Group 1Group 1Casey ByersCasey Byers

Nick Johnson Nick Johnson Felix LiuFelix Liu

Matt LongMatt Long

Presentation OutlinePresentation Outline

I.I. IntroductionIntroductionII.II. Robot Construction and Programming LogicRobot Construction and Programming Logic

a.a. WheelchairWheelchairb.b. CarCarc.c. DefenderDefender

III.III. Performance Results and DiscussionPerformance Results and Discussiona.a. WheelchairWheelchairb.b. CarCarc.c. DefenderDefender

IV.IV. ConclusionConclusion

I. IntroductionI. Introduction

Project ObjectiveProject Objective

Product RequestedProduct Requested A robotA robot

Product FunctionsProduct Functions WheelchairWheelchair

Must pass obstacle course safelyMust pass obstacle course safely CarCar

Must be able to yield to the wheelchairMust be able to yield to the wheelchair DefenderDefender

Must disable other robots in a fixed areaMust disable other robots in a fixed area

Obstacle CourseObstacle Course

Design SpecificationsDesign Specifications

Dimensions cannot exceed 12 inchesDimensions cannot exceed 12 inchesNo limit on weightNo limit on weightNo sending of signals to other robotsNo sending of signals to other robots (except for the defender function)(except for the defender function)

Also, each function must be tested Also, each function must be tested against other firms’ robots on the against other firms’ robots on the obstacle course obstacle course

Materials Available for UseMaterials Available for Use

LEGO BlocksLEGO BlocksLEGO WheelsLEGO WheelsLEGO RCXLEGO RCX

A Programmable “Brain” for A Programmable “Brain” for the robotthe robot

LEGO Light SensorsLEGO Light SensorsLEGO Touch SensorsLEGO Touch SensorsLEGO CablesLEGO CablesLEGO Master ControllerLEGO Master Controller

An Infrared Communication An Infrared Communication RemoteRemote LEGO RCX and Auxiliaries

II. Robot ConstructionII. Robot Constructionand Programming Logicand Programming Logic

Wheelchair Physical DesignWheelchair Physical Design

Frame Frame Frame just to handle RCX with wheelsFrame just to handle RCX with wheels

Hard to replace batteriesHard to replace batteries New frame to allow quick access to RCXNew frame to allow quick access to RCXTorque and PowerTorque and Power Gears added to climb stairs, get through sandGears added to climb stairs, get through sand Four-wheel DriveFour-wheel DriveSensorsSensors

Needed a way to turn left and rightNeeded a way to turn left and right Both touch sensors placed on frontBoth touch sensors placed on front Light sensor in front, pointing downLight sensor in front, pointing down

Wheelchair DesignWheelchair Design

Wheelchair DesignWheelchair Design

Wheelchair Programming DesignWheelchair Programming Design

Clockwise/Counterclockwise RotationClockwise/Counterclockwise Rotation Port & Stbd. motors oppositely programmedPort & Stbd. motors oppositely programmed *Applicable to all functions**Applicable to all functions*TurningTurning Touch SensorsTouch Sensors

Initial: Hit Initial: Hit Jump Back Jump Back Turn Turn Go Go Final: Hit Final: Hit Plow Plow Jump Back Jump Back Turn Turn Go Go

CrosswalkCrosswalk Sense with light senorSense with light senor Sense Sense Jump Back Jump Back Wait for IR Message Wait for IR Message Go Go Note: counter needed for “dark” stairsNote: counter needed for “dark” stairs

Wheelchair ProgramWheelchair Program

Car Physical DesignCar Physical Design

Frame Frame Same as WheelchairSame as WheelchairSensorsSensors

Needed a way to sense wall at front and backNeeded a way to sense wall at front and back Touch sensors placed on each endTouch sensors placed on each end

Both placed on #3 sensor inputBoth placed on #3 sensor input No light sensor neededNo light sensor needed

Car DesignCar Design

Car Programming DesignCar Programming Design

Objective AObjective A Go back and forth over crosswalkGo back and forth over crosswalk SolutionSolution

Pressed touch sensors = reverse directionPressed touch sensors = reverse direction

Objective BObjective B Stop after IR message (not on crosswalk)Stop after IR message (not on crosswalk) SolutionSolution

After IR, wait until wall, then stopAfter IR, wait until wall, then stop

Car ProgramCar Program

Defender Physical DesignDefender Physical DesignMethod of DefenseMethod of Defense Lift other cars up and incapacitateLift other cars up and incapacitate Stay fixedStay fixedFrame Frame No wheels needed; level base createdNo wheels needed; level base created Use gears to lift armUse gears to lift arm Add additional mass for leverageAdd additional mass for leverageSensorsSensors

Needed a way to sense other carsNeeded a way to sense other cars Both touch sensors placed on frontBoth touch sensors placed on front No light sensor neededNo light sensor needed

Fixed; no zone violations possibleFixed; no zone violations possible

Defender DesignDefender Design

Defender Programming DesignDefender Programming Design

Objective AObjective A Be able to signal when to lift arm; how long?Be able to signal when to lift arm; how long? SolutionSolution

Pressed touch sensors = raise arm for 5 sec.Pressed touch sensors = raise arm for 5 sec.

Objective BObjective B Be within size restriction at startBe within size restriction at start SolutionSolution

Have arm in “up” positionHave arm in “up” positionLower arm immediately (for 5 sec.)Lower arm immediately (for 5 sec.)

Defender ProgramDefender Program

Defender AdjustmentsDefender Adjustments

Opening performance prompted changesOpening performance prompted changes (specifics discussed in Section III)(specifics discussed in Section III)Most common method of incapacitationMost common method of incapacitation Robots getting hooked togetherRobots getting hooked togetherNew DesignNew Design Use physical and programming design of Use physical and programming design of

the car function, sans IR messagethe car function, sans IR messageControlled oscillation = light sensor not neededControlled oscillation = light sensor not needed

RepeatabilityRepeatability

Revised Defender DesignRevised Defender Design

III. Performance ResultsIII. Performance Resultsand Discussionand Discussion

Wheelchair – Round 1Wheelchair – Round 1

Wheelchair – Round 1Wheelchair – Round 1

PerformancePerformance CompleteComplete

Ramp, Crosswalk, Ramp, Crosswalk, Correctly Correctly Stopping/Starting, TurnStopping/Starting, Turn

UncompletedUncompletedSteps, Sand PitSteps, Sand Pit

Lack of either power Lack of either power or tractionor traction

UnforeseenUnforeseenDebrisDebris

ChangesChangesPlowing timePlowing time

Wheelchair – Round 2Wheelchair – Round 2

Wheelchair – Round 2Wheelchair – Round 2CompletedCompleted

Entire CourseEntire CourseUncompletedUncompleted

NothingNothingUnforeseenUnforeseen

Scorpion DefenderScorpion DefenderChangesChanges

NoneNone

Car – Round 1 & 2Car – Round 1 & 2

CompletedCompleted Stop on Stop on

commandcommand

UncompletedUncompleted NothingNothing

ChangesChanges NoneNone

Defender – Round 1ADefender – Round 1ACompletedCompleted Functioning Functioning

WeaponWeaponUncompletedUncompleted Not picking up Not picking up

robotrobotChangesChanges Use of car designUse of car designRecommendationsRecommendations Faster liftFaster lift Bigger liftBigger lift

Defender – Round 1BDefender – Round 1BCompletedCompleted

Block/pinning assistBlock/pinning assist

UncompletedUncompleted Solo-defenderSolo-defender

ChangesChanges NoneNone

RecommendationsRecommendations Simple DesignSimple Design

Defender – Round 2ADefender – Round 2A

CompletedCompleted Block AssistBlock Assist

UncompletedUncompleted Solo-defenderSolo-defender

ChangesChanges NoneNone

RecommendationsRecommendations Add more ways for Add more ways for

robot to grab othersrobot to grab others

Defender – Round 2BDefender – Round 2B

CompletedCompleted Solo-defenderSolo-defender

UncompletedUncompleted NothingNothing

ChangesChanges NoneNone

RecommendationsRecommendations NoneNone

IV.IV. ConclusionConclusion

ConclusionConclusionWheelchair – a robot that can complete the obstacle Wheelchair – a robot that can complete the obstacle coursecourse

Wheelchair completed course 1 out of 2 timesWheelchair completed course 1 out of 2 times 4 wheel drive, not plowing4 wheel drive, not plowing

Car – a robot that can go back and forth and stop, but on Car – a robot that can go back and forth and stop, but on the crosswalk, on commandthe crosswalk, on command

AccomplishedAccomplished Touch sensors on both sides attached to one sensor inputTouch sensors on both sides attached to one sensor input

Defender – a robot that stops other groups wheelchairs Defender – a robot that stops other groups wheelchairs from completing the coursefrom completing the course

First defender didn’t workFirst defender didn’t work Second defender accomplished task 2 out of 3 timesSecond defender accomplished task 2 out of 3 times Hooking other robots best, stationary robot no goodHooking other robots best, stationary robot no good

Our robots received the most overall pointsOur robots received the most overall points