squeakbot
DESCRIPTION
SqueakBot. Serge Stinckwich, Samir Saidani. ESUG 2005, BruesselsTRANSCRIPT
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SqueakBot
Serge Stinckwich, Samir SaidaniÉquipe MAD, GREYC CNRS
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Main Objectives
• SqueakBot is an educational plateform developped in Squeak. Our aims is to develop a pedagogical platform usable for 8 to 18 years old youngs (and beyond !) allowing them to control and simulate various kinds of robots.
• Motivate several students projects since 2 years
• Have fun but also may be used in research projects in the future
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SqueakBot Subprojects
• remote robot control with Etoys
• simple simulation of real wheeled robots (Koala)
• live Squeak CD to distribute pedagogical support
• experiments with embedded Smalltalk in robots
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Planète Sciences
• French association
• Since 1962, they propose to the young people scientific and technical activities with the support of scientific and industrial organizations.
• Vacation camp for kids with various activities : robots, rockets, astronomy and environment experiments, ...
• http://www.planete-sciences.org/robot/
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Planète sciences - robotic division
• Planète Sciences developed a whole set of electronic components for using robot in pedagogical context
• Each year, they organize a robot contest
• Hardware modules: MEC, SMEC, MOEBIUS, I2C protocol
• Software: remote control with Logo
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MEC
• MEC = Module Électronique de Commande
• MEC appeared as a small case provided with entries, switches and LEDs.
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SMEC
• SuperMEC = Super Module Électronique de Commande
• More elaborate version of previous MEC.
• IConnected to the computer via the parallel port printer, thanks to the MOEBus card.
• Several SMEC could be linked with the I2C protocol
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MOEBIUS
• MoEBus I2C (module externe pour bus I2C) is a module intented to control robots with a computer via the parallel port
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SMEC Network
• The communication with the computer is done according to the I²C communication protocol.
• SMEC modules are using I²C adresses
• Each SMEC could control some part of a robot
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Squeak development
• Multiple platform support for parallel port in Squeak
• I2C protocol support
• Implemented by Squeak plugins
• Etoys for remote control of SMEC
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Exploration Robot
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Robotic Caterpillar
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Walking Robot
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Etoys Remote Control
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Video 1
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Video 2
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SqueakLive
• SqueakLive is based on Linux Gentoo LiveCD distribution
• Boot directly into Squeak
• Allow the control of electronic module without installing software on computer.
• Pedagogical activities distributed with the CD
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Koala Platform• Mid-size robot designed for real-
world applications.
• Motorola 68331 @ 22MHzRAM 1Mbyte RAM, 1MByte ROM
• Motion : 2 DC servo motors with integrated incremental encoders
• Sensors : 16 infra-red proximity and ambient light sensors, battery and ambient temperature, motor torque and global power consumption
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Embedded Smalltalk experiments
• We would like to use Koala robots for doing pedagogical stuff for students and kids
• K-team says : “Powerful computational capabilities”
• Some experiments with Spoon, a small VM, derived from Squeak.
• Unfortunately, the Koala software support is very bad (Cross-compiler based on GNU tools).
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Koala simulation
• Simulation of simple koala robots
• Accurate model for robot motion and a very simple model for sensors
• Scripting with Etoys
• Physical engine thanks to the ODECO Squeak plugin
• Behavior based on Braitenberg vehicles model
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Simulation Demo
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Links
• Project page : http://www.iutc3.unicaen.fr/serge/SqueakBot
• Code available on SqueakSource
• Current vacation camp blog : http://www.planete-sciences.org/loisirs/florac/aout/