2. Course content A laboratory based course. Learn interfacing thru.hardware projects –Mobile Robot –Interfacing techniques –Advanced interfacing examples Very heavy lab. work The lecture and tutorial lessons will mainly discuss the lab. work.

3. Autonomous robotics based on simple sensor inputs. Abstract A “robot” is explained as “a device that performs functions normally ascribed to humans” - Webster. “Autonomous” means that the robot can work totally independently of itself, once it has been programmed, and it should be able to function without interaction from any human influence. Many robots are used nowadays to work in conditions where it is inaccessible for humans to work and therefore need to be autonomous. The aim of this project is to program a robot (shown left) using PIC (peripheral interface controller) chips, so that it will utilise its infra red sensors and run its stepper motors to follow a boundary wall within an enclosed environment.

4. Laboratory work Mobile robot and the use of 8051 (or the ROM-less version 8031) free project –Various robots: robot soccer, legged robots.. –graphic card –DSO –temperature control –legged robot –windows programming interfaces –etc.

5. Prerequisite Computer interfacing: 8255, 8253 Analog electronics, op-amp, transistor circuits Digital logic concepts Hardware prototyping & wire-wrap techniques

6. Content of this course –Learn about microprocessor system development techniques. –Learn about real-time software development techniques. –Learn to build interfaces between real world data and the computer. –Learn to process and analyse signal data by a computer.

7. Aims To teach computer interfacing using real example. (Sensors and motors) To learn micro-controller usage –parallel IO –serial IO –hardware Interrupt –timer 8253 –operating systems.

8. Content of this introduction Course outline To give a general perspective of our robot. To introduce concepts of various interfacing techniques used. Don’t worry about the circuits, they will be explained in details in future.

9. Schedule 1/2 term: basic robot building 1/2 term: advanced robots or other projects

10. Proverb Those who work with their hands are laborers, those who work with their hands and heads are craftsmen, those who work with their hands and their heads and their hearts are artists.

12. Descriptions of the Interfacing techniques Microprocessors systems –memory interface –IO interface hardware interfacing software control signal processing

13. How to achieve our goals? To build a robot, and why? to program the robot give intelligence to the robot

14. Overview of the robot Sensory: –Sensor 1: ultra-sonic sensors –Sensor 2: touch sensors –Sensor 3: range proximity sensors –Sensor 4: Path following sensors –Sensor 5: Sound sensors Wheels and gear box, Dc motor control –Speed control by photo interrupters Brain: 8031 basic Intelligence Power supply

15. Diagram of the robot structure 8031CPU & 8255 PC RS232 Motor Controller ULS radar on servo motor forward Touch sensor Right wheel Rear wheel

16. Our robot car

17. Overview of the controlling bits CPU--8255--sensors and effectors bits. CPU 8031 8255 Interacting bits Motor driver & sensors Servo motor ULS-radar interface Out : Motor on,off (right, left) Out: Motor direction (right, left) In: Motor rotation (right, left) In: radar input Out: servo (positional) motor

18. Sensory organs Ultra-sonic radar –Transmitter –receiver touch sensors by switches Approximate sensors by infrared red light Path following sensors Sound sensors Don’t worry about the following circuits they will be explained later.

19. Sensors Primary –Infrared beacons –Infrared range detectors –Ultrasonic range detectors Secondary –Momentary contact sensors –Reed switches –Mercury switches –Others …

20. Accelerometers adxl202 2-axis accelerometer Mems technology provides precision mechanical electrical devices ADXL202 outputs convenient PWM output whose duty cycle is proportional to acceleration Cost about 30$ - easy to interface to PIC

21. Accelerometer Uses Measure tilt of arm Measure Weight ADXL202EB

22. Tilt Measurements

23. Pass signal through low-pass filter, then to ADC –Averages signal –Filter cutoff frequency should be < 0.1 bandwidth C R + - ADXL202EB Bandwidth = 100 Hz LM324 PIC ADC0 +5V 0.1  F t ViVi VoVo VoVo ViVi Analog Tilt Measurements

24. Send PWM signal directly to CCP –Set to measure pulse width –Uses a valuable microcontroller resource ADXL202EB Bandwidth = 100 Hz Pic CCP +5V 0.1  F ViVi t on 50% duty cycle = 0 accel t period Digital Tilt Measurements

25. Velocity Measurements

26. Pass acceleration signal through integrator, then to ADC –Need to compensate for 2.5V offset –Need to choose RC such that Vo does not saturate –Need to periodically reset integrator to prevent overflow C R + - ADXL202EB Bandwidth = 1000 Hz LM324 PIC ADC0 +5V t ViVi VoVo VoVo ViVi R R + - Rb Analog Velocity Measurements

27. Pass acceleration signal through comparator, then to input capture –Need high signal bandwidth to see pulse C R + - ADXL202EB Bandwidth = 1000 Hz LM311 comparator PIC Rb t ViVi VoVo VoVo ViVi +5V V th R pullup V th Threshold Measurements

28. Mindstorms

29. Mindstorms on the Net Excellent facility to overcome any obstacles that may be encountered Common questions answered Program tuition Additional products introduced

30. Touch and light sensors Very easy to assemble Very sensitive to external stimuli

31. Rotation and temperature sensors Temperature sensor would be of particular use in conducting potentially dangerous science experiments via robotics

32. Robotic Command Explorer RCX program downloaded via infra red beam 3 output terminal- used for motors 3 in/out terminals for touch, light, temperature sensors

33. My model Lego construction enjoyable, however the integration of the motors seemed a little difficult in terms of design The motors should snap together

34. It works

35. Using both sensors

36. RCX as “Find” Command Simulator Translating Abstract Computing Concepts into Physical Form

37. (or) the True Story of……….. When Harry Met Sally!

38. …..Young, successful, blonde-haired, blue-eyed, charming I.T. professional seeks HOT STUFF Please contact HARRY at P.O. Box 1591……….

39. Starting Point: Execute “Find” Command RECORD 2 RECORD 3 RECORD 4 Scenario I: End of File (“Face it, Harry, she just aint out there!”) Incorrect Records Correct Record RECORD 1 Correct Record not found/ E.O.F. = Program ends after 30 Seconds

40. Starting Point: Execute “Find” Command RECORD 2 RECORD 3 RECORD 4 RCX “Find” Command Simulator Timeout Scenario Incorrect Record Correct Record RECORD 1 “Find”Program (30 Seconds’ Duration) ends without record being found = Timeout! Starting Point: Execute “Find” Command RECORD 2 RECORD 3 RECORD 4 Scenario II: Timeout (Only one step short of Heaven….…) Incorrect Record Correct Record RECORD 1 “Find”Program (30 Seconds’ Duration) ends without record being found = Timeout!

41. Starting Point: Execute “Find” Command RECORD 2 RECORD 3 RECORD 4 Scenario III: Successful Record Retrieval (and their eyes met across a crowded room) Incorrect Records Correct Record RECORD 1 “Find” ends when correct record found Message sent to second RCX

42. How the “Find” Command Simulator Works Running RCX Program as a Metaphor for Execution of “Find” Command (Search Engine query). Physical Environment as Database Table. Obstacles Within Environment as Records in Database Table. Touch Sensors Locate Incorrect Records

43. How the “Find” Command Simulator Works 4. Light Sensor Locates Correct Record. 5. On Retrieval of Correct Record, “Find” Output Delivered on Screen via Infra-Red Message to Second RCX

44. How the “Find” Command Simulator Works 6. Motors Off to Signify End of Search. 7. Correct Record Not Found Within 30 Seconds = Search Timeout/ End of File.

45. Criticism: Aurally-impaired Users or Users without a Soundcard excluded from Software Tutorial. Recommendation: Voice-over should be accompanied by additional sub-titled Text. Criticism: No Obvious Means of Skipping Tutorial results in many Users going through Process each time Software is installed Recommendation: There should be better Signposting of “Skip Tutorial” Option. Disadvantages/Limitations of Lego Mindstorms 1

46. Criticism: There is more Emphasis on Mechanical Skills than is Necessary for our Purpose, although this in itself is not a bad thing. Recommendation: For Non-Engineering Students, a Pre- Assembled Model might be of more Use. Criticism: If one uses the Software Guide without having IR transmitter connected to PC, one is forced to exit the Application. Recommendation: Independence of Software Guide & IR Transmitter/ RCX. Disadvantages/Limitations of Lego Mindstorms 2

47. Disadvantages/Limitations of Lego Mindstorms Criticism: Difficulty in identifying where Process is failing, e.g., whether it is Software or Hardware-related Recommendation: Debugger tool should be included in Package. Criticism: Conflict between Interrupt Handlers means that event- oriented Program will not run. Recommendation: Better Troubleshooting for Programming (as opposed to Construction). Criticism: Built-in Obsolence. For Example: Rubber-Bands last an average of 5 Minutes, therefore, after one has run out of the supply included in the kit, it is no longer possible to test.

48. Advantages of Lego Mindtools 1 Easy Introduction to Computer Programming. Opportunity to show abstract Concepts in concrete Form. Opportunity for Multi-Faceted Learning, e.g., Programming/ Mechanics/ Engineering/ etc.

49. Advantages of Lego Mindtools 2 Instructions are self-explanatory, logical and intuitive. P ositive Feedback provided throughout Tutorial which is encouraging for the Beginner.

50. Program screenshot Example of one Program that didn ’ t work because of conflict between stacks

51. Academic Evaluation Excellent means of introducing basic programming concepts such as loops, nested loops and conditional statements, in an environment where effects on an end product can easily be viewed Excellent teaching tool for In/ Out devices and interfacing Robotics is put easily within the grasp of a teenager The integration of both software and hardware gives a very balanced education The complementary relationship between hardware and software can be seen at a glance, as opposed to the traditional approach of introducing both as separate disjointed topics in IT

52. Ultrasound

53. Ultrasound ~40Khz Time of Flight Depending on sensor, – return analog waveform –Return time until first peak Hard to resolve small detail Multipath Small detail hard to resolve Multipath can fool you!

54. Ultrasonic Range Detectors Devantech SRF04 Ultrasonic Rangers –One per team (more upon request) To detect and object –Modulated (40kHz) ultrasound energy is emitted from one of the transducers –The bursts reflect off an object and return to the second transducer –The sensor outputs the time of flight

55. Ultrasonic Range Detectors

56. 7.5 7.1 7.4 6.0 5.2 9.0 3.8 4.4 1 ft 0.9 0.2 1.8 0.9

57. Ultrasonic Range Detectors Noise –Relatively stable readings especially between 1ft to 6ft –Readings for larger distances are less consistent but averaging or median filtering can help –Beam spread is significant Sampling –Can reasonably acquire 20-30 samples per second Uses –Long range obstacle mapping –Distance to target measurements

58. Gas Sensor Application For Indoor Monitoring Background System Construction The Gas Sensor The Robot

59. Research Background Today, many dangerous chemicals are produced and transported. There is a need to detect the emission of these chemicals in case of chemical accidents or fires. Hence, a gas sensor system for detection of these hazardous compounds has been developed.

60. System Construction Amplifier Circuit D/A Converter Gas Sensor A/D Converter Robot ①② ③ ④ ⑤ ⑥

61. Construction Introduction D/A Converter PCI-3343A is used in our system. It’s hardware Specification is shown as below. Output Current: 5mA (max) Number of Channels: 4 channels Output range: ±10Vdc Resolution: 12 bit Error: ±0.4% (max) ( 0 to 50 °) Settling time: 10μ s *¹ ( per channel) Relative accuracy: ±1 LSB (max) ( 0 to 25 °)

62. Amplifier Circuit Use this circuit we can get constant current: The input Vin is the output of D/A converter I = Vin / R The circuit is to provide power for the heater of TGS 2610

63. The Gas Sensor Combustible gas Sensors (CGS) are used for the system. TGS 2610 is designed for the detection of Combustible Gases and will be selected in our experiment. The following will introduce it in detail. TGS 2610

64. Gas Sensor Features General purpose sensor with sensitivity to wide variety of combustible gas Low power consumption High sensitivity to methane, propane, and butane Applications Domestic gas leak detectors and alarms Portable gas detectors Combustible gas and vapor detection

65. Gas Sensor Specifications

66. Basic Measuring Circuit: Ps = (Vc - V RL )² / Rs Rs = (Vc - V RL ) R L / V RL The value of V RL should be chosen to keep Ps <=15 mW

67. Sesnor1: Ultra-sonic radar (USR) Echo reflection: Distance= t delay *Velocity sound /2 Velocity sound =330m/s Ultra-sonic Transmitter Ultra-sonic Receiver Robot Top view

68. Ultra-sonic Transmitter circuit Board USR-01a Ultra- sonic speaker On/off control or 40KHz 555 oscillator or 40KHz Crystal oscillator time 3x CMOS 4049B/4001 to enhance power 4001

69. Ultra-sonic Receiver circuit Board USR-01b Rec. AC amplifier swing about 2.5V Level shifting low side=0.7V Amplifier & LED indicator driver Comparator to remove noise TTL level output

70. Ultra-sonic analog interface circuit Output Tx Mic. RX mic 40KHz oscillator Tx mic. driver Receiver amplifier Level shifter 5V5V GND

71. Suggested Ultra-sonic radar design When R0(0) [SUS]=1 DT[0,1,2,3] will be cleared and starts to count at 2.5KHz clock ticks, and RDY output and VUS (bit 4 of R2) will be reset to 0. Then an ultrasonic packet of 2 to 3 pulses would be sent out through the TX output pin. After received the first reflected pulse at RX input, RDY output and VUS register bit will be set to 1; DT[0,1,2,3] stops counting, and is ready for reading. SUS.... R0 R2 VUS DT[0,1,2,3] bit 0 0 1 2 3 4 5 6 7 1 2 3 4 5 6 7 Tx Rx R0: SUS R2:DT,VUS RDY 40KHz packet 2.5KHz 40KHz

72. Sensor 2: Touch sensors (The bumper) May store the two bits in R2 When the bumper bangs the wall, a negative pulse is detected at the output. Keyboard switches front Bumper stick robot 0.1  F output switch 10K  5V5V Top view

73. Sensor 3: Infra-red (880nm wavelength) proximity sensor to detect nearby obstacles IR detector GP1U52X is tuned at 40KH on/off rate. IR detector GP1U52X Infrared LED emitter Light covers Top view

74. Infra-red Proximity detector circuit from Mobile Robots by Jones,AK Peters LED1 LED2 LED1 and LED2 can be controlled independently by IO pins PD2 and PD3 respectively

75. Range measure using reflected Infrared (IR) light using an analog-to-digital ADC converter IR LED IR sensor ADC 8255 of 8031 micro- controller Distance D Output code & level depend on D

76. Sensor 4: Path following sensor use the same Infrared Proximity detector circuit IR LED1 IR LED2 LED1 on --> detect strip LED2 on --> detect strip wheel head tail IR detector White strip on black ground Make decision to turn direction Top view

77. Sensor 5: Sound sensor/recording Response to sounds or hand clapping Condenser microphone Aanlog-to-digital converter Amplifier To 8255 of 8031 micro- controller

78. The Motor System Feedback control

79. Motion control Power the wheels –Power method 1: Mechanical relay –Power method 2: Single direction Power Transistor –Power method 3: Dual direction H-bridge circuits Speed control –Speed control 1: pulse code modulation –Speed control 2: by photo interrupters and Feedback –Optic isolation legged robot by servo motors

80. Power method1: Direct Current DC (1A) motors by mechanical relay DC motor Mechanical relay Current driver e.g. ULA2001A TPIC2701 or ULN2001A from Texas instrument http://www.ti.com/sc/docs/psheets/abstract/datasht/slis019a.htm 8255

81. Power method 2: Direct Current DC(1A)motors by transistor (one direction) Using a single power transistor High power resistor 5 , 5W DC motor 560 , 1W 5V5V From 8255 output TIP3055 + - Current driver or optical isolator

82. Power method 3: Direct Current DC motors by H-bridge transistor circuit (Two-direction) JP11 -> Motor Forward : A=1, B=0 Backward:A=0,B=1 Stop :A=B 5V5V GND A B motor

83. Speed control 1:Approximate speed control by Pulse Width Modulation By switching the motor on/off at a fixed frequency (e.g. 2.5KHz) with different mark/space ration, The power transmitted to the motor depends on the mark/space (on/off time) ratio. Mark (motor on) Space (motor off) time E.g. 2.5KHz On-time Off time

84. Speed control 2: Precise speed control by Infra-red (IR) photo interrupter feedback The disk chops the IR light on and off as the wheel rotates A metal disk holes wheel Motor gear box IR transmitter IR receiver IR receiver output Motor rotates

85. Our robot car

86. IR photo interrupter circuit 5V5V indicator GND output

87. Registers for motor control L=left, R=right M=motor, E=enable, D=direction RCT, right counter LCT, left counter VRM, valid right turns VLM, valid left turns R0 0 1 2 3 4 5 6 7 RMERMDLMELMD R1 R2 VRMVLM RCT(0,1,2,3)LCT(0,1,2,3)

88. Precise speed control by feedback Set RCT(0,1,2,3),LCT(0,1,2,3) to specify the number of turns of the wheels. Set RME, LME to start move motors; directions depend on RMD, LMD VRM,VLM will be reset to 0. The photo interrupters signals from the left/eight wheels will increment the internal wheel counters. When the wheels make the correct number of turns specified by RCT(0,1,2,3) and LCT(0,1,2,3), VRM, VLM will be set to 1 respectively.

89. Optical isolation The motor system draws large current, it make induce power surge at the power supply. To separate electrically the motor system and the digital system, we use optical isolators. 100  Digital input To power control system light

90. Positional control: Servo motors: e.g. Futaba FP-S148 RC

91. Pulse width modulation control pulses for R/C servo motors Regular pulse train applied to maintain the position.  T  1.5ms, at neutral position ø =0,  T = 1.5ms -> 2 ms, ø  0 o -> 75 o  T = 0.5ms -> 1.5 ms, ø  0 o -> - 75 o Fixed Period=16ms, freq.  60Hz Top view ø  T T

92. The brain 8031 system and the Basic Language –8031, memory and io interfaces –LCD display –counter and serial link –Infrared red light serial link Other micro-controller and application languages Lego Mindstorms http://www.legomindstorms.com/

93. Intelligence and open questions Seeing Thinking path finding Environment representations Automatic recharge of battery

94. Power supply Use of established power supply system E.g. 7805 for supper isolation to reduce interference Variable power supply design and usage, e.g. step down 5V --> 3V. 7805 1 3 2 7V or above 200uF Fixed at 5V, current limit 500mA R1 R2 Output=V1[R2/(R1+R2)] Input power V1 TIP3055

95. Use of 7805 power stabilizer and power isolation 7.2V or above Power supply 8031 Xilinx 3 Volts battery Current driver circuit Left/Right motors 7805 Optical isolators Electrically Isolated Low power High power

96. conclusion We will build a mobile robot and learn interfacing techniques along the way We will build intelligence software for the robot to learn more about machine intelligence

97. Happy Hollow Elementary School HHES Team Spring 2000

98. Accomplishments 5 Deliverables this semester  Lightening Detector  Complete Web Page  Optical Sensor  Digital Editing CD-ROM/Demo  Water Garden

99. Weather Station Accomplishments and Plans

100. Lightning Sensor Features - Detects common cloud-to-ground and in cloud lightning - Simple circuit offered design opportunities Specifications - Full bandwidth from 500Hz to 1MHz (wideband) - Highest efficiency from 5KHz to 500KHz - 80 mile detection range - 0.14 RF V/M sensitivity

101. Lightning Sensor Operation: Stripline antenna detects EM radiation Induced current excites base of transistor Current from 9V battery is allowed to flow through IR emitter IR detector (diode) passes lightning detection to serial port 100  F

102. Lightning Sensor Interfaced to a PC by a serial port by: - an Infra Red emitter/detector. - a high level programming language such as C - Data collection in a file.

103. Lightning Sensor Serial Communications Interface: why Serial Interface? - longer cables can be used (50 V voltage swing!) Logic “1” = -3 to -25 V. Logic “0” = +3 to +25 V. - less number of wires. - Infra Red (IR) interface capability.

104. Lightning Sensor Serial Communications Interface: Software Design: - proposed an efficient interface algorithm in C language for “carrier=lightning” detection. - tested for desired port signals.

105. Optical Sensor Goals  Educate children about the components of visible light  Detect relative levels of red, blue, and green light  Develop a future UV sensor from this design for invisible light

106. Optical Sensor Description  A plastic box coated with silver chrome spraypaint  Each detector opening covered with a bandpass color filter  Level of color indicated by LED array (0 least – 10 most)

107. Visible Spectrum

108. Emission Spectrum of Sunlight

109. Technology  Circuit Diagram for each sensor

110. Actual Circuits on Inside

111. Rain Forest Room Accomplishments and Plans

112. WATER GARDEN Project Goal: This project is a continuation from last semester in which the goal is to create a sound-pleasing environment for the Rainforest Room by constructing a running waterfall

113. Project Approach Meet with project partner –Discuss goals, guidelines, funding, deadlines, etc… Visit HHES rainforest room Brainstorm ideas –Pond shape and size, waterfall height, fountain possibilities

114. Project Approach, Cont. Initial sketches drawn in design notebooks Complete, detailed drawing, including bill of materials, presented to project partner for approval

115. Rendered Drawing

116. Water Garden Construction Building began with frame construction using aluminum studs Fountain was enclosed with plywood as a medium to attach cedar shakes Top was water-sealed, plastic pond was inserted, and top fountain was placed

117. Construction, cont… Rocks, Live Plants, and Decorations Were Added for a Realistic Touch to the Rainforest theme Construction is Complete!!!

118. Project Finalization Water Garden Dedication at HHES with Parents, Students, and Faculty Introduction of Aquatic Life Final Meeting with Project Partner to give instructions for the future

119. Watergarden

120. TV Station Accomplishments and Plans

121. TV Accomplishments Create compilation of Digital Video Editing information Research different DVE hardware and software packages Demonstrate possible use of target package

122. DVE Information Basics of Digital Video: Key terms and technologies: –Codec –Bandwidth –Compression –Keyframe, etc. Why are these important? What systems engineering implications do they hold?

123. TV Accomplishments Create compilation of Digital Video Editing information Research different DVE hardware and software packages Demonstrate possible use of target package

124. DVE Packages Presented alternatives based on price, ease of use, and system compatibility. Components: CPU Recommendations Minimum RAM Hard Drive Storage considerations Digitizing Card Distribution and Archiving

125. DVE Packages Sample Hardware: RealMagic Digital Video Recorder (MPEG 2), $999 »Allows native MPEG 2 compression and editing »High quality, but high price * Pinnacle Studio DC10 Plus, $178 »Lower price, but lower quality »System requirements eased Pinnacle miroVideo DC30 Pro, $589 »Middle-of-the road performance »Good Price-to-Quality ratio Units differ primarily in compression and bandwidth. * Low-end professional suites cost approx. $15,000

126. Distribution and Archiving Tape Still most universal way of watching a video tape. Most cards allow output from computer to tape. CD-ROM (650 MB) Store as data files Store as MPEG 1 Video CDs (VCD) DVD (5.2 GB) DVD-RAM DVD-R

127. DVE Software Adobe Premiere “The Standard” Strong collection of very powerful tools Avid Cinema Basic tools Lack of flexibility and user power

128. Recommended System Pinnacle miroVideo DC30 Pro Adobe Premiere CD-ROM / Video Tape

129. TV Accomplishments Create compilation of Digital Video Editing information Research different DVE hardware and software packages Demonstrate possible use of target package

130. Demonstration of Technologies Produced, in collaboration with Rainforest Room Team to document the construction of the water garden Captured and edited using recommended platform (in EPICS Software Lab) Allowed demonstration of package’s capabilities

131. Other Sensors Other sensors we have: –Momentary contact sensors - Bump sensors Other possibly useful sensors: –Mercury switches - Tilt of see-saw robot –IR Beam - Detect presence of target –Whiskers, bumpers …

132. Sources copyright 2002: Sean Pieper, Bob Grabowski, Howie Choset Smith, University of Sterling Stuart Dodds Edwin Olson

133. Msepanta GMU

134. Team Members Professor Nyenhuis TA: Saba Anvery Web Page Team –Andrew Offenbacher –Tim Halligan –Imad Hussain –Amir Hossein Sayah- Sina –Wei Bin Teah RainForest Room –William Gockley –Rachel Lehman –Corey Manley –Shane Ryckeart TV station –Bryan Choong –Rusty Papsdorf –Pranesh Thirukkonda –Ming Hin Yap

136. CEG3430 CSC3430 Robot 1 Advanced Microprocessor systems and applications kh wong khwong@cse.cuhk.edu.hk www.cse.cuhk.edu.hk/~khwong/ceg3430/

137. Ceg/Csc 3430 Microprocessor systems and applications Robot 1 Introduction Using mobile robots as examples to demonstrate hardware interface techniques sprainis Purdue Engineering Student Council

138. Cousins Rug warrior (most popular) at http://www.tiac.net/users/akpeters/Rug-warrior.html MIT Autonomous Robot with a set of course notes (very detailed) http://web.mit.edu/6.270/www/notes.html Lego mindstorms (very new) at http://www.legomindstorms.com/ http://www.RobotStore.com/lego_mindstorms_rcx_notes.html

139. References The 80x86 IBM PC and Compatible computers (Volume II), Mazidi, Prentice Hall One of the 80x86 books by Brey, Prentice Hall Other reference –Get a book on 8051 (Chinese or English) such as –8051 Microcontroller, The: Hardware, Software, and Interfacing by James W. Stewart, Kai X. Miao,Prentice Hall; ISBN: 013531948X –C and the 8051 : Hardware, Modular Programming, and Multitasking by Thomas W. Schultz, Prentice Hall; ISBN: 0137548397