2008 TE Session Outline

From GT RoboJackets

Contents 1 Events 1.1 Sept. 06, 2008 - Teacher Orientation Meeting 1.2 Nov. 08, 2008 - Final Competition 2 Special Topics 2.1 Sept. 16, 2008 - Advanced Robotics Concepts Part I 2.2 Sept. 23, 2008 - Advanced Robotics Concepts Part II 2.3 Sept. 30, 2008 2.4 Oct. 07, 2008 3 General Topics 3.1 Sept. 09, 2008 - Intro to Robotics and Structures 3.2 Sept. 16, 2008 - Mechanical Power Transmission 3.3 Sept. 23, 2008 - Drive Types 3.4 Sept. 30, 2008 - Fabrication, Safety and Electrical 3.5 Oct. 07, 2008 - Manipulation and Fluid Power 3.6 Oct. 14, 2008 - Introduction to LabVIEW 3.7 Oct. 21, 2008 - LabVIEW 2 Motors and Encoders 3.8 Oct. 28, 2008 - LabVIEW 3 Sensors and Autonomous 3.9 Nov. 04, 2008 - Advanced Autonomous and Final Competition

Events

Sept. 06, 2008 - Teacher Orientation Meeting

1. FIRST Basics - Rosen or Jeremy
   1. FIRST Overview - can be brief if all returning teams
   2. Typical Competition Structure
   3. Build Season Outline - sample timeline
   4. Team Structure
   5. Team building
   6. Teacher expectations
2. Intro to 2008 TE Sessions
   1. This years objectives - To expose high school students to science, technology, engineering, and mathematics concepts through the FIRST competition. Additionally these sessions will provide the necessary resources to allow high school students to compete successfully in the FIRST competition.
   2. Outline
   3. Schedule
   4. Laptop Situation - we can get laptops on Mondays, do you want to shift the LabVIEW sessions to Mondays?
   5. Parking Status - park for free in W21
   6. Rooms - Klaus, show them where they are
   7. Local Resources - food etc.
   8. Teacher expectations
3. Q/A with FIRST Greats (Jeremy, Rosen, Stefan, Andy)
4. Kit distribution
   1. Lego NXT
      1. Reasons for selection and overall goals with kits
      2. What this means - cannot compete in FTC with the kits we give
   2. LabVIEW status - not passed out yet, we're working on it

Nov. 08, 2008 - Final Competition

1. Design Tools
   1. Brainstorming
      1. Strategy
      2. Idea cloud
      3. Function tree - organizes possible robot functions during competition
      4. Robot designs - morphological chart
   2. Evaluation
      1. Objective weighting based on strategy
      2. Evaluation table - considers importance of robot characteristics based on selected strategy
2. Formula for a FIRST competition
   1. Past competitions
   2. Teamwork - "Gracious Professionalism"
   3. Game pieces
   4. Autonomous mode
   5. Human player

Special Topics

Special topics sessions will only run during the mechanical general talks as we expect all students to attend the Lab View sessions.

Sept. 16, 2008 - Advanced Robotics Concepts Part I

1. History of Robotics
2. Basics of Robot Control
3. Locomotion
4. Kinematics
5. Sensing and Perception
   1. Encoders
   2. GPS
   3. Accelerometers
   4. Gyros
   5. Limit Switches
   6. "Bump" switches
   7. Cameras
   8. Sonar
   9. LIDAR
6. Thinking - Schemes of Robotic Control
   1. Reactive Control
   2. Sense - Plan - Act
   3. Motor Schemas
   4. Hierarchical Control
   5. Behavior Based Robotics
   6. Probabilistic Robotics
   7. Subsumption Architecture
7. Acting
   1. Control Theory
   2. Path Planning
8. AI and Planning
   1. Pattern Recognition
   2. Machine Learning

Sept. 23, 2008 - Advanced Robotics Concepts Part II

1. Syntax Overview
   1. Data, variables
   2. Math
   3. Logic
      1. Logic Activity
   4. Flow control
   5. Instruction following activity
2. DSP – basic sensor conditioning
   1. Averaging
   2. “Common sense” conditioning (outlier rejection) – ex. a speed reading of 500mph is obviously wrong.
3. Flowcharting/State Machines
   1. Formal schemes for defining control.
   2. Syntax (UML or etc), examples. Demo: make a state machine for a common activity.
      1. Garage door opener
4. Drunken Sailor Problem
   1. Have kids work on problem for ~1hr
   2. Presentation/competition of the different solutions

Sept. 30, 2008

Oct. 07, 2008

General Topics

Sept. 09, 2008 - Intro to Robotics and Structures

1. Introduction to Robotics
   1. What is a Robot?
   2. Why we use robots.
   3. Short history.
2. Structures
   1. Physics concepts - gravity, forces, cm / cg.
   2. Basics of Materials
   3. Structural configurations

Sept. 16, 2008 - Mechanical Power Transmission

Sept. 23, 2008 - Drive Types

Sept. 30, 2008 - Fabrication, Safety and Electrical

Fabrication Safety and Fabrication

1. MATERIALS NEEDED:
   1. Old pair of safety glasses
   2. Ear protection
   3. Gloves
   4. MSDS Handout
   5. NFPA Markings Handout

1. Safety
   1. Glasses (1 slide)
      1. Reasons to wear
      2. Times to wear
      3. Glasses vs. face shields
      4. Welding
      5. Demo (Pair of damaged glasses)
   2. Clothing and hair (1 slide)
      1. Shoes and shirts
      2. Pull hair back
      3. Gloves and types
   3. Ear protection (1 slide)
      1. Types
      2. Hazards
      3. Pass around different types
   4. Chemicals (2 slides)
      1. Paint and solvents
      2. Dust masks
      3. Gloves and skin protection
      4. NFPA Markings
      5. MSDS
   5. Machinery dangers (4 slides)
      1. Don’t touch drill bits and moving parts
      2. Pinch points
      3. Parts may be hot
      4. Fixturing parts properly
   6. First Aid (3 slides)
      1. When to call for help & first aid kits
      2. Bleeding & Shock
      3. Broken bones & Falls
2. Fabrication
   1. Drilling (6 slides) +video
      1. Use lubricants
      2. Proper speed for material
      3. Battery drills vs drill press
      4. Drill holes oversized for bolts
      5. Material thickness and chip removal
      6. Safety
   2. Cutting (7 slides) +videos
      1. Powered vs. manual
      2. Workpiece Material
      3. Bandsaws
      4. Rotary saws
      5. Hacksaws
      6. Milling
      7. Safety
   3. Grinding (2 slides)
      1. Reasons to grind
      2. Grinders
      3. Material removal is slow
      4. Heat buildup
      5. Safety
   4. Milling and Turning (7 slides) + video
      1. Reasons to use mill or lathe
      2. CNC machining
      3. Precision
      4. Bits
      5. Show different bits and the cuts they produce
      6. Show lathed parts
      7. Safety
   5. Tapping (2 slides) + video
      1. Reasons to tap
      2. Tap sizes
      3. Material
      4. Tapping procedures
      5. Safety
3. Electrical
   1. Convention
      1. Wire Colors
      2. Circuit Protection
         1. Fuses
         2. Breakers
      3. Termination
   2. A Sample Electrical System - reading the chart and
      1. Reading the Chart/IDing components
      2. Connecting the Pieces
   3. Demo

Oct. 07, 2008 - Manipulation and Fluid Power

Oct. 14, 2008 - Introduction to LabVIEW

1. Installing LabVIEW - hopefully everyone has already done this
   1. Windows - click setup.exe
   2. Mac - mount the image, drag to applications folder (I think)
2. Installing the NXT toolkit
   1. Windows - click setup.exe
   2. Mac - mount the image, drag to applications folder (I think)
   3. Patch (we have version 8.5)
      1. Close LabVIEW
      2. Windows
         1. Unzip the nxttoolkit101patch.zip file and open the directory that corresponds to the LabVIEW version installed on the computer.
         2. Copy the vi.lib directory you downloaded and paste this directory into the labview directory.
         3. In the copy warning dialog box, select Yes to All.
      3. Mac
         1. Run the Terminal application located in the Macintosh HD:Applications:Utilities directory.
         2. On the command line, enter the following command to copy the patch files into the labview directory: cp -fR patch directory labview directory where patch directory is the path to the file you downloaded and labview directory is the path to the top-level LabVIEW directory.
            1. Enter the following command: cp -fR.
            2. In the file you downloaded, locate the directory that corresponds to the LabVIEW version installed on the computer. Drag this directory into the Terminal application to paste its path onto the command line.
            3. Drag the labview directory into the Terminal application. The command should appear similar to the following command: cp -fR /Users/labview_lego/Desktop/NXTToolkit\ 1.0.1\ Patch/LabVIEW\ 8.5/ /Applications/National\ Instruments/LabVIEW\ 8.5/
         3. Press the <Enter> key to run the command.
   4. Mass Compile the Toolkit
      1. Launch LabVIEW
      2. Select Tools >> Advanced >> Mass Compile
      3. Browse to labVIEW\vi.lib\addons\NXTToolkit folder and select Current Folder
      4. Click Mass Compile
      5. Wait for it to compile... -> They need a diversion!
3. LabVIEW overview, What is LabVIEW?
   1. Graphical programming language, Data flow language
   2. Used in
      1. Industry
      2. Research - Virginia Tech
      3. Education (that's us!)
   3. Labview "programs" are called Virtual Instruments (VIs) - see pg 18 in book
      1. Front Panel
      2. Block Diagram
   4. Controls Palette
   5. Functions (and Structures) Palette
      1. Types of Functions (pg 38 in book)
   6. Loops
   7. Tools Palette
   8. Status Toolbar
   9. Demo: Creating a Simple VI
   10. Dataflow Programming
   11. Debugging Techniques
   12. Protips
       1. Help
       2. <CTRL>-E toggle between front panel and block diagrem
       3. <CTRL>-B remove broken wires
       4. <CTRL>-H help
       5. <CTRL>-Z undo
4. NXT Toolkit
   1. Features
      1. Write standard LabVIEW which can be compiled and downloaded to the NXT
      2. Write LabVIEW VIs which run on the PC and communicate with the NXT
   2. Building a LabVIEW VI that runs on the NXT
   3. Running a LabVIEW VI on the NXT

LabVIEW Resources

Oct. 21, 2008 - LabVIEW 2 Motors and Encoders

1. Review of last week
2. Motors
   1. Bit of theory refresh
      1. H - bridges
   2. Demo driving motors
   3. Dead reckoning activity
3. Encoders
   1. Theory
   2. Demo
   3. Redo dead reckoning course now with encoder feedback
4. Feedback Motor Control
   1. A follows B
   2. PID
5. CRIO and the new control system

Oct. 28, 2008 - LabVIEW 3 Sensors and Autonomous

1. Simple motor review
   1. Warm up activity - drive both motors forward, stop, then reverse
2. Intro to sensing
   1. Light
   2. Touch - show also the raw output
   3. Ultrasonic (Distance)
   4. Sound (already covered)
   5. Wheel position
      1. chart
      2. etch-a-sketch
3. Simple Autonomous (state machines)
   1. Demo
   2. Activity
4. CRIO Demo

Nov. 04, 2008 - Advanced Autonomous and Final Competition

1. Describe Game - WHEN IT IS!!
2. Strategies
   1. Drive till you see line, go rand direction. Hope you push something out
   2. Drive randomly till you see a cup, push till you see line
   3. Drive randomly till you see a cup, check colors etc, the whole enchilada
3. Implementation
   1. Try to show drive till see line, go random direction
   2. If time, add in ultrasonic