TU STORM 2007 High School Autonomous Robotics Competition Introduction
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Transcript of TU STORM 2007 High School Autonomous Robotics Competition Introduction
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.
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