final competition - university of california, san diegocseweb.ucsd.edu/~yuc007/documents/vex/final...
TRANSCRIPT
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Final Competition
Group B
22rd, May, 2007
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Outline
• Competition Rules
• Expected Performance
• Strategy
• Mechanic Design
• Program
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Competition Rules
Blocks
3 minutesAuto
Restart
Collide Main Role
Make full use of these
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Expected Performance
• Improve the latency: reduce the time for taking
each block;
• Improve the throughput : increase the capacity
of blocks;
• Design several strategies to make choice
when collision and restart occurs;
• Improve the accuracy of turn and avoid using
parameters: make use of sensors.
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Original Strategy
Different routes: left, mid, right routes;
Foresee whether the block is still there and
change strategy dynamically;
Calculate the points machine got and make
decision;
Try to go straight to save time.
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Practical Strategy
Different routes: left, mid, right routes;
Set restart route and scan route;
Improve the ability of follow line even for some
extreme situations which will reduce the speed;
Consider the placement of blocks;
Give up the use of ultrasonic sensor since the
field is small and no need of dynamic strategy.
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Mechanic Design
• Simply with efficient performance;
• Sensor: 3+2;
• Wheels: gear choice, two wheels;
• Arms: gear choice;
• Bumper Switch;
• Fencing structure: dimension, fence the blocks
inside.
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Sensor Placement
Closing the sensors will increase the sensitivity!
Front Detection
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Relativity of Sensors and
Wheels
Distance
between
sensors and
wheels
should be big
enough for
sensitivity.
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Gear Choice of Back
Wheels
3:2 Gear Choice
based on the
required speed of
wheels
Motor
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Front Wheels
Using
flexible front
wheels to
reduce the
error of turn!
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Gear Choice of Front Arm
Servo
1:1 Gear Choice
based on the
range of Servo
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Gear Choice of Back Arm
Servo
2:1 Gear Choice
based on the
range of Servo
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Bumper Switch
Four
Selective
Choices for
different
strategies
and restart
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Fencing Structure
Keep the
blocks inside
Depth 220mm
With the arm,
expected
performance:
three blocks
Width 140mm
large enough for
the dimension of
block
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Program
• Follow Line (3 trace sensors);
• Turn Left and Right (2 detective sensors );
• Game Field Map (x,y,dx,dy);
• Execute the arms work
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Follow Line and Turn
Front Detection
Line Tracer
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Build Field Map in Program
X
Y
(0,0) (1,0) (2,0)(-1,0)(-2,0)
(1,0)
(2,0)
(3,0)
(4,0)
(5,0)
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Arm Works and the
Placement of Blocks
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Expected Performance
• Improve the latency: fast to take blocks;
• Improve the throughput : maximum four blocks;
• Design several strategies to make choice
when collision and restart occurs;
• Improve the accuracy of turn and avoid using
parameters: make use of sensors.
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Final Competition
Appreciate the Study of
VEX in ENGG395E