1. Mozart!

3. TEAM MOZART Alex Bostandjiev - Computer Engineer Ivan Dryanovski - Electrical Engineer Bob Lynch - Project Manager Dr. Ken Krebs - Faculty Advisor Steve Spadafore - Technical Consultant

4. Team MOZART...where are Krebs and Steve?

5. Team MOZART

6. The 12th Annual Trinity College Firefighting Robot Contest April 9 - 10, 2005 Hartford, CT

7. Contest Objective: The main challenge of this contest is to build an autonomous computer-controlled robot that can find its way through an arena that represents a model house, find a lit candle that represents a fire in the house, and extinguish the fire in the shortest time. This task simulates the real-world operation of an autonomous robot performing a fire protection function in a real house. The goal of the contest is to advance robot technology and knowledge while using robotics as an educational tool.

9. CONTEST RULES Robot Operation Once turned on, the robot must be autonomous--self-controlled without any human intervention. The robot must have found the candle before it attempts to put it out. A robot may bump into or touch the walls of the arena as it travels, but it cannot mark, dislodge or damage the walls in doing so.

10. CONTEST RULES Putting out the Candle The robot must not use any destructive or dangerous methods to put out the candle. It may use such substances as water, air, CO2, etc., but any method or material that is dangerous or will damage the arena is prohibited. The robot must come within 30 cm of the candle before it attempts to extinguish the flame.

11. CONTEST RULES Robot Size The robot must be able to fit in a box 31 cm long by 31 cm wide by 27 cm high. The robot cannot separate into multiple parts and must never extend itself beyond the 31 cm allowed.

12. CONTEST RULES The Candle The candle flame will be from 15 cm to 20 cm above the floor level. The exact height and size of the flame will change throughout the contest depending upon the condition of candle and its surroundings. The robot is required to find the candle no matter what the size of the flame is at that particular moment. The candle will be placed at random in one of the rooms in the arena.

13. CONTEST RULES Time Limits In order to achieve the contest objective of building a robot that can find and extinguish a fire in a house, finding the fire within a reasonable period of time is very important. The maximum time limit for a robot to find the candle will be 5 minutes.

14. CONTEST SCORING Operating Modes Standard Mode (1.0 MF) X Sound Activation Mode (0.95 MF) Return Trip Mode (0.8 MF) Extinguisher Mode (0.85 MF) X Furniture Mode (0.75 MF) X Uneven Floor Mode (0.8 MF) X Clutter Mode (0.8 MF)

15. CONTEST SCORING Penalties Continuous Contact With a Wall (1 second for every 2 cm) Touching the Candle (50 seconds)

16. CONTEST SCORING Room Factor If the candle is in the 1st room searched, the Room Factor will be 1.0 If the candle is in the 2nd room searched, the Room Factor will be 0.85 If the candle is in the 3rd room searched, the Room Factor will be 0.50 If the candle is in the 4th room searched, the Room Factor will be 0.35

17. CONTEST SCORING Scoring Procedure For any run the judges measure the actual time of the run and they record the operating modes and penalties. Robots with three successful runs (candle extinguished) will form the highest group.

18. MOZART Processor - Handyboard Operating System - Interactive C Locomotion - 4 Drive Motors Power - External Battery Pack (NiMH) Structure - KNEX Extinguishing Device - Water Sensors - IR, Ultrasonic, Gyro, UV Detection, Heat Detection Design of

19. The HandyBoard Description: Commercially available microcontroller system Based on a Motorola 6811 chip Battery-powered 32K of memory Two-line LCD display 4 outputs to DC motors Analog & Digital inputs Digital outputs Servo outputs Quantity: 1

20. The HandyBoard The Digital Inputs Take ~0V or ~5V as input Convert to FALSE or TRUE The Analog Inputs Take anywhere from 0V to 5V as input Convert to a number from 0 to 255 ( 1 byte of memory space) Quantity: 1

21. The HandyBoard Advantages Easy to use & interface with computer Well documented Plug-and-play sensor & motor support Disadvantages Low power output Unreliable at times Odd sensor input behavior Quantity: 1

22. Sharp GP2D12: Infrared Detector Package Description Operates with infrared light Detects proximity of objects Advantages Very narrow field of sight Very fast update rate Reliable Little dependence on surface color / shape Disadvantages Low distance accuracy (to within 3-4 cm) Cannot detect objects closer than 10cm Quantity: 6

23. Devantech SRF04: Ultrasonic Range Sensor Description Operates with high-frequency sound Detects proximity of objects Advantages Wide field of sight Good distance accuracy (to within 1cm) Good minimum range (2 – 3 cm) Disadvantages Slow update rate Occasional erroneous readings Quantity: 1

24. Hamamatsu C3704/R2868: UV Flame Detector Package Description Detects UV radiation Advantages 360-degree field of sight High sensitivity Reliable Disadvantages Positioning difficulties Quantity: 1

25. Eltec 442-3: Pyroelectric Sensor Package Description Detects heat (infrared) radiation Can detect candle flame or body heat Advantages Very high angular precision Disadvantages Very slow update rate Unreliable Quantity: 2

26. ADXRS150: Angular Rate Sensor Description Detects rate of turning (angular velocity about the vertical axis) Advantages Very light and small Fast update Very accurate for small intervals Reliable Disadvantages Error builds up for longer intervals of time Quantity: 1

27. Standard 180º Servo Description Rotates to a specified angle Advantages Accurate Fast Disadvantages High power consumption Quantity: 2

28. Water Pump Controller Description Water pump: 12 V motor Send low-power signal from HandyBoard to external circuit External circuit amplifies power Quantity: 1

29. A Regular Week of the Programmer…

30. Week of the Competition…

31. What does this: involve?

32. Inputs -> Black Box -> Outputs ?

33. Can you find an analogy with something else?

34. An analogy..

35. Remember: Inputs -> Black Box -> Outputs Functions… F (input1, input2,…,input3) = output ?

36. Examples from our functions: Navigate the maze :: Remember where you are Movement: –Turn left –Turn right –Go forward –Go backward Follow the wall (left or right) Transform input data into something that makes sense Speak :: Sing When found fire: –Scan for fire –Approach candle –Extinguish –Swivel ! Go home + many, many others…

37. Example: Transforming IR input Input :: number between 0 and 255 ??? Transform into distance (centimeters) Split the curve into different parts Fit a polynomial

38. What is Interactive C a C language designed for programming robots using the RCX, XBC or Handyboard robot controller

39. Connections

40. IC consists of: compiler (with interactive command-line compilation and debugging) run-time machine language module context sensitive editor built in documentation ability to upload data from the robot controller back to the host pc

43. Processes: allow multi-sensing!

44. IC implements a subset of C including: control structures (for, while, if, else) local and global variables arrays pointers structures 16-bit and 32-bit integers 32-bit floating point numbers

45. Built in libraries support a variety of sensors and actuators including: servo and DC motors sonars encoders touch and light sensors the CMUcam color tracker the XBC camera multi-color tracking system

47. Strategy!

48. MOVIES… Testing –3 rd person –1 st person –2 nd person?!? Competition

50. Mozart placed 7 th out of 60 robots

51. Competition Troubleshooting Aligning the robot with the candle Blind Spot Too Many Processes Return to Home

52. Improvements for Next Year Fabricated Design Nozzle Water Reservoir External Battery Pack Placement Placement of Handyboard Staircase - Track Drive Sound Activation

53. If you like what weve done (Or think its crap and you can do better) Join the F&M Robotics Club Next Semester And work on a competitive project For more info, email idryanov@fandm.eduidryanov@fandm.edu Or ken.krebs@fandm.eduken.krebs@fandm.edu