141027 141001 ttt-net sofia conference_enhancing stem_mihai agape-p

Enhancing STEM activities

through contests and

European projects

Mihai Agape

Palatul Copiilor Drobeta Turnu Severin – Filiala Orsova

Engaging Tools for Science Education Conference

Teamwork, Training and Technology Network (TTTNet)

Sofia, Inter Expo Center, 31.10.2014 – 02.11.2014

Parallel Session 3, Rodopi hall, 01.11.2014, 14:00 – 14:30

The Purpose of the

Presentation

International Contests

ROBOTOR

SCRIPT

European Projects

RECAP (LdV)

KAREL (Comenius)

This work has been funded with support from theEuropean Commission.

This communication reflects the views only of theauthor, and the Commission cannot be heldresponsible for any use which may be made of theinformation contained therein.

INTERNATIONAL ROBOTICS

TROPHY ROBOTOR

National Contest of Electronics,

Pitesti, June 2007

Dance, Music, Drama…

How to bring technical activities on stage?

Robotics Trophy ROBOTOR

Robotics contests are spectacular

Robotics = STEM integrator

ROBOTOR = ROBOT + ORsova

ROBOTOR editions

First edition:

Regional Trophy - 2008

National editions: 2009, 2010, 2012, 2013,

2014

International editions: 2011

Poland, France, Turkey, and Romania

All editions have been included in the

Educational Activities Schedule of MEN

ROBOTOR 2015 will be international

Regional Trophy

ROBOTOR 2008

International Trophy

ROBOTOR 2011

ROBOTOR 2011

ROBOTOR 2008

Line Follower Contest

ROBOTOR 2011

Line Follower Contest

ROBOTOR 2013

Botosani, October 2013

National Electronics Contest

Constanta, June 2014

National & International Robotics Competitions

2008 – Orsova: “Robotor”

2010 – Targoviste: “Cupa Chindiei”

2011 – Bucuresti: “Infomatrix”

2013 – Galati: “Robogal”

Technical Universities

Bucharest

Timisoara

2014 – National Ministry of Education (LEGO)

International Robotics Trophy ROBOTOR 2015,

Robotics Contests & Robotics Symposium

Orsova, 28-30 May 2015

Dragsters (Junior & Middle)

Line Follower (Junior, Middle & Senior)

Mini & Micro Sumo (Junior, Middle & Senior)

Line & Wall Maze (Junior, Middle & Senior)

Solar Robots (Junior & Middle)

Freestyle (Junior & Middle)

Possible subsections

Beginners

Advanced

[email protected]

National International?

eTwinning portal (http://www.etwinning.net/)

Enable teachers and students in European

countries to collaborate online

http://www.etwinning.net/

RECAP

REmote Controlled Arm Project

General Information

Programme: Lifelong Learning Programme

Action: Leonardo da Vinci Partnerships

Reference No: LLP-LdV/PAR/2010/RO/023

Project title: Remote Controlled Arm Project

Acronym: RECAP

Implementation: 01.08.2010 – 31.07.2012

RECAP Partners

Śląskie Techniczne Zakłady Naukowe –

Katowice, Poland (coordinator).

Beypazari Teknik Ve Endüstri Meslek Lisesi –

Beypazari, Turkey.

Lycée Henri Vincenot – Louhans, France.

Wyższa Szkoła Technologii Informatycznych

w Katowicach – Katowice, Poland.

Palatul Copiilor şi Elevilor Drobeta Turnu

Severin – Filiala Orşova, Romania.

Partnership Aim

Romanian team contributions

Design and manufacture a robotic arm

Romanian team contributions

Electronics

Controller for Robotic Hand

System for Capturing Arm Motion - SCAM

Programming

Mechanics

Arm Design

RECAP Result – ESThttp://www.europeansharedtreasure.eu/detail.php?id_project_

base=2010-1-PL1-LEO04-11315

http://www.europeansharedtreasure.eu/detail.php?id_project_base=2010-1-PL1-LEO04-11315

MECHANICAL PART

Underactuated Robotic Arm Design

(design of the finger, robotic hand)

Katowice, 11/30/2011

Claudia

Sketch of the arm proposed at the

first project meeting in Katowice

Finger flexion with tendon

Finger’s extension with springs

CF (Cheap Finger) – 2 versions

Giulia

CF1 - Orșova

CF2 - Louhans

Finger 3D Design

Mihai

Mihai Finger’s Design

Break

April 2011

Restart

January 2012

Objectives for finger and hand

good prehension ability

simplicity

light weight

low cost

possibility to be manually made

Solution proposed for the finger

(Pro ENGINEER Schools Edition)

The analyze of finger’s position in

the static case

The relative position of the finger’s

phalanges is determined by the tension

in the tendon, diameters of the pulleys

and characteristics of torsion springs

(elastic constants and initial pretension).

To simplify the calculus we suppose

that there are not

Gravity

Friction

Position of the finger in the static

case (GeoGebra)

Calculus of joints rotation angles

Active moment (Ma)

Active force

Tendon tension

Angle between string tensions

Lever arm

Resistant moment (Mr)

Rotation angle of the joint

Elastic constant and preloading of the spring

Ma = Mr => Rotation angle of the joint as a function

of force applied to the tendon

Relation between rotation angles of joints and

rotation angle of servo

Relations

(metacarpophalangeal joint)

Simulation of finger’s flexion

Parameters

Phalanges lengths: l1 = 45mm, l2 = 25mm, l3 = 25 mm

Radius of pulleys: r1, r1 și r3

Springs constants: k1, k2 și k3

Preloading of the springs: α1i, α2i și α3i

Calculated data (as a function of F)

Articulations angles: α1, α2 și α3

Servo’s angle: α0

Simulation

-20.00

0.00

20.00

40.00

60.00

80.00

100.00

120.00

-20.00 0.00 20.00 40.00 60.00 80.00 100.00 120.00 140.00 160.00 180.00

α1 α2 α3 F/Fmax

Case I: r1=r2=r3=6mm

k1=k2=k3, α1i=α2i=α3i=0

Case II: r1=r2=r3=6mm

k1=4k0, k2=2k0, k3=k0, α1i=α2i=α3i=900

Case III: r1=8mm, r2=4mm, r3=4mm

k1=4k0, k2=2k0, k3=k0 , α1i=α2i=α3i=900

Design of a sheetmetal finger

(SF1)

Finger’s prototype (SF1)

Phalanges: aluminum sheet 0.8 mm thick

Joints: M2 bolts + plastic tubes

Pulleys: 4mm thick Plexiglas

Springs: music wire with diameter of 0,4 mm

Tendon: nylon string with a diameter of 0,5 mm

Hand Design (Palm)

Hand Design (+SF2 Fingers)

Hand Design (+Servos integrated

in the palm)

Hand Design (+Thumb & 2

Servos)

Hand Design (+Palm Cover)

Hand Design (+Wrist Servos)

Hand Design

Flat drawing for metacarpus of the

thumb

Aluminum Sheetmetal

Hand Manufacturing

Hand Manufacturing (Palm)

Hand Manufacturing

Ema, Ovidiu, Emi, Giulia, Robi, Bogdan

Hand (assembled)

Robotic Hands- Left: designed by Polish team & manufactured by French team

- Right: designed and manufactured by Romanian team

Test Romanian hand prototype with French controller

(Katowice, May 2012 – Mihai Agape, Fabien Autreau)

Testing Romanian hand

Katowice, May 2012

+ Lower arm

+ Upper Arm

Assembly last 2 servomechanisms

(28.08.2012)

Romanian Robotic Arm

2012 Extreme Redesign Contestwww.DimensionPrinting.com/extremeredesign

http://www.dimensionprinting.com/extremeredesign

SCRIPT

SCRatch International Programming Trial

What is Scratch?

Scratch is a free programming language and

online community where you can create your

own interactive stories, games, simulations,

and animations.

Scratch is a project of the Lifelong

Kindergarten Group at the MIT Media Lab. It

is provided free of charge.

http://scratch.mit.edu/

http://scratch.mit.edu/

Example - Tornado Simulation

http://scratch.mit.edu/projects/23046337/

Poster related to augmented reality (Good

Practice from ITAO workshop – Zuhal Yilmaz

Dogan and Didem Sunbul)

http://scratch.mit.edu/projects/23046337/

Local Winter Greetings Contest – 2011

http://scratch.mit.edu/studios/148271/


Regional Contest SCRIPT 2012



National Contest SCRIPT 2013



SCRIPT 2013

Game created by Bulgarian team

International Contest

SCRIPT 2014

Cooperation with Galina Momcheva, Assoc.

Prof. at Varna Free University

Participants from Bulgaria, Italy, Macedonia,

Poland, Slovenia, Turkey, USA and Romania

SCRIPT 2014 Gallery



SCRIPT 2015

Contest & Symposium

Contest

Primary and lower secondary pupils (aged

from 6-7 to 14 – 15 years old).

Version Scratch 2.0

Symposium

Creators of Scratch learning resources

(teachers & students)

Online videoconference

SCRIPT 2015 – Contest

Aim: promote the programming among

primary and lower secondary students, using

Scratch programming language.

Contest objectives:

Stimulating pupils to code.

Developing English language skills of pupils

and teachers.

Promoting of the best teams.

Dissemination of the best projects.

SCRIPT 2015 – Contest

Sections:

Greetings

Games

Music and Dance

Stories

Simulations

Age categories

one for each grade from 1 to 8

[email protected]

KAREL PROJECT OVERVIEW

General Information

Karel Project in Numbers

Partners

Objectives

Results & Outcomes

Robot Requirements

Tasts Distribution

Work Breakdown Structure

General Information

Programme: LIFELONG LEARNING

PROGRAMME

Sub-programme: COMENIUS

Action type: PARTNERSHIPS

Action: COMENIUS Multilateral school

partnerships

LLP Link No: 2013-1-RO1-COM06-29664 1

Project title: Karel - Autonomous Robot for

Enhancing Learning

Project acronym: KAREL

Implementation: 01.08.2013 – 31.07.2015

Karel project in numbers

Countries: 4

Partners: 4

Teachers: 21

Students: 50

Mobilities: 96

Robots: 20

Lessons: 21

WHO?

Partners, pupils, teachers

1. Platon Schools (Εκπαιδευτηρια Πλατων)

(Katerini, Greece)

2. Beypazari Teknik Ve Endüstri Meslek Lisesi

(Beypazari, Turkey)

3. Technikum nr 1 im. Stanisława Staszica w

Zespole Szkoł Technicznych w Rybniku

(Rybnik, Poland)

4. Palatul Copiilor

(Drobeta Turnu Severin, Romania)

Pupils (aged from 14 to 19 years old) & Teachers

WHY?

Objectives

Improve teaching and learning of science and

technology using robotics as integrator

O1. Apply practical math and scientific

concepts while learning to design, build, test

and document KAREL.

O2. Create an interdisciplinary curriculum to

use with KAREL robotic platform.

O3. Improve confidence and fluency in English

and learn scientific and technical vocabulary in

partners’ languages.

WHAT?

Results & Outcomes

Robotics Dictionary in English and each

partner’s language.

Robotics Platforms designed and

manufactured (20).

Curriculum with at least 21 lesson plans, in

English and each partner’s language . At

least 2 lesson plans for each of following

fields: physics, biology, programming,

mechanics, electronics, and robotics.

HOW?

Tasks Distribution

Robotic platform design, manufacture, test

and document:

a) Mechanical system

Turkey

b) Electronic system

Poland (input / output devices)

Romania (controller, motor drivers, power supply,

communication)

d) Software

Greece (codes for lessons)

Romania (codes for input / output devices)

HOW?

Tasks Distribution

Pupils:

Create robotics dictionary

Research, design, build, test, and program

robotic platform

Test curriculum

Teachers:

Design curriculum

Guide pupils

KAREL

SOME OF THE WORK DONE

Specifications

Karelino - first controller prototype of Karel robot

Solving math problems

The second design of Karel platform

KAREL SPECIFICATIONS

Agreed at the first project meeting in Beypazari

Available at http://sdrv.ms/170NTak

http://sdrv.ms/170NTak

Kick-off Project Meeting

Beypazari, 10-16.11.2013

Karel

Mechanical Specifications

Karel

Electrical Specifications

Karel

Input Devices

Karel

Output Devices

Karel Curriculum

Karel Challenges

Karel

Other Specifications

KARELINO - FIRST PROTOTYPE

OF THE ROBOTIC PLATFORM

Schematic

3D Views

PCB manufacturing

Board Testing

Mechanics, Electronics, and Software Integration (Rybnik meeting)

First Karel prototype

Why Karelino?

Karel problems

2 s LiPo battery management

Motor voltage regulator

Solution

Small complexity prototype

Cristina – Karel team student

Karel & Arduino -> Karelino

Schema electrică

First prototype - Karelino

3D Top View

First prototype - Karelino

3D Bottom View

PCB manufacturing

method & materials

Method = Transfer Toner System

Materials = Pulsar kit (PCB Fab-In-A-

Box) http://www.pcbfx.com/

http://www.pcbfx.com/main_site/pages/start_here/overview.html

Print the copper layer on paper

using a laser printer (600 dpi)

Prepare the single sided board

using a sandpaper

Clean the surface with a

cloth

Use laminator to transfer the

toner from paper to board

Remove the paper using water

The copper layer is

transferred to the board

Use green foil (from

Pulsar) to seal the toner

Easily remove the green foil

Toner before and after sealing

Etching the board using

ammonium persulfate

The uncovered copper

was removed (etched)

Remove the toner from the

board using thinner

Drill the holes

Test the traces for continuity

and short circuits

Use a soldering iron station to

solder the components

Hot Air Gun

Soldering (Hot) Iron

First solder the jumper

wires

Add the components and solder

them (SMD first & THD last)

Karelino (TOP)

Karelino (BOTTOM)

3D Views vs Real Board

Karelino TestingDesign & Manufacturing Mistakes

Second Project Meeting,

Rybnik, 06–13.04.2014

Integration & Testing

(Rybnik meeting)

First Karel Prototype

(Rybnik meeting)

Proposed Improvements

(Rybnik meeting)

Integrate new blocks (e.g. Motor voltage

regulator, UART connector, Battery

management system)

Make changes to the initial design (e.g.

replace USB micro B connector with an USB

mini B connector)

Redesign the PCB (components places and

traces) according to the chassis shape

Add LEDs to show the state of Bluetooth

module

Useful Links

Drawings for manufacturing the Karelino

controller http://1drv.ms/1jet3ci

Bill of materials for all designs

http://1drv.ms/1oAF8hr

http://1drv.ms/1jet3ci

http://1drv.ms/1oAF8hr

MATH PROBLEMS

Climbing an inclined plan

Karel Base Designs

Animation created in Geogebra

Problems Solved

Climbing a 30 % inclined plan

A requirement which seems to be related just

to the power of the motors.

Karel Base Designs

Animation created in

Geogebra

Rybnik meeting

Math Challenges

Theoretical problems related to

geometrical constraints study

Ground clearance

Front overhang

Rear overhang

We will use the work for some Math lesson plan

Karel Base Dimensions

l_w = wheel base

l_r = rear overhang

l_f = front overhang

d_w = wheel diameter

d_c = caster diameter

h = ground clearance

Calculus of

Rear Overhang

Calculus of

Departure Angle

Ramp Angle

Ground Clearance

Calculate Ground Clearance (h) with

Wolfram|Alpha knowledge motor

Calculate Ground Clearance

(h) with Geogebra

SOFTWARE FOR

KAREL PLATFORM

Programming Languages

C

Atmel Studio IDE

We created some modules (functions) for

Motors control

Serial communication (USART, Bluetooth)

Optical line sensors

Arduino

Arduino Leonardo compatibility

Microcontroller - ATmega32U4

Use Karel with Arduino?

Karel Visual Software

A former student of mine, Claudia Tudosie,

who is now student in the last year at

Timisoara University, Computers Enginnering

Faculty, chose for his final project a theme

related to KAREL. She proposed to create a

visual programming language (similar to

Scratch) for Karel platform.

LESSON PLANS

Physics Lesson Plan

Friction & Speed How the Karel robot will be integrated in the

lesson?

Robots will travel along surfaces of different

materials (in order to show that the speed

depends on the different surfaces)

What do we need to do?

Drive the robot along pathways (straight or

curved) on different surfaces.

Measure time, distance.

Materials

Materials with different coefficient of friction

Karel robot

Stopwatches

Distance measuring tools

Data sheets

Microsoft Excel

Lesson Objectives

Students will:

O1. Observe the influence of the road surface

to the speed of the robot.

O2. Use relation d = v * t in order to calculate

v when d, and t are given.

O3. Propose solutions for improvement of

friction between road and the tires of the robot.

Engagement

Students will predict how the surface of the

road affects the speed of the robot.

Example of questions for students:

What is the effect of the road type on the

vehicle speed? (bumpy / smooth, straight /

curvy)

How can you determine the speed of a

vehicle? (distance / time)

More friction means more or less speed?

Exploration

Students will measure the speed of the robot

on different surfaces. They will record the

data in the next table.

The students will understand how the road

materials affect the time needed for the robot

to travel a given distance.

Surface type (road) Distance Time

Explanation

Introduce the concept

Distance = Speed * Time

Elaboration

Students experiment with different surface

materials and weather conditions. Students

record the data in next table

Calculate the speed for each type of tested

road

Surface type (road) Distance Time Weather

Evaluation

Students introduce the collected data in an

Excel sheet and represent graphically the

distance as a function of time for different

road materials.

Students answer the next question: How the

friction of the roads could be increased or

decreased?

ROBOTICS DICTIONARY

Google Docs

Spreadsheet

Datasheet

Google Docs

Document

KAREL SECOND PROTOTYPE

(WORK IN PROGRESS)

New Approach – Two Boards

Schematics

PCB’s Design

PCB’s Manufacturing

Karel second prototype

approach

2 boards

Lower board

Battery management system

Motors

Upper board

Controller

Regulators

I/O devices

Motor regulators

Karel Battery Management System - Schematic

Board dimensions

PCB Design

Double Side PCB laminate

Components

SMD

THD

Software

Target3001! - version limited at 400 pins /

pads

Lower board

3D bottom view

Lower board

3D top view

Lower board

Design problem

Upper board

3D bottom view

Upper board

3D top view

Improve Boards

Manufacturing Process

Older printer (Samsung) – 600 dpi resolution

New printer (HP) - 1200 dpi resolution

Very good results after some tests

Problems – printer driver for Windows 7

Printing problems

MS Word (doc)

Different results

Picture (png)

Scaling problems

Good results with

pdf files

After we’ve learned how

to do it (printing)

Alignment of TOP &

BOTTOM Layers

Toner Transfer problems

After we’ve learned how

to transfer the toner

Seal the toner

Quite good alignment

between top and bottom

Final upper board with

min 0.6 mm tracks (top)

Final upper board with

min 0.3 mm tracks (bottom)

Karel Second Prototype

Problems & Future Work

Some circuits (e.g. for battery

management) not tested yet

Some integrated circuits are not so easy

to procure (e.g. the ones made by Seiko)

Possible new changes in design using

new integrated circuits (e.g. boost

regulator supplied from 1 Li-Po battery

with high output current capabilities)

Third Karel Project Meeting

Katerini, 12 – 19.10.2014

Katerini

Robotic Platform Test

SCIENTIX PROJECT

Already presented in this conference by dr. Gina Mihai

http://www.scientix.eu/web/guest

http://www.scientix.eu/web/guest

Travelling to Scientix meeting

Orsova – Bucharest train

What to do to increase the number of

STEM fans?

Don’t forget about

ROBOTOR & SCRIPT

International Robotics Trophy

ROBOTOR 2015

SCRatch International Programming Trial

SCRIPT 2015

Contact

[email protected]

Bibliography

Agape, Maria-Genoveva; Agape, Mihai (mai 2011).

„Trofeul Internaţional de Robotică ROBOTOR”.

Universul copiilor 16 (I.S.S.N 1841 – 191): 34 – 37.

Agape, Mihai (februarie 2012). „Să învățăm

programare jucându-ne în Scratch”. Preparandia 2

(ISSN 2247 – 9414), section Gymnasium.

http://bit.ly/1ftKR27

Agape, Mihai (octombrie 2013). Rules for National

Robotics Trophy ROBOTOR 2014.

http://sdrv.ms/17umqk7

http://bit.ly/1ftKR27

http://sdrv.ms/17umqk7

Bibliography (cont.)

Agape, Mihai (octombrie 2013). Rules of Scratch

International Programming Trial SCRIPT 2014.

http://sdrv.ms/LgPxfX

Agape, Maria-Genoveva (octombrie 2013). Rules of

Scratch International Symposium SCRIPT 2014.


Agape, Mihai. Agape, Maria-Genoveva. “KAREL

Specifications”, agreed in Karel Project Meeting held

at Beypazari on 10–16.11.2013. http://sdrv.ms/170NTak

Agape, Mihai. “Karelino—One Step in Karel Robotic

Platform Developing”, presentation given at National

Symposium IPO-TECH, Tirgu-Neamt, 29.03.2014



http://sdrv.ms/170NTak


Agape, Mihai. “Contributions for developing a

robotic arm”, presentation delivered in RECAP

Project Meeting (Katowice, 05.31.2012).

Agape, Mihai. “Scientix – Comunitatea

tehnico-științifică europeană”, presentation

delivered in National Symposium “Electronics

Today” (Constanta, 23.06.2014).

Agape, Mihai. “KAREL

Controller Design”, presentation delivered at

Karel project meeting held at Rybnik, 06-

13.04.2014.


Agape, Cristina-Maria. “KAREL – Controller

Manufacturing”, presentation delivered at Karel

project meeting held at Rybnik, 06-13.04.2014.

Agape, Mihai. “KAREL – First Implementation

Year”, presentation delivered at the Robotic

Symposium – Code Week event, Katerini, 14th

October 2014.

Agape, Maria-Genoveva. “Physics Lesson Plan

– Friction & Speed”, presentation delivered at

the Karel project meeting held at Katerini, 12 –

19.10.2014.


Agape, Mihai. “KAREL – 2nd Platform

Design”, presentation delivered at the Karel

project meeting, Katerini, 12 – 19.10.2014.

*** ATmega32U4, 7766G–AVR–02/2014. Atmel.

http://www.atmel.com/Images/Atmel-7766-8-bit-AVR-

ATmega16U4-32U4_%20Datasheet.pdf

*** DRV8833, SLVSAR1C. Texas Instruments.

http://www.ti.com/lit/gpn/drv8833.

*** LM2940, SNVS769I. Texas Instruments.

http://www.ti.com/lit/gpn/lm2940-n.

http://www.atmel.com/Images/Atmel-7766-8-bit-AVR-ATmega16U4-32U4_ Datasheet.pdf

http://www.ti.com/lit/gpn/drv8833

http://www.ti.com/lit/gpn/lm2940-n


*** LM1117, SNOS412M. Texas Instruments.


*** Bluetooth Module BTM-112 and BTM-182.

Rayson.

*** BQ241xx - Synchronous Switchmode, Li-Ion and

Li-Polymer Charge Management IC with Integrated

Power FETs (bqSWITCHER). Texas Instruments.

*** S8239 Series. Overcurrent Monitoring IC for Multi-

Serial-Cell Pack. Seiko Instruments Inc.

*** S8209A Series. Usage Guidelines. Seiko

Instruments Inc.



Agape, Mihai. “Karelino – A robot for STEM

education”, presentation delivered at the

2nd Scientix Conference, Brussels, 24 – 26

October 2014.

Questions?

141027 141001 ttt-net sofia conference_enhancing stem_mihai agape-p

Education

Transcript of 141027 141001 ttt-net sofia conference_enhancing stem_mihai agape-p