E 2 T Problem Based Learning Autonomous Robots Problem Scenario for the Student Peach Harvest Objective: To design and build an autonomous robot that can collect 12 orange colored golf balls that represent ripe Georgia peaches and deposit them in the peach basket in the center of the track. The robot must begin within the 8.0” X 12.0” X 10.0” high size but may expand to any size after the trial has begun. Teams will have a maxi- mum time of 60 seconds to collect all the peaches and deposit them in the Concept Map Power current Equations Resistance voltage Ohm’s Law Project Management Logic Assembly Testing CAD Mechanismisms Algorithms Programming fSubroutines Sensors Cost Vehicle Specifications: Allowable Energy Sources: Any energy source is allowed as long as it is completely contained within the robot and does not create or emit any gaseous, liquid, or solid emissions. Energy sources must not present any safety hazards to participants or spectators. Maximum Robot Size: The robot must fit inside a box with vertical sides having inside di- mensions of 8.0” X 12.0” and have a maximum height of 10.0”. The robot must remain within this size constraint for the entire duration of a trial. If minor parts fall off the robot such as fasteners or hardware during a trial, the robot will still be considered within the size con- straint as long as the remaining robot stays within the 8.0” X 12.0” X 10.0” high limit. Components, Fabrication, and Cost: Each team will be given a Parallax BOE-bot kt to begin, and an additional budget of $150 to supplement this kit with other materi- als, sensor, etc. However, only $100 of the allowance is reimburs- able. In order for an item to be reimbursed, it must be purchased by (Fill in the appropriate competition coordinator, email address and telephone number).. You CANNOT be reimbursed for items purchased personally. Each team will be also required to fabricate at least one component (structural or non-structural) using rapid prototyping technology. Teams are restricted to using 8 in 3 of prototyping material (including both the build and supporting material), and each in 3 of material used is valued at $4.00 (to be included on the Bill of Mate- rials). Instructor Notes 1) Use the 2013 American Society for Engineering Education (ASEE) guidelines to describe the challenge 2) Students and instructors will need to compose teams for the competition 3) Team make up should consist of the appropriate skill sets for the competition; mechanical, elec- trical, programming, presenta- tion, and documentation skills 4) Students will be issued a Paral- lax Board of Education Robot Kit (BOE-BOT) 5) Students should be tutored on project management skills and monitored for progress Presentation Project Management Documentation
Transcript
E
2T Problem Based Learning
Autonomous Robots
Problem Scenario for the Student Peach Harvest
Objective:
To design and build an autonomous robot that can collect 12 orange colored golf balls that represent ripe Georgia peaches and deposit them in the peach basket in the center of the track. The robot must
begin within the 8.0” X 12.0” X 10.0” high size but may expand to any size after the trial has begun. Teams will have a maxi-mum time of 60 seconds to collect all the peaches and deposit them in the
Concept Map
Power
current
Equations
Resistance
voltage
Ohm’s Law
Project Management
Logic Assembly
Testing
CAD
Mechanismisms
Algorithms
Programming
fSubroutines
Sensors Cost
Vehicle Specifications:
Allowable Energy Sources:
Any energy source is allowed as long as it is completely contained
within the robot and does not create or emit any gaseous, liquid, or
solid emissions. Energy sources must not present any safety hazards
to participants or spectators.
Maximum Robot Size:
The robot must fit inside a box with vertical sides having inside di-mensions of 8.0” X 12.0” and have a maximum height of 10.0”. The robot must remain within this size constraint for the entire duration of a trial. If minor parts fall off the robot such as fasteners or hardware during a trial, the robot will still be considered within the size con-straint as long as the remaining robot stays within the 8.0” X 12.0” X 10.0” high limit.
Components, Fabrication, and Cost:
Each team will be given a Parallax BOE-bot kt to begin, and an
additional budget of $150 to supplement this kit with other materi-
als, sensor, etc. However, only $100 of the allowance is reimburs-
able. In order for an item to be reimbursed, it must be purchased by
(Fill in the appropriate competition coordinator, email address and telephone number).. You CANNOT be reimbursed for items
purchased personally.
Each team will be also required to fabricate at least one component
(structural or non-structural) using rapid prototyping technology.
Teams are restricted to using 8 in3 of prototyping material
(including both the build and supporting material), and each in3 of
material used is valued at $4.00 (to be included on the Bill of Mate-
rials).
Instructor Notes
1) Use the 2013 American Society for Engineering Education (ASEE) guidelines to describe the challenge
2) Students and instructors will need to compose teams for the competition
3) Team make up should consist of the appropriate skill sets for the competition; mechanical, elec-trical, programming, presenta-tion, and documentation skills
4) Students will be issued a Paral-lax Board of Education Robot Kit (BOE-BOT)
5) Students should be tutored on project management skills and monitored for progress
Background Information In a mechanical system you have seen that the work done is the product of the force (F) applied in the direction of the motion and the distance (d) moved. Therefore, work (W) can be thought as the product
of a quantity that causes motion and the measure of the resulting motion
F F W = Fd
d
This concept can be applied in an electrical system as well. The quantity that causes motion is the volt-
age difference and the measure of the motion is the
charge. Therefore, work in an electrical system can calculated by:
In electrical systems, the amount of electrical en-ergy used is important. In fact, the bills that we re-ceive from the electric company are based on the en-ergy that we use. In many electrical systems, how-ever, not only is the energy used important, but so is the rate at which the energy is delivered. All electri-cal devices are rated on the rate of use of electrical energy. This rate is called power (P) and is meas-ured in watts.
Power = work/time Power = (voltage * charge)/time Power = voltage * charge/time Power = voltage * current
Work = (voltage difference) * charge
W = Vq, where V = voltage difference
and q = charge Electric motors transform electrical energy into me-chanical energy to perform tasks. Motors may turn fans to move air, operate pumps to move fluids, and turn metalworking machines such as lathes, mills, and drills. Therefore, the purpose of most electrical de-vices such as an energy of motion, heat, light, or sound. The motion of charge through conductors will trans-form some of the electrical energy into heat. In de-vices such as toasters, ovens, and hair dryers, the heat is wanted and is useful. In other devices such as in-candescent light bulb, computers, and televisions, the heat is an unwanted byproduct caused by the operation of the device.
Problem-Based Learn-
ing Need-To-Know
What do we know?
What do we need to know?
How do we find out?
E2T Problem Based Learning
Background Information for Autonomous Robot Project
Peach Harvest
Autonomous Robots Robots are used in the auto, medical, and manufacturing industries, in all manner of explo-ration vehicles, and, of course, in many science fic-tion films. The word "robot" first appeared in a Czechoslovakian satirical play, Rossum's Universal Robots, by Karel Capek in 1920. Robots in this play tended to be human-like. From this point on-ward, it seemed that many science fiction stories involved these robots trying to fit into society and make sense out of human emotions. This changed when General Motors installed the first robots in its manufacturing plant in 1961. These automated machines presented an entirely different image from the “human form” robots of science fiction. Building and programming a robot is a combina-tion of mechanics, electronics, and problem solv-ing. What you're about to learn while doing the activities and projects in this text will be relevant to real-world applications that use robotic control, the only differences being the size and sophistica-tion? The mechanical principles, example program listings, and circuits you will use are very similar to, and sometimes the same as, industrial applications developed by engineers
Allowable Energy Sources: Any energy source is allowed as long as it is completely contained within the robot and does not create or emit any gaseous, liquid, or solid emissions. Energy sources must not present any safety hazards to participants or specta-
tors.
Maximum Robot Size: The robot must fit inside a box with vertical sides having inside dimensions of 8.0” X 12.0” and have a maximum height of 10.0”. The robot must remain
within this size constraint for the entire duration
of a trial. If minor parts fall off the robot such as fas-teners or hardware during a trial, the robot will still be considered within the size constraint as long as the re-maining robot stays within the 8.0” X 12.0” X 10.0” high limit.
Components, Fabrication, and Cost: Each team will be given a Parallax BOT-bot kit to begin, and an additional budget of $150 to supplement this kit with other materials, sensors, etc.. However, only $100 of the allowance is reimbursable. Please maintain re-ceipts for proper reimbursement Each team will be also required to fabricate at least one component (structural or non-structural) using rapid pro-totyping technology. Teams are restricted to using 8 in3 of prototyping material (including both the build and supporting material), and each in3 of material used is valued at $4.00 (to be included in the Bill of Materials)
Vehicle Specifications:
E2T Problem Based Learning
Isometric View of Track showing the 12 orange colored golf balls and the center peach basket into which the balls must be deposited.
Top View of Plywood with Dimensions in Inches.
E2T Problem Based Learning
Top View of 2” x 4” Center Box with Dimensions in Inches.
Track Materials:
1. Two 4’ X 8’ X ¾” sheets BC or better grade plywood. 2. Two 2” x 4” x 96” Perimeter Boards. (Actual Size 1.5” x 3.5” x 96”) 3. Two 2” x 4” x 93” Perimeter Boards. (Actual Size 1.5” x 3.5” x 93”) 4. Two 2” x 4” x 6” Center Box Boards. (Actual Size 1.5” x 3.5” x 6”) 5. Two 2” x 4” x 9” Center Box Boards. (Actual Size 1.5” x 3.5” x 9”) 6. One roll of ¾” wide black vinyl electrical tape. 7. Twelve Neon Orange Golf Balls available at golfballs.com for $12 per dozen.
http://www.golfballs.com/Golf-Balls/Blank-Colored-Golf-Balls.htm?p2=NO 8. 2”x 4” boards and fasteners for constructing a substructure to maintain flatness of the ply-
wood. Construction Procedures:
1. Place the two sheets of plywood on a flat surface to form the 8’ X 8’ base for the track. 2. Draw light construction lines as shown in Figure 2 to locate the centerline of both pieces
of tape and the location of the 12 balls. 3. Draw light construction lines for the outer perimeter of the Center Box so that it is located
with its sides parallel to the perimeter boards and centered in the middle of the track. 4. Apply the 3/4” wide black vinyl electrical tape so that the track is bisected in two per-
pendicular directions 5. Fasten the four perimeter boards onto the track. 6. Fasten the center box in the middle of the track. 7. To provide for maximum flatness, a 2”x 4” substructure should be constructed and at-
E2T Problem Based Learning
Autonomous Robot Project Peach Harvest Robot Time Trial Rules:
1. It is the responsibility of the team to inspect the condi-
tion of the track before starting their robot to be certain
that everything is in order. Once a team presses or pulls
the start mechanism, the run counts as an official trial
and may not be done over.
2. The order of testing will be determined by random
draw.
3. While the preceding team is on the track for a trial, the
on-deck team must have their robot on the on-deck ta-
ble ready to run immediately after the previous team
completes their trial. Each team will have one minute
to begin a trial after being called.
4. All teams will be called for a trial in a current round
before any teams begin the next round of testing
5. Robot sizes will be tested with measuring box prior to
each team’s first run and in subsequent runs if requested
by the judges. A judge will be responsible for placing
the measuring box over the robot. If a robot fails to
meet the size constraint, the judges will assess a penalty
proportional to the severity of the violation.
6. The robot may start anywhere on the track as long as
some part of the robot is touching one or more of the
four perimeter walls. The robot must remain within the
8.0” x 12.0” x 10.0” high size constraint until the start
button has been pressed.
7. The time for a trial will begin when the judge gives the
team the command to start. Once the robot begins to
move in any way, team members may not touch the
robot or communicate with it with any remote control
device.
8. If a robot fails to move once the judge’s start command
is given, the team members may work on their robot to
get it moving but the time will continue to run from the
time when the start command was given. If the robot
has not moved within 60 seconds of the start command
a score of zero will be assigned for that trial.
9. Nothing other than the 12 golf balls may be depos-ited into the center box. If anything other than the golf balls is within the four vertical planes of infi-nite height defined by the four interior 6” sides of the box, a score of zero will be recorded for that trial. Please note that at the end of the trial no por-tion of the robot may either be in the box or over-hang inside the four infinite planes described above.
10. The time for a trial will end when all 12 balls have been
deposited in the center box and all parts of the robot are
outside the four vertical planes of infinite height defined
by the four interior 6” sides of the box. Alternately a
trial will end if 60 seconds has elapsed since the judge’s
start command.
11. If a robot becomes disabled prior to 60 seconds have elapsed the trial will end and a time of 60 seconds will be recorded. Points will be awarded for any balls deposited into the center box prior to becoming disabled as long as only golf balls are contained in the center box at the end of the trial.
12. Each team will be allowed to make four trials. 13. Teams may make changes or repairs to their robots
between trials but they must be ready within one minute of being called to the track.
14. Teams may not make practice runs during the ex-hibit session or after the start of the robot testing session, unless the judges offer this opportunity
E2T Problem Based Learning
During the Technical Presentation, each judge will score teams on a scale of 0 to 10 with 10 being best on the items below. The score in each category will be computed by averaging all judge scores. The schedule of presentations will be provided prior to the competi-tion 1. Design Evolution:
Guide the judges through the design process that your team followed from the initial ideas to the fi-nal solution..
2. Robot Operation: Discuss how your robot works.
3. Fabrication Methods: Explain how you fabricated your robot.
4. Design Analysis: Convince the judges that your design is optimal based upon its performance, cost, and environ-mental impact.
5. Presentation Quality: Quality will be judged on the following items: team and presentation appearance, technical exper-tise displayed, communication skills, and effective-ness of visual aids.
Autonomous Robot Project Peach Harvest
Robot Time Trial Scoring: Robots will earn points as described below:
1. 5 Points will be awarded for each golf ball that is contained in the center box at the end of the trial while in compliance with all the rules.
2. A time bonus will be added to robots that com-plete a perfect run in less than 60 seconds. A per-fect run is defined as one in which all 12 golf balls have been deposited into the center box while in compliance with all the rules.
Time Bonus = ( 60 - Time for a Perfect Run in Sec-onds)
3. The total Robot Time Trial score for a team will be equal to the sum of the points earned in each of the four trials.
Each team must email ONE pdf document of its Tech-nical Report (with all sections contained again in one document) to (Fill in the appropriate competition coordinator, email address and telephone number). by the Friday one week prior to the competition. The Technical Report should include the components listed below. Each of the three topics is worth 10 points.
1. Executive Summary This summary should be no more than two pages using a 12-point font, single spaced, with 1-inch margins. The summary should succinctly describe the problem that was solved, why the robot is an optimal solution to the problem, and results of pre-competition testing.
2. CAD Images, Circuit Schematics, and Program-
ming Flowcharts (or code): CAD images should adequately describe the form and function of the robot. Circuit schemat-ics should convey how the circuitry was con-structed and how it works. A descriptive flow-chart of the programming code (or the code itself, if it is properly commented) should be provided.
3. Bill of Materials:
the bill of materials should include the following infor-
mation for each component of the robot: part name, size
or part number, vendor name, quantity used, unit price,
and total price. You should also sum all the total prices
to display the overall cost of the components of your
robot. This cost must be less than $150 for components/
items used outside of the BOE-bot kit. For components
that you did not have to purchase, you must list a vendor
where the item could be purchased along with the unit
and total price. These prices must be included in the
Technical Presentation: (Total = 50)
Technical Report: (Total = 30 pts.)
E2T Problem Based Learning
Overall Scoring: The overall score for a team will be equal to the sum of the scores for the Technical Presentation, Technical Report, and the four robot testing trials. A team will be disqualified from the competition if they fail to submit a Technical Report or deliver the Tech-nical Presentation.
Support Forums for Parallax BOE-bot projects:
Parallax maintains free, moderated forums for users of the Paral-lax BOE-bot kits, covering a variety of subjects:
Propeller Chip: for all discussions related to the multicore Propeller mi-crocontroller and development tools product line.
BASIC Stamp: Project ideas, support, and related topics for all of the Parallax BA-SIC Stamp models.
Sensors: Discussion relating to Parallax’s wide array of sensors, and interfacing sen-sors with Parallax microcontrollers.
Stamps in Class: Students, teachers, and customers discuss Parallax’s education ma-terials and school projects here.
Robotics: For all Parallax robots and custom robots built with Parallax processors and sensors.
Wireless: Topics include XBee, GSM/GPRS, telemetry and data communication over amateur radio.
PropScope: Discussion and technical assistance for this USB oscilloscope that contains a Propeller chip.
The Sandbox: Topics related to the use of Parallax products but not specific to the other forums.
Projects: Post your in-process and completed projects here, made from Parallax products.
Here is what you will do:
Write programs in easy-to-learn PBASIC on your computer
Build simple circuits from pictures and schematics
Download PBASIC programs into the BASIC Stamp to control the circuits
Assemble your Boe-Bot hardware—screwdriver is included
Learn to drive the Boe-Bot with simple motion programs
Add sensor circuits and program the Boe-Bot to navigate on its own
Here’s what your Boe-Bot will do:
Navigate by the program commands you give it
Report sensor status to you with light and sound
Escape corners by touch using whisker contact sensors
Steer by sensing light to find the brightest or darkest place
Detect and avoid obstacles with infrared sensors
Detect distance to follow your hand or another robot
What to expect:
Rubric for Evaluating Autonomous BOE-BOT Competition
Team: __________________________________ Team Captain: ____________________ School: _________________________ Other Members: _______________________________________
Rubric for Evaluating Autonomous BOE-BOT Competition
Rubric for Evaluating Autonomous BOE-BOT Competition
Content Contributions and Acknowledgements:
• American Society for Engineering Education Model Design Competi-
tion —In pursuit of academic excellence, ASEE develops policies and pro-grams that enhance professional opportunities for engineering faculty mem-bers, and promotes activities that support increased student enrollments in engineering and engineering technology colleges and universities.
• South Carolina (SC) Advanced Technological Education (ATE) - dedi-cated to expanding excellence in technician education and increasing the quantity, quality, and diversity of Engineering Technology graduates to sup-port business and industry and to encourage continued economic develop-ment. enrollments in engineering and engineering technology colleges and universities
• VWCC Autonomous Robotics Competition — Dr. Richard L. Clark,
Professor and Engineering Department Head
• Mechatronics Instructor and Department Head, Program Investigator
