2. E3 Teacher Summer Research Program Aerospace Engineering Texas A & M University By Moses Z. Horton Ali A. Jafry Lesson Plans Algebra I & II

3. HOW TO BUILD A STIQUITO MAKING A TRULY AUTONOMOUS ROBOT These lesson plans are generic in nature and not only can be customized for algebra 1 or 2, but for specific classes as necessary. It is part of a teacher project sponsored by the National Science Foundation at the Texas A&M University.

4. Background – The Stiquito is an example of a robot that has what could be called an embedded system. Embedded system is the practice of putting small computers in everyday items like microwaves etc. The most important item on an embedded system is a microprocessor or a microcontroller. Both devices perform computations and run software. Since 1992, Dr. Jonathan Mills and Dr. James Conrad have built circuitry that can be mounted on top of a stiquito robot to make it sense its environment and move on its own.

5. It was determined that the stiquito controller board should have the following functionalities and meet the following requirements: It was determined that the stiquito controller board should have the following functionalities and meet the following requirements: It should be as inexpensive as possible. It should be as inexpensive as possible. The embedded system should consist of a microcontroller, a transistor driver for the Flexinol The embedded system should consist of a microcontroller, a transistor driver for the Flexinol (flexinol – a very thin, low temperature alloy) legs, a potentiometer for adjusting speed. (flexinol – a very thin, low temperature alloy) legs, a potentiometer for adjusting speed. These are just two of the qualities of the stiquito. These are just two of the qualities of the stiquito.

6. MATERIAL SHAPE MEMORY ALLOYS- Flexinol is an extremely thin wire. It is an application of Shape Memory Alloys. These material are used and applied in field of Orthodontics, Making Eye Frames of Glasses and in Design of wings of Airplanes to change the directions of wings.

7. Flexinol Material used in building Stiquito- CHARACTERESTICS OF MATERIAL: Diameter = 0.004 inches Diameter = 0.004 inches Low temperature 70 degree Centigrade Low temperature 70 degree Centigrade Maximum Recommended Force = 150 Grams Maximum Recommended Force = 150 Grams Resistance = 3 Ohms per inch approx. Resistance = 3 Ohms per inch approx.

8. Concepts- The following concepts will be covered in these plans: The following concepts will be covered in these plans: Speed of Stiquito Speed of Stiquito Distance - traveled by robot Distance - traveled by robot Length – of robots legs Length – of robots legs Time it takes to complete the distance Time it takes to complete the distance (Math/ Science Integration)

9. Objectives- 1) to measure the length of the legs of a stiquito ( a robot). 1) to measure the length of the legs of a stiquito ( a robot). 2) To measure the time it takes for the stiquito to travel a set distance. Also to vary the length of the stiquito legs. 2) To measure the time it takes for the stiquito to travel a set distance. Also to vary the length of the stiquito legs. 3) To calculate the speed of the stiquito, (the speed for various length of the legs. 4) To use the graphing calculator, to do a comparison and see if there is a relation between length of leg and speed.

10. Materials required for building Stiquito - Ready-made stiquito, with adjustable legs. Ready-made stiquito, with adjustable legs. 2 AAA batteries 2 AAA batteries Graphing calculator Graphing calculator Foot long ruler Foot long ruler Graphing paper Graphing paper A stop watch or other time measuring device. A stop watch or other time measuring device.

11. ` LESSON 01 Instructions: A course will be marked out of approximately 5 ft. long. The stiquito will be started by installing the two batteries, and the time it takes for the stiquito to travel the 5ft course will then be measured. The legs of the stiquito will then be adjusted and the course again will be run and a new time taken.

12. Lesson 01 (continued) Three or four runs will be made, each run being a variation in the length of the stiquitos leg. An example of this data would be lengths of legs – 30, 40, and 50 mm. vs. speeds of 1 min., 1.5 min., and 2 min. These will be plotted with time being the independent variable.

13. LESSON 02 Instructions: A second lesson will be taught which will involve a “race between Stiquitos”. In this case the stiquitos will be carrying a “payload” – they will be earning their keep. The variations will be in the weights they carry. The differences will be constant and “their” times ( time it takes the stiquito to cover the distance) will be recorded. A second lesson will be taught which will involve a “race between Stiquitos”. In this case the stiquitos will be carrying a “payload” – they will be earning their keep. The variations will be in the weights they carry. The differences will be constant and “their” times ( time it takes the stiquito to cover the distance) will be recorded.

14. Lesson 02 (Continued) The idea will be to see how increase in weight changes their speed. The weights on the back of the stiquito will be pennies. Each run will increase by one. Time will be measured for each run, with the distance being the same (5ft.) The idea will be to see how increase in weight changes their speed. The weights on the back of the stiquito will be pennies. Each run will increase by one. Time will be measured for each run, with the distance being the same (5ft.) The results will be plotted with time again being the independent variable. The results will be plotted with time again being the independent variable.

15. Force versus Displacement

16. Demonstration - A movie demonstrating the activities of the stiquito will be shown to the students. This movie demonstrates the stiquito in action. It shows that the stiquito has only two degrees of freedom – (1) meaning that it can only raise its legs (2) and move forward (1) meaning that it can only raise its legs (2) and move forward

17. Assessment: Students will be graded based on a report they will write. It will contain 1) a summary of the activities in the two experiments. 2) two graphs – one showing the relationship between the length of the stiquito legs and the speed. The other based on the payload vs. time in covering the specified distance.

18. TEKS Related to Math/Science (Science)The student knows concepts of force and motion evident in everyday life. Calculate speed, momentum, acceleration, work, and power in systems such as in the human body, moving toys, and machines. (Science)The student knows concepts of force and motion evident in everyday life. Calculate speed, momentum, acceleration, work, and power in systems such as in the human body, moving toys, and machines. (Math)The student understands that a function represents a dependence of one quantity on another and can be described in a variety of ways. (Math)The student understands that a function represents a dependence of one quantity on another and can be described in a variety of ways.

19. REFERENCES http://www.stiquito.com http://www.RobotStore.com http://www.mouser.com http://www.plastruct.com http://www.smallparts.com http://www.solarbotics.com www.dynalloy.com http://www.allelectronics.com http://www.isr.com http://www.digikey.com http://www.scientificsonline.com http://www.jameco.com http://www.ksmetals.com