Rescue Zone #1 Rescue Zone #2 Rescue Zone #3. Victim #2. (placement varies) Obstacle. Obstacle Zone #1 1'-0" 1'-8" 1'-8" 1'-8" 1'-0" 8'-0"

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1 12" PROJECT DESCRIPTION: RESCUE ROBOTS Assignment: Design and build a robot to compete in the 2004 Mechanical Engineering Rescue Robots Competition. During fall semester your assignment will be to design and build a working mobility platform with a mechanism to retrieve and carry multiple victims. The spring semester assignment will then be to tune the mechanical design of this system, add sensors and electronics, and add computer control to create a robot that can autonomously rescue your victims as quickly as possible. Competition Description: Robots will maneuver an obstacle course, Fig. 1, and compete to rescue and return three victims to the safe zone as quickly as possible. Points will be awarded based upon how many victims are rescued and how quickly this is accomplished. 1'-6" 1'-8" 1'-8" 1'-8" Rescue Zone #1 Rescue Zone #2 Rescue Zone #3 Top View 4'-0" 10" 10" Start Position Victim #2 (placement varies) 1'-0" Finish IR Beacon Victim #1 (placement varies) Victim #3 (placement varies) 2' Zone #1 1'-0" Zone #2 Zone #3 Zone #4 1'-0" 1'-0" 1'-0" 1'-0" 1'-8" 1'-8" 1'-8" 1'-0" 8'-0" IR Beacon Side View Robot Size Constraint Zone #1 Zone #2 Zone #3 Zone #4 ~7.2 4" 1'-0" Fig. 1. Diagram of rescue course. Teams: There will be four (max 5) students per team for a total of teams. The same teams will be used in both Fall and Spring semesters, unless some teams wish to trade personnel and can work out an agreement at the beginning of Spring Semester. PAGE 1 OF 6 REV. SEPTEMBER 24, 2003

2 Competition Rules: 1. s: Four different obstacles consisting of pine 2x4 s will be placed within the Zones shown. The shape of each obstacle within each zone is shown in the side view of the race course. As the Fig. 1 indicates, obstacles may be less than 4 long and they may be arbitrarily oriented. height will be less than Victims: One victim will be standing somewhere within each of the three Rescue Zones shown. Victims will consist of small stuffed animals or characters (~5 or shorter, ~2 diameter or smaller) retrofitted to include light beacons for localization by the robots. No further modifications are permitted. Light beacons will be no more than 3 above the course surface and will possess omnidirectional visibility. Victim placement within a Rescue Zone will be such that the obstacles will obscure their visibility from the previous Rescue Zone, with the exception of Rescue Zone #1 which may be detectable from the start position. A space of at least 6 between a victim and an obstacle will be provided. Fall Semester, each team will manufacture two victims for training and competition. 3. Course description: The course will consist of a reinforced plywood surface approximately 4 wide and 8 long. It will be covered by green Astroturf and will inclined approximately 7.2 degrees. The start and finish positions will be denoted by black lines at least 0.5 wide. An IR Beacon (with intensity varying at a specified frequency) will be located to indicate the finish position, Fig Time Limit: Approximately thirty seconds will be allowed for setup before each race. Each race will be limited to 75 seconds. 5. Event: during the competition, two courses (A and B, not necessarily identical) will be used. First, half the teams will race on course A and the other half on course B. The groups will then switch courses and compete again in the same order. This will reduce advantage gained by a using a particular course and assure that the teams have time for tuning and repairs between races. 6. Scoring: During each race a team will earn points based on its performance according to the following equation, P = PSAVE + PTIME n 75 T = 20n where n is the number of victims being carried by the robot when (a) the robot is entirely within the finish square and has stopped moving or (b) when 75 seconds have elapsed since start was announced. T then represents the time at which (a) has been completed. A team will compete and earn a score on each course. The sum of the two scores is the team s final score. The team with the highest final score will win the competition. 7. Grand Prize: During fall semester, the team determined to have the best machine and best presentation will have the option of not taking the final exam in ME3200 if they have the equivalent of a B or better in the class before the exam and their presentation is of B or better quality. Members of the winning team in Spring Semester will also have the option to not take the final exam in Spring Semester if they also have a B or better before the final exam and they have a B or better poster. 8. Un-allowed conduct: No ejecting, launching, or throwing projectiles. Discarding (which includes dropping, launching, ejecting, or losing) any pieces, parts, components, liquids, gasses, or solid matter is also forbidden. Bottom line: your robot should finish an event with the same physical components intact that it started with. PAGE 2 OF 6 REV. SEPTEMBER 24, 2003

3 Robot Rules: 1. Locomotion: Each team will design and manufacture their robot s mobility platform during Fall semester. The platform must be capable of maneuvering over the obstacles while carrying the gripper and victims. Any form of locomotion is allowed (walking, jumping, wheeled, tracked, etc). 2. Gripper: Each team will design and manufacture a gripper or retrieving system such that the robot can rescue and carry victims during Fall semester. 3. Cushioning: The Handyboard must be protected from shock loads. Soft foam or padding, or some equivalent, that minimizes shock to the microcontroller is required. 4. Exterior Skin: A protective outer skin is required. It must protect all interior components as well as convey the theme of the robot. It must be removable and well secured. Holes in the skin are permissible for the legs, linkages, sensors, access to the controller, etc. 5. Size: The robot must measure no larger than 254mm x 254mm x 254mm. 6. Weight: The robot may not exceed 4 kg. 7. Power source: All robots must use the provided rechargeable battery packs and batteries necessary for the micro-controller. No other energy sources are permitted. 8. Motors: Four motors will be provided for the teams. The preferred motors feature high torque planetary gearboxes that can be configured for various reduction ratios. Further information can be viewed at by searching for stock no. CR Alternate geared motors can be selected from amongst stock numbers CR , CR , or CR Selection of alternate motors must be made as soon as possible. Two remote control style servo actuators (Tower Hobbies TS-53 Servo S3K Standard U. See may also be used, but be aware that only one servo actuator can be used if sonar is desired due to microcontroller limitations. 9. Autonomy: At the start of each event a team member will depress a switch mounted on the exterior of the robot. No further contact will be permitted. Robots must operate without any user intervention. 10. Manufacturing: Each group must design and build all functional components of their robot. This includes and is not limited to the mechanisms, support frame, etc. 11. Allowed Purchased Components: fasteners, bushings, bearings, raw material (bar stock, threaded rods, straight rods), gears, pulleys, springs, cables, belts, chains, wheels, or tracks are acceptable. If you are in doubt about an item, ask the Professor. 12. Budget: Your group is provided with a budget of $100 during Fall Semester and an additional $100 during Spring Semester for buying supplies and components. Provided supplies (motors, gearboxes, servos, sonar sensors, etc) are not included in this budget limitation. Be sure to check the available resources in the Mechatronics lab and Student Machine Shop before spending money. Net expenditures must not exceed $150 per semester and must be proven via a cost analysis included in the final presentation and poster. 13. Appearance: High quality craftsmanship and finishing is expected. Wires must be neatly harnessed, circuits well organized, and the exterior skin visually appealing (transparency is preferred). A skin that conveys the robot theme as well as showing some interior features is encouraged. 14. Automatic Shutoff: After starting the race, robots must cease movement automatically 75 seconds after they started or be subjected to a 10 point penalty. 15. Open Forum and Subject to Change: If any questions arise regarding details of the robot or competition, they must be addressed in class so as to benefit everyone. If an oversight has occurred, the rules may be amended. PAGE 3 OF 6 REV. SEPTEMBER 24, 2003

4 Provided Supplies: The following will be made available for your robot. You are responsible for all damages. Many of these electronic components are sensitive to electrostatic discharge and care must be taken to ground yourself before handling them! 1. One Handyboard controller. Motorola 68HC11 microprocessor running interactive C, 4 DC motor outputs, 7 analog inputs, 9 digital inputs. See for printable manuals. Details on operation will be provided in ME3200. One per group. If it is lost or irreparably damaged, you are responsible for replacing it ($300). 2. Ultra-sonic sensors (one per group) 3. Digital compass (one per group) 4. Infra-red emitter and detectors 5. Motor control kit 6. Rechargeable power supplies 7. Basic electronic components: resistors, capacitors, op-amps, wire, etc. Resources: 1. Mechatronics Lab: Wiring, electrical components, some fasteners, tools. 2. Student Machine Shop: Metals, tools, machinery, etc 3. Physics Storeroom: Your TA can arrange to purchase electronics, metals, plastics, and fasteners. 4. Hardware Stores: Bolt & Nut Supply, Fred Meyer, Ace Hardware, Home Depot, Lowe s Automotive Part Stores: fasteners, adhesives, lubricants, etc. Pep Boy s, Checker Auto Supply 6. Hobby Shops: materials, fasteners, adhesives. Check the Yellow Pages. 7. Mechanism Parts: gears, pulleys, timing belts, bearings, etc. Berg ( Small Parts ( Stock-Drive Components ( McMaster-Carr ( 8. Robotics sites: (links to competition information and how-to pages) (links to many interesting robotics sites) Grading: In both Fall and Spring, your grade for the project will be based upon your group s progress throughout the semester, your robot, your final presentation (Fall Semester) or final poster (Spring Semester), and your teams performance (effort, ethics, etc) at the competition. An individual s project grade will be adjusted based upon that individual s contribution to the team, if necessary. Project Grade Evaluation Progress (Memos & Meetings) 40% Presentation & Demo 30% Robot 30% PAGE 4 OF 6 REV. SEPTEMBER 24, 2003

5 Reimbursements: Students can be reimbursed for material and supplies purchased as long as the expenses fit within the team s budget. Reimbursements must be submitted on a team-by-team basis at least once per month unless expenses are less than $10 for that month (i.e.: all reimbursements for a given team must be consolidated onto one reimbursement request). Reimbursements will NOT be processed more than ONE WEEK after the final exam. Reimbursement forms can be downloaded from by following the Purchase Form link listed in the Quick Links area. Professor approval & signature must be obtained before submitting the forms in the ME Office (2110 MEB). Original receipts are required. Sales tax is not reimbursable. Use State Tax ID #20203 or Federal # for University and project expenses ONLY. A sample reimbursement form can be downloaded from the Mechatronics website under Project Information. PAGE 5 OF 6 REV. SEPTEMBER 24, 2003

6 DUE DATES & Meetings: 1. During your lab sections or your TA s office hours, your group will meet with your TA to evaluate your progress at regular intervals. 2. At your meetings, brief memos describing your progress will be due according to the following schedule. Failure to meet a due date will result in a 20% reduction per week. 3. Schedule of due dates: Due Week of: Task 8/25 8/29 PR 1: Setup Teams: Teams will be setup in lab during this week. The teams must submit a memo to the professor stating who their team members are, who their TA is, what lab section they are in, when their regular time is to meet with their TA (lab period or TA office hours), and where they will be meeting their TA. The memo is due in the ME office and must be copied to all team mates and your TA by 4pm on Wednesday, September 3. 9/8 9/12 PR 2: Demo Victims: Each team will manufacture/retrofit two rescue victims from small stuffed animals. These must be working and demonstrated in your meeting. Submit a memo to your TA that describes your victims and their features, specifications, and modifications. 9/15 9/19 PR 3: Propose Designs: Discuss and propose robot configurations with TA. A memo is due that describes your top three design candidates and their expected benefits and weaknesses. 9/22 9/26 PR 4: Design Selection: Discuss your design selection and expected manufacturing, supplies/materials, actuators, and sensors. Submit memo to TA to this extent. 10/6 10/10 PR5: Progress Meeting: Solid models and detail drawings must be at least halfway completed. Grade based on progress. 10/13 10/17 PR 6: Final Design Review: Review final design with TA. Solid models and detail drawings required. Expect some suggested changes. Submit memo to TA outlining the design and manufacturing plan. Supplies should be ordered by end of week. 10/20 10/24 PR 7: Begin Construction: Construction started. Submit memo to TA describing your manufacturing plan. 10/7 10/31 PR 8: Progress Meeting: Discuss progress and manufacturing issues with TA. Submit memo to TA describing your revised manufacturing plan /14 PR 9: Progress Meeting: Discuss progress and manufacturing issues with TA. Submit memo to TA describing your revised manufacturing plan. 11/17 11/24 PR 10: Prototypes Complete: Demonstrate your machine to the TA. Submit memo to TA describing your machine, modifications to be made before presentations, and future design revisions. 11/24, 11/26, 12/1, 12/3 Presentations & demo of machine capability. (6-7 minutes max per group; slide master due before presentation) PAGE 6 OF 6 REV. SEPTEMBER 24, 2003