Urban Search and RescueUrban Search and RescueCheckpoint FeedbackCheckpoint Feedback

Carnegie Mellon UniversityCarnegie Mellon University16-311 Introduction to Robotics16-311 Introduction to Robotics

March 29March 29thth 2006 2006

Checkpoint PerformanceCheckpoint Performance 5 of 7 teams 5 of 7 teams

finished the finished the checkpointcheckpoint

Average:Average: 7575 Median:Median: 9595 Mode:Mode: 100100

Final Competition Final Competition Tuesday April 4Tuesday April 4

PreparationPreparation Checkpoint Checkpoint

FeedbackFeedback Presentation of Presentation of

Final Competition.Final Competition.

CheckpointCheckpoint General Observations from CheckpointsGeneral Observations from Checkpoints

InclineIncline Nearly everyone was able to complete this obstacle.Nearly everyone was able to complete this obstacle.

BumpsBumps Nearly everyone was able to complete this obstacle.Nearly everyone was able to complete this obstacle.

StairsStairs Many teams had difficulty, it is highly recommended this issue Many teams had difficulty, it is highly recommended this issue

be resolved.be resolved. RubbleRubble

Nearly everyone was able to complete this obstacle. Nearly everyone was able to complete this obstacle. Narrow CorridorNarrow Corridor

Nearly everyone was able to complete this obstacle.Nearly everyone was able to complete this obstacle. Low Light Low Light

No teams attempted this obstacle, highly recommend practice.No teams attempted this obstacle, highly recommend practice.

DifficultiesDifficulties Low ground clearanceLow ground clearance

Robots getting hung up on rubble and bumps.Robots getting hung up on rubble and bumps. Center of gravityCenter 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/treadsHigh torque wheels/treads

Torque is good but so is speed.Torque is good but so is speed. Size constraintsSize constraints

If your robot changes dimension be sure you can still fit through narrow If your robot changes dimension be sure you can still fit through narrow corridors.corridors.

Fragile DesignsFragile 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 TestTwo words: Drop Test

Controllability IssuesControllability Issues Low level controls make it difficult to precisely traverse the environment.Low level controls make it difficult to precisely traverse the environment.

What Did WorkWhat Did Work Added weightsAdded weights

Washers, Pennies, Pad Lock?Washers, Pennies, Pad Lock? Change the location of your center of massChange the location of your center of mass

Reinforced RobotsReinforced Robots Zip ties are your friendZip ties are your friend Twist ties and wiresTwist ties and wires

CameraCamera Pan and tilt camera heads are greatPan and tilt camera heads are great Zip tying the camera to your robotZip tying the camera to your robot Visual marker to keep your frame of referenceVisual marker to keep your frame of reference

AdviceAdvice Try to drive without looking at the robot.Try to drive without looking at the robot. Don’t underestimate the value of Don’t underestimate the value of

sensors to eliminate blind spots.sensors to eliminate blind spots. Be conscious of size and speed of the Be conscious of size and speed of the

robot.robot. The world will get worn down – be The world will get worn down – be

prepared for it.prepared for it. Clicking, whining is a bad sign.Clicking, whining is a bad sign.

This just in…….This just in……. Hurricane has hit a remote siteHurricane has hit a remote site

(Scaife Hall)(Scaife Hall) Rescue teams will be:Rescue teams will be:

arriving onsite Monday April 3arriving onsite Monday April 3rdrd

commencing operations Tuesday April 4commencing operations Tuesday April 4thth..

VictimsVictims These individuals have These individuals have

been identified as been identified as being in the building at being in the building at the time of eruption:the time of eruption: HowieHowie GeistGeist AviAvi LindaLinda Brandon BoydBrandon Boyd Dakota FanningDakota Fanning President BushPresident Bush Johnny DeppJohnny Depp

Satellite ImagesSatellite Images These images of the These images of the

disaster area have been disaster area have been gathered from satellite gathered from satellite information:information: Zone 1Zone 1

Stability: HighStability: High Zone 2Zone 2

Stability: High-MediumStability: High-Medium Zone 3Zone 3

Stability: LowStability: Low Zone 4Zone 4

Stability: Low-MediumStability: Low-Medium Zone 5Zone 5

Stability: Low-MediumStability: Low-Medium

Sneak PeekSneak Peek

GoalGoal Your mission is to Your mission is to

send your robots send your robots into these areas and into these areas and using teleoperation using teleoperation to guide them to guide them through each zone through each zone identifying identifying individuals and individuals and clearing zones. clearing zones.

ScoringScoring Victims found in each zone are worth 7 points each.Victims found in each zone are worth 7 points each. An additional 5 points will be awarded if the team can An additional 5 points will be awarded if the team can

determine who the victim is (pictures will be determine who the victim is (pictures will be provided).provided).

When a group is done with a zone, they have the When a group is done with a zone, they have the opportunity to say whether they have cleared it or opportunity to say whether they have cleared it or not. “Cleared” means they have found all victims in not. “Cleared” means they have found all victims in that zone. If a group claims they have found all that zone. If a group claims they have found all victims, and they are right, they earn 5 points. If a victims, and they are right, they earn 5 points. If a group claims they have found all victims, and they group claims they have found all victims, and they are wrong, they lose 5 points. No points are awarded are wrong, they lose 5 points. No points are awarded for a group “knowing” that they have not found all for a group “knowing” that they have not found all victims in a zone.victims in a zone.

Zone 5 is the upper level of the world.Zone 5 is the upper level of the world.

Demo TimesDemo Times The demos will be held on Tuesday April 4th The demos will be held on Tuesday April 4th

in the RELin the REL Each team is allotted a total of fifteen Each team is allotted a total of fifteen

minutes for their demo minutes for their demo Five minutes for set up Five minutes for set up Ten minutes to search for victimsTen minutes to search for victims

A sign up sheet will be available A sign up sheet will be available immediately following this presentation at immediately following this presentation at the front desk.the front desk.

Random lottery will determine order.Random lottery will determine order.

Words of WisdomWords of Wisdom Don’t forget to charge your batteries the night before the Don’t forget to charge your batteries the night before the

demo!!!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 PracticePractice Practice Practice

Questions?Questions?