Manuel Wöllhaf, January 2015
To extend the field of application of robots in unstructured environments it is necessary to develop new techniques of environment perception and interpretation. These methods must give machines the capability to generate sufficient information, which enables them to fulfil their tasks with the aid of their sensors. Therefore it is required to extract local and task dependent invariant structure out of the unstructured environment. more to: Position-Based Servoing via Probabilistic Part-Based Object Models
Below you can see the melody mechanism for the keyboard machine. It uses two pulleys of different sizes, which are driven by one rope loop. Both pulleys produce a linear sinewave movement. Due to their different circumferences, the two resulting sinewaves have deviating frequencies. The linear sinewave oscillations then drive the subsequent mechanisms, which move two carriages left and right over the keyboard. From time to time (triggered by a separate rhythm mechanism), the carriages are pulled away from the driving mechanism and pushed onto the keyboard, where they play two tones at the same time.
Although the mechanisms follow a simple inherent logic, which determines the sequence of tones that will be played, the overall behavior of the system is so complex that the sequence appears to be unpredictable for a listener. The result is a melody which is sometimes harmonic, sometimes not, but it definitely has a lot of variation.