... | ... | @@ -55,14 +55,13 @@ With the goal of obtaining a better understanding of the significance of the phy |
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3. The robot must be perfectly balanced when the run button is pressed, as the light level measured at that time determines the equilibrium position.
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##### Testing condition 1: A dark room without windows
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We tested the robot in the bathroom where the light could be switched off.
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At first we placed the robot in the middle of the room, started the non-modified program, calibrated it with support from our hands. This attempt made the robot fall over - and thereby not balancing - almost immediately as seen in video 2.
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We tested the robot in the bathroom where the light could be switched off. At first we placed the robot in the middle of the room, started the non-modified program, and calibrated it with support from our hands. In this attempt, the robot fell over almost immediately, as seen in Video 2 - it was not balancing at all.
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[![Robot in dark room](http://img.youtube.com/vi/JAj4VaBqbhc/0.jpg)](https://www.youtube.com/watch?v=JAj4VaBqbhc)
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*Video 2: The robot in a dark room to test Hurbains first condition for optimal light sensor use.*
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*Video 2: The robot in a dark room to test Hurbain's first condition for optimal light sensor use.*
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From this attempt we decided that we didn't trust our abilites to calibrate the robot in the dark using just our hands and eyes to measure when the robot was standing upright, why we decided to do calibration using the bathroom door.
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From this attempt we decided that we didn't trust our abilites to calibrate the robot in the dark using just our hands and eyes to measure when the robot was standing upright, and we therefore decided to do calibration using the bathroom door for vertical alignment.
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##### Including condition 3: Using support during calibration
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After the first failed attempt we tried calibrating the robot while it was resting against the door to the bathroom, as the door was perpendicular to the floor and flat. This allowed the robot to calibrate at a more steady, upright position - this, for instance, reduced the risk of us accidentally tilting the robot when pushing the start button after calibration (or actually during, since it goes wrong because the robot is still calibrating while we are trying to push the button). We placed the robot at a small angle to the door (similar to later work, see Video 3), as we assessed that the robot had too much weight in the front because of its sensor. This worked better, but the robot seemed to be clinging to the door.
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