robotics engineering notebook

1

Robotics

Engineering Notebook

Team name TNT

Team number 70145A Season Ringmaster Start date 15/12/2017 End date Book number 1 (English version)

2

TEAM PHOTOS

➢ Katya (12 y.o., 7th grade) My hobby is robotics and drawing. I spend

a lot of time being engaged in these activities. I like to draw portraits in

fantasy style and fantastic animals.

➢ Artem (13 y.o., 7th grade) I'm engaged in programming and

robotics. I like sports, ride bycicle and play football.

➢ Sasha (11 y.o., 5th grade) Rubik's Cube is my hobby. I have large

collection of Rubik's Cubes: 3x3 Rubik's Cube, Magic Rubik's Cube, Rubik's

Pyramid. My record 3x3 Rubik's Cube is 43 seconds.

➢ Olya (14 y.o., 7th grade) My hobbies are dancing and programming.

And I collect teddy bears and unicorns. I have about 60 toys in my collection at

this moment.

3

PROJECT INFORMATION

Page Project development Date

4 Planning 15.12.2017

6 Study the rules 18.12.2017

10 Modeling of the construction 20.12.2017

12 Programming 22.12.2017

15 Testing 25.12.2017

16 Modeling of the robot 27.12.2017


24 Modification of the robot 20.01.2018


28 Testing 24.01.2018




43 Operators’ practice 12.02.2018

45 Autonomousperiod debugging 16.02.2018

46 Operators’ practice 19.02.2018


48 Presentation of the project 26.02.2018

50 Imitation of the competition 05.03.2018

52 MOSCOW CHAMPIONSHIP 07.03.2018

62 Modeling of the robot

4

15.12.2017 “RINGMASTERS” SEASON TIMETABLE 2017/2018

Week Date General Tasks Job

0 12.12.2017 Assembling of the field

1 18-23.12.2017

Consideration of season’s timetable. Planning of the time limits.

Brain storm: - Design of the robot - Field’s situations

modeling -

2 25-29.12.2017

Consideration of season’s timetable. Planning of the time limits.

Brain storm: - Design of the robot - Experiments with

robot chassis and manipulators

3 08-13.01.2018

Acquaintance with 3D Snap CAD soft ware

Programming and testing of the robot (Tele-Op regime)

4 15-20.01.2018

Modeling using 3D Snap CAD. Correction of the aims of the project. Correction of the timetable based on the progress.

Correction of robot’s design. Programming and testing of the robot (Tele-Op regime)

5 22-27.01.2018

Modeling using 3D Snap CAD. Consideration of possibility to use gyroscope.

Brain storm: - Autonomous period

strategy - Programming

6 29.01-03.02.2018

Modeling using 3D Snap CAD. Analysis of robot’s presentation requirements.

Testing of the robot with various levels of battery. Tele Op practice 60 seconds (Artem, Sasha). Autonomous practice (Katya, Olya).

7 05-10.02.2018

Team’s robot presentation, engineering book and robot design

Tele Op practice 30 seconds(Artem, Sasha). Filling of the practical field tables (Tele Op regime). Programming of the autonomous period (Katya, Olya).

5

8 12-17.02.2018

Team’s robot presentation, engineering book and robot design

Tele Op practice 30 seconds (Artem, Sasha). Filling of the practical field tables (Tele Op regime). Programming of the autonomous period (Katya, Olya).

9 19-24.02.2018

Modeling of communication with experts

Modeling of different strategies in Tele Op period (Artem, Sasha). Tele Op practice 30 seconds(Artem, Sasha). Filling of the practical field tables (Tele Op regime). Programming of the autonomous period (Katya, Olya).

10 26.02-03.03.2018

Presentation of the project to the pupils of the school. Imitation of competitions. Discussion of the best attempts and analysis of problems accrued.

Testing.

11 07.03-09.03.2018

COMPETITIONS PROFEST 2018 Moscow

DIVISION OF DUTIES IN THE TEAM:

Robot design – all team members.

Engineering book – Olya

3D modeling – Artem, Sasha

Programming – Katya, Olya

Tele Op operators - Artem, Sasha

6

18.12.2017 TASKS:

- studding rules in Russian;

- discussion of the score calculation.

CONSIDERATION AND REALIZATION:

1) STUDING RULES.

THE AIM OF THE GAME:

1) stacking of the rings onto Low and High Posts (1, 2, 3)

2) emptying of the Starting Pegs (4, 5, 6)

3) emptying of the bonus tray(7).

1 2

1 1 1 3

7

2

4 5 6

7

2) COMPARING OF THE RULES IN RUSSIAN AND IN ENGLISH

We decided to compare the rules in Russian and in English.

The translation inaccuracy was found in Russian version:

Dimensions of the robot in English version 11”x20”, in Russian version 13”x24”

1” = 2,54 cm

11” = 27,94 cm (rules indicates abt. 280 mm)

20” = 50,8 cm

8

3) SCORE CALCULATION ANALYSIS

The ring – plastic object in three colors:

- Blue

- Green

- Red Diameter of the ring – 76 mm

Inner diameter – 51 mm

Height of the ring – 25 mm

Each VEX IQ Challenge Ringmaster

matchincludes:

Sixty (60) rings:

- 20 of each color

- 15 in Bonus Tray

- 9 on Starting Pegs

- 36 on the field in specified

places.

1. Floor 2. Low Posts 3. High Posts

4. Bonus Tray 5. Horizontal Posts 6. Starting Pegs

9

MODELING OF THE SITUATIONS AT THE AND OF THE MATCH. Examples of score calculation.

1) A Released Bonus Tray is worth twenty (20) points 20 points 2)An Emptied Starting Peg is worth five (5) points. 3*5 = 15 points 3)A Ring Scored in the Floor Goal is worth one (1) point. 6*1=6 points 4)Rings Scored on a Uniform Post are worth double their normal value (i.e. ten (10) points each) 3*10=30 points

1)An Emptied Starting Peg is worth five (5) points. 3*5 = 15 points 2) A Ring Scored in the Floor Goal is worth one (1) point. 1*1=1 points 3) 4)Rings Scored on a Uniform Post are worth double their normal value (i.e. ten (10) points each) 3*10=30 points

Total score: 71 points 46 points

10

20.12.2017 TASKS: - Discussion of the robot design


The results of the team’s brain storm:

According to the rule R2 “Game

guide” the robot-participant of

VEX IQ Challenge Ringmaster must

be equipped with the following

systems:

System 1: moving chassis

Our conclusion:the robot must be

equipped with wheel chassis.

Olya’s drawing

System 2: controller block and

battery

Our conclusion:

the robot must be equipped with

the original VEX IQ controller

block, battery and motors. The

controller block has to be installed

to provide easy battery change (Katya's note).

Artem’s drawing

11

System 3: additional

equipment which

allows to manipulate

the objects and

overcome obstacles.

Katya’s drawing

Our conclusion:

The robot must be equipped with

a manipulator to empty starting

pegs (3x5=15 points).

The manipulator has to be able to

move up and down to provide

possibility to move rings from

Starting Pegs to final Vertical or

Horizontal Posts.

Sasha’s drawing The robot must be equipped with a system allows to collect the rings from the

surface of the field. The system has to include transporting and discharging

facilities.

PLANNING.

1. To create preliminary design of the robot.

2. To test the first model.

12

22.12.2017 TASKS: - to create the prototype

- to perform testing


1) It was decided to create the

chassis on the basis of previous robot.

The manipulator was designed with the

use of Clawbot IQ scheme.

We are using 4 VEX motors,

2 wheels with rubber tires,

2Omni wheels.

13

2) Programming.

Our first prototype has 4 motors:

motor 6 – left motor and motor 12(right motor) are intended for moving of

the robot.

Motor 5 – motor for up and down moving of the scoop.

Motor 10– scoop motor, to pick up the ring with use of scoop from the

vertical holders.

The first test was carried out in Tele Op.

Control:

ChA and ChB (left stick) – moving of the robot

ChD (right stick) – holding of the rings

BtnLDown and BtnRDown – moving of the scoop

Not used:

BtnFDown, BtnEAp, BtnEDown, ChC (right stick).

14

The program was created in Robot C for VEX IQ, version 4.55.

This is our first experience of programming of the Tele Op.

15

3) Testing of the robot

Testing of the prototype on the

game field shows:

- The chosen control buttons

are not comfortable for the

operator

- The design of the scoop does

not allow to empty theStarting

Pegsand to remove the rings to

the final Vertical or Horizontal

Posts.

The team’s conclusion:

The prototype has to be

changed widely.

Sasha and Artem

started to study Snap CAD

(virtual design tool)

PLANNING:

- To create new Robot design

- To study Snap CAD

16

27.12.2017 TASKS:

Creation of the new design considering testing results.


1) Design of the chassis: doubled wheels with rubber tires are installed for

the best friction with the surface of the field. Omni wheels are used as

supporting.

The VEX IQ Controller is installed

under angle for more comfortable

battery replace.

The gyroscope sensor is installed

on the wheels' axis of rotation.

Main characteristics:

wheel's diameter- 6,37 cm., the track (transverse distance between outer

edges of the wheels) – 16.5 cm, the wheels’ base (the distance between the

centers of the front wheel and rear wheel) – 18 cm.

2) Design of the rotating system (revolver system):

the revolver is needed for sorting of the rings and for placing them onto

low and high Posts (vertical and horizontal).

The chain is used for moving of

the revolver system up and down.

The rotation of the revolver is

possible by using of the gear.

The gear ratio is 60/12=5/1 (5:1)

17

The maximum number of rings

available to be placed on one holder

of the revolver is 5.

But in aims of safe transportation and

placing into thestacking posts the

number of rings must be not more

than 4.

It is considered that revolver system will be used for placing of the rings

onto horizontal posts. But it can be used for low vertical posts too if necessary.

As per Artem's idea the revolver will be charged with rings using vertical

conveyor.

3) Design of the vertical conveyor for collecting of the rings.

The conveyor is constructed with use of

crawler.

To hold the rings on the conveyor 2x1

Offset corner connectors are used.

The motor rotates crawler with use of

star wheels and chain.

The second prototype of the robot is ready.

18

We tested the system of rings’ collection by moving the conveyor by

hand.We witnessed that the idea is working! So, we can move further.

Sasha also suggests to try to design the manipulator to empty the starting

pegs .

4) Design of the manipulator.

To empty the starting pegs

the manipulator has been

assembled.

We used idea of double

action manipulator and the

gears were used to close the

claw and lift up the

manipulator.

But the claw was not able to hold the rings firmly due to backlash.

The second idea was to use

elastic elements to hold the

rings.

The positive aspect is that there are no moving parts in this design.

The negative moment is the need to position the robot against the

starting pegsvery precisely.

19

Testing the design, we faced with

problem: even in case of proper position in

the robot is not able to grab the rings

without strong resistance.

To solve this problem, we decided to

install shorter rubber elements.

As result the rings were picked up

successfully but part of them was lost in

transportation.

Vertical moving of the

manipulator’s arm.

The length of the manipulator is

27.5 cm.

It was decided that downshift is

required with such a long arm.

The gear ratio is 36/12=3/1

(3:1)

As result the new design was

ready.

PLANNING: - To debug the Tele-Op program

- To test the robot

20

17.01.2018 TASKS: - Debug the program

- Testing of the robot


1) Appointment of the motors

Port

Description Name Reverse Control

Motor3

Rotating of the revolver drum

revolverMotor BtnUp+ BtnDown-

Motor4

Moving of the revolver system up and down

liftMotor + Riht stick ChD

Motor5

Moving of the vertical conveyor to pick up the rings

conveyor BtnEUp- BtnEDown+

Motor10

Moving the arm of the manipulator up and down

scoopMotor + BtnLUp- BtnLDown+

Motor6

Moving of the robot (left motor)

leftMotor Left stick ChA and ChB; BtnFUp (slow)

Motor12

Moving of the robot (right motor)

rightMotor + Left stick ChA and ChB BtnFUp (slow)

Руководство по игре <R11> В конструкции

одного робота может

быть использовано не

более шести (6) интеллектуальных

моторов VEX IQ.

21

2) New program

22

3) Testing of the robot

We have tested the robot in Tele-Op regime first.

The appointment of the buttons is comfortable for operator as per Sasha’s

opinion. Artem has found the problem of robot's self moving back without

command.

The field tactics suggested by Sasha:

1) Emptying of theblue Starting Peg

2) Placing of three blue rings onto Low Post#1

3) Emptying of the green Starting Peg

4) Placing of three green rings onto final vertical Low Post#2

5) Emptying of the red Starting Peg

6) Placing of three red rings onto final vertical Low Post #3

7) Bonus tray opening

During the first attempts the following was done:

1) One Starting Pegempted: 5

2) 3 rings of the same color on the final vertical low holder: 30

3) Bonus tray empted: 20

Total score 55

23

Operator Time Attempts

1 2 3 4 5

Sasha

60 sec. 55 0 55 59 35

Artem

60 sec. 55 55 61 55 31

Artem has moved 6 rings by hull of the robot into the floor zone at

attempt #3.

As result he received +6 points (total 61).

The last attempt was performed in accordance with

“Game guide” changing the operators.

Total score is 69 points!

Good job guys!

THE TEAM’S CONCLUSION:

1) For better placing of the rings onto Low Posts the design of the

manipulator must be changed

2) The program needs to be changed in the aims of automation of

conveyor and revolver system.

Руководство по игре

<G5> В состав каждой команды входят два Оператора. Операторы не могут

управлять Роботом больше тридцати пяти (35) секунд общего времени Матча.

24

20.01.2018 TASKS: - Changing of the design of the manipulator.

- Debug and development of Tele-Op regime program


1) Upgrade of the manipulator

The design was changed by Sasha with use of Snap Cad. The angle bars were

used for better holdingof rings.

25

Besides the scoop our team decided to include following changes:

- The base of revolver is changed

- The elements holding the rings on conveyor are changed

As result the new design of the claw has been constructed.

26

2) Development of the program

27

4 tasks were created in the new program:

1) revolv – control ofrevolverMotor

2) conv - control of conveyor

3) Tele-Op - remote control

4) chuckExitTeleOp – start and stop of Tele-Op

28

24.01.2018 TASKS: 1) Strategy development for Tele-Op period.

2) Testing of the robot in Tele-Op

3) Strategy development and creation of the program for the autonomous

period.


1) Strategy of Tele-Op

The strategy suggested by Sasha was decided as main:

- emptying of the blue starting peg; placing of three blue rings onto low #1;

- emptying of the green starting peg;

- placing of three green rings onto final vertical low holder #2;

- emptying of the red starting peg;

- placing of three red rings onto final vertical low holder #3;

- bonus tray opening.

2) Testing of the robot in Tele-Op

Operator Time attempts 1 2 3 4 5

Sasha

30 sec. 92

105

108

125

129

Artem

30 sec.

29

1) 92=2x30+2x5+20+2

2) 105=3x30+3x5

3) 108=3x30+3x5+3

4) 125=3x30+3x5+20

5) 129=3x30+3x5+20+4

THE TEAM’S CONCLUSION: Automation of conveyor and revolver on Tele-Op regime allows to receive

more points.

3) Strategy development and creation of the program for the

autonomous period.

The first strategy suggested by Olya:

- Emptying of the blue starting peg

- Placing of 3 blue rings onto low vertical post #1

- Collecting of the ring from the field and placing them on to

horizontalpost.

The following functions have to be created inside of the program:

- Moving forward and back

- Right turn and left turn

- Scoop up and down

- Revolver up and down

- Rotation of the revolver

30

Here is the result:

31

03.02.2018 TASKS: 1) Creation of 3D model of the robot

2) Training of remote control skills

3) Creation of autonomous program and testing.


1) Creation of 3D model of the robot

Sasha and Artem are going on

work with SnapCad creating 3D

model of our robot.

3D model of chassis was

created today by Artem.

ROBOT CHASSIS

32

2) The new strategy was suggested by Sasha:

1) Emptying of the bluestarting pegs

2) Placing of three blue rings onto final vertical low holder #1

3) Emptying of the green starting peg

4) Placing of three green rings onto final vertical low holder #2

5) Collecting of the rings from the field

6) Placing of rings onto final horizontal post

7) Bonus tray opening

Operator Time attempts

1 2 3 4 5 Sasha

30 sec. 120

130

125

115

125

Artem

30 sec.

120=2x30+2+5+20+30

130=2x30+2x5+30+40

125=2x30+2x5+20+30+5

115=2x30+20+20+3x5

125=2x30+2x5+20+30+5

The maximum score is 130 points.

33

3) Creation of autonomous program and testing.

34

During the first tests we

recognize that the robot makes

the turns not enough precisely. It

was decided to use gyroscope.

The gyroBot function was

created.

We also applied correct

function for positioning of the

robot with use of field’s side

board.

CONCLUSION: the multiple

attempts show unstable

execution of the strategy by the

robot.

PLANNING: - go on creating 3d model;

- to create new strategy for autonomous regime.

35

05.02.2018 TASKS:

1) Developing of the 3D model.

2) Remote control skills training.


1) 3D model of the robot’s mechanisms.

Sasha has finished 3D modeling of the vertical conveyor.

36

Meanwhile Artem was modeling revolver mechanism.

37

Remote control in Tele-Op regime.Artem has suggested to test robot with

new strategy:

38

1) Emptying of blue and green starting pegs;

2) In process of emptying to collect the rings from the field;

3) Placing of the rings onto low vertical posts;

4) Placing of the rings onto horizontal posts.

Operator Time Attempts 1 2 3 4 5

Sasha 30 sec.

120

110

82

105

141

Artem 30 sec.

120=10+2x30+40+2x5

110=2x30+30+10+5x2

82=10+30+20+20+2

105=30x2+2x5+30+5

141=2x30+30+40+10+1

The maximum score – 140+1 points! Great!

Operator’s training with use of the first strategy:

Operator Time Attempts

1 2 3 4 5 Sasha 30 sec.

129

128

146

115

165

Artem 30 sec.

129=3x30+20+3x5+4

128=3x30+20+3x5+3

146=20+3x30+5x4+15+1

115=30+20+30+3x5+20

39

165=3x30+40+20+15

10.02.2018 TASKS: 1) Developing of new autonomous strategy.

2) Creating of the program and testing.

CONSIDERATION AND REALIZATION: 1) New autonomous regime strategy

1. To push right button of the bonus tray.

2. Emptying of the red starting peg

3. To push left button of the bonus tray.

4. Placing of the red ring onto low vertical post.

2) Autonomous regime program.

42

12.02.2018 TASKS:

Training in remote control skills.


The series of attempts: Strategy Attempts

1 2 3 4 5

1

108 148 155 155 125

2

155 126 131 120 90

3

140 128 119 125 130

1ststrategy:

108=2x30+10+15+20+3

155=3x30+30+20+15

148=3x30+20+15+20+3

125=30+20+5+30+15+20

2ndstrategy:

155=3x30+30+20+15

126=2x30+20+15+20+1

131=30x2+20+40+10+1

90=30+5+20+15+20

3rd strategy:

140=3x30+40+10

128=15+3x30+3+20

119=20+2x30+20+15+4

125=20+30+40+15+20

130=30+30+20+40+10

43

New series of attempts:

Strategy Attempts

1 2 3 4 5

1 90

106 134 130 130

2 128 123

125 131 120

3 120 110 8

105 141

1st strategy:

90=30+20+5+15+20

106=2x30+20+20+15+1

134=3x30+3x5+20+9

130=3x30+20+15+5

3rd strategy:

120=10+2x30+40+2x5

110=2x30+30+10+5

82=10+30+20+20+2

105=30x2+2x5+30+5

141=2x30+30+40+10

2nd strategy:

128=2x30+30+10+2+8

123=2x30+20+3x15+3+30

125=2x30+30+10+20+5

131=2x30+30+3x5+20+5+1

120=2x30+30+20+10

44

16.02.2018 TASKS:

Debugging of the autonomous regime


45

19.02.2018 TASKS:

Training in remote control skills.


The series of attempts: Strategy Attempts

1 2 3 4 5

1

129 128 146 115 165

2

120 110 124 146 106

3

137 120 110 102 130

1st strategy:

129=3x30+20+3x5+4

128=3x30+20+3x5+3

146=20+3x30+5x4+15+1

115=30+20+30+3x5+20

165=3x30+40+20+15

2nd strategy:

120=2x30+30+20+2x5

110=2x30+2x5+20+20

1242x30+30+2x5+20+4

146=2x30+3x10+2x10+20+15+1

106=2x30+30+15+1

3rd strategy:

137=2x30+40+15+20+2

120=2x30+30+20+10

110=20+30+30+20+10

102=2x30+30+10+2

46

130=2x30+40+10+20

21.02.2018 TASKS:

Creating of the 3D model of the robot.


47

26.02.2018 TASKS: Creating of project presentation.


Our robot’s capabilities:

Emptying of the bonus tray

Placing of the rings onto low horizontal post with

use of revolver system

48

Placing of the rings onto low vertical post with use of revolver system

Placing of the rings onto low vertical post with use of manipulator

Emptying of the starting peg

Collecting of the rings from the field and charging of the revolver.

49

05.03.2018 TASKS: IMITATION of the competitions.


1) Checking of the robot’s

dimensions.

The robotis in compliance with

requirements in starting

position:

Length – 50 cm;

Width – 25.5 cm;

Height 37.2 cm.

2) We have present our

project in presence of spectators.

The design of the robot

allows to perform all tasks which

are required for high score:

- Emptying of the starting

pegs;

- Collecting of the rings from

the field;

- Placing of the rings onto

vertical and horizontal post;

- Emptying of the bonus tray.

All this allows us to choose the tactics in alliance.

50

3) We have performed 6 attempts in Tele-Op.

Operators: Artem and Sasha.

Results:

1st attempt – 130 points;

2nd attempt – 110 points;

3rd attempt – 146 points;

4th attempt – 135 points;

5th attempt – 120 points;

6th attempt – 135 points.

Total 806 points.

4) Autonomous period.

3 attempts were performed.

Programmers: Katya and Olya

Results:

1st attempt – 20 points;

2nd attempt – 55 points;

3rd attempt – 25 points.

TEAM’S CONCLUSION:

All main tasks in project development are completed.

51

Russian VEX IQ Ringmaster Championship

07-09 March 2018

Moscow, VDNKh

Timetable.

The 7th of March (Wednesday)

Time Description

10:00-12:00 Test competotions 12:00-13:30 Qualifications

15:00-17:00 Qualifications

17:30-18:00 Volunteers 'and judges' meeting

The 8th of March (Thursday)

Time Description

09:00-10:00 Test runs


15:00-17:30 Qualifications 17:30-18:00 Volunteers 'and judges' meeting

The 9th of March (Friday)

Time Description


12:00-15:00 Quarter finals, Semifinals

15:40-16:30 Finals

TEST RUNS

The team had the opportunity to train on the field on 07-08 March. Olya

and Katya have signed the team for the tests preliminary.

Each team has 5 minutes for test work and training.

53

After 3 training we decided to

choose the team for alliance and to

perform test run together. We have

chosen team 92601A.

Sasha and Dima are the pupils of the 7th grade of Surgut Naturally Scientific Lyceum.

It was the best test run with the score 183 point.

The teams were acting coordinated and clear. Our robots differed from

others in their ability to collect ring from the surface of the field, to remove

rings from starting pegs to vertical and horizontal posts.

QUALIFICATIONS

The 7th of March

Match № Team Field № Time

Q16 57712A F2 14:55

Q31 24393A F1 16:10

Q40 33767A F2 16:55

The 8th of March


Q59 48424A F1 10:54

Q73 44397A F1 11:36

Q96 69915A F2 12:45

Q110 64058D F2 13:27 Q126 64058A F2 13:27

Q143 81692A F1 15:06

Q160 92601A F2 15:57

Q173 99444V F1 16:36

54

The 9th of March


Q191 37337A F1 10:30

Q208 64058A F2 11:21

RESULTS:

Q16 – 112 points

Q31 – 92 points

Q40 – 138 points

Q59 – 86 points

Q73 – 136 poits

Q96 – 116 points

Q110 – 145 points

Karim and Matvey, school

1363, Moscow - our one of

the best alliances. Our

teams discussed the tactics

of the match in advance.

Each team performed its

duties properly.

Q126 – 131 points

Q143 – 151 points

Q160 – 177 points

55

In qualification Surgut team, Sasha and Dima, did the job correctly,

without mistakes, same as at test run.

It was the best result of the alliance of the championship.

Q173 – 107 points

Q191 – 145 points

Ivan and Artem, school 1519, Moscow.

Q208 – 117 points (solo match)

The average score of our team: 139.90 points.

Thus, we have won the first position in qualifications.

56

FINAL MATCHES.

16 teams have participated in finals.

Rank Team Average score

1 70145A 136.90

2 25396U 117.30

3 66947B 115.80

4 87994B 109.90

5 65047A 100.30

6 57712A 95.70

7 63082A 90.50

8 48424A 86.60 9 92601A 85.60

10 33767A 85.50

11 37337A 85.30

12 81692A 82.80

13 87994A 75.80

14 99444V 72.00

15 64058A 70.20

16 44397A 69.90

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The final alliances were paired in accordance with the rules. Our team was alliance with team 25396U, Maksim and Nikolay (coach Maksim Pyanov, school 709, Moscow).

RESULTS OF FINAL MATCHES.

Rank Final score

15/16 27

13/14 71

11/12 95

9/10 65

7/8 96

5/6 108

3/4 108

1/2 138

Our team in alliance with team 25396U has WON THE CHAMPIONSHIP with the final score 138 points.

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AUTONOMOUS PERIOD

Five teams have participated in this competition. The matches took place

on the 09th of March.

Time Team

12:05 48006А

12:10 64058А

12:15 70145А

12:20 35615А 12:25 99444V

Our score is 20 points. We emptied bonus tray.

INTERVIEW

Our team has been interviewed by the judge of VEX competitions - Ignatiy

Matsal.

The interview was concerned

with the design of the robot and

engineering book.

We have presented the

design of our robot, our

programs and have told how the

engineering book was created.

The feedback was positive.

We have received valuable recommendations concerning development of

our project.

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14.03.2018 MOSCOW CHAMPIONSHIP ROBOT DESIGN ANALYSIS

This robot has parallelepiped shape

and equipped with vertical conveyor.

The inner design is hide behind outer

details. The robot has wheel chassis.

Controller is situated in the aft part.

The robot is collecting the rings into

the hull and hoist them up with use of

vertical conveyor placing the ring onto

high vertical post. There were only

couple robots allow to place the rings

onto high vertical post.

Positive moments: Negative moments:

1. Strong gripping device; 2. The robot has a special device on the bumper to press the buttons of the bonus tray; 3. The design allows to collect big number of rings from the field; 4. The rings can be placed on the high vertical post.

1. Sorting of the ring is not available; 2. the rings cannot be placed onto horizontal posts;

This robot is equipped with manipulator

to empty the starting pegs. This kind of design

was seen very often at the championship.


1. The robot has a special device on the bumper to press the buttons of the bonus tray

1. Manipulator is not firm 2. The rings cannot be placed onto horizontal posts

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2. The robot has manipulator 3. The rings can be placed on vertical posts

3. Collecting of the rings from the field is not available 4. Sorting of the ring is not available;

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19-30.03.2018 TASKS:

Modernization of robot’s design. Development of new strategy for Tele-Op regime.

CONSIDERATION AND REALIZATION

1) Modernization of robot’s design.

We have assembled one more robot with use of VEX IQ set won at the championship. We have found minor mistake in the design: the conveyor was not perpendicular to the field. The design of conveyor was changed.

2) New strategy:

- to start backwards, to make a turn near vertical post # 2 (to push some

rings to one point zone if it is possible);

- moving to the red starting peg collecting rings from the surface of the field

meanwhile;

- emptying of the red starting peg;

- pushing left button of the bonus tray;

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- placing of red rings onto 4th vertical low post;

- pushing right button of the bonus tray;

- emptying of the green starting peg;

- placing of green rings onto 3rd vertical low post;

- placing of rings onto horizontal post with use of revolver.

New tactics gives 130 point.

3) Development and testing of new

strategy.

We use two robots for test runs.

The first robot – operators Sasha and Artem

(30 seconds each one), the second robot –

operator Olya (60 seconds).

We used printed schemes to fix all changes in

tactics applied.

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04-25.04.2018 TASKS:

Changing of 3D model

CONSIDERATION AND REALIZATION

Sasha and Artem has made changes of 3D model concerning the new

design aspects.

robotics engineering notebook

Documents