1. Urban Search and Rescue Checkpoint Feedback Carnegie Mellon University 16-311 Introduction to Robotics November 2 nd 2005

2. 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 Some teams were not able to complete this obstacle but it is highly recommended that you do. Some teams were not able to complete this obstacle but it is highly recommended that you do. Rubble Rubble Some robots got hung up on the rubble Some robots got hung up on the rubble Narrow Corridor Narrow Corridor Nearly everyone was able to complete this obstacle Nearly everyone was able to complete this obstacle Low Light Low Light Only a handful of teams completed this check point Only a handful of teams completed this check point

3. What Didn’t Work Low ground clearance Low ground clearance Robots getting hung up on rubble and bumps Robots getting hung up on rubble and bumps Light weight robots Light weight robots Robots don’t weigh enough to produce proper traction Robots don’t weigh enough to produce proper traction High center of gravity High 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

4. What Did Work Adjustable ground clearance Adjustable ground clearance Flippers and Arms Flippers and Arms Debris Prevention Panels Debris Prevention Panels Rubble will wreak havoc on exposed gear trains and linkages Rubble will wreak havoc on exposed gear trains and linkages Added weights Added weights Washers, Pennies, Pad Lock, Swiss Army Knife!? Washers, Pennies, Pad Lock, Swiss Army Knife!? 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

5. This just in……. At approximately 10am this morning, a geologist predicted volcanic eruption occurred just outside of the Carnegie Mellon Campus. We need to immediately mobilize the robots you guys have been building to perform search and rescue tasks as the area is still too hot and contains unsafe air for human rescue efforts. At approximately 10am this morning, a geologist predicted volcanic eruption occurred just outside of the Carnegie Mellon Campus. We need to immediately mobilize the robots you guys have been building to perform search and rescue tasks as the area is still too hot and contains unsafe air for human rescue efforts.

6. 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

7. 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: Medium Stability: Medium Zone 4 Zone 4 Stability: Low-Medium Stability: Low-Medium Zone 5 Zone 5 Stability: Low Stability: Low Zone 6 Zone 6 Stability: Extremely Low Stability: Extremely Low

8. Sneak Peek

9. 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.

10. Scoring Victims found in each zone are worth 8 points each. Victims found in each zone are worth 8 points each. An additional 2 points will be awarded if the team can determine who the victim is (pictures will be provided). An additional 2 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 6 is the upper level of the world. Zone 6 is the upper level of the world.

11. Demo Times The demos will be held on Tuesday November 8th in the lab The demos will be held on Tuesday November 8th in the lab 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 on the outer lab room door. A sign up sheet will be available immediately following this presentation on the outer lab room door.

12. 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

13. Questions?