M. Agape, „Good Practices Examples - ReCAP & KAREL & 3D POwER”, eTwinning Contact Seminar - Math & Science, Warsaw, 06.10.2018.

1. Good Practice Examples
ReCAP & KAREL & 3D POwER
Mihai Agape
Palatul Copiilor Drobeta Turnu Severin – Filiala Orsova
eTwinning Contact Seminar
Warsaw, 6th October 2018

2. Summary
◼ReCAP – LdV project
◼STEM aspects
◼Karel – Comenius project
◼Karel project overview
◼Key competences developing
◼POwER 3D – eTwinning project

3. INTERNATIONAL ROBOTICS
TROPHY ROBOTOR

4. National Contest of Electronics,
Pitesti, June 2007

5. Dance, Music, Drama…

6. How to bring technical activities on stage?
Robotics Trophy ROBOTOR
◼ Robotics contests are spectacular
◼ Robotics = STEM integrator
◼ ROBOTOR = ROBOT + ORsova
◼ http://robotor.ro

7. ROBOTOR editions
◼ First edition:
◼ Regional Trophy - 2008
◼ National editions: 2009, 2010, 2012, 2013,
2014
◼ International editions: 2011, 2015 - 2018
◼ Poland, France, Turkey, Greece Serbia,
Bulgaria, Republic of Moldova, Portugal, Italy,
FYR Macedonia, and Romania
◼ All editions have been included in the
Educational Activities Schedule of Romanian
Ministry of Education

8. National ➔ International?
◼ eTwinning portal (http://www.etwinning.net/)
◼ Enable teachers and students in European
countries to collaborate online

9. RECAP
REmote Controlled Arm Project

10. ◼ This work 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.

11. General Information
◼ Programme: Lifelong Learning Programme
◼ Action: Leonardo da Vinci Partnerships
◼ Reference No: LLP-LdV/PAR/2010/RO/023
◼ Project title: Remote Controlled Arm Project
◼ Acronym: RECAP
◼ Implementation: 01.08.2010 – 31.07.2012

12. RECAP Partners
◼ Śląskie Techniczne Zakłady Naukowe –
Katowice, Poland (coordinator).
◼ Beypazari Teknik Ve Endüstri Meslek Lisesi –
Beypazari, Turkey
◼ Lycée Henri Vincenot – Louhans, France.
◼ Wyższa Szkoła Technologii Informatycznych
w Katowicach – Katowice, Poland
◼ Palatul Copiilor şi Elevilor Drobeta Turnu
Severin – Filiala Orşova, Romania

13. RECAP Result – EST
http://www.europeansharedtreasure.eu/detail.php?id_project_
base=2010-1-PL1-LEO04-11315

14. MECHANICAL PART
Underactuated Robotic Arm Design
(design of the finger, robotic hand)

15. Katowice, 11/30/2011
Claudia

16. Sketch of the arm proposed at the
first project meeting in Katowice

17. Finger flexion with tendon

18. Finger’s extension with springs

19. CF (Cheap Finger) – 2 versions
Giulia

20. CF1 - Orșova
CF2 - Louhans

21. Finger 3D Design
Mihai

22. Mihai Finger’s Design

23. Mihai Finger’s Design

24. Objectives for finger and hand
◼good prehension ability
◼simplicity
◼light weight
◼low cost
◼possibility to be manually made

25. Solution proposed for the finger
(Pro ENGINEER Schools Edition)

26. The analyze of finger’s position in
the static case
◼ The relative position of the finger’s
phalanges is determined by the tension
in the tendon, diameters of the pulleys
and characteristics of torsion springs
(elastic constants and initial pretension).
◼ To simplify the calculus we suppose
that there are not
◼ Gravity
◼ Friction

27. Position of the finger in the static
case (GeoGebra)

28. Calculus of joints rotation angles
◼ Active moment (Ma)
◼ Active force
◼ Tendon tension
◼ Angle between string tensions
◼ Lever arm
◼ Resistant moment (Mr)
◼ Rotation angle of the joint
◼ Elastic constant and preloading of the spring
◼ Ma = Mr => Rotation angle of the joint as a function
of force applied to the tendon
◼ Relation between rotation angles of joints and
rotation angle of servo

29. Relations
(metacarpophalangeal joint)

30. Simulation of finger’s flexion
◼ Parameters
◼ Phalanges lengths: l1 = 45mm, l2 = 25mm,
l3 = 25 mm
◼ Radius of pulleys: r1, r1 și r3
◼ Springs constants: k1, k2 și k3
◼ Preloading of the springs: α1i, α2i și α3i
◼ Calculated data (as a function of F)
◼ Articulations angles: α1, α2 și α3
◼ Servo’s angle: α0

31. Simulation
-20,00
0,00
20,00
40,00
60,00
80,00
100,00
120,00
-20,00 0,00 20,00 40,00 60,00 80,00 100,00 120,00 140,00 160,00 180,00
α1 α2 α3 F/Fmax

32. Case I: r1=r2=r3=6mm
k1=k2=k3, α1i=α2i=α3i=0

33. Case II: r1=r2=r3=6mm
k1=4k0, k2=2k0, k3=k0, α1i=α2i=α3i=900

34. Case III: r1=8mm, r2=4mm, r3=4mm
k1=4k0, k2=2k0, k3=k0 , α1i=α2i=α3i=900

35. Design of a sheetmetal finger
(SF1)

36. Finger’s prototype (SF1)
◼ Phalanges: aluminum sheet 0.8 mm thick
◼ Joints: M2 bolts + plastic tubes
◼ Pulleys: 4mm thick Plexiglas
◼ Springs: music wire with diameter of 0,4 mm
◼ Tendon: nylon string with a diameter of 0,5 mm

37. Hand Design (Palm)

38. Hand Design (+SF2 Fingers)

39. Hand Design (+Servos integrated
in the palm)

40. Hand Design (+Thumb & 2
Servos)

41. Hand Design (+Palm Cover)

42. Hand Design (+Wrist Servos)

43. Hand Design

44. Flat drawing for metacarpus of the
thumb

45. Aluminum Sheetmetal

46. Hand Manufacturing

47. Hand Manufacturing (Palm)

48. Hand Manufacturing (Palm)

49. Hand Manufacturing
Ema, Ovidiu, Emi, Giulia, Robi, Bogdan

50. Hand (assembled)

51. Robotic Hands
- Left: designed by Polish team & manufactured by French team
- Right: designed and manufactured by Romanian team

52. Test Romanian hand prototype with French controller
(Katowice, May 2012 – Mihai Agape, Fabien Autreau)

53. Testing Romanian hand
Katowice, May 2012

54. + Lower arm

55. + Upper Arm

56. Assembly last 2 servomechanisms
(28.08.2012)

57. Romanian Robotic Arm

58. 2012 Extreme Redesign Contest
www.DimensionPrinting.com/extremeredesign

59. SCRIPT
SCRatch International Programming Trial

61. What is Scratch?
◼ Scratch is a free programming language and
online community where you can create your
own interactive stories, games, simulations,
and animations.
◼ Scratch is a project of the Lifelong
Kindergarten Group at the MIT Media Lab. It
is provided free of charge.
◼ http://scratch.mit.edu/

62. SCRIPT
http://nonformal.ro/en/content/script

63. KAREL PROJECT OVERVIEW
General Information
Partners
Objectives
Results & Outcomes
Robot Requirements
Tasks Distribution

64. KAREL
◼ 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.

65. 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

66. 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

67. 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.

68. WHAT?
Results & Outcomes
◼ Robotics platform designed, tested and
manufactured.
◼ Robotics dictionary.
◼ Curriculum with lesson plans in the next
fields: physics, biology, programming,
mechanics, electronics, and robotics.

69. 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)

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

71. KEY COMPETENCES
DEVELOPING
Communication in the mother tongue
Communication in foreign languages
Mathematical competence and basic competences in STEM
Digital competence
Learning to learn
Social and civic competences
Sense of initiative and entrepreneurship
Cultural awareness and expression

72. COMMUNICATION IN THE
MOTHER TONGUE
Oral form (deliver presentations)
Written form (prepare presentations, and papers)

73. National Dissemination
(examples)
◼ "Karel - Autonomous Robot for Enhancing Learning",
National Robotics Trophy ROBOTOR 2013, October 11-
13, 2013; Palatul Copiilor Botosani.
http://nonformal.ro/Zoy
◼ "Karel – Parteneriat Scolar Multilateral Comenius",
National Symposium "Performance through Noformal
Activies", 03.02.2014, CCD Mehedinti.
http://nonformal.ro/ZoF
◼ “Karel – Comenius Multilateral School Partnership”,
National Festival INOVAFEST, 15.03.2014, Drobeta
Turnu Severin. http://nonformal.ro/Zot
◼ “Karelino, un pas in dezvoltarea platformei robotice Karel”,
National Symposium IPO-TECH, 29.03.2014, Tirgu-
Neamt. http://nonformal.ro/Zov

74. National Electronics Contest
Constanta, 22 – 26.06.2014

75. Papers

76. COMMUNICATION IN
FOREIGN LANGUAGES
English (prepare and deliver presentations and workshops)
Polish, Greek, Turkish, and Romanian (translation of the robotics
dictionary)

77. Delivering presentations
created during research phase

78. Lesson Plans
Speed & Velocity Li-Po Batteries

79. How to assemble Karel
lower board - Workshop

80. 2nd Scientix Conference
Brussels, 24 – 26.10.2014
http://nonformal.ro/ZJk

81. Dictionary translation
(TR)

82. Dictionary translation
(PL)

83. MATHEMATICAL
COMPETENCE

84. Animation created in
Geogebra

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

86. Calculus of
Rear Overhang

87. Calculus of
Rear Overhang

88. Calculus of
Departure Angle
◼

89. Ramp Angle
Ground Clearance

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

91. Calculate Ground Clearance
(h) with Geogebra

92. (BASIC) COMPETENCES IN
SCIENCE &TECHNOLOGY

93. Engineering Design
Process
◼ Define the problem
◼ Do background research
◼ Create detailed specifications
◼ Create different solutions
◼ Choose the best solution
◼ Design the product
◼ Build a prototype
◼ Test and redesign

94. Detailed Specifications
http://nonformal.ro/ZJZ

95. Wheels, Brackets

96. Robot Base

97. Load Switch
http://nonformal.ro/ZJ4

98. Karelino
http://nonformal.ro/ZJo

99. Karel – First Prototype

100. DIGITAL COMPETENCE

101. Using 3D CAD Software
Robot Base

102. Abordare nouă pentru al
doilea prototip Karel
◼ 2 plăci
◼ Placa inferioară
◼ Sistemul de management al bateriei
◼ Motoare
◼ Placa superioară
◼ Controler
◼ Stabilizatoare
◼ Drivere de motor
◼ Dispozitive I/O

103. Upper Board
3D Bottom View

104. Upper Board
3D Top View

105. Geogebra

106. Atmel Studio 6

107. Google Docs
Spreadsheet
◼ Datasheet

108. Google Docs
Document

109. Other Software
Applications
◼ Arduino
◼ FLIP – programming microcontrollers
◼ Applications for creation of documents &
presentations
◼ Google Docs – writing documents in
cooperation
◼ Social network – cooperation & dissemination

110. LEARNING TO LEARN
Solve problems in international team
Hands on workshops
Brain on activities

111. Math Challenge (1 pizza)

112. Robot Chassis Challenge

113. Robot Chassis Challenge

114. Arduino Programming Workshop

115. PCB Assembling Workshop
http://nonformal.ro/ZJJ

116. PCB Assembling Workshop

117. Karel Lower Board Assembling

118. Karel Programming Workshop

119. Karel & Robotic Contests
Workshop

120. SOCIAL AND CIVIC
COMPETENCES
Project meetings
Robotics Symposiums
Robotics Competitions

121. Beypazari City Hall

122. Rybnik City Hall

123. Katerini City Hall

124. Regional Authorities of
Pieria

125. Robotics Symposium
Beypazari

126. Robotics Symposium
Rybnik

127. Robotics Symposium
Rybnik

128. Robotics Symposium
Katerini

129. Robotics Symposium
Katerini

130. Robotics Symposium
Orsova

131. Robotics Symposium
Orsova

132. Robotic Tournament 2014

133. Robotic Tournament 2014

134. Robotic Tournament 2014

135. Robotic Tournament 2015

136. Robotic Tournament 2015

137. International Robotics
Trophy Robotor 2015

138. International Robotics
Trophy Robotor 2015

139. International Robotics
Trophy Robotor 2015

140. International Robotics
Trophy Robotor 2015

141. SENSE OF INITIATIVE AND
ENTREPRENEURSHIP
Turn ideas into action
Creativity, innovation and risk-taking
Plan and manage projects in order to achieve objectives
Commercial activity

142. Bill of Materials

143. Online Stores for Electronic Components

144. Online Order

145. CULTURAL AWARENESS AND
EXPRESSION
Music
Visual Arts (Logo, Movies)

146. Karel Logo
http://nonformal.ro/ZJ3

147. Videos
https://goo.gl/81rDFh

148. STEM -> STEAM
https://goo.gl/qKC6mY

149. Musical breaks

150. Intellectual Capacities
◼ Critical thinking
◼ Creativity
◼ Initiative
◼ Problem solving
◼ Risk assessment
◼ Decision taking
◼ Constructive management of feelings

151. OUTCOMES

152. Karel – Third Prototype
http://nonformal.ro/ZJU

153. Karel Lower Board
Bottom View

154. Karel Lower Board
Top View

155. Karel Upper Board
Bottom View

156. Karel Upper Board
Top View

157. Karel’s User Manual
http://nonformal.ro/ZJw
◼ Introduction
◼ Karel’s Specification
◼ Karel’s Design
Evolution
◼ Hardware
◼ Manufacturing
◼ Programming
◼ Bibliography

158. Robotics Dictionary
http://nonformal.ro/ZJi

159. Lesson Plans
http://nonformal.ro/ZJS

160. Copyright
◼ Almost all the work released under free
licenses
◼ TAPR Open Hardware License
(www.tapr.org/OHL)
◼ MIT License (http://mit-license.org/)
◼ CC BY-SA 4.0 (http://creativecommons.org/)
◼ Links
◼ PPT presentations
https://www.slideshare.net/mihaiagape/presentations
◼ Designs
https://github.com/magape

161. MORE INFORMATION

162. EST database
http://www.europeansharedtreasure.eu/detail.php
?id_project_base=2013-1-RO1-COM06-29664

163. Scientix database
http://www.scientix.eu/web/guest/projects/

164. KISS
Karel Is a Success Story

165. Karel Promotion Movie
https://ec.europa.eu/programmes/erasmus-plus/sites/erasmusplus/files/karel_en.mp4

166. Karel in competitions
Robotor 2018 – Tribot Challenge

167. Next European Project?

168. 3D POWER
Printing Objects with Educational Resources
September 2016 – June 2017
https://twinspace.etwinning.net/25844/

169. Partners
◼ ITTS "A. Volta" (Perugia, Italy) – Patrizia Roma
◼ Escola Básica e Secundária da Batalha
(Batalha, Portugal) – Marco Neves
◼ Palatul Copiilor Drobeta Turnu Severin, Filiala
Orșova (Orsova, Romania) – Mihai Agape

170. Purpose & Objectives
◼ Help students and
teachers to develop
new skills in the field
of 3D printing,
through international
cooperation.
◼ Create learning
materials related to
3D object design
and manufacturing;
◼ Design 3D objects;
◼ Manufacture 3D
objects designed
collaboratively by
students.

171. Activities
◼ Large groups
◼ Learn to use 3D design software (e.g. Creo)
◼ Learn to use 3D printers
◼ Solve organizational and technical problems
◼ Videoconferences
◼ Products evaluation (logos, 2D & 3D models
of the chess pieces)
◼ Use online tools for cooperation and resourse
sharing (Twinspace, Facebook closed groups,
and Google Docs).

172. Activities (II)
◼ Small groups
◼ Making movies
◼ Designing 2D sketches for chess pieces
◼ Improving the specific vocabulary in English
and mother tongue
◼ 3D design
◼ Printing 3D objects
◼ Individually
◼ Research
◼ Logos design

173. Outcomes
◼ Movies
http://nonformal.ro/Z4W
◼ Logo contest
http://nonformal.ro/Z4A

174. Outcomes (II)
◼ Online contest
http://nonformal.ro/Z4g
◼ Christmas balls design
http://nonformal.ro/Z46

175. Outcomes (III)
◼ Christmas wishes
http://nonformal.ro/Z4Y
◼ Interactive image
http://nonformal.ro/Z4s

176. Christmas Animation in Scratch

177. Outcomes (IV)
◼ Chess pieces design
http://nonformal.ro/Z4b
◼ Final products padlet
http://nonformal.ro/Z44

178. Outcomes (V)
◼ Evaluation form
http://nonformal.ro/Z4e
◼ Articles (online)
◼ http://nonformal.ro/ZZ7
◼ http://nonformal.ro/Z4B
◼ http://nonformal.ro/Z4X
◼ http://nonformal.ro/Z47
◼ http://nonformal.ro/Z4h

179. Chess Board and Pieces

181. Communication
https://twinspace.etwinning.net/25844/

182. Communication (II)
◼ Google Docs & Drive ◼ Facebook group

183. Technology Using
◼ Twinspaces tools (forums, videoconference,
team pages)
◼ Gimp & Inskscape (image creation for chess
pieces sketches and logos)
◼ Dotstorming (logo voting)
◼ Flipquiz (online test creation)
◼ Mentimeter (survey)
◼ Thinglink (interactive images)
◼ Padlet (board with final products)

184. Technology Using (II)
◼ Google Docs & Drive (file editing and sharing)
◼ Smartphone apps (logo creation and movie
making)
◼ 3D Creo (3D design)
◼ ReplicatorG (creation of file for 3D printer)

185. Competencies
◼ Communication in foreign languages
◼ Learn to learn
◼ Social and civic competences
◼ Spirit of initiative
◼ Intercultural competences
◼ Digital competencies and technical skills
◼ Creativity
◼ Problem-solving and decision-making capacities
◼ English language skills
◼ Ability to work in multinational teams

186. Cooperation with companies

187. Final Video (by Patrizia Roma)

188. eTwinning Quality Labels

189. Romanian eTwinning Prizes 2017
Students Involvement Category

190. Prize = Vertex 3D Printer

191. Mihai Agape
◼ mihai.agape@gmail.com
◼ http://nonformal.ro
◼ http://robotor.ro
◼ Yahoo mihai_agape
◼ Skype mihai_agape
◼ Google+ mihai.agape
◼ Twitter @mihai_agape