure. As
- force increases, resistance decreases. A Uniforce experimenters kit is
- available for $550 and includes PC-AT card, cables, software, manual
- and nine Uniforce sensors in three force ranges. They have ISA boards,
- PCMCIA version and a PPIO version as well. Sensors available in ranges
- from 0-500g to 0-400kg. Uniforce sensors can be provided in a wide
- variety of shapes, sizes and force ranges. Software is also available
- to display force values in real-time.
- _________________________________________________________________
-
- _Hughes STX _
-
-
-
- 4400 Forbes Blvd
- Lanham, MD 20706
- tel: 301.794.5016
- fax: 301.306.0963
-
- A 6-dof end-effector with automatic load sensing and compensation.
- Control modes include position control (cartesian with user spec-ed
- poses and frames), impedence and force control modes. Programmable
- behaviors (sliding, hinge, move-to-touch, guarded move, follow etc),
- open architecture (VxWorks, VME, user-linakable libraries) and a lot
- more. Interfaces available included RS-232, ethernet, RS-422 and SCSI.
- Pretty amazing end-effector!
- _________________________________________________________________
-
- _Interlink Electronics _
-
-
-
- 1110 Mark Ave.
- Carpinteria, CA 93013
- tel: 805.484.8855
- 805.484.1331 (product support)
- fax: 805.484.8989
-
- Force Sensing resistors made from polymer thick films. Very thin.
- Response is approx. 1/R to force. Article in March 1993 issue of
- Electronics Now/Radio Electronics.
- _________________________________________________________________
-
- _JR3 _
-
-
-
- 22 Harter Avenue
- Woodland, CA 95695
- tel: 916.661.3677
-
- 6-DOF force-torque sensors. Strain gage technology. Newer packages
- have all electronics built into the sensor. Make some high-force
- devices as well. CMU's Ambler used JR3's on all the feet with good
- success. Complete force torque data at 8Khz, signal digitization
- within sensor body, low noise susceptibility, synch serial at 2MHz,
- inexpensive cabling.
- _________________________________________________________________
-
- _Merritt Systems, Inc._
-
-
-
- P.O. Box 2103
- Merritt Island, FL 32954-2103
- Contact: Dr. Dan Wegerif
- tel: 407.452.7828
- fax: 407.452.3698
-
- Sensor Skin for Robots. The Skin is designed to assist robots working
- in constrained, hazardous, dynamic, or high cost environments. The
- system uses a whole-arm proximity sensing systems for articulated
- robots that provides complete voverage of the entire manipulator to
- ensure that every obstacle in the robots path can be detected and
- avoided. The proximity sensing technology is based on IR arrays which
- they call "SensorCells". It allows the use of IR, acoustic and
- capacitive (under-development) sensors in the same sensor skin. The
- two main components of the Skin are smart sensor modules and the
- flexible printed circuit board skin. Module sockets are placed at
- regular intervals on the flexible skin and simply plugged in by the
- user where required. Redundant cables carrying data and power are
- connected to each panel. But a minimum of four cables can be used for
- up to 1024 sensors.
- _________________________________________________________________
-
- _Silicon Designs, Inc. _
-
-
-
- 1445-NW Mall Street
- Issaquah, WA. 98027-5344
- tel: 206.391.8329
- fax: 206.391.0446
-
- Silicon Designs makes capacitive accelerometers.
-
- Model 1010, Digital output:
- Produces Digital pulse train in which the density of pulses
- (number of pulses a second) is proprtional to applied
- acceleration. It operates with a single +5 volt power supply
- and requires a clock of 100kHz - 1MHz. The output is
- ratiometric to the clock frequency and independent of the power
- supply voltage. Two forms of digital signals are provided for
- direct interfacing to a microprocessor or counter. This devices
- comes in a PLCC package that is smaller than a penny.
-
- Model 1210, Analog output:
- Provides two analog outputs, 1-4 volts, or 4-1 volt, with O g's
- at 2.5 volts. The outputs can be used either differentially or
- single ended referenced to 2.5 volts. Two reference
- voltages--+5.0 and +2.5 volts (nominal)-- are required; the
- output scale factor is ratiometric to the +5 volt reference
- voltage.
-
- Prices start at about $100 and they offer a digital accelerometer
- evaluation board for $200.
- _________________________________________________________________
-
- _Silicon Microstructures, Inc. _
-
-
-
- 46725 Fremont Boulevard
- Fremont CA. 94538
- tel: 510.490.5010
- fax: 510.490.1119
-
- Model 7170 series and 7130 series capacitive accelerometers. These are
- relatively large devices with built in ASIC signal processing. They
- have very good accuracy specs and are pre-calibrated. They also make
- pressure sensors.
- _________________________________________________________________
-
- _Spectra Symbol_
-
-
-
- 3101 West 2100 South
- Salt Lake City, UT 84119
-
- Bend sensor for glove device. Their business is custom membrane
- controls: switches, membrane potentiometers, and the bend sensors.
- _________________________________________________________________
-
- [10.1.5] Sonar sensors
-
- The time it takes for an acoustic pulse to propagate through air or
- water, reflect from the environment and return to a detector is
- porportional to the distance.
-
- Acoustic time-of-flight devices have been around for awhile now. The
- ubiquitous Polaroid device is cheap and easily integrated and has has
- found wide use in robotic devices. Other companies have developed nice
- complete turnkey sonar devices though and Polaroid is no longer the
- only choice.
-
- _________________________________________________________________
-
- _Polaroid Corporation _
-
-
-
- 119 Windsor St,
- Cambridge, MA 02139
- tel: 617.386.3961
- fax: 617.386.3966
- tel: 800.225.1000 ordering
- tel: 800.225.1618 technical assistance
-
- Polaroid Ultrasonic Components Group offers two ultrasonic ranging
- kits:
-
- Specs:
-
- Distance range: 0.26 to 10.7 meters
-
- Resolution: Nominal +- 3mm to 3m, +-1% over entire range
-
- Sonar acceptance angle: approx. 20 degrees
-
- Power Requirement: 6VDC, 2.5 Amps (1 ms pulse), 150mA quiescent
-
- Weight: Transducer, 8.2gm, Ranging module, 18.4 gm
-
- Designer's Kit:
- 1 transducer, 1 ranging module, electronics display accurate to
- 1/10th meter. Cost is $169
-
- OEM kit:
- 2 transducers, 2 ranging modules. $99.
-
- Piezotransducer kit
- 2.5cm-1500cm +/- 1%, RS-232 port and analog output, extra real
- estate, $299
-
- Polaroid has several new products as well: K-series piezo transducers
- and 9000 Series Environmental Transducer.
-
- Modifying the drive circuitry:
-
- This section describes a simple addition to the drive circuitry, the
- Polaroid ranging system can detect objects as close as 10cm.
-
- The board has two extra signals: BLNK and BINH. Asserting BLNK
- (driving it HIGH) resets the ECHO RS-latch, and asserting BINH
- shortens the internal blanking interval (which is 2.38 ms by default).
- Thus, the solution would seem to lie in asserting BINH after a
- reasonable amount of time (less than 2.38 ms after asserting INIT) to
- detect objects closer than 1.3 feet. This doesn't work very well
- because BINH is very susceptable to noise, and attaching a driver to
- it wreaks havoc possibly because of the anomalous current sink during
- the transmit phase. This can be fixed by asserting BLNK during the
- blanking period (ie the new blanking period) while negating BINH and
- asserting BIHN after the blanking period while negating BLNK. This can
- be done easily with a one-shot or some other timing device (eg
- computer timer, etc).
-
- A computer timer can be used. The timer goes HIGH tblank ms after INIT
- is asserted, where tblank=0.15*dist and dist is the threshold distance
- in inches). The timer output goes to BINH and the inverted timer
- output goes to BLNK. The timer output should be inverted with an
- LS/TTL inverter to delay the negation of BLNK, otherwise the RS latch
- may do weird things. [From Richard LeGrand]
-
- _________________________________________________________________
-
- _________________________________________________________________
-
-
- _Siemans_
-
- Nice complete sensor package, 5 degree cone angle
- _________________________________________________________________
-
-
- _Massa _
-
-
- Components
- _________________________________________________________________
-
-
- _Texas Instruments _
-
- At one point TI made a Type SN28827 Sonar Ranging Module. See TI
- Applications Notes D2780. Under $50, needs only 5VDC Not sure if these
- units are still manufactured but they are often in surplus catalogs.
- However some other products include these: See data sheets at:
- [40]http://www.ti.com/sc/docs/psheets/SPECIALF.HTM Data sheets
- available in several formats. 1. TL851, SONAR RANGING CONTROL 2.
- TL852, SONAR RANGING RECEIVER
- _________________________________________________________________
-
- [10.1.6] Pan/tilt mechanisms
-
- A common robotic need. Most pan-tilts sold today by companies such as
- Pelco and Vicon are for CCTV applications for continuous scanning or
- remote operation. At most these will have potentiometers for feedback.
- A number of undersea companies make pan-tilt devices as well that are
- rugged and nicely packaged, but these tend to be heavier and more
- expensive than their terrestrial counterparts.
- _________________________________________________________________
-
- _Atomic Energy of Canada Ltd. (AECL) _
-
-
-
- contact: Narinder Bains (nbains@bart.candu.aecl.ca)
- net: 905.823.9040 x6120
-
- P02 pan/tilt head. High speed with digital servos (120 deg/sec),
- encoders and continuous rotation. Controller as well.
- _________________________________________________________________
-
- _Brooks Support Systems _
-
-
-
- Williamson, NY
- tel: 800-836-0285 contact: Frank Dickey
-
- BSS makes a small pan/tilt unit:
-
- 4.5" high by 3.5" wide x 3.5" long
-
- 40 oz.
-
- 12V dc
-
- operating current 150 mA
-
- pan 359 degrees
-
- tilts 160 degrees
-
- Price: $3100
-
- _________________________________________________________________
-
- _CameraMan _
-
-
- CameraMan is a pan/tilt device built to support any camcorder and has
- a wireless interface to an external remote control. 360 deg pan and 50
- deg of tilt. The unit is made by ParkerVision and sold through
- Columbia AudioVideo (and probably other suppliers)
- _________________________________________________________________
-
- _CCTV Corporation _
-
-
-
- 315 Hudson Street
- New York, NY 10013
- tel: 800.221.2240
- fax: 212.463.9758
-
- Standard CCTV pan-tilt devices like those from Vicon and others.
- Inexpensive but no computer control. $557 - $1400
- _________________________________________________________________
-
- _Directed Perception _
-
-
-
- 1451 Capuchino Avenue,
- Burlingame, CA 94010
- tel: 415.342.9399
-
- Small computer controlled pan-tilt unit Model PTU-46-17.5 Weighs 1kg
- and can support ~1.5kg camera payload. Very nice specs: 330 deg/sec
- slew, 3.06 arcmin accuracy, on-the-fly position and speed changes.
- 11-40VDC unregulated power input, RS-232 interface. Can use RS-485
- using RJ-11 to provide control of multiple PT units. Cost: $1935
- Includes PT unit, controller, cable and power supply. $1800 w/o power
- supply.
- _________________________________________________________________
-
- _Efston Science Inc_
-
-
-
- 3350 Dufferin Street
- Toronto, Ontario
- Canada M6A 3A4
- tel: 416.787.4581
- fax: 416.787.5140
-
- Efston is the Canadian Distributor for Edmund Scientific
-
- Motorized Pan/Tilt platform with remote control:
- (mounts upon a camera tripod)
- - auto pan mode
- - variable speed
- - 2.75"W x 2.25"L platform with .25-20 mount screw
- - independent +- 15 degree max vertical pan
- - independent +- 90 degree max horizontal pan
- - autopan switch selectable +- 30, +- 60, +-90 degree scans
- - remote control has 20 foot cord
- - cat # B38,485 US$215.00
- - ac adapter B38,486 US$33.95
-
-
- [1995 Catalog, page 111]
- _________________________________________________________________
-
- _Emco Intertest Inc _
-
-
-
- 27-1 Ironia Road
- Flanders, NJ 07836
- tel: 201.927.2900
- fax: 201.927.8004
-
- MicroPan PTX-400 very small P/T designed for remote viewing with
- micro-CCD cameras. Weight 115g. Height under 7cm.
- _________________________________________________________________
-
- _Fujinon _
-
-
-
- 10 High Point Drive
- Wayne, NJ 07470
- tel: 201.633.5600
- fax: 201.633.5216
-
- Fujinon CPT-10. 300 deg pan, =/- 95deg tilt. 15 deg/sec speed. 2kg.
- Payload 4kg. Analog input control.
- _________________________________________________________________
-
- _Omniview _
-
-
-
- tel: 615.690.5600
-
- Instead of a conventional camera, you use one with a very wide
- fish-eye lens. The (very distorted) image is then sent thru a box that
- digitizes and processes the data in order to simulate a regular
- camera. You can (completely in software) pan, tilt, rotate, and zoom
- the image with great flexibility. $10K.
- _________________________________________________________________
-
- _Photosea _
-
-
-
- 6377 Nancy Ridge Drive
- San Diego, CA 92121
- tel: 619.452.8903
-
- Underwater pan-tilts including Cobra, very small design.
- _________________________________________________________________
-
- _Remote Ocean Systems _
-
-
-
- 5111-L Santa Fe Street
- San Diego, CA 92109
- tel: 619.483.3902
- fax: 619.483.2407
-
- Underwater P/T systems, expensive but very nicely packaged. PT-5 is a
- new subminature P/T device that can accomodate a small CCD color
- camera and mini wet&dry lights. The P/T is 13.5cm high and 10cm wide.
- Uses small brushless motors with harmonic drives. Radiation tolerant
- and corrosion resistant. 360 scan on both axes.
- _________________________________________________________________
-
- _RSI Research Ltd. _
-
-
-
- Pacific Marine Technology Center
- #3-203 Harbour Road
- Victoria, BC. CANADA V9A 3S2
- tel: 604.360.1025
- fax: 604.360.1161
-
- Underwater Pan/tilt devices.
- _________________________________________________________________
-
- _Hammacher Schlemmer_
-
-
-
- Operations Center
- 9180 Le Saint Drive
- Fairfield, OH 45014-575
- tel: 800.543.3366
-
- H-S is an upscale mail-order outfit that's been around since 1848 and
- has stores in New York City, Beverly Hills and Chicago. They currently
- show a wireless pan-tilt unit in their catalog. IR remote control, +/-
- 20 deg tilt and +/-90deg pan. Can be set to do continuous 90 deg
- panning and can even control power zoom on many camcorder models.
- Powered by 6V batteries built into Sony, Panasonic and Sanyo-Fisher or
- JVC camcorders. 8.75cmH x 11cmW x 14.5cmL AND .45kg. Item 63201B in
- H-S $149.95. The Picture shows the label SUNPAK and AP 200W (model
- number?) - [If anyone has further information on the manufacturer or
- other sales outlets let me know - nivek]
- _________________________________________________________________
-
- _Telemetrics _
-
-
-
- Hawthorne, NJ
- tel: 201.423.0347
-
- Computer controlled P/T devices - fairly large though.
- _________________________________________________________________
-
- _TeleRobotics International, Inc. _
-
-
-
- 7325 Oak Ridge Hwy Suite 104
- Knoxville, TN 37931
- tel: 615.690.5600
- fax: 615.690.2913
-
- An all-electronic pan/tilt/zoom resampler. That is, they put a box
- behind a camera with a fish-eye lens. The box has digital inputs for
- pan, tilt, zoom, rotation. The box resamples the video signal and
- produces an output as though the image were acquired by a camera with
- those parameters. Used as an alternative to pan/tilt devices.
- _________________________________________________________________
-
- _Zebra Kinesis _
-
-
-
- tel: 415.328.8884
- contact:Jeff Kerr
-
- Small Pan/tilt head.
- _________________________________________________________________
-
- [10.1.7] Measuring 3 or 6DOF position
-
- How do I measure the postion of my manipulator or my mobile robot?
-
- In many applications there is a need to accurately measure the
- position of an end-effector (hand or gripper) or find coordinate
- locations on objects, or track motion, or give a time and position
- history of a moving object. Virtual reality applications need this
- kind of device to provide realtime adjustments to views that are
- projected to VR users. See [41]sci.virtual-worlds for discussions on
- this topic. Robotics people have needed this to provide accurate
- assessments of manipulator motions and mobile robot positions.
-
- An excellent paper on the subject of sensing and methods of using that
- information is: "Where Am I? Sensors and Methods for Autonomous Mobile
- Robot Localization." Technical Report, The University of Michigan
- UM-MEAM-94-21, December 1994." It is a comprehensive survey on Mobile
- Robot Positioning. This survey is over 200 pages long, has 130
- illustrations and nearly 300 references, and took well over one
- man-year to complete. The survey is entitled "Where Am I? Sensors and
- Methods for Autonomous Mobile Robot Localization" A description and
- table of contents can be found [42]here. To download the report go
- [43]here and read [44]this file first. Alternatively, you can look at
- a detailed Table of Contents from within Johann Borenstein's WWW
- Homepage at: [45]Johann's Home Page Before you download the actual
- survey, you should read the "readme.txt" file for compatibility tips,
- and you should read the "um_index.wp5" file to see if you want to
- download all or only selected chapters of the report. The Global
- Positioning System (GPS) is an excellent positioning system that is
- useful in outdoor settings, although recent developments in
- Psuedolites (Pseudo Satellities) may bring GPS technology indoors and
- to urban envrionments. While accuracy is intentionally degraded by the
- US Military recent advances in differential systems and innovative
- tracking techniques can give 20cm real-time accuracy. Even newer
- techniques such as carrier-phase are bringing this figure into the mm
- range for real-time. See [46]news:sci.geo.satellite-nav for full
- discussions of this technology.
-
- _Papers:_ Useful papers to solve for transforms from positioning
- devices for multiple reference frames:
- * Roger Tsai and Rainer Lenz, IEEE Trans. on Robotics and
- Automation, Jun 1989.
- * C. C. Wang, IEEE Transactions on Robotics and Automation, April
- 1992. Useful papers for evaluating 3 ad 6 DOF human input devices:
- * Shumin Zhai, Investigation of Feel for 6 DOF Inputs: Isometric and
- Elastic Rate Control for Manipulation in 3D Environments, Proc.
- Human Factors and Ergonomics Society 37th Annual Meeting,Seattle,
- WA, October 1993.
- * Shumin Zhai and Paul Milgram, Human Performance Evalulation of
- Manipulation Schemes in Virtual Environments", Proc. Virtual
- Reality Annual International Symposium, IEEE, Seattle, WA,
- September 1993.
- * Shumin Zhai and Paul Milgram, Human Performance Evalulation of
- Isometric and Elastic Rate Controllers in a 6 DOF Tracking Task,
- Proc. SPIE vol. 2057, Telemanipulator Technology", Boston, MA,
- September 1993.
-
- _________________________________________________________________
-
- _Commercial Devices:_
- _________________________________________________________________
-
- _Blevins Enterprises _
-
-
-
- tel: 208-885-3805
- contact: Nick Sewell
-
- Blevins writes their own utilities and sell 3D digitizers starting @
- around $2,400 on up to around $75,000. Software is compatible with
- Lightwave and 3D Studio modelling programs and will be ported to SGI
- and PC's soon. Provide software to talk with Polhemus, a sonic
- digitizer and a jointed-arm unit from Immersion.
- _________________________________________________________________
-
- _Cyberware _
-
-
-
- 8 Harris Court 3D
- Monterey, CA 93940
- tel: 408.373.1441
- fax: 408.373.3582
- Italian distributor:
- 91-22-6409-949
-
- Has 3D scanner. Cyberware has software for editing 3D models, and
- stitching multiple scans into a single coherent whole. Software is
- $5-10K each. Cyberware 3030RGB/HIREZ scanner with MM motion platform,
- complete with all software, training and one-year support costs [US]
- $75,200.
- _________________________________________________________________
-
- _Eshed Robotics_
-
-
-
- Eshed Robotec
- Israel (HQ)
- tel: 03-498136
- fax: 03-498889
-
- In the US
-
-
-
- Eshed Robotec Inc.
- 445 Wall St.
- Princeton, NJ 08540-1504
- tel: 609.683.4884
- tel: 800.777.6288
-
- Eshed Robotec BV
- Oude Torenweg 29
- 5388 RK Nistelrode
- The Netherlands
- tel: +31.412.611476
- fax: +31.412.613185
- net: [47]eshedbv@pi.net
-
- url: [48]http://www.pi.net/~eshedbv/ and [49]http://www.eshed.com
- Eshed's V-scope allows you to measure, record, process, and
- demonstrate the motion of one or more bodies in one, two or three
- dimensions. The V-scopeTM system uses tracking technology which
- emits infrared signals to trigger ultrasonic response signals. This
- technology allows full three-dimensional tracking within a space of
- a few meters, with resolution of a fraction of a millimeter. See
- [50]V-scope for more details.
- _______________________________________________________________
-
- _Intelligent Solutions Inc. _
- One Endicott Avenue
- Marblehead, MA 01945
- tel: 617.639.8144
- fax: 617.639.8144
- net: isi@world.std.com
- contact: Jim Maddox
- Intelligent Solutions Inc. was formed in Nov. of 1993 by four of the
- former engineers of Denning Mobile Robotics. They are focusing on
- building smart sensors and their first product is the EZNav Position
- Sensor. EZNav is a precision optical position sensor that can be
- used on moving platforms such as automated guided vehicles, robots,
- or material handling equipment. EZNav uses an eye safe scanning
- laser with a 360 degree field of view to measure the azimuth angle
- to wall mounted reference reflectors. This angle data can be used to
- triangulate the position and heading relative to the known target
- locations. EZNav is unique in its ability to use passive reflectors
- as well as coded electronic targets. Current work includes adding
- the triangulation calculations to the EZNav sensor and a new
- Ultrasonic based position sensor.
-
- Specs:
-
- Target Range 30m passive up to 180m active
-
- Abs. Accuracy +/- 0.03 degrees RMS
-
- Scan Rate 12 per second
-
- Data Rate 9.6k baud RS 232
-
- Power 24 volts at 300 ma
-
- Size 30cm Dia x 35cm High
-
- Weight 4.5kg
-
-
- An EZNav sensor with 10 passive targets costs $6,600. There is a ten
- percent discount for educational uses.
- _______________________________________________________________
-
- _Kinetic Sciences_
- 3250 East Mall
- Vancouver, BC, CANADA V6T 1W5
- tel: 604.822.2144
- fax: 604.822.6188
- net: [51]info@kinetic.bc.ca
- url:
- [52]http://www.asi.bc.ca/asi/affiliates/kinetic/KSI_home_pg.html
- Eagle Eye (TM) is a Power Macintosh application that accurately
- tracks specially designed passive optical targets. It can track
- multiple targets simultaneously in visually cluttered environments
- using a single video camera. For each target that it can see, it is
- able to determine seven parameters:
- * the target's identity (via the information encoded on the marker);
- * the target's position (X, Y, and Z with respect to the camera);
- * the target's orientation (roll, pitch, and yaw with respect to the
- camera).
-
-
- The approach we have taken is particularly well suited to docking
- and inspection applications. For further information, check out the
- Eagle Eye web page at:
- [53]http://www.asi.bc.ca/asi/affiliates/kinetic/KSI_Eagle_Eye.html
- _______________________________________________________________
-
- _NES North Electronic Systems S.p.A._
- via Nazionale, 62
- 1-17043 CARCARE (SV), Italy
- tel: +39-19-510420
- fax: +39-19-512198 Distributed Local Positioning System (DLPS) is a
- positioning system for indoor applications in a multi-robot
- environment using active beacons with modulated light beams
- (coherent red, non-coherent IR). The localization system also allows
- communication by optical wireless links between hosts and robots.
- The system utilizes and on-board rotating unit and a set of active
- beacons distributed in the operating area. The active beacons are
- optical transponders and, optionally, transceivers connected to a
- IEEE 485 serial LAN.
- Systems can operate up to 16m distance and with a localization
- accuracy under 20mm in static and 70mm in dynamic localization. DLPA
- was developed in cooperation with Laboratorium, DIST - University of
- Genoa. email: sand@dist.unige.it, vercelli@dist.unige.it and URL
- [54]website
- _______________________________________________________________
-
- _Polhemus Inc._
- Burlington, VT
- tel: 802.655.3139
- fax: 802.655.1439
- 3Space, Isotrak, FasTrak: Electromagnetic devices for sensing xyz
- and rotations remotely. Limited to 1m or so radius. Sensitive to
- metallic objects in vicinity. Approx $3k
- _______________________________________________________________
-
- _Ascension Technology Corporation _
- PO Box 527
- Burlington VT 05402 USA
- tel: 802.860.6440
- fax: 802.860.6439
- net: ascen@world.std.com
- Sales: Jack Scully Technical Support: Steven Work Product is called
- Flock of Birds. A 6d0f measuring device. Ftp site is
- [55]ftp://ftp.std.com/ftp/vendors/Ascension/
-
- gen_lit.txt
- Contains general literature on 6D motion tracking system.
- Accuracy Specifications, comments from prominent users, list of
- 3rd party software vendors, FAQ on tracking system, etc. Ascii
- text.
-
- tecpaper.wp6
- Technical Description of Flock of Birds (TM) 6D tracking
- system. In Binary WordPerfect 6.0 format.
-
- userware.zip
- Latest version of our User Software, including source code.
- Enjoy. pkzipped binary file.
-
- manual.wp6
- Latest version of our User Manual. In Binary WordPerfect 6.0
- format.
-
- readme.txt
- more info on files located in Ascension's FTP directory. Ascii
- text.
-
-
- Sensitivity to metal is claimed to be on the order 5 to 10 times
- less than Polhemus tracker. Range and specifications are much better
- as well.
- The Ascension Flock of Birds tracker is DC pulsed, where the
- Polhemus is AC magnetic field. The AC field set up standing waves in
- metal (conduction and ferrous) which magnify the distortion effect.
- Charts provided by Acension:
-
- KEY PERFORMANCE PARAMETERS OF ASCENSION & POLHEMUS TRACKING DEVICES
-
- Parameter Ascension Polhemus Polhemus
- Flock of Birds Isotrak II Fastrak
- Measurement Rate
- (Measurements/sec)
- 1 Receiver 144 60 120
- 2 Receivers 144 30 60
- @ Max Number of Rcvrs 144 30 30
- Maximum Number of Receivers 30 2 32
- Number of Transmitters to 1 1 4
- Support Max Number of Receivers
- Maximum Data Output Rate 312K 115K 115K
- (Baud or Bytes)
- Lag Increase with Multiple No Yes Yes
- Receivers**
- Range - Standard Transmitter 3' 5'* 10'*
- - Extended Transmitter 8' N/A N/A
- Accuracy Degradation Due to:
- Conductive Metals Low High High
- Stainless Steel None High High
- (300 series)
- CRT Interference Rejection Yes No Yes
- LCD Noise Susceptability No Yes Yes
- Unit Cost (1 Receiver) $2,695 $2,875 $5,750
-
-
- * Note 1: Polhemus specifies range at maximum transmitter-sensor
- separation distances. At these ranges, outputs will contain
- significant amounts of noise, which may render their measurements
- worthless. We will provide you with a number of references who have
- independently assessed actual range performance of both Ascension
- and Polhemus trackers.
- ** Note 2: For a complete discussion of latency in competitive
- motion trackers, contact Ascension.
-
- Specifications:
- Technical
- Translation range: plus or minus 3'(8' optional) in any direction
- Angular range: plus of minuw 180 degrees Azimuth & Roll
- plus or minus 90 degrees Elevation
- Translation accuracy: 0.1" RMS
- Translation resolution: 0.03"
- Angular accuracy 0.5 degrees RMS
- Angular resolution 0.1 degrees RMS @ 12"
- Update rate: Up to 144 measurements/second
- Outputs: X,Y,Z positional coordinates and orientation
- angles or rotation matrix
- Interface: RS-232C with selectable baud rates to 115,200; or
- RS-422/485 with selectable baud rates to 310,000
- Format: Binary
- Modes: Point or stream
- Physical
- Transmitter: 3.75-inch cube (internally mounted in Enclosure or
- externally mounted with 10' cable) or extended range
- transmitter option: 12-inch cube externally mounte with
- 20' cable
- Receiver: 1.0" x 1.0" x 0.8" cube (or optional 3-button mouse)
- with 10' or 25' cable
- Enclosure: 9.5" x 11.5" x 2.6"
- Power: User provided or optional external plug-in: US/European
- version
- Environment: Large metallic objects in operating volume may degrade
- performance
-
-
- _______________________________________________________________
-
- _RSI Research Ltd._
- Pacific Marine Technology Center
- #3-203 Harbour Road
- Victoria, BC. CANADA V9A 3S2
- tel: 604.360.1025
- fax: 604.360.1161
- RSI Research makes a 6 DOF joystick. It has a medium workspace
- (about 10 cm radius) and several buttons.
- _______________________________________________________________
-
- _Shooting Star Technology _
- 1921 Holdom Avenue
- Burnaby, B.C.
- Canada V5B 3W4
- tel: 604.298.8574
- fax: 604.298.8580
- ADL-1 6DOF tracker. Gives position/orientation measurements up to
- 240 times/second, with low latency (0.35 to 1.88 milliseconds.)
- _______________________________________________________________
-
- _Abrams-Gentile Entertainment, Inc., _
- 244 West 54th Street,
- 9th Floor, New York, NY 10019
- tel: 212.757.0700
- Mattel marketed the PowerGlove for use in gaming (Nintendo). It
- tracked finger motions through small bend sensors. The Mattel
- PowerGlove was developed by Abrams-Gentile. The sensors themselves
- are simple resistors varying from about 200K to 500K ohms depending
- on the amount of flex.
- _______________________________________________________________
-
- _Denning Branch International Robotics _
- 1401 Ridge Avenue
- Pittsburgh, PA 15233
- tel: (412) 322-4412
- fax: (412) 322-2040
- email: Soon. Messages to hpm@cs.cmu.edu will be forwarded.
- Denning-Branch is a merger of Denning Mobile Robotics, once located
- in the Boston area, and makers of human-size mobile robots since
- 1983, and Branch and Associates, of Hobart, Australia, designers and
- builders of smaller mobile robots since 1979. LaserNav Robot-mounted
- scanning infrared laser unit that uses wall mounted bar-coded
- retroreflectors or active transponders to navigate to centimeter
- precision in 10-meter-scale areas. $8K
- _______________________________________________________________
-
- _Guidance Control Systems (GCS) _
- tel: 011 44 203 39 3911
- fax: 011 44 203 39 4211
- Contact: Malcolm Roberts
- GCS's core group developed the rotating scanner and passive target
- system. Featured in several papers out of Oxford. Uses passive
- targets with barcodes. Targets have unique ID's and surveyed
- positions. Rotating laser gives angles between targets. Target
- positions combined with angles gives vehicle position and heading.
- 2Hz scan rate but clever use of dead reckoned information and kalman
- filtering gives very impressive results. New products go to 200-300m
- ranges.
- _______________________________________________________________
-
- _Innovision Systems_
- 30521 Schoenherr, Suite 104
- Warren, MI 48093-3129
- tel: 810.751.0600
- fax: 810.751.0646
- Innovision specialized in non-contact measurements. 2-3 dimensions.
- On-site, software development, leasing. They are representatives for
- several non-contact measurement systems. See Below.
- _______________________________________________________________
-
- _MTI Research Inc. _
- 313 Littleton Rd.
- Chelmsford, MA 01824
- contact: Ed MacLeod
- tel: 508.250.4949
- net: [56]http://www.tiac.net/users/mtir
- Update speed: 20 hz Position accuracy: +/-0.05inches (1.27 mm) This
- really depends on range as well. direction accuracy: +/- 0.05
- degrees. 3D reference points covering up km distances. 1D, 2D or 3D
- feedback. Cost: About $6K-$10K for positioning system. Custom
- software available for graphing, updating etc. Accuracy available
- even when the robot is moving at several meters/sec.
- _______________________________________________________________
-
- _Selcom Selective Electronics Inc _
- 21654 Melrose Avenue
- Southfield, MI 48075
- tel: 810.355.5900
- In Sweden:
- tel: +46-31-878110
- fax: +46-31-278992
- Selective markets optical triangulation laser-based devices and
- laser gaging systems. They also make the Selspot tracking system.
- The Selspot is a two camera system that registers 3D position of IR
- LED's at very high data rates. Selspots Robot Check System can
- provide non-contact 3D measurement and analysis of robot motion at
- 500 Hz rate. System has been used for over 20 years. Used in motion
- studies for people, animals and robots. Active markers are used (IR
- LEDs) Fast sampling up to 10K Hz. Selspot is marketed by:
- _Innovision Systems _
- 30521 Schoenherr, Suite 104
- Warren, MI 48093-3129
- tel: 810.751.0600
- fax: 810.751.0646
- _______________________________________________________________
-
- _Qualisys AB _
- Ogardesvagen 4
- S-433 30 Partille
- Sweden
- Qualisys
- 41C New London Turnpike
- Glastonbury, CT 06033
- tel: 203.657.3585
- fax: 203.657.3595
- MacReflex system uses CCD-based cameras for non-contacting
- measurement of robots. Two camera system is typical. Uses small
- passive targets and IR LED's colocated with the cameras lens. Video
- processor calculates centroid of markers and displays in real-time.
- Information is used to provide data and analysis of position,
- velocity, acceleration, angles, angle velocity and acceleration and
- position vs. time. Specs: Noise level 1:200000, resolution 1:70000,
- Relative accuracy: 1:30000, and absolute accuracy 1:10000. Accuracy
- is defined as standard deviation of difference between measured and
- true positions/longest diagonal in measurement volume. 50Hz and
- 120Hz and high accuracies.
- MacReflex is marketed by: _Innovision Systems _
- 30521 Schoenherr, Suite 104
- Warren, MI 48093
- tel: 810.751.0600
- fax: 810.751.0646
- _______________________________________________________________
-
- Coordinate Measuring Machines
-
-
- Coordinate Measuring Machines are now widely used for process
- control, statistical monitoring, entering 3D from a physical part
- into a CAD system and many other uses. CMM's tend to be large and
- expensive and fixed but there are a number of devices now on the
- market to provide accurate positioning information.
- _______________________________________________________________
-
- _Renishaw _
- 623 Cooper Court
- Schaumburg, IL 60173
- tel: 708.843.3666
- fax: 708.843.1744
- Renishaw makes a ballbar mechanism to measure and calibrate machine
- tool motion errors including backlash, servo error, squareness,
- straightness, axis reversal, vibration, scale mismatch etc. It uses
- a precise linear measuring device and interpolates a circular
- profile from which all the above information is calculated.
- Renishaw also makes a high speed digitizing and scanning system for
- the tool and die industry. It's a CMM style machine that can
- generate NC programs from scanned parts. They also have a scanning
- system that retrofits to existing CNC mills. _Supraporte Inc _
- 5145-I Avenida Encinas
- Carlsbad, CA 92008
- Portable 6-axis measuring system. Model 2000 now available with
- battery power pack. Very accurate. Very expensive.
- _______________________________________________________________
-
- _Faro _
- 125 Technology Park
- Lake Mary, FL 32746-6204
- tel: 800.736.6063
- tel: 407.333.9911
- fax: 407.333.4181
- Metrecom: 6DOF articulated pointer, like a portable CMM. Endpoint
- accuracies are around .005" -> .025", depending on model.
- Counterbalnaced design. Three models from 1.8m to 2.4m reach and
- accuracies ranging from +/- .635mm to .127mm and prices from $14.4K
- to $51.4K respectively.
- _______________________________________________________________
-
- _Chesapeake Laser Systems _
- 222 Gale Lane
- Kennett Square, PA 19348
- tel: 215.444.2300
- fax: 215.444.2323
- Laser metrology systems. CMS-3000 is a servo controlled tracking
- laser interferometer measureing tool. The tracker follows a
- retroreflective target whil providing real-time coordinate
- information of the retro center location. Position of the target is
- provided in XYZ coordinates via linear distance and two high
- accuracy angular encoders. CMS-3000 can provide measurements over a
- large volume. 30m radial, > 110 degrees elevation, > 270 horizontal.
- Down to 0.6 micron resolution, 2 parts in 10^5 accuracy for range.
- (1m/sec tracking) up to 6m/sec tracking at 5 micron resolution.
- Lightweight and cost effective versus CMM's and offers speed and
- accuracy advantages over theodolites and photogrammetry equipment.
- System can be leased by hour/week/month. About $180K to buy.
- _______________________________________________________________
-
- [10.1.8] Measuring linear motion
-
-
- There are very few devices to directly give absolute position for
- linear motions. Often rack and pinion drives are combined with
- geared rotary encoders to give absolute position. Here are some
- manufacturers of Magneorestrictive sensors for measuring absolute
- linear position. Accuracy is usually around 0.05% of full scale.
- Futaba also makes an absolute linear position glass scale device.
- _Magneostrictive Devices_ _Gemco Magnetek _
- 1080 N. Crooks Road
- Clawson, MI 48017-1097
- tel: 313.435.0700
- fax: 313.435.8120
- _Balluff _
- PO Box 937
- 8125 Holton Drive
- Florence, KY 41042
- tel: 800.543.8390
- fax: 606.727.4823
- _MTS Systems Corporation (Temposonics) _
- Sensors Division
- Box 13218
- Research Triangle Park, NC 27708
- tel: 919.677.0100
- fax: 919.677.0200
- _Norstat _
- PO Box 377
- Hibernia, NJ 07842
- tel: 201.586.2500
- fax: 201.586.1590
- _______________________________________________________________
-
- [10.1.9] Interfacing sensors
-
-
- _Atmos Technology,Inc _
- 1060 Lincoln Av,
- San Jose Ca 95125
- tel: 408.292.8066
- fax: 408.292.8241
- The AT1000A is a single chip sensor interface circuit that has been
- used in pressure, acceleration, temperature and humidity
- applications. 20 PIN SOIC Package, 12-Bit A/D Converter, 64 Bits
- EEPROM memory. Programmable pulsed current source via EEPROM memory.
- Three channel A/D: Iout1,Iout2, and Vdiff.
- _______________________________________________________________
-
- [10.2] Actuators
-
-
- Most actuation uses electro-magnetic motors and gears but there have
- been frequent questions regarding other forms of actuation including
- 'muscle-wires' and inexpensive RC-servos. How do I get a motor under
- computer control? What kind of motor should I use? What are the
- differences between actuator types? What other types of actuation
- are there?
- Types of motors:
- * Synchronous
- * Stepper
- * AC servo
- * Brushless DC servo
- * Brushed DC servo
-
-
- _______________________________________________________________
-
- [10.2.1] RC-Servos
-
-
- R/C servos for model airplanes, cars and other vehicles are light,
- rugged, cheap and fairly easy to interface. Some of the units can
- provide very high torques speed. For prices and specs see one of the
- many Radio Control magazines on the market.
-
- What is the wiring for R/C servos?
-
-
- Three wire connector for RC-servos:
-
- Pin 1 = White = Signal
-
- Pin 2 = Red = +5
-
- Pin 3 = Black = Signal and Power Ground
-
- [Tang = pin 1]
-
-
- The signal is a variable width pulse ranging from 1-2ms in duration
- and repeating every 12-20 ms. The output shaft rotates to a position
- porportional to the input pulse width. Input pulse width is compared
- to an internal timer pulse. The timer period is controlled by a pot
- coupled to the servo's output shaft. The difference between the two
- pulse widths is an error signal. The servo attempts to reduce or
- eliminate the error signal by driving the output shaft in the
- appropriate direction. When the error signal is within about 5
- micro-seconds the drivers are turned off to preventing oscillation
- or 'hunting'.
-
- ___ ... ___
- | | . | |
- __| |__._____________________________________________| |____
- 1 to 2 ms width pulse goes from full CCW to full CW rotation
- 20 ms pulse to pulse.
-
- How can you reverse a servo?
-
-
- The easiest way to do this is to hit your R/C hobby shop and buy a
- servo reverser. This is a dedicated electronic module that plugs
- between the servo and the controller (usually the R/C receiver) and
- processes the pulse to "reverse" it. Basically, the device uses a 3
- msec one-shot and an XOR gate. If your local hobby shop doesn't have
- them, check Ace R/C catalog. See ads in any R/C magazine.
- A harder way is as follows: You have to reverse both the motor and
- the potentiometer leads.
- It would be much easier to reverse the control input. All modern
- radios have "reverse" switches for all channels. In the past you
- could have one of 3 solutions:
- 1. Live with the servo as-is. Design your model with the servo
- direction in mind.
- 2. Some companies had "reversed" servos. Probably no longer
- available.
- 3. Use a gadget between the receiver and radio that reverses the
- servo. Possibly a single 4538 (Motorola MC14538) with 2 resistors,
- 3 capacitors and a trimmer pot.
- 4. Modify the servo. This is the most difficult and least desired
- solution. Impossible if the motor is soldered directly to the PCB
- (seen in some servos). [from Itai Nashon]
-
-
- The following article is an excellent source on servo facts and a
- PIC-based circuit to control R/C Servos. (See the Microcontrollers
- Section for more info on the PIC)
- The Juggler's Delight: PIC-based Controller For Up To Eight Servos
- by Scott Edward. The Computer Applications Journal, October 1994 p14
- [A kit is available as well for the circuit, including PC board,
- IC's etc]
-
- How can you control a servo from a parallel port?
-
-
- From Stew Bailey (sbailey@sensemedia.net):
- With one of the PC's internal timers cranked up, it is possible to
- control eight servos from a common parallel port with nothing but a
- simple TSR interrupt service routine and a cable. In fact, power can
- be pulled from the disk drive power connector and the PC can run all
- servos directly with no additional hardware. The only down side is
- that the PC wastes some processing power servicing the interrupt
- handler.
-
- How can you implement force servoing with RC servos?
-
-
- From Dave Hershberger, [57]hersh@nmt.edu
-
- I successfully built a force-feedback circuit for my Futaba hobby
- servos. I took the back off the servo case to expose the solder
- side of the control PC board, and using my scope with the servo
- active, I looked for contacts whose signal looked like it varied
- with how much work the motor was doing. I found 2 pulse-width
- modulated signals which correspond to the difference between the
- command signal and the current shaft angle, one for each rotation
- direction.
-
- The signals are not logic-level, but vary between, say, 1 and 2
- volts, so I built a simple comparator circuit to convert these to
- logic level. I fed these into my 68HC11 and used the Input Compare
- feature to measure the timing.
-
- To connect to these points, I used some thin stranded wire and
- soldered directly to the PC board in the servo. Obviously you need
- to be careful when doing this to avoid damaging the servo. Then I
- threaded the pair out through the same hole that the control and
- power wires use.
-
- One thing to keep in mind with this setup is that it measures the
- error signal, not the force. Therefore when you tell your servo to
- move to a different angle, you'll get an error signal for a few
- wavelengths until it is able to turn the shaft to the new position,
- even if there is no resistance to the movement. If your software
- can take this into account, it works fairly well.
-
- There's also the problem of saturation - if the external torque on
- the servo shaft is actually turning the shaft against the motor,
- the error signal will be saturated, and you won't know how much
- past saturation you are.
-
-
- How to implement RC servo control from a Microcontroller like the HC11?
-
-
- This is commonly done with the HC11. The simplist method uses a 32mS
- pulse, which works with all RC servos I (Tom) have tried. This is
- the natural roll-over time of the free-running clock (FRC) (assuming
- an 8MHz XTAL). The output-compare IO lines can be configured to go
- high on the FRC roll-over, and then to go low when their set value
- matches the FRC. With this set up, just place the correct value in
- the timer's compare register and the PWM signal is generated; no
- interrupts required!
- If you want to generate PWM with 20mS, you can set up an interrupt
- to go off after 20mS, set the output line(s) high, and set the
- output compare(s) to the current time plus the desired offset. Then
- set the next interrupt to occur after another 20mS. Still pretty
- easy.
- For code examples, check out the TRP2 and TRP3 files in:
- [58]ftp://cherupakha.media.mit.edu/pub/incoming/dickens This is the
- code for 2 articles Tom Dickens wrote in The Robot Practitioner.
-
- Commercial controller for RC servos:
-
-
- _Pontech _
- 401 E 17th St Suite B
- Costa Mesa, CA 92627
- tel: 714.642.8458
- Pontech has a SV100 Servo Motor Controller which is based on the PIC
- 16C84 microcontroller. It accepts RS232 serial data signal from a
- host computer and poutput PWM to control up to four RC servo motors.
- Multiple boards can be parallel together to allow more servos. They
- also sell FUTABA FP-S148 servos. boards: $49.95, servos: $16.95, +
- $5.00 shipping and handling _Vantec _
- 460 Casa Real Pl.
- Nipomo, CA 93444
- tel: 805.929.5055
- Design and manufacture of Electronic Systems for remote control
- mobile robots and vehicles. Vantec makes a servo control that has
- been used successfully in this type of application and can be used
- for velocity or position closed loop control. We can also modify R/C
- transmitters for operation on special frequencies. contact: Rich
- Howe
- _______________________________________________________________
-
- [10.2.2] Shape Memory Materials
-
-
- Nickel-titanium alloys were first discovered by the Naval Ordinance
- Laboratory decades ago and the material was termed NiTinOL. These
- materials have the intriguing property that they provide actuation
- through cycling of current through the materials. It undergoes a
- 'phase change' exhibited as force and motion in the wire.
- At room temperature Muscle Wires are easily stretched by a small
- force. However, when conducting an electric current, the wire heats
- and changes to a much harder form that returns to the "unstretched"
- shape - the wire shortens in length with a usable amount of force.
- Nitinol can be stretched by up to eight percent of their length and
- will recover fully, but only for a few cycles. However when used in
- the three to five percent range, Muscle Wires can run for millions
- of cycles with very consistent and reliable performance.
-
- Table 1. Flexinol Muscle Wire Properties
- -----------------------------------------------------------------
- Wire Linear Typical Deform. Recovery Typical
- Wire Diameter Resist. Current Weight* Weight* Rate**
- Name (microns) (ohm/m) (mA) (grams) (grams) (LT/HT)
- -----------------------------------------------------------------
- Flexinol 037 37 860 30 4 20 52/68
- Flexinol 050 50 510 50 8 35 46/67
- Flexinol 100 100 150 180 28 150 33/50
- Flexinol 150 150 50 400 62 330 20/30
- Flexinol 250 250 20 1,000 172 930 9/13
- -----------------------------------------------------------------
- * Multiply by 0.0098 to get force in Newtons
- ** Cycles per minute, in still air, at 20 Centigrade
- LT = low temp 70 degrees C, HT high temp 90 degrees C
-
-
- Research into shape memory alloys, polymer gels and micromechanism
- devices is ongoing. Library browsing is a must to get recent
- information on these areas.
- _______________________________________________________________
-
- _Mondotronics _
- 524 San Anselmo Ave.,
- #107
- San Anselmo, CA 94960
- tel: 415.455.9330
- tel: 800.374.5764
- fax: 415.455.9333
- net:
- A number of muscle wire (nitinol) projects including a small walking
- machine. Book and sample kit with 1m each of 50,100 and 150 um wire
- - enough to build all 14 projects in book. [59]Mondo
- _______________________________________________________________
-
- _Memry Technologies _
- 57 Commerce Drive
- Brookfield, CT 06804
- tel: 203.740.7311
- fax: 203.775.2359
- Memry sell a Mitsubishi developed polyurethane based Shape Memory
- Polymer. The material undergoes property changes in hardness,
- flexibility, elastic modulus and vapor permeability under
- temperature change. Medical applications is one focus for this
- material.
- _______________________________________________________________
-
- _Milford Instruments _
- United Kingdom
- tel: (0977) 683665
- fax: (0977) 681465.
- Importers of the Parallax BASIC Stamps and Muscle Wires into the UK.
- _______________________________________________________________
-
- _TiNi Alloy Company _
- 1621 Neptune Drive
- San Leandro, CA 94577
- Sheets and wire of NiTinOL alloys.
-
- [10.2.3] Other Actuators
-
-
- _______________________________________________________________
-
- _Bridgestone Corporation _
- 3-2-25 Nishikubo,
- Musashino City, Tokyo 180.
- tel: 0422 54 5820
- Rubbertuators: Rubber-based device that bends under applied
- pneumatic pressure. For a rotation unit typical rotation angles are
- 360,120,90 degrees for linear unit the contraction rate cannot
- exceed 20%.
- _______________________________________________________________
-
- [10.2.4] Stepper Motors
-
-
- Wally Blackburn has provided a stepper motor controller design that
- easily connects to a parallel port:
- [60]ftp://ft.bode.ee.ulaberta.you/pub/cookbook/unsorted/pc_stepr.zip
- This is the info file for the Opto-Isolated Stepper Motor
- Controller. While the info is oriented towards control via a PC
- parallel port, the controller can really interface to just about
- anything.
- The controller uses a UCN5804B controller IC from Allegro. This chip
- can control motors at up to 35V and 1.25A continuously. Peaks of up
- to 50V and 1.5A can be tolerated according to the data sheet.
- The inputs to the UCN5804B are optically isolated from the control
- circuitry. Input control voltages from 3 to 12V are acceptable.
- Diodes are used to protect the UCN5804B from negative transients
- from the motor windings. For efficient low-voltage operation,
- Schottky diodes are used.
- I have recently rewritten the instructions and included a simple
- parallel port control program in QuickBASIC. The Turbo C source is
- still included also. I still have kits for the controller. Wally
- Blackburn wrb@ccsitn.cb.att.com Here are some files on the operation
- and use of stepper motors from Steve Walz:
- [61]ftp://ftp.armory.com/pub/user/rstevew/ Useful files include
- stepper.viz, steppers.tut, ibmlpt.faq, and tomlpt.faq
- _______________________________________________________________
-
- [10.2.5]Controllers
-
-
- There are many controllers for motors and vendors of controllers for
- motors in the marketplace. There are only a few here that might be
- of interest because of low cost or flexibility. See also [62][18.10]
- Motor Drivers
- _______________________________________________________________
-
- _Animatics Corporation_
- 3050 Tasman Drive
- Santa Clara, CA
- 95054-1116
- tel: 408.748.8721
- fax: 408.748.8725 Animatics makes an RS-232 based communications
- motor controller. The Series 5000 Servo Control can drive from 1-4
- servo motors either as a stand alone unit or slaved to a host
- computer via RS232. Includes fully digial automatic PID filter (no
- pots) All tuning and config parameters can be sent in the form of a
- file transfer. Can control brushed or brushless motors. Does not
- need a host for control. Up to 3 Amps continuous current per axis.
- Full 4axis model is about $3K.
-
- [10.2.6]DC Motors
-
-
- This is a huge industrial area. A typical new autmobile might have
- 30 motors these days and there are a lot of motor manufacturers. See
- the Thomas Register for a listing. It is beyond the scope of this
- FAQ to provide addresses for all manufacturers, but I'll provide a
- list of those who've been mentioned and might be of interest.
- _Mabuchi Motor America Corp._
- 475 Park Avenue South (32 St.)
- New York, NY 10016
- tel: 212.686.3622
- fax: 212.532.4263
- One of the largest manufacturers of small motors. Found in R/C cars.
- _______________________________________________________________
-
- [10.3] Imaging for Robotics
-
-
- [This is a new and incomplete section - need more information here]
- There are a wide variety of frame grabbers, computer vision systems
- and image processing tools available. For VME, Multibus, PC Bus,
- even SBUS and STD, there are a number of options for getting images
- into your computer.
- _______________________________________________________________
-
- _Analogic Corporation_
- 8 Centennial Drive
- Peabody, MA 01960
- tel: 508.977.3000 Howard Cohen
- fax: 508.977.6813
- _DASM-VIP_
-
- Input:
- RGB, Y/C, NTSC, RS-170A, CCIR, RS-343A
-
- Memory:
- up to 16mb
-
- Bus:
- SCSI (2.5 Mb/s asynch, or 5 Mb/s synch.) Can be interfaced to
- PC/ISA via SCSI card.
-
- Processing:
- TMS320C31 33.3 MHz, 33.3 MFLOPs, 16.7 MIPS. Analogic also
- provides an 'ISA bus Floating-Point DSP Signal Processor' AP85c
- with a SCSI port and 5 TMS320C31 processors for 200 MFLOPs, and
- up to 16Mb of global DRAM and upt to 1Mb of local SRAM per
- processor.
-
- Other:
- RS-343A, CCIR, NTSC, or S-Video display output. User programmed
- RS-232 port for debugging, or whatever. An optional
- multi-tasking realtime DSP operating system written by Analogic
- is available. DASM-VIP with 16Mb costs $5995. The AP85c with
- 16Mb is $12,600.
-
-
- _______________________________________________________________
-
- _Cognex Corp._
- One Vision Drive
- Natick, MA 01760-2059
- tel: 508.650.3000 Joseph B. Considine - sales rep
- tel: 508.650.3332
- Offers a vision system mostly targeted for industry. Good selection
- of image processing routines. _5000 Series_
-
- Input:
- Up to 4 cameras multiplexed, RS-170 or CCIR 12 bit grey scale
-
- Memory: up to 16Mb
-
- Bus:
- ISA
-
- Processing:
- 25Mhz 68030, 68882 Floating point coprocessor, 'VC-1' custom
- ASIC for 2D correlation, blob analysis, histograms, and various
- transforms, 'VC-2' custom ASIC for character recognition, line
- finding, edge detection, Gaussian and LaPlacian filtering.
-
- Other:
- Functions as VGA adapter eliminating the need for a separate
- video card -- allows display of images. Also provides RGB and
- monochrome video outputs.
-
-
- _______________________________________________________________
-
- _Coreco Inc._
- 6969 Trans-Canada Highway
- Suite 113
- St. Laurent Quebec
- Canada H4T 1V8
- tel: 514.333.1301
- tel: 800.361.4914 (USA) Ralph Tesson - sales rep
- fax: 514.333.1388
- A variety of ISA DSP-based bus frame grabbers and imaging cards for
- PCs. Inputs for many cards includes RGB, NTSC, RS-170, CCIR, or PAL
- 24 bit color, Y-C, RS-330, up to 16Mb VRAM and 64Mb DRAM. DSP-based
- boards. Outputs include external display support, composite video
- etc. Wide variety of convolutions and logical operations on images
- available including histogramming.
- _______________________________________________________________
-
- _Current Technology Inc_
- 97 Madbury Road
- Durham, NH 03824
- tel: 603.868.2270
- contact: Michael Glover
- fax: 603.838.1352
- _FF1 Frame Grabber_
-
- Input:
- RS-170 or CCIR
-
- Memory:
- up to 1024x1024x16 bits image memory.
-
- Bus:
- Half-size XT slot.
-
- Processing:
- Analog Devices ADSP 2105 DSP (20 MOPs). Performs 3x3
- convolution in 390 ms.
-
- Other:
- Library of C callable functions, and windows DLL. Very
- inexpensive -- $995.
-
-
- _______________________________________________________________
-
- _Data Cube _
- [real-time frame buffers and imaging analysis] [need address]
- _______________________________________________________________
-
- _Data Translation_
- 100 Locke Drive
- Marlboro, MA 01752
- tel: (508) 481-3700
- tel: (800) 525-8528 fax: (508) 481-8627 Offers 8 different models of
- general purpose monochome frame grabbers with various resolutions
- and memory sizes.
- _______________________________________________________________
-
- _Dipix Technologies Inc._
- 1051 Baxter Road
- Ottawa, Ontario
- Canada K2C 3P1
- tel: 613.596.4942
- tel: 800.724.5929
- contact: Paul Lamar X146 Regional Sales Mgr
- Dipix offers 3 general purpose frame-grabbers:
- _XPG-1000 Power Grabber_
-
- Input:
- RS-170, CCIR, digital, or programmable. Multiple input modules.
-
- Memory:
- up to 256Mb of image memory, 512Kb cache
-
- Bus:
- ISA/VL and PCI bus
-
- Processing:
- 50 Mhz TMS320C40 DSP from TI (which is programmable in C) and
- 'Power Processing Module' with on-board ALU, CONV, and HIST.
-
- Other:
- Optional real-time display
-
-
- _P360 Power Grabber_
-
- Input:
- 4 analog or one 8 or 16-bit digital input, programmable, or
- RS-170, RS-330, CCIR.
-
- Memory:
- up to 80Mb (4 min)
-
- Bus:
- ISA/VL
-
- Processing:
- TMS320C30 DSP from TI (which is programmable in C). DT-Connect
- bus.
-
- Other:
- Realtime display available
-
-
- _FPG-44 Power Grabber_
-
- Input:
- Same as XPG-1000
-
- Memory:
- 512kb to 8 MB 0 wait state SRAM
-
- Processing:
- TMS320C44 DSP from TI (programmable in C)
-
- Other:
- real-time display card available software compatible with above
- models
-
-
- _______________________________________________________________
-
- _ImageNation Corporation_
- P.O. Box 276
- Beaverton, OR 97075-0276
- tel: 503.641.7408
- tel: 800.366.9131
- fax: 503.643.2458
- bbs: 503.626.7763
- net: 75211.2640@compuserve.com
- ImageNation makes video frame grabbers in a variety of
- configurations and options.
- ImageNations Website is located at [63]ImageNation
- CX100 Precision Video Frame Grabber
- The CX100 Video Frame Grabber is a precision image capture board in
- the ISA bus configuration. It is an 8 bit, half slot card ideal for
- compact applications. Compatible with monochrome video in either
- NTSC or CCIR formats. Allows real time capture to dual port video
- RAM mapped into the computer's memory. This provides fast, random
- access to the captured image for even the most demanding image
- processing needs. The image transfer rate is 1 Mbyte per second. The
- CX100 also has a display output for viewing live video or a captured
- image on an external monochrome monitor. Analog RGB, 30 Hz
- interlaced video output is an option available for false color
- display (this is not VGA compatible). In addition, there is a
- trigger input for synchronizing image acquisition to an external
- event or for operation with an asynchronous (resettable) camera.
- The CX100 is a +5 volt only design. It consumes less than three
- watts and has a power down mode. The all digital synchronization
- scheme provides a rock solid image and an +/- 3 nS sampling jitter
- specification. Video noise is less than one LSB (least significant
- bit). The automatic detection of NTSC or CCIR video, coupled with
- the excellent jitter performance, ensures operation with standard
- and resettable cameras as well as video recorders. Hardware
- controlled field or frame grab, software adjustable offset and gain,
- automatic look up table (LUT) load and non-volatile configuration is
- supported. Input and output LUTs allow gamma correction, contrast
- and brightness adjustment, and thresholding in real time. The
- optional overlay RAM allows text and graphics to be displayed on top
- of live video or a captured image. The video overlay can display 15
- LUT selectable colors (gray levels).
- Lots of software support is also provided. Software and examples are
- available on ImageNation's BBS.
- ImageNation ImageNation also offers versions of the CX frame grabber
- in the compact PC/104 format. PC/104 is the familiar ISA bus in a
- compact, low power, 3.6 X 3.8 inch format. It is ideal for embedded
- applications. ImageNation supports multiple camera and display
- applications with a four to one video multiplexor available in ISA
- or PC/104 versions. Contact ImageNation today for more information.
- _______________________________________________________________
-
- _Imaging Technology Inc._
- 55 Middlesex Turnpike
- Bedford, MA 01730-1421
- tel: 617.275.2700
- fax: 217.275.9590
- Offers a modular vision system that can be taylored for the
- application. Both VME and PC ISA/VL-bus platforms are supported. It
- seems likely, however, that when all the required modules are
- selected, the system will have a fairly large pricetag.
- A system consists of an 'image manager' or IML which is either a VME
- or PC ISA/VL-bus compatible board. It contains some framstore memory
- and a slot for the 'acquisition module'. For the PC version, the IML
- can be used as the system VGA adapter, eliminating the need for a
- separate display card or module. To add one of the many available
- computational modules, the 'Computational Module Controller' or CML
- must be purchased, which also plugs onto (sort of) the IML. The CML
- has slots for either one or two plug-on computational modules. So,
- as you can see, it adds up quick. About $23k for a system with 2 C31
- DSP computational modules. Device drivers are available for
- DOS/Windows, VxWorks, OS-9, and Solaris.
- There are 4 available acquisition modules:
- 1. Variable Scan: interfaces to RS-170 and CCIR cameras
- 2. Fast Analog Acquisition: interfaces to high frame rate analog
- cameras
- 3. Color Acquisition: interfaces to NTSC, PAL, RGB or multiple
- RS-170/CCIR cameras. One interesting feature of this module is the
- ability to program your own color space. Otherwise, it supports
- HSI, YUV, YIQ and YCrCb color spaces.
- 4. Digital Acquistion: interfaces to RS-422 or TTL video sources.
-
-
- There are 5 available computational modules:
- 1. Convolver/Arithmetic Logic Unit (CM-CLU): Accelerates convolution.
- e.g. a 4x4 convolution on an 8-bit 512x512 image takes 7.5 ms.
- 2. Programmable Accelerator (CM-PA): Contains a TMS320C31 DSP from TI
- (which can be programmed in C), 4Mb image memory and 1Mb of
- EEPROM.
- 3. Histogram/Feature Extraction Processor (CM-HF): Performs realtime
- histograms and feature detection.
- 4. Median and Morphological Processor (CM-MMP): performs
- morphological filtering, erosion, and dilation.
- 5. Binary Correlator (CM-BC): Performs high-speed template matching
- and binary morphology.
-
-
- _______________________________________________________________
-
- _Mandex Technology, Inc._
- 1191 Chicago Road
- Troy, MI 48083
- tel: 810.585.1165
- fax: 810.585.3745
- contact: M. Gupte
- SMART EYE I: DSP-based real-time image processing system designed
- specifically for mobile and fixed base robotics systems. Stand-alone
- image processing system on a single board. Low power consumption,
- small form factor, and low weight. The single board system includes:
- four monochrome camera inputs, video digitizer (gain and offset
- software adjustable), input look-up table, two frame grabbers,
- additional two video buffers, color mappable image display buffer,
- color mappable graphics overlay buffer, RGB display driver, serial
- communications port, and application program RAM and EPROM. Program
- code can be burned into EPROM. Wide variety of language and
- development platform support. Additional hardware expansion to
- provide addtional I/O capabilities.
- _______________________________________________________________
-
- _Matrox International Corp._
- 1055 St. Regis Blvd. Dorval
- Quebec, Canada H9P 2T4
- tel: 514.685.2630
- tel: 800.361.4903
- contact:Spiro Plagakis - sales rep
- fax: 514.685.2853
- The IMAGE series consists of the following mutually compatible
- hardware:
- * IMAGE-1280 Baseboard consists of a TMS34020 GSP, TMS34082 FPU, 4Mb
- of DRAM, custom ASICS for fast data transfer, and a high
- resolution RGB display driver.
- * IMAGE-ASD is a monochrome acquisition card that plugs into the ISA
- bus.
- * IMAGE-CLD is a color acquisition card that does realtime RGB to
- HSI conversion and also plugs into the ISA bus.
- * IMAGE-RTP performs a whole slew of processing functions using a
- bunch of ASICS (e.g. histograms, LaPlacians, morphologies, logical
- operators, erosion, dilation, centroids, pattern matching, more)
- * IMAGE-FPU accelerates large kernel convolutions and FFTs
-
-
- Matrox also offers an extensive image processing library and
- utilities that run under Windows.
- _______________________________________________________________
-
- _Sharp Electronics_
- 16841 Armstrong Ave.
- Irvine, CA 92714
- tel: 714.261.6224
- tel: 800.562.7427
- fax: 714.261.9321
- The basic system that Sharp offers is the GPB-1
-
- Input:
- 4 multiplexed RS-170 inputs 8 bit greyscale. Optional 'Incard'
- allows 3 parallel camera inputs, or one RGB input, but occupies
- another ISA slot.
-
- Memory:
- 12 512x512x8 bit framestores.
-
- Bus:
- ISA
-
- Processing:
- High-speed ASICS which perform convolution, histogram analysis,
- feature extraction, connectivity analysis, more. These
- operations all take place at 40 ns/pixel. Thus, for example, a
- 3x3 convolution takes 12 ms for a 512x512x8 bit image. Other
- processing boards (see below) are available and external
- interfaces are provided for the addition of a separate Alacron
- i860 card with 80 Mflops of performance (available 2/95).
-
- Other:
- VGA output for displaying images. An optional 'Single monitor
- adapter' acts as the system VGA adapter.
-
-
- There are four function-specific computational cards that plug into
- the GPB-1:
- 1. Alignment card: performs normalized correlation with model data.
- 2. Auxlut card: has dual 64k 16 bit input 8 bit output lookup tables.
- A possible application would be RGB to HSI conversion.
- 3. Auxwarp Card: 'a pixel re-sampler that may be used to modify the
- geometric shape of an object.'
- 4. Memory Mapping: Maps large amounts of image data to ISA bus and
- allows random access of regions of interest, say. Also it allows
- new GPB-1 commands to be loaded in and ready to go while the GPB-1
- is busy with its current command. Occupies a separate ISA slot.
-
-
- Sharp also has available a Windows algorithm development tool which
- allows the user to develop algorithms using interpreted scripts --
- thus eliminating the compiling step. The scripts can then be
- converted to C-code and compiled, if appropriate. Over 250
- C-callable image processing functions are provided.
- The basic GPB-1 system costs $11,000. A system with an Incard, and
- Auxlut runs around $20,000.
- _______________________________________________________________
-
- _Teleos Research_
- 576 Middlefield Road
- Palo Alto, CA 94301, USA
- tel: 415/328-8800
- fax: 415/328-8880
- net: info@teleos.com
- URL: [64]http://teleos.com/ Advanced Vision Platform, AVP-100
- provides:
- * stereo range measurements
- * motion measurements
- * 3D model-based object tracking
- * video frame rate performance
-
-
- AVP-100 consists of a video processing unit containing an embedded
- processor, the new PRISM-4 accelerator board, and interface modules.
- To use the system, all that is required is a camera and a host
- processor with an Ethernet interface.
- Connect to [65]http://teleos.com/ for more information or send
- e-mail to info@teleos.com with the subject 'AVP-100'. _TIM-40
- PC-based Vision Systems_
- There are about a handful of companies that support TIM-40 module
- platforms. (TIM-40 is a specification developed by TI and industry
- to incorporate the TMS320C40 into a flexible, modular architecture.
- A single TIM-40 module is 2.5" x 4.2".) The C40 is often referred to
- as a 'next generation transputer' because of its six 20Mb per sec.
- comports which make connecting multiple C40s together very easy. The
- speed at which data can be exchanged makes it well suited for
- multiprocessor image processing. A system consists of a computer
- host-specific motherboard (that the TIM-40 modules plug into) and
- the appropriate TIM-40 modules. All companies listed below support
- both VME and PC/ISA daughter boards, however, only the PC/ISA boards
- are described. Since these systems typically consist of more than
- one processor, development software that supports multiple
- processors would be nice. 3L Parallel C is an ANSI C compiler that
- allows you to write multitasked software and divide the tasks
- between the available processors at compile time. It's built ontop
- of the TI C compiler which is known for its optimizing and efficient
- instruction scheduling. Data is sent between arbitrary tasks (which
- may reside on separate processors) by sending C structures. Thus,
- the development environment is comfortable and intuitive. All
- companies listed offer 3L Parallel C.
- _______________________________________________________________
-
- _Transtech Parallel Systems Corp._
- 20 Thornwood Drive
- Ithaca, NY 14850-1263
- tel: 607.257.6502 Andy Stevens - sales rep
- fax: 607.257.2980
- TIM-40 PC/AT motherboard: 4 TIM-40 sites. Communication between one
- TIM-40 slot and PC takes place through 1K FIFO buffer. JTAG support
- for debugging. RGB/Composite framegrabber module: occupies 2 TIM-40
- slots and accepts RS-170 RS-330, CCIR, NTSC, PAL, Y/C or RGB. Has an
- onboard 50Mhz TMS320C40 (50 MFLOPs). 3Mb of VRAM and up to 4Mb of
- DRAM is available. Flexible Memory TIM-40: occupies 1 TIM-40 slot,
- has onboard 50 Mhz TMS320C40s (50 MFLOPs) and up to 4Mb of DRAM.
- Dual C40 TIM-40: occupies 1 TIM-40 slot, has 2 onboard 50 Mhz
- TMS320C40 (100 MFLOPs) and 512k SRAM per processor. Display TIM-40:
- allows display of RGB images.
- _______________________________________________________________
-
- _Spectrum Signal Processing Inc. _
- 8525 Baxter Place, 100 Production Court
- Burnaby, BC, Canada V5A 4V7
- tel: 604 421-5422
- fax: 604 421-1764
- 508 366-7355 Mark Coutour
- 800 232 1842 Paul DeBruyn
- 800 663-8986
- QPC40 Motherboard: 4 TIM-40 sites. Communication between any of the
- 4 TIM-40 slots and the PC takes place through 2 16 bit ISA bus
- locations (one for transmit, one for receive) per TIM-40 slot. JTAG
- support for debugging.
- RGB/Composite framegrabber module: occupies 2 TIM-40 slots and
- accepts RS-170 or RGB. Has an onboard 50Mhz TMS320C40 (50 MFLOPs)
- and a RAMDAC for displaying RGB images. 32kb of EEPROM, 512kb of
- SRAM, and up to 16Mb of DRAM is available. Currently, (11/94) this
- module is not supported by 3L Parallel C, nor does it have framegrab
- software source available.
- Several single C40 TIM-40 modules are offered that differ in memory
- models -- some have EEPROM for boostrapping, or up to 8Mb of DRAM
- offered on a single TIM-40, or up to 65Mb od DRAM on a double
- TIM-40.
- Dual C40 TIM-40: occupies 1 TIM-40 slot, has 2 onboard 50 Mhz
- TMS320C40 (100 MFLOPs) and 512k SRAM per processor.
- Spectrum also offers ILIB -- an image processing library with
- routines to perform convolution, LaPlacians, high and lowpass
- filtering, more.
- _______________________________________________________________
-
- _Traquair Data Systems Inc _
- Tower Building, 112 Prospect St.
- Ithaca, NY 14851
- tel: 607.272.4417 Steve Bradshaw
- fax: 697.272.6211
- HEPC2 Motherboard: 4 TIM-40 Sites. Communication between one TIM-40
- slot and the PC host takes place through 2 16 bit ISA locations (one
- for transmit, one for receive). JTAG support for debugging.
- CFG-RGB framegrabber module: occupies 2 TIM-40 slots and accepts
- RS-170 or RGB. Has an onboard 50Mhz TMS320C40 (50 MFLOPs). 1Mb of
- VRAM framestore and 4Mb of DRAM memory onboard. Frame grab software
- and source is provided.
- VIPTIM convolution accelerator: occupies 2 TIM-40 slots. Contains a
- 50MHz TMS320C40 and ASICs that can convolve at 12.5 million pixels
- per sec. with kernels up to 7x6 or 14x3. 3, 1Mb VRAM framestores and
- 4Mb DRAM memory onboard.
- HETwin dual C40 TIM-40: occupies 1 TIM-40 slot, has 2 onboard 50 Mhz
- TMS320C40s (100 MFLOPs) and 512kb SRAM per processor. Similar model
- with 2 C44s and 1Mb SRAM per processor will be available early 95.
- HEQUAD quad C44 TIM-40: occupies 1 TIM-40 slot, and has 4 onboard
- TMS320C40s (200 MFLOPs) and 512kb SRAM per processor.
- Traquair also offers the following software:
-
- EYELIB: image processing library (different than ILIB (?)) that
- performs convolution, histograms, logical operations, more.
-
- CDSOFT: a utility that works with 3L Parallel C that allows the
- display of RGB image data to the PC host's VGA monitor in less
- than realtime.
-
- Mathlib: a math library accelerator for the C40 that in many cases
- more than doubles the speed of some floating point calculations
- (e.g. sin).
-
- Matlab interface: allows an arbritrary C40 processor to execute
- functions in Matlab (that's running on the PC host).
-
-
- _______________________________________________________________
-
- [10.4] Wireless Communication
-
-
- Tethers for supplying power and communication are sometimes
- impractical and at best an annoyance. Digital communication via RF
- and IR links is becoming cheaper and a number of companies are
- providing off-the-shelf solutions. For basic serial line
- communication a wide variety of radio modems are available that use
- fixed frequencies or spread spectrum techniques. In many cases they
- are also transparent. That is, you plug them directly into serial
- ports on the robot and off-board computing directly. Higher
- bandwidths such as Ethernet or high speed synchronous serial require
- different hardware. However, with high speed serial communication
- you may even be able to SLIP (Serial Line Internet Protocal) or PPP
- (Point-to-Point Protocol) instead of using a LAN-based device.
- This area of communication is changing very quickly and new products
- and companies are appearing every day.
- See also a nice list at: [LIST IS NO LONGER THERE - AWAITING NEW
- SITE] ftp://csd4.csd.uwm.edu/pub/Portables/Wireless/wireless-modems
- or gopher://csd4.csd.uwm.edu List Maintained by David Kent,
- dkent@world.std.com
- _______________________________________________________________
-
- [10.4.1] RF Modems
-
-
- [David Kent] RF or wireless modems provide data communication
- without tethers and cables. Wireless systems can be susceptible to
- noise, and multipathing (echos) which will result in tranmission
- errors. A smart wireless modem will guarantee error free data gets
- from one end to the other. This is accomplished by an internal
- microprocessor which packetizes and addresses data. It also checks
- received packets for errors and automatically requests a
- retransmission from the sending modem if there is an error. All this
- occurs transparently to the user. The users' RS-232 data stream goes
- in one modem and comes out the other. Another advantage of this
- method is that since packets are addressed, more than two modems can
- share a single frequency without interference, however throughput
- goes down accordingly. These work well with RS-232 devices that you
- cannot run custom software on, eg. printers, plotters, bar code
- scanners, as well as computers. Dumb modems on the other hand simply
- transmit the data and hope it gets to the other end. Since there is
- no addressing, any modems on the same frequency and in range will
- receive all transmissions. Dumb modems are often used where the
- equipment connected to the modem handles error detection/ correction
- and addressing. Software libraries are available that work with
- specific dumb modems to provide smart functionality. If you are
- connecting a computer running custom software to the wireless modem
- anyway, this may be the most cost effective solution. There are also
- two main categories relating to the radio frequency (RF) portion of
- the wireless modem. These are spread spectrum (unlicensed) and
- VHF/UHF (licensed). Licensed means you need an FCC license. Costs a
- couple hundred dollars to process the paperwork. Generally not a
- problem getting one unless you live in some urban areas. Nice
- collections of information and vendors of wireless modems are at
- [66]Wireless. and [67]http://hydra.carleton.ca/info/wlan.html
- _Comrad, Communications Research and Development Corporation_
- 7210 Georgetown Road, Suite 300
- Indianapolis, IN 46268
- tel: 317.290.9107
- fax: 317.291.3093 Comrad CCL901-DP 900 MHz Wireless Data Link. 500
- meter range can be extended through additional transponders. RS232 -
- 38Kbaud. Battery pack available for portable applications. Two
- transceiver units, software, power adapter, serial cables for
- $449.95. Modems. Two channels: 1200-38,400 baud, 100m range, 20m
- range through two walls. Easy to set up.
- _Cylink _
- 310 N. Mary Avenue
- Sunnyvale, CA 94086
- tel: 408.735.5800
- tel: 800.533.3958
- fax: 408.735.6643 AirLink - series of highspeed synch or async
- modems to 256kb/s. Interfaces include V.11, RS-232, EIA-530. Spread
- spectrum device operating in 902-928Mhz range.
- _GRE America, _
- Belmont, CA,
- tel: 800.233.5973 GINA 6000, spread spectrum, smart wireless modem,
- up to 128 Kbps, 902MHz, 1 watt
- _Hamtronics, Inc. _
- 65-D Moul Rd.
- Hilton, NY 14468-9535
- tel: 716.392.9430
- fax: 716.392.9420 1200 and 9600 baud units/modules for a few hundred
- dollars.
- _Micrilor Inc _
- 17 Lakeside Park,
- Wakefield, MA 01880
- tel: 617.246.0130
- fax: 617.246.0157 RS-232, T1221 and R1221 transmitters. 902-928MHz,
- no FCC license required. Data rates to 64k-baud. >100m range. Power
- 35mA@3VDC, Antenna is 60cm RG174 coax. Price: $550 ea.
- _Monicor Electronics _
- Fort Lauderdale, FL
- tel: 305.979.1907
- fax: 305.979.2611 System 310 two-card OEM set for use in palmtops
- and handheld computing. System 310 board set transmits at 1mW to 2W
- for a range of 3 to 3km range. Priced at $660 in quantity. Model
- IC-15-48 - rugged RS232 4800 baud modem. Can network a number of
- these portables. $1630.
- _Motorola Radio-Telephone Systems Group _
- Arlington Heights, ILL
- tel: 708.632.5000 AltairNet: 18GHz-based system design for wireless,
- indoors networking. The boxes are fairly large, about the size of a
- shoebox, and are relocatable but not portable. Problem is that is
- that they really aren't for mobile applications. The reception area
- has holes like swiss cheese. Not a problem with some fine adjustment
- in stationary applications but a big problem for mobile devices.
- _Pacific Crest Corporation_
- 1190 Miraloma ay, Suite W
- Sunnyvale, CA 94086-4607
- tel: 408.730.5789
- tel: 800.795.1001
- fax: 408.730.5640 DDR-96 and RDDR-96 Radio modems. To 9600 baud. 2W.
- Point-to-point communcations. Uses standard RS-232 9pin DB style
- connectors. Can also be used in packet switching networks. Forward
- error correction techniques and PLL synchronization. The RDDR is a
- ruggedized version. Cost is about $1100 and $1230 respectively. FCC
- license required.
- _Proxim, Inc. _
- Mountain View, CA,
- tel: 800-229-1630 Proxlink XR, spread spectrum, smart wireless
- modem, up to 256 Kbps, 902MHz, 500mW, 800 ft range. _Scientific
- Technologies_
- 31069 Genstar Road
- Hayward, CA 94544 SpectraData 551 radio data link. Spread spectrum.
- Range to 1.5miles (repeater for longer distances) RS232 to
- 38.4Kbaud. (900MHz or 2.4GHz).
- _______________________________________________________________
-
- A number of articles have also been posted about the modification of
- inexpensive walkie-talkies for wireless communication. Typical
- bandwidths are limited to about 1200 baud. This may be sufficient
- for simple command-level control of a mobile mechanism. See the
- robotics Archives.
- _______________________________________________________________
-
- [10.4.2] RF Video
-
-
- For regular frame rate video over relatively short distances it's
- hard to beat the price and availability of several consumer products
- in the $100 range. Check local stores or place like the Sharper
- Image (Gemini Rabbit is one of the companies making these units)
- Microwave systems require line-of-site communication, licensing, and
- are expensive.
- _______________________________________________________________
-
- [10.4.3] RF Ethernet
-
-
- _Aironet Wireless Communications_
- 367 Ghent Road, Suite 300
- Akron, OH 44334-0292
- tel: 216.665.7900
- fax: 216.665.7922 ARLAN series of wireless products. Aironet has the
- largest installed base of spread spectrum radios (>200,000) Up to
- 1Mbps at 900MHz and 2Mbps at 2.4Ghz. Ethernet and Token rings access
- points (630 and 631 series), wireless multipoint bridges (640 series
- ARLAN products), wireless network adapter cards, PCMCIA cards and
- numerous software and network management tools.
- They are distributed through Anixter. For local Anixter offices call
- 708.677.2600. We've used a number of the ARLAN products for years at
- CMU and it's been plug and play.
- _Proxim Inc. _
- 295 North Barnardo Ave.
- Mountain View, CA 94043
- tel: 415.960.1630
- fax: 415.964.5181 A product announcement for wireless LAN board on
- p.68 in May/92 Byte Magazine Price: $495, Range: 800 ft. Data Rate:
- 242 Kbps Channels: 3
- _Digital Ocean_
- Lenexa, KN
- tel: 913.888.3380
- Grouper wireless networks. Spread-spectrum (no FCC license)
- 902-928MHz. Several products for Macintosh computer.
- _______________________________________________________________
-
- [10.5] Robot Parts: Suppliers and Sources
-
-
- Many inquiries on comp.robotics are of the form: Where can I find X?
- where X might be motors, gears, fasteners, connectors etc. The
- following companies carry a wide selection of electronics and
- mechanical parts. With the possible exception of computing these
- companies should have all you need to build robot mechanisms.
- Also see the file regularly posted to sci.electronics and a number
- of the radio newsgroups:
- [68]ftp://rtfm.mit.edu/pub/usenet/sci.electronics/ Roger Arrick also
- has a web page listing supplies of gears, bearings and parts at:
- [69]http://www.robotics.com/mechpart
- _All Electronics Corporation_
- P.O. Box 567
- Van Nuys, CA 91408
- tel: 800.826.5432 Electronics parts.
- _Allied Devices_
- 2365 Milburn Avenue,
- PO Box 502
- Bladwin, NY 11510
- tel: 516.223.9100
- fax: 516.223.9172 Standard precision mechanical components
- _American Science and Surplus_
- 3605 Howard St.
- Skokie, IL 60076
- tel: 708.982.0870
- fax: 800.934.0722
- These guys are a good source for motors, steppers, wire, and lots of
- gears, pulleys, etc. stuff for robot people to roll their own robots
- as well.
- _Arrick Robotics_
- 2107 W. Euless Blvd.
- Euless, Texas 76040 USA
- tel: 817.571.4528
- fax: 817.571.2317
- net: rarrick@ix.netcom.com Arrick makes a number of automation
- system including stepper motor systems, positioning tables and
- robotic workcells.
- _C&H Sales_
- 2176 E. Colorado Blvd.
- Pasadena, CA
- tel: 818.796.2628
- tel: 800.325.9465 Surplus parts. Motors etc.
- _Digi-Key Corp_
- 701 Brooks Avenue South
- P.O. Box 677
- Thief River Falls, MN 56701-0677
- tel: 800.344.4539 Distributor of electronics components and
- semiconductors.
- _Edmund Scientific _
- 101 E. Gloucester Pike
- Barrington, NJ 08007-1380
- tel: 609.573.6250 order
- tel: 609.573.6260 customer service Lots of optics, science and
- educational items. A little pricey but nice selection. Edmund also
- has a Robotic Technology Curriculum with lessons and tests featuring
- the Movit robots. Curriculum is $65.
- _Electronic Goldmine _
- PO Box 5408
- Scottsdale, AZ 85261
- tel: 602.451.7454 Sell the ROAMR Robot Kit - $39.95 Lots of
- electronics and small mechanics.
- _Fascinating Electronics _
- P.O. Box 126
- Beaverton, OR 97075
- tel: 503.292.5233 Experimenter's kits and other electronics.
- _Graymark _
- Box 5020
- Santa Ana, CA 92704
- tel: 800.854.7393 Robot and electonics kits, tools and instruments.
- _Herbach and Rademan Co. _
- 18 Canal St.
- P.O. Box 122
- Bristol, PA 19007-0122
- tel: 800.848.8001 (orders)
- tel: 215.788.5583 (office)
- fax: 215.788.9577 (fax) Electro-mechanical "surplus" parts,
- equipment and insturments.
- _Hosfelt Electronics_
- Ohio?
- _JDR Microdevices _
- 1850 South 10th St
- San Jose, CA 95112-9941
- tel: 408.494.1400, 800.538.5000
- fax: 800.538.5005
- bbs: 408.494.1430 Surplus and lots of electronic components
- including cameras and some sensors. Some recent components have
- included: TV transmitter (part # RK-TV6, $19.95 US) transmits
- composite video + audio to any television set withing 600' on one of
- channels 2 - 6. Runs on 12VDC.
- Microwave doppler radar sensor. Claims to detect a person or animal
- up to 12' away (part number RK-MD3, $19.95 w/o case. Claims to come
- with complete circuit theory and instructions.
- _Marlin P. Jones _
- tel: 407.848.8236 Lots of neat surplus stuff.
- _McMaster-Carr Supply Company _
- PO box 440
- New Brunswick, NJ 08903-0440
- tel: 908.329.3200
- fax: 908.329.3772 An amazing catalog of hundreds of thousands of
- parts. Lots of mechanical things but not much for electronics or
- computing.
- _MECI _
- tel: 800.344.4465
- _Mendelson Electronics Co., Inc _
- tel: 800.422.3525
- _Newark Electronics _
- 500 N. Pulaski St.
- Chicago, IL 60624-1019
- tel: 312.784.5100 (check locally) Major distributor of electronics
- components and equipment (1200+ pages) with branches throughout the
- US.
- _Nordex _
- 50 Newton Road
- Danbury, CT 06810-6216
- tel: 203.792.9050 Gears, cams, universals etc.
- _PIC Design _
- PO Box 1004
- Benson Road
- Middlebury, CT 06762-1004
- tel: 800.243.6125 (except CT)
- tel: 203.758.8272 Bearings, clutches, brakes, couplings, tools,
- belts, pulleys, gears etc.
- _Radio Shack _
- Electronic parts and kits. Local retail stores in just about every
- city)
- _SECS, Inc. _
- 520 Homestead Avenue
- Mt. Vernon, NY 10550
- tel: 914.667.5600 Gears and gear assemblies, belt drives, couplings,
- bearings, small parts.
- _Seitz Corporation_
- Box 1398
- Torrington, CT 06790
- tel: 800.261.2011
- tel: 203.489.0696
- tel: 203.489.0476
- fax: 203.496.0307 Drive components, gears etc.
- _Servo Systems _
- 115 Main Road
- PO Box 97
- Montville, NJ 07045-9299
- tel: 201.335.1007
- fax: 201.335.1661 Surplus pieces and prices, motors, actuators,
- geardrives, controllers, robots, encoders, transducers, amplifiers.
- _Small Parts Inc. _
- 6891 NE Third Ave
- PO Box 381966
- Miami, FL 33238-1966
- tel: 305.557.8222
- fax: 305.751.6217 Lots of neat small supplies including: materials,
- metal stock, fasteners, tools etc. This company is the "misc parts"
- supplier to the "U.S. FIRST" competetion where corporations and HS
- Students form partnerships to build competing robots like Dr
- Flowers' ME class at MIT.
- _Stock Drive Products _
- 2101 Jericho Turnpike
- Bobx 5416
- New Hyde Park, NY 11042-5416
- tel: 516.328.3300
- fax: 516.326.8827 Great set of handbooks of thousands of components.
- _Surplus Center_
- Lincoln, Nebraska
- tel: 800.488.3407 They're good on medium to large scle stuff,
- hydraulics and pneumatics. They seem to supply agricultural machine
- prototypers. _Winfred M. Berg _
- 499 Ocean Ave.,
- East Rockaway, LI, NY 11518
- tel: 516.599.5010 Precision Mechanical Components
- Any technical library should have catalogs from the larger
- distributors. These include McMaster-Carr, Grainger, Allied, Newark,
- etc.
- _______________________________________________________________
-
- Last-Modified: Tue Sep 10 12:29:26 1996 [70]Kevin Dowling
- <nivek@cmu.edu>
-
- References
-
- 1. file://localhost/usr/nivek/faq/HTML/copyright.html
- 2. file://localhost/usr/nivek/faq/HTML/TOC.html
- 3. file://localhost/usr/nivek/faq/HTML/10.html#10.1
- 4. file://localhost/usr/nivek/faq/HTML/10.html#10.1.1
- 5. file://localhost/usr/nivek/faq/HTML/10.html#10.1.2
- 6. file://localhost/usr/nivek/faq/HTML/10.html#10.1.3
- 7. file://localhost/usr/nivek/faq/HTML/10.html#10.1.4
- 8. file://localhost/usr/nivek/faq/HTML/10.html#10.1.5
- 9. file://localhost/usr/nivek/faq/HTML/10.html#10.1.6
- 10. file://localhost/usr/nivek/faq/HTML/10.html#10.1.7
- 11. file://localhost/usr/nivek/faq/HTML/10.html#10.1.8
- 12. file://localhost/usr/nivek/faq/HTML/10.html#10.1.9
- 13. file://localhost/usr/nivek/faq/HTML/10.html#10.2
- 14. file://localhost/usr/nivek/faq/HTML/10.html#10.2.1
- 15. file://localhost/usr/nivek/faq/HTML/10.html#10.2.2
- 16. file://localhost/usr/nivek/faq/HTML/10.html#10.2.3
- 17. file://localhost/usr/nivek/faq/HTML/10.html#10.2.4
- 18. file://localhost/usr/nivek/faq/HTML/10.html#10.2.5
- 19. file://localhost/usr/nivek/faq/HTML/10.html#10.3
- 20. file://localhost/usr/nivek/faq/HTML/10.html#10.4
- 21. file://localhost/usr/nivek/faq/HTML/10.html#10.4.1
- 22. file://localhost/usr/nivek/faq/HTML/10.html#10.4.2
- 23. file://localhost/usr/nivek/faq/HTML/10.html#10.4.3
- 24. file://localhost/usr/nivek/faq/HTML/10.html#10.5
- 25. file://localhost/usr/nivek/faq/HTML/10.html#10.1.1
- 26. file://localhost/usr/nivek/faq/HTML/10.html#10.1.2
- 27. file://localhost/usr/nivek/faq/HTML/10.html#10.1.3
- 28. file://localhost/usr/nivek/faq/HTML/10.html#10.1.4
- 29. file://localhost/usr/nivek/faq/HTML/10.html#10.1.5
- 30. file://localhost/usr/nivek/faq/HTML/10.html#10.1.6
- 31. file://localhost/usr/nivek/faq/HTML/10.html#10.1.7
- 32. file://localhost/usr/nivek/faq/HTML/10.html#10.1.8
- 33. file://localhost/usr/nivek/faq/HTML/10.html#10.1.9
- 34. ftp://reports.adm.cs.cmu.edu/usr/anon/robotics/CMU-RI-TR-94-15.ps.Z
- 35. file://localhost/usr/nivek/faq/HTML/ag_vp_file_server.informatik.uni-kl.de/Public/Mobile_Robots/Papers/Weiss.Gyrostar.ps.Z
- 36. mailto:info@hymarc.com
- 37. http://www.cs.cmu.edu:8001/afs/cs.cmu.edu/user/deadslug/ftp/home.html
- 38. ftp://ftp.cs.cmu.edu/usr/anon/user/deadslug/ft.sensor.ps.Z
- 39. mailto:info@ati-ia.com
- 40. http://www.ti.com/sc/docs/psheets/SPECIALF.HTM
- 41. news:sci.virtual-worlds
- 42. http://www.engin.umich.edu/~johannb/position.htm
- 43. ftp://ftp.eecs.umich.edu/people/johannb
- 44. ftp://ftp.eecs.umich.edu/people/johannb/readme.txt
- 45. http://www.engin.umich.edu/~johannb/
- 46. news:sci.geo.satellite-nav
- 47. mailto:eshedbv@pi.net
- 48. http://www.pi.net/~eshedbv/
- 49. http://www.eshed.com/
- 50. http://www.eshed.com/vscope.htm
- 51. mailto:info@kinetic.bc.ca
- 52. http://www.asi.bc.ca/asi/affiliates/kinetic/KSI_home_pg.html
- 53. http://www.asi.bc.ca/asi/affiliates/kinetic/KSI_Eagle_Eye.html
- 54. http://www.loboratorium.dist.unige.it/
- 55. ftp://ftp.std.com/ftp/vendors/Ascension/
- 56. http://www.tiac.net/users/mtir
- 57. mailto:hersh@nmt.edu
- 58. ftp://cherupakha.media.mit.edu/pub/incoming/dickens
- 59. http://www.netsurf.com/nsm/v01/01/mondo/mondo.html
- 60. ftp://ft.bode.ee.ulaberta.you/pub/cookbook/unsorted/pc_stepr.zip
- 61. ftp://ftp.armory.com/pub/user/rstevew/
- 62. file://localhost/usr/nivek/faq/HTML/18.html#18.10
- 63. http://www.teleport.com/~image
- 64. http://teleos.com/
- 65. http://teleos.com/
- --
- aka: Kevin Dowling, <nivek+@cmu.edu> address: Carnegie Mellon University
- tel: 1.412.268.8830 The Robotics Institute
- fax: 1.412.268.5895 5000 Forbes Avenue
- url: http://www.frc.ri.cmu.edu/~nivek Pittsburgh, PA 15213 USA
- --
- aka: Kevin Dowling, <nivek+@cmu.edu> address: Carnegie Mellon University
- tel: 1.412.268.8830 The Robotics Institute
- fax: 1.412.268.5895 5000 Forbes Avenue
- url: http://www.frc.ri.cmu.edu/~nivek Pittsburgh, PA 15213 USA
-