TU STORM 2007High School Autonomous Robotics

CompetitionIntroduction

TU STORM 2007 Robotics Competition

● Promote science and engineering● Students experienced

– calibrating sensors, and programming robot controllers for autonomous control of robots.

– CAD Design – Animation

● High energy technological competition● Tests students' creativity

TU STORM Programming Competition

● Smart Task Oriented Robotics Missions● Every team is issued a TU designed and built

robot mechanically capable of completing each mission

● These robots are controlled only by the autonomous programs written by the students

TU STORM Robot Description

● Controller● Sensors● Human interface● Motion● Arms & Tools● Power requirements● Rigid frame: 2" x 4" aluminum tubing

Controller

● IFI Mini Robot Controller.– Microchip 18F8520 PICmicro microcontroller

● rated at 10 MIPS.

– The digital input sampling frequency is 100KHz– Analog input access time is 10mSec.– 16 digital/analog I/O pins, – 8 PWM outputs (2mSec - 17mSec).

Controller

● C/C++ with Microchip's MPLab compiler.– RS232 serial port for programming (115kb).– Memory space is 32K with – Variable space of 1800 bytes– 1024 bytes EE2.

Sensors

● One digital infrared reflective sensor– Can detect banner tape up to 12 feet away

● Two short range digital infrared sensor (B/W)– Can detect high contrast color at short distances.

● Two infrared distance sensors● Two wheel encoders● One digital compass

Human interface

TU STORM robots have other inputs for human interface.

● There are three digital switches – used to set parameters for the autonomous program.

● A potentiometer designed for calibrating the sensors and trimming the R/C servos.

Arms & Tools

● Robot Arm● Pan and Tilt

Motion

● Two dense foam wheels ● Powered by modified heavy duty R/C servos. ● The PWM outputs from the controller are used to

drive the R/C servos.● A plastic ball skid as a third point of contact to

the terrain.

The robot can turn with a zero degree radius.

Power requirements

● The main battery is a Ni-Cad 6 cell 7.2v RC battery that can be quickly charged in 15min.

● The second battery is a 9v used for the infrared sensor.

TU STORM 2007 Dates

● Competition Workshops and Kickoff Thursday October 22, 5:30 PM

● Trial Competition Saturday November 3, 2:00 PM

● Competition Day Saturday November 17, 12:30 PM

● KEH Atrium, University of Tulsa 441 S. Gary, Tulsa, OK

TU STORM 2007 Staff

● Dr. J. C. Diaz, Professor of Computer Science ● Kyle Johnson, Computer Science, M.S. Student● Nick Malone, Computer Science, M.S. Student● Oly Mistry, Computer Science, M.S. Student● John Porter, Computer Science, M.S. Student● Ian Zedalis, Computer Science, M.S. Student

TU STORM 2007 Missions

● The 2007 competition will showcase five different missions. – Three missions will involve programming the TU

STORM robots. – One mission will involve completing the CAD design

in Inventor of a robot for a FIRST type of competition.

– Another mission will involve completing an animation in 3ds Max.

● The specifics of each mission will be announced at the end of the kick-off

TU STORM 2007 Kick-off Workshops

● Programming the Robot Controllers– using previous missions for review– programming details of new tools and sensors

● CAD design using Inventor – use FIRST components to make a simple design

● Animation workshop using 3ds Max