EXHIBIT B2
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`EXHIBIT B2
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`
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`EXHIBIT B2
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`
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`
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`SEP DEC
`
`4
`
`2003 2004
`
`LEGO® MINDSTORMS & LEGO Technic
`
`218 captures
`3 Feb 03 - 18 Apr 16
`
`
`LEGO® MINDSTORMS™ & LEGO Technic
`My own creations...
`
`Card Reader
` Read values on LEGO binary cards.
`
`Card Reader 2
`Improved, faster version of Card Reader.
`
`Radar Car
` slows in front of obstacles and avoids them.
`
`Brick Mixer
`Orders bricks on a conveyor belt according to the value read on a card.
`
`
`
`https://web.archive.org/web/20041204044616/http://www.philohome.com/mindstorms.htm[6/10/2016 1:22:17 PM]
`
`
`
`LEGO® MINDSTORMS & LEGO Technic
`
`Wall Follower
` RoverBot that follows a wall using my GP2D12 distance sensor.
`
`Gonsuke and MedamaOyaji
`Two tiny walking robots, designed by Hiroki Shirakawa. I created building
` instructions...
`
`
`
`See-Saw
` Not fancy as a LEGO construction, but interesting control program challenge.
`
`Creeping Caterpillar
` A strangely moving vehicle, fun to watch
`
`Peaucellier Cell
` Converts rotation motion to linear motion
`
` Brick sorters - Three generations of brick sorters, the latest one includes full
` building instructions and supports my color sensor.
`
`Brick sorter 1 - Brick sorter 2 - Brick sorter 3
`
`
`https://web.archive.org/web/20041204044616/http://www.philohome.com/mindstorms.htm[6/10/2016 1:22:17 PM]
`
`
`
`LEGO® MINDSTORMS & LEGO Technic
`
`Rack and Pinion Steering Car
`
`
`
`Barrel Collector Robot
`Thanks to its laser sensor, this robot detects barrels up to 3 meters away, goes
` straight to them, grab them with its arm and collect them in a basket.
`
`
`Hammerhead, the CD thrower
`My entry for the Mindstorms COMMUNITY CONTEST # 2: Discus.
`This beast throws Compact Disks 15 feet away and more!
`
`P'titgneugneu the stair climber
` My entry for the Mindstorms COMMUNITY CONTEST # 3: Stairs.
`A bit too flimsy, but nonetheless won the contest!
`
`
`
`Pneumatic Arm
`A fully pneumatic arm, loosely built after the human arm.
`
`Update October 2004: Now includes LDraw files
`
`Brick Simon, a memory game
`My entry for the Mindstorms COMMUNITY CONTEST # 6: Simon.
`Also includes a simplified version that can be built with Robotics Invention
` System set only.
`New: October 2004.
`
`https://web.archive.org/web/20041204044616/http://www.philohome.com/mindstorms.htm[6/10/2016 1:22:17 PM]
`
`
`
`LEGO® MINDSTORMS & LEGO Technic
`
`Other LEGO stuff
`
`A visit to LEGOLAND® Deutschland
`
`Sphere Sculpture
`Building a multicolored LEGO sphere with a single "Blue Tub"
`
`Brick Remover
` An imaged tutorial on the use of this little thing.
`
`Rubber belts modeling
` DAT files to create rubber belts in you favorite CAD program.
`
`Unofficial LeoCAD parts updates
`Parts updates for LeoCAD, corresponding to recent LDraw updates
`
`
`
`
`
`https://web.archive.org/web/20041204044616/http://www.philohome.com/mindstorms.htm[6/10/2016 1:22:17 PM]
`
`
`
`LEGO® MINDSTORMS & LEGO Technic
`
`LEGO® is a trademark of the LEGO Group of companies which does not sponsor, authorize or endorse this site.
` LEGO has its own homepage: www.lego.com, and a page on the Mindstorms system: mindstorms.lego.com.
`
`
`
`
`
`https://web.archive.org/web/20041204044616/http://www.philohome.com/mindstorms.htm[6/10/2016 1:22:17 PM]
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`
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`Rack and Pinion Steering Car
`
`64 captures
`8 Apr 03 - 24 Mar 16
`
`
`
`Rack and Pinion Steering Car
`
`AUG DEC
`
`6
`
`2003 2004
`
`
`
`This rack and pinion steering car was borne as a test vehicule for my wire guidance sensor, but it can be also used
` with many other sensor configurations. This car uses only parts included in Robotics Invention System box (with
` the exception of red rear lights - RIS contains no red parts!). Originally intended to be a simple chassis, I soon
` found that it's "cubic" structure was closer to old jalopy than to modern cars, and I added bells and whistles to
` reinforce this look.
`
`
`Guided tour...
`
`
`https://web.archive.org/web/20041206160318/http://www.philohome.com/steercar/steeringcar.htm[6/10/2016 1:32:28 PM]
`
`
`
`Rack and Pinion Steering Car
`
`
`
`Top and bottom view.
` It is fairly easy to modify gear train to change car speed.
`
`
`Steering assembly details.
`Two touch sensors are activated when steering is at full stroke, but I seldom used them as the belt driven
` mechanism slips in that case.
`
`Sensor equipment.
`The car can be easily equipped with one or two touch sensors for line following. And of course it can use my
` wire guidance sensor!
` The sensors are placed on the front bumper, and driven by steering mechanism. This provides better direction
` control.
`
`
`
`Step by step construction instructions
`
` LeoCad design files are available here.
`
`Programs
`Get
`
` program:
`One light sensor
`Two light sensors
`Wire guidance sensor
`
`Steering Car with Wire Guidance sensor in action: QuickTime movie. (Movie courtesy of Pascal Bréard)
`
`https://web.archive.org/web/20041206160318/http://www.philohome.com/steercar/steeringcar.htm[6/10/2016 1:32:28 PM]
`
`
`
`Rack and Pinion Steering Car
`
`
`
`
`
`https://web.archive.org/web/20041206160318/http://www.philohome.com/steercar/steeringcar.htm[6/10/2016 1:32:28 PM]
`
`
`
`Brick Simon, a memory game
`
`48 captures
`8 Dec 04 - 24 Mar 16
`
`
`Brick Simon, a memory game
`
`
`
` NOV DEC
`
`8
`
` 2003 2004
`
`Brick Simon was placed second
` in CC6: Simon contest
`
`
`
`
`
`Here is my entry for the Mindstorms COMMUNITY CONTEST # 6: Simon.
`
`You may have a look to other contestant's clever entries here.
`
`https://web.archive.org/web/20041208200048/http://philohome.com/simon/bricksimon.htm[6/10/2016 1:31:51 PM]
`
`
`
`Brick Simon, a memory game
`
`I wished to keep a true 4 keys keyboard for ease of use. A few constructions
` later, I was convinced that I needed all three sensors to get a reliable keyboard.
`
`No sensors left for the display function!
`
`So I built this keyboard module. Keys are linked two by two by a rubber band
` loaded lever to keep them up.
`
`The two keys on the left release the pressure on two touch sensors.
`
`The light sensor on the right sees black when no key is pressed, grey or yellow
` when one of them is pressed.
`
`The keyboard unit, integrated in Brick Simon.
`
`https://web.archive.org/web/20041208200048/http://philohome.com/simon/bricksimon.htm[6/10/2016 1:31:51 PM]
`
`
`
`Brick Simon, a memory game
`
`This prototype of the display unit shows how I obtained 4 states: the left motor
` can make one turn, the right motor only a half turn. The differential adds these
` movements, when both motors are on a stop its body can have 4 positions: 0
` turn, 1/4 turn, 1/2 turn and 3/4 turn. Originally, I used white clutch gears, but
` they were still too stiff and I had to use very low motor power settings (0 and
` 1). You may have to increase these values to 1 and 2 if you use the new 43362
` motors with higher friction.
`
`The display module, integrated in Brick Simon.
`
`
`
`Brick Simon User's manual
`1) Compile and download Simon.nqc in program slot 1, and InitHighScore.nqc in program slot 2. This can be
` done using BricxCC, you can get it from http://bricxcc.sourceforge.net/.
`
`2) Run program 2, this will initialize all high scores to 5, then automatically launch Brick Simon program (slot 1).
` This initialization should be performed only once to preserve high scores between runs, after that launch program
` 1 directly.
`
`3) Brick Simon will first ask for the play difficulty level. RCX LCD shows a walking 1234 pattern, waiting for a
` key to be pressed.
`
`
`
`- Level 1 (blue key): The easy one. The random color chooser is biased to produce regular sequences. The same
` color can't happen twice successively. High time out on the keyboard (20 seconds)
` - Level 2 (red key): The same color can't happen twice successively. Keyboard time out = 2s
` - Level 3 (yellow key): Color order is truely random. Keyboard time out = 1s
` - Level 4 (green key): The hardest level. Color order is truely random. Keyboard time out = 0.4s
`
`A separate high score is kept for each difficulty level.
`
`The chosen difficulty level is then displayed as 1111, 2222, 3333 or 4444, the RCX plays a little tune and the
` game begins.
`
`https://web.archive.org/web/20041208200048/http://philohome.com/simon/bricksimon.htm[6/10/2016 1:31:51 PM]
`
`
`
`Brick Simon, a memory game
`
`4) Simon asks you to repeat a longer and longer color sequence (a new color is added at the end of sequence after
` you repeat it successfully on the keyboard). Its hand turns on the dial to show colors and plays a note (different
` for each color). You then have to key in the sequence in order. RCX LCD displays current sequence length (2
` digits left) and high score sequence length to beat (2 digits right), separated by a dot.
`
`When you reach high score, Brick Simon plays a short tune to tell you...
`
`5) When you finally lose, either because you hit a wrong key or waited too long (doh sound), program is halted.
` Press RCX Run button to start a new game!
`
`Program
`
`The programs were written in
`
`.
`
`Get the high score initialization program, and the Brick Simon program.
`
`Tips and tricks used by this program:
` - in NQC, static variables (declared outside all program modules) are remembered even when the RCX is off.
` This is how high scores are kept. Moreover, the compiler assigns static variables in successive order, so
` Simon.nqc can use the values set by InitHighScore.nqc.
`
`- There is no need to remember the random color sequence. Each time the color sequence must be generated
` again, NQC random number generator is re-initialized using the same seed, with SetRandomSeed(Seed_value)
` instruction.
`
`Movie
` (AVI movies, Divx 5.1 compression)
`
`Brick Simon in action... (900 kb).
`
`
`RIS Simon
`
`https://web.archive.org/web/20041208200048/http://philohome.com/simon/bricksimon.htm[6/10/2016 1:31:51 PM]
`
`
`
`Brick Simon, a memory game
`
`As no fancy parts were used in Brick Simon, it was not too difficult to build a simplified version using only parts
` included in Robotics Invention System. This version comes in three separate units (keyboard, display, RCX).
` Unfortunately, RIS does not contain colored tiles, so the display is a bit... dull!
`
`RIS Simon uses the same programs as his elder brother.
`
`
`RIS Simon display unit.
`
`RIS Simon keyboard unit.
`
`
`
`Cad design files
`Get LeoCad files or MLCad files.
`
`https://web.archive.org/web/20041208200048/http://philohome.com/simon/bricksimon.htm[6/10/2016 1:31:51 PM]
`
`
`
`Brick Simon, a memory game
`
`Movie
` (AVI movie, Divx 5.1 compression)
`
`RIS Simon in action... (1 Mb).
`
`
`
`
`
`https://web.archive.org/web/20041208200048/http://philohome.com/simon/bricksimon.htm[6/10/2016 1:31:51 PM]
`
`
`
`SEP DEC
`
`4
`
`2003 2004
`
`Lego Mindstorms sensors
`
`189 captures
`8 Apr 03 - 17 Apr 16
`
` LEGO Mindstorms® compatible devices
`For more informations, visit Michael Gasperi's MindStorms RCX Sensor Input Page !
`
`
`
`
`
`
`Infra-Red Lamp
` Useful for IR radar 'bots. Also shows my solution to the "Lego connection
` problem".
`
`Build a Lego Mindstorms compatible rotation sensor
`
`Improving Infra-Red sensitivity of the MindStorms light detector
`
`
`
`GP2D12 distance sensor
` with it RCX can read distances between 10 and 80 cm.
`
`Color sensor
`enables RCX to see color of objects.
`
`https://web.archive.org/web/20041204051150/http://www.philohome.com/sensors.htm[6/10/2016 1:37:02 PM]
`
`
`
`Lego Mindstorms sensors
`
`Wire Guidance Sensor
` Guide your robot reliably along a wire track.
`
`Building a RCX™-compatible temperature sensor
`
`Laser Target Finder sensor
`Detect reflecting targets several meters away with this laser-based sensor
`
`Not so New : December 2003
`
`
`
`
`
`LEGO technical information
`
`Lego Rotation Sensor Internals
` Photos, schematics, detailed operation and low speed improvement.
`
`Lego® Technic Motor 43362 internals
`What's inside the new type of 9V mini-motor.
`
`Lego® 9V Technic Motors compared characteristics
`
`https://web.archive.org/web/20041204051150/http://www.philohome.com/sensors.htm[6/10/2016 1:37:02 PM]
`
`
`
`Lego Mindstorms sensors
`
`Wheels, Tyres and Traction
`Traction performance of Lego® wheels.
`
`RC Nitro Flash and RCX
`RC nitro flash internals, and an experiment of RCX control.
`
`LEGO® is a trademark of the LEGO Group of companies which does not sponsor, authorize or endorse this site.
` LEGO has its own homepage: www.lego.com, and a page on the Mindstorms system: mindstorms.lego.com.
`
`
`
`
`
`https://web.archive.org/web/20041204051150/http://www.philohome.com/sensors.htm[6/10/2016 1:37:02 PM]
`
`
`
`Lego compatible, compact rotation sensor
`
`66 captures
`18 Jun 03 - 20 Mar 16
`
`
`
`AUG DE
`
`4
`
`2003 200
`
`Lego compatible, compact rotation sensor
`This rotation sensor is based on a Bourns 3315 mechanical quadrature encoder. The small size of this encoder
` makes possible to cram the entire rotation sensor in a hollowed 2x3 brick (Bourns makes an even smaller device,
` referenced 3375 - see the Acrobat datasheet- but I couln't get one). It is also cheap, about $2.
`
`The main difficulty was to obtain the right electrical levels to be fully compatible with a Lego rotation sensor.
` The first try I made was to simply use a 10K ohms resistor for S1 and a 22K ohms for S2, but the level obtained
` with S1 and S2 closed was too high, and the RCX counted pulses strangely. So I came up with this design which
` gives exactely the same electrical levels than the Lego sensor. It works fine, but two problems remains :
`
`the torque it needs to rotate is rather high
`the mechanical contacts sometimes bounce and the RCX counts wrong. I tried to debounce the switches but
` found no simple solution. I will rather try optical forks to solve both problems.
`
`Here is the schematics. S1/S2 represents the
` encoder, Q1 is a small signal PNP transistor
` (i.e. BC558) and D1 a signal diode (1N4148
` for example) which protects from power
` reversal. The sensor is thus polarised - no room
` enough to use a full bridge rectifier !-
`
`The axle of the encoder fits nicely inside an
` axle pin whose hole has been slightly enlarged
` (verify that the axle pin rotates freely in the
` 2x1 brick hole with the encoder inserted). It is
` not necessary to glue it.
`
`https://web.archive.org/web/20041204162945/http://www.philohome.com/sensors/rotsensor.htm[6/10/2016 1:37:28 PM]
`
`
`
`Lego compatible, compact rotation sensor
`
`
`
`Pretty crowded isn't it ?
`
`You have to file out 0.5 mm from the top of the
` encoder so that it is entirely inside the brick -
` or use a 3375 device -
`
`Side view, showing the 2x4 plate closing the
` sensor.
`
`https://web.archive.org/web/20041204162945/http://www.philohome.com/sensors/rotsensor.htm[6/10/2016 1:37:28 PM]
`
`
`
`Lego compatible, compact rotation sensor
`
`With the same mechanical construction, I also built an angle sensor, using a potentiometer instead of the encoder.
` For another implementation of angle sensor, see Michael Gasperi Simple Angle Sensor
`
`
`
`
`
`https://web.archive.org/web/20041204162945/http://www.philohome.com/sensors/rotsensor.htm[6/10/2016 1:37:28 PM]
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