1. Urban Search and Rescue Checkpoint Feedback Carnegie Mellon University 16-311 Introduction to Robotics March 29 th 2006

2. Checkpoint Performance 5 of 7 teams finished the checkpoint 5 of 7 teams finished the checkpoint Average:75 Average:75 Median:95 Median:95 Mode:100 Mode:100 Final Competition Tuesday April 4 Final Competition Tuesday April 4 Preparation Preparation Checkpoint Feedback Checkpoint Feedback Presentation of Final Competition. Presentation of Final Competition.

3. Checkpoint General Observations from Checkpoints General Observations from Checkpoints Incline Incline Nearly everyone was able to complete this obstacle. Nearly everyone was able to complete this obstacle. Bumps Bumps Nearly everyone was able to complete this obstacle. Nearly everyone was able to complete this obstacle. Stairs Stairs Many teams had difficulty, it is highly recommended this issue be resolved. Many teams had difficulty, it is highly recommended this issue be resolved. Rubble Rubble Nearly everyone was able to complete this obstacle. Nearly everyone was able to complete this obstacle. Narrow Corridor Narrow Corridor Nearly everyone was able to complete this obstacle. Nearly everyone was able to complete this obstacle. Low Light Low Light No teams attempted this obstacle, highly recommend practice. No teams attempted this obstacle, highly recommend practice.

4. Difficulties Low ground clearance Low ground clearance Robots getting hung up on rubble and bumps. Robots getting hung up on rubble and bumps. Center of gravity Center of gravity Robots begin to climb stairs and inclines only to flip over. Robots begin to climb stairs and inclines only to flip over. High torque wheels/treads High torque wheels/treads Torque is good but so is speed. Torque is good but so is speed. Size constraints Size constraints If your robot changes dimension be sure you can still fit through narrow corridors. If your robot changes dimension be sure you can still fit through narrow corridors. Fragile Designs Fragile Designs If you lose any part of your robot during the competition your run is over. If you lose any part of your robot during the competition your run is over. Grinding and/or clicking noises are never a good thing. Grinding and/or clicking noises are never a good thing. Two words: Drop Test Two words: Drop Test Controllability Issues Controllability Issues Low level controls make it difficult to precisely traverse the environment. Low level controls make it difficult to precisely traverse the environment.

5. What Did Work Added weights Added weights Washers, Pennies, Pad Lock? Washers, Pennies, Pad Lock? Change the location of your center of mass Change the location of your center of mass Reinforced Robots Reinforced Robots Zip ties are your friend Zip ties are your friend Twist ties and wires Twist ties and wires Camera Camera Pan and tilt camera heads are great Pan and tilt camera heads are great Zip tying the camera to your robot Zip tying the camera to your robot Visual marker to keep your frame of reference Visual marker to keep your frame of reference

6. Advice Try to drive without looking at the robot. Try to drive without looking at the robot. Don’t underestimate the value of sensors to eliminate blind spots. Don’t underestimate the value of sensors to eliminate blind spots. Be conscious of size and speed of the robot. Be conscious of size and speed of the robot. The world will get worn down – be prepared for it. The world will get worn down – be prepared for it. Clicking, whining is a bad sign. Clicking, whining is a bad sign.

7. This just in……. Hurricane has hit a remote site Hurricane has hit a remote site (Scaife Hall) (Scaife Hall) Rescue teams will be: Rescue teams will be: arriving onsite Monday April 3 rd arriving onsite Monday April 3 rd commencing operations Tuesday April 4 th. commencing operations Tuesday April 4 th.

8. Victims These individuals have been identified as being in the building at the time of eruption: These individuals have been identified as being in the building at the time of eruption: Howie Howie Geist Geist Avi Avi Linda Linda Brandon Boyd Brandon Boyd Dakota Fanning Dakota Fanning President Bush President Bush Johnny Depp Johnny Depp

9. Satellite Images These images of the disaster area have been gathered from satellite information: These images of the disaster area have been gathered from satellite information: Zone 1 Zone 1 Stability: High Stability: High Zone 2 Zone 2 Stability: High-Medium Stability: High-Medium Zone 3 Zone 3 Stability: Low Stability: Low Zone 4 Zone 4 Stability: Low-Medium Stability: Low-Medium Zone 5 Zone 5 Stability: Low-Medium Stability: Low-Medium

10. Sneak Peek

11. Goal Your mission is to send your robots into these areas and using teleoperation to guide them through each zone identifying individuals and clearing zones. Your mission is to send your robots into these areas and using teleoperation to guide them through each zone identifying individuals and clearing zones.

12. Scoring Victims found in each zone are worth 7 points each. Victims found in each zone are worth 7 points each. An additional 5 points will be awarded if the team can determine who the victim is (pictures will be provided). An additional 5 points will be awarded if the team can determine who the victim is (pictures will be provided). When a group is done with a zone, they have the opportunity to say whether they have cleared it or not. “Cleared” means they have found all victims in that zone. If a group claims they have found all victims, and they are right, they earn 5 points. If a group claims they have found all victims, and they are wrong, they lose 5 points. No points are awarded for a group “knowing” that they have not found all victims in a zone. When a group is done with a zone, they have the opportunity to say whether they have cleared it or not. “Cleared” means they have found all victims in that zone. If a group claims they have found all victims, and they are right, they earn 5 points. If a group claims they have found all victims, and they are wrong, they lose 5 points. No points are awarded for a group “knowing” that they have not found all victims in a zone. Zone 5 is the upper level of the world. Zone 5 is the upper level of the world.

13. Demo Times The demos will be held on Tuesday April 4th in the REL The demos will be held on Tuesday April 4th in the REL Each team is allotted a total of fifteen minutes for their demo Each team is allotted a total of fifteen minutes for their demo Five minutes for set up Five minutes for set up Ten minutes to search for victims Ten minutes to search for victims A sign up sheet will be available immediately following this presentation at the front desk. A sign up sheet will be available immediately following this presentation at the front desk. Random lottery will determine order. Random lottery will determine order.

14. Words of Wisdom Don’t forget to charge your batteries the night before the demo!!! Don’t forget to charge your batteries the night before the demo!!! Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice Practice

15. Questions?