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ORTOP

ORTOP. Workshop III ROBOTICS TECHNIQUES 2006 “Opening doors to the worlds of science and technology for Oregon’s youth”. Goals. Audience: Rookie & Experienced Coaches & Mentors Provide Material That Is Immediately Usable With Your Team

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  1. ORTOP Workshop III ROBOTICS TECHNIQUES 2006 “Opening doors to the worlds of science and technology for Oregon’s youth” ORTOP Robotics Techniques - 2006

  2. Goals • Audience: Rookie & Experienced Coaches & Mentors • Provide Material That Is Immediately Usable With Your Team • Gain Team Experiences: Creativity, Decisions, Planning, Failure, Deadlines • You should have already attended workshops I & II ORTOP Robotics Techniques - 2006

  3. Instructor Contacts • Ken Cone • kcone@hevanet.com • 503-292-0920 • Jim Ryan • james.r.ryan@intel.com • 971-225-6087 • Cathy Swider • Cathy_swider@ous.edu • 503-725-2920 • Roger Swanson • swanson@hevanet.com • 503-297-1824 • Scott Stanko • scott.stanko@intel.com • 971-215-9677 ORTOP Robotics Techniques - 2006

  4. Agenda • Introductions (5 min) • Slide Review (55 min) • Break into Teams • Do 2-3 Sensor / Locomotion Exercises (90 min) • Review References (10 min) ORTOP Robotics Techniques - 2006

  5. Agenda • Handouts for this workshop: • Techniques2006.ppt • Notebook2006.doc • LEGO Gears2006.doc • RCXBasics2006.doc • WorkshopCD2006 (handout at W2) ORTOP Robotics Techniques - 2006

  6. Our Mission • FLL is not just about building robots and competing in tournaments • Develop team member skills • technical • team building • research & presentation • Technical problem solving can be fun • The youngsters do the work • Introduce possibility of a technical career ORTOP Robotics Techniques - 2006

  7. Team Basics • Make sure your team has the basics: Office Supplies, Paper, Pencils, Notebooks • Start a Team Notebook • capture designs & experimental data • pictures and sketches • daily activity log • date, task, notes • allows the team to track progress ORTOP Robotics Techniques - 2006

  8. Assembly Basics • Moving on to Assembly Basics: • LEGO Parts Identification • Technic Liftarm 2x4 L shape • Technic Liftarm 1x5, 1x7 • Technic Liftarm 3x5 L shape • Technic Liftarm 1x9 Bent • Technic Pin Joiner Dual • Axles & Pins • Have kids inventory your kit & get to know the parts ORTOP Robotics Techniques - 2006

  9. Assembly Basics • LEGO Bumps vs. Pins • open your kit, find two 2x8 plates • Find the Technic Liftarms and two pins shown • construct the pieces shown • snap on connections are strong in shear & compression, but weak in tension • which piece is strongest joint? (depends on the application) • Robot should pass 6” drop test ORTOP Robotics Techniques - 2006

  10. Assembly Basics • Squares • Have your team build simple square w/ beams & plates • Discuss pros & cons of squares on your robot • Review: “Building_Lego_Robots_Minnesota” • Simple frame shown • Improved with 2 x 8 plate ORTOP Robotics Techniques - 2006

  11. Assembly Basics • Lego Geometry • Have your team build a simple T with beams & pins • Discuss pros & cons on your robot • Cross Bracing • (BLRM Fig1-15) ORTOP Robotics Techniques - 2006

  12. Assembly Basics • Gears • Spur Gear (show example) • instructor holds beam • class person turns axles and feels torque on other axle • tactile feedback = learning about gears and torque • Gear Ratio and Speed • turn large gear one complete turn. How may times does small gear turn? ORTOP Robotics Techniques - 2006

  13. Assembly Basics • Torque • can be thought of as rotational force • torque causes something with mass to rotate • a force can create a torque by acting through a moment arm (picture a wrench turning a bolt) • a motor produces a torque – transferred to gears and to axles that turn the wheels • gears change speed and torque • e.g. changing bicycle gears to go up a hill ORTOP Robotics Techniques - 2006

  14. Assembly Basics • More Gears • Worm Gears • one way transfer of power (show example) • Pulleys • use for slippage during lifting • Clutch • slippage after torque value listed on clutch • GS Day Camp pages on gears • instructor hold up 3 page handout ORTOP Robotics Techniques - 2006

  15. Assembly Basics • Wheels & Tracks & Skids • wheelbase length – depends on application • wheel loading – support of axle • wheels without tires = skids • Swivels & guide wheels ORTOP Robotics Techniques - 2006

  16. Assembly Basics • Center of Gravity • balanced vs. tips over • (BLRM Fig3-9) • discuss location of RCX with respect to wheel frame – if high, might tip over -- if low, might drag going over obstacles • motor starting torque can tip a robot over backwards! ORTOP Robotics Techniques - 2006

  17. Assembly Basics • Center of Gravity • If the CG is outside the wheels, the robot will tip over with motor starting torque ORTOP Robotics Techniques - 2006

  18. Assembly Basics • Batteries • Battery discharge rate • first hour 1.65v to 1.5v • 2-3 hours at 1.5v (save set of six) • after 3 hours, slow discharge • Variables to consider • clocks, motor speed • turns, distances ORTOP Robotics Techniques - 2006

  19. Assembly Basics • Bob the robot • 1 Forward Lift Attachment • 2 Wheelbase & Wheel Loading • 3 Forward Pushers & Light Sensors • 4 Battery Replacement • 5 RoverBot Comparison & CG • 6 Gears & Sensors • 7 Front View • 8 Worm Gear • 9 Base Position Fixture ORTOP Robotics Techniques - 2006

  20. RCX & Sensor Basics • Handout: RCXBasics2006.doc • Inputs, Outputs, Command Buttons • Explore Built-in Programs 1,2,3 • motor drives • touch sensors • light sensors ORTOP Robotics Techniques - 2006

  21. NXT Basics - Controller ORTOP Robotics Techniques - 2006

  22. NXT & Sensor Basics • Handout: NXTBasics2006.doc • Inputs, Outputs, Command Buttons • Explore Built-in Programs • motor drives with position feedback • touch sensors • light sensors • distance & sound sensors ORTOP Robotics Techniques - 2006

  23. Programming Resources • ROBOLAB for RCX • ROBOLAB Tutorial, Dale Yocum CD • On ORTOP CD or download from http://cgsweb.catlin.edu/msrobotics/html/downloads.html • takes time, go through in sections • NXT programming tutorial coming soon ORTOP Robotics Techniques - 2006

  24. Programming Resources • Inventor Program Editing Hints (demo) • Copy & paste • Shift key to select objects • Right click object to replace • Add text comments • Use music notes to debug program • Help > show context help • Wiring square corners with space bar ORTOP Robotics Techniques - 2006

  25. Programming Resources Add Comments to your programs • Use 4 team members to act out robot moves • Motor A, Motor B for robot movement • One person telling them how to move • One person writing down program steps • Add program steps as comments • Fill in icons to match program steps ORTOP Robotics Techniques - 2006

  26. Sensor Exercises • Following slides are team exercises: • 1 Rotation • 2 Light • 3 CHAIR that uses several sensors • 4 Gearing ORTOP Robotics Techniques - 2006

  27. Sensor Exercises • 1) Rotation Sensor • Add a rotation sensor to RoverBot, input 2 • Try this simple move program • Rotation1.vi • Does the program give the same result each time you run it? • What distance does the robot move? • Travel straight for 2’, land in 1” circle ORTOP Robotics Techniques - 2006

  28. Sensor Exercises • 2) Light Exercise 1, “light-and-dark.vi” • Measure light and dark values • “wait for darker” and “wait for dark” • Cutoff Brightness value • 0=darkest, 100=lightest • Open “light-and-dark.vi” in Robolab • Follow exercise instructions page 16 of notebook handout. ORTOP Robotics Techniques - 2006

  29. Sensor Exercises • 3) Move in “chair” pattern • 1 start with back against wall • 2 go forward 2’ , stop, turn 90 deg. CCW • 3 go forward 2’ , stop, turn 90 deg. CW • 4 go backward until touch wall • 5 go forward until detect black line • 6 stop and play tune • (notice comments form specs. for program!) • see following slide • (left brain instructions) ORTOP Robotics Techniques - 2006

  30. Sensor Exercises • 3) Move in “chair” pattern 5,6 end 3 2 4 1 start (right brain instructions) ORTOP Robotics Techniques - 2006

  31. Locomotion Exercises • 4) Gearing Exercise • Begin with pre-built RoverBot • Remove front wheel 40 tooth gears • How fast does robot climb inclined plane ORTOP Robotics Techniques - 2006

  32. Locomotion Exercises • Gearing Exercise • Change gears to 24 – 24 • How fast does robot climb inclined plane • Record results in log book ORTOP Robotics Techniques - 2006

  33. Team Exercises • Today’s Workshop Exercises • Form into teams of 3-4 • Do “light-and-dark.vi” • Do Gearing Exercise • Do Chair Pattern if time permits • use “h-pattern-move.vi” program or create your own ORTOP Robotics Techniques - 2006

  34. Team Exercises • You will find class example programs in handout • Record notes in your notebook • BREAK • START NOW, you have 90 min! • (instructor: show light-and-dark.vi) ORTOP Robotics Techniques - 2006

  35. Team Exercises • Class Exercises • Comments from Teams • Design reviews are an every day experience in engineering. • Take 5 min and select a team spokesperson • Take 2 minutes per team and tell the class what exercises you did • Tell what you liked about the exercises • Tell what you would change in the exercises ORTOP Robotics Techniques - 2006

  36. Information • Resources • Inscite www.hightechkids.org • Google “minnesota first lego” and select the .pdf file “Building Lego Robots for...” • LegoMentorManual.pdf from Minnesota FIRST LEGO League ORTOP Robotics Techniques - 2006

  37. Information • Resources • http://130.64.87.22/robolabatceeo/K12/default.asp • Activities • Programming • In the Classroom • Building and Designing ORTOP Robotics Techniques - 2006

  38. Information • Resources • http://www.rec.ri.cmu.edu/education/ • Identifying LEGO Parts • Introduction to Gears • Gears & Distance Investigation • In CMU Robotics Academy folder ORTOP Robotics Techniques - 2006

  39. Information • Resources • http://www.usfirst.org/index.html • Note: this page uses time to download • www.ortop.org • Robolab CD by Dale Yocum • http://cgsweb.catlin.edu/msrobotics/html/downloads.html ORTOP Robotics Techniques - 2006

  40. Information • Resources – ORTOP CD • Girl Scout Lego Robotics Day Camp • Brainstorming • Gears • Leading Questions for Mentoring • Debugging Tips • workshop06 slides I, II, III ORTOP Robotics Techniques - 2006

  41. Information • Resources • Videos of previous tournaments on DVD • coaches show videos at beginning of team meetings to focus kids. (2002 is on CD.) • available at http://www.ortop.org/res.htm#vid • FLL site good resource, answers many questions • at http://www.firstlegoleague.org/ ORTOP Robotics Techniques - 2006

  42. Information • Resources – recommended books • 'Building Robots With Lego Mindstorms'  by Marion Ferrari, Giulio Ferraro, and Ralph Hempel • 'Creative Projects With Lego Mindstorms'  by Benjamin Erwin • 'Dave Baum's Definitive Guide to Lego Mindstorms'  by Dave Baum ORTOP Robotics Techniques - 2006

  43. Information • Preparation for the Tournament • FIRST Team Challenge Kit • http://www.usfirst.org/jrobtcs/flego.htm • Judging information on ORTOP site • Measure distances on the challenge board • Early registration in spring helps team get started, registration opens in May06 ORTOP Robotics Techniques - 2006

  44. Review & Wrap-up • Engineering is designing to constraints • Allow your teams the experience of developing a creative solution to solve a problem ORTOP Robotics Techniques - 2006

  45. Review & Wrap-up • Please give us your input • need volunteer survey URL • Let ORTOP know how we can improve the program • Thanks for volunteering, your effort makes learning possible! • Break down robots and put parts back into boxes ORTOP Robotics Techniques - 2006

  46. Our Mailing Lists • Totally voluntary, and you can opt out • ortopvol • All volunteers • One way from ORTOP to our volunteers • We add you when you volunteer • ortopcm • Coaches and mentors • Communication among that group and with ORTOP • We add you when you complete a workshop ORTOP Robotics Techniques - 2006

  47. Contact Us • Website: www.ortop.org • Email: questions@ortop.org Scott Stanko answers the questions email • Phone: 503.725.2920 (Cathy Swider) or 503-725-2915 (Bruce Schafer) ORTOP Robotics Techniques - 2006

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