Urban Search and Rescue Checkpoint Feedback

1
Urban Search and RescueCheckpoint Feedback

• Carnegie Mellon University
• 16-311 Introduction to Robotics
• November 2nd 2005

2
Checkpoint

• General Observations from Checkpoints
• Incline
• Nearly everyone was able to complete this
  obstacle
• Bumps
• Nearly everyone was able to complete this
  obstacle
• Stairs
• Some teams were not able to complete this
  obstacle but it is highly recommended that you
  do.
• Rubble
• Some robots got hung up on the rubble
• Narrow Corridor
• Nearly everyone was able to complete this
  obstacle
• Low Light
• Only a handful of teams completed this check point

3
What Didnt Work

• Low ground clearance
• Robots getting hung up on rubble and bumps
• Light weight robots
• Robots dont weigh enough to produce proper
  traction
• High center of gravity
• Robots begin to climb stairs and inclines only to
  flip over
• High torque wheels/treads
• Torque is good but so is speed
• Size constraints
• If your robot changes dimension be sure you can
  still fit through narrow corridors
• Fragile Designs
• If you lose any part of your robot during the
  competition your run is over
• Grinding and/or clicking noises are never a good
  thing
• Two words Drop Test

4
What Did Work

• Adjustable ground clearance
• Flippers and Arms
• Debris Prevention Panels
• Rubble will wreak havoc on exposed gear trains
  and linkages
• Added weights
• Washers, Pennies, Pad Lock, Swiss Army Knife!?
• Change the location of your center of mass
• Reinforced Robots
• Zip ties are your friend
• Twist ties and wires
• Camera
• Pan and tilt camera heads are great
• Zip tying the camera to your robot
• Visual marker to keep your frame of reference

5
This just in.

• At approximately 10am this morning, a geologist
  predicted volcanic eruption occurred just outside
  of the Carnegie Mellon Campus. We need to
  immediately mobilize the robots you guys have
  been building to perform search and rescue tasks
  as the area is still too hot and contains unsafe
  air for human rescue efforts.

6
Victims

• These individuals have been identified as being
  in the building at the time of eruption
• Howie
• Geist
• Avi
• Linda
• Brandon Boyd
• Dakota Fanning
• President Bush
• Johnny Depp

7
Satellite Images

• These images of the disaster area have been
  gathered from satellite information
• Zone 1
• Stability High
• Zone 2
• Stability High-Medium
• Zone 3
• Stability Medium
• Zone 4
• Stability Low-Medium
• Zone 5
• Stability Low
• Zone 6
• Stability Extremely Low

8
Sneak Peek
9
Goal

• Your mission is to send your robots into these
  areas and using teleoperation to guide them
  through each zone identifying individuals and
  clearing zones.

10
Scoring

• Victims found in each zone are worth 8 points
  each.
• An additional 2 points will be awarded if the
  team can determine who the victim is (pictures
  will be provided).
• When a group is done with a zone, they have the
  opportunity to say whether they have cleared it
  or not. Cleared means they have found all
  victims in that zone. If a group claims they have
  found all victims, and they are right, they earn
  5 points. If a group claims they have found all
  victims, and they are wrong, they lose 5 points.
  No points are awarded for a group knowing that
  they have not found all victims in a zone.
• Zone 6 is the upper level of the world.

11
Demo Times

• The demos will be held on Tuesday November 8th in
  the lab
• Each team is allotted a total of fifteen minutes
  for their demo
• Five minutes for set up
• Ten minutes to search for victims
• A sign up sheet will be available immediately
  following this presentation on the outer lab room
  door.

12
Words of Wisdom

• Dont forget to charge your batteries the night
  before the demo!!!
• Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice Practice Practice Practice Practice
  Practice

13
Questions?