# Pages

## Math machine learning

Whenever I observe my daughter, I find that she likes to collect things. The more, the better. Usually as much as she can carry. As she can not count, how can she distinguish, what are more things and what are less things?

My daughter with objects in both hands

## Simple trial-and-error algorithm - yet

I am experimenting these days with trial-and-error algorithms.

## Revised algorithm of choice

In the last two days I have reworked the algorithm of choice completely. The code is now much shorter and a great number of actions can be easily added.  I have listed the code sketch below.

## Concept of a learning robot based on VSLA

My next robot will be based on a variable structure stochastic learning automaton (VSLA) , which is similar to the approach David L. Heiserman describes in his book How to Build Your Own Self-Programming Robot. As I am using quite a lot of mathematical notations and equations I have attached the first chapter as a pdf for better readability. I'll add more chapters later.

Update 22/09/2012: Chapter 2 attached

## Pulse oximeter - Update 02/09/12

I am currently in the engineering phase to build a pulse oximeter. I mainly make use of the following references:

## RoboDoc

Measures the pulse rate at rest and gives a brief diagnosis
Using a
Introduction Read more

## Homemade compound eye

The compound eye from DAGU, designed by Oddbot, is cool and cheap. But I needed a round board to imitate the human eye, so I made one by myself. The IR LED's and photo transistors are the same as in the original design. As I had no PN 100 transistor, I used a BD 139 (the 4 IR LED's draw approx. 100 mA @ 5 V).

Front view of the perf board

## 6 DOF robot hand finished

I finished the 6 DOF robot hand for my project Te no atama today. Here are some pictures. The thumb has two degrees of freedom. The primarily function of the hand is to display hand gestures. A 2 DOF wrist will be added. All servos have a metal gear and are digital.

## Robot eyes

Gives your robot more personality
Using a
A simple method to build robot eyes as for instance robots like NAO or DARwIn have. The drawing is nearly self-explanatory: Read more