Presentation delivered during the 2nd Scientix Conference, Brussels, 24 – 26 October 2014

1. Karelino – A robot for
STEM education
Mihai Agape
Palatul Copiilor Drobeta Turnu Severin
2nd Scientix Conference, Brussels, 24 – 26 October 2014
T02 / Parallel Sessions I / School projects / Ballroom II / 25.10.2014 / 14:53

2. PROF. MARIANO GAGO
"AT SCHOOL WE ONLY
LEARNT WORDS - NOT REAL
THINGS"

3. The Purpose of the
Presentation
Overview the KAREL project
Describe some work done
Specifications
Karelino prototype
Solving math problems
Lesson plans
Karel second design

4.  This project has been funded with support from the
European Commission.
 This communication reflects the views only of the
author, and the Commission cannot be held
responsible for any use which may be made of the
information contained therein.

5. KAREL PROJECT OVERVIEW
General Information
Karel Project in Numbers
Partners
Objectives
Results & Outcomes
Robot Requirements
Tasts Distribution
Work Breakdown Structure

6. General Information
 Programme: LIFELONG LEARNING
PROGRAMME
 Sub-programme: COMENIUS
 Action type: PARTNERSHIPS
 Action: COMENIUS Multilateral school
partnerships
 LLP Link No: 2013-1-RO1-COM06-29664 1
 Project title: Karel - Autonomous Robot for
Enhancing Learning
 Project acronym: KAREL
 Implementation: 01.08.2013 – 31.07.2015

7. Karel project in numbers
Countries: 4
Partners: 4
Teachers: 21
Students: 50
Mobilities: 96
Robots: 20
Lessons: 21

8. WHO?
Partners, pupils, teachers
1. Platon Schools (Εκπαιδευτηρια Πλατων)
(Katerini, Greece)
2. Beypazari Teknik Ve Endüstri Meslek Lisesi
(Beypazari, Turkey)
3. Technikum nr 1 im. Stanisława Staszica w
Zespole Szkoł Technicznych w Rybniku
(Rybnik, Poland)
4. Palatul Copiilor
(Drobeta Turnu Severin, Romania)
Pupils (aged from 14 to 19 years old) & Teachers

9. WHY?
Objectives
 Improve teaching and learning of science and
technology using robotics as integrator
 O1. Apply practical math and scientific
concepts while learning to design, build, test
and document KAREL.
 O2. Create an interdisciplinary curriculum to
use with KAREL robotic platform.
 O3. Improve confidence and fluency in English
and learn scientific and technical vocabulary in
partners’ languages.

10. WHAT?
Results & Outcomes
 Robotics Dictionary in English and each
partner’s language.
 Robotics Platforms designed and
manufactured (20).
 Curriculum with at least 21 lesson plans, in
English and each partner’s language . At
least 2 lesson plans for each of following
fields: physics, biology, programming,
mechanics, electronics, and robotics.

11. HOW?
Tasks Distribution
 Robotic platform design, manufacture, test
and document:
 a) Mechanical system
 Turkey
 b) Electronic system
 Poland (input / output devices)
 Romania (controller, motor drivers, power supply,
communication)
 d) Software
 Greece (codes for lessons)
 Romania (codes for input / output devices)

12. HOW?
Tasks Distribution
 Pupils:
 Create robotics dictionary
 Research, design, build, test, and program
robotic platform
 Test curriculum
 Teachers:
 Design curriculum
 Guide pupils

14. SOME OF THE WORK DONE
Specifications
Karelino - first controller prototype of Karel robot
Solving math problems
The second design of Karel platform

15. KAREL SPECIFICATIONS
Agreed at the first project meeting in Beypazari
Available at http://sdrv.ms/170NTak

16. Kick-off Project Meeting
Beypazari, 10-16.11.2013

17. Karel
Mechanical Specifications

18. Karel
Electrical Specifications

19. Karel
Input Devices

20. Karel
Output Devices

21. Karel Curriculum

22. Karel Challenges

23. Karel
Other Specifications

24. KARELINO - FIRST PROTOTYPE
OF THE ROBOTIC PLATFORM
Schematic
3D Views
PCB manufacturing
Board Testing
Mechanics, Electronics, and Software Integration (Rybnik meeting)
First Karel prototype

25. Why Karelino?
Karel problems
2 s LiPo battery management
Motor voltage regulator
Solution
Small complexity prototype
Cristina – Karel team student
Karel & Arduino -> Karelino

26. Schema electrică

27. First prototype - Karelino
3D Top View

28. First prototype - Karelino
3D Bottom View

29. PCB manufacturing
method & materials
 Method = Transfer Toner System
 Materials = Pulsar kit (PCB Fab-In-A-
Box) http://www.pcbfx.com/

30. Print the copper layer on paper
using a laser printer (600 dpi)

31. Prepare the single sided board
using a sandpaper

32. Clean the surface with a
cloth

33. Use laminator to transfer the
toner from paper to board

34. Remove the paper using water

35. The copper layer is
transferred to the board

36. Use green foil (from
Pulsar) to seal the toner

37. Easily remove the green foil

38. Toner before and after sealing

39. Etching the board using
ammonium persulfate

40. The uncovered copper
was removed (etched)

41. Remove the toner from the
board using thinner

42. Drill the holes

43. Test the traces for continuity
and short circuits

44. Use a soldering iron station to
solder the components
 Hot Air Gun
 Soldering (Hot) Iron

45. First solder the jumper
wires

46. Add the components and solder
them (SMD first & THD last)

47. Karelino (TOP)

48. Karelino (BOTTOM)

49. 3D Views vs Real Board

50. Karelino Testing
Design & Manufacturing Mistakes

51. Second Project Meeting,
Rybnik, 06–13.04.2014

52. Integration & Testing
(Rybnik meeting)

53. First Karel Prototype
(Rybnik meeting)

54. Proposed Improvements
(Rybnik meeting)
 Integrate new blocks (e.g. Motor voltage
regulator, UART connector, Battery
management system)
 Make changes to the initial design (e.g.
replace USB micro B connector with an USB
mini B connector)
 Redesign the PCB (components places and
traces) according to the chassis shape
 Add LEDs to show the state of Bluetooth
module

55. Useful Links
 Drawings for manufacturing the Karelino
controller http://1drv.ms/1jet3ci
 Bill of materials for all designs
http://1drv.ms/1oAF8hr

56. MATH PROBLEMS
Climbing an inclined plan
Karel Base Designs
Animation created in Geogebra
Problems Solved

57. Climbing a 30 % inclined plan
 A requirement which seems to be related just
to the power of the motors.

58. Karel Base Designs

59. Animation created in
Geogebra

60. Rybnik meeting
Math Challenges

61. Theoretical problems related to
geometrical constraints study
 Ground clearance
 Front overhang
 Rear overhang
We will use the work for some Math lesson plan

62. Karel Base Dimensions

63. Calculus of
Rear Overhang

64. Calculus of
Rear Overhang

65. Calculus of
Departure Angle

66. Ramp Angle
Ground Clearance

67. Calculate Ground Clearance (h)
with Wolfram|Alpha knowledge
motor

68. Calculate Ground Clearance
(h) with Geogebra

69. SOFTWARE FOR
KAREL PLATFORM

70. Programming Languages
 C
 Atmel Studio IDE
 We created some modules (functions) for
 Motors control
 Serial communication (USART, Bluetooth)
 Optical line sensors
 Arduino
 Arduino Leonardo compatibility
 Microcontroller - ATmega32U4
 Use Karel with Arduino?

71. Karel Visual Software
 A former student of mine, Claudia Tudosie,
who is now student in the last year at
Timisoara University, Computers Enginnering
Faculty, chose for his final project a theme
related to KAREL. She proposed to create a
visual programming language (similar to
Scratch) for Karel platform.

72. LESSON PLANS

73. Physics Lesson Plan
Friction & Speed
 How the Karel robot will be integrated in the
lesson?
 Robots will travel along surfaces of different
materials (in order to show that the speed
depends on the different surfaces)
 What do we need to do?
 Drive the robot along pathways (straight or
curved) on different surfaces.
 Measure time, distance.

74. Materials
 Materials with different coefficient of friction
 Karel robot
 Stopwatches
 Distance measuring tools
 Data sheets
 Microsoft Excel

75. Lesson Objectives
 Students will:
 O1. Observe the influence of the road surface
to the speed of the robot.
 O2. Use relation d = v * t in order to calculate
v when d, and t are given.
 O3. Propose solutions for improvement of
friction between road and the tires of the robot.

76. Engagement
 Students will predict how the surface of the
road affects the speed of the robot.
 Example of questions for students:
 What is the effect of the road type on the
vehicle speed? (bumpy / smooth, straight /
curvy)
 How can you determine the speed of a
vehicle? (distance / time)
 More friction means more or less speed?

77. Exploration
 Students will measure the speed of the robot
on different surfaces. They will record the
data in the next table.
 The students will understand how the road
materials affect the time needed for the robot
to travel a given distance.
Surface type (road) Distance Time

78. Explanation
 Introduce the concept
Distance = Speed * Time

79. Elaboration
 Students experiment with different surface
materials and weather conditions. Students
record the data in next table
 Calculate the speed for each type of tested
road
Surface type (road) Distance Time Weather

80. Evaluation
 Students introduce the collected data in an
Excel sheet and represent graphically the
distance as a function of time for different
road materials.
 Students answer the next question: How the
friction of the roads could be increased or
decreased?

81. ROBOTICS DICTIONARY

82. Google Docs
Spreadsheet
 Datasheet

83. Google Docs
Document

84. KAREL SECOND PROTOTYPE
(WORK IN PROGRESS)
New Approach – Two Boards
Schematics
PCB’s Design
PCB’s Manufacturing

85. Karel second prototype
approach
 2 boards
 Lower board
 Battery management system
 Motors
 Upper board
 Controller
 Regulators
 I/O devices
 Motor regulators

86. Karel Battery Management System - Schematic

88. Board dimensions

89. PCB Design
 Double Side PCB laminate
 Components
 SMD
 THD
 Software
 Target3001! - version limited at 400 pins /
pads

90. Lower board
3D bottom view

91. Lower board
3D top view

92. Lower board
Design problem

93. Upper board
3D bottom view

94. Upper board
3D top view

95. Improve Boards
Manufacturing Process
 Older printer (Samsung) – 600 dpi resolution
 New printer (HP) - 1200 dpi resolution
 Very good results after some tests
 Problems – printer driver for Windows 7

96. Printing problems
 MS Word (doc)
 Different results
 Picture (png)
 Scaling problems
 Good results with
pdf files

97. After we’ve learned how
to do it (printing)

98. After we’ve learned how
to do it (printing)

99. Alignment of TOP &
BOTTOM Layers

100. Toner Transfer problems

101. Toner Transfer problems

102. After we’ve learned how
to transfer the toner

103. After we’ve learned how
to transfer the toner

104. Seal the toner

105. Seal the toner

106. Quite good alignment
between top and bottom

107. Final upper board with
min 0.6 mm tracks (top)

108. Final upper board with
min 0.3 mm tracks (bottom)

109. Karel Second Prototype
Problems & Future Work
 Some circuits (e.g. for battery
management) not tested yet
 Some integrated circuits are not so easy
to procure (e.g. the ones made by Seiko)
 Possible new changes in design using
new integrated circuits (e.g. boost
regulator supplied from 1 Li-Po battery
with high output current capabilities)

110. Third Karel Project Meeting
Katerini, 12 – 19.10.2014

111. Katerini
Robotic Platform Test

112. Invitation
 International Robotics Trophy
ROBOTOR
 SCRatch International Programming Trial
SCRIPT
 Contact
mihai_agape@yahoo.com

113. Bibliography
 Agape, Mihai. Agape, Maria-Genoveva.
“KAREL Specifications”, agreed in Karel
Project Meeting, held at Beypazari on 10–
16.11.2013. http://sdrv.ms/170NTak
 Agape, Mihai. “Karelino—One Step in Karel
Robotic Platform Developing”, presentation
given at National Symposium IPO-TECH,
Tirgu-Neamt, 29.03.2014

114. Bibliography (cont.)
 Agape, Mihai. “KAREL
Controller Design”, presentation delivered
at Karel project meeting, held at Rybnik, 06-
13.04.2014.
 Agape, Cristina-Maria. “KAREL – Controller
Manufacturing”, presentation delivered at
Karel project meeting, held at Rybnik, 06-
13.04.2014.

115. Bibliography (cont.)
 Agape, Mihai. “KAREL – First
Implementation Year”, presentation
delivered at the Robotic Symposium – Code
Week event, held at Katerini on 14th
October
2014.
 Agape, Maria-Genoveva. “Physics Lesson
Plan – Friction & Speed”, presentation
delivered at the Karel project meeting held at
Katerini, 12 – 19.10.2014.

116. Bibliography (cont.)
 Agape, Mihai. “KAREL – 2nd
Platform
Design”, presentation delivered at the Karel
project meeting, held at Katerini, 12 –
19.10.2014.
 *** ATmega32U4, 7766G–AVR–02/2014. Atmel.
http://www.atmel.com/Images/Atmel-7766-8-bit-AVR-ATme
 *** DRV8833, SLVSAR1C. Texas Instruments.
http://www.ti.com/lit/gpn/drv8833.
 *** LM2940, SNVS769I. Texas Instruments.
http://www.ti.com/lit/gpn/lm2940-n.

117. Bibliography (cont.)
 *** LM1117, SNOS412M. Texas Instruments.
http://www.ti.com/lit/gpn/lm1117-n
 *** Bluetooth Module BTM-112 and BTM-182.
Rayson.
 *** BQ241xx - Synchronous Switchmode, Li-Ion and
Li-Polymer Charge Management IC with Integrated
Power FETs (bqSWITCHER). Texas Instruments.
 *** S8239 Series. Overcurrent Monitoring IC for Multi-
Serial-Cell Pack. Seiko Instruments Inc.
 *** S8209A Series. Usage Guidelines. Seiko
Instruments Inc.

118. Questions?