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Once created, the same PID can be used, with only minor. Mindstorms application such as getting a. Segway. This document is targeted towards First Lego League kids. Since. there aren't many kids that have had Calculus I'll try to build the. Calculus. So lets start with the basic layout of a robot that would be. At the right is a. A and C. The robot has a light sensor mounted at the front that. The red circle represents. The rest of the robot is the large rectangle with an arrow, the. Our goal is to get the robot to follow the fat black line. Line. following is a basic robotic behavior and is often one of the. A mobile device that can follow a line. It uses sensor to. Line followers can be built with one light sensor, or two, or. In general, the more light. Here we'll limit. Mindstorms light sensor. Even with a single. The thing you. usually loose with a single sensor is the ability to follow the line. Often, the more sensors you have the faster the. Instead, we'll try to follow the. Are we left or right of the line? If we follow the. We need to know what values the light sensor returns when it. A typical uncalibrated sensor. It is convenient to draw the. Below are our made up. If it. is greater than 4. I won't go into how exactly. I'll just say that gentle turns work well for. A line with lots of curves usually needs to be. For gentle turns you might use Power levels of. For sharper turns on. Whatever power levels you use the. It looks OK on a straight line with with the motors programmed. But if the line has any curves. That. makes the robot. This approach can be made to work. That doesn't seem very. Instead of dividing our light value. So now if the light level is less than 4. If the light value is between 4. If the light level is greater than 4. This can be easily be implemented in Mindstorms. You actually only have to do two tests not three. At least now. robot is sometimes moving. As with the first approach. The robot. will probably still hunt back a forth a fair amount. The astute reader will probably have thought ? Well the first thing we have to deal with is what does ? In our first approach the robot. The turns were always the. In the second approach we added the. If we have more than three ranges. Our X- axis (horizontal) will be our. The Y- axis (vertical) well. In the. center is the three level follower. The added center range is where the. Turn=0). The turns are the same as before. On. right is a Proportional line. In a proportional line follower the turn varies smoothly. If the light sensor reading says we are close to. If we are far from the line then we. Proportional is. an important concept. Proportional means there is a linear. To put it even simpler, proportional means a graph of the. As you may know, the equation of a straight line is: y = mx + b. Where y is the distance up (or down) the Y- axis, x the. X- axis, m is the slope of the line and b is the Y intercept, the point. Y- axis when x is zero. First, we will shift the center of our light number line. X- axis) to zero. For our 4. 0 and 5. We will call that result the error. The error. tells us how far off the line's edge we are. If the light. sensor is exactly on the line's edge our error is zero since. If the sensor. is all the way out into the white our error. All the way into the. In the above graph I have shifted the axis by converting it to. Since the line now crosses the Y- axis at zero that means b. Turn. m*error. We haven't yet defined what the turn axis means so for now we. The. slope of the line in the graph above can be calculated using the two. The slope is a proportionality. Turn. value). That's an important thing to remember. In the PID literature slopes (proportionality. You can think of a K. That's all that a K does. Very. simple and very powerful. Outside. the range of - 5 to +5 we can't tell how far the sensor is from. Remember that this range is. Once the light sensor gets too far from the. We can only. far the sensor is from the line's edge when the sensor is actually. Over that narrow range the light sensor reading is. So our sensor setup has a limited range. Outside that range it. The. light sensor reading, or the error. In the. PID literature the range over which the sensor gives a proportional. The proportional range is another. PIDs. In our line follower the proportional range. I'll just say a couple things. You want the proportional range to be as wide as possible. Exactly how wide the range is depends mostly on how high. If the sensor is very close to the mat. A small side to side movement of the light sensor will swing the error from - 5 to. You might say the sensor has. If the sensor is moved higher off the. At a height of about 1/2. With the sensor up this high the proportional. Unfortunately. there are two drawbacks to a high. First, a high light sensor . A high sensor also has less difference between black. At a sufficiently large distance black and. The. controller's proportional response is limited by the proportional. From P to actual motor power levels. How can we implement the. What should the actual motor power levels be? One way to do the. Tp is the power level of. When. not zero we use the. K*(error) to calculate. One motor will get a. Tp+Turn, the other. Tp- Turn. It turns out that that is exactly what. One motor (we'll assume it is the motor on the left of the. A) will always get the Tp+Turn. The other motor (right side of robot, port. C) will always get Tp- Turn as it's power. If error is. positive then Turn is. Tp+Turn. is greater than Tp. If the error changes sign. Hopefully it'll be a bit clearer as. From those two number we can calculate the offset, that is, how. The offset is just the. For simplicity I'll assume that the offset. There are a lot of ways to get that first Kp value. You can. and then refine it by trial and error. Or, you can try to estimate a. We will use a Tp. The error ranges from - 5 to +5. That means the Kp. Kp. 5. 0)/(- 5 - 0) = 1. We will use the Kp=1. The other motor's power. Initialize our three variablesoffset = 4. Tp = 5. 0Loop forever. Light. Value = read light sensor ! There is a subtle problem that should. But give it a try anyway. Change Kp to - 1. If that fixes the turn directions then change Kp back to. A = Tp - Turnpower. C = Tp + Turn. There are two . The constant is the offset. Calculate the average and put it into the P controller. A tunable parameter has to be determined. Kp. fast the controller will try to get back to the line edge when it has. Tp. controls how fast the robot is moving along the line. If Tp. than that maximum it won't matter what. If Tp. is really small then almost. We had guesstimated a. Kp. of 1. 0. Try it and see how it works. If. the line because the robot seems to turn sluggishly then increase Kp by. If you loose the line because the robot seems. Kp. If. the robot seems to follow the line. Tp. and see if you can follow. For each new Tp you will need to. Kp. usually won't change too much. Following a. with gentle curves is a bit harder. Following a line with sharp curves. If the robot is moving slow enough then almost any line. We want to. get good line following, good speed and the ability to handle gentle. In other. words, a P controller (or a. PID controller for that matter) is tuned for a particular kind of line. The code will work for. Kp, Tp. tuned for each robot and each application. NXT- G version 2. In the process of tuning the P controller you will be tweaking. The. expected range of values that Kp. P controller is doing. How big is the input. For our line follower P. Kp. will be in the vicinity of 1. In. some cases the expected Kp. What happens if the. NXT- G are limited to. Kp. value all you can try. You can't enter 1. Kp=1. 3. You can't. But there will probably be a. Kp by the. smallest possible change of 1. We really would like to have finer. Kp. All we will do is. If it is. expected that Kp. Indeed, it is probably best to just go. Kp. the number you actually enter into the. Once Kp. multiplied by 1. NXT- G is happy with. But doesn't that trash the calculation? Yes it does but it is. Once we have calculated the P term we will divide by 1. Remember our equation that defines the P. Turn. We will multiply Kp. Turn. 1. 00 times bigger than it should be. Before we use Turn we must divide. REMEMBER we are using Kp*1. Initialize the other two variables. Tp = 5. 0Loop forever. Light. Value = read light sensor ! REMEMBER to undo the affect of the factor of 1. Kp ! power. A = Tp + Turn ! Sometime they matter and. But the data port on a NXT- G. The power level is always a number. The motor's direction is controlled by a. To get the motor to react correctly when the. Here is one way to. If power. A > 0 then ! The direction is set with the check boxes in the motor's. Now. calculated power goes negative the motors will be properly controlled. It turns out that the motor just treats the number. That is good for the program but not the best thing to. P (or PID) controller. You would really prefer that. If the requested power isn't too far above 1. OK. If the requested power is a lot bigger. So, make sure you have a fire extinguisher handy! Use a sensor to measure something that. Convert that measurement to an error. For the line. follower we did. Multiply the error by a scaling. Kp. In our line follower example the correction is applied as. The scaling. determined using. In general, P. controllers work very well when a few conditions are met. The sensor needs to have wide dynamic range (which. The thing being controlled (motors in our case) should also. Both the sensor and the thing being controlled must respond. Often when you are controlling motors it. It can take a few tenths of a second for Lego. That means the robot's. P controller's commands. That makes. accurate control difficult with a P controller. NZH Dancehall Fever 2007 princess top quality rar from Torrentreactor Music database. Hash: f3547749afdbb88f6c7acc9f7ed761cd10231f53. RAPHY LEAVITT y Orquesta LA SELECTA - LP SIEMPRE ALEGRE - Muzyka Latino ca. Nzh Dancehall Fever RareNZH Dancehall Fever 2007.rar 130.36 MB. NZH Dancehall Fever(VibrazionPositiva).rar. Nzh Dancehall Fever Rar File
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CNN Newsource), and several regional and foreign- language networks around the world. The channel's success made a bona- fide mogul of founder Ted Turner and set the stage for conglomerate Time Warner's eventual acquisition of the Turner Broadcasting System in 1. A companion channel, CNN2, was launched on January 1, 1. The channel, which later became known as CNN Headline News and is now known as simply HLN, eventually focused on live news coverage supplemented by personality- based programs during the evening and primetime hours. Major events. Replica of the newsroom at CNN Center. Cnn Cnn.com Lou.dobbs.tonight ProgrammerChallenger disaster. On January 2. 8, 1. CNN carried the only live television coverage of the launch and subsequent break- up of Space Shuttle Challenger, which killed all seven crew members on board. Baby Jessica rescue. On October 1. 4, 1. Jessica Mc. Clure, an 1. Midland, Texas. CNN quickly reported on the story, and the event helped make its name. The New York Times ran a retrospective article in 1. If a picture is worth a thousand words, then a moving picture is worth many times that, and a live moving picture makes an emotional connection that goes deeper than logic and lasts well beyond the actual event. Return to Transcripts main page. Well this just in to CNN. Supporters of the program said it's all because. CNN Tonight; Genre: News program: Presented by: Don Lemon: Country of origin: United States: Original language(s). USA, the official replacement for Lou Dobbs Tonight. This was before correspondents reported live from the enemy capital while American bombs were falling. Before Saddam Hussein held a surreal press conference with a few of the hundreds of Americans he was holding hostage. Before the nation watched, riveted but powerless, as Los Angeles was looted and burned. Simpson took a slow ride in a white Bronco, and before everyone close to his case had an agent and a book contract. This was uncharted territory just a short time ago. Something is happening outside. Peter Arnett, join me here. Let's describe to our viewers what we're seeing.. The skies over Baghdad have been illuminated. We're seeing bright flashes going off all over the sky. Because it was unable to immediately broadcast live pictures from Baghdad, CNN's coverage of the initial hours of the Gulf War had the dramatic feel of a radio broadcast . Murrow's gripping live radio reports of the German bombing of London during World War II. Despite the lack of live pictures, CNN's coverage was carried by television stations and networks around the world, resulting in CNN being watched by over a billion viewers worldwide . Many of these reporters now comprise CNN's . Others include then- Pentagon correspondent Wolf Blitzer (now host of The Situation Room) and international correspondent Christiane Amanpour. Amanpour's presence in Iraq was caricatured by actress Nora Dunn in the role of the ruthless reporter Adriana Cruz in the 1. Three Kings. Time Warner- owned sister network HBO later produced a television movie, Live from Baghdad, about CNN's coverage of the first Gulf War. Coverage of the first Gulf War and other crises of the early 1. Battle of Mogadishu) led officials at the Pentagon to coin the term . She broke into a commercial at 8: 4. Eastern Time that morning and said: This just in. You are looking at obviously a very disturbing live shot there. That is the World Trade Center, and we have unconfirmed reports this morning that a plane has crashed into one of the towers of the World Trade Center. CNN Center right now is just beginning to work on this story, obviously calling our sources and trying to figure out exactly what happened, but clearly something relatively devastating happening this morning there on the south end of the island of Manhattan. That is once again, a picture of one of the towers of the World Trade Center. Sean Murtagh, CNN vice president of finance and administration, was the first network employee on the air. He called into CNN Center from his office at CNN's New York City bureau and reported that a commercial jet had hit the Trade Center. Eastern Time as the second plane hit the North Tower of the World Trade Center and through an interview with CNN correspondent David Ensor, reported the news that U. S. Murrow award for the network. On June 3 and 5, CNN teamed up with Saint Anselm College to sponsor the New Hampshire Republican and Democratic Debates. Presidential campaign. Chief political correspondent Candy Crowley acted as moderator for one of the three debates between Mitt Romney and Barack Obama. Some conservatives viewed her as overly partisan/biased due to her attempts at correcting statements by both candidates on the 2. Benghazi consulate attack. Most of CNN's late- morning and early afternoon programming consists of CNN Newsroom, a rolling news program hosted by Carol Costello in the morning and Brooke Baldwin in the afternoon. In 2. 01. 3 the network began to rework its daytime programming to include more distinct shows, beginning with Ashleigh Banfield's hour- long block of Newsroom as Legal View with Ashleigh Banfield in August 2. Newsroom as Wolf hosted by Wolf Blitzer at 1 p. Eastern and At This Hour with Berman and Bolduan at 1. Eastern and The Situation Room with Wolf Blitzer with Wolf Blitzer at 5. The network's evening and primetime lineup shifts towards more in- depth programming, including Erin Burnett Out. Front at 7 p. m. Eastern, and CNN Tonight with Don Lemon, hosted by Don Lemon at Monday through Thursday at 1. Eastern, and Friday at 9 p. Eastern and Overnight programming is CNN Newsroom (simulcast on CNN International), weeknights at 1. Eastern, and weekend at 4. Eastern. Since the cancellation of Piers Morgan Tonight, the 9 p. Eastern time slot has been filled by factual programs and documentary series, introducing new series for the 2. John Walsh's The Hunt, This is Life with Lisa Ling, and Mike Rowe's Somebody's Gotta Do It. Jeff Zucker explained that this new lineup was intended to shift CNN away from a reliance on pundit- oriented programs, and attract younger demographics to the network. Despite this, Zucker emphasized a continuing commitment to news programming, especially during breaking news events (where the 9 p. These changes coincided with the introduction of a new imaging campaign for the network, featuring the slogan . Owing to its success, CNN would produce sequels focusing on the 1. The network's Sunday morning lineup consists primarily of political talk shows, including Inside Politics with John King, State of the Union, the international affairs program Fareed Zakaria GPS, and the media analysis program Reliable Sources with Brian Stelter. On- air presentation. CNN began broadcasting in the high definition. September 2. 00. 7. The Election Express vehicle, capable of five simultaneous HD feeds, was used for the channel's CNN- You. Tube presidential debates and for presidential candidate interviews. On- air graphics took a rounded, flat look in a predominantly black, white, and red color scheme, and the introduction of a new box next to the CNN logo for displaying show logos and segment- specific graphics, rather than as a large banner above the lower- third. The redesign also replaced the scrolling ticker with a static . Additionally, the network began to solely produce its programming in the 1. HD feed. The ticker now alternates between general headlines and financial news from CNNMoney, and the secondary logo box was replaced with a smaller box below the CNN bug, which displays either the title, hashtag, or Twitter handle for the show being aired or its anchor. It is a drone- based news collecting operation to integrate aerial imagery and reporting across all CNN networks and platforms, along with Turner Broadcasting and Time Warner entities. After being faced with irregular and inconsistent scheduling (sometimes being replaced by factual programs or reruns of the evening's earlier broadcast of AC3. Eastern Time slot), it was discontinued in February 2. Replaced by Starting Point. Around the World. Replaced by Legal View. Each program began with a short taped report on the topic by CNN correspondent John Bisney. The show ran from 1. Burden of Proof. 19. The program ended after Brown resigned from CNN. Capital Gang. 19. The original panelists were Pat Buchanan, Al Hunt, Mark Shields and Robert Novak. When Buchanan left CNN to run for president, Margaret Warner, Mona Charen and later Margaret Carlson and Kate O'Beirne became regular panelists. Capital Gang aired Saturday nights at 7: 0. Eastern Time from 1. CNN Daybreak. 19. Eastern Time. CNN Live Saturday / CNN Live Sunday. Unknown. Anchored by Fredricka Whitfield from 1. Eastern Time and Carol Lin from 6: 0. Replaced in 2. 00. CNN Newsroom Weekend. CNN Live Today. 20. Anchored by Daryn Kagan. CNN Money. CNN's weekend show breaking down the business news of the week. CNN News. Site. 20. A news program which incorporated participation via the internet; based out of Atlanta, it was anchored by Joie Chen that aired Monday through Friday at 4: 0. Eastern Time. CNN Saturday Night / CNN Sunday Night. Unknown. Eastern Time and anchored by Carol Lin. Replaced in 2. 00. CNN Newsroom Weekend. CNN Sports Sunday. Co- anchored by Bob Kurtz and Nick Charles. 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