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CNC machining - What is it and How Does it Work? (Must Know Basics)

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20150322_瀬戸蔵ロボットバトル_テルルvsラプター

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robot bigdog atlas "legged locomotion" "boston dynamics" "spot robot" "dynamic robots" spot stretch pick

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Boston Dynamics' mission is to imagine and create exceptional robots that enrich people's lives. For more information about Boston Dynamics and our robots, visit us at https://www.bostondynamics.com.

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he next raspberries you eat might have been picked by a Kraken-like four-armed robot, rather than a human. Fruit harvested by what is believed to be the world's first raspberry-picking robot in commercial operation is now on sale in British supermarkets.

Two robots developed by Fieldwork Robotics, a spinout company from the University of Plymouth, have been harvesting the berries round the clock in polytunnels in a field near Odemira in south-west Portugal. The farm is run by the Summer Berry Company, which is based near Chichester in West Sussex and is a leading supplier to British supermarkets including M&S, Ocado, Tesco, Sainsbury's and Waitrose.

The robots are being used amid shortages of seasonal workers across Europe. The UK government said in December it would issue 30,000 six-month work visas this year for the entire horticulture industry, including flowers - the same number as for 2021 - but the trade body British Summer Fruits wants an additional 10,000.

The robots, which cost £2m to develop, stand 1.8 metres (5ft 11in) tall and each is fitted with four 3D-printed plastic arms that simultaneously pick raspberries - among the hardest fruit to pick, as they are softer than other berries and grow on tall bushes at varying heights.

When the first iteration of the robot went on trial in the UK three years ago, it had one harvesting arm that gingerly approached the fruit and took a full minute to pick and deposit a berry into a punnet. Since then its sensor technology and grippers have been completely redesigned to reduce slippage and harvesting time.

Fieldwork's raspberry-picking robot. Photograph: Fieldwork Robotics

"We are making real progress in the development of our harvesting robots," said Rui Andres, Fieldwork's chief executive. "Raspberries are very sensitive so we have had to develop technology that can apply enough pressure to release the fruit from the stem without damaging it. At the same time, our sensors are now so advanced that they can tell if the fruit is ready to be harvested or not, meaning what can be sold is all that is picked."

He told the Guardian the robots were picking 1kg of fruit an hour, with the company working to ramp this up to more than 4kg an hour. The firm is aiming to have a robot picking 25,000 raspberries a day, compared with 15,000 for a human working an eight-hour shift.

Fieldwork has leased the robots to the Summer Berry Company and hopes to have five robots operating by the end of the year, and a further 40 next year on its 130-hectare (320 acres) farm near Odemira, where raspberries can be harvested all year round. It is getting requests from other farmers every week.

Three-quarters of the raspberries picked at the Odemira farm by the robots end up in British supermarkets, with the rest going to retailers across Europe. UK farmers have long grappled with a shortage of seasonal fruit pickers that was exacerbated by Brexit, but other countries are also struggling to recruit enough workers for the back-breaking work. There are reports on poor working conditions and exploitation among seasonal farm workers from campaign groups including the Work Rights Centre.

Andres said: "Some people are afraid we steal jobs, but [farmers] can't find enough workers at the moment." Fieldwork's declared aim is to make autonomous robots that can operate alongside human workers and ensure any gaps are filled, rather than replacing humans. Its charges for the robot harvesting service are similar to what seasonal workers are paid, Andres said.

Nick Marston, chair of British Summer Fruits, said: "In 2021, the percentage of returnees from the EU coming via pre-settled status fell substantially below the level expected by farms. We expect levels to fall again next year.

"While the British berry industry has made significant strides in recent years toward automation, tasks on farms are complex and highly variable. As such we are still a number of years away from seeing automation and robotics widely adopted as a means for harvest.

"Right now, we are still in the early stages of the berry seasons, but we do anticipate some labour shortages. It is therefore essential that the Home Office grants the additional 10,000 visas now in order to avoid delays."

Sign up to the daily Business Today email or follow Guardian Business on Twitter at @BusinessDesk

Fieldwork is also trialling its robots to harvest tomatoes and cauliflowers, and to spray crops. They can be adapted for different kinds of produce by changing the software algorithms and tools at the end of the harvesting arms.

The company, which is now based in Cambridge, was launched in 2016 to develop and commercialise the work of Martin Stoelen, who is its chief science officer and the robot's inventor. Stoelen, an associate professor at the Western Norway University of Applied Sciences and a former lecturer in robotics at Plymouth, moved from aerospace engineering into robots and took inspiration from his grandparents' farm in Norway.

Fieldwork raised £675,000 from existing and new investors in March 2021 and has received more than £850,000 from the innovation agency Innovate UK to scale up the robots. Stoelen owns a 17.6% stake in the company and Andres has 4% including options, while the University of Plymouth and IP commercialisation specialists Frontier IP are among the main backers.

This article was amended on 1 June 2022 to correct the height conversion of the robot to 5ft 11in, not 5ft 9in.

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World's first raspberry picking robot cracks the toughest nut: soft fruit

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he next raspberries you eat might have been picked by a Kraken-like four-armed robot, rather than a human. Fruit harvested by what is believed to be the world's first raspberry-picking robot in commercial operation is now on sale in British supermarkets.

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Harvesting the Future: Tevel's Revolutionary Fruit-Picking Robots

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Discover how Autonomous robots are used and operate.
Develop an overall understanding of the cybernetic principles of a autonomous robots. This includes configuring a 2 wheeled robot, adding sensors, and adding controls for detection and speed.

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Google Forms - create and analyze surveys, for free.

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eric simulator 6

meet dave (Line following bot)

infra red experiments

meet R3PTAR (accelerometer)

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meet batman

eric simulator 4 (sonic)

echo-location experiment

eric simulator 5 (sensor config)

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What is configuration

use last weeks robot control

eric simulator 3 (config)

go racing

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careers week

meet smart warehouse

meet eric

eric simulator 1 & 2

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See Pulse Width Modulation PWM used to set the speed of a motor.

The PWM signal switches between two values, but the time at each value varies. More time at the high value, means its average value is higher and the motor turns faster.

See what the signal looks like as you command a faster/slower speed.

Also shown is the 'bridge' whose switches connect the PWM signal to the positive or negative ends of the motor, so setting its direction.

At the end of the PWM cycle, the voltage across the resistor is found - to measure the motor speed.

Keyboard controls

Press U and D to speed up or down, V to reverse motor, P for show PWM option, M for show Measurement option.

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See Pulse Width Modulation PWM used to set the speed of a motor. The PWM signal switches between two values, but the time at each value varies. More time at the high value, means its average value is higher and the motor turns faster. See what the signal looks like as you command a faster/slower speed.

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Move the robot Forward, Right or Left, at the specified speed, for the given number of times.

You can also set a series of commands like F 10 100 R 5 10 where the robot moves forward at speed 10, 100 times, then turns right at speed 5, 10 times.

Initially there is a rectangle to steer around, but a flat or hilled track can be selected. Yopu can put the robot at the start position or return it to its previous position.

The robot can also move/turn the specified distance / angle. Speed / Position control can also be added.

Keyboard controls

Press F R and L to move the robot forward or turn Right/Left; G, S and M to enter the associated time/distance; D the speed.

Z puts the robot at the start position, X at the previous position; I toggles iteration/distance option; C lets you to enter the command string; O instigates the command; W toggles with Control.

P, T and H selects the rectangular path, race track or hilled track

Exercise Tasks

Experiment with different speeds and times and using the Forward button to command the robot to travel from the start position horizontally along the line.

Now try to get the robot to turn right through 90 degrees (we suggest a slower speed).

On the basis of this, type into the command string the commands to go round the rectangle.

Now select a flat track and command the robot to move round it with no control.

Select a hill track - does it still work? If not, try adding speed control (note speed control means that you may need to adjust the time for turning). Can you find a string of commands that work with control on both the flat and hilled track?

Optional: Select Distance not iterations, and try to command the robot round the flat track without control, then with control - and then on the hilled track.

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Move the robot Forward, Right or Left, at the specified speed, for the given number of times. You can also set a series of commands like F 10 100 R 5 10 where the robot moves forward at speed 10, 100 times, then turns right at speed 5, 10 times.

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STEM careers week

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How Old is Your Hearing? - Interactive Test for Your Ears

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Discover what is it like inside a Smarwarehouse such as an Amazon distribution centre?

What types of robots do they use and why?

Meet Eric (an automated robot) and discover step by step how we can control each aspect of the robots movements

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The arena has two lights which the robot senses with two beams. You define the speeds of the robot's motors depending on its sensors. Speeds are integers as before.

Click in the arena to reposition the robot; you can put it back in its original position; and give it wider beams.

Keyboard controls

Press D for defining the speeds: tab to next speed; S to start/stop the robot, P to put in initial position, W to toggle Reverse Left Motor, B to toggle the narrow/wide beam option.

Use I, J, K, M to move the robot Up, Left, Right or Down.

Exercise Tasks

Define the robot's speeds so it steers to a light, press Start and check it works.

Select wider beams - does the robot work as well?

Try to get the robot to steer towards a light but then veer away when it is close.

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The arena has two lights which the robot senses with two beams. You define the speeds of the robot's motors depending on its sensors. Speeds are integers as before.

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How Boston Dynamics Is Building Its Robot Empire

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Learn more about how robots are being used at Amazon

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This is the current version of the robot that we use in our first year laboratory, where we ask students to write the rules to define how the robot should move around, exploring its environment, say, avoiding obstacles. For this, we provide them with a simulation where they type in the rules, try them out in the simulation, and if it seems to work, they then download the rules into the actual robot itself, put it on the floor, and let it move around. And if they're lucky, the robot does what they expect, but they haven't got the rules quite right, then they go back, modify the rules, and carry on. They're using feedback to learn. And now let's consider ERIC.

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Meet the robots at Reading: the history of ERIC

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This is the current version of the robot that we use in our first year laboratory, where we ask students to write the rules to define how the robot should move around, exploring its environment, say, avoiding obstacles.

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An ERIC is depicted with its wheels turning. If a motor speed is positive then the associated wheel turns clockwise, as viewed from outside. You can select whether each wheel is positive or negative. You can manually rotate the ERIC left or right, or set it to spin itself.

You can also view ERIC separately on its left and right sides in 3D or 2D.

Keyboard controls

L reverses left wheel voltage, R reverses that on right wheel. I speeds up wheel, M shows it down. J rotates robot left, K to right, A sets auto spin. S for single ERIC, D for double, F for 2D view

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An ERIC is depicted with its wheels turning. If a motor speed is positive then the associated wheel turns clockwise, as viewed from outside. You can select whether each wheel is positive or negative. You can manually rotate the ERIC left or right, or set it to spin itself.

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See the robot move based on what you enter as the speeds of the motor for each of its wheels.

Speeds should be integers between -40 and 40 and, as viewed from outside the robot, a positive speed means the wheel turns clockwise. If "Reverse Left Motor" is ticked, a negative speed turns the left wheel clockwise.

The Start/Stop button starts/stops the robot. Click in the arena to position the robot there.

Keyboard controls

Press L or R to enter Left/Right speed; W to toggle "Reverse Left Motor", S to start/stop the robot.

I, J, K, or M move the robot Up, Left, Right or Down.

Exercise Tasks

See what happens when you try different values for the left and then right motor.

Work out how to make the robot go forwards/backwards and spin left/right.

Investigate the effect of ticking the "Reverse Left Motor" option.

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See the robot move based on what you enter as the speeds of the motor for each of its wheels. Speeds should be integers between -40 and 40 and, as viewed from outside the robot, a positive speed means the wheel turns clockwise. If "Reverse Left Motor" is ticked, a negative speed turns the left wheel clockwise.

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http://www.reading.ac.uk/UnivRead/vr/OpenOnlineCourses/Files/Simulation2/

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Position the Robot and See how it Uses Ultrasonics to look for objects
By default it has one forward looking sensor; but tick the checkbox for two which act at 45 degrees
To move the robot, click within it to select it, then click again where you want it repositioned.
You can also click on the other objects to move them in the same way.

Keyboard controls

Press S to send pulse, and T to toggle whether two sensors.

For moving items, select a robot or object by pressing the key depicted below the main canvas. Then press I, J, K or M to move it up, left, right or down.

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Position the Robot and See how it Uses Ultrasonics to look for objects By default it has one forward looking sensor; but tick the checkbox for two which act at 45 degrees To move the robot, click within it to select it, then click again where you want it repositioned.

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The arena has a large object which the robot should track (keep a constant distance from). You define the robot's motor speeds: use integers as before. You can also set how fast the object moves. Note the object eats the robot if it catches it!

Keyboard controls

Press D to define the motor speeds: tab to the next speed; O to set the object speed.

Use S to start/stop the robot, P to reposition it and W to toggle Reverse Left Motor.

Use I, J, K, M to move the robot Up,Left, Right or Down.

Exercise Tasks

Define the speeds so the robot steers towards the object if it just sees it, but reverses if the object is too close. Does it work ok?

Try with wider beams.

Set the object speed to say 10. Does the robot stay safe?

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The arena has a large object which the robot should track (keep a constant distance from). You define the robot's motor speeds: use integers as before. You can also set how fast the object moves. Note the object eats the robot if it catches it!

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Friction slows the Robot, and the steeper the slope, the more the robot's weight slows it down. This demonstration shows the robot moving at different speeds because of such surfaces.

You can run the robot with no control, specifying the voltage applied to the motors, which should be 8 times the speed you want (by default this is 24 for a speed of 3). You will see that the robot's speed is affected by friction and hills.

You can try to control the speed - watch the speedometer and press U or D to speed up or slow down. (To help I suggest you select the slow simulation option)

You can use simple speed control, you specify the desired speed and should see the speed is close to it and less affected by the friction and surface slope.

You can use better control: here the controller gain is bigger, so the speed is nearer to the desired speed.

You can use advanced control: then there is no noticeable change in speed.

After a run, you will see a graph showing how the actual speed varies with time. You can then press Explain Robot to see the block diagram model of the system.

By default there is a simple 'landscape', but you can try some others as well.

Keyboard controls

Press L so can specify landscape; I so can enter input speed/voltage

N, Y, S, B, A select the control scheme : none, you, simple, better, advanced. In 'You' control mode, U speeds up and D slows down the motor.

R restarts a run; G redraws graph; E to explains the result, W to slow simulation.

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Friction slows the Robot, and the steeper the slope, the more the robot's weight slows it down. This demonstration shows the robot moving at different speeds because of such surfaces. You can run the robot with no control, specifying the voltage applied to the motors, which should be 8 times the speed you want (by default this is 24 for a speed of 3).

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Define the speed of the robot's motors depending on what it sees so it follows the walls. Robot speeds are integers as before. Then press the Start Button.

Initially there is a walled arena but a maze can be chosen.

Keyboard controls

Press D for defining the speeds: use tab to move to next speed; S to start/stop the robot; W to toggle Reverse Left Motor; A sets arena, Z sets maze.

Use I, J, K, M to move the robot Up,Left, Right or Down.

Exercise Tasks

First define the 6 speed pairs for moving the robot so that it goes along a wall. Hint if the robot just sees the wall it should steer towards it, but if close it should steer away. Then check the robot moves as you expect.

Then unclick "Walled Arena" and you will see a maze. Can you get the robot to explore it? Hint, your existing wall following should work, but think what you need to do to turn into a gap in the maze - the robot should also turn correctly when both sensors see the wall. Test it.

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Define the speed of the robot's motors depending on what it sees so it follows the walls. Robot speeds are integers as before. Then press the Start Button. Initially there is a walled arena but a maze can be chosen.

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Define its LL LR RL RR LM and RM neurons so the Braitenberg robot moves depending on its sensors LS and RS. Sensors are 1 if a light is detected and 0 otherwise. Neurons should be integers. Left and Right speeds are calculated by

Left: LS * LL + RS * LR + LM

Right: RS * RR + LS * RL + RM

Click in the arena to reposition the robot; you can put it back in its original position; and give it wider beams.

You can also select a line to follow, then the sensors indicate if they can detect the line.

Keyboard controls

Press D to define neuron values; S to start/stop; P to put back in start position; W to toggle Reverse Left Motor; B to toggle Wider Beam; L toggles Line mode.

I, J, K, M move the robot up, left, right, down the screen.

Exercise Tasks

First define the neurons such that the robot moves forward when it sees nothing, but slows down and turns towards a light it sees (rather like a passive seeker).

See what happens when you have narrow and wide beams.

Next define the neurons so that the robot moves forward when it sees nothing, but speeds up and turns towards a light it sees (more like an active seeker).

Then define the neurons so that the robot moves forward when it sees nothing, but turns away from a light it sees (more like an active phobe).

Finally, select the Line to Follow option and get the vehicle to follow it.

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Define its LL LR RL RR LM and RM neurons so the Braitenberg robot moves depending on its sensors LS and RS. Sensors are 1 if a light is detected and 0 otherwise. Neurons should be integers.

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The aim here is for the robot to learn how to move round its environment avoiding walls.

The robot has four built in instincts: go forward, turn right, turn left or go back. There is a probability of choosing a particular action: initially all are equally possible. The robot decides which of four states it is in, and then chooses one of four actions. If a chosen action is good, its probability is increased, otherwise it is decreased. The figures show the probabilities of choosing each action in each state.

Click on the screen to reposition robot - if it gets stuck.

Keyboard controls

Press I, J, K or M to move robot up, left, right or down.

Press A N L R B to reset probabilities for All, No Wall, Wall on Left, etc.

Press S to start/stop; E to toggle environment and U for toggle if use Both situation

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The aim here is for the robot to learn how to move round its environment avoiding walls. The robot has four built in instincts: go forward, turn right, turn left or go back. There is a probability of choosing a particular action: initially all are equally possible.

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Five Robots are provided which can be set to avoid or follow walls or be a Braitenberg vehicle. Use the drop down lists to select the type of each.

If you left click on the screen within a robot it is selected. When you left click again that robot is repositioned where you click. You can also click on the lights to move them in the same way.

Keyboard controls

For moving robot/light, select it by pressing the key depicted in the selecting key canvas. Then press I, J, K or M to move it up, left, right or down. Or 1, 2, 3, 4, 5, 6 to change it to Object Avoider/Follower; Shy/Agressive Seeker; Shy/Aggressive Phobe

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Five Robots are provided which can be set to avoid or follow walls or be a Braitenberg vehicle. Use the drop down lists to select the type of each. If you left click on the screen within a robot it is selected. When you left click again that robot is repositioned where you click.

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Fractals are entities which are made up of smaller examples of themselves. They can be used to produce realistic looking objects.

In some examples each line in a fractal's 'initiator' is replaced by each line in the 'generator'. Thus more lines are produced, each of which is replaced by the generator ... The initiator and generator are also shown. You control how many times the lines are replaced.

The Pythagoras tree (both regular and irregular) is also given: Each branch has two branches added. The version made of squares is also there.

The famous Barnsley Fern is shown : many dots are plotted each calculated from the previous dot's place.

Also shown are Sierpinski space filling curves - made up of four mutually recursive shapes called A, B, C and D. Shape A for instance is A, \, B, _, D, /, A.

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Fractals are entities which are made up of smaller examples of themselves. They can be used to produce realistic looking objects. In some examples each line in a fractal's 'initiator' is replaced by each line in the 'generator'. Thus more lines are produced, each of which is replaced by the generator ...

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See how well Daisies control temperature on DaisyWorld

You can have 2, 4 or 8 species of daisy, and can see how their populations vary as Daisyworld's sun heats up, and so affect the planet's temperature. The graphs show the variation.

Also shown is the proportions of the planet occupied by each species. Press Animate and see how these change with time

Keyboard controls

Press 2, 3, 4, 6 or 8 for number of daisy species, B/W for black or white only and A to animate.

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See how well Daisies control temperature on DaisyWorld You can have 2, 4 or 8 species of daisy, and can see how their populations vary as Daisyworld's sun heats up, and so affect the planet's temperature. The graphs show the variation. Also shown is the proportions of the planet occupied by each species.

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https://www.bbc.co.uk/programmes/articles/17P6fgdZrQkSY5TkhLyVPvC/create-tinker-and-compete-with-robot-wars-and-the-bbc-micro-bit

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1 Notice that all 5 buttons have been configured to:
Left motor 0 Right motor 0

2 Change the values of the first 4 buttons
note:these can also be controled with the keyboard keys FBLR

3 Keep S (Stop) configured as
Left motor 0 Right motor 0

4 Selecting track will change the Arena into a track with walls.

5 Click 'Go Racing' when you are ready to reset your robot to the starting postion and try getting to the end in the fastest time.

6 Screenshot your fastest time

EXT 1: try a return race

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Define the speed of the robot's left and right motors so it can: go Forward, turn Left, turn Right, go Backward and Stop. Speeds should be integers, as in the first exercise.

You press the appropriate button so the robot goes Forward, Left, etc.

You can add a race Track and Go Racing, and do a return race - in the opposite direction.

Keyboard controls

F L R B S make the robot obey the speeds you have defined.

D is for defining the speeds: initially for the Forward left speed: use the tab key to move to the next speed, shift tab goes back a speed.

A sets a plain arena, T the race track, G means go racing, U sets a return race, W toggles Reverse Left Motor.

I, J, K, M move the robot Up, Left, Right or Down.

Exercise Tasks

First define the 5 speed pairs for moving the robot Forward/Left/Right/Backwards or Stop. Then check the robot moves as you expect.

Press T for track and then Go Racing - see how quickly you can steer to the middle.

Try a few times, and also try a return race. Note your fastest time.

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Define the speed of the robot's left and right motors so it can: go Forward, turn Left, turn Right, go Backward and Stop. Speeds should be integers, as in the first exercise. You press the appropriate button so the robot goes Forward, Left, etc.

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Online Exclusive: Blind man uses bat-like vision - World's Weirdest Events - BBC Two

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Programme website: http://bbc.in/1PVUx60 Daniel Kish uses the power of echo location to build a picture of the world around him.

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You will need:
A strudy gloss sheet (ie peice of tough perspex)

test 1
hold perspex sheet at arms legnth so the flat sheet is perpendiular to your face.
Make a "SHHHHHHH" sound and listen for the sound reflecting off of the board, back to your own ear.
This is a high frequency sound, unlike deeper, low frequency sounds that travel through walls and dont bounce around as much.

test 2
Repeat the test with arms stretched out but this time, as you make the long "SHHHHHHHHHH" sound, move your arms and bring the perspex towards your face. You may notice the sound alters as the high frequency echos sounds different at varying distances.

Computers can measure frequencies and caculate them. Brains can picture location when
Echolocation is to learn information from the echos and translate them into different uses such as distance measurements.

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Define the speeds of the robot's motors depending on what it sees so it turns away from walls. Speeds are integers as in earlier exercises.

You can select a plain arena or a complex one: for the latter you can find how far the robot travels in 1000 steps.

You can also select a race track and go racing as before, but now using sensor data.

You can also select "Line to Follow", when the sensors report if they can detect the line - choose speeds so the robot follows the line.

Keyboard controls

Press D to define the speeds (use tab to move to next one). W toggles the Left Motor option; S starts/stops the robot

A C T and L set arena/track/line follow; U toggles return race, H if monitor how far moved.

I, J, K, M move the robot Up,Left, Right or Down.

Exercise Tasks

First define the speed pairs so the robot steers away from the walls it sees. Test in the plain arena and then the complex one. See how far the robot travels in 1000 steps.

Select "Track" and then Start Racing - does the robot get to the middle? If so how quickly? (You may need to rethink what to do when both sensors see a wall.)

Select a Return Race and Start Racing - you may need to rethink some speeds.

Then select 'Line to Follow' - and get the robot to follow the path.

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Define the speeds of the robot's motors depending on what it sees so it turns away from walls. Speeds are integers as in earlier exercises. You can select a plain arena or a complex one: for the latter you can find how far the robot travels in 1000 steps.

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https://drive.google.com/file/d/1JaCTg2baA-ILMYfo_tTMjmacItORo6a3/view?usp=sharing

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You will need:
any remote control (not bluetooth)
digital camera, webcam or smartphone

look at the led on the top of the remote, its in the end that you point at a tv etc. (the led may be hidden) some remotes have an indicator light that flashes when buttons are pressed - ignore the indicator light.

The led communicates remotely using infra-red light.
The human eye cannot see infra-red light, but a digital camera can.
you can veiw the light by turning a digital camera on to veiw this light.

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This demo allows you to see what happens when you rotate or tilt a phone. Its accelerometers detect the gravitational force (force = mass * acceleration).

You will see on its screen the forces in two directions, which set landscape or portrait mode.

Use the buttons to rotate the phone left/right or tilt forward/backwards.

Keyboard controls

Press L or R to rotate the phone left or right, and F and B to tilt it forward/backward.

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This demo allows you to see what happens when you rotate or tilt a phone. Its accelerometers detect the gravitational force (force = mass * acceleration). You will see on its screen the forces in two directions, which set landscape or portrait mode. Use the buttons to rotate the phone left/right or tilt forward/backwards.