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Gemini User manual

1. neither of these peripherals is attached the robot will report I O ERROR 32 19 6 GEMINI will ask you to test the keyboard by pressing K If K is not received check to see that it s turned The IR link will be tested Be sure to aim at the IR receiver located just above the LCD 7 Next the real time clock must be set in the format indicated by GEMINI When you have entered the time and date it will be displayed on the screen and you will be asked to verify whether or not it is correct The seconds should be changing 8 Now a check of the PROpulsion CONtrol PROCON computer is performed The RAM chip left motor and right motor are checked 9 The bumpers are checked in a counter clockwise rotation starting with the front charging bumper You will be asked to press each bumper so the robot can verify its operation bumper 15 not working the robot will rotate slightly for about 5 seconds and report which bumper it is 10 Each of the sonars is checked in turn and a range in feet is reported As each sonar is fired hold your hand a book or other flat object approximately one to two feet in front of it Sonar locations are shown in Figures 4 1 and 4 2 The range given by GEMINI should match the distance from the sonar to your hand or object Record each range in the space provided on the checklist NOTE If you do not hold anything in front of the sonar and if there is no wall or
2. PRESSURE Returns the barometric pressure in millibars PRINT HOME Sends the robot back to the charger from any room Returns a 0 if the robot makes it onto the charger otherwise returns an error code See Table 12 1 RANGE N Returns a range in feet from sonar N Head sonar 0 right top front 1 right bottom front 2 left top front 3 left bottom front 4 right side 5 left side 6 front center 7 back 8 SMOKE Returns O if no smoke is being detected However the bit port for detecting smoke will oscillate when smoke is present This means the value returned may be a 1 or a 0 when smoke is present A loop to poll the SMOKE detector is used to determine the presence of smoke 84 SOUND Returns sound level value from 0 255 TEMP Returns the temperature in degrees Celsius 12 1 ERROR CODES FOR AND HOME 1 Can t find charger beacon 2 Can t find path to desired room 3 Can t get room code of adjacent room 4 Can t find number of doors in room 5 Lost reflector 6 Can t get to door 7 Door is closed 8 Can t find room beacon of current room 9 Can t get on charger To exit BASIC type EXIT You will be returned to the Living Loop Even though you eo are no longer in the BASIC mode your program will still be available until you either hit the Reset key or write a new program 85 13 MORE ABOUT GEMI
3. the only obstacles that should be present are walls If it hits wall the robot will back up six inches turn 30 degrees to a clear direction move forward two feet then continue towards the reflector Once at the door the robot scans the opening with its head sonars to detect its edges If it doesn t find the edges the robot repositions and tries again When the correct edges are found the robot uses trigonometry to calculate the door center The robot then turns and moves to this center Once at the center the robot turns again to be facing the door It takes one more scan with its sonars makes one final correcting turn and moves through the doorway After moving through the doorway the robot will be two to four feet inside the next room GEMINI will search for the room beacon If it is not found it will move forward two feet and search again If still no beacon is found the robot will go back through the doorway and try again If the beacon is found the robot will proceed to navigate from this room to the next room on the path until the desired room is reached 37 GOING HOME When moving to its charger GEMINI first moves to the charger room in the same manner as above The robot then lines itself up with the charger beacon and moves to within three feet of it This move is done in exactly the same manner as the move to door reflectors Once this is done the robot then turns back towards the beacon again and inch
4. 2 or 3 and were assigned during the first training session when you typed in your name for GEMINI to recognize This command clears the words in that group from memory The next time you use a word from that group you will be asked to retrain it HINTS FOR BETTER VOICE RECOGNITION GEMINI s state of the art voice recognizer has approximately 95 98 recognition accuracy when used under the following ideal conditions 1 Speech input from a speaker with good diction 2 Speech input with low background noise a quiet working area Any deviation from these ideal conditions will degrade recognition accuracy An extremely important variable in the speech recognition accuracy is the human speaker In general you will find that if other people have difficulty understanding you so will the voice recognizer It is important that you speak as clearly and consistently as possible When going through the training session try to speak each word exactly the same Here is a list of suggestions 1 mumble Speak as though you are commanding a troop of soldiers 2 Enunciate each vowel in the word carefully 3 Avoid making extraneous lip and breathing noises when speaking 56 4 Retrain difficult words frequently 5 Try to give commands from approximately the same position you were in during the training session 6 Try deepening your voice Try to select an environment that is relatively quiet when using VOCOL
5. 8 3 for a list of available sounds SONG N song number Uses VIOS to play music and sing vocals Table 8 2 has a complete list of musical selections SPEAK 2 4 SPEAK expression Uses the robot s 3rd generation speech chip and text to speech algorithm GEMINI will speak the message within the quotes Accents and periods for pauses may be helpful to improve the clarity 80 DSVIOS Disables the VIOS computer Be sure to do this before ending program DIRECTING 5 MOVEMENTS As in the case with the VIOS computer the PROCON PRopulsion CONtroller computer must be enabled and disabled for BASIC commands Again it is only necessary to do this once in a program ENPROP Enables the PROCON computer BODY DIR SPEED DISTANCE Commands robot to go forward backward if DIR 1 rotate if DIR 0 SPEED 1 15 slow to fast DISTANCE is value of feet in distance or degrees in rotation DISTANCE is a positive quantity for forward movement or right rotation and a negative quantity for backward movement or left rotation DIR SPEED and DISTANCE can each be a floating point constant an expression or a variable WAITBOD Returns response from BODY command 0 means that the command has been completed else bumper 1 4 is returned This function must be used after a body command before giving any other commands to PROCON However commands other than those to PROCON may be inserted between BO
6. AUTHOR THE SENSUAL ROBOT ACROBOTICS EXIT PUN The numbers on the left refer to the function keys located just above the screen or the keyboard keys 1 5 Key 1 is for demonstrating GEMINI s musical and sound generating abilities key 2 allows it to show off its literary talents key 3 is not as kinky as it sounds it merely shows off your robot s use of its sensors key 4 Acro botics simply refers to GEMINI s agility and mobility Each of these keys when pressed causes another menu to appear from which you may select the specific task you wish GEMINI to perform These tasks include playing music reciting poems and stories moving about and recognizing your voice When the task is complete GEMINI returns to the menu for another selection no selection is made within a minute GEMINI will exit DEMO and enter the LIFE MENU 25 SELECTION 1 PLAY IT AGAIN GEMINI SOUND AND MUSIC MENU SELECTION 2 AUTHOR 1 2 3 SELECTION 3 STAR WARS NATIONAL ANTHEM OCEAN SOUNDS GUNSHOT EXIT AUTHOR AUTHOR MENU POET STORYTELLER EXIT THE SENSUAL ROBOT THE SENSUAL ROBOT MENU PLN SELECTION 4 SIGHT AND SOUND TIME TEMPERATURE BAROMETRIC PRESSURE EXIT ACROBOTICS ACROBOTICS MENU urwne DANCE VOICE CONTROL BASIC CONTROL SOMERSAULT EXIT 26 You can keep GEMINI performing in DEMO as long as you like When you ar
7. All numeric variables are automatically assigned the value of zero if not otherwise assigned ARRAYS array is a table of numbers which can be referred to in the same manner as a variable An element of the array 15 selected by subscript The subscript is enclosed with parenthesis and immediately follows the array name For example 1 Where is the array and I is the Ith element of the array The element is only one element in the array GEMINI BASIC must be told how many elements are in the array A This is accomplished by the DIM statement DIM A 8 Here we have stated that there are 9 elements in this array with 0 being the first subscript If A I is used in a program without being dimensioned 76 GEMINI BASIC reserves space for 11 elements subscripts 0 through 10 SYSTEM COMMANDS SAVE If you are using a wafer or disk drive with GEMINI you have the advantage of saving your files on disk or wafer tape and not having to retype your programs each time you wish to use them To save a program you would at the prompt type SAVE and the name you would like to give your program For example SAVE GEMINI followed by a return Now type CATALOG and you will see the file that you saved displayed along with any other files which you may have on that wafer or disk LOAD If you wish to use one of the programs that you have saved on a disk or wafer tape you may do so by typing LOAD followed by the
8. Avoid areas where other people are talking refrigerators are humming another member of the family is banging pots and pans etc All of these noises are certainly the sounds of life which future domestic robots must learn to ignore but GEMINI s system is not yet at that level Be patient and experiment 57 TABLE 8 1 VOICE OPTIONS COMMAND VOICE DESCRIPTION 0 Droid 1 GEMINI 2 Villain 3 Child 4 Alien TABLE 8 2 PROGRAMMABLE CANNED SOUNDS SOUND NUMBER CANNED SOUND Clock Moving Robot Gunshot Ocean Silence Train Choo Choo Helicopter Explosion Pump Power Generator Laser Siren A ESA 58 TABLE 8 3 MUSICAL SELECTIONS SONG NUMBER SELECTION 0 Star Spangled Banner 1 Happy Birthday 2 Happy Anniversary 3 Jingle Bells 4 Easter Parade Instrumental 5 Auld Lang Syne 6 When Irish Eyes Are Smiling Instrumental F Star Wars Theme Instrumental 8 Robots a Man s Best Friend Original 9 Music Box Dancer Instrumental 10 The Entertainer Instrumental 11 Daisy Daisy 12 Raindrops Keep Falling on My Head 13 Havah Nagilah Instrumental 14 O Canada ROBOTS ARE A MAN S BEST FRIEND cat or a dog may be quite sentimental But robots are man s best friend A pet may be cute but it won t be parental to your little child or tell you 1f the weather s mild I can walk and I can talk when you re away then your house 1711 defend Give your computer a body and it won t Look sho
9. LOOP SYSTEM TESTS p 45 VOICE OPTIONS p 58 PROGRAMMABLE CANNED SOUNDS p 58 MUSICAL SELECTIONS p 59 VOCOL WORD GROUPS p 60 ERROR CODES FOR MOVETO AND HOME p 85 LIST OF PICTURES TORSO BASE HARNESS CONNECTION p 14 PROPER POSITIONING OF BRASS HEAD GEAR p 14 MAIN COMPUTER SWITCHES p 15 106
10. RETURN 87 would cause HELLO GOODBYE to be printed GOTO line number This causes program to jump to line after GOTO IF expression THEN statement If the value of the expression is true then execute the statement Otherwise skip it Example 10 IF 5 5 THEN 30 15 PRINT HELLO 20 END 30 PRINT 5 When run this program would cause 5 to be printed Example 10 IF 3 lt 4 OR 2 lt gt 2 THEN PRINT 2 20 END When run this program would cause 2 to be printed Example 10 A 1 B 5 20 IF A B THEN PRINT B 30 PRINT A This program would only print the contents of A since A is not equal to 88 IN X This statement changes the input device to the device corresponding to X Devices are KEYBOARD PROCON VIOS EXTERNAL PORT EXPANSION 1 EXPANSION 2 The keyboard is always available for input Example After IN l all input will come in from PROCON or the keyboard INPUT This causes the variable after this statement to be assigned the value typed in This statement gives a prompt and continues to read data until a carriage return is typed Example 110 INPUT A 120 PRINT A When this is run if HELLO is typed execution would look like this HELLO HELLO A prompt message can be put after the input statement by enclosing it in quotes and following it with a semicolon and the variable Example 110 INPUT WHAT IS YOUR 5 120 PRI
11. care must be taken during the assembly and this is outlined in Chapters 3 and 4 Chapter 5 explains DEMO a very entertaining program which allows GEMINI to show off as soon as you turn it on Section 3 is entitled Day to Day Use and contains Chapters 7 9 These chapters tell how GEMINI s many systems function and how you can make the most of them The Living Loop which gives the robot its personality structure is explained Also you are told about the voice input output system and SCHEDULER an easy to use program which lets you tell GEMINI what to do without ever writing a program Section 4 is called Using BASIC and is supplied to everyone purchasing GEMINI BASIC For those of you who wish to do your own programming in a high level language Chapters 10 13 are really a programmer s reference manual GEMINI BASIC as you will discover is a very much enhanced BASIC which not only contains ali the usual commands found in home computers but also incorporates simple commands which allow you to control the robot from your programs Did you realize that you were getting a home computer system as well as a robot Finally Section 5 entitled Maintenance contains Chapters 14 15 It presents the procedure you should follow in the event of a malfunction and tips on proper care of your robot As GEMINI will soon inform you it is a very well rounded robot We are sure you will find uses for GEMINI that we haven t e
12. continuous line down the screen This program is an example of an infinite loop and will continue to run until a break is encountered You can cause a break in the program by holding down the control key and simultaneously pressing the letter C Type the following 110 PRINT 3 4 120 PRINT 2 5 Now type RUN and GEMINI BASIC will display 7 10 To see the program you have entered type LIST GEMINI BASIC will display the program in sequential order by line number If you wish to delete a program line type the line number followed by a return For instance type 110 followed by a return Now type LIST GEMINI BASIC will display 20 PRINT 2 5 You have succeeded in erasing line number 10 71 replace line number 10 retype the line number with the new statement To insert a line in the program pick a number between the lines where you wish to insert a new line and type the statement Increments of 10 or more are suggested to allow for line insertions To send the cursor to the uppermost left corner and clear the screen type CURHOME and the screen will be erased If you are finished with the current program and wish to begin a new one type NEW This will clear the computer s memory and you can begin to enter a new program NUMBER FORMAT In GEMINI BASIC when a number is printed only nine digits are shown Numbers are stored with over nine digits of accuracy but will be displayed with
13. described here This program lets you communicate with GEMINI by voice and is included in the GEMINI Educational System A brief version of VOCOL is included in the DEMO program under the ACROBOTICS option It is also available from ARCTEC SYSTEMS The speech synthesis function employs a text to speech algorithm which gives GEMINI the ability to speak in various voices any message which you type on the keyboard Table 8 1 lists the voice options The sound synthesis ability lets the user activate canned songs and sound effects Both the speech synthesis and the sound synthesis functions are available through the BASIC and SCHEDULER programs Descriptions on how to use these features are given in the chapters on those programs For a complete list of GEMINI s sound and music repertoire refer to Tables 8 2 and 8 3 at the end of this chapter VOICE COMMAND LANGUAGE VOCOL With VOCOL GEMINI can be commanded by voice to perform many tasks The state of the art voice recognition system is speaker dependent and language independent This means that the robot must first be trained to a voice and will recognize only one speaker at a time It 46 also means that with proper training GEMINI can interpret merci gracias and danka all as thank you Try it A household frequently will have more than one robot user Since it would be quite inconvenient to retrain the robot each time a different speaker wished to use voice commands we
14. designed to get you enjoying GEMINI as quickly as possible Technical details are purposely kept to a minimum and how to information at maximum It contains information you will need on how to use the robot from start up to management of its day to day operations The second manual the REFERENCE MANUAL is designed to educate you and provide factual information required to customize experiment explore and improve the robot as you advance your knowledge Beginners may find this manual a little heavy during the first reading If so we suggest you study it and refer to it frequently as it is the key to advancing your knowledge in the field of robotics Our goal at ARCTEC SYSTEMS is to make the dream of personal robotics happen in our lifetime YOU can help make this dream happen We are making available documented source code listings of most of the LOOK bytes of ROM based software at nominal cost so you can further your education and enjoyment of GEMINI If you study this software and the material in the USER S and REFERENCE MANUALS you will be able to develop new software and hardware enhancements Share these enhancements with us and other owners and we will do the same If you want to sell your software or hardware enhancement we will support you not compete with you you just want to share your knowledge with us and others then send us your discoveries questions and ideas and we will periodically publish them in a
15. enter by the front door into a foyer You want to put your potato chips and dip in the kitchen so you search for a likely looking door You go through the door and look to see if you are in the kitchen If not you determine whether this is a room that would logically be located near the kitchen such as the dining room If so you look for another door which might lead to the kitchen You continue in this manner until you find a path through doors and rooms which leads you to the kitchen As you follow along your path you will continually avoid obstacles Essentially GEMINI s navigation system operates the same way Each room contains a small attractively packaged beacon which sends out a logic code from 1 to 15 GEMINI is able to determine what room it is in by decoding the beacon number When the robot is requested to move to another room it first scans the room for a beacon It then searches for ail the doors each marked with a small door edge reflector Using information previously entered by the user GEMINI is able to determine into which room each door leads 28 Next using advanced artificial intelligence programming techniques GEMINI finds the shortest path least number of doors to the desired room The robot then proceeds to follow this path Using the door edge reflectors and the sonars the robot performs a large number of trigonometric calculations to position itself correctly and maneuver through the doo
16. first you may have 18 a little difficulty understanding GEMINI it speaks with a robot accent but in time you will find it quite understandable Now you are ready to bring GEMINI to life The power switch is located as shown in the accompanying Figure 4 2 Flip it on If you have purchased the Life Lites option also shown in Figure 4 1 they should light up GEMINI will now enter the initialization and checkout modes Take note of any item that GEMINI diagnoses as malfunctioning and fill in on the checklist 1 The first system to be checked is the VIOS computer which you may recall stands for Voice Input Output and Sound generation computer If GEMINI is speaking to you that is a good indication that VIOS is working GEMINI then checks out the RAM and ROM memory chips on the VIOS board and the speech and sound chips will let you know if any of them are faulty 2 A check of three battery voltages is performed These should all be between 11 and 14 volts 3 The ROM card is the next item to be checked During this check any ROMs not in place are reported as bad or missing This is okay The basic robot will report ROMs 3 5 and 7 while the EDUCATIONAL SYSTEM w Basic and Vocol reports ROM 7 A complete board should pass the test 4 Next the main computers ROM and RAM are checked followed by a report on the total amount of available RAM 5 A search for a disk or tape is now performed and reported
17. have constructed VOCOL so as to allow GEMINI to remember the voice trainings of up to three users Once a speaker has trained a particular word group to his her voice GEMINI will remember that speaker s training and retain it battery backed memory so even when the power is turned off the vocabulary wiil not need to be retrained Later when the user identifies himself or herself GEMINI will automatically know which set of trained word groups to use Another unique feature of GEMINI s voice recognition system is its adaptive ability As the robot s voice command function is used its recognition capability will get better In other words through artificial intelligence techniques GEMINI will learn from its successes and mistakes TRAINING GEMINI To use VOCOL for the first time all of the robot users up to three must be present since GEMINI first needs to be trained to recognize each user s name The training should be performed in a quiet environment no radio or TV on Each user should pronounce his her words in a firm commanding voice Your best position for voice training is about three feet from the robot Just follow these steps 47 1 To attract GEMINI s attention whistle or say GEMINI loudly VOCOL can also be accessed from the Living Loop by typing key 757 If this is the first time anyone has used VOCOL the robot will say TYPE NAME OF HUMAN NUMBER 1 When the prompt appears typ
18. keys are used The space bar will advance the screen to display the next entry The D key will delete the mission currently on the display and the RETURN key will return you to the main SCHEDULER MENU 3 ADD MODULE NAME Pressing Key 3 on the keyboard allows you to add a module name to the list of BSR modules You must enter the following information Enter Module Code Type the module code from 1 to P16 consult your RCS manual for more details on the numbering system Enter Module Name Type the name desired i e LIVING ROOM LAMP 4 LIST OR DELETE MODULE NAME Pressing Key 4 allows you to inspect modules on the list use space bar or delete particular names type D The Return Key will again return you to the Main SCHEDULER MENU 5 ADD ROOM NAME The following information will be requested Enter Room Number Enter FROM TO 15 Enter Room Name Type in the desired room name i e KITCHEN 66 6 LIST OR DELETE ROOM NAME Instructions are the same as for Selections 2 and 4 7 QUIT Pressing Key 7 puts you back into the LIFE MENU Although it is fun to have GEMINI talk to you we understand that sometimes it slows down the process of entering missions We therefore included a command which will turn the speech off While in the Main SCHEDULER MENU type a Control T To do this hold down the control key while typing Release the and then the control key
19. name of the file which you would like to work on For example LOAD GEMINI followed by a return This command will load this file into the computers memory so that you can either execute it or make changes as desired STOP STOP causes a break in a program and returns control of the computer to the user The message BREAK IN and the line number where the program ended will be displayed 77 END causes a program to break the same the stop command but does not display a message CONT The CONT command will restart a program which has been halted by a Control C the STOP or END command The program will resume at the next instruction not necessarily the next line number PEEK address in decimal The PEEK command will display the contents of a memory location in decimal format POKE Address Contents both in decimal The POKE command stores the binary equivalent of a decimal into the memory location specified CALL address in decimal The CALL command will initiate execution of a machine language subroutine at the memory location specified Call 7165 enters the monitor 78 EDITING COMMANDS LIST The LIST command is used to display lines of a program LIST followed by a line number or two line numbers separated by a comma can be used to display only desired lines For example LIST 10 will display only line 10 LIST 10 100 will display lines 10 through 100 To list a program from the beginning
20. next section 49 All of the vocabulary trainings are saved in GEMINI s memory so they should not have to be repeated for some reason you wish to repeat or change a vocabulary group see RETRAINING A WORD GROUP later on in this chapter NOTE Sometimes GEMINI will hear a loud noise think someone is trying to talk to it and will say GEMINI LISTENING When this happens if no one responds with a name within six seconds the robot will simply go back to sleep TALKING TO YOUR ROBOT Once you have accessed VOCOL and the robot has correctly identified you a number of modes and functions are available which can be commanded by voice When developing VOCOL we realized some means must be provided to ensure that the robot has really understood each command We therefore developed the protocol which GEMINI employs It works like this After each voice command or parameter spoken by a user GEMINI repeats the recognized word If this word is correct the user responds with one of the affirm atives yes correct or right GEMINI will answer THANK YOU and then perform the function requested If the command or word was incorrectly recognized or you changed your mind say no wrong or negative and try again In the examples given below rather than write all this out each time the acknowledgment protocol has been indicated with three dots between each command Remember that you must tell GEMINI after every command
21. no more than nine digits Numbers may also have an exponent Floating point numbers must be in the range from 1 10738 to 1 10 38 Scientific notation is used to print these numbers The first element will be a for a negative number or nothing when the number is positive Then a single non zero number is displayed followed by a decimal point Following this will be eight numbers followed by an E After the E the exponent will be displayed Leading and trailing zeros are not printed Integers must be in the range from 32767 to 32767 72 ARITHMETIC OPERATORS Arithmetic operators are used to perform the usual operations of arithmetic The following is a list of these operators in order of precedence Exponentiation Example 273 8 Multiplication Example 4 2 8 Division Example 9 3 3 Addition Example 5 1 6 Subtraction Example 7 4 3 COMPARISONS The following is a list of available comparisons in GEMINI BASIC All comparisons have the same precedence EQUAL COMPARISON Example 2 2 True lt LESS THAN COMPARISON Example 4 lt 2 False lt gt INEQUALITY COMPARISON Example 2 lt gt 2 False gt GREATER THAN COMPARISON Example 521 True lt LESS THAN EQUAL COMPARISON Example 5 lt 5 True gt GREATER THAN OR EQUAL TO COMPARISON Example 2 gt 6 False OR EITHER COMPARISON MUST BE TRUE FOR THE STATEMENT TO BE TRUE Example 2 2 or 3 lt 1 True 2 1 528 Fals
22. number of reflectors found 4 GEMINI may occasionally pick up reflections from mirrors light switch covers windows and other shiny objects In most cases these are only detected from a small area in the room and therefore not a problem If the robot picks up an extra reflection it will reposition itself and try again 33 reflection is picked up fairly frequently it may be desirable to cover it up an unwanted reflection is picked up constantly from a majority of the area in the room it may be desirable to enter the reflection in the room tables as another door leading to a room the robot will never move to For example in Room 6 in Figure 6 1 the full length mirror gives a reflection picked up everywhere in the room Since it is not desirable to cover this mirror it is entered as Door 2 leading to Room 9 in this house Since there is actually no Room 9 care must be taken to avoid entering any other reflections as doors leading to Room 9 This could cause the robot to find a path through this fictitious room when it navigates 5 Position the robot either in the center of the room or at the room beacon where all the door edge reflectors should be visible and type from the LIFE MENU for verification Continue adjustments until the correct number of reflectors is identified by the robot IMPORTANT We recommend installing reflectors and beacons in stages instead of all at once Then if GEMINI
23. or word whether it is right or wrong using the protocol desc ribed This information is processed by the robot s artificial intelligence and allows the word recognition capability to continually improve 50 As previously mentioned when you use particular mode or function for the first time the robot checks to see if the necessary vocabulary has been trained to your voice if not the robot will direct the training session Table 8 4 provides a complete list of GEMINIS vocabulary Word group 0 trained during the initial training described earlier contains all the user names It is the word group used by GEMINI to identify which user is speaking The remaining vocabularies are divided into five sets numbered 0 4 Each set contains three word groups one for each user Sets 0 1 are trained by each user under GEMINI direction when he she first accesses VOCOL Set 0 contains all the affirmative and negative words recognized by GEMINI These are used to tell the robot when he is right or wrong in his word recognition Set 1 contains the important command words which access each of VOCOL s modes and functions Once you have entered VOCOL and trained Set 0 and Set 1 vocabularies a menu of all the Set 1 words is displayed on the screen as a reminder of the voice commands now available to you Some of these commands require additional voice trainings When a command is given GEMINI determines wheth
24. robot to move If you wish GEMINI to move to Room 5 consult your room chart Table 6 1 say ROOM ZERO FIVE 52 SONG 1 parameter number of song two digits see Table 8 3 Robot plays specified song SOUND 1 parameter number of sound effect two digits see Table 8 2 Robot does specified sound effect SPEED 1 parameter Number of speed setting from 0 slowest to 9 fastest HOME No parameters Causes robot to return to charger SCHEDULE No parameters This causes the robot to give a list of all events scheduled for the day See the chapter the SCHEDULE program STATUS No parameters Robot reports state of battery voltages TIME No parameters Robot verbally gives the time of day NEW No parameters Used in Program Mode to start new program RUN No parameters Used in Program Mode to execute program OPTIONS Return to the main VOCOL menu PROGRAM This command accesses GEMINI s Program Mode of operation This mode utilizes the same word sets as the command mode but it allows execution of the commands to be deferred In other words in Program Mode you write a program for GEMINI using only your voice 53 When you have entered this mode and trained the vocabulary if not already done try this MOVE FORWARD ZERO TWO MOVE REVERSE ZERO TWO RUN This Little program should cause the robot to move forward two robot lengths and then go back t
25. same time could give them a shock LCD The manufacturer suggests that the LCD not be touched It is also static sensitive and a spark could harm the equipment LOOSE CONNECTORS It is not a good idea to touch any of the boards inside the robot However if you need to tighten a loose connector be sure to touch the aluminum frame with one hand before touching the boards Also be sure to check the wiring diagram for the connector if in doubt as to where or how it attaches EXPERIMENTING you are an experimenter and will be fiddling with the electronics we recommend that you buy a static mat and grounding line for the robot s protection They are available through ARCTEC SYSTEMS FOR YOUR PROTECTION The smoke detector on GEMINI is intended to be part of an overall security system It is important that you DO NOT rely on the smoke detector as your only means of detecting a possible Zire or hazard 101 CHAPTER 15 WHAT TO DO IF What do I do if GEMINI is doing somethin i want to interrupt it Simply press the RESET key on the back of the robot REMEMBER If GEMINI was running a BASIC program the RESET button will erase the program from memory Things just don t seem to work anymore The first thing to do is to press RESET If the problem persists check the battery voltages by pressing from the LIFE MENU Low batteries tend to make the robot appear to be malfunctioning If th
26. system In addition a unique VOice COmmand Language VOCOL optional is available for commanding many of GEMINI s actions Training 6 the robot to recognize your voice is effortlessly carried out by the robot itself GEMINI tells you what to say using its voice and the liquid erystal display Once trained the robot remembers that you trained it and constantly updates the word recognition parameters as you use them This adaptive voice recognition feature actually allows GEMINI to improve the recognition of your spoken words the more you talk to it The optional on board keyboard is a full typewriter style keyboard which may be used in a cordless manner via its infrared communications link or with a conventional telephone type extension cord After use the keyboard stores conveniently inside the robot If you did not purchase the keyboard a dumb terminal may be connected via the RS232 link A simple switch setting is all that is required The main computer onboard GEMINI contains sophisticated software to suit every user s pro gramming level DEMO accessed by Function Key 1 or from the keyboard is a menu driven demon stration program in ROM Read Only Memory which lets GEMINI introduce you to a pushbutton sampling of its talents This is a handy way to show off your robot to friends with no programming on your part at all The SCHEDULER program also in ROM allows a user with no programming experience to make the
27. the Living Loop and the LIFE MENU appears on the screen The next section will tell you more about the Living Loop You can now proceed with beacon and reflector installation Door reflectors should be installed about 3 1 2 feet up from the floor as close to the door edge as possible Room beacons should be installed in the same manner with the center of the beacon approximately 38 up from the floor 31 BEDROOM THINGS TO REMEMBER DURING INSTALLATION Some guidelines to follow when setting up the room beacons 1 The Room Beacon should be visible from ali doors through which GEMINI can enter the room Please refer to Figure 6 1 In Room 2 the living room dining room combination a single beacon could not be visible from both door 1 and door 3 In this case two beacons are set to Code 2 and placed in the room such that the relative position of the doors in a clockwise rotation is identical 2 To make sure GEMINI can see the beacon position it about four feet in front of the doorway While in the LIFE MENU type L and GEMINI will search for the beacon and identify what is found If it misses the beacon try adjusting the height If this does not work move the beacon to another location 3 If possible position the door edge reflectors on the opposite side the door is hinged on This may help GEMINI to pick up the reflector To check this type M from the Living Loop and GEMINI will report the
28. this chapter H JUMP This command allows you to run a routine of your own by way of a User Vector For more information refer to the TECHNICAL REFERENCE MANUAL Section 6 1 BYE This command causes GEMINI to exit VOCOL and return to the Living Loop IMPORTANT FEATURE As mentioned earlier when using VOCOL the robot displays a menu on the screen listing the voice commands available at that time Each command in the menu is numbered These are the same numbers shown in Table 8 4 In addition to voice recognition GEMINI will also recognize a word if the number corresponding to that word is typed on the keyboard at the appropriate time For instance when you access VOCOL and identify yourself a menu containing all the Set 1 commands is displayed and GEMINI asks WHAT IS YOUR PLEASURE If at this time you wished to play the guessing game you could either say GAME or type key 4 on the keyboard RETRAINING A WORD GROUP If you should wish to retrain an entire group of words you must first enter the monitor from the Living Loop by pressing function key 5 or number 5 on the keyboard See Chapter 13 in the REFERENCE MANUAL for more information on the use of the monitor Once you are in the monitor type the following command 55 gt 305 00 where represents the group number If group 0 the names is to be retrained then X 0 Otherwise X 3 word set number user number User numbers are 1
29. was attempted in an expression ILLEGAL DIRECT ERROR A command was tried in the direct mode which can only be done in the deferred mode STRING TOO LONG ERROR Too many characters are in one string FORMULA TOO COMPLEX ERROR Arithmetic expression is too complex CAN T CONTINUE ERROR A CONT statement was used where there was nothing to continue 97 SAMPLE BASIC PROGRAM There is no limit to the powerful programs which a person can write for this robot The following program will allow GEMINI to keep anyone s house quiet After reading in the number of rooms and the desired sound level in the house the robot will move to each room and read the sound level If it is too loud the robot will tell everyone to get quiet in a very annoying manner until the desired sound level is achieved 10 REM GET OF ROOMS IN HOUSE AND DESIRED MAXIMUM SOUND LEVEL FOR ALL ROOMS 20 INPUT MANY ROOMS ARE IN HOUSE ROOMS 30 INPUT WHAT IS MAXIMUM ALLOWABLE SOUND LEVEL SND 40 REM USE LOOP TO GO TO EACH ROOM 50 REM ENABLE VIOS 60 ENVIOS 70 FOR 1 1 TO ROOMS 80 IF MOVETO I 0 THEN 120 90 REM ROBOT CANNOT GET TO THIS ROOM SO SPEAK MESSAGE AND TRY NEXT ROOM 100 SPEAK CANNOT GET TO ROOM SPEAK I 110 GOTO 170 120 IF SOUNDS lt SND THEN 170 130 REM TELL PEOPLE TO GET QUIET 140 SPEAK EVERYONE PLEASE BE QUIET 150 REM KEEP REPEATING UNTIL IT IS QUIET 160 GOTO 120 170 NEXT 180 REM DISABLE VIOS BEFOR
30. DY and WAITBOD and will be executed This is a floating point function PAUSE N Will cause the robot to pause for N seconds STPBODY Commands robot to stop immediately if moving ENBUMP Enable bumpers Bumpers are not enabled in any other commands DSPROP and STPBODY disable bumpers automatically DSPROP Disables the propulsion computer 81 COMMANDING 5 HEAD INITHD Initializes the head This is sometimes good idea if for example you don t know where the head is pointing ROTO N Rotate head to absolute position N where N 0 239 Each increment in N is 1 5 degrees ROT DIR STEPS Rotate head the number of STEPS in DIRection specified DIR 0 for clockwise rotation DIR 1 for counter clockwise rotation Returns a 0 if no head stop is encountered or 1 if a head stop was encountered This is a floating point function NOTE The arguments in the above commands can be any valid BASIC floating point expression For example A 5 PAUSE A VOICE 3 1 GEMINI BASIC STRING FUNCTIONS TIME Returns the current time in the format HOUR MIN SEC on a 24 hour basis as a string For example at 09 05 01 a m AS TIMES sets A to 090501 DATES Returns the date in the format MONTH DAY YEAR as a string For example on October 19 1985 PRINT DATES would print 101985 NOTE These strings can be operated on by standard BASIC string functions e g AS LEFTS TIME 1 2 For more
31. E ENDING 190 DSVIOS 200 END 98 if MAINTENANCE SECTION 5 MAINTENANCE 99 14 HANDLE WITH CARE Although GEMINI has a tough exterior its insides are sensitive and need proper care Establishing general rules to follow will ensure you many hours of enjoyment and education STATIC The low power CMOS chips used throughout GEMINI are very sensitive to STATIC During the cold winter months when the heat is turned on high this might become a problem It would be a good idea to use an anti static spray on the rugs GEMINI will be crossing and around its charger Periodically check the static line and mat for proper attachment HEAD The blue foam on GEMINI s head is purely for aesthetics It does not protect the sensor underneath Please do not POKE anything in the foam as damage to the sensor may result SONARS The sonars used on GEMINI are not dangerous However you should avoid touching them especially when they are firing A clicking sound can be heard as each sonar fires BASE When you want to move GEMINI somewhere in a hurry either pick it up by the handles on the base or use the joystick controller It is not good for the motors in the base if the 100 robot is pushed around CHARGER As with any electrical appliance it is a good idea to keep children from playing with the charger Although it should not hurt them touching the two brass plates of the charger at the
32. ELETE ROOM NAME 7 QUIT 1 ADD ENTRY When key on the keyboard is pressed a list of missions is presented WAKEUP SECURITY C POET D STORY E SONG REMINDER BSR H DROID I SENSE J MOVE K HOME L BASIC M EXIT Type in the letter of the mission you wish to assign 51 A WAKEUP This mission assigns the robot the task of moving to the desired room at the time or times indicated to deliver a wakeup message Upon reaching the specified room GEMINI announces the current time and rings its chime It will wait for approximately 30 seconds to hear a sound to detect motion nothing is sensed it will continue to repeat the time and chime every 30 seconds Once GEMINI knows you are awake your typed message will be spoken and a menu will appear with three options 1 SNOOZE 2 REMINDERS 3 HOME If you want to sleep 10 more minutes press Function Key 1 For a list of all reminders in SCHEDULER keyed in for today s date push Key 2 When you are done press Function Key 3 and GEMINI will return to its charger If no keys are pressed within one minute after the menu appears GEMINI automatically heads for HOME HINT Since it takes GEMINI a few minutes to navigate we suggest you set the time a little ahead of when you actually want to get up After a few tries you will know exactly how much of a headstart it will need each morning Enter the following information from the k
33. From the 7 point of view door is defined as an opening which leads into another room or corridor Doors which are usually closed or which lead into places that you don t wish your robot to go such as into closets or out of doors should not be marked with a reflector SPECIAL CASES If all buildings had only rectangular rooms connected by small doorways setting up room beacons and door edge reflectors would be straight forward However architects have filled buildings with corridors L shaped rooms and very wide doorways To set up the room beacons some judgements must be made regarding these special cases For example in Figure 6 1 the living room and dining room have a very wide doorway making it necessary to classify this as one room Another unusual situation exists in the foyer hallway Since the beacon in the hallway would be visible from the foyer doorways it is necessary to consider this an L shaped room and identify it as a hallway in the robot s room tables there is no special classification for L shaped rooms therefore H hallway is used These cases also require the appropriate response to positioning for visibility of all door edge reflectors Both should be entered as a room where all the reflectors can only be seen from the beacon Some experimentation may be necessary in these special cases Table 6 1 provides a place for you to list the room numbers and names so they will be handy in case
34. L LETTER FROM THE PRESIDENT Dear GEMINI Owner Welcome to the fascinating world of advanced personal robotics You have purchased the world s first autonomous robot which is commercially available You will soon find that your robot has a life and personality of its own Its life goals are to entertain educate protect and serve humans and to keep itself alive Whether you are a beginner or an expert in the field of robotics you will find GEMINI has much to offer you It is our intention to make all hardware and software in the robot open and available to you We hope that by doing this you will be provided with countless hours of entertainment and education as well as the opportunity to make significant contributions to the field of personal and industrial robotics We believe all of this is worth much more than the purchase price of the robot We do trust however that you will respect our software copyrights and hardware patents GEMINI is a very complex machine and it will take you some time to fully understand all its hardware and software To help you unravel the mysteries and to provide you with hours of enjoyment learning and exploration we have written two manuals which are intended to address wide range of users Our intention is to serve the beginner as well as the expert in the field of robotics and the manuals were designed with that purpose in mind pe The first manual the USER S MANUAL is
35. NI BASIC STANDARD BASIC COMMANDS The following commands found in most standard BASIC systems are available on GEMINI CURHOME This command clears the screen and puts the cursor in the upper left hand corner FOR NEXT This is a standard FOR NEXT loop found in other BASIC languages Example 110 FOR 1 1 to 4 120 PRINT 1 130 NEXT This program will print on the screen I would is run after the program 110 FOR 1 1 TO 4 120 FOR J 1 6 STEP 2 30 PRINT J 140 NEXT J 150 NEXT I This program will print 1 3 5 four times I would 5 and J would 7 after running 86 110 FoR A 5 TO 1 STEP 1 120 PRINT A 130 NEXT This program will print 5 4 3 2 1 and A would 0 when done STEP is required for decrementing the index and for incrementing other than by 1 GET This statement gets input and assigns it to a variable similar to the INPUT statement Unlike INPUT GET does not wait for a carriage return before assigning Example 110 GET A 120 PRINT A When this program is run the robot will wait for a key to be pressed If you press a 2 CEMINI will immediately print a 2 GOSUB RETURN GOSUB causes execution to begin at the line specified Execution continues from this line until a RETURN is encountered After RETURN execution continues with line immediately following the GOSUB Example GOSUB 30 115 PRINT GOODBYE 120 END 130 PRINT HELLO 40
36. NT A 89 When this is run the following will happen if you type in FRED WHAT IS YOUR FRED FRED NEW This statement clears all BASIC programs and variables from memory PREX This statement changes the output device to the device corresponding to X Devices are 0 SCREEN 1 PROCON 2 VIOS 3 EXTERNAL PORT 4 EXPANSION 1 5 EXPANSION 2 6 PRINTER PORT PRINT This causes the value of the expression after the statement to be printed on the screen More than one expression can be used after one PRINT statement If these expressions are separated by commas the display will tab over eight spaces between each value PRINTed If they are separated by semicolons all the values are printed together A semicolon at the end of the last expression will keep carriage return from being printed after the last value Examples PRINT 1 2 would display 1 2 while 90 PRINT 1 2 would display 12 10 A HELLO 120 PRINT A This would display HELLO This statement sets the variables after READ to the values pointed to in a DATA statement Variables after the READ should be separated by commas Multiple values after DATA should be separated by commas Example 110 READ A B 120 DATA 1 10 130 PRINT A B This would display 1 10 110 READ A B 120 DATA HELLO 130 DATA GOODBYE 140 PRINT A B This would display HELLO GOODBYE Everything after REM on same line as this statement
37. OS N Returns the cosine of N where N is in radians TAN N Returns the tangent of N where N is in radians INT N Returns the truncated value of floating point number N Example A INT 5 3 sets A to 5 RND N Returns a random number between 0 and 255 ABS N Returns the absolute valve of argument N SQR N Returns the square root of N EXP N Returns X raised to N where X is equal to 2 71828183 Example EXP 3 returns 20 0855369 LOG N Returns the logarithm of N ATN N Returns the arctangent of N 93 The following floating point functions use string constants or variables as arguments VAL A Returns the floating point value of the argument where the argument is a number in string form Example 110 A 12 120 B VAL A This would set B to 12 LEN A Returns the number of characters in argument Example A LEN HELLO would set Ato 5 ASC AS Returns the ASCII code of the first character in an argument string 94 STRING FUNCTIONS The following functions return strings which must be used in assignments PRINT or SPEAK state ments or string expressions STR X Returns floating point value X as string Example AS STRS 12 sets AS to 12 CHR X Returns character corresponding to ASCII number X LEFT A X Returns the leftmost X number of characters in A Example PRINT LEFT HELLO 2 would display HE RIGHT A X Returns the right
38. R The dollar sign states that the variable will represent a string A value can be assigned to a variable by the use of the input statement For example 110 INPUT A 120 PRINT 5 A Now type RUN GEMINI BASIC will respond with a The question mark is a prompt to the user to input a number The number that is input will be the value that is assigned to the variable After the value has been assigned the program will be completed 174 20 In this case the number 4 was chosen the user as the value assigned to variable A The program was then completed and the resulting vaiue displayed A new value can be chosen by typing and inputting a new value at the question mark Integer variables must be followed by a For example 1 is an integer variable These variables have no fractional parts and can have values between 32767 and 32767 Their values can be assigned to floating point variables but the reverse is not true will truncate the fractional part and only store the integer value For example A AZ is okay but B A is not 75 Another method of assigning values to variables is through the use of an assignment statement For example JJIOA 5 120 PRINT 20 A RUN 4 Values that have been assigned to variables are stored in the computers memory and can be erased or changed by one of the following methods 1 Anew line is typed or the old line is deleted 2 The NEW command is issued
39. The speech may be turned back on by typing another Control T This is known as a toggle The default condition is with the voice on To give you some practice using SCHEDULER try entering a SONG for the robot to play The words to ROBOTS ARE A MAN S BEST FRIEND are included in Table 8 3 Set the robot to sing you song 8 and then follow along It s one of GEMINI s favorites USING BASIC SECTION 4 USING BASIC 68 10 INTRODUCTION In Sections 1 3 you have discovered that GEMINI allows a user with no programming experience the enjoyment of having a fully functional robot For those users who wish to experiment with a high level programming language GEMINI s main computer provides you with the software needed to utilize the BASIC programming language We call this language GEMINI BASIC GEMINI BASIC utilizes many of the functions and commands found on most personal computers In addition to these commands GEMINI BASIC has special functions which allow use of the robot sensors and effectors There are also functions available which direct the movement of the robot whether it be from room to room or back to the charger station In the following chapters you will be introduced to the standard BASIC functions and commands as well as those which are unique to GEMINI It should be noted that this manual does not attempt to teach you how to program in BASIC If you are new to BASIC and want to learn t
40. USER S MANUAL This manual is to used with the GEMINI Robot System Version 1 0 ARCTEC SYSTEMS INC reserves the right to make improvements to the products described herein at any time and without prior notice DISCLAIMER Although we have done our best to ensure the accuracy of this manual ARCTEC SYSTEMS INC makes no warranties as to this manual or the software described herein the quality performance or suitability for any particular purpose This manual is COPYRIGHTED All rights are reserved It may not be reproduced in whole or in part by any means without prior written consent from ARCTEC SYSTEMS INC The ARCTEC SYSTEMS logo and GEMINI the word and logo are trademarks of ARCTEC SYSTEMS INC TABLE OF CONTENTS A Personal Letter From The President ii INTRODUCTION 1 How To Use This Manual 2 2 Introducing GEMINI 5 GETTING STARTED Your First Look At GEMINI 11 A Robot Comes To Life 18 The Demonstration Program 25 Navigation System Installation 28 DAY TO DAY USE 7 The Living Loop 41 10 40 8 Voice Input Output System VIOS 46 9 SCHEDULER 61 USING BASIC 10 Introduction 69 11 General Information 70 12 Commands Unique To GEMINI BASIC 80 13 More About GEMINI BASIC 86 MAINTENANCE 14 Handle With Care 100 15 What To Do If 102 WARRANTY APPENDIX List of Figures List of Tables List of Pictures 68 99 104 106 A PERSONA
41. and will share your ideas and findings with us 39 DAY TO DAY USE SECTION 3 DAY TO DAY USE 40 CHAPTER 7 THE LIVING LOOP The program which we cali the Living Loop is what gives the GEMINI robot its ability to function autonomously In designing the robot one of our primary concerns was that it be an autonomous being which is always alive and available to humans with very little extra effort on their part We wanted GEMINI to be almost like another member of the family For this to be the case we realized that first and foremost the robot would need to keep its batteries charged without assistance from its user Secondly we asked ourselves what it is that people do to fill up time during the day that could be emulated by a robot The answer we arrived at was that we humans store a general schedule in our minds of what we must accomplish each day meetings chores eating etc and we keep track of the time and try to meet our mental schedule If other things come up such as friends dropping over or the car breaking down we handle them as necessary and try to fit them within our schedule Out of these musings came the concept of GEMINI s Living Loop The Living Loop is a program which is con tinuously run by GEMINI s main computer when it is not being occupied by other tasks It performs the following functions RECHARGING Every minute the battery voltages are checked If the voltage has fall
42. ddy Robots are a man s best friend 59 TABLE 8 4 VOCOL WORD GROUPS Word Group 0 O Name O 3 Name O 6 Name 1 9 Name 2 1 Name 0 4 Name 1 7 1 A Name 2 2 Name 0 5 Name 1 8 Name 2 B Name 2 Set 0 Word Groups 1 2 and 3 0 Yes 2 Right 4 Wrong l Correct 3 5 Negative Set 1 Word Groups 4 5 and 6 0 Command 3 Story 6 Retrain l Program 4 Game 7 Jump 2 Poem 5 Calc 8 Bye Set 2 Word Groups 7 8 and 9 0 Move 4 Room 8 Home C New 1 Head 5 Song 9 Schedule D Run 2 Pause 6 Sound A Status E Options 3 Range 7 Speed Set 3 Word Groups A B and 0 2 4 Four 8 Eight C Forward 1 One 5 Five 9 Niner D Reverse 2 6 Sixes A Right E Point 3 Three 7 Seven B Left F Space Set 4 Word Groups D E and 0 Add 2 Times 4 Equals 6 1 Minus 3 Divide 5 Clear 7 Below 60 9 SCHEDULER The SCHEDULER program is accessed by pressing Function Key 2 or 2 on the keyboard when the Life Menu is on the screen This ingenious menu driven piece of software allows a user with little or no programming experience to assign a multitude of tasks for GEMINI to perform on timed basis As you will see when you read on the sort of tasks to be assigned depends only on your imagination When SCHEDULER is first accessed the following main SCHEDULER MENU appears 1 ADD ENTRY 2 LIST OR DELETE ENTRY 3 ADD MODULE NAME 4 LIST OR DELETE MODULE NAME 5 ADD ROOM NAME 6 LIST OR D
43. e AND BOTH COMPARISONS MUST BE TRUE FOR THE STATEMENT TO BE TRUE Example 5 lt 3 and 621 False 2 gt 1 and 1 1 True 73 CONSTANTS Values executed upon during the use of BASIC are called constants There are two types of constants string constants and numeric constants String constants are a sequence of alphabetic characters enclosed in quotation marks For example HELLO Numeric constants are positive or negative numbers A negative number has a prefix in front of it A positive number is as shown 24 negative 24 positive VARTABLES Variables are names which are used to represent values in a BASIC program As with constants there are two types of variables string variables and numeric variables A string variable can only have a character string value A numeric variable will have a value that is a number A variable name must begin with an alphabetic character and may be followed by an alphanumeric character An alphanumeric character is any letter from A to 2 or any digit from 0 to 9 A variable name can be up to 238 characters long but only the first two characters are used to distinguish one variable from another All of the basic commands are reserved words and cannot be used as variable names A complete list of GEMINI BASIC commands can be found at the end of this section 74 String variable names are written with a dollar sign as the last character For example AS YOU
44. e batteries are fine 11 0 or above try performing a Cold Start IMPORTANT Performing a Cold Start has two effects The first is that all variables are reset to their default conditions The second is that the VOCOL word groups will need to be retrained Technically a Cold Start will only erase the word group training status flags located at 05FO O5FF You can retain the training by entering the Monitor and resetting the flags to their original valves prior to the Cold Start If you do not do this GEMINI will take you through the training passes the next time you enter VOCOL To perform a Cold Start 1 Press the RESET Key and hold 2 Press Function Key 5 and hold 3 Release RESET Release Function Key 5 162 GEMINI will now perform complete system check Refer to your checklist and note any problems If everything checks out see if the problem is gone It might have just needed a fresh start If not call the factory or an authorized service center for help Warnings from GEMINI about low batteries are occurring more often This is a good indication that GEMINI s batteries are weakening Under normal conditions the batteries should last about 1 year Replacement batteries may be obtained through ARCTEC SYSTEMS How do I change the batteries To change the batteries first disconnect the base from the torso by reversing the procedure described in Chapter 3 Remove the battery clamps and then carefu
45. e brass gear and then replace it once the head is in position To remove the gear simply insert the wrench in the holes and turn 12 PICTURE 3 1 TORSO BASE HARNESS CONNECTION PICTURE 3 2 PROPER POSITIONING OF BRASS HEAD GEAR 14 counter clockwise until loose Position the head onto the torso by sliding the brass bushing through the hole and replace the gear underneath Refer to picture 3 2 for proper positioning of the brass gear Usin the same Allen wrench but turning clockwise secure the gear in place Be sure to store the wrench in a safe place for future use To complete the head assembly the plastic shell must be removed Only three screws hold it on as pictured in Figure 3 1 Remove these and lift the shell off Guide the torso harness with connector Jl up through the hold in the bottom of the head plate and connect with the head connector marked Jl If a terminal is to be used instead of the GEMINI keyboard switch settings on the main computer must be changed The switches are shown below PICTURE 3 3 MAIN COMPUTER SWITCHES 15 The following chart lists the proper switch settings for each terminal CONDITION On Terminal off Keyboard 582 543 BAUD RATE Off off 300 On off 600 off On 1200 On On 2400 Finally replace the plastic shells and the assembly is complete This is very important for the protection of GEMINI s circuitry Congratulations you now have a lif
46. e ready to move on press key 5 EXIT When this key is pressed the robot checks to see if the navigation system room beacons have been set up Since this has not yet been done 1 am assuming that you have just turned GEMINI on for the first time the robot will ask if you wish to do it now If the answer is Yes type or Yes IMPORTANT If you do not want to set up the room beacons at this time type or GEMINI will then drop into its Living Loop see Chapter 7 When you are ready to install the navigation system just type and GEMINI will begin requesting data for the room tables If you are now ready to set up the beacons and let GEMINI start to find its way around just turn the page NOTE Once GEMINI has entered the Living Loop and the Life Menu is displayed on the screen the DEMO program can be entered at any time by pressing Function Key 1 or key 1 on the keyboard The initialization and system checkout are only performed when the power is first turned on 27 CHAPTER 6 NAVIGATION SYSTEM INSTALLATION GEMINI is the first personal robot to be equipped with a complete built in navigation system In arriving at the system design our engineers pondered the method used by humans to find their way around a house unfamiliar to them Think for a moment how your own navigation system would operate in such a situation Imagine yourself arriving at a party held in your friend s new house You
47. e sized robot 16 As with any newborn GEMINI must be fed Remove and unpack the charger from Box 1 You should also retrieve the black static mat from the box The next step is for you to decide where GEMINI s home base is going to be placed A central location in GEMINI s environment is suggested but under no means required You can put GEMINI s home base anywhere you want The charger is designed to be placed along a straight wall or in the corner of a room The only consid eration in its placement is that there be at least four feet of clear space in front of the charger Once you have decided on the charger s location place the static mat on the floor first and then the charger on top of the mat Connect the charger static line to the screw on the back left side of the charger This will help dissipate any static charge built up in the robot via the mat and static line Having set up a home base for GEMINI you must now provide an address for this location so GEMINI can always find home This is done by installing a room beacon directly above the charger The room beacon can be found in the same box that the charger and this manual were found On the back side of the beacons is a set of switches The one with switch 1 in the ON position and all others in the OFF position is the home beacon It has been tuned so GEMINI recognizes this as its home addressed beacon The beacon can now be positioned on the wall directly b
48. e your name After six seconds if no keys have been pressed GEMINI will return to the living mode menu If this happens just repeat the steps up to this point If GEMINI says NAME IS TOO LONG try a nickname but use less than 16 letters 2 The robot will repeat your name and ask IS THIS OK If the pronunciation is to your liking type Y you type N you will be asked to retype your name GEMINI uses phonetics and the rules of English pronunciation however as you probably know there are many exceptions to the rules If the spelling of your name happens to include one of these exceptions try misspelling your name to produce the correct pronunciation 3 Next GEMINI will ask ANY MORE USERS If so type Y Two more names can be entered using the same procedure as the first 4 Now the robot will ask each user to repeat his her name several times As mentioned before each user should pronounce the words requested in a firm commanding voice for best recognition IMPORTANT When training or retraining your words wait until an asterisk appears on the screen After this prompt occurs you may then say your word you do not wait for the prompt the robot may miss part of your response 48 When this initial phase of the voice training is complete any of the three users can access VOCOL by voice This is accomplished by first whistling or making a noise to attract the robot s attention or by t
49. eciated Type in the requested information on starting time stopping time etc Then sit back and watch GEMINI take over and do whatever comes to mind its mind 64 I SENSE This mission assigns the task of reporting the state of some of the robot s sensors at a particular time and place The same information is asked for in POET but in addition it lists the name of each sensor and you must type a or following each one depending on whether you want a report of that particular sensor The sensors available are TIME TEMPERATURE PRESSURE J MOVE A simple mission used to position the robot in a certain room at a certain time The questions are the same ones asked for POET K HOME With the exception of WAKEUP GEMINI will remain in the designated room upon completion of its task A scheduled HOME task will send GEMINI back to its charger Once again the input is the same as for POET L BASIC This is a very useful mission Once scheduled GEMINI will automatically execute a BASIC program in its memory The BASIC program must start with line number 10 and end with the EXIT command First type in or load from tape or disk your BASIC program Then answer all the questions like POET regarding time date and place and GEMINI will take care of the rest Use your imagination and have fun EXIT Returns you to the main SCHEDULER MENU 65 2 LIST OR DELETE ENTRY In this command three
50. edge reflectors GEMINI 6 movement is made possible by a four wheel drive propulsion system This system provides the robot with the ability to move over heavy shag rugs without stalling and over door sills without being knocked off course GEMINI has 16 running speeds For safety purposes none are faster than a medium walk GEMINI is equipped with a great many sensors to assist in navigating through the house and detecting problems when on security patrols Most of these sensors are located in the head which rotates 359 degrees They include a room beacon infrared detector door edge infrared detector ultrasonic motion detector smoke detector light detector and sound level detector There are a total of nine ultrasonic collision avoidance and navigation sonars The circular base is entirely ringed with a four segment bumper to allow the robot to know when it has made physical contact with an object undetected by its sonars Voice communications are initiated by the robot when the power is first turned on GEMINI s voice makes use of the latest Silicon Systems 551 263 unlimited vocabulary speech synthesizer You may select one of several different voices for the robot A text to speech algorithm is also included as part of the voice software This allows you to enter voice message memos as text when using SCHEDULER or B SIC GEMINI also contains an accurate speaker dependent language independent adaptive voice recognition
51. ehind the charger and about 42 inches above the surface GEMINI will be running on when it maneuvers to come home 17 4 A ROBOT COMES TO LIFE When GEMINI is first powered up it will introduce itself and perform a series of initiali zation tasks These tasks are for the purpose of determining that GEMINI s systems are functioning properly To assist you in identifying switches and other items referred to during the system checks we have included sketches of the robot s inner structure Figure 4 1 is a front view and Figure 4 2 is a rear view Both are located at the end of this chapter Before turning on the power make sure you have completed the following items 1 Review the Checklist at the end of this chapter This will help you when GEMINI starts its system checks Have a pencil for filling it in 2 Have the keyboard attached and turned 3 Make sure the robot is properly connected to the charger If it is not reposition the robot so as to mate the front charger bumper with the charger brass plates The charger indicator light located as shown in Figure 4 2 should be lit 4 Make sure you position yourself so that you read the LCD screen in the robots back The angle of the display can be adjusted by turning the wheel located as shown in Figure 4 2 When GEMINI speaks its words will appear on the screen This is to help you become accustomed to the synthesized voice At
52. en below a threshold level 11 48 GEMINI reports the voltage Once this 41 level is reached GEMINI will continue to check the batteries every minute and report to you every five minutes If the voltage level is critically low below 10 5 V the robot issues a warning that in one minute it will return to the battery charger If you are in the midst of an experiment or for some other reason do not want the robot to move press any key on the keyboard or any function key except Reset and GEMINI will stay put IMPORTANT In this case you should either put the robot on the charger or bring the charger over to the robot as soon as possible At this point the batteries should recharge fully overnight If voltages fall much below 10 5 V the potential is increased for deep discharge this will shorten battery lifetime considerably A check is also made in the Living Loop to determine if the robot is on its charger If so it will connect the motor and logic grounds for charging The grounds are automatically disconnected when the robot leaves the Living Loop Under normal use GEMINI s batteries should last a year or more Information on how to detect failing batteries and where to buy replacements is in Section 5 Maintenance THINGS TO DO PLANNED AND UNEXPECTED At a rate too fast for most of us to comprehend about 1 1000 of a second GEMINI monitors each user entry port keyboard function keys voice input a
53. er a training is needed and if so carries it out POET STORY RETRAIN JUMP and BYE require no additional training The command words of Set 1 along with the mode or function which each controls are described below 51 COMMAND This accesses GEMINI s Command Mode of operation in this mode the robot will respond immediately to a voice command The list of words recognized in this mode are found in Sets 2 and 3 in Table 8 4 This list must be trained to your voice the first time you access the Command Mode Some of these are one word commands such as TIME which causes GEMINI to speak the correct time Other commands need further parameters A list of the commands from Set 2 and their necessary parameters from Set 3 follows MOVE 2 parameters Direction and number of feet two digits to move If you want GEMINI to move forward eight feet the command is MOVE FOR WARD 2 Other directions are REVERSE RIGHT and LEFT HEAD 2 parameters Direction and number of steps to turn head Each step represents 1 5 degrees If you want GEMINI s head to turn right 45 steps the command is HEAD RIGHT FOUR FIVE PAUSE 1 parameter Number of seconds to pause used in Program Mode RANGE 1 parameter One digit sonar number 0 8 Causes robot to report the range received when the requested sonar is fired ROOM 1 parameter Two digit number indicating room to which you wish
54. es forward until on charge GEMINI will make 2 3 attempts at each stage in navigation If it is unsuccessful it returns with one of the error codes listed in Section 4 on BASIC PLEASE be patient with GEMINI as it navigates through the house You should not expect it to find its way around at human speeds The robot possesses a much less sophisticated navigation system than we humans with far fewer sensors and inferior computing capabilities compared to the human brain GEMINI may occasionally get stuck or lost and will sound a bell alerting you However it is our experience that approximately 90 of the time the robot will manage to reach its destination The system works best in an ideal situation i e perfectly square uncluttered rooms with no mirrors or other reflective surfaces to give false reflections However this ideal environment does not exist in real life Real homes and offices have oddly shaped rooms unexpected obstr uctions and shiny surfaces which may interfere with reflector detection It will probably take time and patience for you to work the bugs out of GEMINI navigation in your environment 38 Our engineers are continuing to experiment in the field of robot navigation As we make further improvements and refinements we will pass the new navigation technology on to you the pioneer personal robot owner We hope you too will experiment with your robot s navigation
55. eyboard Time Enter in 24 hour format like this 1700 return Don t type the quotes just the information inside Months Enter the number or numbers of each month in which you wish the mission performed i e if you want it done in January February and March enter 1 2 3 return You can also enter it as a range of months from 1 3 62 Days or Dates Enter the day days of the month that you wish the mission performed separated by commas i e 1 2 7 31 return or 1 2 7 28 31 return What Room Enter the number of the room where you want the mission performed or its name See ADD ROOM NAME below Message Type in the message you wish GEMINI to deliver B SECURITY This mission assigns the robot the task of making a programmed security patrol Control of the RCS computer and most of GEMINI s sensors are available in SECURITY Information regarding the SECURITY patrol accompanies the optional SECURITY program It is available through ARCTEC SYSTEMS C POET This mission assigns the robot the task of reciting five original poems at a particular time and place The questions are the same as for the WAKEUP mission except that there is no message D STORY This mission assigns the robot the task of telling an original story at a particular time and place The questions asked are exactly the same as those for POET E SONG The robot sings a song at the time and place designated T
56. has any problems you can correct them before you proceed If at any time you wish to make changes in the room table data type You don t have to re enter the whole data table Simply hit RETURN after each data request if you want to leave previous data entries unchanged When you reach the point in the table where you want to make a change type in the new data 34 ROOM NUMBER 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ROOM BEACON ASSIGNMENTS ROOM NAME TABLE 6 1 35 SWITCH SETTING 1 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 2 OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON 3 ON ON ON ON OFF OFF OFF OFF ON ON ON ON 4 OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON WHAT GEMINI WILL DO WHEN NAVICATING ROOM TO ROOM The navigation software has extensive obstacle avoidance capabilities However it adds a consi derable amount of time to the process of moving from room to room if there are many obstacles to avoid It is recommended that frequently used paths be kept clear for GEMINI It is also desirable to keep all doors opened wide As soon as a command is given to GEMINI to move to another room the first thing it will do is scan for the room beacon with its head it finds the beacon the robot will siow its head down as it moves across the beac
57. he questions asked are the same as for POET except for one additional SONG Consult the list of GEMINI s songs in Table 8 2 for the song number and enter it 63 F REMINDER This mission allows you to give the robot a reminder message to be said at a particular time or place It asks for the same questions as WAKEUP These reminders can also be heard after a WAKEUP by selecting Function Key 2 provided they carry the same date month and day as the WAKEUP task BSR This refers to the BSR tm home control system which comes as part of the optional Remote Communication System RCS Computer It can control lights and appliances turn on sprinkling systems control heating systems and perform other useful tasks Consult your RCS manual which comes with purchase of the unit for BSR setup information This mission entry requests Time Months Days and also the following Module Code or Module Name See ADD MODULE NAME below Refer to your RCS manual for this number Module Command The commands are 1 ALL OFF 2 ALL ON 3 ON 4 OFF 5 DIM 6 BRIGHT The command All On All Off turns on off all modules in the same section as the module given Options 5 and 6 DIM and BRIGHT request a level from 1 to 9 NOTE DIM and BRIGHT commands cannot be used on some appliances such as television sets without serious damage occurring Please consult the RCS manual H DROID This mission has to be experienced to be appr
58. her or not foreseeable and whether or not based on breach of warranty contract or negligence in connection with the sale of this product Some states do not allow the exclusion or limitation of incidental or consequential damages so the above limitation or exclusion may not apply to you EFFECTIVE WARRANTY DATE Warranty begins on the date of purchase at retail by the first end user For your convenience keep the dealer s or manufacturer s dated bill of sale or invoice as evidence of the sale The proof of purchase must be provided when warranty service is requested USER S AND TECHNICAL REFERENCE MANUALS Read your User s Manual and your Technical Reference Manual carefully so that you will understand the operation and care of your product WARRANTY SERVICE For warranty service contact your dealer or any Arctec Systems approved service facility Parts and service labor that are Arctec Systems responsibility under this warranty will provided Other service and transportation at the User s Expense 105 APPENDIX FIGURE 3 1 FIGURE 4 1 FIGURE 4 2 FIGURE 6 1 TABLE 6 1 TABLE 7 1 TABLE 8 1 TABLE 8 2 TABLE 8 3 TABLE 8 4 TABLE 12 1 PICTURE 3 1 PICTURE 3 2 PICTURE 3 3 LIST OF FIGURES EXTERIOR ABS PLASTIC SHELLS 13 INTERIOR STRUCTURE FRONT VIEW p 22 INTERIOR STRUCTURE REAR VIEW p 23 SAMPLE BEACON AND REFLECTOR p 32 LIST OF TABLES ROOM BEACON ASSIGNMENTS 35 LIVING
59. here are a number of good books available to help you If you did not purchase GEMINI BASIC and would like to do so just fill in the order form and mail it to ARCTEC SYSTEMS We will ship it right away We hope you will have many productive and enjoyable hours programming with GEMINI BASIC Let us know how you are utilizing GEMINI BASIC and if you have developed programs which you feel would be useful or enjoyable to fellow users 69 CHAPTER 11 GENERAL INFORMATION To enter BASIC you must be in the Living Loop Item number 3 on the LIFE MENU is BASIC After pressing function Key 3 or key 3 on the keyboard you will see a prompt Now you are ready to begin programming MODES OF OPERATION In GEMINI BASIC you can enter commands in either the immediate or deferred mode Commands given directly following the prompt and concluded with a return are immediately executed For example try typing the following JPRINT 7 2 followed by the return key GEMINI BASIC will immediately return 9 Commands given in the deferred mode are preceded by a line number A line number is an integer from 0 to 63999 A sequence of commands is called a program Programs are executed by typing the word RUN followed by a return Each line of the program is executed in numerical order beginning with the lowest line number Type the following 110 PRINT YOUR NAME 120 10 RUN 70 As you can see your name is printed in a
60. hot chimes and others GEMINI can also sing while accompanying itself on a synthesized piano This computer uses high speed CMOS logic for almost all of its parts The third auxiliary computer optional is not located on the robot Called the Remote Communication System computer RCS it is designed to handle remote communications with the robot via a radio link The RCS can be controlled directly by the robot or the robot can be called by the RCS The latter feature allows the RCS to be used as a remote entry device The RCS is equipped with a BSR controller which allows the robot to turn on off lights appliances security devices etc The robot could also be programmed to turn on off a personal computer or printer GEMINI could then command the RCS to connect with the computer or printer and thus upload or download data into its memory The RCS may also be commanded to hook to its on board modem allowing GEMINI to communicate by telephone Heard enough yet There s more but this should give you a pretty good overall idea of GEMINI s versatility and depth But a robot must be USED to be appreciated so turn the page and 11 get on with the show 9 STARTED SECTION 2 GETTING STARTED 10 CHAPTER 3 YOUR FIRST LOOK AT GEMINI The GEMINI System will arrive at its new home in four cartons The number on the carton relates to the sequence in assembling the robot Box 1 contains the access
61. icate with the robot by voice an on board keyboard or terminal or a remote communication system computer connected to a personal computer or a telephone GEMINI is about 48 inches tall 20 inches in diameter at its base and weighs about 70 lbs The robot has many human like qualities It periodically monitors its power system and issues warnings when battery voltages go below a threshold level If voltages become critically low GEMINI issues a one minute warning then automatically seeks out its battery charging station In addition GEMINI continually monitors the on board real time clock to determine if a task is scheduled to be carried out while watching for input from any of the user entry ports voice input keyboard input built in function keys or remote communication system Scheduled tasks are entered into the robot through the SCHEDULER program which may be accessed by the keyboard Function Key 2 or the remote communicator This program allows a user with no prior programming experience to assign the robot tasks to be performed in a certain room or rooms at a certain time or time interval These tasks may include wake up calls reminders security patrols operating lights and appliances telling stories reciting poetry and more 5 The robot carries out these tasks by navigating through the rooms and doors of the house with a unique inexpensive and easily installed system of infrared coded beacons and door
62. information on string functions refer to Chapter 13 MORE ON GEMINI BASIC 82 SPECIAL GEMINI BASIC FLOATING POINT FUNCTIONS BAT N Returns voltage level in decimal of battery N where 0 is the left motor battery 1 is the right motor battery and 2 is the logic battery BSR HC CC UC LC To execute a command through the RCS the BSR command is available This will allow you to control lights and other appliances from BASIC All arguments are floating point numbers HC House Code 0 for A 1 for 2 thru 15 for P CC Command Code 1 All Off 2 All On 3 On 4 Off 5 Dim 6 Brighten If Command Code is 1 2 only give House Code and Command Code If Command Code is 3 or 4 give UC Unit Code If command is to Dim or Brighten the Level Code is required LC Level Code 0 9 Consult the RCS manual for use of Dim and Brighten commands If BSR is done successfully it returns a 0 If not it returns a 1 83 Returns 0 if the robot is on the charger l if not LIGHT Returns a value from 0 255 for the light level in room MOTION Returns 0 if no motion is being detected and a if motion is being detected NOTE All above functions can be used as valid BASIC floating point functions For example the following are valid PRINT LIGHT A BAT 0 C SOUND MOVETO 0 MOVETO N Move robot to room N Returns a 0 if accomplished else returns an error code See Table 12 1
63. is ignored This is used to put comments into programs Example 110 REM THIS PROGRAM WILL CAUSE HELLO TO BE DISPLAYED ON SCREEN 120 PRINT HELLO 91 RESTORE This statement sets the data pointer to the first value after the first DATA statement This causes the next READ statement to begin reading data at this statement Examples 10 READ A B 20 RESTORE 130 READ 140 PRINT A B C 150 DATA 1 2 3 This would print 1 2 1 110 READ A 120 READ B 130 RESTORE 140 READ C 150 DATA 160 DATA Es 170 DATA This would set A to and c to RUN This statement runs a BASIC program no line number is given the program is run from the beginning Otherwise it is run from the line specified name 15 put after run the file by this name is loaded from disk or tape and run Examples RUN RUN 10 RUN MYPROG 92 FLOATING POINT FUNCTIONS The following standard floating point functions are available in GEMINI BASIC These functions are used in the same manner as they are in other BASIC languages They all return floating point values which can be assigned to floating point variables They can also be used to put values into expressions Examples of legal uses PRINT SIN 10 A SQR 9 A 5 LOG 2 The arguments in the following functions must be floating point constants variables or expressions SIN N Returns the sin of N where N is in radians C
64. ith all the chores the robot must perform The propulsion system is completely controlled by its own microcomputer system PROCON which is under the direct command of the main computer This computer controls a four wheel drive system using pulse width modulation techniques and infrared LED feedback for speed and distance control The robot is able to track in a nearly perfect straight line for precisely commanded distances either forward or backward with accuracy around 1 inch over 1078 of feet PROCON constantly monitors the four contact bumpers on the base when they are activated and will stop the robot if any bumper makes contact with an object This computer contains 2K of RAM and 2K of ROM and can be turned on and off by the main computer This computer also uses all high speed CMOS logic The second auxiliary microcomputer handles voice input output and sound generation VIOS The main computer can command VIOS to enter one of three modes 1 voice recognition 2 voice synthesis and 3 sound synthesis Voice recognition allows for recognition of up to 256 words or short phrases in 16 groups of 16 words each Each group may be individually trained and all groups use the adaptive voice recognition updating feature The voice synthesis mode provides a versatile array of programs It can convert typed text into spoken words sing and change its voice The sound generator contains numerous canned sound effects including a guns
65. lly disconnect the battery terminals BE CAREFUL not to touch the terminals together or against the aluminum frame The sparks could harm GEMINI and scare you After replacing the batteries connect the terminals checking to be sure the red wire goes to the plus side of the battery and the black wire to the minus side Re assemble and when powered up GEMINI will do its system self check The battery voltages should be okay but if not put it on the charger for a while and check back in a few hours HINT Enter a reminder for about eight months from today to call ARCTEC SYSTEMS and order GEMINI a set of batteries for next time If problems still persist please call the factory or an authorized service center for help We hope you enjoy your new ROBOT FRIEND 103 WARRANTY YOUR ARCTEC SYSTEMS 90 DAY LIMITED WARRANTY This is a Limited Warranty as defined in the U 8 Consumer Product Warranty and Federal Trade Commission Improvement Act This warranty gives you specific legal rights and you may also have other rights that vary from state to state within the United States WARRANTY APPLICABILITY This warranty covers only the Arctec Systems assembled GEMINI product and is not extended to other products or com ponents that a customer uses in conjunction with this product This warranty does not cover software products or damage to products caused by software products This warranty applies only to the first end user of the A
66. most X number of characters in A Example C RIGHT HELLO 3 would set C to LLO MID A X Y Return Y characters starting with the Xth character in A Example PRINT MIDS HELLO 3 2 would display LL 95 BASIC ERROR MESSAGES Since we are HUMANS instead of ROBOTS we are prone to make mistakes from time to time If this happens BASIC will let you know with an error message The following is a list of BASIC error messages and what they mean the error occurs in deferred mode the message will be followed by the line NEXT WITHOUT FOR ERROR A NEXT statement was used without a corresponding FOR statement SYNTAX ERROR Mistakes exist in spelling of words or format of statement gt RETURN WITHOUT GOSUB ERROR RETURN statement is used without corresponding GOSUB OUT OF DATA ERROR READ statement tried to read beyond the DATA statement ILLEGAL QUANTITY ERROR A floating point argument was used in a statement which is not a legal quantity for this argument OVERFLOW ERROR An overflow has occurred in an arithmetic expression OUT OF MEMORY ERROR Program and variable space are too large UNDEF STATEMENT ERROR A GOTO GOSUB or RUN to an undefined line was attempted REDIM D ARRAY ERROR A DIM statement was tried on an array which has already been dimensioned BAD SUBSCRIPT ERROR An illegal subscript was used in an array 96 DIVISION BY ZERO ERROR Division by zero
67. nd remote computer This is in case we have something new for it to do Otherwise once every minute a check is made to see if a scheduled task is due to be performed and if it goes off to do it Thus GEMINI emulates in a primitive way the daily activities of a person Except better GEMINI rarely speaks 42 unless spoken to and always does what it is told If you purchased the optional smoke detector it is also checked while in the Living Loop Should GEMINI detect smoke it will sound the buzzer until the smoke is no longer present When GEMINI is in the Living Loop the following menu appears on the screen LIFE MENU 1 DEMO 2 SCHEDULER 3 BASIC 4 REMOTE 5 MONITOR Using this menu you can access any of GEMINI 5 modes either by the indicated function keys or the keyboard Also VOCOL VOice COntrol Language can be accessed by whistling making a loud noise or pressing key S To use VOCOL the robot must first be trained to your voice Chapter 8 provides details on operation of the optional VOice COmmand Language Here is a brief description of each of the modes listed in the Life Menu 1 DEMO This menu driven demonstration program is the same one used by GEMINI when its power is first turned on minus the initialization and check out phases You can sample the robot s talents with the push cf a button This is a good program for showing off GEMINI to friends For more details on DEMO refer to Cha
68. newsletter so all can advance their knowledge po pe pe Please feel free to write or call us at anytime We like robots and people ack W Lewis President SYSTEMS Incorporated 9104 Red Branch Road Columbia Maryland 21045 Tele 301 730 1237 iv f INTRODUCTION SECTION 1 INTRODUCTION CHAPTER 1 HOW TO USE THIS MANUAL You are now reading the User s Manual It contains the information you will need to install GEMINI comfortably and effectively in your home or office Descriptions of all of GEMINI s operating modes are given Although GEMINI itself will provide you with much information on the use of its systems many important details are covered in this manual We recommend that you eventually read it cover to cover for maximum insight into your robot s interesting personality If you review the Table of Contents of this manual you will see that it is divided into five major sections Section 1 which contains the first two chapters introduces the user to the robot and its capabilities These chapters are essential reading and will give you a feel for what GEMINI is all about Section 2 called Getting Started encompasses Chapters 3 6 and explains all the details of unpacking and assembling the robot connecting the charger and setting up the robot navigation system so GEMINI can find its way from room to room Due to the sensitive nature of GEMINI s eleccronics
69. o the original position One small step for robots one giant leap in man machine communications C POEM This command causes GEMINI to use his artificial intelligence to compose five haiku type poems and then recite them for your listening pleasure GEMINI sometimes tends to get carried away by its own brilliance D STORY The same artificial intelligence is used to tell a spacey story and we do mean spacey E GAME This command causes GEMINI to play number guessing game with you Briefly the game is played like this First you pick a number between 0 and 99 GEMINI will try to guess it asking each time whether the number guessed is above or below the target number When it guesses correctly GEMINI will then pick a number and ask you to guess what it is Once you have guessed the number correctly GEMINI will declare a winner based on the number of tries it took before the correct guesses were made F CALC This command allows you to use GEMINI as a voice calculator Vocabulary Set 4 must first be trained to your voice The commands available are ADD SUBTRACT TIMES DIVIDE and EQUALS Example To add 2 3 5 say TWO SPACE ADD THREE POINT FIVE SPACE EQUALS GEMINI will tell you the answer 54 G RETRAIN This command allows you to retrain a single word GEMINI will ask you to type in the word to be retrained For retraining an entire group see RETRAINING A WORD GROUP in
70. on Then GEMINI will briefly pause and continue If it doesn t find the beacon GEMINI will scan the room with its sonars to attempt to find the room center Once the location of the center is found GEMINI moves as close to this area as it can Once there it searches for the beacon again Once the beacon is found GEMINI consults the room tables and decides if it is necessary to move to the beacon to scan for reflectors Once in position it proceeds to do a complete scan of the room to find all reflectors If the number of reflections does not agree with the number in the room tables GEMINI will either move to room center again or reposition around the beacon When GEMINI finds the right number of reflec tions the robot turns its body to line up with the correct reflector The robot will then attempt to move to within three feet of the reflector If an obstacle is encountered while performing this move the robot should detect it with its sonars or bumpers GEMINI will back up about 36 six inches to be clear of the obstacle and then turn left 90 degrees It will make six successive 30 degree right turns Between each turn the robot will fire its sonars This shows it a clear direction to move around the obstacle The robot then turns to the clear direction and moves a few feet while tracking the reflector The robot then turns back toward the reflector and proceeds to try to move to it again GEMINI is in a hallway
71. ories Boxes 2 3 and 4 hold the base torso and head respectively To assemble GEMINI you will need an 11 32 wrench pliers and a screwdriver As assistant is recom mended Since you are reading this manual you have opened the correct box If a keyboard additional room beacons and or door edge reflectors were purchased they should be included in this box Please check the packing list to verify that all parts are there and then set this box aside You will need it again after the robot is assembled NOTE If you have not read Chapter 14 Handle with Care in Section 5 please do before continuing Now to assemble a robot First open Box 2 and remove the base section Be careful the base contains the batteries and is heavy The front of the base is identified by the brass plated bumper known as the charging bumper This will be important when positioning the torso Located on the top of the base are eight shock mount studs for attaching the torso Using the 11 32 wrench remove the nuts and set them aside until the torso is in position GEMINI s torso in the container marked Box 3 is the next section to unpack Making sure that the barrel is right side up remove the locking safety wire with pliers Pivot the lock clockwise to point at six o clock and then pull the handle towards you releasing the aluminum li ring Now carefully slide 5 torso out of the container If you ever plan to tran
72. other surface within the sonar s range a false reading may be given Don t be disturbed by this 20 11 check of the head drive system is done next followed by a search for room beacons and door edge detectors Don t worry if the beacon is not picked up a height adjustment will probably solve the problem 12 The motion detector is the last thing to be tested When instructed move your hand in front of the motion detector The location is shown in Figure 4 1 When initialization is completed GEMINI goes directly into the demonstration program At last you can actually USE your robot 21 lt 2 a a NOILOW YOLOALIG YOLOILIA NOILVIOY ool SOLA 2942 711 TNINAD 151 0 INIWAD 43 ay 23 sUIMOL O 5 THE DEMONSTRATION PROGRAM GEMINI Demonstration Program DEMO is an easy to use program designed to show off the varied talents of your robot It is so easy to use that it does not even require a keyboard for input The function keys on the robot are all that is needed and as for talent GEMINI speaks for itself When GEMINI enters DEMO a menu is printed on the screen It looks like this PLAY IT AGAIN GEMINI AUTHOR
73. pter 5 of this manual This is the only program that does not require a keyboard to set up 43 2 SCHEDULER This program allows a user with absolutely no programming experience to enter scheduled events into the robot You may use either the on board keyboard or the optional Remote Communication System computer Examples of tasks that can be entered are wake up calls reminders home security patrols operating lights and appliances playing music telling stories reciting poetry and more Refer to Chapter 9 for full details on use of SCHEDULER 3 BASIC This high level language allows the novice or expert to use GEMINI as a standard personal computer or to write powerful programs commanding the robot s functions In addition to all the standard BASIC commands GEMINI BASIC has special functions to allow easy use of all robot sensors and effectors It also has functions to move the robot to any room in the house and to move it to the charger station from any room in the house Complete details on the use of this powerful language are contained in the section on GEMINI BASIC in this volume BASIC is included in the GEMINI Educational System and is an option available to other users through ARCTEC SYSTEMS 4 REMOTE The robot communicates with this independent computer system via a radio link The Remote Communication System RCS computer can be controlled directly by the robot and vice versa Complete details on installa
74. rctec Systems assembled product who becomes such by purchase at retail This warranty is not assignable WARRANTY EXCLUSIONS This warranty does not extend to installation and adjustment at the User s location or to a product which has been subjected to misuse abuse neglect accident improper installation application or alteration including but not limited to electrical mechanical or cosmetic including removal of Arctec Systems nameplates logos trademarks or identification without the expressed written authority of Arctec Systems or subjected to negligence in use storage transportation or handling CMOS circuitry is extremely sensitive to static electricity and all CMOS chips are excluded from this warranty SERVICE LABOR For a period of 90 days from the effective warranty date Arctec Systems will pay for service labor by an Arctec Systems approved service facility when needed as a result of defective 104 workmanship and material in your GEMINI Arctec Systems assembled product PARTS New or rebuilt replacements for factory defective parts will be supplied for 90 days from the effective Warranty date Replacement parts are warranted for the remaining portion of the original warranty period DAMAGES Under no circumstances shall Arctec Systems be liable in any way to the user for indirect special incidental or consequential damages including but not limited to any loss of business or profits whet
75. robot perform useful and entertaining tasks around the home For the beginner and intermediate there is GEMINI BASIC in ROM This is the familiar BASIC high level programming language expanded to include the capability to write complex programs for the robot that involve movement sensor input and remote control of devices For the more skilled programmer there is a MONITOR program in ROM which provides the user access to the new CMOS 65C02 microprocessor and on board machine language subroutines The MONITOR also contains a built in 65002 disassembler for program debugging 7 Hardware located the main computer is quite extensive There is a real time clock 16 channel analog to digital converter random number generator an RS232 serial port a Centronics style parallel printer port and a high speed bi directional parallel data transfer port for program development using another computer all with built in driver programs Memory consists of up to 56K of battery backed CMOS RAM Random Access Memory and up to 63K of ROM There are also four slots for user experimentation and new peripherals and room for an optional CMOS 3 1 2 inch floppy disk drive or wafer endless tape drive The entire computer uses the new low power high speed CMOS logic so the robot will only need to recharge its batteries infrequently In addition to the main computer there are three other auxiliary computers each with its own RAM and ROM to help w
76. rway GEMINI immediately checks the new room beacon to make sure it is where it expected to be If not it backs up and repeats the scanning procedure As it moves along a path it uses the front body sonars and base bumpers to avoid obstacles and possible contact with objects If it discovers an obstacle in its path it searches for a way around it GEMINI will make up to three attempts to get to the right room Before the system can be implemented you must install the room beacons and door edge reflectors When you first set up the battery charger station you should have installed its home beacon code 1 at the same time Consult Chapter 3 for details The room in which the charger is located is always Room 1 It needs no additional beacon The other room numbers should be assigned by you in a logical manner It helps to sketch a floor plan of your house showing all the rooms and doors A location should be chosen in each room for the coded beacon It should be ina position such that the beacon can be seen from all the doors GEMINI will be using One door edge reflector must be placed as close as possible to the edge of each door It may be placed on either the right or left side On your floor plan sketch after you have numbered all the rooms and marked the location of each coded room beacon you must next number the doors in each room CLOCKWISE from the beacon This is very important for GEMINI s navigation 29
77. sport GEMINI to other locations these containers should be saved for your convenience The front of the torso can be identified by the multiple sonars and dual speakers Position the torso for the same orientation as the base At this point it is necessary to remove the plastic shell on the torso To do this simply remove the three plastic finger screws on each side of the torso These can be seen in Figure 3 1 There are four screws remaining two on the lower front and two on the lower back While holding the shell in position remove the front lower screws and the shell should come off Repeat for the back side Taped to the lower torso aluminum plate are jumpers for battery backing of the Main Computer and VIOS Locate the green and white battery on each board and slide the connector onto J20 on the Main Computer and J5 on VIOS At this point in the assembly a second person is helpful While carefully handling the torso so as not to touch the electronic components guide the base wire harness through the opening in the large aluminum disc Align the holes with the eight shock mount screws on the base and secure with the hex nuts Connect the base connector Jl to the large torso connector marked J4 as shown in Picture 3 1 The last step is to connect the head which is in the remaining box marked 4 the underneath side there should be a small Allen wrench attached Please find and remove This is used to first remove th
78. through a specified line type LIST 100 To list a program from a specific line through the end of the program type LIST 100 To temporarily halt a listing depress the space bar To continue press the space bar again To cancel the list command type a Control C The BASIC prompt should appear DEL The DEL command is used to delete lines of a program For example DEL 10 10 will delete line 10 DEL 10 100 will delete lines 10 through 100 DEL 100 will delete all lines from 100 through the end of the program 79 oe CHAPTER 12 COMMANDS UNIQUE TO GEMINI BASIC In addition to BASIC commands that are the same as or similar to commands used on the most popular personal computers GEMINI offers you an incredible array of commands with which you can task the robot and or get information from its many sensors The following is a summary of the commands unique to GEMINI The best way to get acquainted with them is to experiment You will find many things to do you never dreamed of when you first got your robot MAKING SOUNDS PLAYING MUSIC AND SPEAKING The following commands allow you access to the VIOS computer To successfully use this computer it must be enabled and disabled The following commands are for making sounds playing music and speaking ENVIOS Enables the VIOS computer This only needs to be done once MKSND N N sound number Generates the sound specified by N See Table
79. tion and operation of this powerful computer are provided in the RCS manual which is obtained with purchase of the unit 5 MONITOR GEMINI s monitor is an extensive program which acts both as an initial supervisor of and a slave to other programs It contains its own command language which can be used to alter memory locations examine programs control bit ports and much more Details on the monitor are found in the TECHNICAL REFERENCE MANUAL 44 OTHER LIVING LOOP OPTIONS When GEMINI is in the Living Loop with the LIFE MENU on the screen a number of useful system tests can be run each with a single key stroke Table 7 1 lists the tests and their keystrokes TABLE 7 1 LIVING LOOP SYSTEM TESTS TO TEST Voice 1 0 System TYPE Batteries Read Only Memory Card Random Access Memory Disk or Tape Drive Operation Keyboard Clock Propulsion System Bumpers Sonars Head Room Beacon Door Edge Detector Motion Detector Temperature Time Pressure Enter Room Table Entry Program Enter VOCOL 45 8 VOICE INPUT OUTPUT SYSTEM VIOS VIOS is the auxiliary microcomputer which handles the job of voice input voice output and sound generation There are three major user functions in VIOS These are voice recognition voice synthesis and sound synthesis The voice recognition function is carried out through the VOice COmmand Language VOCOL and is
80. ven thought of However included in the two manuals are all the things we HAVE thought of and want to share with you So please read them and keep the volumes in a handy place because you will probably want to refer to them frequently In particular we believe it is essential you read Sections 1 and 2 of this USER S MANUAL right now before you proceed with unpacking It is very important for the proper functioning of your robot in the future that the installation and assembly are done with care GEMINI is a VERY COMPLEX mixture of electronics and mechanical machinery Once installed correctly it should require a minimum of attention But it is very worthwhile during this initial setup to give it your undivided attention Checklists have been provided so that you can keep track of each item as it is tested It would be best NOT to unpack GEMINI until you are prepared to spend a period of at least 3 to 4 hours of uninterrupted time installing and setting up the navigation system NOW we realize that you are getting anxious to actually meet GEMINI so read on 2 INTRODUCING GEMINI GEMINI is a truly autonomous robot servant capable of finding its way throughout a typical home in order to carry out scheduled tasks assigned to it by a user The robot communicates with its human family by voice and or written text using an on board liquid crystal display 40 characters by 8 lines You commun
81. you forget the order of assignment It also includes the beacon switch settings for each room number Please fill them in now Use a pencil in case you need to make changes later 30 Now you are ready to provide GEMINI with the data for the room tables If you are in the LIFE MENU type to enter this data The robot will display on the screen and say 1 THIS HALLWAY OR ROOM TYPE H FOR A HALLWAY OR R FOR A ROOM After typing the appropriate key GEMINI will say ENTER BEACON CODE FOR THIS ROOM Simply type in the number you have set the beacon for in this room For most rectangular rooms all the door reflectors should be able to be seen from most anywhere in the room However in some cases there may be only a small area in the room from which all the reflectors can be seen The room table entry program will say IF ALL REFLECTORS CAN BE SEEN FROM ROOM CENTER TYPE IF ALL REFLECTORS CAN ONLY BE SEEN FROM THE ROOM BEACON TYPE Give appropriate response for this room GEMINI will then ask for the number of doors in this room which room is on the other side of each door on which side of the door the reflector is located L or R and a rough estimate of the width of each door in inches Note that a door can have different numbers depending on which room the door is seen from The robot will ask for this information for each room When you have entered all the information GEMINI 5 main computer now moves into
82. yping S GEMINI will respond with GEMINI LISTENING Say your name in a firm voice GEMINI will say CONFIRM and repeat the recognized name the robot has identified you correctly make some sound If GEMINI hears no response he will repeat GEMINI LISTENING and you can try again At this point in order to make use of the many features of VOCOL each user must go through several additional vocabulary trainings However it is no longer necessary for all three users to be present Whenever a particular user wishes to access VOCOL GEMINI will check to see if a vocabulary training is needed for that person If so the training will be carried out under the robot 5 direction Each training consists of three phases an adaptation phase and two training passes through the vocabulary set The adaptation phase allows the voice recognizer to adapt to the frequency range of the user s voice When the recognizer has adapted to the voice it then asks the user to repeat each word in the set twice During these two passes through the vocabulary a digital pattern of each word is created and saved by the robot Since it would be very tedious for you not for GEMINI to train all of the vocabulary words at one sitting VOCOL has been structured so that a particular group of words is not trained until actually needed by that user Table 8 4 contains a complete list of GEMINI s vocabulary groups They are described in detail in the

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