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Item 4, the PET soda bottle, is used for air storage. A plastic soda bottle can hold 50 psi easily. I have static-tested plastic PET bottles to 100 psi. Caution: Never use any type of glass bottle for air storage. A slight fracture in a glass bottle or dropping it accidentally may cause the bottle to explode, sending tiny glass fragments all over. Plastic PET bottles elongate when overpressurized. Item 5 is the foot-pump adapter and item 6 is the foot pump. A simple foot pump with an air pressure gauge can charge air storage up to 100 psi. Because of the low volume of the PET bottles, air storage is brought to 50 psi with three or four strokes of the air pump. The air muscle uses so little air that a small PET bottle holds enough air for four to five complete cycles of the air muscle. Item 7 is nylon cable ties, used to quickly connect the air muscle to a mechanical device. Figure 16.4 illustrates a general overview of how the parts are put together. In some cases you may want to epoxy glue some components together to prevent them from popping off. For instance, if you will just be using the three-way air valve on one bottle adapter for air muscle experiments, you may want to glue the three-way valve to the adapter permanently.

The solar engine is commonly used as an onboard power plant for BEAM-type robots, sometimes called living robots (see the discussion about BEAM robots in Chap. 8). The inspiration for this solar engine originated from Mark Tilden, who originally designed a solar engine. Another innovator was Dave Hrynkiw from Canada, who modified the solar engine design to power a solar ball robot. I liked the electrical function so much that I decided to design my own solar engine. In doing so I was able to create a new circuit that improved the efficiency of the original design. Figure 3.1 is the schematic for the solar engine. Here is how it works. The solar cell charges the main 4700-microfarad ( F) capacitor. As the capacitor charges, the voltage level of the circuit increases. The unijunction transistor (UJT) begins oscillating and sending a trigger pulse to the silicon controlled rectifier (SCR). When the circuit voltage has risen to about 3 V from the main capacitor, the trigger pulse is sufficient to turn on the SCR. When the SCR turns on, all the stored power in the main capacitor is dumped through the high-efficiency (HE) motor. The motor spins momentarily as the capacitor discharges and then stops. The cycle repeats. The solar engine circuit is simple and noncritical. It may be constructed using point-to-point wiring on a prototyping breadboard. A printed circuit board (PCB) pattern is shown in Fig. 3.2 for those who want to make the PCB. The solar engine kit (see parts

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We then construct a gauge theory with this in variance group, involving a triplet of gauge fields AI' for SU(2) with a charge g and a field BI' for U(l). The U(l) coupling constant will be denoted g'/2. Since we want a single gauge field (the photon) to remain massless after spontaneous breaking, we introduce a doublet of complex scalar fields:

list) has a PCB included. Figure 3.3 shows the PCB parts placement. The complete solar engine is shown in Fig. 3.4. Parts list for solar engine (1) 2N2646 UJT transistor (1) 2N5060 SCR (1) 22- F cap (1) 0.33-F cap (1) DC motor (2) Solar cells (1) PCB (1) R1 200K ohm, 1 4 watt (W) (1) R2 15K ohm, 1 4 W (1) R3 2.2K ohm, 1 4 W High-efficiency motor Not all electric motors are HE. For instance, the small electric motors sold at your local Radio Shack are of the low-efficiency type. There is a simple way to determine if a motor is an HE type. Spin the rotor of the motor. If it spins smoothly and continues to spin momentarily when it is released, it is probably an HE type.

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