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There are more than 270 living species of turtles and tortoises These creatures are found in terrestrial, fresh water, and marine habitats, and in both temperate and tropical regions The term turtle usually refers to a freshwater or marine species, while the term tortoise is normally used for terrestrial species Terrapin is the informal name for a freshwater turtle Turtles and tortoises belong to the order Testudines, which is divided into two suborders The primitive sideneck turtles (suborder Pleurodira) cannot fully retract their long necks When they are at rest, they must lay their heads sideways along the inside of their shells All of the 70 or so species of sideneck turtles live in freshwater The more advanced straightneck turtles (suborder Cryptodira) are a much larger group that lives on land and in water They are able to withdraw their heads completely into their shells Turtles and tortoises vary greatly in size, from the tiny Speckled Padloper, 2-1/2 inches long, to the massive Leatherback Sea Turtle, which can reach up to 6 feet in length

Judy Moore, Architect Judy Moore is a self-employed architect (Judy Moore & Associates) in Albuquerque, New Mexico She s involved in residential and commercial projects and has been in the eld since 1989 She earned her BA in architecture from the University of New Mexico

The turtle and its behavior is the inspiration for the robot in this chapter At first I wanted the turtle to be a walking robot, much like the biological version, but decided that an inexpensive, wheeled robot would be a great platform on which to base experiments Figure 71 shows a real turtle and the robotic version that will be built during this chapter

The robot turtle that will be built and programmed in this chapter has a circular base and achieves locomotion using two wheels, each one powered by direct current (DC) motors and gearboxes The robot will operate in autonomous mode or under remote control by a human operator Turtletron will use an ultrasonic range finder and a linear shaft encoder to map its surrounding area during autonomous mode, and will also use the sonar to inhibit movement if an operator is directing the robot into an obstacle during remote control The robot will also be equipped with a linear shaft encoder that will give it the ability to keep track of the distance that

Originally, I was an art major (sculpture) but felt the competition too steep and the opportunities too few to make a go of it I switched my major to architecture because it would be easier to support myself and I felt that there was a strong enough connection to sculpture to keep my creativity satis ed I started doing residential remodel jobs when I was a sophomore in college to help pay for my education The rst few jobs were for relatives and friends of relatives They did not pay much, but the clients were patient with me and I appreciated the opportunities to learn the things that would have been unavailable to me through school I started my own business in 1989 doing contract work for larger architectural rms and some residential projects for myself

it has traveled and to create maps of its surroundings To save time and money on construction, this robot will use the same main controller circuit board and transmitter device that we built during the last crocodile robot project The only difference with the main controller board will be with the software of the PIC 16F84 The robot will also adopt the wireless data link that was utilized in the last chapter The robot with the remote control is shown in Figure 72

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William Grey Walter built the first robotic turtles in the late 1940s His work in robotics was an extension of his research in neurophysiology Walter s studies of the brain and its neural networks led him to wonder about what type of behavior could be created using just a few neurons To experiment with this concept, in 1948, Walter built a three-wheeled turtle-like mobile robot that