Title: Mini Grand Challenge Contest for Robot Education
1Mini Grand Challenge Contest for Robot Education
AAAI 2007 Robotics and Education March 27, 2007
- Bob Avanzato
- Associate Professor of Engineering
- Penn State Abington1600 Woodland RoadAbington
PA 19001RLA5_at_psu.edu
2Objectives
- Design autonomous outdoor robot contest Mini
Grand Challenge (MGC) to promote interest in
robotics and AI. - Partly inspired by DARPA Grand Challenge
- Include vision and HRI component.
- Contest should be accessible to advanced high
school, lower-division undergrads (Engr, Cmpsci,
IST) and beyond. - Availability of low-cost robot platform and
development environment to improve accessibility
to MGC contest.
3Penn State Abington Robot Contests
Regional Trinity Firefighting
Robo-Hoops
- Robot Contests at Abington campus (Phila. PA
area) - Over 40 robots participating in each contest
- Over 120 students (K-12 to college and beyond)
- Over 15 high schools/middle schools represented
- Over 50 pizzas consumed!
- Both contests offered annually since 1995.
- What is next step?
4Impact on Curriculum Outreach
CSE 271/275 Digital Electronics Sophomore EE/CSE
EDG 100 Freshman Design
Robotics Contests
IST 402 (new!) Emerging Technologies
ENGR 297 Robotics Special Topics Freshmen/Sophomor
es
K -12 Outreach
Comp Sci 201C Intro for Fresh/Soph
Undergraduate Research (ACURA)
- Robotics supports wide range of educational and
outreach goals
5PSU Abington Robot Platform
6Mini Grand Challenge (MGC)
- Autonomous, outdoor, electric ground robot
- Follow 8-ft wide (unmarked) paths on college
campus - Reach 6 waypoints (GPS longitude, latitude)
- Avoid human obstacles on path
- Entertain human spectators
- Take off-road detour across field (with
obstacles) - Payload 1 gallon of water
- Robot Speed 1.5 - 5mph
- (6) Waypoints disclosed 24 hours prior to contest
event.
7Campus Paths
8Campus Paths
9Campus Paths
10Campus Paths
11Campus Paths
12Campus Paths (Field)
13Campus Paths
14Campus Paths
15Sample Path/Waypoint Layout
WP 4
WP 3
WP 5
orange cones
WP 6
Path width 8ft Waypoint (WP) diameter 20ft
16Key Equipment List
- PowerWheels platform 220
- GPS (with serial cable) 120
- Speaker/amp (15-30 watt) 60
- Inverter (DC to AC) 50
- Servo (steering) 50
- Speed controller 60
- USB camera (240 x 320) 50
- Camera stand 30
- Sonar and servo 50
- USB to serial converter 30
- Servo controller 50-150
- Battery 50
- TOTAL 850 (approx.)
- NOTE Laptop, MATLAB costs not included in above
list
17Robot Block Diagram
18PSU Abington Robot
19Key Software
- MATLAB with Image Processing Toolbox
- Grab image from USB camera
- Edge detection
- Read GPS text serial output (position, velocity)
- Text-to-Speech
- Send motor and steering commands to servo
controller - Main control loop written in MATLAB
- Drivers
- MS Win32 Speech API (SAPI) (text to speech)
- VFM (Video for Windows frame grabber)
- Any Software/Hardware solution Allowed
20Pilot Study Student Solution
- Background Sophomore-level EE student with no
prior experience in vision - Student developed a heuristic, path-tracking
algorithm in MATLAB (Image Processing ToolBox
Canny edge detection) within 4 hours
(non-optimal). - MATLAB environment promotes rapid prototyping and
facilitates testing.
21Big Design Questions
- Can an outdoor robot platform (hardware and
sensors) for MGC be constructed for under 1000? - Answer Yes (almost)
- Can an operational outdoor, autonomous, robot
prototype (hardware software) be completed
(with minimal testing performance) for MGC in
40 hours? - Answer Yes (almost)
22Results
- 2005 Mini Grand Challenge (April 2005)
- 3 participants no successful robots
- Rain limited outdoor event (rescheduled in Dec.)
- Robots on display indoors same day as FF contest
- Generated much interest for future events
- 2006 Mini Grand Challenge (April 1, 2006)
- 6 participants one robot manages 50 of course
- 2007 Mini Grand Challenge (March 31, 2007)
- 8 robots registered
- 1 high school team
23Mini Grand Challenge Event(PSU-Abington PA
April 3, 2005)
24MGC 2006
25MGC 2006 (PSU Abington robot)
26MGC 2006
27MGC 2006 (PSU University Park robot)
28MGC 2006 (Spectator Interaction)
29Conclusions
- Mini Grand Challenge (MGC) contest successfully
promotes interest in robotics and AI for a wide
range of participants (freshman college to
professional) - Low-cost robot platform with MATLAB software
allows freshman/sophomore undergrads to
participate in sophisticated algorithm
development. - Spectator friendly educational outreach
benefits - Outdoor contest has risks (example rain!)
- Larger robot --gt more cumbersome for classroom
integration
30Future Directions
- Expand student involvement in Mini Grand
Challenge (course integration problem). - Develop web-based resources and tutorials.
- Develop K-12 outreach activities based on MGC
- Assess (survey) student retention and
recruitment. - Expand spectator-robot interaction (SRI)
- ArtBots (in Philly, PA)
- Develop indoor extension to contest to mitigate
weather problems. (Example follow cones in gym) - Non-engineering student involvement IST?