Page 14 - Anatomy of a Robot

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INTRODUCTION XIII
microprocessors and commented on the applicability of various computer options. Just
as the lack of planning can ruin a robot project, so too can the wrong choice of micro-
processor. The last part of the chapter has a large checklist that can help you through
the process of selecting a computer.
Chapter 4 covers reliability, safety, and compliance. The first section defines relia-
bility and provides methods for predicting and measuring it. The chapter also includes
a list of components to be wary of and some advice about using them. In the safety sec-
tion is a list of dangers that can sneak up on even the most experienced designers, and
it also offers advice about managing risks. The compliance and testing section covers
environmental considerations, emissions, and many tips for forestalling problems.
Chapter 5 covers the early stage of the design process, the high-level design (HLD).
The text covers where to start, what to consider first, and how to make the design gel
early. Although every robotic project will be different, I wanted the chapter to document
how I would go about designing a robot. I closed my eyes, gave myself a phantom team
of engineers, and wrote down what I’d do. Let me know if you’d do it differently.
Chapter 6 covers power and energy. First, I discuss how to determine the robot’s
energy requirements. It outlines a series of considerations that should be taken into
account in the selection and use of an energy source, with a specific concentration on
batteries.
Chapter 7 covers energy and software control systems, with an emphasis on energy
management. It includes a list of specific actions to take in the design of an energy-
efficient robot. I mentioned many considerations that should be kept in mind during the
selection and design of robotic software. The chapter outlines a coordinated approach
to the selection of a processor, a battery, a power supply, operating software, and appli-
cation software. Included are many software techniques that have proven successful,
including a discussion of braking methods.
Chapter 8 covers DSP and the chapter starts with an example of DSP processing that
is familiar to all of us. This leads to the two basic theorems of DSP. Specific examples
illustrate the need for both learning and using the theorems. The chapter includes dif-
ferent methods of constructing a classic DSP control system. I’ve included rules of
thumb for picking components, methods for programming them, and ways to test them.
Chapter 9 covers communication, which is vital to the effectiveness and power of
people, and robots are not far behind in this need. The chapter starts with the definition
of communication, the concept of noise, and Shannon’s theorem for the capacity of a
noisy communications link. I discuss baseband transmission, the basic techniques for
sending pulses down a wire, and the common baseband communication links, includ-
ing the Ethernet. The chapter outlines the reasons for modulated communication and
some of the methods for doing so. The emphasis is on the transmission of digital data
and the control of errors in a noisy communication channel. I’ve explained several
methods of encoding the data that make modern wireless communication possible. The
chapter lists and explains many of the standard tools used by communication engineers,