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THE INSPIRATION FOR THIS ROBOT ORIGINALLY BEGAN WITH Richard Weait of North York, Toronto. Richard created a lightseeking robot in a transparent globe (ball). More recently, Dave Hrynkiw from Calgary, Canada, picked up the ball (so to speak) and developed a series of light-seeking mobile solar-ball robots. There are two features to this mobile robot that are interesting (see Fig. 12.1). First is the method of locomotion. Inside the globe is a gearbox. One end of the gearbox s shaft is secured and locked to the inside of the inner surface of the transparent globe. The shaft being locked cannot rotate, which forces the gearbox itself to rotate. The gearbox is heavy, which moves the center of gravity of the sphere forward. In doing so, the sphere moves forward. When at rest, the weight of the gearbox keeps it at bottom dead center (the gearbox facing down), and the ball resists rolling. When the gearbox is activated, the box begins to rotate inside the globe. This moves the center of gravity of the ball forward, causing the ball to roll forward. The second feature relates to the power supply for the gearbox. The original solar robots had an onboard power supply that provided intermittent power to the gearbox. (For more information on this type of power supply, see Chap. 3.) The onboard power supply consists of a solar cell, a main capacitor, and a slow oscillating or trigger circuit. When exposed to sunlight, the solar cell begins charging the circuit s main capacitor. When the capacitor reaches a certain voltage, a trigger circuit dumps the stored electricity through a high-efficiency motor connected to the gearbox, causing the robot to move forward a little.

This solar-ball robot uses a similar gearbox assembly, but for power uses two standard AA batteries. The disadvantage to batteries is that they must be replaced when worn out. The advantage, however, is that they supply continuous power to the robot, allowing one to easily study its behavior (mainly phototropism), locomotion, and mobility. With the original solar-ball robot, one needs to use time-lapse photography to study these effects. The charging of the capacitor takes a few minutes, depending on the intensity of sunlight. When the electricity is discharged into the motor, the robot lurches forward a short distance. For example, 10 hours (h) of motion with the original solar ball can be compressed into a few minutes of study with this robot. While this particular robot doesn t incorporate the electronics for an onboard power supply, it still uses a light trigger. The circuit shown in Fig 12.2 controls the power from the batteries to the

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since it results from an infinitesimal gauge transformation in g; acting on both A and cp'. The ghost-mass matrix is therefore

thing to watch, by the time you find it, the show will be over. Division is a process that is unstoppable. If you have any doubts, consider the information on the explosion of choice in Table 2.1.

for an extended period of time can damage the wire due to uneven ohmic heating Proportional control and steady-state contraction of the material (without damage) can be achieved using a pulse-width modulation (PWM) circuit to supply the electric current Some robotists have used nitinol wire to create a motorless hexapod walking robot While the robot can walk, it does so exceedingly slowly due to the time required for cycling (heating and cooling) of the nitinol material The hexapod walker robot is truly a flyweight (a few ounces at most) robot, neither structurally strong nor powerful enough to carry its own power supply While nitinol may be impractical for use in a hexapod walker, it is appropriate for many other robotic applications To learn more about the capabilities of this remarkable material, let s look at a few commercial products that utilize the contractile ability of the material Figure 4.

3 shows a mechanical butterfly Nitinol wire adds movement to the wings The butterfly may be connected to a solar engine (see Chap 3) for power to create an interesting robotic application Figure 44 shows a rocker ball demonstration device The nitinol actuator operates about 20,000 cycles per day and will last for years Nitinol wire loops can be used to produce rotary motion Figure 45 illustrates a simple heat engine The nitinol loop is guided by a groove in each wheel The smaller wheel is made of brass for good heat conduction When the smaller wheel is placed in hot water, the wheels begin to spin The heat engine can also function using solar energy Focusing sunlight from a 3 magnifying glass onto the brass wheel will also activate the engine.

Nitinol can also be used to physically close mechanical push-button switches, as an actuator in production of lightweight air valves, and in many other linear-motion applications..

All this has led to the emergence of an entire industry dedicated to helping people with their choices. We ve already talked about the health-care report cards. Everywhere you turn, someone is offering advice on things like which of the 8,000 mutual funds to buy. Or how to find the right dentist in St. Louis. Or the right MBA program from among hundreds of business schools. (Which one will help me get a Wall Street job ) The Internet is filled with dot-coms that can help you find and select anything you can imagine, all promised at rock-bottom prices. Magazines like Consumer Reports and Consumers Digest deal with the onslaught of products and choices by rotating the categories on which they report. The only problem is that they go into so much detail that you re more confused than you were when you started. Consumer psychologists say that this sea of choices is driving us bonkers. Consider what Carol Moog, Ph.D.,

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