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--- beam_robotics [2009-01-09 10:45] – davegriffiths
+++ beam_robotics [2009-01-09 10:54] – davegriffiths
@@ Line 18: / Line 18: @@
 One of the simplest BEAM components is the nv neuron, which consists of a capacitor, resistor and inverter arranged so they form a 1st order high pass filter with it's output inverted. In BEAM robotics, circuits are considered active when the output is low - this circuit will output low pulses for a constant time (set by the values of the capacitor and resistor) when the input changes voltage.
-Nv neurons can be stacked together in arrays, where signals will be propagated slowly along them.
 {{http://www.pawfal.org/dave/images/beam/nvneuron.jpg}}
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 An Nv neuron in the breadboard with a large capacitor, to make the pulse easier for a human to see.
+==Nv Neuron Array/Grounded Bicore==
+Nv neurons can be stacked together in arrays, where signals will be propagated slowly along them.
+{{http://www.pawfal.org/dave/images/beam/nvchain-schematic.png}}
+With a simple modification, the output of the second Nv neuron can be fed into the input of the first. This forms a simple oscillator - what BEAM robot builders refer to as a grounded bicore.
+{{http://www.pawfal.org/dave/images/beam/grounded-schematic.png}}
+{{http://www.pawfal.org/dave/images/beam/grounded.jpg}}
+These bicores are the workhorses of BEAM robot brains, and are used to provide oscillating signals which can be controlled from other Nv neurons, or directly from sensor input.
+==Suspended Bicore==
+With some modifications, it's possible to greatly simplify the grounded bicore into the following form:
+{{http://www.pawfal.org/dave/images/beam/bicore-schematic.png}}
+{{http://www.pawfal.org/dave/images/beam/bicore.jpg}}
+By playing with the values of the components, different oscillation patterns can be made.
 ===Solar Engines===