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Los Ingenieros: Robotics

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Darin Gray

on 21 July 2015

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Transcript of Los Ingenieros: Robotics

Robot Assistance
Los Ingenieros

Elvan Babuna
Tony Bouza
Juan Boulay
Chris Chan
Jared Cuellar

Goal
Use 5 robots to aid in the event of an emergency, such as an earthquake
All robots are autonomous
The first robot, made from VEX, uses an arm to clear debris from the entrance
An Arduino Redbot located in the room follows a predetermined path to lead people out of the room and navigate around obstacles
The iRobot searches and finds a robot in a room. It returns to the home base after the person is located.
A scribbler robot traces the path of the iRobot out of the room
The VEX IQ robot follows the path of the scribbler and delivers water
Robot 1: VEX (Tony)
The Vex kit, which we were already familiar with, was used to make the first robot: The Debris Clearer / Street Sweeper
Goal: Maneuver around the cinder block and move the "debris" out of the way so the iRobot and others could get in/out of the building
We took our brick mover from the bridge activity and retrofitted it to pick up the brick
Testing:
initial motor tests were promising; the brick was lifted by the robot [under manual control]
suffered from lack of speed

In practice:
Had issues with "jitters" on start up some times (roughly 50% of the time): unknown cause
Turned left before turning right: diagnosis - coding error
Was able to move the brick but failed to perform on the actual test (I swear)
Robot 2: Redbot (Chris)
The Redbot started in the room and had to follow a line out of the room
Part of the challenge was to navigate around an obstacle and continue on the path
The robot had to stop periodically and make a noise to signal its location
The Redbot controlled using an Arduino chip and was programmed using the Arduino language
It was programmed with a 15 second delay, so it would automatically start after the first robot
Challenges:
The main challenge was getting the robot to navigate around the obstacle; it worked periodically
Each time the batteries died, the robot had to be reprogrammed to compensate for the change in power
The two motors ran at slightly different speeds
Robot 3: iRobot (Jared)
The mission of the Irobot was to scout out the room for survivors, deploy the scribbler, and find its way to the exit. Overall, the Irobots were able to perform their job the best without assistance.
They were, however, very difficult to code. Programming in C is not your average drag-and-drop programming. It involved a lot of trial and even more error. Some of the largest obstacles involved a problem with turning, the go home command, patience, and comprehending C in general.
Robot 4: Scribbler (Elvan)
Scribbler had two objectives:
one was to follow the iRobot
the second was to draw the line on which the VexIQ would walk. The success was based on the first one so we can sum it up to one big goal: determining where the iRobot is making the same movements as him. This seemed like a really hard task at first but as we dug deeper we figured out that it wasn't nearly as hard as we thought.
Preparation process of the scribbler was not nearly as challenging as the other robots. It didn't require any designing and the only thing we needed to do was programming.
We did it thanks to a simplified program called S2 and we could visualize every movement beforehand thanks to the symbols they were represented by. scribbler needed to do was following the iRobot.
There were three different options:
crash sensor
object sensor ( it followed objects which were within a certain distance)
light sensor.
I chose the object sensor and programmed the machine accordingly.

Robot 5: VEX IQ (Juan)
Goal: The goal of this robot was to distribute water and offer companionship to injured people in the fire.

How: Vex IQ had to follow line drawn by scribbler to injured person and stop once it came in contact with person.

Trial runs: Worked perfectly the first time seeing as it was a straight line, but we then tried to make it to complicated and came to many problems. Finally reverted to original programming because the actual events were with straight lines.

Real run: My fellow Vex IQ's were surprised by the straightness of the line and therefore were not able to change their program, therefore their robot went very slowly. Because I was in the last group, I was
Test Day
VEX Robot:
Had the typical "jitters" (probably from the pulse of turning the battery on)
Missed the "debris"
Ran sequence as programmed otherwise
Did NOT tip over when deploying tail (was an issue during testing)
Redbot:
Even though the Redbot worked in prior tests, shortly before the test, the batteries died
The motors did not have enough torque to move forward and turn correctly
It followed the line correctly
After detecting the obstacle, the robot went askew
Biomedical Engineering
Robotics relates to biomedical engineering as the interaction between humans and robots becomes increasingly common
In the event of a disaster, robots such as the one used in this project can be used for healthcare purposes
Robots can access areas that are hazardous or difficult for humans to enter
Robots can offer more immediate aid
Robots have to be programmed with humans in mind, including how to treat for injuries, transport hurt individuals, and consider disabilities after a disaster
The Redbot was programmed to signal an alarm and stop periodically so injured individuals can catch up
The iRobot has to be programmed to recognize and how an injured individual interacts with it
The VEX IQ robot has to deliver the correct supplies to aid the injured
Computer Science
Robotics and CS go hand and hand
Robotics relies of CS to get everything moving and banks on the "logic" in coding.
Anyone who would have you believe that EE/CS/Robotics are different are severely wrong:
fixing one issue causes several more
debugging (yay)
extremely frustrating at times
Thank you!
Sources
http://wonderfulengineering.com/what-is-bio-medical-engineering/
https://netbeans.org/features/java-on-server/java-ee.html

iRobot:
Bumpers worked as planned.
Did not get stuck in 90' angle of doom.
Worked 100%
Scribbler
It worked but unfortunately it couldn't reach the irobot's speed.
If I were to start all over again I would work on the speed. (I thought it wasn't adjustable but learned that it was feasible when it was too late)
Also I would work more on the crash sensor so that it would change it's direction and start searching again.
VEX IQ
Functioned perfectly and successfully delivered water to the victim
0.25% of the time, it works every time...
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