Group 1 Casey Byers Nick Johnson Felix Liu Matt Long

Presentation Outline I.Introduction II.Robot Construction and Programming Logic a.Wheelchair b.Car c.Defender III.Performance Results and Discussion a.Wheelchair b.Car c.Defender IV.Conclusion

I. Introduction

Project Objective Product Requested A robot A robot Product Functions Wheelchair Wheelchair Must pass obstacle course safely Car Car Must be able to yield to the wheelchair Defender Defender Must disable other robots in a fixed area

Obstacle Course

Design Specifications Dimensions cannot exceed 12 inches No limit on weight No sending of signals to other robots (except for the defender function) (except for the defender function) Also, each function must be tested against other firms’ robots on the obstacle course

Materials Available for Use LEGO Blocks LEGO Wheels LEGO RCX A Programmable “Brain” for the robot A Programmable “Brain” for the robot LEGO Light Sensors LEGO Touch Sensors LEGO Cables LEGO Master Controller An Infrared Communication Remote An Infrared Communication Remote LEGO RCX and Auxiliaries

II. Robot Construction and Programming Logic

Wheelchair Physical Design Frame Frame just to handle RCX with wheels Frame just to handle RCX with wheels Hard to replace batteries New frame to allow quick access to RCX New frame to allow quick access to RCX Torque and Power Gears added to climb stairs, get through sand Gears added to climb stairs, get through sand Four-wheel Drive Four-wheel DriveSensors Needed a way to turn left and right Both touch sensors placed on front Both touch sensors placed on front Light sensor in front, pointing down Light sensor in front, pointing down

Wheelchair Design

Wheelchair Programming Design Clockwise/Counterclockwise Rotation Port & Stbd. motors oppositely programmed Port & Stbd. motors oppositely programmed *Applicable to all functions* *Applicable to all functions*Turning Touch Sensors Touch Sensors Initial: Hit  Jump Back  Turn  Go Final: Hit  Plow  Jump Back  Turn  Go Crosswalk Sense with light senor Sense with light senor Sense  Jump Back  Wait for IR Message  Go Sense  Jump Back  Wait for IR Message  Go Note: counter needed for “dark” stairs Note: counter needed for “dark” stairs

Wheelchair Program

Car Physical Design Frame Same as Wheelchair Same as WheelchairSensors Needed a way to sense wall at front and back Touch sensors placed on each end Touch sensors placed on each end Both placed on #3 sensor input No light sensor needed No light sensor needed

Car Design

Car Programming Design Objective A Go back and forth over crosswalk Go back and forth over crosswalk Solution Solution Pressed touch sensors = reverse direction Objective B Stop after IR message (not on crosswalk) Stop after IR message (not on crosswalk) Solution Solution After IR, wait until wall, then stop

Car Program

Defender Physical Design Method of Defense Lift other cars up and incapacitate Lift other cars up and incapacitate Stay fixed Stay fixedFrame No wheels needed; level base created No wheels needed; level base created Use gears to lift arm Use gears to lift arm Add additional mass for leverage Add additional mass for leverageSensors Needed a way to sense other cars Both touch sensors placed on front Both touch sensors placed on front No light sensor needed No light sensor needed Fixed; no zone violations possible

Defender Design

Defender Programming Design Objective A Be able to signal when to lift arm; how long? Be able to signal when to lift arm; how long? Solution Solution Pressed touch sensors = raise arm for 5 sec. Objective B Be within size restriction at start Be within size restriction at start Solution Solution Have arm in “up” position Lower arm immediately (for 5 sec.)

Defender Program

Defender Adjustments Opening performance prompted changes (specifics discussed in Section III) (specifics discussed in Section III) Most common method of incapacitation Robots getting hooked together Robots getting hooked together New Design Use physical and programming design of the car function, sans IR message Use physical and programming design of the car function, sans IR message Controlled oscillation = light sensor not needed Repeatability Repeatability

Revised Defender Design

III. Performance Results and Discussion

Wheelchair – Round 1

Performance Complete Complete Ramp, Crosswalk, Correctly Stopping/Starting, Turn Uncompleted Uncompleted Steps, Sand Pit Lack of either power or traction Lack of either power or traction Unforeseen UnforeseenDebris Changes Changes Plowing time

Wheelchair – Round 2

Completed Entire CourseUncompleted NothingUnforeseen Scorpion DefenderChanges None

Car – Round 1 & 2 Completed Stop on command Stop on commandUncompleted Nothing NothingChanges None None

Defender – Round 1A Completed Functioning Weapon Functioning WeaponUncompleted Not picking up robot Not picking up robotChanges Use of car design Use of car designRecommendations Faster lift Faster lift Bigger lift Bigger lift

Defender – Round 1B Completed Block/pinning assist Block/pinning assistUncompleted Solo-defender Solo-defenderChanges None NoneRecommendations Simple Design Simple Design

Defender – Round 2A Completed Block Assist Block AssistUncompleted Solo-defender Solo-defenderChanges None NoneRecommendations Add more ways for robot to grab others Add more ways for robot to grab others

Defender – Round 2B Completed Solo-defender Solo-defenderUncompleted Nothing NothingChanges None NoneRecommendations

IV.Conclusion

Conclusion Wheelchair – a robot that can complete the obstacle course Wheelchair completed course 1 out of 2 times Wheelchair completed course 1 out of 2 times 4 wheel drive, not plowing 4 wheel drive, not plowing Car – a robot that can go back and forth and stop, but on the crosswalk, on command Accomplished Accomplished Touch sensors on both sides attached to one sensor input Touch sensors on both sides attached to one sensor input Defender – a robot that stops other groups wheelchairs from completing the course First defender didn’t work First defender didn’t work Second defender accomplished task 2 out of 3 times Second defender accomplished task 2 out of 3 times Hooking other robots best, stationary robot no good Hooking other robots best, stationary robot no good Our robots received the most overall points