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Critical Design Review

Critical Design Review. WPI / Mass Academy FIRST Team 190: Gompei and the HERD. Friday, February 17, 2006. Presented By: Ken Stafford, Team Advisor Chris Werner, Director of Operations. Outline. 2006 Game Review Design Concept Review Mechanical Controls. The Game. Game Animation.

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Critical Design Review

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  1. Critical Design Review WPI / Mass Academy FIRST Team 190: Gompei and the HERD Friday, February 17, 2006 Presented By: Ken Stafford, Team Advisor Chris Werner, Director of Operations

  2. Outline 2006 Game Review Design Concept Review Mechanical Controls

  3. The Game Game Animation

  4. Design Concept Review • Established an ordered list for gameplay: • Score balls • Collect/Contain Balls • Score on platform • Defense-specific • Push Balls

  5. Final Design • Six-wheel drive with two speeds • Ability to get balls from the floor and human player • Controlled delivery to shooter device • Ability to shoot balls into center goal on-the-fly from our side of the field • Many offensive and defensive autonomous options

  6. Mechanical – Driveline/Chassis • Driven by 4 CIM Motors through a two stage reduction • Six 5” rubber caster wheels • Provide both traction and shortened wheel base • Speeds up to 9 ft/s • Ludicrous Speed Drive • Four 3” rubber caster wheels • Powered from main wheels • Pneumatically raised and lowered • Provide speeds up to 16 ft/s

  7. Mechanical – Ball Collection • Two 2” PVC rollers in front of rigid back panel • Powered by mini-bike motor • 19” long to provide large contact area • Hole pattern to assist in gripping of balls • Spins at 3000/1500 rpm • Provides 20% “squish” of ball • Center deflector • Effectively creates two “ball paths” • Diverts balls upon entering robot

  8. Mechanical – Ball Sorting/Storage • Five by four “revolver” • Allows for quick and easy ball sorting and access • Effectively stored in “single file” • Approximately 25 ball capacity • How it works • Balls filled into two front openings • Balls gravity-feed from opposite end • Pneumatic “flapper” allows for 72-degree indexed rotation to occur

  9. Mechanical – Ball Launching • Ball pitcher on turret to allow for 360 degree shooting (1½ total turns) • Driven by globe motor to CNCed Lexan sprocket • Ability to score from 6 to 21 feet using same release angle • Fixed deflector angle allows wide shooting range due to ‘flat’ trajectory

  10. Mechanical – Ball Launching • Balls given backspin to “roll up” deflector • Contain pitcher mechanism at bottom • Pneumatic cylinder to lift ball into pitcher • Two 4” rubber wheels in series • Driven by two Fisher Price motors • First wheel at 4000 RPM; second wheel at 7000 RPM • Provides 20% “squish” • Imparts exit velocity of ~10m/s

  11. Controls • Controls challenges: • Continuously keep the turret/pitcher aimed at the center goal even while the robot is moving • Operate all the other robot mechanisms to ease the human operator workload • Multiple autonomous strategies including scoring on the center target during initial 10 sec period

  12. Controls – Navigation • Distance Measurement • CMU Camera • Computes distance to target using color tracking and calculating based on y-axis • Computes horizontal offset using x-axis position • Gear Tooth Counters • Provide velocity information for shoot-while-driving • Robot Orientation • Solid-state gyro provides heading information

  13. Controls – Additional Sensors • Optical sensors • Balls in “ready to fire” position • Full/empty slots in revolver • Wheel encoder • Monitor the speed of the pitching motors to allow for proportional integral adjustments • Roller-follower • Limit switch to indicate position/index of revolver • Flapper sensor • Detects when flapper is fully closed before revolving

  14. Controls – Autonomous • Very similar to driver-operated periods • Vision camera tracks light and determines when to shoot • Ability to select delays and different paths to drive for unpredictability and compatibility with alliance partners

  15. Controls – Operator Interface • Driver controls both driveline and ball collector • Operator station to control ball launching • Switch to indicate offensive/defensive periods • Ability to fine tune the shooting vector • Fully automated or fully manual shooting modes • Sensor feedback to operator • Indicator lights to show target acquisition

  16. Timeline Milestones • Jan. 7th – Kickoff • Jan. 11th – Strategy decision • Jan. 15th – Overall configuration • Jan. 27th – Preliminary Design Review • Jan. 30th – Chassis built • Feb. 5th – Driver try-outs • Feb. 7th – Mechanical subsystems built • Feb. 11th – Systems integrated • Feb. 17th – Critical Design Review • Feb. 21nd – Ship robot

  17. Competition Schedule • Granite State Regional (Manchester, NH) • March 2nd – 4th, 2006 • Florida Regional (Orlando, FL) • March 10th – 12th, 2006 • Championship Event (Atlanta, GA) • April 27th – 29th, 2006 • BattleCry@WPI 7 (Worcester, MA) • June 23th – 24th, 2005

  18. Questions? For more information visit our website at http://www.wpi.edu/~first/ Everyone is welcome to stop by and visit us in the lab (Higgins 005) or at any competition (just ask for details!!)

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