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beam_robotics [2009-01-08 11:54] – davegriffithsbeam_robotics [2009-01-09 10:54] – davegriffiths
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 ===Freeforming, Recycling and the use of Solar Power=== ===Freeforming, Recycling and the use of Solar Power===
  
-Another key element of BEAM is the use of 'freeforming' circuits rather than using a conventional substrate upon which to build a circuit, such as a PCB. Components are directly soldered together and become part, or the entirety of the structure of the robot. BEAMer's also prefer to use recycled parts and material in the construction of their robots, and the use of solar power rather than batteries. +A key element of BEAM is the use of 'freeforming' circuits rather than using a conventional substrate upon which to build a circuit, such as a PCB. Components are directly soldered together and become part, or the entirety of the structure of the robot. BEAMer's also prefer to use recycled parts and material in the construction of their robots, and the use of solar power rather than batteries. 
  
 These design restrictions result in some beautifully simple and effective machines. These design restrictions result in some beautifully simple and effective machines.
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 ==Nv Neuron== ==Nv Neuron==
 +
 +{{http://www.pawfal.org/dave/images/beam/nvneuron-schematic.png}}
  
 One of the simplest BEAM components is the nv neuron, which consists of a capacitor, resistor and inverter arranged so they form a 1st order high pass filter with it's output inverted. In BEAM robotics, circuits are considered active when the output is low - this circuit will output low pulses for a constant time (set by the values of the capacitor and resistor) when the input changes voltage. One of the simplest BEAM components is the nv neuron, which consists of a capacitor, resistor and inverter arranged so they form a 1st order high pass filter with it's output inverted. In BEAM robotics, circuits are considered active when the output is low - this circuit will output low pulses for a constant time (set by the values of the capacitor and resistor) when the input changes voltage.
 +
 +{{http://www.pawfal.org/dave/images/beam/nvneuron.jpg}}
 +
 +An Nv neuron in the breadboard with a large capacitor, to make the pulse easier for a human to see.
 +
 +==Nv Neuron Array/Grounded Bicore==
  
 Nv neurons can be stacked together in arrays, where signals will be propagated slowly along them. Nv neurons can be stacked together in arrays, where signals will be propagated slowly along them.
 +
 +{{http://www.pawfal.org/dave/images/beam/nvchain-schematic.png}}
 +
 +With a simple modification, the output of the second Nv neuron can be fed into the input of the first. This forms a simple oscillator - what BEAM robot builders refer to as a grounded bicore.
 +
 +{{http://www.pawfal.org/dave/images/beam/grounded-schematic.png}}
 +
 +{{http://www.pawfal.org/dave/images/beam/grounded.jpg}}
 +
 +These bicores are the workhorses of BEAM robot brains, and are used to provide oscillating signals which can be controlled from other Nv neurons, or directly from sensor input.
 +
 +==Suspended Bicore==
 +
 +With some modifications, it's possible to greatly simplify the grounded bicore into the following form:
 +
 +{{http://www.pawfal.org/dave/images/beam/bicore-schematic.png}}
 +
 +{{http://www.pawfal.org/dave/images/beam/bicore.jpg}}
 +
 +By playing with the values of the components, different oscillation patterns can be made.
 +
 +===Solar Engines===
  
 ===BEAM types=== ===BEAM types===
  • beam_robotics.txt
  • Last modified: 2009-01-12 10:28
  • by davegriffiths