Presentation delivered in the international conference “Engaging tools for science education” held in Sofia, on 31.10 - 02.11.2014. The International Conference “Engaging science education” was organised in the frames of international project Teamwork, Training and Technology Network” (TTT NET), implemented with the support from EC through LLP (540029-LLP-1-2013-1-IT-COMENIUS-CNW). There are presented some initiatives which contribute(d) to STEM activities development: two international contests –in the field of Robotics (ROBOTOR) and Programming (SCRIPT)– and 3 European projects –two related to Robotics (RECAP and KAREL), and one related to STEM education (SCIENTIX).

1. Enhancing STEM activities
through contests and
European projects
Mihai Agape
Palatul Copiilor Drobeta Turnu Severin – Filiala Orsova
Engaging Tools for Science Education Conference
Teamwork, Training and Technology Network (TTTNet)
Sofia, Inter Expo Center, 31.10.2014 – 02.11.2014
Parallel Session 3, Rodopi hall, 01.11.2014, 14:00 – 14:30

2. The Purpose of the
Presentation
International Contests
ROBOTOR
SCRIPT
European Projects
RECAP (LdV)
KAREL (Comenius)

3.  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.

4. INTERNATIONAL ROBOTICS
TROPHY ROBOTOR

5. National Contest of Electronics,
Pitesti, June 2007

6. Dance, Music, Drama…

7. How to bring technical activities on stage?
Robotics Trophy ROBOTOR
 Robotics contests are spectacular
 Robotics = STEM integrator
 ROBOTOR = ROBOT + ORsova

8. ROBOTOR editions
 First edition:
 Regional Trophy - 2008
 National editions: 2009, 2010, 2012, 2013,
2014
 International editions: 2011
 Poland, France, Turkey, and Romania
 All editions have been included in the
Educational Activities Schedule of MEN
 ROBOTOR 2015 will be international

9. Regional Trophy
ROBOTOR 2008

10. International Trophy
ROBOTOR 2011

11. ROBOTOR 2011

12. ROBOTOR 2011

13. ROBOTOR 2008
Line Follower Contest

14. ROBOTOR 2011
Line Follower Contest

15. ROBOTOR 2013
Botosani, October 2013

16. National Electronics Contest
Constanta, June 2014

17. National & International Robotics Competitions
 2008 – Orsova: “Robotor”
 2010 – Targoviste: “Cupa Chindiei”
 2011 – Bucuresti: “Infomatrix”
 2013 – Galati: “Robogal”
 Technical Universities
 Bucharest
 Timisoara
 2014 – National Ministry of Education (LEGO)

18. International Robotics Trophy ROBOTOR 2015,
Robotics Contests & Robotics Symposium
Orsova, 28-30 May 2015
 Dragsters (Junior & Middle)
 Line Follower (Junior, Middle & Senior)
 Mini & Micro Sumo (Junior, Middle & Senior)
 Line & Wall Maze (Junior, Middle & Senior)
 Solar Robots (Junior & Middle)
 Freestyle (Junior & Middle)
 Possible subsections
 Beginners
 Advanced
 mihai_agape@yahoo.com

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

20. REmote Controlled Arm Project
RECAP

21. 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

22. 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.

23. Partnership Aim
Romanian team contributions
 Design and manufacture a robotic arm
 Romanian team contributions
 Electronics
 Controller for Robotic Hand
 System for Capturing Arm Motion - SCAM
 Programming
 Mechanics
 Arm Design

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

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

26. Katowice, 11/30/2011
Claudia

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

28. Finger flexion with tendon

29. Finger’s extension with springs

30. CF (Cheap Finger) – 2 versions
Giulia

31. CF1 - Orșova
CF2 - Louhans

32. Finger 3D Design
Mihai

33. Mihai Finger’s Design

34. Mihai Finger’s Design

35. Break
April 2011

36. Restart
January 2012

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

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

39. 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

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

41. 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

42. Relations
(metacarpophalangeal joint)

43. 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

44. Simulation
120.00
100.00
80.00
60.00
40.00
20.00
0.00
-20.00 0.00 20.00 40.00 60.00 80.00 100.00 120.00 140.00 160.00 180.00
-20.00
α1 α2 α3 F/Fmax

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

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

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

48. Design of a sheetmetal finger
(SF1)

49. 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

50. Hand Design (Palm)

51. Hand Design (+SF2 Fingers)

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

53. Hand Design (+Thumb & 2
Servos)

54. Hand Design (+Palm Cover)

55. Hand Design (+Wrist Servos)

56. Hand Design

57. Flat drawing for metacarpus of the
thumb

58. Aluminum Sheetmetal

59. Hand Manufacturing

60. Hand Manufacturing (Palm)

61. Hand Manufacturing (Palm)

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

63. Hand (assembled)

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

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

66. Testing Romanian hand
Katowice, May 2012

67. + Lower arm

68. + Upper Arm

69. Assembly last 2 servomechanisms
(28.08.2012)

70. Romanian Robotic Arm

71. 2012 Extreme Redesign Contest
www.DimensionPrinting.com/extremeredesign

72. SCRatch International Programming Trial
SCRIPT

74. 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/

75. Example - Tornado Simulation
 http://scratch.mit.edu/projects/23046337/
 Poster related to augmented reality (Good
Practice from ITAO workshop – Zuhal Yilmaz
Dogan and Didem Sunbul)

76. Local Winter Greetings Contest – 2011
http://scratch.mit.edu/studios/148271/

77. Regional Contest SCRIPT 2012
http://scratch.mit.edu/studios/171206/

78. National Contest SCRIPT 2013
http://scratch.mit.edu/studios/211401/

79. SCRIPT 2013
Game created by Bulgarian team

80. International Contest
SCRIPT 2014
 Cooperation with Galina Momcheva, Assoc.
Prof. at Varna Free University
 Participants from Bulgaria, Italy, Macedonia,
Poland, Slovenia, Turkey, USA and Romania

81. SCRIPT 2014 Gallery
http://scratch.mit.edu/studios/377099/

82. SCRIPT 2015
Contest & Symposium
 Contest
 Primary and lower secondary pupils (aged
from 6-7 to 14 – 15 years old).
 Version Scratch 2.0
 Symposium
 Creators of Scratch learning resources
(teachers & students)
 Online videoconference

83. SCRIPT 2015 – Contest
 Aim: promote the programming among
primary and lower secondary students, using
Scratch programming language.
 Contest objectives:
 Stimulating pupils to code.
 Developing English language skills of pupils
and teachers.
 Promoting of the best teams.
 Dissemination of the best projects.

84. SCRIPT 2015 – Contest
 Sections:
 Greetings
 Games
 Music and Dance
 Stories
 Simulations
 Age categories
 one for each grade from 1 to 8
 mihai_agape@yahoo.com

85. General Information
Karel Project in Numbers
Partners
Objectives
Results & Outcomes
Robot Requirements
Tasts Distribution
Work Breakdown Structure
KAREL PROJECT OVERVIEW

86. 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

87. Karel project in numbers
Countries: 4
Partners: 4
Teachers: 21
Students: 50
Mobilities: 96
Robots: 20
Lessons: 21

88. 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

89. 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.

90. WHAT?
Results & Outcomes
 Robotics Dictionary in English and each
partner’s language.
 Robotics Platforms designed and
manufactured (20).
 Curriculum with at least 21 lesson plans, in
English and each partner’s language . At
least 2 lesson plans for each of following
fields: physics, biology, programming,
mechanics, electronics, and robotics.

91. 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)

92. HOW?
Tasks Distribution
 Pupils:
 Create robotics dictionary
 Research, design, build, test, and program
robotic platform
 Test curriculum
 Teachers:
 Design curriculum
 Guide pupils

94. Specifications
Karelino - first controller prototype of Karel robot
Solving math problems
The second design of Karel platform
KAREL
SOME OF THE WORK DONE

95. Agreed at the first project meeting in Beypazari
Available at http://sdrv.ms/170NTak
KAREL SPECIFICATIONS

96. Kick-off Project Meeting
Beypazari, 10-16.11.2013

97. Karel
Mechanical Specifications

98. Karel
Electrical Specifications

99. Karel
Input Devices

100. Karel
Output Devices

101. Karel Curriculum

102. Karel Challenges

103. Karel
Other Specifications

104. Schematic
3D Views
PCB manufacturing
Board Testing
Mechanics, Electronics, and Software Integration (Rybnik meeting)
First Karel prototype
KARELINO - FIRST PROTOTYPE
OF THE ROBOTIC PLATFORM

105. Why Karelino?
Karel problems
2 s LiPo battery management
Motor voltage regulator
Solution
Small complexity prototype
Cristina – Karel team student
Karel & Arduino -> Karelino

106. Schema electrică

107. First prototype - Karelino
3D Top View

108. First prototype - Karelino
3D Bottom View

109. PCB manufacturing
method & materials
Method = Transfer Toner System
Materials = Pulsar kit (PCB Fab-In-A-Box)
http://www.pcbfx.com/

110. Print the copper layer on paper
using a laser printer (600 dpi)

111. Prepare the single sided board
using a sandpaper

112. Clean the surface with a
cloth

113. Use laminator to transfer the
toner from paper to board

114. Remove the paper using water

115. The copper layer is
transferred to the board

116. Use green foil (from
Pulsar) to seal the toner

117. Easily remove the green foil

118. Toner before and after sealing

119. Etching the board using
ammonium persulfate

120. The uncovered copper
was removed (etched)

121. Remove the toner from the
board using thinner

122. Drill the holes

123. Test the traces for continuity
and short circuits

124. Use a soldering iron station to
solder the components
 Hot Air Gun
 Soldering (Hot) Iron

125. First solder the jumper
wires

126. Add the components and solder
them (SMD first & THD last)

127. Karelino (TOP)

128. Karelino (BOTTOM)

129. 3D Views vs Real Board

130. Karelino Testing
Design & Manufacturing Mistakes

131. Second Project Meeting,
Rybnik, 06–13.04.2014

132. Integration & Testing
(Rybnik meeting)

133. First Karel Prototype
(Rybnik meeting)

134. Proposed Improvements
(Rybnik meeting)
 Integrate new blocks (e.g. Motor voltage
regulator, UART connector, Battery
management system)
 Make changes to the initial design (e.g.
replace USB micro B connector with an USB
mini B connector)
 Redesign the PCB (components places and
traces) according to the chassis shape
 Add LEDs to show the state of Bluetooth
module

135. Useful Links
 Drawings for manufacturing the Karelino
controller http://1drv.ms/1jet3ci
 Bill of materials for all designs
http://1drv.ms/1oAF8hr

136. Climbing an inclined plan
Karel Base Designs
Animation created in Geogebra
Problems Solved
MATH PROBLEMS

137. Climbing a 30 % inclined plan
 A requirement which seems to be related just
to the power of the motors.

138. Karel Base Designs

139. Animation created in
Geogebra

140. Rybnik meeting
Math Challenges

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

142. Karel Base Dimensions
l_w = wheel base
l_r = rear overhang
l_f = front overhang
d_w = wheel diameter
d_c = caster diameter
h = ground clearance

143. Calculus of
Rear Overhang

144. Calculus of
Rear Overhang


145. Calculus of
Departure Angle


146. Ramp Angle
Ground Clearance


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

148. Calculate Ground Clearance
(h) with Geogebra

149. SOFTWARE FOR
KAREL PLATFORM

150. Programming Languages
 C
 Atmel Studio IDE
 We created some modules (functions) for
 Motors control
 Serial communication (USART, Bluetooth)
 Optical line sensors
 Arduino
 Arduino Leonardo compatibility
 Microcontroller - ATmega32U4
 Use Karel with Arduino?

151. Karel Visual Software
 A former student of mine, Claudia Tudosie,
who is now student in the last year at
Timisoara University, Computers Enginnering
Faculty, chose for his final project a theme
related to KAREL. She proposed to create a
visual programming language (similar to
Scratch) for Karel platform.

152. LESSON PLANS

153. Physics Lesson Plan
Friction & Speed
 How the Karel robot will be integrated in the
lesson?
 Robots will travel along surfaces of different
materials (in order to show that the speed
depends on the different surfaces)
 What do we need to do?
 Drive the robot along pathways (straight or
curved) on different surfaces.
 Measure time, distance.

154. Materials
 Materials with different coefficient of friction
 Karel robot
 Stopwatches
 Distance measuring tools
 Data sheets
 Microsoft Excel

155. Lesson Objectives
 Students will:
 O1. Observe the influence of the road surface
to the speed of the robot.
 O2. Use relation d = v * t in order to calculate
v when d, and t are given.
 O3. Propose solutions for improvement of
friction between road and the tires of the robot.

156. Engagement
 Students will predict how the surface of the
road affects the speed of the robot.
 Example of questions for students:
 What is the effect of the road type on the
vehicle speed? (bumpy / smooth, straight /
curvy)
 How can you determine the speed of a
vehicle? (distance / time)
 More friction means more or less speed?

157. Exploration
 Students will measure the speed of the robot
on different surfaces. They will record the
data in the next table.
Surface type (road) Distance Time
 The students will understand how the road
materials affect the time needed for the robot
to travel a given distance.

158. Explanation
 Introduce the concept
Distance = Speed * Time

159. Elaboration
 Students experiment with different surface
materials and weather conditions. Students
record the data in next table
Surface type (road) Distance Time Weather
 Calculate the speed for each type of tested
road

160. Evaluation
 Students introduce the collected data in an
Excel sheet and represent graphically the
distance as a function of time for different
road materials.
 Students answer the next question: How the
friction of the roads could be increased or
decreased?

161. ROBOTICS DICTIONARY

162. Google Docs
Spreadsheet
 Datasheet

163. Google Docs
Document

164. New Approach – Two Boards
Schematics
PCB’s Design
PCB’s Manufacturing
KAREL SECOND PROTOTYPE
(WORK IN PROGRESS)

165. Karel second prototype
approach
 2 boards
 Lower board
 Battery management system
 Motors
 Upper board
 Controller
 Regulators
 I/O devices
 Motor regulators

166. Karel Battery Management System - Schematic

168. Board dimensions

169. PCB Design
 Double Side PCB laminate
 Components
 SMD
 THD
 Software
 Target3001! - version limited at 400 pins /
pads

170. Lower board
3D bottom view

171. Lower board
3D top view

172. Lower board
Design problem

173. Upper board
3D bottom view

174. Upper board
3D top view

175. Improve Boards
Manufacturing Process
 Older printer (Samsung) – 600 dpi resolution
 New printer (HP) - 1200 dpi resolution
 Very good results after some tests
 Problems – printer driver for Windows 7

176. Printing problems
 MS Word (doc)
 Different results
 Picture (png)
 Scaling problems
 Good results with
pdf files

177. After we’ve learned how
to do it (printing)

178. After we’ve learned how
to do it (printing)

179. Alignment of TOP &
BOTTOM Layers

180. Toner Transfer problems

181. Toner Transfer problems

182. After we’ve learned how
to transfer the toner

183. After we’ve learned how
to transfer the toner

184. Seal the toner

185. Seal the toner

186. Quite good alignment
between top and bottom

187. Final upper board with
min 0.6 mm tracks (top)

188. Final upper board with
min 0.3 mm tracks (bottom)

189. Karel Second Prototype
Problems & Future Work
 Some circuits (e.g. for battery
management) not tested yet
 Some integrated circuits are not so easy
to procure (e.g. the ones made by Seiko)
 Possible new changes in design using
new integrated circuits (e.g. boost
regulator supplied from 1 Li-Po battery
with high output current capabilities)

190. Third Karel Project Meeting
Katerini, 12 – 19.10.2014

191. Katerini
Robotic Platform Test

192. Already presented in this conference by dr. Gina Mihai
http://www.scientix.eu/web/guest
SCIENTIX PROJECT

193. Travelling to Scientix meeting
Orsova – Bucharest train

194. What to do to increase the number of
STEM fans?

195. Don’t forget about
ROBOTOR & SCRIPT
 International Robotics Trophy
ROBOTOR 2015
 SCRatch International Programming Trial
SCRIPT 2015
 Contact
mihai_agape@yahoo.com

196. Bibliography
 Agape, Maria-Genoveva; Agape, Mihai (mai 2011).
„Trofeul Internaţional de Robotică ROBOTOR”.
Universul copiilor 16 (I.S.S.N 1841 – 191): 34 – 37.
 Agape, Mihai (februarie 2012). „Să învățăm
programare jucându-ne în Scratch”. Preparandia 2
(ISSN 2247 – 9414), section Gymnasium.
http://bit.ly/1ftKR27
 Agape, Mihai (octombrie 2013). Rules for National
Robotics Trophy ROBOTOR 2014.
http://sdrv.ms/17umqk7

197. Bibliography (cont.)
 Agape, Mihai (octombrie 2013). Rules of Scratch
International Programming Trial SCRIPT 2014.
http://sdrv.ms/LgPxfX
 Agape, Maria-Genoveva (octombrie 2013). Rules of
Scratch International Symposium SCRIPT 2014.
http://sdrv.ms/LgPxfX
 Agape, Mihai. Agape, Maria-Genoveva. “KAREL
Specifications”, agreed in Karel Project Meeting held
at Beypazari on 10–16.11.2013. http://sdrv.ms/170NTak
 Agape, Mihai. “Karelino—One Step in Karel Robotic
Platform Developing”, presentation given at National
Symposium IPO-TECH, Tirgu-Neamt, 29.03.2014

198. Bibliography (cont.)
 Agape, Mihai. “Contributions for developing a
robotic arm”, presentation delivered in RECAP
Project Meeting (Katowice, 05.31.2012).
 Agape, Mihai. “Scientix – Comunitatea
tehnico-științifică europeană”, presentation
delivered in National Symposium “Electronics
Today” (Constanta, 23.06.2014).
 Agape, Mihai. “KAREL
Controller Design”, presentation delivered at
Karel project meeting held at Rybnik, 06-
13.04.2014.

199. Bibliography (cont.)
 Agape, Cristina-Maria. “KAREL – Controller
Manufacturing”, presentation delivered at Karel
project meeting held at Rybnik, 06-13.04.2014.
 Agape, Mihai. “KAREL – First Implementation
Year”, presentation delivered at the Robotic
Symposium – Code Week event, Katerini, 14th
October 2014.
 Agape, Maria-Genoveva. “Physics Lesson Plan
– Friction & Speed”, presentation delivered at
the Karel project meeting held at Katerini, 12 –
19.10.2014.

200. Bibliography (cont.)
 Agape, Mihai. “KAREL – 2nd Platform
Design”, presentation delivered at the Karel
project meeting, Katerini, 12 – 19.10.2014.
 *** ATmega32U4, 7766G–AVR–02/2014. Atmel.
http://www.atmel.com/Images/Atmel-7766-8-bit-AVR-ATmega16U4-
32U4_%20Datasheet.pdf
 *** DRV8833, SLVSAR1C. Texas Instruments.
http://www.ti.com/lit/gpn/drv8833.
 *** LM2940, SNVS769I. Texas Instruments.
http://www.ti.com/lit/gpn/lm2940-n.

201. Bibliography (cont.)
 *** LM1117, SNOS412M. Texas Instruments.
http://www.ti.com/lit/gpn/lm1117-n
 *** Bluetooth Module BTM-112 and BTM-182.
Rayson.
 *** BQ241xx - Synchronous Switchmode, Li-Ion and
Li-Polymer Charge Management IC with Integrated
Power FETs (bqSWITCHER). Texas Instruments.
 *** S8239 Series. Overcurrent Monitoring IC for Multi-
Serial-Cell Pack. Seiko Instruments Inc.
 *** S8209A Series. Usage Guidelines. Seiko
Instruments Inc.

202. Bibliography (cont.)
 Agape, Mihai. “Karelino – A robot for STEM
education”, presentation delivered at the
2nd Scientix Conference, Brussels, 24 – 26
October 2014.

203. Questions?