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

2. Outline 2006 Game Review Design Concept Review Mechanical Controls

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

4. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Design Concept Review Established an ordered list for gameplay: –Score balls –Collect/Contain Balls –Score on platform –Defense-specific –Push Balls

5. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD 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. 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 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. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD 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. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD 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. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD 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. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD 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. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD 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. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD 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. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD 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. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD 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. 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 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. 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. 7 th – Kickoff Jan. 11 th – Strategy decision Jan. 15 th – Overall configuration Jan. 27 th – Preliminary Design Review Jan. 30 th – Chassis built Feb. 5 th – Driver try-outs Feb. 7 th – Mechanical subsystems built Feb. 11 th – Systems integrated Feb. 17 th – Critical Design Review Feb. 21 nd – Ship robot

17. http://users.wpi.edu/~first/ Team 190: Gompei and the HERD http://users.wpi.edu/~first/ Team 190: Gompei and the HERD Competition Schedule Granite State Regional (Manchester, NH) –March 2 nd – 4 th, 2006 Florida Regional (Orlando, FL) –March 10 th – 12 th, 2006 Championship Event (Atlanta, GA) –April 27 th – 29 th, 2006 BattleCry@WPI 7 (Worcester, MA) –June 23 th – 24 th, 2005

18. Questions? For more information visit our website at http://www.wpi.edu/~first/ 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!!)