1958 - "Tortilla" Cybernetic Tortoise - (Ukraine)

Fig. 38. Schematic of the charge, voltage conversion, the element changes tropism and chain contact device "turtle" "Tortilla".

Fig. 39. Schematic of extreme search direction of the "turtle" "Tortilla".

Fig. 40. Schematic of reaction "turtle" "Tortilla" with the whistle.

Information and images courtesy Waldemar DekaÅ„ski from Poland (January 2010).

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English Translation

Cybernetic tortoise. Consider another example of a software system, where self-transformation program obeys no one, but several requirements. An example might be "tortoise" Walter [9], [59], [50]. "Turtle" is an automatic toy
and
reproducing all the main features of the behavior of living turtles. Structurally, it has been implemented in the form of a small truck on three wheels, in which there are two servo-motor (move forward and turn), electromagnetic
and
relays, electronic equipment and power supply battery.
If the battery is well charged, the "turtle"
behaves as a well-fed and looking for a dark corner in the room. If
the battery is discharged, the "turtle" is looking for a manger.
Such a "trough" is a place to charge the battery, illuminated by a strong electric light. "Turtle" is looking for the light and going to a place charging stands there until you charge the batteries. Then again takes place in a dark room.
The first "turtle" Walter (called "Elsie" and "Elmer") reacted to the light source only depending on the state of his "stomach" (battery).
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In the next development ( "turtle" "bark"), the author conducted more additional responses to the whistle. When whistling of "turtle" freezes, ie, some time not moving. If the whistle is repeated very often, the "turtle" ceases to react to it and continues to seek a "feeder" or away from it.
If the "turtle" is impeded, the program changed its course of action (element of self-transformation program). She makes a move back, turn, and then just continues to search for "kormuschki.
Terms of action (algorithm) "turtle" can be written in the form of tables. 5.
Table. 5 signals are located on the strength of their actions. The signal from the contact sensor has an advantage over the photocell signal and the signal from the microphone effect is stronger than all the other signals.
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The table shows that the main programs are: Program N9 1, provides a search of the light source, and the program of M 2, which provides a more rapid movement of "turtle" in the direction of the light source or away from him. Each of these programs may have a number of options (number of moves and not subject to value them above). Of the options program that is better, in which:
a) "turtle" quickly finds the most brilliant source of light;
6) finding the source as quickly as possible moves to dumb .- (or him).
It is also important to "turtle" most closely meet the requirements listed in the table and not lose the light source from its field of view, ie that by going to the program No 2, did not return again, somewhere in the path of the program M. 1. Thus, the "turtle" has a quality program, in addition, its movement is still subject to a number of additional requirements (constraints).
Below we consider the more detailed management scheme "turtle", satisfying those requirements.
After the "turtle" the British engineer. Walter automatic "turtle" develop an Austrian engineer. Zeman, a German engineer. Eyher etc.
In the USSR, various constructions of "turtles" were developed at the Institute of Automation and robot USSR (Ing. A. Petrovsky, R. B. Vasiliev), at the Moscow Engineering Physics Institute, the Institute of Automation of the Georgian SSR, etc. "Turtle" Tortilla ", described below, was developed in the laboratory of automatic control of the Institute of Electrical Akad. The experimental part is made by engineers TD Kravtsov, V. Krementulo and EI Shukaylo.
From the standpoint of extreme technology management core program of "turtle" can be solved in two different ways:
1) with the help of vibrational find the most extreme places of the bright horizon of single photocell ( "turtle" "Tortilla-1");
2) using nonoscillatory feedback undertaken by the two photocells directed at
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slight angle to the horizon Maiden neighbor ( "turtle" "Tortilla-2").
In the latter case, we have all the points of extreme characteristics simultaneously, and therefore can be carried out to establish a system of nonoscillatory extremum (see above).
Oscillatory system thanks to the filter more robust. Nonoscillatory system is simpler and more reliable.
For brevity, only give a description of "turtle" "Tortilla-1" (with vibrational search) 1.
Fig. 38 is a diagram of extremal control the direction of "turtle" "Tortilla-1". It used a system of extremal control step considered in the previous chapter.
System of extreme search for "turtle" "Tortilla-1 operates as follows. Voltage, provided by a photocell CG-4, augmented by an electronic amplifier and then fed to the contact device stepper distributor WAF, which has four fields. The cycle of the system is very simple. At the first contact of the second field stepper valve makes erasing the previous record with the first electronic storage device 3U1, and the second contact of the first field is made on it new (first) record voltage. Third contact, the second field carries erasing records from the second storage device 3U2, and the third contact, the fourth field includes the voltage on the servo motor CM1, which turns the photocell step 7,5 °. After this, the fourth pin of the first field is the second record amplified voltage to the photocell 3U2, and the fifth contact, a third of the field – a comparison of the stress of the first and second record. Element of the logical steps ELD includes servo CM1 in the direction of securing the movement (rotation) of the photocell to the direction of the extreme (highest or lowest) illumination. then the cycle of operations is repeated again.
eleventh and twelfth contacts of the fourth field (Fig. 39) are used to: a) the inclusion of voltage
1 "Turtle" "Tortilla-2" described YV Krementulo in the journal "Automation", A2 2, 1959.
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Ser vomotor SM2 longitudinal movement of "turtle", and b) circuit for a short time relay circuit changes tropism; 1) the transition from the program \ 5 3 to the program \ 5 1 or 2 if the "Tortoise" obstacles encountered (see Table. 5) d) to supply pulses to the reaction scheme "turtle" to the sound (Fig. 40). The measuring element of the system is a bridge with two M stabilivolt SG-AP, see Fig. 38. At a certain voltage (selectable Fig. 40. Scheme of the reaction of "turtle" "Tortilla" on the whistle. Arbitrarily by setting the resistance of some of the bridge) the bridge output voltage changes sign, which leads to a shift of the polarized relay RP tropism changes.
Polarized relay IS2 and RPZ constitute an element of logical steps ELD scheme equivalence.
Charging the battery is made through the contact bus SH and releregulyator PP. Voltage DC battery with vibrator MP is converted to high voltage alternating current. Last rectified and used to power
Under the change of tropism "turtle" refers to the transition from search to search the world of darkness and vice versa, depending on battery voltage.
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anodes 3U and amplifier photocurrents. Sensor obstacles DC at a meeting with the "turtle" is no impediment, and is triggered by relay RP, 4 modifies the program moves ahead on the program of the back. In this case, "turtle" makes one step back (at the eleventh contact) and for some time moving in a direction perpendicular to the direction of the light sources. This is achieved by inserting instead of the main support
Fig. 41. General view of the "turtle" "Tortilla-2".
photocell directed perpendicular to the axis of "turtle". Mode to avoid obstructions brief: as soon as the movable contact stepper distributor comes back to the 12th slats, then, as seen from the scheme (Fig. 39), the main program "Turtles" is restored.
The frequency of pulses determines the speed of action "Turtles". Speed of movement "turtle" is sufficient, if the total turnover of the distributor is used for the second. As pulse generators can use the contact ustroytvo waved in a separate engine.
We now consider the effect of the chain, carrying out the reaction of "turtle" on the whistle (Fig. 40). As the microphone M used piezoelectric handset. Scheme of the resonant amplifier circuit is similar to the acoustic / radio, described in the journal
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"Radio", No. 4 for 1957 Relay R1 at the circuit output is triggered under the effect of sound (a whistle with a frequency of about
9000 Hz) and stops the servomotor both CM1 and SM2 "turtle" (Fig. 39).
Time stop "turtle" is determined by the parameters of load (1? And C) detector. If the whistles are rarely repeated, the capacitor C has time to be discharged, the relay R1 releases the contact, and "turtle" again begins to move. If, however, often followed by the whistles, the voltage across the relay coil R1 rises above a certain limit, relay P2, shunts the relay contact P1 and "turtle" ceases to respond to whistles. Blocking relay P2 is removed the main distributor in passing through the 12th contact, if the capacitor at that time sufficiently discharged.
Schedule a typical path of "turtle" "Tortilla-1" to the light source is a broken line. General view of the "turtle" "Tortilla" is presented in Fig. 41.
These elements of the "turtle" "Tortilla" shown in Fig. 38-40.
Step turning the photocell is a quantity from 7.5 to 60 ° at a frequency of pulses from 0,5 to 3 pulses / sec. "Turtle" responds to the light source (incandescent lamp of 25 W) at a distance of 3 m.
Some additional technical data "turtle" "Tortilla-1"
RP – polarized relay type RP;
SM – engines pas 24 or vitamin. 27 in;
SHI – step seeker;
Tr – transformer with:
= 2 x 60-vit; D1 = 0.6 mm;
W2 = W3 = 3000 vitamin; d23 = 0.12 mm; V1V2 – rectifiers, gathered at the DW-TS24;
B – Battery type 5 ICH-10: Tacho Voltage 6.

Pdf is Russian original here.

One Reply to “1958 – “Tortilla” Cybernetic Tortoise – (Ukraine)”

sasha says:

March 11, 2010 at 5:24 am

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