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Group 1

Group 1. Casey Byers Nick Johnson Felix Liu Matt Long. Presentation Outline. Introduction Robot Construction and Programming Logic Wheelchair Car Defender Performance Results and Discussion Wheelchair Car Defender Conclusion. I. Introduction. Project Objective.

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Group 1

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  1. Group 1 Casey Byers Nick Johnson Felix Liu Matt Long

  2. Presentation Outline • Introduction • Robot Construction and Programming Logic • Wheelchair • Car • Defender • Performance Results and Discussion • Wheelchair • Car • Defender • Conclusion

  3. I. Introduction

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

  5. Obstacle Course

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

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

  8. II. Robot Construction and Programming Logic

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

  10. Wheelchair Design

  11. Wheelchair Design

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

  13. Wheelchair Program

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

  15. Car Design

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

  17. Car Program

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

  19. Defender Design

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

  21. Defender Program

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

  23. Revised Defender Design

  24. III. Performance Results and Discussion

  25. Wheelchair – Round 1

  26. Wheelchair – Round 1 • Performance • Complete • Ramp, Crosswalk, Correctly Stopping/Starting, Turn • Uncompleted • Steps, Sand Pit • Lack of either power or traction • Unforeseen • Debris • Changes • Plowing time

  27. Wheelchair – Round 2

  28. Wheelchair – Round 2 • Completed • Entire Course • Uncompleted • Nothing • Unforeseen • Scorpion Defender • Changes • None

  29. Car – Round 1 & 2 • Completed • Stop on command • Uncompleted • Nothing • Changes • None

  30. Defender – Round 1A • Completed • Functioning Weapon • Uncompleted • Not picking up robot • Changes • Use of car design • Recommendations • Faster lift • Bigger lift

  31. Defender – Round 1B • Completed • Block/pinning assist • Uncompleted • Solo-defender • Changes • None • Recommendations • Simple Design

  32. Defender – Round 2A • Completed • Block Assist • Uncompleted • Solo-defender • Changes • None • Recommendations • Add more ways for robot to grab others

  33. Defender – Round 2B • Completed • Solo-defender • Uncompleted • Nothing • Changes • None • Recommendations • None

  34. Conclusion

  35. Conclusion • Wheelchair – a robot that can complete the obstacle course • Wheelchair completed course 1 out of 2 times • 4 wheel drive, not plowing • Car – a robot that can go back and forth and stop, but on the crosswalk, on command • Accomplished • 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 • Second defender accomplished task 2 out of 3 times • Hooking other robots best, stationary robot no good • Our robots received the most overall points

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