Lego MindstormsLego Mindstorms

Group #3Group #3

WestonWestonJohnJohn

HamptonHamptonKyleKyle

OutlineOutline

IntroductionIntroduction Robot Construction & Programming Robot Construction & Programming

LogicLogic Performance Results and DiscussionPerformance Results and Discussion ConclusionConclusion

IntroductionIntroduction Use of robotics throughout the ages: from Mars Use of robotics throughout the ages: from Mars

rovers to children’s toys.rovers to children’s toys. Robotics role in aiding the immobilized.Robotics role in aiding the immobilized. If properly designed, robots are capable of If properly designed, robots are capable of

navigating many obstacles.navigating many obstacles. EE - designs “the brain”, sensors, actuators & EE - designs “the brain”, sensors, actuators &

wiring. wiring. ME - designs body, gearing, actuatorsME - designs body, gearing, actuators CSE - writes softwareCSE - writes software CHEM E - designs (or selects) power supply.CHEM E - designs (or selects) power supply. MAT’L SCI - materialsMAT’L SCI - materials

ProblemProblem

4 ft

4 ft

1 ft 1ft

2 ft

68”

ConstraintsConstraints Robot cannot be touched once the Robot cannot be touched once the

competition has started.competition has started. Max robot dimensions at start of Max robot dimensions at start of

competition - 1 ft x 1 ft x 1 ftcompetition - 1 ft x 1 ft x 1 ft Wheelchairs and cars sending Wheelchairs and cars sending

messages will be disqualified.messages will be disqualified.

Robot Construction & Programming Robot Construction & Programming LogicLogic

Three constructionsThree constructions Decided on final designDecided on final design Programming Logic that Programming Logic that

was usedwas used

Design IdeasDesign Ideas• Tread Design1. Very stable2. Goes straight on flat3. Hard time climbing• Big Wheel Design1. Very Fast2. Climbs Well3. Not straight and little

torque• Gear Design1. Same as Big wheel

design2. Gears add torque to get

over obstacles

Design Idea # 2Design Idea # 2

Actual DesignActual Design Gears for added torqueGears for added torque Wide base for stabilityWide base for stability Large tires for maximum clearanceLarge tires for maximum clearance Front Double bumper Front Double bumper Back Single BumperBack Single Bumper

Defender ProgramDefender Program

Car RobotCar Robot

Wheelchair RobotWheelchair Robot

Robot DesignRobot Design

Wheelchair PerformanceWheelchair Performance

Wheelchair Robot Analysis:• What worked/didn’t work?• What impeded the Wheelchairs success?• Software problems or future changes?

Car PerformanceCar Performance

Car Robot Analysis:• What worked/didn’t work?• What impeded the Cars success?• Software problems or future changes?

Defender PerformanceDefender Performance

Defender Robot Analysis:• What worked/didn’t work?• What impeded the Defenders success?• Software problems or future changes?

CourseCourse

4 ft

4 ft

1 ft 1ft

2 ft

68”

ConclusionConclusion The robot design has to be one that can maneuver through the The robot design has to be one that can maneuver through the

course as a wheelchair, cross the road as a car, and knock people course as a wheelchair, cross the road as a car, and knock people off the road as defender but there are other things also to off the road as defender but there are other things also to consider.consider.

The robot is light and uses a minimal amount of materials.The robot is light and uses a minimal amount of materials. It uses a complex gear system that offers a large amount of It uses a complex gear system that offers a large amount of

torque, yet still can move quickly through the course.torque, yet still can move quickly through the course. It has unique features, ex. back bumper, that sets it apart from It has unique features, ex. back bumper, that sets it apart from

other teams.other teams. Despite a poor finish in the competition, 68 pts, programming Despite a poor finish in the competition, 68 pts, programming

plans were complex and just require a few more adjustments.plans were complex and just require a few more adjustments.• Also, there is an effect due RCX and light sensor problems.Also, there is an effect due RCX and light sensor problems.

The car had the largest problems during competition, but includes The car had the largest problems during competition, but includes programming that would recognize the street, go to the wall, and programming that would recognize the street, go to the wall, and then stop.then stop.

The defender has an attack program, where it moves back and The defender has an attack program, where it moves back and forth, but when the sensor is hit it speeds quickly in that direction. forth, but when the sensor is hit it speeds quickly in that direction. It also send out message one to stop the other robots. It also send out message one to stop the other robots.