HBRC Trinity Firefighting Robots

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HBRC Trinity Firefighting Robots
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Agenda

• About the Contest at Robogames
• The HBRC Robots
• Solenopsis invicta by Tony Pratkanis
• Isis by Bob Allen
• Flameout by Ted Larson

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About the Contest

• Goal of Contest
• One 15 cm to 20 cm tall candle is placed in a
  maze and must be put out by the robot
• Placed in the corners, edges, and centers of
  rooms.
• Location randomly selected via drawing.
• Placed on a white area shape depends on
  location in room.
• Must be blown out from within the white area.
• Scoring
• Time based scoring
• Sum of 3 runs through the maze - lowest sum of
  all 3 runs wins
• Optional challenges can improve scores

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How the Contest is Conducted

• Robots make 3 runs in a 2.43 by 2.43 meter maze
  consisting of 4 rooms connected by hallways
• Robot placed on a white circle at the starting
  area.
• White line at entrance to rooms.
• Island room prevents mindless wall following.
• Stairs block one return route.

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House Layout
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Scoring

• Lowest sum of 3 runs wins
• Score is calculated based on the following
• The actual time for a run is taken
• Penalty points are added for sliding along the
  walls or touching a lit candle
• Score is adjusted based on the of rooms
  surveyed by the robot to find the candle
• Robot finds candle in 1st room score is not
  affected
• Robot finds candle in 2nd room score is
  multiplied by 0.85
• Robot finds candle in 3rd room multiplied by
  0.50,
• Robot finds candle in 4th room multiplied by
  0.35

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Scoring Options

• Participants may also choose to add any or all of
  the following optional challenges
• Furniture (0.75 score multiplier)
• Placed in rooms by opposing contestants.
• Must be 31 cm away from the candle and door.
• Return Trip (0.8 score multiplier)
• Robot must return to and stop on the starting
  circle.
• Sound Activation (0.95 score multiplier)
• Robot activated by a beeper.

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Scoring Options

• These options are also available, but were not
  used at the Robogames
• Uneven Floor Mode (0.80 score multiplier)
• Ramps placed on the floor in hallways but not in
  rooms, doorways, or in front of doorways.
• Clutter Mode (0.80 score multiplier)
• Small objects are placed randomly in both rooms
  and hallways.
• Extinguisher Mode (0.85 score multiplier)
• Any robot that does not use a fan will get this
  bonus.
• Stair Mode (0.90 score multiplier)
• Any robot that goes over the stairs gets this
  bonus.

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Constructing the Maze

• Joe Miller has the best design for building the
  Trinity Fire House.
• Instructions available at
• http//sonomatron.com/html/portable_arena.html

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Required Capabilities

• Your robot will need to do the following to
  complete the challenge
• Navigate the house
• Detect rooms and marks on the floor
• Detect the flame
• Extinguish the flame
• Avoid or cross the steps

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Solenopsis invicta

• Named for the red imported fire ant
• Completes the challenge with the return trip and
  furniture options
• Averages 14.5 points per run

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Solenopsis invicta Parts

• Grandar ASM (ISupportLearning.com)
• Grandar ASM Firefighting Kit
• Bob's Metal (OLogic)
• Bob's Pyro Board (Ologic)
• Hamamatsu UVTRON
• 2 Sharp GP2D12 IR sensors
• Duct Tape
• Time
• Time

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Solenopsis invicta Sensors

• Wall follows with two Sharp GP2D12s.
• Uses IR sensor and bumpers from the ASM.
• Hamamatsu UVTRON detects presence of candle in
  room
• Pyro pinpoints the candle location in room
• Line detector detects room entrances and white
  areas

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Solenopsis Invicta Software

• Writen in JVC.
• A C compiler written by Grandar.
• No structs or object orientation.
• No define. Must use pseudo constants.
• Relatively fast.
• Executed on a Motorola HC11.

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Solenopsis Invicta Code (1)
Start
Spin
Hamamatsu
Yes
No
Pyro on or more than 270 degrees turned?
Wall Follow
No
Fan Blast
Yes
Saw White?
Drive Forward
No
No
Yes
Yes
Hamamatsu?
IR tripped
White Area Hit
No
Yes
No
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Solenopsis Invicta Code (2)
Wall Follow
Backup, Turn
The End!
Short White Line Detected And One Seen Already?
Yes
No
Yes
Bump?
Large White Area?
Yes
No
No
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Solenopsis Invicta Wall Following

• Uses Proportional Control (Not PID)
• Uses These Equations
• Turn (distance wanted)/correction
• Motor 1 Speed - Turn
• Motor 2 Speed Turn

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Problems Encountered

• The evil island room
• False positive flame detection

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Problem The Evil Island Room

• Problem The island room makes wall following
  difficult.
• Solutions
• Don't wall follow.
• Dead reckon
• Find gaps
• Chose which wall to follow based on how many
  rooms you have surveyed.
• Solenopsis invicta Solution 2.

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Problem False Positive Flame Detection

• Problem Flames are generated by
• Candle reflections
• Extra-contest sources such as flame throwers.
• Solutions
• Don't detect flames. Instead, wander to the white
  circle.
• Have measures to recover from false positives and
  have code to filter smaller pyro trips.
• Solenopsis invicta Solution 2.

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Solenopsis invicta Time
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Isis by Bob Allen
?
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Flameout by Ted Larson