M. Agape, „Conexiuni”, International Robotics Symposium Robotor 2019, Online, 05.10.2019.

1. Conexiuni
Mihai Agape
Palatul Copiilor Drobeta Turnu Severin – Filiala Orsova
International Robotics Symposium Robotor 2019
5th October 2019

2. Summary
◼International Contests
◼ROBOTOR
◼SCRIPT
◼European Projects
◼RECAP (LdV)
◼KAREL (Comenius)
◼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 - 2019
◼ Poland, France, Turkey, Greece Serbia,
Bulgaria, Republic of Moldova, Portugal, Italy,
North Macedonia, and Romania
◼ All editions have been included in the
Educational Activities Schedule of Romanian
Ministry of Education

8. Regional Trophy
ROBOTOR 2008

9. International Trophy
ROBOTOR 2011

10. ROBOTOR 2011

11. ROBOTOR 2011

12. ROBOTOR 2008
Line Follower Contest

13. ROBOTOR 2011
Line Follower Contest

14. ROBOTOR 2013
Botosani

15. ROBOTOR 2017
Orșova

16. ROBOTOR 2019
Brașov, 3-5 September

17. Robotor Song – Romanian Version
https://youtu.be/II9zg7pATeM

18. National & International Robotics Competitions
◼ 2008 – Orșova: “Robotor”
◼ 2010 – Târgoviște: “Cupa Chindiei”
◼ 2011 – București: “Infomatrix”
◼ 2013 – Galați: “Robogal”
◼ Technical Universities
◼ Bucharest
◼ Timisoara
◼ 2014 – National Ministry of Education (LEGO)

19. International Robotics Trophy ROBOTOR 2020, Robotics
Contests & Robotics Symposium
Drobeta Turnu Severin, September 2020
Dragsters Football Freestyle
Line
Follower
Line Maze Micro Sumo Mini Sumo Tribot
Solar
Underwater
Robots
Wall Maze
http://robotor.ro

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

21. RECAP
REmote Controlled Arm Project

22. ◼ 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.

23. 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

24. 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

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

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

27. Katowice, 11/30/2011
Claudia

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

29. Finger flexion with tendon

30. Finger’s extension with springs

31. CF (Cheap Finger) – 2 versions
Giulia

32. CF1 - Orșova
CF2 - Louhans

33. Finger 3D Design
Mihai

34. Mihai Finger’s Design

35. Mihai Finger’s Design

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

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

38. 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

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

40. 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

41. Relations
(metacarpophalangeal joint)

42. 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

43. 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

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

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

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

47. Design of a sheetmetal finger
(SF1)

48. 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

49. Hand Design (Palm)

50. Hand Design (+SF2 Fingers)

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

52. Hand Design (+Thumb & 2
Servos)

53. Hand Design (+Palm Cover)

54. Hand Design (+Wrist Servos)

55. Hand Design

56. Flat drawing for metacarpus of the
thumb

57. Aluminum Sheetmetal

58. Hand Manufacturing

59. Hand Manufacturing (Palm)

60. Hand Manufacturing (Palm)

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

62. Hand (assembled)

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

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

65. Testing Romanian hand
Katowice, May 2012

66. + Lower arm

67. + Upper Arm

68. Assembly last 2 servomechanisms
(28.08.2012)

69. Romanian Robotic Arm

70. 2012 Extreme Redesign Contest
www.DimensionPrinting.com/extremeredesign

71. SCRIPT
SCRatch International Programming Trial

73. 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/

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

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

76. 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.

77. 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

78. 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

79. 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.

80. 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.

81. 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)

82. 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

83. 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

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

85. 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

86. National Electronics Contest
Constanta, 22 – 26.06.2014

87. Papers

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

89. Delivering presentations
created during research phase

90. Lesson Plans
Speed & Velocity Li-Po Batteries

91. How to assemble Karel
lower board - Workshop

92. 2nd Scientix Conference
Brussels, 24 – 26.10.2014
http://nonformal.ro/ZJk

93. Dictionary translation
(TR)

94. Dictionary translation
(PL)

95. MATHEMATICAL
COMPETENCE

96. Animation created in
Geogebra

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

98. Calculus of
Rear Overhang

99. Calculus of
Rear Overhang

100. Calculus of
Departure Angle
◼

101. Ramp Angle
Ground Clearance

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

103. Calculate Ground Clearance
(h) with Geogebra

104. (BASIC) COMPETENCES IN
SCIENCE &TECHNOLOGY

105. 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

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

107. Wheels, Brackets

108. Robot Base

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

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

111. Karel – First Prototype

112. DIGITAL COMPETENCE

113. Using 3D CAD Software
Robot Base

114. 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

115. Upper Board
3D Bottom View

116. Upper Board
3D Top View

117. Geogebra

118. Atmel Studio 6

119. Google Docs
Spreadsheet
◼ Datasheet

120. Google Docs
Document

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

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

123. Math Challenge (1 pizza)

124. Robot Chassis Challenge

125. Robot Chassis Challenge

126. Arduino Programming Workshop

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

128. PCB Assembling Workshop

129. Karel Lower Board Assembling

130. Karel Programming Workshop

131. Karel & Robotic Contests
Workshop

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

133. Beypazari City Hall

134. Rybnik City Hall

135. Katerini City Hall

136. Regional Authorities of
Pieria

137. Robotics Symposium
Beypazari

138. Robotics Symposium
Rybnik

139. Robotics Symposium
Rybnik

140. Robotics Symposium
Katerini

141. Robotics Symposium
Katerini

142. Robotics Symposium
Orsova

143. Robotics Symposium
Orsova

144. Robotic Tournament 2014

145. Robotic Tournament 2014

146. Robotic Tournament 2014

147. Robotic Tournament 2015

148. Robotic Tournament 2015

149. International Robotics
Trophy Robotor 2015

150. International Robotics
Trophy Robotor 2015

151. International Robotics
Trophy Robotor 2015

152. International Robotics
Trophy Robotor 2015

153. 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

154. Bill of Materials

155. Online Stores for Electronic Components

156. Online Order

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

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

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

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

161. Musical breaks

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

163. OUTCOMES

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

165. Karel Lower Board
Bottom View

166. Karel Lower Board
Top View

167. Karel Upper Board
Bottom View

168. Karel Upper Board
Top View

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

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

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

172. 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

173. MORE INFORMATION

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

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

176. KISS
Karel Is a Success Story

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

178. Karel in competitions
Robotor 2018 – Tribot Challenge

179. Next European Project?

180. 3D POWER
Printing Objects with Educational Resources
September 2016 – June 2017
https://twinspace.etwinning.net/25844/

181. 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

182. 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.

183. 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).

184. 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

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

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

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

188. Christmas Animation in Scratch

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

190. 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

191. Chess Board and Pieces

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

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

195. 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)

196. 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)

197. 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

198. Cooperation with companies

199. Final Video (by Patrizia Roma)

200. eTwinning Quality Labels

201. Romanian eTwinning Prizes 2017
Students Involvement Category

202. Prize = Vertex 3D Printer

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