1w?.E§:51.1,rz..JxIn.y..ru....
`.,..,.rE..nrL.«.,.=,b..,,._
`
`,3.E§Ren_fi_,EVfi
`
`.«W«mJ:.,.93.
`
`
`
`ii.avéia.
`
`s.;E,s
`
`¥3.3,.
`
`

`
`

`
`
`
`548
`
`Appendix A - Resources
`
`Introduction
`
`There’s quite a large amount of reference material to be found regarding M[ND~
`STORMS inventions, including some very good books, and hundreds of Internet’
`sites that cover specific topics and show interesting models. In this appendix,
`you’ll find a section about books, another one about links of general utility, and a
`section specific to each chapter of this book (many of the quoted sites pertain to
`more than a single chapter topic, so browse through them all).\X/e apologize in
`advance for the significant number of interesting sites that we surely (and unin-
`tentionally) oinitted fi"oni the list.
`Every link of this appendix has been checked, but as you know, the Internet
`is a dynamic animal and We cannot guarantee they will be still valid at the time
`you read the book. If you find any broken links, use the descriptive information
`we provided beside each site address to hunt for it using your favorite search
`engine.
`A few of the links point to commercial sites, or to sites that, besides providing
`information about the making of some custom part, also sell a kit or the finished
`pi'oduct.We have no direct or indirect interest, nor any connection with them;
`we included the links simply to help the reader.
`
`Bibliography
`
`7716 UrzQfiLirz'al Gzmilc to LEGO i7VHl\xlDSTOR1l’[S Robots, by Jonathan B.
`Knudsen; O’Reilly 8: Associates, 1999. The first to appear on the market,
`_]onathan°s book is still a very good resource for introducing readers to
`the MINDSTORMS world. It covers many topics, fi*om construction
`techniques to programming with different languages.
`
`Dave Bazmz’s De_{inz'tz'z'e Guide to LEGO A/IINDSTORMS, by Dave Baum
`and Rodd Zurcher (lllustrator);Apress, 1999. Dave is the creator of
`NQC, the most successful alternative programming environment for the
`RCX. In this book, he not only explains how to use NQC, but also A
`explores many building and programming techniques.
`
`Extreme MINDSTORr'l/IS.'A;z. Advanced Guide to LEGO
`
`MINDS TORAJS, by Dave Baum, Michael Gasperi, Ralph Hempel, Luis
`Villa; Apress, 2000. Four gurus of the independent MINDSTORMS
`community introduce you to the secrets of NQC, legOS, pbForth, and
`to the making of custom sensors.
`
`
`
`‘
`
`,w1\\3r~;.:;\‘_,,.ah-..iva:.m.:
`
`::;..w..u-av.m,u.:tw:.axaa»;«..a«-Iva-més1x«riwub««wa<3Maw-V59*-Khmggzzi
`
`
`pg...-3-rm,-szm.-.:4=.u;w:i.u.:..»-..z~..=:..»..(<m.vum».»..~..i«an....M»
`
`
`
`
`
`

`
`
`
`joe Nagafa’5 LEGO
`iM[NDSTOR’WS Idea B00/e, hyjoe Nagata; No
`‘
`Starch Press, 2001.]o '
`he steers you step by
`'
`_
`at designer. In his book,
`step through the building ofsome instructive and
`efficient models.
`LEGO 1WL\”.DSTORM'S.'
`Press, 2001 . This is a
`
`
`
`General
`
`
`
`inform
`
`Created by Steve Bliss and hosted on LUGNET, this d ‘
`ation, images, and links for many‘ LEGO l. ‘i
`
`as well as
`
`letwork (LUGNET) is tl
`ie most comprehen~
`"L for LEGO, and its difficult to
`describe in a few
`atures a database containing
`all the LEGO sets ever released,
`a reference list citing all
`the single LEGO parts.BL1t, more
`ps are the meeting point OFLEGO fans otian/V
`,and it’s one of the f"
`'
`
`

`
`550
`
`Appendix A - Resources
`
`
`
`
`DTE
`
`*
`The official Web site for this book is at www.syngress.corn/solutions.
`Check it out for additional I\/lll\lDSTORl\/lS—related features, resources, and
`downloads, including more NQC code, MlDl conversion files, positioning;
`grids, film clips, and lots of new photographs. You can also post ques-,
`,
`tions to the authors and editors, see the front page of this book for
`details about the site.
`
`
`Brickshelf (Www.brickshelf.co1n)
`
`Brickshelf is a site that offers everybody the extraordinary opportunity
`of having free space to show off his or her own LEGO models.
`
`Fred Mai-tin’s Unoflicial Questions and Answers about MIT
`
`Programmable Bricks and LEGO MINDSTORMS
`(http://fredm.wWw.rnedia.mit.edu/people/frednfl
`
`mindstorms/index.html)
`
`Fred Martin tells the story of the Prograinmable Brick and provides
`some other useful information about the RCX.
`
`LEGO MINDSTORMS Internals (WVVW.C1'yI1WI'.C01’n/
`
`lego—robotics/)
`Russell Nelson maintains a page that contains many technical details
`about the MINDSTORMS system as well as many useful links.
`
`Artificial Intelligence and Machine Learning
`
`(wWw.bvandarn.net)
`
`Bert van Dams site is a mine of information about artificial intelligence
`
`in general. If you find the subtle link to Miscellaneous l General
`Information, you will discover a whole world of LEGO projects!
`
`Andy Bower’s LEGO Robotics Wiki (www.object—arts.com/
`
`Wiki/htrn1/Lego—Robotics/F1-ontPage.htm)
`
`Andy Bowers dynamic site is Where anybody can look for answers or
`add his own contribution. Quoting Andy, “The important thing to
`remember is that this Wiki site is a growing body of knowledge and you
`
`are responsible for how useful it becomes.”
`
`
`
`
`
`

`
`gear spacings.
`
`Chapter 2 Playing with Gears
`Fred Martin’s The Art
`(ftp://cherupakhwmedia
`artoflegapdf)
`
`'
`.m1t edu/pub/people/frednfl
`A Very good primer about LEGO geometry in general
`ar. It also contains many
`
`particul
`
`useful design ideas.
`
`and gearings in
`
`

`
`552
`
`Appendix A - Resources
`
`
`
`LEGO Dacta eLAB (wwwlego.corn/dacta/elab/defaulthtm)
`Contains the technical specifications of the new TECHNIC motor
`(follow the link to Technical Specs and then to Motors).
`
`A
`
`LEGO Motors (wwvuenteract.com/~dbaum/lego/motorshtml
`Dave Baunfs page about LEGO motors and their features.
`~ M
`
`Chapter 4 Reading Sensors
`
`MindStorn1s RCX Sensor Input Page (www.plazaearth.com/
`
`usr/gasperi/lego.htm)
`lVliCl12lCl Gasperi’s super~site about I\/llNDSTORl\4S sensors—~the
`starting point for any investigation about this component. it also contains
`Brian Stormont’s suggestion to combine a touch sensor and a light
`sensor on the same port, and Tom Schumm’s trick to connect touch sen-
`
`T
`
`U
`
`sors in the AND configuration.
`
`MINDSTORIVIS Light Sensor Trick
`(wwwhempeldesigngroup.corn/lego /lightsensor/index.htnil)
`Here, Ralph Hempel explains a way to improve the reading range of the
`LEGO light sensor.
`
`LEGO Robotics (www.mop.no/~simen/legolitrn)
`The LEGO section of Simen Svale Skogsrud’s site is definitely worth a
`visit. It contains details about using the F08 unit as a rotation sensor,
`discusses proximity detection employing the light sensor, and outlines
`
`some interesting projects.
`
`Rotational Sensor 8: Gearing Down
`
`(http://news.1ugnet.com/robotics/?n=14074)
`Steve Bakers original post reporting his test about rotation sensors.
`
`Chapter 5 Building Strategies
`
`LEGO Engineering (http://british.nerp.net/lego/index.html)
`This helpful site includes a Building Tips section, too.
`
`Reinard’s LEGO Building Tips (http://british.nerp.net/
`lego/indeX.html)
`Reinard van Loo’s page contains building tips and tricks.
`
`
`
`
`
`

`
`
`
`Resources . Appendix A
`
`553
`
`D —rob
`
`The IegOS home
`
`page.
`
`pbFo1-th (www.
`hempeldesigngroup.com/lego/pbFORTH/
`_index.htmI)
`Ralph Hempe1's programmable brick FORTH (pbFORTH) for
`MINDSTORMS page.
`
`With its grz1phic—teXtu21
`Code and the pure textu
`
`interface GBP is a sort of bridge between RCX
`:11 programming environments.
`
`arts.com/Bower/Bot—Kit/Bot—Kit.htm)
`.ming the RCX in Smafltalk (based upon
`
`, C
`
`
`
`

`
`
`
`554
`
`Appendix A - Resources
`
`
`
`QC (http : / /digi1ander.iol.it/ferrarafrancesco/1ego/ qc/
`indeX.htn11)
`
`Francesco Ferrara’s QC, a mini OS (no multitasking) meant as an inf
`face between C code and the ROM routines of the RCX.
`
`Brick Command (www.geocities.com/Area51/Nebula/8488/
`1ego.htrr1l)
`p
`A simple textual programming language that incorporates a complete —
`IDE.
`
`ADA for MINDSTORMS (WWW.usafa.af.mil/dfcs/
`
`adamindstorms.htm)
`
`An ADA pre-processor to NQC. Also consult some of the documenta~
`tion at wwwfaginfamily.net/harry/Papers/AdaLetters.htm.
`
`LEGO Robot Pages (www.cs.uu.n1/people/markov/lego)
`The site of the original RCX Command Center, a very good IDE for
`NQC originally developed by Mark Overmars but not updated to the
`current Version (see Bricx Command Center).
`
`Bricx Command Center (http://hometoWn.aol.com/
`
`j ohnbinder/bricxcc.l1tm)
`
`Formerly known as the RCX Command Center, and based on Mark
`Overmars’ original source code,john I-lansen’s B1‘iCXCC supports all the
`LEGO Programmable Bricks and introduces many new and interesting
`features. lfyou use NQC on a PC platform, this is a “must have.”
`
`VisualNQC (http://home.hetnet.nl/~myweb1/VisualNQC.htm)
`Ronald St1'ijbosch’s Visual NQC has its roots in the RCX Command
`Center, but is completely rewritten in Visual Basic. A Very functional and
`complete IDE to NQC.
`
`NQCEdit (http://henmpassagen.se/mickee/nqcedit)
`Another front—end IDE for NQC, written by Mikael Eriksson.
`Currently less sophisticated than the RCX Command Center andVisual
`
`NQC, it’s indeed an effective and solid alternative.
`
`NQC API Programmer’s Guide (WWw.cybercomm.net/
`~rajcok/nqc)
`Mark Rajcok’s guide to NQC API lists all N QC functions, their syntax,
`their supported programmable bricks and a few examples.
`
` ww
`
`
`
`
`
`
`

`
`
`
`MindS<:0pe (http://baservuci.
`kun.
`Lego_electronica/Mindseopehtm)
`Ste{Mientki‘s graphing utility is able to
`sors and produce a chart fiom the 5-
`
`'
`
`Programming the LEGO Microscout
`(http://eaten.dhsnorg/lego)
`Doug Eaton explains how to program tl
`
`-/Lego KneX/
`’
`
`A package that contains 3 port of the NQC compiler, 3 simpl
`e editor,
`and a remote control prog
`ram to access your RCX from Wii'iCE
`platforms.
`
`EmulegOS (http://sourcefor
`ge.net/projects/emulegos)
`A LegOS emulator, ‘wliich lets you run and debug your Le
`gOS pro-
`g1”€l1’11S on your Win/Linux PC. Started by l\/I;-irio Ferrari a
`ud Marco
`Beri, emulegOS is currently an O
`pen Source project managecl by
`Mark Falco.
`
`LegoSim (W‘ww,inf0rrnatik.hu—berlin.de/Fvmuellei‘/legosim)
`LegoSim is :1 UniX~based Simulator for LegOS with an Applet—GUI.
`written by Frank Mueller, Tlionias Roblitz, and Oliver Buhu.
`‘$3/inVLL (wWw.research.co
`indeX—e.html)
`A simple tool by Shigeru M
`MicroScout from a PC.
`
`aliino to control and program the
`
`.jp/MindStorms/winV1l/
`
`rg/docs/ldp/howto/mini/Lego/
`
`TCL — RCX (www.linux.o
`tcl.html)
`Laurent Demziilly and Peter l»’letcl1er‘s TCL REX can either compile a
`TCL script into RCX bytecode, or it can remotely control
`either a script or an lHf€1';1CtlVC‘ TCL shell.
`Reactive Languages and LEGO MINDSTORMS
`(wWw.emn.fr/richard/lego)
`Martin Richard’s ‘Web site about using
`synclironous lzixigL1agc's (Esterel,
`Lustre, Grafcet) to play with the LEGO l\/HNDSTORMS kit.
`
`the robot via
`
`
`
`

`
`556
`
`Appendix A - Resources
`
`Chapter 7 Playing Sounds and Music
`
`
`
`
`L
`iv
`Guy’s LEGO page (WWW.aga.it/~guy/1ego.htrn)
`Guido Truffellis page contains his MIDIZRCX and WAV2RCX utilir
`ties, as well as their new graphics interface RCX Music Studio.
`
`Music—Robots (WWW.dairni.au.dk/~ocaprani/SmaIlCar.dir/
`
`I‘/Iaimhtrnl)
`
`A car that makes musical sounds through a speaker connected to the
`
`output port of an RCX.
`
`Note Naines, MIDI Numbers and Frequencies
`
`(WWW.phys.unsw. edu.au/-jw/r1otes.ht1nl)
`
`A table that gives the frequency of any standard keyboard note and its
`midi number.
`'
`
`Chapter 8 Becoming Mobile
`
`Robo—Rats Locomotion Page (WwW.cs.dartrnouth.edu/
`
`~robotlab/robotlab/courses/cs54—200Is/locornotiomhtrnl)
`
`This complete excursus about robotic architectures describes the pros
`and cons of each platform and also covers a few types not discussed in
`this book (e.g., the pivot drive, the articulated drive).
`
`The Straight and Narrow (www.oreillynet.com/pub/a/
`
`network/2000/05 /22/LegoMindstorms.html)
`jonathan Knudsen’s article about using a differential drive to go straight.
`
`Doug’s LEGO Robotics Page (www.visi.com/~dc/index.htrn)
`
`Many special mobility configurations appear in Doug’s site: a tri—star
`wheel drive, a Killough’s platform, and a couple of synchro drives.
`
`LEO 8: LEGO (http://carol.wins.uVa.nl/~leo/lego.html)
`
`Leo Dorst’s LEGO page contains many useful tricks and explains how to
`build a Killoughs mobile robot platform.
`
`Synchro Drive (WWW.restena.lu/conVict/]eunes/
`
`SynchroDrive.htm)
`Part of the Boulettes Robotics site (see heading later in this appendix),
`this page describes the steps in building a LEGO Synchro Drive.
`
`if
`
`$ ,
`
`
`
`.,,;V.,,;,-4imwuvasgiemtwaswmaii(«Mia
`
`is
`
`
`
`
`
`

`
`Resources 6 AppendixA
`
`557
`
`tp //w3.0ne net/~hughesj/technica/technica html)
`jun Hughesk 3111:“ features both a b11efTEC HNIC histol \ and the Very
`useful Element Register, 1 pictorifl ind mnomtcd hst of most
`TECHNIC pen ts
`LEGO Set Inventories (http://peeron.com/inv/)
`jennifel‘ & Dam Boge1'maintai11 this very useful site where you can
`
`search for which sets ‘
`
`'
`
`'
`
`'
`
`é
`i
`
`
`
`...;.\..»:.»u.«-»..,«..»..n-..,..«4;»=~_,.».....,\ll‘;.4»u.-
`
`3 attempt to describe all the possible ;1dd—0n sets for
`L
`C
`LEGO MINDSTORMS.
`
`(WwW.spectrumed.a:om/)
`se1'Vice packs in C;m;1de1.
`
`
`
`

`
`558
`
`Appendix A - Resources
`
`
`
`All-LEGO Stepper Motor (http:/ /home.eartl1link.net/~mrob
`pub/lego/steppenhtrnl)
`
`The original Robert Munafo page for his stepper motor.
`
`HiTechnic (W1vw.hitechnicstuff.<:o1I1/ )
`
`John Barnes’ company manufactures a range of sensors, controllers, and
`mechanical accessories compatible with the LEGO MINDSTORMS
`
`products.
`
`Techno—StufT Robotics (wwW.techno—stuff.com/)
`
`Pete Sevcik produces and sells a broad range of MINDSTORMS
`compatible sensors, but on his site he also shares some general
`
`construction tips.
`
`Robotics Projects (www.verinet.com/~d1c/projects/
`
`botproj.htm)
`Dennis Clark describes many projects for custom sensors, including
`
`compass interfaces and proximity detection circuits.
`
`
`
`isis
`4%
`
`E
`
`
`
`
`
`».5;);tftr-."3'{\i-‘ou‘r:;:.t~<-:-was.1«-n.
`
`
`
`
`
`LEGO Switch Multiplexer (http://baserv.uci.kun.nl/~smientki/
`
`Lego*Knex/Lego__electronica/ Switchflrnultiplexeizhtnn)
`Stef l\/lientki explains his design for a Very sophisticated multiplexer.
`
`JCX Home Page (http://jcxsystronix.com/)
`
`JTCX is a substitute for the RCX and represents the most radical step
`toward the expansion ofyour system. Based on the ]Stamp Real—tin1e
`
`Native java Module, the JCX design includes eight input ports, four
`
`output ports and much, much more.
`
`Mindsensors (Wwmgeocities.com/mindsensors/)
`
`Nitin and Aparna are two robotics fans that sell some of their custom
`
`electronic devices, multiplexers in particular.
`
`Using R/ C Servos with the RCX
`(wvvwhenipeldesigngroup.com/lego/servos/indeX.htm1)
`Ralph Heinpel’s page about interfacing R/C Servos to the RCX, with
`schematics and detailed instructions.
`
`InchLab Page (Www.ineh1ab.cotn/ index_noframes.htm)
`ln this site by Andreas Peter, you can find many hardware projects,
`including an interface to R/C Servos, an electromagnetic actuator, a
`laser brick, and more.
`
`
`
`

`
`913/
`
`and
`
`S
`
`/
`
`i:
`2
`
`
`
`
`
`Resources .
`
`Appendix A
`
`559
`
`drive up to six full—featured outputs or
`connect six input sensors allowing some mixed configurations
`
`gngroup.com/1ego/compressor/indexhtrnl)
`Home page ofRal
`ph Henipels famous doubl
`same site
`e—acting compressor. The
`also contains his Pressure Switch (wwwhenipeldesi
`.com/lego/pressureswitch/index.htnll).
`Sergei Egor0V’s LEGO Pn
`esl/lego/pneumatics.html)
`Nice page with detailed
`plans for a double—acting compressor
`pneumatic switch.
`
`eumatics Page (vWvw.malgil.c0m/
`
`LEGO Construction Site — Ideas
`(WWw.telepresence.strath
`lt’s difficult to find 3 place '
`"
`- in this 2
`derful site, because it covers so ma
`ideas contains many useful sug
`the other tips, and her model
`
`'
`
`'
`
`lu.
`
`'
`
`‘
`
`.,
`
`t miss
`
`Chapter 11 Finding and Grabbing Objects
`LEGO Robotics (http2//british.nerp.net/le
`go/robot/)
`An interesting study for an and
`iroponiorphic LEGO android. Sketches
`for llands, arins, shoulders, legs,
`hips, and so on.
`
`
`
`

`
`560
`
`Appendix A - Resources
`
`Mark’s LEGO Grabber Arm (vWvw.mastincrosbie.com/
`
`mark/lego/ grabbeiuhtrnl)
`This site has instructions on how to build a grabber arm that operate
`fioni a fixed base point; similar but more sophisticated than that shown
`in the MINDSTORMS site.
`
`LEGO FetchBot (http://unite.com.au/~u11235a/
`
`lego/fetcl1bot/ )
`Ben Willianison explains how his FetchBot works: a robot that can find A
`an object, pick it up, and drop it somewhere else.
`
`T
`
`.
`
`
`
`Chapter 12 Doing the Math
`
`Numerical Methods (http://toniophysics.sunysb.edu/
`
`docs/num_meth.html)
`AV/eb site that covers all aspects of Numerical Analysis, though finding
`What you’re looking for may require some time.
`
`Numerical Analysis (www.math.niu.edu/~rusin/known—math/
`indeX/ 65—XX.html)
`The Mathematical Atlas contains this introduction to the topic and links
`
`to many other resources.
`
`Introduction to Time Series Analysis (WWw.itl.nist.gov/
`
`dis/898/handbook/pmc/section4/pmc4.htm)
`An index page from the NIST/SEMATECH Engineering Statistics
`Internet Handbook about the methods used to analyze time series. It
`
`includes moving averages an.d exponential smoothing.
`
`What’s Hysteresis? (vWvw.lassp.cornell.edu/sethna/hysteresis/
`Wl1atIsHysteresis.html)
`Jim Sethna explains hysteresis in laymen’s terms and provides some
`examples.
`
`Chapter 13 Knowing Where You Are
`
`Where Am I (Wvvw—persona1.engin.umich.edu/~johannb/
`
`position.htm)
`The site where you can download the not—to—be—missed ‘‘Where am l?
`- Systems and Methods for Mobile Robot Positioning” by J.
`Borenstein, H. R. Everett, and L. Feng.
`
`
`
`
`
`,.,.iMm,,_y,mWaau-,a.a::-.:i;.amammm=aés4;i:.i.%3%%«
`
`A
`
`
`
`

`
`
`
`0108/
`
`ObOtiCS.01'g/enc d /20
`using_a_pid.html)
`0 er
`An excellent article, written by G. W
`Lucas, about usin
`Proportional, Integral, and Derivative (PID)
`g the
`approach in OClO1’I1€t1"y.
`Robot Navigation (WWW.doc.ic.ac.ul<:/~nd/surprise 97/
`journal/voll/oh/)
`Oliver Henlichs “\X/here
`overview of local/
`
`am I going and how do I get there,”
`personal robot navigation techniques.
`JP Brown’s Serious LEGO (http://jpbroWn.i8.com/)
`l—lere,jonathan Brown describes the Laser Target we mentioned in
`Chapter 13. Dont miss his wonde
`,
`Q y his Wor d-
`fanious Rubiks Cube solver.
`
`211'}
`
`Roboticslntruhtrn)
`Boulettes Robotics Page is one of those sites difficult to classify since it
`contains useful tips and interesting projects in niany different areas.We
`chose to place it here for its discussion on positioning and for its
`description ofhighly specialized sensors used for the
`task: laser emitters
`and decoders, compasses, and infrared~ultr
`asonic beacons.
`Chapter 14 Classic Projects
`
`
`
`Ben jacksorfs. MINDSTORMS Creations
`(wVVw.ben.com/LEGO/rcx/)
`Ben's site describes his robots an
`d includes the description ofhis search
`i for a fast line follower.
`
`Doug ‘X/ilcox’s LEGO IVHNDSTORMS Site
`(wWw.wordsmithc1igital. com/m
`indstorms/)
`In the Projects section of his site,
`Doug describes the story of his rack-
`and—pinion steering designs (
`designed with Carl jzigt).
`Huw (Wwvv.b1'ickset.com/h
`uwhomepage/)
`Haw i\/lillingtons honie p
`age contaiiis the link to his four—wheel car,
`rack and pinion Vehicle e
`quipped for both obstacle detection
`and line
`followiiig.
`Don ’t miss I-luws other cre
`21tiOI1SI the Brick Sorter and the
`Pneumatic Arm.
`
`£1
`
`
`
`

`
`562 Appendix A - Resources
`
`Rack and Pinion (http://occs.cs.oberlin.edu/~cmaron/
`
`LEGO /journal7 .html)
`Chad l\/laron shows a Very compact rack—and—pinion design.
`
`Chapter 15 Building Robots That Walk
`
`Technic Puppy Journal (Wwwgeocities.com/technicpuppy/)
`Miguel Agullo’s site contains detailed instructions for his Hammerhead
`ankle—bending walker. Don’t miss the Lego Biped Links page, the best
`organized collection of links to MINDSTORMS bipeds.
`
`]oe’s MINDSTORMS Gallery (http://member.nifty.ne.jp/
`mindstorms/)
`Tons of Wonderful robots pack Joe-’s gallery. Walkers and much more...
`
`S6 Details (wWw.geocities.com/rmarioferrari/56/s6.htmI)
`Our fi1'St biped COG~shifting robot, S6.
`
`Chapter 16 UnconVentional\/ehicles
`
`SHRIMP (http:/ / dmtwwvmepfl.ch/is1'/asl/systems/shrimphtml)
`The original SI-lRHVlP by the Autonomous Systems Lab ofLausanne,
`Switzerland.
`
`SHRIMP Details (wwwgeocities.com/mario.fe1'rari/shrimp/
`
`shrimp.htmI)
`Our first version of SHRIMP
`
`MINDSTORMS Projects Info (WVvw.borg.c0m/~pinkmice/)
`john Barnes’ Sewer Rat is able to run through 8“ pipes!
`
`Rob Steh1ik’s Home Page (WWW.ecfiutoronto.ca/~steh1ik/
`
`index.htm1)
`Among Robs wonderful robotic creatu1'es,you’ll find his aniazing
`\X/vindow Walker‘ which actually climbs windows!
`
`Duna Rossa Details (wwvsageocities.corn/mario.ferrari/
`dunarossa/dunarossa.html)
`
`Duna Rossa, our own robotic sailing tricycle.
`
`The LEGO Train Depot (wwwtngltc.org/train_depot/)
`
`This site dedicated to LEGO Trains has a Hints &Tips section that
`includes MINDSTORMS controlled trains.
`
`
`
`
`
`
`
`

`
`e«£1
`
`MINDSTORMS Info Center (vvvvw.mi—ra-i.com/jinSat0/
`M1'ndSto1'ms/index—e¢htmi)
`The E11gH.s}1 mdex ofjiu S;1to"s site, home of the f;1111ous MIBO robotic
`
`.
`
`‘ an1;1z1'ng C1‘€21tiO1]S.
`
`René Schalburg describes, xv”
`bL1ildi11g Ll robotic spider.
`
`J
`
`D details, the process of
`
`

`
`Appendix A - Resources
`
`the renowned droid. It’s not about LEGO, but you can find applicable
`tips and inspiring images.
`
`Johnny-FiVe.com (VVVV'VV.j0l'lIlI1y-f1Ve.C01’1’1)
`
`A fan—n1ade Wcéb site devoted to Johnny Five.
`
`Clint Rutkas’ Skunk Worlis (http://members.nbci.com/
`_XMCM/rutkas/index.html)
`Clint Rutkas’s site contains, among many other interesting things, two
`large MINDSTORMS robots emulating R2~D/2 and johnny Five.
`
`_
`
`a
`
`Otto Details (wwvmgeocities.com/mario.ferrari/otto/otto.html)
`Our large octagonal R2—D2 clone.
`
`Cinque Details (WWW.geocities.Com/mario.ferrari/cinque/
`
`cinquahtml)
`
`Our large scale replica ofjohnny Five.
`
`Chapter 19 Solving a Maze
`
`MINDSTORMS Mazewallcer (vwvwhempeldesigngroup.com/
`lego/mazewallcer/index.htm1)
`
`Another link to Ralph Hempels site——this time to point to his maze
`solver, an application demonstrated during the 1999 Mindfest at MIT.
`
`Maze Solving Algorithm (wwwlboro.ac.uk/departments/el/
`robotics/Maze_S0lVer.lit1nl)
`
`A description of the Bellman flooding algorithm.
`
`Microinousez Maze Solving (wWW.cannock.ac.uk/~peteh/
`
`micromouse/maze_solving.htm)
`
`This site is dedicated to Micromouse Maze solving competitions.The
`
`page we mention is specifically about Maze Solving algorithms.
`
`Chapter 20 Board Games
`
`TTT: A LEGO MINDSTORMS Tic-Tac-Toe Player
`
`(WWW. geocities.com/marioferrari/ttt.html)
`
`The page of the TTT robots we showed at the Mindfest.You can also
`find Antonio Ianiero’s compactYATTT NQC source code there.
`
`
`
`
`
`

`
`
`
`= Appendix A
`
`565
`
`6 a working LEGO slot ma“ '
`
`

`
`
`
`566
`
`Appendix A =7 Resources
`
`\X/eb-Kn: Haiku for the W W W (w“Ww.ohs-us.co1n/peop1e/
`sunny/haiku/webwku .htm)
`A list oflinks to random haiku generators.
`
`Chapter
`
`Simulating Flight
`
`LEGO MINDSTORMS Inventions
`(http://mindstornislego.coim/inventions/defaultasp)
`The official l\/IINDSTORMS site includes some flight simulators. Even
`if all of them simulate just the attitude of" the plane and not its effects,
`\X/outer Kooij1nan’s site provided us with interesting starting points.
`Flightéfiear Flight Simulator (www.menet.umn.edu/~curt/fgfs/)
`For those who want to explore the details ofa much more complete
`simulation, FlightGear is a free, open source, multifiplatform coopemtive
`flight simulator.
`
`Chapter 25 Building Useful Stuff
`
`Mil<e’s LEGO MINDSTORIVES Page in Wien
`(http: //inselheim.at/mainau/330001 /leguhtm)
`Michael Brandl shows his gallery ofrohots, which include “Adgnn der
`G'a‘rtner” the robot that inspired our own “Plant Sprinkler.” Dont miss
`his other imaginative and technically clever robots: a flee climber, a
`robotic fish. and much more.
`
`Chapter 26 Racing Against Time
`
`LUGMAP (www.lugnet.co1'n/map/)
`An interactive map of LEGO user groups fioin around the world.
`
`FIRST LEGO League (Www.fi1'stEegoleague.org/)
`The official site ofthe FIRST LEGO League, a partnerslnp between the
`LEGO Group and an orgaiiization called For Inspiration and
`Recognition of Science and Technology (FIRST). ELL organizes LEGO
`Robotics Competitions for 9 to H year old children.
`
`rtlTo1-onto (http://peach.mie.utoronto.ca/events/lego/)
`A very active LEGO users group with a strong focus on l\/EINDSTORIVIS
`competitions.The site contains pages about the various events and their
`rules.
`
`
`
`

`
`
`
`Maxwei1’s Demons -— Officiai rules (http://news.lugnet.c0m/
`org/us/smart/?n=22)
`David Sch1'Hing’s ori
`gin-.11 post about the rules concerning his Ma.\'we11’.=:
`Demons competitio
`n.
`
`

`
` 568
`
`LEGO Robots: Challenge (www.cs.uu.nl/~markov/lego/
`chal1enge/i11dex.html)
`The account ofa soda can retrieval challenge at the Department of
`C01'1'1pL1ter Science at Utrecht University (in the Netl1erlands).
`
`Appendix A - Resources