mozart!. team mozart alex bostandjiev - computer engineer ivan dryanovski - electrical engineer bob...
TRANSCRIPT
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Mozart!
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TEAM MOZARTAlex Bostandjiev - Computer Engineer
Ivan Dryanovski - Electrical Engineer
Bob Lynch - Project Manager
Dr. Ken Krebs - Faculty Advisor
Steve Spadafore - Technical Consultant
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Team MOZART ...where are Krebs and Steve?
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Team MOZART
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The 12th Annual
Trinity CollegeFirefighting
Robot Contest
April 9 - 10, 2005Hartford, CT
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Contest Objective:The main challenge of this contest is to build an
autonomous computer-controlled robot that can find its way through an arena that represents a model house, find a lit candle that represents a fire in the house, and extinguish the fire in the shortest time. This task simulates the real-world operation of an autonomous robot performing a fire protection function in a real house. The goal of the contest is to advance robot technology and knowledge while using robotics as an educational tool.
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CONTEST RULES
• Robot Operation
Once turned on, the robot must be autonomous--self-controlled without any human intervention.
The robot must have found the candle before it attempts to put it out.
A robot may bump into or touch the walls of the arena as it travels, but it cannot mark, dislodge or damage the walls in doing so.
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CONTEST RULES
• Putting out the Candle
The robot must not use any destructive or dangerous methods to put out the candle. It may use such substances as water, air, CO2, etc., but any method or material that is dangerous or will damage the arena is prohibited.
The robot must come within 30 cm of the candle before it attempts to extinguish the flame.
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CONTEST RULES
• Robot Size
The robot must be able to fit in a box 31 cm long by 31 cm wide by 27 cm high. The robot cannot separate into multiple parts and must never extend itself beyond the 31 cm allowed.
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CONTEST RULES
• The Candle
The candle flame will be from 15 cm to 20 cm above the floor level. The exact height and size of the flame will change throughout the contest depending upon the condition of candle and its surroundings. The robot is required to find the candle no matter what the size of the flame is at that particular moment.
The candle will be placed at random in one of the rooms in the arena.
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CONTEST RULES
• Time Limits
In order to achieve the contest objective of building a robot that can find and extinguish a fire in a house, finding the fire within a reasonable period of time is very important. The maximum time limit for a robot to find the candle will be 5 minutes.
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CONTEST SCORING
• Operating Modes
Standard Mode (1.0 MF)
X Sound Activation Mode (0.95 MF)
Return Trip Mode (0.8 MF)
Extinguisher Mode (0.85 MF)
X Furniture Mode (0.75 MF)
X Uneven Floor Mode (0.8 MF)
X Clutter Mode (0.8 MF)
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CONTEST SCORING
• Penalties
Continuous Contact With a Wall
(1 second for every 2 cm)
Touching the Candle
(50 seconds)
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CONTEST SCORING
• Room Factor
If the candle is in the 1st room searched, the Room Factor will be 1.0
If the candle is in the 2nd room searched, the Room Factor will be 0.85
If the candle is in the 3rd room searched, the Room Factor will be 0.50
If the candle is in the 4th room searched, the Room Factor will be 0.35
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CONTEST SCORING
• Scoring Procedure
For any run the judges measure the actual time of the run and they record the operating modes and penalties.
Robots with three successful runs (candle extinguished) will form the highest group.
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MOZARTProcessor - HandyboardOperating System - Interactive CLocomotion - 4 Drive MotorsPower - External Battery Pack (NiMH)Structure - K’NEXExtinguishing Device - WaterSensors - IR, Ultrasonic, Gyro, UV Detection, Heat Detection
Design of
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The HandyBoard
Description:
• Commercially available microcontroller system
• Based on a Motorola 6811 chip
• Battery-powered
• 32K of memory
• Two-line LCD display
• 4 outputs to DC motors
• Analog & Digital inputs
• Digital outputs
• Servo outputs
Quantity: 1
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The HandyBoard
The Digital Inputs
• Take ~0V or ~5V as input• Convert to FALSE or TRUE
The Analog Inputs
• Take anywhere from 0V to 5V as input• Convert to a number from 0 to 255• ( 1 byte of memory space)Quantity: 1
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The HandyBoard
Advantages
• Easy to use & interface with computer• Well documented• “Plug-and-play” sensor & motor support
Disadvantages
• Low power output• Unreliable at times• Odd sensor input behavior
Quantity: 1
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Sharp GP2D12: Infrared Detector Package
Description
• Operates with infrared light• Detects proximity of objects
Advantages
• Very narrow field of sight• Very fast update rate• Reliable• Little dependence on surface color / shape
Disadvantages
• Low distance accuracy (to within 3-4 cm)• Cannot detect objects closer than 10cm
Quantity: 6
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Devantech SRF04: Ultrasonic Range Sensor
Description
• Operates with high-frequency sound• Detects proximity of objects
Advantages
• Wide field of “sight”• Good distance accuracy (to within 1cm)• Good minimum range (2 – 3 cm)
Disadvantages
• Slow update rate• Occasional erroneous readings
Quantity: 1
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Hamamatsu C3704/R2868: UV Flame Detector Package
Description
Detects UV radiation
Advantages
• 360-degree field of sight• High sensitivity• Reliable
Disadvantages
• Positioning difficulties
Quantity: 1
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Eltec 442-3: Pyroelectric Sensor Package
Description
Detects heat (infrared) radiationCan detect candle flame or body heat
Advantages
• Very high angular precision
Disadvantages
• Very slow update rate• Unreliable
Quantity: 2
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ADXRS150: Angular Rate Sensor
Description
Detects rate of turning (angular velocity about the vertical axis)
Advantages
• Very light and small• Fast update• Very accurate for small intervals• Reliable
Disadvantages
• Error builds up for longer intervals of time
Quantity: 1
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Standard 180º Servo
Description
Rotates to a specified angle
Advantages
• Accurate• Fast
Disadvantages
• High power consumption
Quantity: 2
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Water Pump Controller
Description
• Water pump: 12 V motor
• Send low-power signal from HandyBoard to external circuit
• External circuit amplifies power
Quantity: 1
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A Regular Week of the Programmer…
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Week of the Competition…
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What does this:
involve?
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Inputs -> Black Box -> Outputs
?
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Can you find an analogywith something else?
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An analogy..
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Remember:Inputs -> Black Box -> Outputs
Functions…
F (input1, input2,… ,input3) = output
?
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Examples from our functions:
• Navigate the maze :: Remember where you are• Movement:
– Turn left– Turn right– Go forward– Go backward
• Follow the wall (left or right)• Transform input data into something that makes sense• Speak :: Sing• When found fire:
– Scan for fire– Approach candle– Extinguish– Swivel !
• Go home
+ many, many others…
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Example: Transforming IR input
Forward Left
y = -0.00663x2 + 1.45076x - 66.83807
y = 0.00301x2 - 0.75340x + 58.61371
y = -0.79422x + 70.79260
0
5
10
15
20
25
30
35
40
45
0 20 40 60 80 100 120 140 160
• Input :: number between 0 and 255 ???
• Transform into distance (centimeters)
• Split the curve into different parts
• Fit a polynomial
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What is Interactive C
• a C language designed for programming robots using the RCX, XBC or Handyboard robot controller
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Connections
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IC consists of:
• compiler (with interactive command-line compilation and debugging)
• run-time machine language module
• context sensitive editor
• built in documentation
• ability to upload data from the robot controller back to the host pc
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Processes: allow multi-sensing!
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IC implements a subset of C including:• control structures (for, while, if, else)
• local and global variables
• arrays
• pointers
• structures
• 16-bit and 32-bit integers
• 32-bit floating point numbers
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Built in libraries support a variety of sensors and actuators including: • servo and DC motors
• sonars
• encoders
• touch and light sensors
• the CMUcam color tracker
• the XBC camera multi-color tracking system
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Strategy!
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MOVIES…
• Testing– 3rd person– 1st person– 2nd person?!?
• Competition
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Mozart placed 7th out of 60 robots
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Competition Troubleshooting
• Aligning the robot with the candle
• Blind Spot
• Too Many Processes
• Return to Home
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Improvements for Next Year
• Fabricated Design
• Nozzle
• Water Reservoir
• External Battery Pack Placement
• Placement of Handyboard
• Staircase - Track Drive
• Sound Activation
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If you like what we’ve done
(Or think it’s crap and you can do better)
Join the F&M Robotics Club
Next Semester
And work on a competitive project
For more info, email [email protected]