1. Preliminary Design Review Presented By: Ken Stafford Nick Galotti Chris Werner WPI / Mass Academy FIRST Team 190: Gompei and the HERD

2. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD What is FIRST? Organization to make science and technology fun for students Brings engineers and students together to work on a common problem Almost 1000 teams across the world NOT an academic project per se

3. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Our Team Competing since 1992 WPI students are the Mentors to Mass Academy students 40+ demos a year Called “the highlight of their WPI engineering education” by past alums WPI’s “#1 women and minority outreach program”

4. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Team Organization Advisor Ken Stafford Team President Paul Dovydaitis Director of Support Nick Galotti Administrative Assistant Chief of Marketing Chief of Awards Director of Operations Chris Werner Manufacturing Coordinator Chief of Mechanical Operations Chief of Controls Engineering Chief of Tactics Co-Advisor Brad Miller

5. Support Administration Marketing Awards

6. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Administration Website –http://users.wpi.edu/~first/ –News and Events

7. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Marketing T-shirt design Donated Food Decorates Robot

8. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Awards Chairman’s Award –Most prestigious award –4 page paper about our team and how we exemplify the meaning of FIRST –Journal Animation Inventor

9. Operations 2004 Game Brainstorming Autonomous Timeline Mechanical Controls

10. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD The Game

11. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Brainstorming General ideas about the game

12. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Brainstorming Broke into small groups Developed list for robot capabilities Maneuver around the field Manipulate Small Balls Manipulate Big Balls Hang on the bar Knock off bonus balls Manipulate Goals Discussed ball containment vs ball pickup

13. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Brainstorming Met in different groups to develop initial robot designs After two days, groups convened to present ideas 3 of 4 groups designed primarily small ball manipulators One designed a primarily hanging and big ball manipulator

14. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Brainstorming Developed a weighted matrix to analyze small ball manipulation vs. hanging

15. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Brainstorming Students met over the next two days to develop the designs further Three ideas were presented Small Ball Containment Small Ball Pick-up Hanging Team members voted and decided to create the hanging robot

16. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Final Design

17. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Autonomous Timeline Start of match

18. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Autonomous Timeline Approaching the stairs

19. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Autonomous Timeline 5.5 Seconds

20. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Autonomous Timeline Autonomous Completed (15 Seconds)

21. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical – Driveline/Chassis Driven by 2 Bosch Drill Motors Lightweight Aluminum Chassis 8 - 8” Pneumatic Wheels Facilitates Stair Climbing Only 4 wheels in contact at any time Inside wheels allow the robot to traverse the narrow passage without falling off platform

22. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical – Driveline/Chassis EDL: Electronic Differential Lock To allow the robot to drive perfectly straight by locking left and right drivelines together KSD: Kamen Straddling Device Allows the robot to start in an optimal position and meet the rules on robot starting position LAD: Laser Aiming Device Mounted on robot to ensure it is lined up exactly in place every match

23. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical – Arm Design Designed to allow big ball manipulation while hanging on the bar Includes: Turret Extension Wrist Gripper Shoulder

24. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical - Turret Driven by a seat motor with screw drive 3” OD x 1/16” wall x 36” torque tube 20 degree rotation to the left or right Takes 7 seconds to rotate 40 degrees Facilitates big ball grabbing and placement in the event that the robot is off-center on the bar

25. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical - Turret

26. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical – Arm Extension Modeled after our 2001 robot arm Uses globe motor and window tape drive Extends ~7” per second Allows for 85” of extension Uses 1” x 3” and 1” x 2” aluminum channel Allows us to reach both stationary goals with a ball while hanging

27. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical - Wrist Driven by globe motor 250 degrees of rotation Pivot offset 1.5” to allow for proper storing when in our starting configuration Allows us to optimize ball pickup and delivery based on our position

28. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical - Gripper Pneumatically powered using a 1” bore, 3” stroke cylinder 6” ‘sweet spot’ on either side 4 sets of prongs to grab ball extend 7.5” above and below the centerline Ability to grab ball from around the poles

29. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical - Shoulder Driven by a Van Door motor to dual capstones Cross shaft for capstones located low enough to make room for hanging device Can rotate 180 degrees in 3 seconds Allows for quick exchange of the big ball from their goal to ours in the final seconds of the match

30. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical - SODs SODs: Shields of Doom Shaped like Pi Deploy once hanging and cover the entire bar Individually controlled Allow us to block opponents from hanging on the bar and lift to allow our alliance partner on if desired

31. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Mechanical - Probe Winched cable, driven by a CIM motor Designed to pull robot up in 4 seconds The final 3” of motion activate 2 locking latches, 15” apart, applying positive engagement with the bar Latches are spring-loaded, over-center mechanisms; they can be released by servo

32. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Controls Controls challenge: –Navigate autonomously to bar –Grab large ball –Lift up to hanging position –Place ball on opponents goal Additionally provide many operator automated operations Controls functions have already been prototyped on EDU Robots

33. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Autonomous Requirements To complete the autonomous move we need to: –Hit the stairs at a position within a few inches –Navigate around the fixed goal –Arrive within 6” of the big ball Requirements include precise position knowledge – distance and heading –Hoping for augmented dead reckoning –Have additional sensors available to help determine position

34. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Controls – Optical Encoder Left and right wheels will be equipped with optical encoders –Provides precise distance measurement –Additionally gives us a software EDL (Electronic Differential Lock)

35. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Controls - Gyros Two sets of solid state gyros for navigation –Same technology from Gompei 2k3 Turning gyro (in turning axis) –Provides more precise heading information Pitch gyro –Allows us to determine exactly when the robot has cleared the stairs

36. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Controls – Operator Interface Tank steering for drive Additional operator station to operate the probe and arm Many directly accessible automated functions, e.g. –Moving ball from one goal to another –Set arm for taking ball from medium goals

37. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Timeline Milestones Jan. 10 th – Kickoff Jan. 11 th – Strategy decision Jan. 17 th – Overall configuration Jan. 29 th – Chassis built Jan. 30 th – Preliminary Design Review Feb. 7 th – Mechanical subsystems built Feb. 8 th – Driver try-outs Feb. 14 th – System integration Feb. 20 th – Critical Design Review Feb. 20 th – Chairman’s Award due Feb. 24 th – Ship robot

38. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Competition Schedule UTC Scrimmage (Suffield, CT) –2/21/04 Granite State Regional (Manchester, NH) –3/4/04 – 3/6/04 Arizona Regional (Phoenix, AZ) –3/11/04 – 3/13/04 Championship Event (Atlanta, GA) –4/15/04 – 4/17/04 BattleCry@WPI 5 (Worcester, MA) –6/19/04

39. Questions? For more information visit our website at http://www.wpi.edu/~first/http://www.wpi.edu/~first/ Anyone is welcome to visit us in the lab weekdays after 1600, Saturdays after 0900, and Sundays after 1200.