Recap,
Manufacturing,
NXT-G features, sound
Lab work: [Show bump exercise. Add sound. Combine sound & bump]. Start off with sound. Use buttons to indicate turning left or right. MAKE sounds. Display messages.
Homework: postings (hints at topics). Combine sound, bump, timing…

• IMPORTANT to check ports for motors and ports for sensors!
• Can use threads: two processes going on at the same time.
– one process with the loop using the bump senosr
– second process waiting for sound

• For sensors:
– Wait for specific event to happen, such as triggering sensor, clicking on button, receiving Blue tooth message
• sensory event can have a level, greater or less than
– Check value of sensor, button, message
• Which do you want? In more complex situations, such as waiting for one of the 3 buttons, makes sense to use checking block

Specific application: tribot (or something) does something, with some human action. If NO action occurs for 5 seconds, stop. How to check for nothing happening?
• The 'active' thread resets the timer each iteration. The other thread exits the loop and issues a stop.
• Note: NXT-G provides 3 timers.
• There is a separate wait until time passes block.
• Note: loops using logic can loop until true or loop until false.
• timer block has several outputs. Make sure you use the one you want, in this case, the results of the compare.

• I am sure there are other ways to do this.

• can start at any point, not just the start.

• Custom
• Intermittent
• Continuous
May be outdated, or lines less definite.

• Assembly
– Putting things together
• Fabrication
– Forming, casting, taking away, putting together, etc.
– Chemical [type] processing.
IBM terms: process (semiconductor, chip) plants versus box plants
See Taxonomy of Manufacturing: http://en.wikipedia.org/wiki/Taxonomy_of_manufac turing_processes

• Wafer of silicon (crystal needs to be grown and then sliced)
• Circuitry ‘laid down’ using various techniques, including lithography
• Slice and dice into chips
• Clean room
Moore’s Law: number of transistors in a circuit doubles every 18 months.
How long can this continue????
http://en.wikipedia.org/wiki/Semiconductor_fabrication
Old news, but typical http://www.macworld.com/news/2007/01/27/intel/index.php
Apple iPad http://www.businessweek.com/news/2010-02-02/apple-s-jobs-spurnsintel-qualcomm-with-a4-ipad-chip-update2-.html

• Fixed automation
• Flexible automation
– Machining…
– Robotics
• Variant of flexible automation:
– Data-driven, computer integrated manufacturing…. Including robotics

• Much automation already in manufacturing that is NOT robotics.
• Many advances in manufacturing relate to logistics and to design.
– CAD/CAM for design, including testing mold for plastics.
– Now, also 3D printing for prototyping

• Robot [arms]
• Teach/playback system
• Economical because of health requirements
– These environmental / health requirements are relatively new.

• Air quality (e.g. painting cars)
• Miniaturization: operation not at human scale.
True in much of computer manufacturing
• Accuracy (precision)
• Connection to data
• Strength
• Speed
• Repeatibility (drudgery)

• Most manufacturing involves multiple steps (aka stages)
• Need to get parts & materials to stations
• Need to test
• Need to deliver finished products (aka distribution)
• Issue of out-sourcing (of parts and materials, not people) to other companies and other sites for the same company

• Did expansion mean less controls on more suppliers?
– Bad accelerator pad produced by US supplier
– Note: small number of actual incidents, though several were serious!

• Build to order
– Customer orders specific car, computer, etc. This prompts building of that item.
• Build to stock
– Estimate (guess) what will be needed. Build those items.
Exercises:
• What are advantages and disadvantages?
• What products are typically built one way versus the other?

• Build to order means little or no waste
BUT probably less efficient. Need time to switch between products.
• Build to stock may be [much] more efficient but may mean that products are produced that no one wants to buy.

• Mass production versus made-to-order.
• The iPod is a mass produced product that the customer customizes, makes very individual…

• Company choice of products may or may not be important
– Early IBM PC products were divided into different types to give different manufacturing sites work to do. [To my knowledge when at
IBM] PCs were not profitable.
– Sarong type dress example
– ?

• Don’t build product and don’t take delivery of parts until needed.
• Advantages: lower costs for storage, postpone payment, may even postpone ordering
• Disadvantage: no safety net of materials and parts, hard on suppliers.

• Quality of final product
• Quality of parts, materials, sub-assemblies
• Shoe-tying: you can tie shoes with laces that are somewhat frayed and somewhat unbalanced.
• Good enough ( within spec )
– Don’t pay in time, money, for higher quality than needed versus
• Continual improvement / 6 Sigma
– Aim for highly reliable process. Pays off.
– Associated with Japanese manufacturing

• Refers to normal distribution
• Sigma is a standard deviation
• Making a process be such that six sigma are within acceptable bounds means very little is outside…

Reference: postings
• Drones, surgery, rescue
• Issue of levels
– Person has control, ‘in the feedback loop, but robot may do considerable local processing.
• Future topic: RoboDoc for surgery. Big advantage was use of positions from cat scans.

• Library research project.
• Propose topic (I will give approval or modification) for presentation
– plus '1 pager': abstract + works cited + 1 picture
• Postings are possible topics (must use at least 3 sources)

• Joseph Engelberger Unimation HelpMate
• Rodney Brooks Helen Greiner iRobot RedOwl
• Marvin Minsky
• Yasuo Kuniyoshi University of Tokyo
• Makoto Shimojo University of Electro-Communications
• Ralph Hollis Carnegie Mellon
• Russ Taylor Johns Hopkins
• William Bargar University of California at Davis
• Peter Will USC
• Andre Sharon Boston University

Read story[ies] AND at least 1 review/analysis!
• Karl Kapek: RUR
• Isaac Asimov: I, Robot (laws of robotics)
• Philip Dick: Do Androids Dream of Electric
Sheep ( Bladerunner )
• Arthur C. Clarke (others): 2001
• Anne McCaffrey: The Ship Who Sang
• other

• Big Dog
• Asimo
• Robot soccer (various types)
• Manufacturing
• Home / Health care
– Companions
– Versus smart house
• Military drones
• Technology (automation) displacing workers
• more

…. is a vibration of a medium (say the air)
The vibration is characterized as a wave
Longitudinal wave: motion of medium in direction of motion of wave: see http://en.wikipedia.org/wiki/Longitudinal_wave

• Amplitude: maximum disturbance of the field
• Frequency: number of times [something] happens per time unit
– Measured in Hz: times/second
• Wavelength: length of one wave, measured from mid-point to mid-point
– Equals speed / frequency
• Period: time between successive event
– Inverse of frequency
• speed

• Loudness related to amplitude
• Pitch related to frequency
• Most sounds are [very] complex waves
– Flute, tuning fork simpler wave pattern than violin
– Fourier transform (or fft) is a way to calculate how sound can be defined as set of simple sine waves
– Signal (what you are trying to measure) versus noise
(random, unwanted). Terminology refers to sound
AND other signals.

• Measures what ?????
• [Build (add) sensor to base robot]
• Do NXT brick tests.
• With robot connected, Tools/Calibrate
– This downloads program to run on robot.
• Program
– Move unlimited until sound sensor tripped
• done using parallel thread
– Move with power dependent on sound
– Start the loop when there is a sound
• can shout "start" or "stop" or "boola"
• What does sound sensor measure?

• Move until sound at some level.
• If sound at very high level, turn one way else turn the other way.

• Loop
– Until logical condition true or false
– Count
– Infinite
– Sensor test
• If
• If (Switch): multiple values. Need to deselect flat view

• Variables (suit case)
– Typed: logic, number, text
– Write block and Read block
• Arithmetic, comparison, logic
• Change number to text
• Random (dice) block

• Program
– [loop using bump sensor, stop on sound]
– Use right and left buttons to indicate turn to right or turn to left.
– Start the looping if there is a sound and after that (using threads) stop when there is a sound.
– Go straight and stop on sound and then turn one way or another based on amount of sound.
• Combine use of sound and bump sensors and timer

• Continue postings
– Manufacturing
– military drones
– health care / home care (smart house)
– prosthetics
– People
– Fiction
– ?
• [Do any reading on mechanics. Post summary.]