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1. De ne intelligence. Is intelligence good for a punch press machine 2. What does a PID control used for What does it do 3. For sequential behaviors, what is the tricky part How about for layered behaviors 4. Describe a pattern-matching system inspired from nature.

At its most basic level, SMA is a strand of nickel titanium alloy wire. Though the material may be very thin (a typical thickness is 0.15 mm slightly wider than a strand of human hair), it is exceptionally strong. In fact, the tensile strength of SMA rivals that of stainless steel: the breaking point of the slender wire is a whopping 6 lb. Even under this much weight, SMA stretches little. In addition to its strength, SMA also shares the corrosion resistance of stainless steel. Shape-memory alloys change their internal crystal structure when exposed to certain higher-than-normal temperatures (this includes the induced temperatures caused by passing

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same principles as the rotary encoders, but the graduations are engraved on a stationary glass or metal scale while the read head moves along the scale. Tachometers are generators that provide analog signals that are directly proportional to motor shaft speed. They are mechanically coupled to the motor shaft and can be located within the motor frame. After tachometer output is converted to a digital format by the motion controller, a feedback signal is generated for the driver to keep motor speed within preset limits. Other common feedback sensors include resolvers, linear variable differential transformers (LVDTs), Inductosyns, and potentiometers. Less common are the more accurate laser interferometers. Feedback sensor selection is based on an evaluation of the sensor s accuracy, repeatability, ruggedness, temperature limits, size, weight, mounting requirements, and cost, with the relative importance of each determined by the application.

an electrical current through the wire) The structure changes again when the alloy is allowed to cool More specifically, during manufacture the SMA wire is heated to a very high temperature, which embosses or memorizes a certain crystal structure The wire is then cooled and stretched to its practical limits When the wire is reheated, it contracts because it is returning to the memorized state Although most SMA strands are straight, the material can also be manufactured in spring form, usually as an expansion spring In its normal state, the spring exerts minimum tension, but when current is applied the spring stiffens, exerting greater tension Used in this fashion, an SMA becomes an active spring that can adjust itself to a particular load, pressure, or weight Shape-memory alloys have an electrical resistance of about 1 /in.

That s more than ordinary hookup wire, so SMAs will heat up more rapidly when an electrical current is passed through them The more current passes through, the hotter the wire becomes and the more contracted the strand Under normal conditions, a 2- to 3-in length of SMA is actuated with a current of about 450 mA That creates an internally generated temperature of about 100 to 130C; 90C is required to achieve the shape-memory change Most SMAs can be manufactured to change shape at most any temperature, but 90C is the standard value for off-the-shelf material Excessive current should be avoided Why Extra current causes the wire to overheat, which can greatly degrade its shape-memory characteristics For best results, current should be as low as necessary to achieve the contraction desired.

The subject of robotic control is huge. You could ll a small library with the research and control techniques used to manage both industrial robots and the more ambitious research robots, many of which are trying to ll the role of a human. Some of these humanoid robots are caretakers, helping out the disabled. Others are guides either mechanical or virtual (software only) tour guides for museums, hospitals, or online help systems. Then there is NASA s humanoid robot designed to face the rigors of space. The nonhuman explorer robots, wheeled rovers or legged explorers, need the exibility of intelligent control as they wander harsh or distant landscapes. This chapter is a continuation of 17. In the previous chapter we focused on control systems and pattern matching to enable the robot to switch between behaviors as needed. This chapter looks at decision-making a little bit more and then spends the rest of its time exploring new topics.

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