1. Introduction to LEGO RCX robotics and Robot Sumo Douglas G. Czinder IEEE SEM R&A Chairperson chair@semrobotics.org Ms. Susan Latos Robofest Assistant Coordinator CJ Chung, Ph.D. Associate Professor and Director of Robofest chung@LTU.edu Lawrence Technological University

2. This program is possible thanks to:  a grant from The Chrysler Foundation  the Southeastern Michigan Chapter of the IEEE Robotics & Automation Society

3. Today’s Workshop Schedule  First Hour Introduction to Robotics Introduction to Robofest and Robot Sumo Introduction to Lego Mindstorms and RCX Introduction to RCX Code programming using RIS (Robotics Invention System) 2.0 Basic programs  Motors  Wait

4. Today’s Workshop Schedule  Second Hour Programming with  Touch Sensor  Light Sensor Repeat (Loops) Basic Sumo Program

5. Today’s Workshop Schedule  Third Hour Improved Sumo program Mini Competition Tips and Ideas to improve your bot

6. Introduction to Robotics  What is a true robot? Autonomous robot with an on board computer Mechanical, electrical, and computational components  Six fundamental components of a robot A brain or brains – computer Body: physical chasses that holds other pieces Actuators: motors, hydraulic pistons, pneumatics Sensors Power sources Communication mechanism

7. What is Robofest?  100% Autonomous  Affordable  Challenging: Unknown problem  No direct adult help allowed during the competition  Qualifiers and a World Championship  Various categories including Robot Sumo  Two divisions: 5 th – 9 th grade: Jr. Division 9 th – 12 th grade: Sr. Division

8. RoboSumo Push the other robot out of the Sumo ring

9. Specifications Junior DivisionSenior Division Sumo ring diameter77 cm (30 inches)122 cm (48 in) Maximum robot mass 1kg (2.2 lbs)2 kg (4.4 lbs) Maximum robot width and length 23 cm (9 inches)30 cm (11.75 inches) Maximum robot height no limit30 cm (11.75 inches) Robot type Any; Lego Mindstorms or NXT recommended. any

10. Why Sumo?  The most popular robot competition in the world  Integrator in Science Education – Math, Logic, Computers, Mechanics, and Physics  Good for rookie teams  Fun Motivator

11. Unknown Problem in Robofest Sumo  How to start is unknown  Need sensor(s)  Teams must bring a computer to program the unknown parts

12. Introduction to Lego Mindstorms  Born in USA at MIT  RJ: Roverbot Jr. Brain – RCX micro computer Body: Lego pieces Actuators: up to 3 motors Sensors: Light, touch, etc. Power source: 9V (six AA batteries) Communication mechanism: IR Left motor: A Right motor: C Light sensor on Port No. 1 Touch sensor on Port No. 2

13. Introduction to RCX Code Programming  RIS (Robotics Invention System) 2.0  Drag and drop program blocks: Power, Wait, Repeat, Sensors, “Yes or No”, and My Blocks  How to create the first program: Click on Create a user account Watch movie or press “enter” to skip it Click on “Program”, instead of Missions Check to skip the tutorials Click on “Program” again Click on “Freestyle” – You will see the program canvas!

14. First Program: Go forward for 2 seconds and stop (Instructor Slide) =  Objective Show that program on the left is equivalent to the single-step program on the right

15. First Program: Go forward for 2 seconds and stop =

16. Very Important!!!!!  “Cover your robot and IR tower when you download programs”  Save your programs  File Names should be meaningful  Use logbook and comment

17. Power Commands  On  On For: On + Wait + Off  Off Coast Brake  Set Power: Min 1 ~ Max 8  Set Direction:  Reverse Direction: Not recommended to use. Use Set Direction instead.

18. ForwardBack  Go Forward for 2 seconds,  Wait 3 seconds then  Backward for 2 seconds

19. ForwardBack

20. Making Turns  Turn left  Spin left  Face left Left wheelRight wheel Left wheelRight wheel Left wheelRight wheel stop

21.  Go forward for 2 seconds,  Turn Left 90 degrees, and  Go forward for 2 seconds Turn 90 left

22. ?

23. Workshop Second Hour  Programming with Touch Sensor Light Sensor  Repeat (Loops)  Basic Sumo Program

24. Start when touch sensor is pressed; Stop after a second

25. Start when light sensor detects very bright light; Stop after a second (Start-Light)

26. Start when light sensor detects bright light; Stop after a second Can just modify this sensor: change to light sensor

27. Go straight until the white edge of the ring; stop Use the black View button to get the light sensor reading

28. Repeat  Repeat For  Repeat Forever  Repeat While  Repeat Until: sensor watcher  Objective Introduce the concept of repeating an action  Repeat For – a given number of times  Repeat Forever – indefinitely (can break out of loop using a sensor event)  Repeat While – a given setting is true  Repeat Until – a given event is triggered

29. Repeat  Repeat For  Repeat Forever  Repeat While  Repeat Until: sensor watcher

30. Make the robot move around in the ring – Basic Sumo (Sumo0)  Repeat the following forever: Go forward until the edge Backward slightly Turn right

31. First Sumo Competition

32. Workshop Third Hour  Test Sumo0 Program  Mini Competition with unknown problem  Unknown problem is when touch sensor is pressed, wait 5 seconds then start sumo0  Tips and Ideas to improve your bot

33. Sample ‘Unknown’ Problem: when touch sensor is pressed, wait 5 seconds, then begin Sumo0

34. Review of Basic Sumo (Sumo0)  Repeat the following forever: Go forward until the edge Backward slightly Turn right

35. Ideas to improve your SumoBot  Applying Theories learned in Physical Science Weight, Newton’s laws Friction Gearing Wheel size Power level  Detecting the opponent Touch sensor IR and light sensor  Using random numbers

36. Ideas to increase weight of your bot  What is the max weight of each division?  Add Lego block  Coins

37. Ideas to increase friction of your bot  Add more wheels  Use rubber bands

38. Gearing Ideas  Use gear train to increase gear ratio  Considering resources, this is not allowed for the qualifying  The winner from the qualifying may consider this idea

39. Changing Wheels?  Using bigger wheels  Considering resources, this is not allowed for the qualifying  The winner from the qualifying may consider this idea

40. Changing Power Levels?  Is it beneficial???

41. Changing the shape of the bot  Make it sturdy  Front part needs to be changed

42. Height of the robot matters??  Center of gravity

43. Touch Sensors  A touch sensor – front left  Another touch sensor – front right  If left sensor is pressed – turn left and push hard  If right sensor is pressed – turn right and push hard  If both left and right sensors are pressed, push straight hard

44. End of Today’s Workshop Feel free to contact us with any questions: Douglas G. Czinder IEEE SEM R&A Chairperson chair@semrobotics.org CJ Chung, Ph.D. Associate Professor and Director of Robofest chung@LTU.edu