Lego Mindstorms NXT Research Articles

Design Color Sorting with Conveyor and Robot Arm Using Lego Mindstorms NXT

Lego Mindstorms education robot is an interactive robot because it can be used to design various kinds of robot applications. This robot can be used to design sorting robots before they are applied to real robots. Many sorting techniques are in the form of colorful objects, but only for one-time sorting. This research will design and implement a color sorting robot with 2 detection stages, namely the conveyor and the robot arm, the initial sorting is carried out by the conveyor for sorting color objects, the next sorting uses the robot arm. to move the selected color object to a place that matches the desired color. The results obtained in sorting color objects using 1 color sensor and Bluetooth for communication between the conveyor and the robot arm via Bluetooth works well where three objects in red, blue and green can be moved according to the desired color object.

Physical visualization of math concepts using LEGO Mindstorms

Educational robotics has become one of the most effective methods to teach STEM concepts in a practical and didactic way at all educational level. In this context, the LEGO Mindstorms robotic platforms have been widely used due to their versatility ease of use and modularity. Despite this, most of the papers focus on K-12 and undergraduate levels, with little information reported in the literature about educational experiences at the graduate level. This article deals with the use of educational robotics for the teaching of mathematical concepts at the graduate level, and more specifically on the physical visualization of metrics (Euclidean, Taxicab, and Infinity), and the convergence of Cauchy's succession using a mobile robots LEGO Mindstorms NXT. The educational experience was applied to a group of graduate students who offered good comments on this type of educational activity and its usefulness to understand the mathematical concepts addressed. It was observed that this type of educational experiences motivates students to use mathematical concepts in interdisciplinary problems and encourages them to understand their functionality and application in the real world.

LQG controller for the LEGO MINDSTORMS EV3 Gyroboy Segway robot

This paper details the development of a Segway robot demonstrator for undergraduate and Masters level systems and control courses based on the LEGO MINDSTORMS EV3 robotics platform. The purpose of the demonstrator is to provide a physical and interactive device for explaining concepts that feature on many systems and control courses, notably: model-based control, linearisation, the Linear-Quadratic Regulator (LQR), pole placement, noise amplification due to differentiation, reference following, Kalman filtering, and the principle of separation of estimation and control. The demonstrator is designed using a standard LEGO MINDSTORMS model from the Education EV3 core set—the Gyroboy. This is interfaced with using the Simulink Support Package for LEGO MINDSTORMS EV3 Hardware. Reference inputs can be provided from either a keyboard or an Xbox One gamepad. To the best of our knowledge, this is the first example of the successful implementation of an observer-based reference-following feedback controller for a Segway robot built entirely using LEGO MINDSTORMS EV3 components, with previous designs being either not observer-based or based on the now outdated LEGO MINDSTORMS NXT platform.

SOFTWARE IMPLEMENTATION OF THE TASKS OF THE OPEN REGIONAL ROBOTICS CHALLENGE "FAIRYTALE TOURNAMENT"

The article presents some solutions to the tasks "Ilya Muromets" and "Goldfish" those were done by the participants of the open regional robotics challenge "Fairytale tournament". The tasks can be used while teaching robotics at school. Schoolchildren may have different levels of training. The design of the robot to solve the tasks done with LEGO MINDSTORMS NXT and LEGO MINDSTORMS EV3 is offered. The solutions are done in Lego MINDSTORMS Education EV3 graphical environment.

A Tweakable Image Encryption Algorithm Using an Improved Logistic Chaotic Map

This paper presents component-based and aspect-oriented methodology and tool for designing and developing Real-Time Embedded Control Systems (RTECS). This methodology defines a component model for describing modular and reusable software to cope with the increasing complexity of embedded systems. It proposes an aspect-oriented approach to address explicitly the extra-functional concerns of RTECS, to describe separately transversal real time and security constraints, and to support model properties analysis. The benefits of this methodology are shown via an example of Legway control software, a version of the Segway vehicle built with Lego Mindstorms NXT. Keywords-Model-based design, software component, aspect-oriented programming, embedded system design, embedded control software.

Students’ Perceptions and Acceptance of lego Robots in Syria

An important recent trend in education has been the integration of different technologies such as digital games, online courses, and educational robots. The development of educational robots such as lego Mindstorms nxt allows students to learn to build their own robots. This paper describes the human-robot interaction (hri) focusing especially on the model lego Mindstorms nxt. A questionnaire among 250 Syrian school and university students was conducted to investigate the different perceptions about lego robots in 2016. The informants were grouped based on their age; participants in the first group were aged between 11 and 18 years while participants in the second between 19 and 24. The current study also focuses on the factors leading to the acceptance of lego robots. Another questionnaire was conducted to highlight what factors determine the degree of acceptance of lego robots by the studied groups. Significant age and gender effects were found. The results show a noticeable difference between the two age groups, with the younger group tending to accept lego robots more. Furthermore, it was found that male respondents show more positive reactions towards lego robots than females.

VEHICLE CONTROL OF VEHICLES SEPARATING FROM VEHICLE PLATOON

Vehicle platoon is very important techniques for increasing the traffic flow safely and effectively. The electric and mechanical systems are necessary for effective vehicle platoon. Several systems have been studied for control vehicles in the platoon. This paper focuses on the velocity control of the vehicles separating from the vehicle platoon. The velocity control model is defined according to the vehicle following model and then, the parameters are determined by minimizing the objective function. The model with the optimized parameters is applied for the vehicle platoon experiment of LEGO Mindstorms NXT. The experimental results are compared with the simulation results in order to confirm the validity of the model. Although the experimental results finally converge to the simulation results, there exists the difference between the computational simulation and the experimental results because of the error of the sensor and the others.

Робот-охранник на базе Lego Mindstorms NXT

Робот-охранник на базе Lego Mindstorms NXT

Global Path Planning for Mobile Robots using Image Skeletonization

Objectives: To propose an algorithm for global optimized path planning for mobile robots on static and observable environments, based on image skeleton technique and using some other image processing algorithms. Methods/Analysis: The proposed geometric scheme is supported on the skeletonization of image of free space into a navigation environment, as a strategy to limit the number of possible paths from a starting to end points for a mobile robot. This approach, considerably simplifies the selection of appropriate paths, allows defining lines (edges) that can be utilized by graphs for the specification of paths. Several simulation and real test were done to prove the efficiency of the algorithm. For the real test, a prototype differential platform was build using a LEGO Mindstorms NXT robotics kit. Findings: The strategy demonstrated excellent performance and robustness over about 50 simulations and experimental tests, finding always a feasible and short path., but taking in average 6.4 seconds to find the solution. Novelty/Improvements: The proposed algorithm showed to work better than other tested algorithms like Voronoi and Bug, especially when the navigation environment is a maze.

LEGO Mindstorms NXT for elderly and visually impaired people in need: A platform.

This paper presents the employment of LEGO Mindstorms NXT robotics as core component of low cost multidisciplinary platform for assisting elderly and visually impaired people. LEGO Mindstorms system offers a plug-and-play programmable robotics toolkit, incorporating construction guides, microcontrollers and sensors, all connected via a comprehensive programming language. It facilitates, without special training and at low cost, the use of such device for interpersonal communication and for handling multiple tasks required for elderly and visually impaired people in-need. The research project provides a model for larger-scale implementation, tackling the issues of creating additional functions in order to assist people in-need. The new functions were built and programmed using MATLAB through a user friendly Graphical User Interface (GUI). Power consumption problem, besides the integration of WiFi connection has been resolved, incorporating GPS application on smart phones enhanced the guiding and tracking functions. We believe that developing and expanding the system to encompass a range of applications beyond the initial design schematics to ease conducting a limited number of pre-described protocols. However, the beneficiaries for the proposed research would be limited to elderly people who require assistance within their household as assistive-robot to facilitate a low-cost solution for a highly demanding health circumstance.

A Study on Selection of Effective Engineering Design Problem based on LEGO Mindstorm NXT for Basic Design Education

A Study on Selection of Effective Engineering Design Problem based on LEGO Mindstorm NXT for Basic Design Education

Advanced educational tool for remote control study

The article is devoted to a problem of training students to new challenges in techniques and technologies. Actual and perspective problem of control via the Internet is considered. The unique arena "Robodrom" is built for studying remote and networked control algorithms through online game. This game is available at URL: http://robodrom.net. It involves students to an education process and demonstrates efficacy of studying algorithms. The mobile robots based on Lego Mindstorms NXT are chosen as plants. Consecutive Compensator is considered as one of the studying control approaches. Some simulation and experimental results are shown.

Teaching real-time programming using mobile robots

Teaching theoretical concepts of real-time systems may be a challenging task without real hardware support. This paper discusses the use of the LEGO MINDSTORMS NXT mobile robots for teaching real-time programming to bachelor’s students. The stable real-time control of a segway-like robot with a PID controller is used as case study to demonstrate the teaching methodology. Ada was used as real-time programming language. In general, very positive reviews were collected from the students after the course.

Учебно-исследовательский комплекс на базе LEGO MINDSTORMS NXT 2.0 для отработки технологий многоагентных робототехнических систем

In today's robotics, an increasing attention is devoted to Multi-Agent Robotic Systems (MARS), which allow us to accomplish a wide range of tasks with high efficiency due to distribution of the tasks among several agents. The present paper is concerned with the development of an educational research complex intended to improve the algorithms and methods of robot group control at the Chair of Management Problems of the Moscow State University of Computer Science, Radio Engineering and Electronics (MIREA). As a result of an analytical review of the possible approaches to the development of the educational research complex within the framework of the present project, it was suggested to use Lego Mindstorms NXT 2.0 kit in order to save time and financial resources. Despite the simplicity of the structure due to the scantiness of the Lego set of the basic elements, the developed robot, however, provides the minimum of the necessary functional possibilities for solving of different tasks to work out the methods and algorithms of the robot group control. Planning of the appropriate actions and behavior of the robots is based on the technology of the frame-based structures for providing models (scenarios) of the typical behavior and the subsequent selection of a particular model, depending on the situation. Determination of the agents' current location and their orientation is carried out by an external vision system based on the optical character recognition (optical glyphs) technology. For the wireless data exchange between the control centre and the agents, Bluetooth technology of data transmission is used. The planning and distribution of tasks by the control centre of the MARS is realized in the form of software written in C#. The man-machine interface developed within the present research has all the necessary modules allowing us to realize the problem statement and to efficiently control its implementation. As an application example, we consider the task of building block constructions. The construction blocks are represented by cubes of different colours to be installed in a given sequence, corresponding to the construction process. The results of the experiments fulfilled in order to test our hypotheses and construction principles of the MARS are presented.

Development of adaptive control system of model of the robot-loader on the basis of Lego Mindstorms NXT

This article discusses the creation of an adaptive control system of model of the robot loader based on Lego Mindstorms NXT. The task of the robot loader: form a kit of parts based on certain criteria (color, shape, size) and deliver it to the specified point. Objects (details) spread in the subject area in a random order. Objects that do not meet certain criteria are considered to be an obstacle. The robot loader control system during simulation provides: collecting sets of parts based on certain criteria; path synthesis that avoid collisions with obstacles; movement of sets from the starting point to the finish point.The functional diagram and algorithm of adaptive control system of model of the robot loader based on Lego Mindstorms NXT are developed. The speed and performance for the three ways to control the robot model are analyzed. It is recommended to ensure the performance transfer some control tasks from computer on the embedded processor of the robot.

Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems

This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. The intended outcome of the lab work is that students become aware of the importance of faulty conditions and learn to design FDD strategies for a real system. To this end, the paper proposes a lab project where students are requested to develop a discrete event dynamic system (DEDS) diagnosis to cope with two faulty conditions in an autonomous mobile robot task. A sample solution is discussed for LEGO Mindstorms NXT robots with LabVIEW. This innovative practice is relevant to higher education engineering courses related to mechatronics, robotics, or DEDS. Results are also given of the application of this strategy as part of a postgraduate course on fault-tolerant mechatronic systems.

Development of an open source agricultural mobile data collector system

The information is important in every decision area. The Big Data philosophy lead to collect every possible data. Nowadays these applications are more and more successful in the following agricultural areas: different parts of food industry, extension services, precision agriculture. While studying the use of these new ICT technologies can be concluded that different types of services offer different possibilities. Firstly we compared the possible mainboards and sensors. General information about the existing mobile main boards. We compared the Atmel AVR, the Raspberry PI and the LEGO Mindstorms NXT. We choosed the Arduino system board. We described the main system architecture and connection possibilites. We found the temperature sensor widely useable. The software was also briefly mentioned. We can say there are several advantages of the Arduino. The whole system can be upgradeable, and there are several Arduino based mainboards and sensors too. Nowadays the block programming support are increasing (etc. MIT Appinventor), but there are disadvantages too. The system has several limitation: the number of the connected sensor, the connection type, the system energy supply, the data loss, the creation of user friendly interface and the system failure tolerability.

Towards an EEG-based brain-computer interface for online robot control

According to New York Times, 5.6 million people in the United States are paralyzed to some degree. Motivated by requirements of these paralyzed patients in controlling assisted-devices that support their mobility, we present a novel EEG-based BCI system, which is composed of an Emotive EPOC neuroheadset, a laptop and a Lego Mindstorms NXT robot in this paper. We provide online learning algorithms that consist of k-means clustering and principal component analysis to classify the signals from the headset into corresponding action commands. Moreover, we also discuss how to integrate the Emotiv EPOC headset into the system, and how to integrate the LEGO robot. Finally, we evaluate the proposed online learning algorithms of our BCI system in terms of precision, recall, and the F-measure, and our results show that the algorithms can accurately classify the subjects' thoughts into corresponding action commands.

Pendulum experiments with three modern electronic devices and a modeling tool

Traditional physics labs in high school suffer from slow data acquisition so that some dynamic behavior of variables could be hidden from students. Modern electronic devices such as Lego Mindstorms NXT, smartphones and Arduino can acquire data at a fast rate and can be used to measure dynamic variables with reasonable precision in physics experiments. A case in point is the changing angle of a pendulum experiment. With a tool called InduLab, students in three groups using the mobile devices mentioned above in pendulum experiments collected data and built their models with the data. Experimental results showed that the Arduino group achieved the highest success rate of building correct models, followed by the smartphone group and then the NXT group. The results indicate that modern low-cost electronic devices can be used to improve physics labs in high school.

Simulation and Implementation of Real-Time Vision-Based Control System for 2-DoF Robotic Arm Using PID with Hardware-in-the-Loop

Microsoft Kinect sensor has shown the research community that it's more than just an interactive gaming device, due to its multi-functional abilities and high reliability. In this work, online HIL (Hardware-in-the-Loop) experimental data are used to apply human motion imitation to a 2-degree of freedom Lego Mind storm NXT robotic arm. A model simulation of the dc motor used in this experiment is also present in this paper. The acquired input data from the Kinect sensor are processed in a closed loop PID controller with feedback from motors encoders. The applied algorithms solve the overlapping input problem, conducting a simultaneous control of both shoulder and elbow joints, and solving the overlapping input problem as well. The work in this paper is presented as a prototype to assure the applicability of the algorithms, for further development.