yuwon “the prize” moon seth “capt. planet” wheeler mitch “thriller” jackson michael...
TRANSCRIPT
Lego Robots in a Maze
Yuwon “The Prize” Moon
Seth “Capt. Planet” Wheeler
Mitch “Thriller” Jackson
Michael “Whiteboard Guy” Penney
Team Condi Rice
Design a robot using a given set of tools able
to traverse a maze in under four minutes and perform a specified task
Size Restrictions
Time Constraints
Problem, officer?
LEGO Mindstorms Kit
Two touch sensors One sonar sensor One color sensor Three motors
NXT 2.0 Programming GUI
Team Condi Rice
Tools
Tasks were divided based on previous
experiences and personal strengths.
Group brainstorming sessions detailed the project top to bottom before beginning construction or programming
Task Division
Organization/Execution
Penney
Function Design and Conceptualization Collaborative
Progress Recording/Classwork Seth, Yuwon
Robot Construction Penney
Programming Mitch, Penney
Testing and Debugging Yuwon, Seth, Mitch
Task Division
Two primary design principles 90 Degree Angles
PROS Increased reliability for the given problem Easier to predict robot location Minimize unknowns
CONS Reduced versatility Every conceivable situation had to be accounted
for
Where do we start?
Predict unknown conditions using known ones
PROS Variety of situations responded to with fewer
actions Coding simplicity
CONS Sometimes predictions will be wrong
Where do we start?
Forward linear motion until action required Front wall bump detection Ranged side wall detection Right angled turns Center mounted color sensor Ball drop assembly near color sensor Stability and low center of gravity
Smaller Design Goals
The Condi Rice
Why?
Point A to B
Why linear? Design goals
Design History
Product
Design Issue 1: Forward Motion
Design Issue 1: Forward Motion
Design Issue 1: Forward Motion
Why?
Environmental variable
When wall was hit
Why on the front? Design goals
Design History
Product
Design Issue 2: Hit Detection
Design Issue 2: Hit Detection
Design Issue 2: Hit Detection
Design Issue 2: Hit Detection
Why?
Maze traversal
Why sonar detection? Design goals
Why on the left? Detect proper path
Conceptual Success Unchanged throughout process
Product
Design Issue 3: Turning
Design Issue 3: Turning
Design Issue 3: Turning
Color Sensor
Why? Primary goal
Why centered? Design goals
Product
Design Issue 4: Task Performance
Design Issue 4: Task Performance
Drop Assembly
Center aligned, controlled drop
Reasons for mounting position
Product
Design Issue 4: Task Performance
Design Restrictions
Why? Stability
Triple Jointed Structure
Product
Design Issue 5: Frame Assembly
Problem 1: Distance of target drop from wall
Problems Encountered From Design Shortcomings
What is it?
Target drop not aligned with wall Condi Rice designed to hug wall
Why? Misrepresentation of initial problem
How was it solved? Reverse code Detailed alignments
Results Unintended positive effects
Problem 1: Distance of target drop from wall
Problem 1: Distance of target drop from wall
Problems Encountered From Design Shortcomings
Problem 2: The Loop
What is it?
No walls on either side of robot yields left turn
Why? Initial assumptions
How was it solved? Counting code
Problem 2: The Loop
Problem 2: The Loop
Problem 2: The Loop
What is it? No walls on either side of robot yields left turn
Why? Initial assumptions
How was it solved? Counting code
Results Successful Greatly increased versatility
Multiple successful runs through maze with
fastest time of 0:36
Failure to deploy clay ball on all attempts
How did Condi fare?
Designed for right angled maze with ample
berth
Unguarded areas susceptible to catching on walls
Additional complexity unwieldy to program due to instability of NXT GUI
Potential Problems
DAS ENDE