1. // This is a simple control program Move forward 200 units Turn right 90 Move forward 100 units Turn right 45 Move forward 100 Turn right 45 Move forward 100 A control program is written to operate the mobile robot This will be translated into the digital binary language of the computer system 01101000101010101010 10100101001010101010 01010010101110101010 10101000101010001000 10101001010011110101 00010010001010100100 10010000101000100101 00011010010101000010 This is a control language

2. // This is a simple control program Move forward 200 units Turn right 90 Move forward 100 units Turn right 45 Move forward 100 Turn right 45 Move forward 100 Watch the robot follow the instructions of the program Move forward 200 units Move forward 100 Turn right 90 Move forward 100 Turn right 45

3. The robot will be following lines either i)ON the floor using optical sensors ii)UNDER the floor using magnetic sensors

4. The mobile robot body

5. 1 0 1 1 The analogue signals of the outside world The digital signals of the computer Analogue Digital Converter A/D convertor

6. 01101000101010101010 10100101001010101010 01010010101110101010 10101000101010001000 10101001010011110101 00010010001010100100 10010000101000100101 00011010010101000010 The low level program gets burnt into the ROM of the MICROPROCESSOR The microprocessor is an example of EMBEDDED technology – the chip is embedded in the machine, it is not separate

7. End Effector (Gives adaptability) Degrees of freedom 10// This is a simple program 20REPEAT 30UNTIL INPUT 2 IS ON 40SWITCH OUTPUT 3 ON 50REPEAT 60UNTIL INPUT 1 IS ON 70SWITCH OUTPUT 3 OFF 80END Control Program (to run the robot) Stored in ROM

8. 10// This is a simple program 20REPEAT 30UNTIL INPUT 2 IS ON 40SWITCH OUTPUT 3 ON 50REPEAT 60UNTIL INPUT 1 IS ON 70SWITCH OUTPUT 3 OFF 80END Control Program (to run the robot) Stored in ROM 01101000101010101010 10100101001010101010 01010010101110101010 10101000101010001000 10101001010011110101 00010010001010100100 10010000101000100101 00011010010101000010 Translated into machine cod A system which has its software built into a micro processor is an example of embedded technology

9. Digital signals - pulses Analogue signals - continuous The analogue signals of the real world have to be changed into digital signals of the computers world

10. 10// This is a simple program 20REPEAT 30UNTIL INPUT 2 IS ON 40SWITCH OUTPUT 3 ON 50REPEAT 60UNTIL INPUT 1 IS ON 70SWITCH OUTPUT 3 OFF 80END Different ways to program machines 1 2 3