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Created by the SR-chitect
RCJ Rescue B Primary Team
Branchburg, NJ USA
April 9th, 2011 SR-chitect / Storming Robots - 2011 1
RCJ Rescue B Storming Robots in Branchburg, NJ, USA
Created by the SR-chitect
TEAM MEMBERS - BIOS
April 9th, 2011 SR-chitect / Storming Robots - 2011 2
13 years old
Has done robotics for around 4-5 years
Shall be going to Watchung Hills Regional High School and is currently in the 8th grade.
Hobbies include manipulation of drawing tools to create art, table tennis, tennis, Video Games. Love good food..
Andre Gou (captain)
Created by the SR-chitect
April 9th, 2011 SR-chitect / Storming Robots - 2011 3
• 13 years old
• Has done robotics for 5-6 years
• Goes to JP Case middle school and is in seventh grade
• Hobbies include playing video games, ping-pong, and building robots.
Eric Ward
Created by the SR-chitect
April 9th, 2011 SR-chitect / Storming Robots - 2011 4
12 years old
Has done robotics for 4 years.
Goes to BRMS and is in 7th grade
Hobbies include playing the saxophone and piano, swimming,
and ping-pong.
Michael Xie
Created by the SR-chitect
April 9th, 2011 SR-chitect / Storming Robots - 2011 5
Created by the SR-chitect
April 9th, 2011 SR-chitect / Storming Robots - 2011 6
What Do We Hope To Achieve In Robotics?
• By participating in robotics, we hope to learn more about physics, science, programming, building, and math. We want to expand our knowledge. It is fun to make our robot do a human’s task!
Elizabeth Mabrey- Mentor
Created by the SR-chitect
Founder of the unique “Storming Robots” Technology Learning Center in Central New Jersey.
Received her M.S. in Computer Science
Has over fourteen years of system level software engineering experience in the highly competitive software development industry.
Strongly believes in the importance in strengthening computational thinking skill and utilize robotics to build Science, Technology, Engineering and Mathematics as the core foundation for our academic and intellectual development.
April 9th, 2011 SR-chitect / Storming Robots - 2011 7
Created by the SR-chitect
HARDWARE
April 9th, 2011 SR-chitect / Storming Robots - 2011 8
PLATFORM & MAJOR ELECTRONIC:
Created by the SR-chitect
April 9th, 2011 SR-chitect / Storming Robots - 2011 9
NXT Controller Brick and servo motors
Two Hi-Technic Electro-Proximity Detection
sensors
One Mindstorms Ultra-Sonic sensor
One TPA81 Thermopile Array sensor
THE ROBOT
Created by the SR-chitect
Omni wheel used to ease turns.
2 Synchronous servo motors to control all types of turns.
April 9th, 2011 SR-chitect / Storming Robots - 2011 10
Bot’s frame is built with small footprint in mind; although we did not organize the wire to add aesthetic value.
Views of the Robot
Created by the SR-chitect
April 9th, 2011 SR-chitect / Storming Robots - 2011 11
Back View
Bottom View
Front View
SENSORS
An ultrasonic sensor to see walls in front of the robot.
Created by the SR-chitect
2 Electro Optical Proximity Detector (EOPD) sensors to straighten and help robot during wall following.
A thermal sensor to detect victims on the field.
April 9th, 2011 SR-chitect / Storming Robots - 2011 12
Created by the SR-chitect
SOFTWARE
April 9th, 2011 SR-chitect / Storming Robots - 2011 13
Created by the SR-chitect
SOFTWARE PROGRAM
April 9th, 2011 SR-chitect / Storming Robots - 2011 14
• Robot C 2.26 BETA
• Deploy Proportional Integral Derivative (PID) algorithm for wall tracing.
Two separate tasks 1. Task 1: Handle the PID wall tracing navigation 2. Task 2: Handle thermal reading for victims to
set a global boolean switch for victim recognition
High Level Flowchart
Created by the SR-chitect
April 9th, 2011 SR-chitect / Storming Robots - 2011 15
HARDWARE ISSUES
Lacking ports for all of our desired sensors
Ultrasonic sensor was inaccurate and slow
Created by the SR-chitect
April 9th, 2011 SR-chitect / Storming Robots - 2011 16
SOFTWARE ISSUES
Software algorithm will not be able to handle floating walls due to lack of sensors port and processing power of the NXT Brick.
Will mistake obstacle away from wall as floating wall
PID program had some fishtailing effect
Created by the SR-chitect
April 9th, 2011 SR-chitect / Storming Robots - 2011 17
Created by the SR-chitect
April 9th, 2011 SR-chitect / Storming Robots - 2011 18
• Check us out at our website:
http://teams.stormingrobots.com – click on RCJ 2011.
Find “SR-chitect”.
• Write us at [email protected] if you are
interested in our technical journal which reflect our
approximately 60 hours of work.