There are quite a few reference materials to be found regarding MINDSTORMS inventions, including some very good books, and hundreds of Internet sites, and numerous blogs 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). We apologize in advance for the significant number of interesting sites that we surely (and unintentionally) omitted from the list.
Every link of this appendix has been checked, but as you know, the Internet is a dynamic animal, so we cannot guarantee that all the links will be still valid at the time you read the book. If you find any broken links, use the descriptive information we provided about 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 not only provide information about the making of some custom part but also sell a kit or the finished product. We have no direct or indirect interest, nor any connection with them; we included the links simply as a help to the reader.
The Unofficial Guide to LEGO MINDSTORMS Robots, by Jonathan B. Knudsen; O’Reilly & Associates, 1999. The first to appear on the market, Knudsen’s book is still a very good resource for introducing readers to the MINDSTORMS world. It covers many topics, ranging from construction techniques to programming with different languages.
Dave Baum’s Definitive Guide to LEGO MINDSTORMS, by Dave Baum and Rodd Zurcher (Illustrator); Apress, 1999. Baum 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 explores many building and programming techniques.
Extreme MINDSTORMS: An Advanced Guide to LEGO MINDSTORMS, 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.
Creative Projects with LEGO MINDSTORMS, by Benjamin Erwin; Addison-Wesley, 2001. Erwin invites the reader to be creative, to explore different approaches, and even use different materials. He also covers topics like ROBOLAB, not covered in any other book.
Joe Nagata’s LEGO MINDSTORMS Idea Book, by Joe Nagata; No Starch Press, 2001. Nagata is without a doubt a great designer. In his book, he steers you step by step through the building of some instructive and efficient models.
LEGO MINDSTORMS: The Master’s Technique, by Jin Sato; No Starch Press, 2001. This is a great book, containing both general building suggestions and programming tips. It also includes step-by-step instructions on how to replicate MIBO, his famous robotic dog.
LEGO MINDSTORMS (http://mindstorms.lego.com)
The first site to mention is, of course, the LEGO MINDSTORMS official site. It contains technical tips, a gallery of inventions, events, contests, answers to frequently asked questions (FAQs), and more. The official LEGO MINDSTORMS FAQ site is: http://mindstorms.lego.com/products/whatis/faq.asp.
LUGNET (www.lugnet.com)
The LEGO Users Group Network (LUGNET) is the most comprehensive Internet resource for LEGO, and it’s difficult to describe in a few words. It features a database containing all the LEGO sets ever released, as well as a reference list citing all the single LEGO parts. But, more important, its newsgroups are the meeting point of LEGO fans of any age and from any part of the world, and it’s one of the friendliest places on the Internet. Don’t miss the LUGNET newsgroup (http://news.lugnet.com/robotics), the place where you can ask any number of questions and have them answered with completeness, competence, and patience.
LEGO Set/Parts Reference (www.peeron.com)
A valuable resource for sourcing sets and part numbers/images for LEGO sets.
An unofficial LEGO MINDSTORMS blog focused on LEGO Robotics, including the NXT.
The NXT STEP (http://thenxtstep.blogspot.com/)
An unofficial LEGO MINDSTORMS blog focused on LEGO Robotics, including the NXT.
An unofficial blog focused on various robotics interests, including the LEGO Robotics and the NXT.
BNXT (www.bnxt.com)
An unofficial LEGO MINDSTORMS blog focused on LEGO Robotics, including the NXT.
Brickshelf (www.brickshelf.com)
Brickshelf is a site that offers everybody the extraordinary opportunity of having free space to show off his or her own LEGO models.
Note
The official Web site for this book is at www.syngress.com/solutions. Check it out for lots of additional features and resources.
LEGO Geometry
(www.brickshelf.com/gallery/GJansson/Geometry/legogeometry.doc)
Gustav Jansson created a document that introduces the basics of LEGO geometry.
LEGO on My Mind (http://homepages.svc.fcj.hvu.nl/brok/legomind)
Don’t miss Eric Brok’s site; it is filled with explanations and suggestions. LEGO geometry is just one of the many topics covered here.
Studless building (http://thenxtstep.blogspot.com/2006/06/studless-part-ii-hybrid-templates.html)
Brian Davis explains some concepts of studless building geometry and how they relate to studded beams.
Rice University (www.owlnet.rice.edu/~elec201/Book/legos.html)
A LEGO Tutorial proving a variety of information on the fundamentals of LEGO design and gearing.
Technica (http://isodomos.com/technica/registry/gear/gear_2.php)
This site contains a repository of the various LEGO gears that have been produced over the years. It includes dates and model numbers.
Sergei Egorov’s LEGO Geartrains (www.malgil.com/esl/lego/geartrains.html)
Egorov’s site provides a table listing useful ways to position LEGO gears so that they mesh properly.
Philippe (Philo) Hurbain (www.philohome.com/)
Hurbain has hacked the NXT and provides a look at things like motor internals, hardware interfacing, custom sensors, etc.
Brickshelf Gallery (www.brickshelf.com/cgi-bin/gallery.cgi?f=226241)
This site contains recent introductions of Power Functions by LEGO, such as contain motors, IR controller, and battery box.
NXT Motor Characteristics
(http://web.mac.com/ryo_watanabe/iWeb/Ryo%27s%20Holiday/NXT%20Motor.html)
Visit this site for a mathematical analysis of NXT motor’s performance by Ryo Watanabe.
PlastiBots (www.plastibots.com)
Dave Astolfo’s LEGO MINDSTORMS robotics site contains pictures and documentation on all of his robots (including the BrickSorter on the front cover of this book). There are also a number of reviews on aftermarket sensors with additional information and pictures.
Techno-Stuff (www.techno-stufF.com)
Pete Sevcik creates and sells LEGO MINDSTORMS compatible sensors and controls for both the NXT and RCX systems. Check it out if you are looking to expand your robot’s abilities.
Mindsensors (www.mindsensors.com)
You can find a large variety of aftermarket sensors for the NXT, RCX and VEX systems.
HiTechnic (wwAv.hitechnic.com)
A variety of LEGO NXT and RCX compatible sensors can be purchased from HiTechnic.
Vernier (www.vernier.com/nxt/)
Vernier provides an adapter for the LEGO NXT to be able to use more than 40 of its own analog sensors.
MindStorms RCX Sensor Input Page (www.extremenxt.com/lego.htm)
Michael Gaspen’s site about LEGO MINDSTORMS NXT and RCX sensors— the starting point for any investigation about this component. It also contains information on creating your own homebrew sensors.
Sivan Toledo (www.tau.ac.il/~stoledo/lego/)
Toledo provides some interesting creations on his site, where he pushes the limits of the NXT. He also provides some excellent tutorials on I2C interfacing and creating your own custom sensors with it.
Krystian Majewski (http://kisd.de/~krystian/nxt/)
This site features some interesting NXT projects. Specifically, the JennToo radar where Majewski uses the NXT ultrasonic sensor to map the area as it scans. While it’s mapping and scanning, it displays the results on the screen as a visual representation of the surroundings.
Philippe (Philo) Hurbain (www.philohome.com/sensors.htm)
Hurbain has a variety of sensors that can work with both the NXT and RCX. Be sure to browse his site as there are many interesting things there.
Ross Crawford’s Tic-Tac-Toe (www.br-eng.info/words/index.php/category/moc/nxt/)
There are few other games on this site, too.
NXT Mobile Applications
(http://mindstorms.lego,com/overview/Mobile%20Application.aspx)
The software runs on a Java-capable mobile phone to use as a remote control for
NXT.
NeXTScreen by John Hansen (http://bricxcc.sourceforge.net/)
The “Programmable Brick Utilities” section on this site provides a link to information about several NXT utilities, including NeXTScreen.
Wiimote Controlled Robot by Jose Bolaños (www.techeblog.com/index.php/tech-gadget/wiimote-controlled-robot)
The Wiimote and NXT are connected via a computer running a .NET program.
Coco5 by Martyn Boogaarts (http://mindstorms.lego.com/MeetMDP/Martyn.aspx)
This robot has a camera mounted on it, and it can take pictures when it detects someone nearby.
NXTiiMote Controller by Philo (http://philohome.com/nxtiimote/ni.htm)
This controller transmits spatial information to a remote NXT using Bluetooth.
Mini Block Library (http://mindstorms.lego.com/support/updates/)
From this site, you can download several of software updates to MINDSTORMS
NXT.
Paul Tingey’s Wii-like Controller (www.mindsensors.com/Wii_like_Controller.htm)
This controller is wired to the NXT and functions like Wiimote, driving the RoboArm T-56.
LEGO MINDSTORMS NXT Building Instructions (http://mindstorms.lego.com/buildinginstructions/)
LEGO provided building instructions and tips for robots such as a classic clock and a sound robot.
LDraw is a freeware program that can create LEGO models in 3D on your computer screen. Did you ever dream of working with an unlimited supply of any LEGO part in any color?
MLCad (http://mlcad.ldraw.org)
Michael Lachmann’s MLCad is a great (and free) CAD program for creating LEGO-like building instructions of your own models. The MLCad site has been recently incorporated into the Ldraw.org domain.
LEGO NXT-G (http://mindstorms.lego.com)
LEGO’s MINDSTORMS NXT product, including NXT-G programming graphical interface.
LEGO Robolab (www.legoeducation.com)
LEGO Education RobotC (www.robotc.net)
Developed by the Robotics Academy at Carnegie Mellon University, RobotC is an easy-to-use text-based programming language with many powerful features.
Ralph Hempel pbLUA (www.hempeldesigngroup.com/lego/pbLua/)
Ralph Hempel is the sole developer of the pbLUA application. Having developed a version of the FORTH language (pbFORTH) for the RCX, Hempel is well experienced with the MINDSTORMS products.
John Hansen—NBC & NXC (http://bricxcc.sourceforge.net/nbc/)
Next Byte Codes (NBC) is a simple language with an assembly language syntax that can be used to program LEGO’s NXT programmable brick. Not eXactly C
(NXC) is a high-level language, similar to C, built on top of the NBC compiler. It can also be used to program the NXT brick.
LeJOS NXJ (http://lejos.sourceforge.net/)
LeJOS NXJ is currently in alpha release and is a subset of the Java language for the NXT. A core team of about four developers is working on the leJOS for the NXT. Most of the members of this team were already developers of the leJOS version for the RCX.
For a more thorough list of current development environments, visit NXTasy.org.
Bricx Command Centre (bricxcc.sourceforge.net/)
This site provides the brick piano tool for creating NXT Melody files, as well as the WAV2RSO and MIDIBatch and RMDPlayer utilities.
Sivan Toledo’s Clap Counter (www.tau.ac.il/~stoledo/lego/ClapCounter/)
This site includes a car that makes musical sounds through a speaker connected to the output port of an RCX.
Katherine Anderson’s SnackBot (mindstorms.lego.com/MeetMDP/KatherineAnderson.aspx)
On this site you’ll find a robot that scoops dog food into a bowl then emits a high-pitched tone to let the family dog know it’s time to eat.
Note Names, MIDI Numbers and Frequencies (www.phys . unsw.edu.au/~jw/notes.html)
This site contains a table that gives the frequency of any standard keyboard note and its MIDI number.
Bryan Bonahoom www.funtimetechnologies.com/teamb2
This site is home of some neat NXT creations, including the W.O.P.RTic-Tac-Toe playing robot.
Laurens Valk (www.freewebs.com/laurens200/)
This site has a collection of robots built with LEGO MINDSTORMS. Some of them include building instructions.
Steve Hassenplug(www.teamhassenplug.org/)
Hassenplug is the designer of many excellent robots. Check out http://mind-storms.lego.com/MeetMDP/SteveH.aspx for details on his holonomic platform— OMNI.
The Straight and Narrow (www.oreillynet.com/pub/a/network/2000/05/22/LegoMindstorms.html)
Jonathan Knudsen’s article is about using a differential drive to go straight. Even though this is an older article, the concepts are still the same with the NXT.
Doug’s LEGO Robotics Page (www.visi.com/~dc/index.htm)
Although this site contains RCX-based content, there are many nice robots here that will inspire you to try something with the NXT.
Ackerman Steering
(http://www.nationaltbucketalliance.com/tech_info/chassis/ackerman/Ackerman.asp)
A nice write-up of Ackerman Steering by George Barnes.
Ralph Hempel: www.hempeldesigngroup.com/
Christopher R. Smith: www.brickshelf.com/cgi-bin/gallery.cgi?m=Littlehorn
C. S. Soh: www.fifth-r.com/cssohl/
C. S. Soh’s site is subtitled “...where air is power.” This is the most important reference for LEGO pneumatics on the Web.
Kevin Clague: www.kclague.net/
Clague is known in the LEGO AFOL community as one of the leading experts on pneumatics. Check out his site for some of his amazing creations.
TECHNIC Double-Acting Compressor (www.hempeldesigngroup.com/lego/compressor/index.html)
This site is the home page of Ralph Hempel’s famous double-acting compressor. The same site also contains his Pressure Switch (www.hempeldesigngroup.com/lego/pressureswitch/index.html).
Sergei Egorov’s LEGO Pneumatics Page (www.malgil.com/esl/lego/pneumatics.html)
This is a nice page with detailed plans for a double-acting compressor and pneumatic switch.
LEGO Construction Site—Ideas (www.telepresence.strath.ac.uk/jen/lego/ideas.htm)
It’s difficult to find a place in this appendix for Jennifer Clark’s wonderful site because it covers so many aspects of robotics. Her page of ideas contains many useful suggestions about pneumatics, but don’t miss the other tips and her models as well!
Alex Zorko (www.nicjasno.com/)
Zorko has some inspiring model cars built—many of which use pneumatic engines. Look at his site to find many great samples of pneumatic building, instructions, and videos.
LEGO MINDSTORMS NXTLog
This site is a central repository for fan-built LEGO MINDSTORMS NXT Robots.
Numerical Methods (http://tonic.physics.sunysb.edu/docs/num_meth.html)
This Web site covers all aspects of numerical analysis, although finding what you’re looking for may require some time.
Introduction to Time Series Analysis (www.itl.nist.gov/div898/hand-book/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 and exponential smoothing.
What’s Hysteresis? (www.lassp.cornell.edu/sethna/hysteresis/WhatlsHysteresis.html)
Jim Sethna explains hysteresis in laymen’s terms and provides some examples.
Probabalistic Localization with the RCX by Dr. Lloyd Greenwald (www.cs.hrnc.edu/roboteducation/itcsl_RCXparticlefilteringWkshp.pdf)
Workshop materials prepared by Dr. Lloyd Greenwald (with help from Babak Shirmohammadi), for Thinking Outside the (Desktop) Box, National Science Foundation Workshop, University of Mississippi.
Where Am I (www-personal.engin.umich.edu/~johannb/position.htm)
The site where you can download the not-to-be-missed “Where am I?—Systems and Methods for Mobile Robot Positioning” by J. Borenstein, H. R. Everett, and L. Feng.
Using PID-Based Technique for Competitive Odometry and Dead Reckoning (www.seattlerobotics.org/encoder/200108/using_a_pid.html)
An excellent article written by G. W. Lucas about using the proportional, integral, and derivative (PID) approach in odometry.
JP Brown’s Serious LEGO (http://jpbrown.i8.com/)
Here, Jonathan Brown describes the Laser Target we mentioned in Chapter 13. Although much of his work is done with the RCX, it is well worth a visit as the ideas and principles behind LEGO MINDSTORMS robot building are still similar. Don’t miss his wonderful creations, especially his world-famous Rubik’s Cube solver.
Robotics Introduction (www.restena.lu/convict/Jeunes/RoboticsIntro.htm)
Boulette’s Robotics Page is one of those sites difficult to classify because it contains useful tips and interesting projects in many different areas. We chose to place it here for its discussion on positioning and for its description of highly specialized sensors used for the task: laser emitters and decoders, compasses, and infrared-ultrasonic beacons.
Line Following Samples (www.bnxt.com/paper/line_follower)
This site provides a few different approaches to line following algorithms in NXT-G.
Dead Reckoning Wiki (http://en.wikipedia.org/wiki/Dead_reckoning)
This site contains a Wiki explanation of dead reckoning with lots of information and links.
Kevin Clague (www.kclague.net/)
One of the most well known pneumatic/biped robot builders in the community, Clague has been involved with numerous books and is respected for his experience in bipeds. You can also find information on his site about tools he has authored for LPUB, a tool for the rendering of LEGO for building instructions.
Joe Nagata Walker ND1 (http://web.mac.com/joenagata/iWeb/MindstormsNXT/Welcome.html)
Joe Nagata has published a number of MINDSTORMS RCX and NXT books and has published some NXT creations on his site. You will have to bear through some translation issues, but using the Google Translate tool should provide enough assistance for you to follow along.
Miguel Agullo (http://technicpuppy.rniguelagullo.net/)
A nicely done site with some excellent creations, videos, instructions, etc.
Mac Ruiz ( http://mobildefencelab.blog.homepagenow.coni/?txnid=77e675814ba675d5741a3632aa05a756)
Ruiz is the creator of a number of interesting robots, including the monkey and mouse in Chapter 16 of this book.
LEGO, corn’s NXTLOG listing of animals (http://mindstorms.lego.com/nxtlog/projectlist.aspx?SearchText=animal)
Yoshihito Isogawa (www.isogawastudio.co.jp/legostudio/index.html)
You will find some excellent ideas at his site (use the translator option at the bottom).
Guy Ziv’s MazeRunner solving a maze built of piles of books:
http://nxtasy.org/2007/03/21/nxt-mazerunner/
Maze Solving Algorithm (www.lboro.ac.uk/departments/el/robotics/Maze_Solver.html)
A description of the Bellman flooding algorithm.
Micromouse: 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.
Think Labyrinth: Maze Solving (www.astrolog.org/labyrnth/algrithm.htm)
This site provides a nice variety of maze types and algorithms/ideas for how to go about solving them.
Logo Foundation (http://el.www.media.mit.edu/groups/logo-founda-tion/index.html)
The Logo Foundation Web site: a place to find information and resources useful in learning and teaching Logo.
Haiku Program (http://severed.tentacle.net/rpeake/archives/program-ming/haiku.html)
C source for an automatic Haiku writer.
The Northeast Indiana Robot Games (NEIRG) (www.sciencecentral.org/NEIRG.htm)
ChiBots, Chicago Area Robotics Groups (www.chibots.org/index.php)
Central Illinois Robotics Club – (http://circ.mtco.com/)
Lafayette LEGO Robotics Club
(http://cobweb.ecn.purdue.edu/~andy/LAFLRC/BLOCKSandBOTS.htm1)
RTLToronto (http://peach.mie.utoronto.ca/events/lego/)
No Screwdrivers Needed (http://stage6.divx.com/No-Screwdriver-Needed/)
A video site with excellent videos of NXT and RCX Sumo matches.
NXTasy (www.nxtasy.org)
NXTasy is a blog that contains a NXT-G code repository for numerous custom blocks, including an Ultrasonic Ping Block created by Guy Ziv. It allows you to run 2 Ultrasonic sensors that don’t interfere with each other.
Lugnet (www.lugnet.com)
This discussion site for all things LEGO includes a way to find a Sumo contest and other events in your area.
Philo Hurbain (www.philohome.com)
This site contains many example robots and hacks, including a way to expand port A for more motors.
Throw Me Contest at NXTasy.org(www.nxtasy.org/challenges/challenge-no-l-throw-me/)
The rules, winners, images, and videos of the contest held in the summer of 2006.
Fire Fighting Robot Contest at Trinity College
(www.trincoll.edu/events/robot/default.asp)
The robots must navigate through a maze, find a lit candle, and extinguish the flame.
Playing Soccer at RoboCup Junior (http://rcj.sci.brooklyn.cuny.edu/)
A team of autonomous mobile robots plays simplified soccer games in an enclosed field.
First LEGO League (www.firstlegoleague.org/)
On this site you can apply math, science, and technology to solve real-world problems and have fun.
Maxwell’s Demons—Official Rules (http://news.lugnet.com/org/us/smart/?n=22)
David Schilling’s original post about the rules concerning his Maxwell’s Demons competition.
LEGO Robots: Challenge
(www.cs. uu.nl/~markov/lego/challenge/index.html)
The account of a soda can retrieval challenge at the Department of Computer Science at Utrecht University (in the Netherlands).