Science,English,and math Ⅱ
【Science,English,and math Ⅱ】
I'm going to start a new thread from now on. It seems that the description on the book of which title,『トリセツ.カラダ』will be over befere long,so after that I'll express on the math,I hope so.
I've wanted to be a splendid English speaker someday,so I've expressed some of English thread,but I'm afraid I find it hard that my hope comes true,but I won't give up,for it seems that I love English.
There are lots of things which I don't know in the world,so I've wanted to express the unknown world for me as much as I can.
新しいレスの受付は終了しました
【鉄腕アトム】
…and almost all of everyone who have taken active role at the forefront of the robotic engineering set for the goal for the アトム.
The P2 which sent shock waves all over the world as the robot which walks with its own two feet by HONDA,and AIBO which has opened up a market for the robot has the アトム on their conception when developing.
The ones who study and develop the robot alone have not been influenced by the アトム. Speaking of the robot,it seems that the アトム occurs to lots of people as common image for the robot in Japan.
When saying the name of the 鉄腕アトム,we can explain every kind of robot to others easily. The 鉄腕アトム is the symbolic existence at present.
【Classification for the robot by way of controlling】
《The robot has developed with an evolution of a computer》
The robot has developed with an evolution of a computer. The evolution of the computer is connecting with the development on the robot direct.
【Classification of the robot by way of controlling】
《The robot has developed with an evolution of a computer》
As the description before,the robot has appeared from the time of myth,but except for the imaginary one,almost all of them are a show,and they are no better than an automatic doll or mechanism. They can do a thing alone which was fixed,and it’s different from a modern robot.
The one which we call the robot is we can control its movement with a program. It was after 1940s the computer was invented when the robot appeared as real meaning.
《Development of the way of controlling the robot》
The way of controlling the robot is divided into 4 generation according to the time when it was born and the level of technique.
It was in 1960s when the ones which are included in the first generation like an operated robot,sequence one,the one which was controlled by numerical value.
They were used for a spat welding. They could repeat monotonous operation exactly,and instead of us the …
【Classification of the robot by way of controlling】
《Development of the way of controlling the robot》
Oh,I’ve made a mistake. It’s not the spat welding but spot welding.
…instead of us the human,it’s repeated monotonous production.
The first generation is an operated robot,sequence one,play back one,and the one which is controlled by some numerical values.
The operated robot is the one of all which part or one part of is operated by the human and its production for manufacture is done.
The sequence robot is the one which proceeds every stage of movements with set up information like orders,conditions,and location.
The play back robot is the next one. Operation of the robot itself by the human shows the robot various information like orders,conditions,and locations,and the robot takes an action according to the information.
The one which is controlled by some numerical values is the next one. Without operating the robot,showing some information for the robot,and the robot …
【Classification of the robot by way of controlling】
《Development of the way of controlling the robot》
Without controlling the robot,showing some pieces of information for the robot,and the robot itself operates according to the information.
The ones which belong to the second generation is the one controlling its sensor,and the one controlling its adaption. The one controlling its sensor is the next one.
It equips some sensors which corresponds with five sensory organs on the human,and it controls its movement according to the information on the sensor.
The one which controls its adaption is the next one. It can change characteristic according to change the adaption.
The robots on the second generation have appeared in 1970s. They have been used for arc welding which is an ordinary way of welding on welding steel metallic. We’ve made much of its flexibility which can change the contents of producing according to its objection.
The one which belongs to the third generation…
【Classification of the robot by way of controlling】
《Development of the way of controlling the robot》
The one which belongs to the third generation has appeared in the 1980s. It’s the robot which controls its learning,being based on its experience on its operation,it can do an appropriate operation.
Its equipped sensor is more advanced,and the efficiency on the perceptivity and recognition has improved sharply,besides learning ability is provided for the robot by a computer of which efficiency improved.
It can accumulate some pieces of information on the experience,and solve some problems for itself to some extent. While it has some limits as hardware,it can have general purpose,and it has been used for the robot which assembles for a production. It seems the robot approaches the human a little.
At last,the fourth generation appears,but intelligence robot which belongs to the fourth generation is unclear in relation to its definition,for the word of the definition itself has …
【Classification of the robot by way of controlling】
《Developmemt of the robot by the way of controlling 》
…for the word for the definition itself has been unclear. Without having an ordinary one,can’t we call it the intelligence? Or can we call it intelligence as long as it has the intelligence like an insect?It has been unclear,so the intelligence on the intelligence robot has been variety infinitively.
We call the time after 2000 the time of the intelligence robot which belongs to the fourth generation. The intelligence robot is the one which has an artificial intelligence. The computer has been so advanced that we can expect the intelligence robot takes an active part.
Moreover,electrical parts like memory becomes smaller and smaller,and higher advanced. It seems the distance for the level of the robot like 鉄腕アトム is far away,but the intelligence robot which is as close as 鉄腕アトム鉄腕アトム infinitively may appear in front of us in the future when we lead our everyday life.
【An operated robot】
《Development on a computer and technique on communication makes the space for the robot take an active part extend》
Speaking of a robot which is operated by the human,we tend to imagine マジンガーZ or 機動戦士ガンダム in an animated cartoon,but it is actually impossible to make a gigantic robot of which shape is the human.
We’re short of technical skill or material on structure so as to support those weight and to operate. As a result,it doesn’t seems that a person will be on board the robot. It will be operated by a person who is away from the robot. It’ll be cable operation or wireless operation.
《Operating the robot》
As to a way of operating the robot,operating driving motor on each part of the robot direct or doing them totally. There are two ways like that.
If trying to operate the motor on the part of the robot direct,we need the same number of switches as the motors,but both of the structure on the robot and the mechanism on the robot will be simple.
【An operated robot】
《Operating robot》
Almost all of the robots which we see in a contest is operated like that.
As to one more way of operating the robot,controlling motors which operate each part on the motor all together. At the time when the operated robot appeared,the way of controlling didn’t used to be easy,but with high advanced computer,it isn’t so hard at present.
We make the computer operate each part on the robot all together,and we show the robot our aimed direction with an easy operation. We don’t have to learn the the operation in details,so the term of training becomes short.
As to the wireless operation,with development on the computer and technical skill on the communication make the robot be able to do advanced things. It’s a remote control which we call it master and slave.
We operate a control stick which we call the master,and shows the robot which is away from us our direction,and makes the robot called the slave work. If being adopted the way of bilateral…
【An operated robot】
《Operating robot》
If being adopted the way of bilateral,the ability of operating the robot will improve. The slave robot recognizes the information on its sensor,and sends the master robot the information. Its the bilateral way.
If being far away,its time lag sometimes becomes a problem,but with the development of the technique skill on the communication,the problem will be solved.
Tmsuk produced by Tmsuk Co.Ltd. is a robot which is realized that kind of remote control by PHS circuit. It's a popular robot among us and often appears on TV,so it seems that lots of people have seen it.
Its shape is like the human and it has eyes of small camera and ears of mike. The one who operates the Tmsuk can do far away from the robot,taking into account the information from the robot.
The operating robot has appeared as the first generation,but its evolution continues by the latest technology even just now.
【Sequence robot】
《It can do a series of operation with a simple…》
【A sequence robot】
《It can do a series of movements with a simple circuit》
A sequence robot is the one which does a series of movements according to a fixed order which we set up beforehand. With a combination of a wiring circuit,we could make the robot do it,so from the time when it appeared for the first time,we’ve made use of it in various areas in robotic field.
Without using the computer,we could program on the movement for the robot. We could change its wiring easily,and change the order of the movement at will. We didn’t have to use the computer,so its circuit was easy to understand.
The sequence robot has been taken advantage of in various areas as industrial one at present,but being controlled by the computer is mainstream.
Controlling by PC is done,but the one which is frequently done is an exclusive computer called programmable controller. It’s a computer system for the sequence robot,its operation is by far easier than PC. We can master it in a short term,and make use…
【A sequence robot】
《Controlled by sequence》
…and we can make use of the programming on the sequence robot more efficiently. The one controlled by sequence which is used for the sequence robot has been taken advantage of an electronic appliance which is close to us. It’s a washing machine or a refrigerator.
If the situation in which it used is limited,the one controlled by sequence which is good at handling the fixed operation in turn is suitable.
The one controlled by the sequence contains an instrument of timer which controls the time of operating,and controlling situation which change its movements according to the situation.
When comparing the efficiency with the one which appeared for the first time,the modern one has been developed so much. The sequence robot has taken an active part at the forefront as industrial robot,for it goes on evolving,adopting those kinds of controlling.
《A circuit of relaying》
There is a circuit of relay in the center of the controlling the…
【A sequence robot】
《A circuit of relaying》
There is a circuit of relaying in the center of controlling sequence which changes the circuit. It can change the circuit easily which makes the robot work. The sequence robot has plenty of those kinds of circuits,and its combinations make the robot do a series of work.
Without using the computer,we can control the sequence robot,and some of robot kits which are low price are the sequence robot. Plenty of robot kits which doesn’t load tips for micro computer are the sequence robots which are close to us.
【A play back robot.】
《A robot which the human teaches how to operate with great patience and care》
We need a technical knowledge and special training to some extent in order to control the operated robot or the sequence robot. Without remembering the way of operating them or the part on the circuit,we can’t control them.
On the other hand we don’t need knowledge and training so as to control the play back robot which belongs to the…
【A play back robot】
《A robot which the human teaches how to operate with great patience and care》
On the other hand,we don’t need any knowledge and training very much so as to control the play back robot which belongs to the first generation.
《A way of showing the play back robot its operation》
When showing the play back robot itself the way of its operating,we the human ourselves operate it.
For example,if it’s a work which manufactures a metal with the hand of the robot arm,a person takes the arm of the robot by the hand,and manufactures the metal actually according to a work procedure.
The play back robot can repeat the work with the same procedure altogether as if we played back a recording video tape. The play back robot learns to be able to do the work with the way of direct instruction.
When repeating the same operation,the play back robot demonstrates its ability. As long as understanding the order on the operation,everyone can operate the robot easily,so it’s …
【A play back robot】
《A robot which we the human teaches how to operate itself with great patience and care》
As long as understanding the order on the operation,everyone can operate the robot easily,so it has been taken advantage of in various areas in factories at present,though it has a shortcoming,and it’s incapable of adapting to changing.
However the situation in which the play back robot is used doesn’t change,so it isn’t any problem at all.
《An evolution on the play back robot》
With the improvement of efficiency on the computer,the play back robot has demonstrated us its evolution like other robots in the first generation. It’s a trial of doing more efficient direct instruction by a system which is used practically of technique on virtual reality.
The virtual reality is an imaginary circumstance which is constructed in the computer. It doesn’t exits actually,but the play back robot feels it as if the place were there through some equipments,and can operate there.
【A play back robot】
《An evolution on the play back robot》
If making use of the technique on the virtual reality,the play back robot recognizes,or feels it as the one on three dimension even if it doesn’t exits there. When recognizing the robot feels,it sends the sense of touching to the one who operates the play back robot.
We the human teaches the robot how to work in the virtual area on the system of direction. There isn’t the robot there actually,but we can teach the robot with the technique of the virtual reality as if we showed the robot direct.
The content which was showed to the robot becomes data and is simulated on the computer. The data are revised according to its necessity,and directed data are sent to the robot,and we control the robot.
If using the way,the robot which we show the way of operating is in a remote place,it’s not any problem,and even if the operation was done only once,the function of playing back works efficiently.
【A robot which is controlled with a numerical value】
《Development on the computer making us control a numerical value becomes easier》
A robot which is controlled with a numerical value belongs to the first generation,but it is antithetic to the play back robot.
While the play back robot is showed the direction by the human hand direct,the robot which is controlled by numerical value is done its operation by computer indirect.
Instead of being operated by the human,the movements on each part of the robot are showed with a numerical value or some languages.
At the time when the robot controlled by numerical value appeared for the first time,the place where the robot played an active part was repeating work. Controlling the numerical value was used in order to repeat a monotonous work exactly like a spot welding.
However the development on the technology like the computer has made the robot controlled by the numerical value evolve like other robots which…
【A robot which Is controlled with a numerical value】
《Development on the computer making us control a numerical value becomes easier》
However the development on the technology like the computer has made the robot controlled by numerical value evolve like other robots belonging to the first generation.
The language controlling the robot becomes the one which is close to a natural one,and plenty of people have learned to deal with the robot controlled by numerical value at ease.
《The robot controlled with a numerical value is able to be made with a handicraft》
Some of those robots controlled by numerical value are among the robot kits. One of them is a robot arm produced and sold from イーケイジャパン. We can enjoy the robot arm by using an exclusive software as the robot controlled by numerical value.
We can designate the time on driving the motor alone,so the consumption on a battery or friction may prevent the robot repeating the same movement sometime,but if wanting to have experience…
【A robot which is controlled with a numerical value】
《The robot controlled with a numerical value is be able to be made with a handicraft》
…but if wanting to have experience on the robot controlled by numerical value,it’s a handy robot kit.
【A robot which controls its sensor】
《Lots of robots have had a sensor at present》
A robot which appeared in 1970s belongs to the second generation. Its difference between the one belonging to the first generation is it has a sensor.
Having the sensor made a revolution on the robotics world,and it divided the robots with two kinds of generations. The robot which belongs to the second generation has taken active part at the forefront as industrial robot at present.
《The sensor which gives the robot a kind of sense》
Aristotle which was a philosopher and a scientist in Ancient Greece classified the human sense into five,hearing,sight,the sense of smell,the palate 味覚,and the sense of touch. Except for the five sensory organs,it is said that the…
【A robot which controls its sensor】
《The sensor which gives the robot a kind of sense》
Except for the five sensory organs,it is said that we have senses which is more than 15. There are sensory organs in deep places of tissue 組織 like muscle or tendon 腱. Weight,the location of the body,and a way of joint bends are recognized there. We call it a deep sensory.
Other sensory organ in the semicircular canals 三半規管 in the ear is related to the sense of balance. An existence in the sense on the internal organs which has something to do with a request from the body like hunger,thirsty,fatigue,and pain has been recognized.
The robot which controls its sensor has some of senses which we the human has as sensor.
Various sensors has been developed,and a high advanced computer which can handle the information from the varied sensors becomes low cost,so the robot which controls its sensor is realized.
Having the sense with the sensor makes the robot judge its circumstance for itself.
【A robot which controls its sensor】
《Strong points on the robot which controls its sensor.》
As a result,the robot which controls its censor can change its way of action according to a situation.
As to a robot which doesn’t have any sensor in the first generation,we had to set up an objection which the robot manufactured in a fixed place.
At the time when the robot in the first generation appeared ,it repeated the same movements alone. It didn’t have any flexibility,so we had to adapt the circumstance to the robot’s movement.
As to the robot which controls its sensor has the sensor for the sight,wherever the objection which the robot manufactures is,it’s all right as long as the objection is set up in the place where the robot can move,for the robot can understand the place of the objection with its sensor for the sight.
If being able to recognize its location,either it moves to the place where the objection is set up or it draws the objection up to it,and sets up the situation…
【A robot which controls its sensor】
《Strong points on the robot which controls its sensor》
If being able to its location,either the robot moves to the place where the objection is set up,or it draws up to the objection to it,and sets up the situation in which the robot can do its movement for itself. Then it can do its own operation.
It seems that there aren’t any robots which don't have any sensors at present.
《プーチ》
It’s a pet robot at a low price. It loads three kinds of sensor for light,sound,and touching. When we speak to it,or touch it,it can recognize the movements with the sensors.
【A robot which controls its sensor for an adaption.】
《There is unknown condition. A robot which controls its sensor obtain a way of adapting the conditions》
A robot which controls its sensor for the adaption on a condition is classified into the second generation,but it’s the developed one from the robot which controls its sensor.
As to the robot which controls its sensor,it’s classified …
【A robot which controls its sensor for an adaption】
《There is unknown condition. The robot which controls its sensor obtains a way of adapting the condition》
As to the robot which controls its sensor,it’s classified the information from the sensor into a known type,and changed its manner of movement according to the situations.
Even if the information which is got with the sensor is unknown,the robot which controls its sensor for an adaption can handle it flexibly.
《Merits on the robot which control its sensor for an adaption》
For example,let’s suppose that there were some blocks of which shape and weight were varied in a box. As to the robot which controls with its sensor can look for and take out the block as long as the blocks are set up for being fixed up for selection by the robot.
However if there are some blocks which aren’t fixed like that,it is hard for the robot to catch it,for those movements haven’t been set up in the program.
If preparing for a program which…
【A robot which is controlled with its sensor for an adaption】
《Merits on the robot which is controlled with its sensor for an adaption》
If preparing for a program which handles all kinds of the block,the problem will be solved,but if there are too many the blocks,it’ll be hard in actuality. Moreover,the progrm can’t handle the block which the programmer doesn’t know.
On the other hand,the robot which is controlled with its sensor for an adaption can deal with the unknown block. It has a system which can change a way of controlling itself automatically,according to the weight and shape on the block. It is more flexible than the robot which is controlled with its sensor.
《Controlling for an adaption to a model for itself》
We the human prepare for a model for the robot which controls with its sensor for an adaption,and the robot controls itself so as to be the one like the model. The robot imagines its ideal form,and controls itself in order to approach the ideal one.
【A robot which is controlled with its sensor for an adaption】
《Controlling for an adaption to a model of itself》
The way of controlling the robot has been realized by the improvement on efficiency of the robot,but they point out that if it’s in unknown situation which no one has never had experienced like the deep sea,or the outer space,the model for the robot which is controlled with its sensor is hard to be realized.
Otherwise,it can maintain high efficiency of controlling itself.
【A robot which controls its learning】
《It analyzes a result of its action,and finds its best solution for itself》.
A robot which controls its learning belonging to the third generation is pretty close to a creature. As it’s shown with its name,it has an ability for learning,and it can reflect a result from its action over other actions after that.
It can accumulate its result from its action as information and analyzes it…
【A robot which controls for its learning】
《It analyzes a result from its action and finds its best solution for itself》
It can accumulate a result from its action as information,an analyzes it and learns to be able to take an action which is the most appropriate for itself.
《Function for learning as if it were a creature》
There are often the robots which have a function for learning among the pet robots. It’s varied from high advanced one to simple one. Being praised or scolded by its owner make the robot judge its own action whether or not it is good action for it to take.Training makes the robot the one which we can keep easily like a living thing.
A robot which is used in a competition of a micro mouse is also a kind of the one which controls for its learning. It searches for unknown maze altogether,and it can deduce the shortest route to the goal.
An excellent robot in the micro mouse can use the way of increasing and decreasing speed at a corner so as to run through the…
【A robot which controls for its learning】
《Function for learning as if it were a creature》
An excellent robot in micro mouse can use a way of increasing and decreasing speed at a corner so as to run through the shortest route,so it seems that it has a function like an intelligence robot.
When watching the action of the robot which controls for its learning,it makes us have an illusion as if it were a real creature. Considering it,it may be natural for plenty of people to feel with an action of the pet robot which has an high advanced function for learning.
《Strenghtening the learning》
There is a way of strengthening the learning on the robot. There is a stage that the robot takes information from its action and reflects it over the other action after that,but using the way of strengthening the learning,the robot can move to the next step.
It can find the most appropriate way of controlling itself by its own actual action. For example,when trying to control the movement on a…
【A robot which controls for its learning】
《Strengthening the learning》
For example,when trying to control the movement on a robot of multiple joints,it’s hard to construct its program in the brain of a human,in addition the movement which we make the robot do isn’t one in almost all of the casea,so we have to contrive the way of controlling the robot,according to the number of the movements,so trying to set up the program is very hard.
Strengthening the learning is trying to make the complicated way of controlling the robot contrive the robot for itsel. Showing the aim for an operation,making the robot repeat the trial and error on a theme over and over again,making the robot look for the most appropriate way,making the robot adopt the way as actual action.
A merit on this strengthening the learning is without being intervened by the human,using the agent program makes the robot find the most appropriate answer for itself. As a result there is enough…
【A robot which controls for its learning】
《Strengthening the learning》
As a result there is enough possibility for the robot to find the way of controlling for itsel unexpectedly. Moreover,when using other robot or circumstance on the operation in which the robot does changes,strengthening learning is done as long as there is an excellent agent program.
Strengthening learning is the robot finds the most appropriate way of controlling itsel by actual actions of the robot.
There is enough possibility that we can make create the robot which operates well in unknown situation like the deep sea or the outer space.
If there is only shortcoming,the process in which the robot tries to find the answer may be unclear,but it may be a beginning that the robot starts to possess its intelligence.
【An intelligence robot】
《We’ve expected a robot which evolves for itself appears in the 21th century》
As an efficiency on the computer has developed rapidly,a study which trying to create an…
【An intelligence robot】
《We’ve expected a robot which evolves for itself appears in the 21th century》
As the efficiency on a computer has developed rapidly,a study which trying to create an artificial brain by our own hands. The brain is equal to the one of us the human,and it’s what is called an artificial intelligence.
There has been the study on the artificial intelligence in 1950s when a practical use for the computer was in sight. It has been a thought that the excellent ability of calculating which is by far higher than the human is enough to form the artificial intelligence.
Other study which trying to set up an intellligence which is equal to the human to the robot was done with the study of the artificial intelligence.
As a result,lots of people thought it would be realized in the near future,so lots of imaginary intelligence robots were born in novels of SF.
《A reality on the artificial intelligence》
However,ominous clouds were threatening over the realization on the…
【An intelligence robot】
《A reality on the artificial intelligence》
However ominous clouds were threatening over the realization on artificial intelligence in 1970s. It was clear that reappearance of the human thought was hard for using the high advanced ability of calculating on the computer alone.
A big goal for the artificial intelligence was hold for the time being,the study became other one, trying to realize a part of the human’s ability even if it’s limited.
Needless to say,the study of intelligence robot which has the brain like the human has been done just now,but it has changed like the one on the artificial intelligence. The way of thinking on the intelligence robot is adopting the way of thinking on the human.
The study on the intelligence robot has been done from various different points of view,each field of recognition,judgement,learning,solving problem,the ones who are engaged in the study try to realize the ability which is close to us the human,and a part of the…
【An intelligence robot】
《A reality on the artificial intelligence》
…and a part of the study has started to be reflected on the development of the robot.
《The intelligence which the intelligence robot needs》
What is the artificial intelligence which the intelligence robot needs? First of all the robot has to need an ability of understanding natural language by the human. Even if it doesn’t have to expresse the natural language for itself , but it has to understand the language.
It has need the ability which adapts surrounding more than the other robot of control the learning , or controlling adaption. Without being able to adapt any kinds of circumstance and take a necessary action,we can’t call it the intelligence robot.
Therefore,it's better that the intelligence robot has the ability which evolves for itself . It’s the one which we need in the future .
The intelligence robot which belongs to the fourth general is an ideal robot in a way ,especially in Japan ,we have been …
【An intelligence robot】
《The intelligence which the intelligence robot needs》
The intelligence robot which belongs to the fourth general is an ideal robot in a way , especially in Japan , we have been greatly influenced by 鉄腕アトム , so its appearance seems to be desirable.
《Honda P2 robot》
When the robot which walked with its own feet appeared in front of us,not only specialists on the robotic engineering but amateurs who were not engaged in the robotic engineering were greatly surprised . The robot was P2 which was announced by Honda.
We used to regard the robot which walked with its own feet as natural in comics,or in animated cartoon alone ,and expect it appeared in the future,but at the time when the P2 appeared , lots of people expected it an empty dream.
When looking at the P2 which didn’t only walk,but going up and down the stairs,and pushing a cart,all of us were excited at it even if we weren’t enthusiast on the robot .
It was 1986 when the Honda started to develop the …
《Honda P2 robot》
It was 1986 when the Honda started to develop the robot which walked with its own feet, and the one who were engaged in the development used to think originally the robot was made use of every day life.The way of walking with its own two feet was led from the use every day life.
Our surrounding on leading life every day is suitable for the one in which we walk with our own two feet , so the robot which was produced by Honda became the one who walked with its own two feet was a matter of course.
The P2 robot of which height was 1.8 meters,and of which weight was 210 kilograms evolved into ASIMO through the P3 which was announced at the end of 1997.
The ASIMO becomes the small one . Its height is 1.2 meters,and weight is 43 kilograms. When being in the surrounding for us the human,there isn’t any trouble on its size.
It seems a humanoid robot will be introduced into an ordinary household in the near future.
By the way , I’m going to go into a new chapter . It’s …
By the way , I’m going to start a new chapter , it was written on sensors which control the five sensory organs on the robot.
【Kinds of sensor for the robot】
《Roughly speaking,it’s divided into the one for inside world and outside world》
The sensor on the robot is imitated the one on us the human. Lots of the robots have had it lately,but it doesn’t always mean that the robot has to possess it. There are plenty of cases in which the robot doesn’t need it.
When working in a fixed situation like in a factory,it’s just that the robot has to repeat a definite operation precisely. That kind of robot doesn’t need a sense organ like the five sensory organs.
When the robot itself has to think a way of taking an action,or to change the action itself according to its surrounding or its own condition , the sensor organ like the one of human will be sought .
《The sensor for the outside world》
The sensor which recognizes the situation around the robot is called the one for the outside world.
【Kinds of sensor for the robot】
《The sensor for the outside world》
A visual sensor which is equal to an eye,a hearing sensor for an ear,and a touching sensor which touching something makes the robot tell its condition . A way of realizing the sensor is various . Light or super sonic is used for the sensor and turning off and on a switch is used for other one.
Changing the situation into an electric signal,the sensor sends the robot its information on the surrounding.
《The sensor for the inside world》
It’s different from the outside sensor. The sensor which recognizes itself is called the one for the inside world. The sensor makes the robot recognize where the robot is,or what kinds of posture it has.
The way of realizing the one for the inside world is various like the one for the outside world , according to the used condition , or necessary accuracy .
《The way of being used the sensor》
Those sensors are loaded with the robot according to its necessity . While some orders …
【Kinds of sensor for the robot】
《The way of being used the sensor》
While some orders need a single sensor , others need some sensors . When using some sensors , roughly speaking there are two cases . While some pieces of information are used as different ones,those pieces of information are done as data to make a decision .
Almost all of the sensors are single functions,and we can’t get a compound information with the sensor.
Beforehand we the human make a program the way of judging the information with the sensor . For example , temperature the robot feels hot,or when it isn’t in a right posture,as to the leaning of degree on the robot,what number of degree should we set up for the robot ?
We the human usually set up the program according to the ability on the robot .
【A sensor which leads the robot to a course】
《The sensor recognizes a mark which leads the robot to a course , and the robot moves with the function of the sensor》
When moving the robot for itself,it needs a …
【A sensor which leads the robot to a course】
《A leading cable and a magnetic sensor》
When the robot moves for itself,it needs a sensor which finds a mark to lead the robot.
A magnetic sensor has been used in vary areas in lots of fields so as to follow a leading cable buried in the ground.
When making the robot move with the sensor,we have to dig out a ditch of which depth is about 1centimeter and bury the leading cable there . Sending an electric current into the leading cable , and making a magnetic world right over the leading cable .
The robot recognizes the magnetic world with its magnetic sensor as course which it leads. If adopting the way,we have to bury the leading cable in the floor beforehand . When taking advantage of the robot in a limited surrounding , we seldom change its course,so it doesn’t give us any trouble .
We can make the floor where the leading cable is buried flat ,so when walking there , we can do smoothly .
《A reflecting tape and a photo sensor》
【A sensor which leads the robot to a course】
《A reflecting tape and a photo sensor》
If there is a possibility that the course which the robot moves changes , we sometimes use a combination of a reflecting tape and a photo sensor . Making the robot load with a photo sensor and sticking to a reflecting tape on the ground and we make the robot follow the reflecting tape with the photo sensor .
Without sending an electric signal into the reflecting tape itself , the photo sensor which is loaded with the robot gives off light like infrared rays 赤外線 , and the robot recognizes the reflection from the tape ,and recognizes the course to move .
The more different on the rate of reflection between the floor and the reflecting tape , the higher on the percentage which the robot recognizes the course .
As to the strong point on the way of leading course , we don’t have to process to the floor , after adopting the robot was decided , we can handle it . Changing the course is easy , it’s just…
【A sensor which leads the robot to a course】
《A reflecting tape and a photo sensor》
Changing the course is easy , it’s just that we have to stick to the reflecting tape along a new course . In spite of the strong point , the reflecting tape hasn’t been used so much as the leading cable , for there is a problem on its durability .
The reflecting tape which is stuck on the floor is dirty as time goes by , and its adhesiveness also becomes weak , the reflecting tape is pulled up at the end of it gradually . Then the percentage on the recognition for the robot to the tape drops.
When leading the robot by the reflecting tape , we need to stick to the reflecting tape regularly .
Both of the leading cable and the reflecting tape are on condition that they are used indoors. It isn’t suitable outdoors like a mixed crowd , or suburb .
《A leading course in which ITS is used》
As to leading the robot outdoors , ITS which is a traffic system on the road in the near future is promising .
【A sensor which leads the robot to a course】
《A leading course in which ITS is used》
In the ITS of the traffic system on the road , there is a trial of making use of the latest technology on communicating information , and we’ve tried to maintain safety of the traffic on the road ,and a comfortable situation for the users , and smooth traffic . Automatic driving car is one of the final goals in the ITS .
In short , we’ve thought up a development on a car in which we the human don’t have to drive for ourselves , and trying to make a practical use of it on the robot .
In a present plan ,cooperating a road with a car make a driving a car automatically possible. Magnetic markers are buried on the ground at regular intervals , and the car always grasps the magnetic marker with the magnetic sensor , without deviating from the course , the car can drive for itself .
Each sensor which is loaded on the car is used so as to avoid danger like a collision .
【A sensor which recognizes …】
【A sensor which recognizes its location and direction for itself】
《The robot recognizes its location and direction which it should move by analyzing information from the sensor of light and super sonic》
A sensor which recognizes its location and direction is needed so as that the robot moves,finding the course , without being led to the course.
The robot needs to know the place where it is,or the direction where to move . It needs to judge its surrounding .
《The way of recognizing by using light and supersonic wave》
Roughly speaking , a mechanism on the sensor which recognizes its location and direction for itself is be able to be divided into two .
The one is taking advantage of a fixed light source . We set up three light source of which frequency are different in the triangle . We make the robot load the sensor which recognizes the light from those light sources.
The robot measures each distance to the light sources with the sensor , and it recognizes its location and …
【A sensor which recognizes its location and direction for itself】
《The way of recognizing by using light and supersonic wave》
The robot measures each distance to the light source by the sensor and it recognizes its location and direction with a calculation of triangular surveying.
Other way is making the robot itself load a structure of which generates the supersonic waves . Making some sensors which give off the supersonic waves load , changing angles for each sensor , making the sensors generate the supersonic waves with different angles .
Detecting the reflection which hits an obstacle and rebounds,so we can see the distance to the obstacle . Its structure resembles a bat which glides into the darkness or a fish finder which a fisherman can see the place where the fish is in a ship .
It’s not hard as structure , and the way of controlling is relatively so easy that in general it has been taken advantage of as the way of detecting the obstacle . Actually in a robot contest in …
【A sensor which recognizes its location and direction for itself】
《It is hard for the robot to recognize its location and direction》
Actually in a robot contest in which a student takes part we can often see a robot which loads the sensor of the supersonic wave .
When moving , it is hard for the robot to recognize its location and direction on both the sensor of the light and the supersonic wave . When the light and the supersonic wave gives off and it is received with the sensors and the robot judges it,there is a little time lag .
To be exact , the information on its location and direction which the robot got from the sensor isn’t the present one but the past one . As a result whenever the robot receives the information, it has to stop and to mend the error .
When the robot has to move in large area fairly , setting up the light sensor or making the robot follow the reflection on the supersonic are very hard .
【A sensor which recognize its location and direction for itself】
《It is hard for the robot to recognize its location and direction》
In this case , we’ve thought up a way of making use of the GPS which has been used for a car navigation system . Receiving a signal from an artificial satellite and checking it against the data of the map which was prepared for beforehand , it’s easy for the robot to recognize its location and direction ..
【A sensor which recognizes its own condition】
《The robot needs a sensor which recognizes its own condition in order to do a precise operation》
When trying to make the robot do an accurate operation,the robot needs a sensor for inside world which always recognizes its own condition . It comes under the robot which take into action for itself .
《The sensor which recognizes its own condition is important 》
For example , let’s think over a starting for the robot . As to the robot which has a complicated structure on joints which is close to the human…
【A sensor which recognizes its own condition】
《The sensor which recognizes its own condition is important》
As to the robot which has a complicated structure on joints which is close to us the human being,recognizing its own condition is very important after starting up .
Without recognizing whether it stands or lies down , it’s hard for the robot to take a step forward . When we try to move,if lying down , we’ll start to stand up .
On the other hand , the robot needs a sensor to recognize its own posture in order to stand up . Moreover when taking a first step , the sensor to recognize its own posture is necessary .
Using a sensor to recognize how much the joint bends is indispensable so as to try to keep its well – balanced position . Without using a sensor which is in the sole of the foot and without recognizing whether or not its sole of the foot is on the ground , it can’t take the next step .
When trying to move its arm and trying to catch something , a sensor to recognize…
【A sensor to recognize its own condition】
《The sensor to recognize its own condition is important》
When trying to move its arm and trying to catch something , the sensor to recognize a bend on the joints is necessary . The more joints on the arm , the more possible its movement is , the more delicate , the movement on each joints need to be adjusted .
Without being aware of it , we take into action of catching something , but the robot has to take each action of bending or stretching joints one by one consciously . Therefore the robot has to recognize the angle on the joints exactly .
Needless to say , without using the sensor to recognize the bend on joints , it can control its movements on each joints precisely . If using a motor to control digital , the sensor shows the robot minute bends on the each joint .
However without recognizing a result of moving the joints , when being unable to move its joints by an accidents , it can’t handle its movements . For example , trying …
【A sensor to recognize its own condition】
《The sensor to recognize its own condition is important》
For example , trying to bend a joint which is unable to bend by force ,and the robot may break its own joint .
As to a moving robot , the sensor to recognize its own condition increases . The sensor for its speed which times of the speed on its distance of the movement , the sensor for acceleration which recognizes its own posture , and a battery checker which recognize the rest of time when it can move as long as it moves with the battery .
We call a structure to recognize its distance of the movement the sensor to recognize its own condition .
《Making use of a simple sensor to recognize its own condition》
Speaking of the sensor , we tend to imagine an equipment which is something complicated , but there are simple ones according to accuracy,especially as to the sensor to recognize its own condition , we can make use of something close to us unexpectedly .
For example , we can …
【A sensor to recognize its own condition】
《Taking advantage of a simple sensor to recognize its own condition》
For example,we can make use of a switch which was used for volume on instrument of audio at the time of analog . Its angle of rotation is so little that we can take advantage of a joint of which angle of movement is limited alone .
When it's rotated,an electric change happens , and detecting it makes us know the angle of the joint .
We can make use of a little motor which we can often see in a plastic model as sensor for the speed . When sending electric current into the motor , the motor rotates , on the other hand when making the motor rotate , we can make electricity happen . We can convert the amount of electricity into the speed.
【A sensor for a remote place】
《While the sensor for the remote place has distance to some extent for the environment , it can grasp the situation on the environment》
We call a sensor which the robot recognize the situation around it the …
【A sensor for a remote place】
《While the sensor for the remote place has distance to some extent ,it can grasp the situation on the environment》
We call a sensor with which the robot recognize the situation on the environment the sensor for the outside world . The sensor for the outside world is still divided into two .
Without touching anything in the environment , the sensor can recognize the situation on the environment . We call it the sensor for the remote place . On the other hand touching something and recognizing its situation . It’s a touching sensor .
Those two kinds of sensor have been used in different ways according to its necessity .
《Property on the sensor for the remote place》
The typical one on the sensor for the remote place is the one in which light and supersonic wave are made use of . The robot emits the supersonic wave and light like infrared rays 赤外線 and it recognizes an obstacle where the light and supersonic wave were release .
When the supersonic wave…
【A sensor for a remote place】
《Property on the sensor for the remote place》
When supersonic wave and light hit something , they rebound . The sensor for the remote place makes use of the property . Both of the supersonic wave and light like the infrared rays can’t pass through any material .
When hitting , they rebound for the place where the supersonic wave and infrared wave were emitted . If examining the time and strength on the reflection , we can know the distance to the obstacle from the sensor .
The mechanism on the sensor for the remote place is so simple and inexpensive that it has been loaded with lots of the robots .
However there are plenty of materials which don’t reflect the supersonic wave or light as they are . For example , there are the ones of which surface is uneven . If its surface is uneven , when the supersonic wave and light hit , they don’t rebound for the place where those things were released .
Moreover the rebound on the supersonic wave and light are…
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