Urban Search and Rescue Checkpoint Feedback

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

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

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

4. Difficulties • Low ground clearance • Robots getting hung up on rubble and bumps. • Center of gravity • Robots begin to climb stairs and inclines only to flip over. • High torque wheels/treads • Torque is good but so is speed. • Size constraints • If your robot changes dimension be sure you can still fit through narrow corridors. • Fragile Designs • 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. • Two words: Drop Test • Controllability Issues • Low level controls make it difficult to precisely traverse the environment.

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

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

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

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

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

12. Scoring • 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). • 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.

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

14. Words of Wisdom • 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

15. Questions?