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beam_robotics [2009-01-09 10:45] – davegriffithsbeam_robotics [2009-01-09 11:04] – davegriffiths
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 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. The inverter is provided by the 7404 hex inverter, which contains 6 logical NOT gates that we subvert for non-digital means.
 +
 +{{http://www.pawfal.org/dave/images/beam/7404.png}}
 +
 +Schematic of the 7404
 +
 +==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/nvneuron.jpg}}+{{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:
  
-An Nv neuron in the breadboard with a large capacitor, to make the pulse easier for a human to see.+{{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=== ===Solar Engines===
  • beam_robotics.txt
  • Last modified: 2009-01-12 10:28
  • by davegriffiths