ORTOP

4/26/2020 Workshop III ROBOTICS TECHNIQUES 2006 “Opening doors to the worlds of science and technology for Oregon’s youth” ORTOP Robotics Techniques - 2006 1

Goals

    Audience: Rookie & Experienced Coaches & Mentors Provide Material That Is Immediately Usable With Your Team Gain Team Experiences: Creativity, Decisions, Planning, Failure, Deadlines You should have already attended workshops I & II 4/26/2020 ORTOP Robotics Techniques - 2006 2

Instructor Contacts

   Ken Cone [email protected]

503-292-0920    Roger Swanson [email protected]

503-297-1824    Jim Ryan [email protected]

971-225-6087    Scott Stanko [email protected]

971-215-9677    Cathy Swider [email protected]

503-725-2920 4/26/2020 ORTOP Robotics Techniques - 2006 3

Agenda

     Introductions (5 min) Slide Review (55 min) Break into Teams Do 2-3 Sensor / Locomotion Exercises (90 min) Review References (10 min) 4/26/2020 ORTOP Robotics Techniques - 2006 4

Agenda

 Handouts for this workshop:      Techniques2006.ppt

Notebook2006.doc

LEGO Gears2006.doc

RCXBasics2006.doc

WorkshopCD2006 (handout at W2) 4/26/2020 ORTOP Robotics Techniques - 2006 5

Our Mission

  FLL is not just about building robots and competing in tournaments   Develop team member skills  technical   team building research & presentation Technical problem solving can be fun  The youngsters do the work Introduce possibility of a technical career 4/26/2020 ORTOP Robotics Techniques - 2006 6

Team Basics

  Make sure your team has the basics: Office Supplies, Paper, Pencils, Notebooks Start a Team Notebook   capture designs & experimental data pictures and sketches    daily activity log date, task, notes allows the team to track progress 4/26/2020 ORTOP Robotics Techniques - 2006 7

Assembly Basics

  Moving on to Assembly Basics: LEGO Parts Identification    Technic Liftarm 2x4 L shape Technic Liftarm 1x5, 1x7 Technic Liftarm 3x5 L shape     Technic Liftarm 1x9 Bent Technic Pin Joiner Dual Axles & Pins Have kids inventory your kit & get to know the parts 4/26/2020 ORTOP Robotics Techniques - 2006 8

Assembly Basics

 LEGO Bumps vs. Pins       open your kit, find two 2x8 plates Find the Technic Liftarms and two pins shown construct the pieces shown snap on connections are strong in shear & compression, but weak in tension which piece is strongest joint? (depends on the application) Robot should pass 6” drop test 4/26/2020 ORTOP Robotics Techniques - 2006 9

Assembly Basics

  Squares   Have your team build simple square w/ beams & plates Discuss pros & cons of squares on your robot Review: “Building_Lego_Robots_ Minnesota”   Simple frame shown Improved with 2 x 8 plate 4/26/2020 ORTOP Robotics Techniques - 2006 10

Assembly Basics

  Lego Geometry   Have your team build a simple T with beams & pins Discuss pros & cons on your robot Cross Bracing  (BLRM Fig1-15) 4/26/2020 ORTOP Robotics Techniques - 2006 11

Assembly Basics

 Gears  Spur Gear (show example)    instructor holds beam class person turns axles and feels torque on other axle tactile feedback = learning about gears and torque  Gear Ratio and Speed  turn large gear one complete turn. How may times does small gear turn?

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Assembly Basics

 Torque   can be thought of as rotational force torque causes something with mass to rotate     a force can create a torque by acting through a moment arm (picture a wrench turning a bolt) a motor produces a torque – transferred to gears and to axles that turn the wheels gears change speed and torque e.g. changing bicycle gears to go up a hill 4/26/2020 ORTOP Robotics Techniques - 2006 13

Assembly Basics

 More Gears  Worm Gears  one way transfer of power (show example)    4/26/2020 Pulleys  use for slippage during lifting Clutch  slippage after torque value listed on clutch GS Day Camp pages on gears  instructor hold up 3 page handout ORTOP Robotics Techniques - 2006 14

Assembly Basics

 Wheels & Tracks & Skids  wheelbase length – depends on application    wheel loading – support of axle wheels without tires = skids Swivels & guide wheels 4/26/2020 ORTOP Robotics Techniques - 2006 15

Assembly Basics

 Center of Gravity     balanced vs. tips over (BLRM Fig3-9) discuss location of RCX with respect to wheel frame – if high, might tip over -- if low, might drag going over obstacles motor starting torque can tip a robot over backwards!

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Assembly Basics

 Center of Gravity  If the CG is outside the wheels, the robot will tip over with motor starting torque 4/26/2020 ORTOP Robotics Techniques - 2006 17

Assembly Basics

 Batteries   Battery discharge rate  first hour 1.65v to 1.5v

  2-3 hours at 1.5v (save set of six) after 3 hours, slow discharge Variables to consider  clocks, motor speed  turns, distances 4/26/2020 ORTOP Robotics Techniques - 2006 18

Assembly Basics

 Bob the robot 4/26/2020          1 Forward Lift Attachment 2 Wheelbase & Wheel Loading 3 Forward Pushers & Light Sensors 4 Battery Replacement 5 RoverBot Comparison & CG 6 Gears & Sensors 7 Front View 8 Worm Gear 9 Base Position Fixture ORTOP Robotics Techniques - 2006 19

RCX & Sensor Basics

   Handout: RCXBasics2006.doc

Inputs, Outputs, Command Buttons Explore Built-in Programs 1,2,3    motor drives touch sensors light sensors 4/26/2020 ORTOP Robotics Techniques - 2006 20

NXT Basics - Controller

4/26/2020 ORTOP Robotics Techniques - 2006 21

NXT & Sensor Basics

   Handout: NXTBasics2006.doc

Inputs, Outputs, Command Buttons Explore Built-in Programs     motor drives with position feedback touch sensors light sensors distance & sound sensors 4/26/2020 ORTOP Robotics Techniques - 2006 22

Programming Resources

   ROBOLAB for RCX ROBOLAB Tutorial, Dale Yocum CD  On ORTOP CD or download from http://cgsweb.catlin.edu/msrobotics/html/down loads.html

 takes time, go through in sections NXT programming tutorial coming soon 4/26/2020 ORTOP Robotics Techniques - 2006 23

Programming Resources

 Inventor Program Editing Hints (demo)        Copy & paste Shift key to select objects Right click object to replace Add text comments Use music notes to debug program Help > show context help Wiring square corners with space bar 4/26/2020 ORTOP Robotics Techniques - 2006 24

Programming Resources

Add Comments to your programs     Use 4 team members to act out robot moves Motor A, Motor B for robot movement One person telling them how to move One person writing down program steps   Add program steps as comments Fill in icons to match program steps 4/26/2020 ORTOP Robotics Techniques - 2006 25

Sensor Exercises

     Following slides are team exercises: 1 Rotation 2 Light 3 CHAIR that uses several sensors 4 Gearing 4/26/2020 ORTOP Robotics Techniques - 2006 26

Sensor Exercises

 1) Rotation Sensor   Add a rotation sensor to RoverBot, input 2 Try this simple move program  Rotation1.vi

   Does the program give the same result each time you run it?

What distance does the robot move?

Travel straight for 2’, land in 1” circle 4/26/2020 ORTOP Robotics Techniques - 2006 27

Sensor Exercises

 2) Light Exercise 1, “light-and-dark.vi”    Measure light and dark values “wait for darker” and “wait for dark” Cutoff Brightness value  0=darkest, 100=lightest   Open “light-and-dark.vi” in Robolab Follow exercise instructions page 16 of notebook handout.

4/26/2020 ORTOP Robotics Techniques - 2006 28

Sensor Exercises

 3) Move in “

chair

” pattern         1 start with back against wall 2 go forward 2’ , stop, turn 90 deg. CCW 3 go forward 2’ , stop, turn 90 deg. CW 4 go backward until touch wall 5 go forward until detect black line 6 stop and play tune (notice comments form specs. for program!) see following slide  (left brain instructions) 4/26/2020 ORTOP Robotics Techniques - 2006 29

Sensor Exercises

 3) Move in “chair” pattern 5,6 end 3 2 4 (right brain instructions) 4/26/2020 1 start ORTOP Robotics Techniques - 2006 30

Locomotion Exercises

 4) Gearing Exercise    Begin with pre-built RoverBot Remove front wheel 40 tooth gears How fast does robot climb inclined plane 4/26/2020 ORTOP Robotics Techniques - 2006 31

Locomotion Exercises

 Gearing Exercise    Change gears to 24 – 24 How fast does robot climb inclined plane Record results in log book 4/26/2020 ORTOP Robotics Techniques - 2006 32

Team Exercises

 Today’s Workshop Exercises     Form into teams of 3-4 Do “light-and-dark.vi” Do Gearing Exercise Do Chair Pattern if time permits  use “h-pattern-move.vi” program or create your own 4/26/2020 ORTOP Robotics Techniques - 2006 33

Team Exercises

    You will find class example programs in handout Record notes in your notebook BREAK START NOW, you have 90 min!

 (instructor: show light-and-dark.vi) 4/26/2020 ORTOP Robotics Techniques - 2006 34

Team Exercises

 Class Exercises  Comments from Teams   Design reviews are an every day experience in engineering.

Take 5 min and select a team spokesperson    Take 2 minutes per team and tell the class what exercises you did Tell what you liked about the exercises Tell what you would change in the exercises 4/26/2020 ORTOP Robotics Techniques - 2006 35

Information

 Resources    Inscite www.hightechkids.org

Google “minnesota first lego” and select the .pdf file “Building Lego Robots for...” LegoMentorManual.pdf from Minnesota FIRST LEGO League 4/26/2020 ORTOP Robotics Techniques - 2006 36

Information

 Resources      http://130.64.87.22/robolabatceeo/K12/def ault.asp

Activities Programming In the Classroom Building and Designing 4/26/2020 ORTOP Robotics Techniques - 2006 37

Information

 Resources     

http://www.rec.ri.cmu.edu/education/

Identifying LEGO Parts Introduction to Gears Gears & Distance Investigation In CMU Robotics Academy folder 4/26/2020 ORTOP Robotics Techniques - 2006 38

Information

 Resources  http://www.usfirst.org/index.html

 Note: this page uses time to download   www.ortop.org

Robolab CD by Dale Yocum  http://cgsweb.catlin.edu/msrobotics/html/down loads.html

4/26/2020 ORTOP Robotics Techniques - 2006 39

Information

 Resources – ORTOP CD   Girl Scout Lego Robotics Day Camp  Brainstorming    Gears Leading Questions for Mentoring Debugging Tips workshop06 slides I, II, III 4/26/2020 ORTOP Robotics Techniques - 2006 40

Information

 Resources  Videos of previous tournaments on DVD   coaches show videos at beginning of team meetings to focus kids. (2002 is on CD.) available at http://www.ortop.org/res.htm#vid  FLL site good resource, answers many questions  at http://www.firstlegoleague.org/ 4/26/2020 ORTOP Robotics Techniques - 2006 41

Information

 Resources – recommended books    'Building Robots With Lego Mindstorms' by Marion Ferrari, Giulio Ferraro, and Ralph Hempel 'Creative Projects With Lego Mindstorms' by Benjamin Erwin 'Dave Baum's Definitive Guide to Lego Mindstorms' by Dave Baum 4/26/2020 ORTOP Robotics Techniques - 2006 42

Information

 Preparation for the Tournament      FIRST Team Challenge Kit http://www.usfirst.org/jrobtcs/flego.htm

Judging information on ORTOP site Measure distances on the challenge board Early registration in spring helps team get started, registration opens in May06 4/26/2020 ORTOP Robotics Techniques - 2006 43

Review & Wrap-up

  Engineering is designing to constraints Allow your teams the experience of developing a creative solution to solve a problem 4/26/2020 ORTOP Robotics Techniques - 2006 44

Review & Wrap-up

 Please give us your input     need volunteer survey URL Let ORTOP know how we can improve the program Thanks for volunteering, your effort makes learning possible!

Break down robots and put parts back into boxes 4/26/2020 ORTOP Robotics Techniques - 2006 45

Our Mailing Lists

  Totally voluntary, and you can opt out ortopvol  All volunteers   One way from ORTOP to our volunteers We add you when you volunteer  ortopcm  Coaches and mentors  Communication among that group and with ORTOP  4/26/2020 We add you when you complete a workshop ORTOP Robotics Techniques - 2006 46

Contact Us

   Website: www.ortop.org

Email: [email protected]

Scott Stanko answers the questions email Phone: 503.725.2920 (Cathy Swider) or 503-725-2915 (Bruce Schafer) 47 4/26/2020 ORTOP Robotics Techniques - 2006