1. Robotics- Basic On/Off Control Considerations

2. On/Off Control Forms the basis of most robotics operations Is deceptively simple until the consequences are experienced Can be frustrating, as we evaluate success based on our own intelligence, experience, and complex use of our senses

3. What we will examine… Software Design for Control, Use of Sensors w/ demonstrations On/off control and variations Bang/Bang control Iterative Estimation Continuous control forms

4. On/off control and variations On and off control of(some output) Some output Motor Light Sound Triggered by some input Time Sensor input of Physical condition Combination

5. Robot Problem- Travel to Target Problems- how to start moving, what direction, how fast and how far to go, and when to stop

6. Robot Speed, Time, distance Robot uses sensors to determine when to stop: touch(contact), light, time, distance

7. On/off control and variations Demonstration Problems Errors in sensing Repeatability Changing conditions Battery power, motor strength, etc. Unknowns in sensed parameters(distance, light conditions & color, etc.)

8. Bang Bang Control Turn on Check result Decide to turn on or off Repeat

9. Bang Bang Control

10. Iterative Estimation Measure Control variable Estimate how much to control Turn on and control to estimate Repeat….

11. Continuous Control Measure control variable Calculate correction Turn on and control to correction Repeat… (how often, how fast?)