16-311 Lab 7: Urban Search and Rescue

Special Thanks to NIST

Important Dates

Introduction

Challenge

Design Criteria

Evaluation

Additional Links

Important Dates:

Note: all team members must be present during demos to receive grades for project proposal evaluation, checkpoints, and the USAR demonstration (HW 8, 9, 10).

Proposal Submission:	TBA
Prototype Evaluation:	TBA
Prototype Selection:	TBA
USAR Demonstration:	TBA
USAR Final:	TBA
Post USAR discussion: (Poster & Self Evaluation due)	TBA

Introduction:

This lab is intended to encourage investigation into different types of robot locomotion and control. We will do this within the theme of urban search and rescue.

Challenge:

Special Thanks to Center for Robotic Assited Search and Rescue

In light of recent events of the World Trade Center disaster and previous disasters such as the Oklahoma City bombing, the need for improved rescue efforts are growing. Hence, the Carnegie Urban Rescue Force (CURF) has funded Carnegie Mellon University's Introduction to Robotics class of Spring 2011 to develop a fleet of highly mobile, all-terrain and easy to use mobile robots to assit in Urban Search and Rescue efforts.
All contractor teams from Introduction to Robotics class of Spring 2011 are urged to submit their design proposal no later than March 16th, 2011 to be eligible for a full award for future work.
Upon approval of the proposals, each contractor will have one week to demonstrate a working prototype of their concept. A Prototype Review Board will then evaluate all working designs and select the ones that satisfy the evaluation requirements.
The selected prototypes will then move onto the final phase of the project.

Design Criteria:

Size:

Due to the nature of this project, CURF requires your robot to meet certain constraints.

Since the robot is intended to assist in search and rescue missions, the size of the robot is a very important design factor. Hence. the following dimensions must not be exceeded:

Width: 7.0"
Depth: 8.5"
Height: 6.0"

(NOTE: These dimensions are for your entire robot and DO include the vision system. Make sure you design your robot appropriately.)

Tele-Operation

All robots should be tele-operable from a remote command center consisting of a computer terminal and a video monitor. Using the Robot C text interface, you can control your robot (which will be connected to the robot by a tether control line or via Bluetooth) by calling software functions stored on your robot. This control paradigm is often referred to as semi-autonomous, where the operator provides some high level control directing the robot in its autonomous actions.

Vision System:

We will be providing you with a camera that you will need to mount onto your robot. For more information follow the link below to the vision system page.

Vision System
Vision Contract

Cable

All teams must use the pre-approved cable harness (ie. the video cable that interfaces with the camera onboard the robot and the tv. It is suggested to use the onboard bluetooth to control the robot)

Power

All power must be on board the robot, i.e., the batteries cannot be removed from the robot, and the light source should be powered from the robot.

Extra Parts

Each group will be allowed 3 motors. (These motors will not count towards your $20 extra parts budget.)

You are encouraged to pursue additional resources for LEGO parts, within a $20 spending limit (of your own money). See the class bboard or email the USAR team for approved "rare" parts and ordering info. Any common household stuff (like tape) and common hardware store items can be used as well. Basically this means anything that can be bought at a grocery store or hardware store, etc. For a list of acceptable parts follow the link below. Please note the list is not complete, if you are considering a part not on the list ask a member of the CURF staff.

Preapproved Extra Parts List

Evaluation:

Design Proposal:

CURF requires your team to submit a design proposal outlining your plans for your USAR robot. This write-up should include a basic schematic, descriptions of how your robot works, especially any "special" features it will have.

You must explain how you plan for your robot to handle different obstacles like stairs, doors, broken furniture, rocks, cars, etc. The exact contents of this report and grading sheet are listed below. This proposal must be handed in by Tuesday, March 15th Note that at this point you do not have to demonstrate a working prototype.

Proposal Guideline
Grading Sheet Proposal
Sample Proposal (note that the sample proposal is not the official guideline; it lacks evaluation of the metrics in alternative designs which is required)
Sample Proposal 2

Note: if an evaluator approves a feature in your proposal that violates one of the rules, unless you have written permission from head TA, your team still cannot use the feature.

Prototype Evaluation:

Your robot must pass several tests demonstrating basic mobility on Tuesday, March 22 . These tests include climbing a slope or moving over uneven terrain. Refer to the documents below for more detials. For full credit, all of the tests must be performed with remote operation of the robot through the camera. This means that the robot operator cannot look at the robot during the tasks.

Any TA can check your team off for any task any time before the March 22 deadline. However, only one of the lead TAs can check your team off for the rundown.

Grading Sheet
Checkpoints

USAR Demonstration

On March 29st your team will demonstrate their robot. Teams will be given 15 minutes to navigate a disaster scene (plus 5 minutes setup). Points will be awarded for locating human survivors, identifying survivors, and clearing rooms. For scoring details, refer to the grading sheet at the top of this page. The top teams will be invited to demonstrate their robot on March 30st

Rule Clarifications:

-Each robot is allowed 3 resets per run. A reset does not reset the time. A reset will NOT zero that teams points.
-A team may call a reset at anytime.
-If a robot falls from any of the floors onto the classroom floor (does not land on a lower floor) that team will be forced to use a reset.
-If a robot was on the first floor and comes into contact with the classroom floor it will be immediately picked up and placed in the orientation and position it was last in on the first floor.
-After calling a reset, the team may inspect and repair their robot, but the clock will not be stopped. When ready the robot will be placed at its original entry point to the floor it was on.
-If a team requires a reset or is forced to use one, but has no remaining resets, their run is over.
-All reset rules apply to individual robots and not to their allied robots.

Poster and Self Evaluation

All teams must submit a poster of their USAR robot and team. The poster must measure 8.5" x 11" and contain a description of the robot, a picture of the robot, and a picture of all team members. Refer to link below for poster template.

For extra credit (upto 10 points) the CURF review board has decided to award additional points to teams who are willing to provide a description of their USAR experience: what they learned, what went well, and what did not go so well. Follow the second link below for the full announcement.

Poster Template
Self Evaluation

Note: Only group members present for ALL stages of evaluation will receive a grade.

Proposal Presentation

Demo Presentation