Team 772 designed their 2012 robot, Droid, using CAD software to fully design the robot before building. The design process included analyzing the game, brainstorming ideas, prototyping ideas, and then creating a full CAD design. The robot, Droid, included a chassis with sheet metal plates and pneumatic tires to drive over bumps. It also had a ball collector using a conveyor system, a turret assembly that could rotate the shooter, and a double-wheeled shooter assembly to shoot balls accurately and quickly. The full design process and CAD design allowed the team to build the robot faster and have more time for programming.
Jack Greenfield has worked on several projects involving designing, building, and fabricating mechanical devices. These include designing a U-haul for transporting a motor controller behind an electric scooter, building a robot that could climb ski slopes and collect flags for the MITSKI competition, designing dashboards for electric scooters, and making PCB stand-offs and stencils. He has also designed and built injection molded parts, CNC milled parts, and waterjet fabricated parts for various projects involving yo-yos, RC cars, and laser kites. Most recently he designed and 3D printed nested hex wrenches and applied for a patent on this design.
Established: 2012. 12
Headquarter Office: Shenzhen
Annual Revenue: USD 85 Million (2019)
Number of Employees: 130+ person in total,
50+ Engineering staff
From the beginning, we dedicated ourselves to designing and developing Personal Electric Vehicle(PEV) technology and products.
We're a High-tech enterprise, with an experienced engineering team (Hardware, Software, Mechanical, Structure, Industry design), to provide the total solution of e-Mobility products for customers.
Established: 2012. 12
Headquarter Office: Shenzhen
Annual Revenue: USD 85 Million (2019)
Number of Employees: 130+ person in total
50+ Engineering staff
From the beginning, we dedicated ourselves to designing and developing Personal Electric Vehicle(PEV) technology and products.
We're a High-tech enterprise, with an experienced engineering team (Hardware, Software, Mechanical, Structure, Industry design), to provide the total solution of e-Mobility products for customers.
The team presented their critical design review for a position welder turntable clutch system. The team aims to create a functional clutch mechanism that engages and disengages the turntable within the given housing constraints. Their proposed solution uses a dog clutch engaged by a lever-actuated fork shifter assembly. Calculations were presented to analyze the gear dynamics, fork shift deflection, and detent ball-spring lock. A prototype is being machined and will undergo testing to validate the design meets the project requirements within budget and on schedule.
This document summarizes a presentation given at RubyConf 2015 about building self-balancing robots using Ruby and various hardware platforms.
The presentation covered:
1. Using the LEGO Mindstorms EV3 with mruby-ev3rt to build an inverted pendulum robot that balances itself.
2. A DIY approach using a Raspberry Pi, gyroscope sensor, DC motors, and motor driver to implement the same balancing behavior from scratch.
3. The balancing algorithm, which calculates motor power needed to balance based on angle, angular velocity, velocity, and position measurements from the gyroscope.
This document summarizes Stephanie Tomasetta's 2014 design portfolio. It includes projects focused on designing for autonomous vehicles, 3D printed ski pole baskets, an injection molded bitcoin mining robot, ergonomic 4-arm crutches, a portable slit lamp for developing countries, a chevron cutting board, a pop-up hospital room light card, a polycarbonate pinata, a vinyl record carrying case, Spanish-inspired table accessories, and a walking hippogriff robot. The projects utilized various design and prototyping processes like 3D printing, CNC machining, laser cutting, molding, and linkage optimization.
The document summarizes the design process for a robot resembling Stitch from Lilo & Stitch. Key points include:
1) The major design specification was for the robot to resemble Stitch and perform a 360 spin and head bob. Limited interaction with the partner constrained specifications.
2) Early concerns included servo motor power and limited power/size constraints. The robot was constructed inside a stuffed Stitch doll to improve aesthetics.
3) Several design sketches were evaluated before combining features into a final design. CAD modeling revealed fit issues addressed by redesign.
4) Diagrams show the robot assembly, connections between laser-cut parts and servos, and dimensions to ensure proper fits.
Team 772 designed their 2012 robot, Droid, using CAD software to fully design the robot before building. The design process included analyzing the game, brainstorming ideas, prototyping ideas, and then creating a full CAD design. The robot, Droid, included a chassis with sheet metal plates and pneumatic tires to drive over bumps. It also had a ball collector using a conveyor system, a turret assembly that could rotate the shooter, and a double-wheeled shooter assembly to shoot balls accurately and quickly. The full design process and CAD design allowed the team to build the robot faster and have more time for programming.
Jack Greenfield has worked on several projects involving designing, building, and fabricating mechanical devices. These include designing a U-haul for transporting a motor controller behind an electric scooter, building a robot that could climb ski slopes and collect flags for the MITSKI competition, designing dashboards for electric scooters, and making PCB stand-offs and stencils. He has also designed and built injection molded parts, CNC milled parts, and waterjet fabricated parts for various projects involving yo-yos, RC cars, and laser kites. Most recently he designed and 3D printed nested hex wrenches and applied for a patent on this design.
Established: 2012. 12
Headquarter Office: Shenzhen
Annual Revenue: USD 85 Million (2019)
Number of Employees: 130+ person in total,
50+ Engineering staff
From the beginning, we dedicated ourselves to designing and developing Personal Electric Vehicle(PEV) technology and products.
We're a High-tech enterprise, with an experienced engineering team (Hardware, Software, Mechanical, Structure, Industry design), to provide the total solution of e-Mobility products for customers.
Established: 2012. 12
Headquarter Office: Shenzhen
Annual Revenue: USD 85 Million (2019)
Number of Employees: 130+ person in total
50+ Engineering staff
From the beginning, we dedicated ourselves to designing and developing Personal Electric Vehicle(PEV) technology and products.
We're a High-tech enterprise, with an experienced engineering team (Hardware, Software, Mechanical, Structure, Industry design), to provide the total solution of e-Mobility products for customers.
The team presented their critical design review for a position welder turntable clutch system. The team aims to create a functional clutch mechanism that engages and disengages the turntable within the given housing constraints. Their proposed solution uses a dog clutch engaged by a lever-actuated fork shifter assembly. Calculations were presented to analyze the gear dynamics, fork shift deflection, and detent ball-spring lock. A prototype is being machined and will undergo testing to validate the design meets the project requirements within budget and on schedule.
This document summarizes a presentation given at RubyConf 2015 about building self-balancing robots using Ruby and various hardware platforms.
The presentation covered:
1. Using the LEGO Mindstorms EV3 with mruby-ev3rt to build an inverted pendulum robot that balances itself.
2. A DIY approach using a Raspberry Pi, gyroscope sensor, DC motors, and motor driver to implement the same balancing behavior from scratch.
3. The balancing algorithm, which calculates motor power needed to balance based on angle, angular velocity, velocity, and position measurements from the gyroscope.
This document summarizes Stephanie Tomasetta's 2014 design portfolio. It includes projects focused on designing for autonomous vehicles, 3D printed ski pole baskets, an injection molded bitcoin mining robot, ergonomic 4-arm crutches, a portable slit lamp for developing countries, a chevron cutting board, a pop-up hospital room light card, a polycarbonate pinata, a vinyl record carrying case, Spanish-inspired table accessories, and a walking hippogriff robot. The projects utilized various design and prototyping processes like 3D printing, CNC machining, laser cutting, molding, and linkage optimization.
The document summarizes the design process for a robot resembling Stitch from Lilo & Stitch. Key points include:
1) The major design specification was for the robot to resemble Stitch and perform a 360 spin and head bob. Limited interaction with the partner constrained specifications.
2) Early concerns included servo motor power and limited power/size constraints. The robot was constructed inside a stuffed Stitch doll to improve aesthetics.
3) Several design sketches were evaluated before combining features into a final design. CAD modeling revealed fit issues addressed by redesign.
4) Diagrams show the robot assembly, connections between laser-cut parts and servos, and dimensions to ensure proper fits.
This document outlines Joshua Duschen's senior project to design a robot to evaluate a pneumatic conveyor line for Bolthouse Farms. It describes the problem of conveyor guides widening over time, causing bottles to get stuck. The robot will use a sensor to detect areas where guides have widened by 2mm or more. The timeline and materials list are provided for the project to be completed over two semesters. Initial designs explored used plastic components but were found to be too malleable, so aluminum will be used instead. Different sensor options are considered, leaning toward a proximity sensor.
This document describes a vending machine project created by Group 20. It includes subsystems like a rotating door, cup separator using a solenoid wedge design, and an aluminum outer casing. It discusses the manufacturing and assembly plan, challenges encountered like shelves splitting, and modifications made like directly attaching the motor. The document concludes with a discussion of the merits of the simple design, an estimated cost of £85, and aspects they want to improve like the user interface.
1) The project aimed to design a robotic arm called RoboArm that could autonomously sort and place colored blocks to complete a Trinity "T" puzzle.
2) RoboArm used a camera and LabVIEW software to analyze block colors, determine positions, and guide the arm using five degrees of freedom.
3) While RoboArm successfully completed the puzzle, using hardcoded positions reduced accuracy and scanning positions slowed it down. Improving the design with encoders and a more advanced vision system could enhance RoboArm's efficiency and accuracy.
The document outlines details about the AT&T IoT Hackathon event in Seattle, including:
- The event will provide AT&T APIs, networking opportunities, and prizes for winning projects.
- Guidelines specify that projects must be functional, originally conceived and implemented at the event. Presentations will be 3 minutes long.
- Various hardware like Arduino boards and Raspberry Pis will be available to loan for projects.
- Participants are encouraged to discuss ideas and form teams.
Arduino Line Following Robot Technical ReportGeorge Jenkins
Technical report for my introduction to engineering project that involved designing, building, and testing a line following car which implemented Arduino.
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This paper describes the design and 3d print of an explorer robot with suspension rocker-bogie which is
based in the robots sent into space. Also, it describes of software to acquire the image in real time and the
control of robot. It should be noted that space exploration has been a feature of governments for many
years. Nowadays there are companies that can transport loads to space; There are also companies that
have made great advances in robotics and manufacturing.These technological advances can help in space
exploration, either by making robots lighter and easier to manufacture or even by creating pieces and tools
from space.
This document summarizes the design and 3D printing of an explorer robot with a rocker-bogie suspension system. The robot was designed using CAD software and printed using PETG plastic. It utilizes a Raspberry Pi computer, camera, battery, motor drivers, and 6 motors to enable remote control and video streaming capabilities. The rocker-bogie suspension allows the robot to navigate difficult terrain and obstacles up to twice the diameter of its wheels. 3D printing was chosen for its low-cost and ability to rapidly manufacture replacement parts if needed.
DESIGN AND 3D PRINT OF AN EXPLORER ROBOTmeijjournal
This paper describes the design and 3d print of an explorer robot with suspension rocker-bogie which is based in the robots sent into space. Also, it describes of software to acquire the image in real time and the control of robot. It should be noted that space exploration has been a feature of governments for many years. Nowadays there are companies that can transport loads to space; There are also companies that have made great advances in robotics and manufacturing.These technological advances can help in space exploration, either by making robots lighter and easier to manufacture or even by creating pieces and tools from space.
DESIGN AND 3D PRINT OF AN EXPLORER ROBOTmeijjournal
This document summarizes the design and 3D printing of an explorer robot with a rocker-bogie suspension system. The robot was designed using CAD software and printed using PETG plastic. It utilizes a Raspberry Pi computer, camera, battery, motor drivers, and 6 motors to enable remote control and video streaming capabilities. The rocker-bogie suspension allows the robot to navigate difficult terrain and obstacles up to twice the diameter of its wheels. 3D printing allows for low-cost, rapid manufacturing of replacement parts which could benefit space exploration.
The document describes the prototyping process of a caterpillar robot using LEGO blocks, Tinkercad, 123D Design, and 123D Make software. It discusses creating initial prototypes in Tinkercad and 123D Design to understand the caterpillar's assembly and system. A third prototype used 123D Make to take the 123D Design model and generate parts that could be constructed in real life. Problems encountered included 123D Design frequently force quitting and inability to fully edit preexisting designs. Group members collaborated through planning ideas together, having one member lead each analysis, design, and execution stage, and summarizing work into a single document.
The document reports on a student project to design and build a battery-powered RC car that can travel 100 meters in a straight line while carrying a 1 kg load. The team used project management tools like a Gantt chart and Pugh matrices to evaluate design options and materials within their $100 budget. They designed a 4-wheeled car with a square body and metal framing. Testing showed the car could travel over 40 meters but struggled with added weight. The team learned not to over-test and to focus on a simple design to reduce errors.
The document is a second review report for a minor group project on designing a 360-degree rotating car jack. It includes sections on introduction, acknowledgements, problem statement, objectives, hypothesis, methodology, implementation, results, conclusion, and recommendations. It discusses the concept of a car jack that can rotate a car 360 degrees, breaking from traditional constraints. It also includes details on existing car jack systems, proposed system, materials used, applications, and abilities. Specifications are provided for some popular car models along with their body type, dimensions, seating capacity, fuel type, weight and engine details. The conclusion states that exploring a 360-degree moving car jack was an exciting journey that pushed boundaries of automotive support and accessibility.
The document provides an overview of the author's achievements and experiences in robotics competitions. It discusses how the author won regional and state championships for Vex Robotics competitions and went on to compete at the world championship. The author aims to share their technical journal documenting their robot design process to demonstrate their engineering skills. They provide details on their robot's chassis, claw, lift system, and testing and evaluation process as they worked to improve their design for future competitions.
This document outlines the design of an autonomous robot created for an EGRE 364 course final project. It describes the mechanical, electrical, and software design of the robot, which was meant to navigate a maze, follow a black line, and draw a picture. The mechanical design consisted of a plastic base with breadboards for structure and mounting motors, wheels, and sensors. The electrical design used an H-bridge chip and microcontroller to control motors and read sensors. The placement of components like motors, wheels, and sensors is explained in detail with diagrams.
This document describes a major project to create a multi-role vehicle (MR Vehicle) that can rotate 180 degrees using a lifting frame mechanism mounted in the center. The MR Vehicle would allow reversing in damaged or narrow roads. It would be constructed using components like a screw shaft, DC gear motors, sliding channels, and a metal frame. The project aims to add a joystick to control the lifting and rotational motions. Diagrams show how the screw shaft and gear motors would allow the vehicle body to lift and rotate independently of the wheels. The goal is to make reversing and parking easier, especially in tight spaces.
The document describes a robotic boat CAD project created by a team of 4 students. The boat was designed to be remotely controlled via IR sensors and have features like flashing lights and a rubber band shooter. Significant planning was required to ensure all components (microcontroller, motors, battery) would fit while allowing the boat to float. The team spent many hours designing the hull, hulltop, cabin, and functional parts in Creo and Solidworks to achieve their goals. Key parts included the motor housings, propeller shaft, and gear mechanism for the rubber band shooter. The final boat design was able to meet all intended functions and had an appealing physical appearance.
This document describes the design and development of a sensor controlled trolley. It begins with an introduction to trolleys and their use in industry. Site visits were conducted at two factories to observe problems with current manual trolleys. The main problems identified were cleaning of tracks, limited work space, and difficult loading/unloading. Design objectives were set to increase mobility and work space for workers. A literature review covered sensor-controlled carts and robots. Components of the proposed sensor-controlled trolley include sensors, a controller, motors, and a battery. Path tracking will be achieved using IR and ultrasonic sensors. An Arduino board will serve as the controller. The trolley structure will be made of I-channel material
This portfolio contains 3D models created by Darragh Murphy using SolidWorks software. It includes models of a LEGO space shuttle with 127 components and a LEGO rescue helicopter with 157 components, both modeled after original LEGO sets. It also contains designs for a digital kettle and a go-kart chassis created for engineering projects, featuring additional controls, aerodynamic testing simulations, and impact compliance tests to meet competition regulations. The portfolio consists of over 25 figures showcasing the 3D models from various angles and with technical details.
#1246 Programmable Mobile Controller Student workbookSandy Lu
The document describes Gigo Learning Lab's building block-based educational packages. It details the features of each package, which use a construction-based curriculum to teach scientific concepts through hands-on building. The packages promote creativity, innovative thinking, and teamwork. They include lessons of varying difficulties and a cloud-based learning platform to track student progress. The goal is to help students apply what they learn to real life and develop problem-solving and innovation skills.
IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of mechanical and civil engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in mechanical and civil engineering. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
An improved modulation technique suitable for a three level flying capacitor ...IJECEIAES
This research paper introduces an innovative modulation technique for controlling a 3-level flying capacitor multilevel inverter (FCMLI), aiming to streamline the modulation process in contrast to conventional methods. The proposed
simplified modulation technique paves the way for more straightforward and
efficient control of multilevel inverters, enabling their widespread adoption and
integration into modern power electronic systems. Through the amalgamation of
sinusoidal pulse width modulation (SPWM) with a high-frequency square wave
pulse, this controlling technique attains energy equilibrium across the coupling
capacitor. The modulation scheme incorporates a simplified switching pattern
and a decreased count of voltage references, thereby simplifying the control
algorithm.
Software Engineering and Project Management - Introduction, Modeling Concepts...Prakhyath Rai
Introduction, Modeling Concepts and Class Modeling: What is Object orientation? What is OO development? OO Themes; Evidence for usefulness of OO development; OO modeling history. Modeling
as Design technique: Modeling, abstraction, The Three models. Class Modeling: Object and Class Concept, Link and associations concepts, Generalization and Inheritance, A sample class model, Navigation of class models, and UML diagrams
Building the Analysis Models: Requirement Analysis, Analysis Model Approaches, Data modeling Concepts, Object Oriented Analysis, Scenario-Based Modeling, Flow-Oriented Modeling, class Based Modeling, Creating a Behavioral Model.
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based in the robots sent into space. Also, it describes of software to acquire the image in real time and the
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years. Nowadays there are companies that can transport loads to space; There are also companies that
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This document summarizes the design and 3D printing of an explorer robot with a rocker-bogie suspension system. The robot was designed using CAD software and printed using PETG plastic. It utilizes a Raspberry Pi computer, camera, battery, motor drivers, and 6 motors to enable remote control and video streaming capabilities. The rocker-bogie suspension allows the robot to navigate difficult terrain and obstacles up to twice the diameter of its wheels. 3D printing was chosen for its low-cost and ability to rapidly manufacture replacement parts if needed.
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This paper describes the design and 3d print of an explorer robot with suspension rocker-bogie which is based in the robots sent into space. Also, it describes of software to acquire the image in real time and the control of robot. It should be noted that space exploration has been a feature of governments for many years. Nowadays there are companies that can transport loads to space; There are also companies that have made great advances in robotics and manufacturing.These technological advances can help in space exploration, either by making robots lighter and easier to manufacture or even by creating pieces and tools from space.
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Electric vehicle and photovoltaic advanced roles in enhancing the financial p...IJECEIAES
Climate change's impact on the planet forced the United Nations and governments to promote green energies and electric transportation. The deployments of photovoltaic (PV) and electric vehicle (EV) systems gained stronger momentum due to their numerous advantages over fossil fuel types. The advantages go beyond sustainability to reach financial support and stability. The work in this paper introduces the hybrid system between PV and EV to support industrial and commercial plants. This paper covers the theoretical framework of the proposed hybrid system including the required equation to complete the cost analysis when PV and EV are present. In addition, the proposed design diagram which sets the priorities and requirements of the system is presented. The proposed approach allows setup to advance their power stability, especially during power outages. The presented information supports researchers and plant owners to complete the necessary analysis while promoting the deployment of clean energy. The result of a case study that represents a dairy milk farmer supports the theoretical works and highlights its advanced benefits to existing plants. The short return on investment of the proposed approach supports the paper's novelty approach for the sustainable electrical system. In addition, the proposed system allows for an isolated power setup without the need for a transmission line which enhances the safety of the electrical network
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
artificial intelligence and data science contents.pptxGauravCar
What is artificial intelligence? Artificial intelligence is the ability of a computer or computer-controlled robot to perform tasks that are commonly associated with the intellectual processes characteristic of humans, such as the ability to reason.
› ...
Artificial intelligence (AI) | Definitio
Comparative analysis between traditional aquaponics and reconstructed aquapon...bijceesjournal
The aquaponic system of planting is a method that does not require soil usage. It is a method that only needs water, fish, lava rocks (a substitute for soil), and plants. Aquaponic systems are sustainable and environmentally friendly. Its use not only helps to plant in small spaces but also helps reduce artificial chemical use and minimizes excess water use, as aquaponics consumes 90% less water than soil-based gardening. The study applied a descriptive and experimental design to assess and compare conventional and reconstructed aquaponic methods for reproducing tomatoes. The researchers created an observation checklist to determine the significant factors of the study. The study aims to determine the significant difference between traditional aquaponics and reconstructed aquaponics systems propagating tomatoes in terms of height, weight, girth, and number of fruits. The reconstructed aquaponics system’s higher growth yield results in a much more nourished crop than the traditional aquaponics system. It is superior in its number of fruits, height, weight, and girth measurement. Moreover, the reconstructed aquaponics system is proven to eliminate all the hindrances present in the traditional aquaponics system, which are overcrowding of fish, algae growth, pest problems, contaminated water, and dead fish.
Use PyCharm for remote debugging of WSL on a Windo cf5c162d672e4e58b4dde5d797...shadow0702a
This document serves as a comprehensive step-by-step guide on how to effectively use PyCharm for remote debugging of the Windows Subsystem for Linux (WSL) on a local Windows machine. It meticulously outlines several critical steps in the process, starting with the crucial task of enabling permissions, followed by the installation and configuration of WSL.
The guide then proceeds to explain how to set up the SSH service within the WSL environment, an integral part of the process. Alongside this, it also provides detailed instructions on how to modify the inbound rules of the Windows firewall to facilitate the process, ensuring that there are no connectivity issues that could potentially hinder the debugging process.
The document further emphasizes on the importance of checking the connection between the Windows and WSL environments, providing instructions on how to ensure that the connection is optimal and ready for remote debugging.
It also offers an in-depth guide on how to configure the WSL interpreter and files within the PyCharm environment. This is essential for ensuring that the debugging process is set up correctly and that the program can be run effectively within the WSL terminal.
Additionally, the document provides guidance on how to set up breakpoints for debugging, a fundamental aspect of the debugging process which allows the developer to stop the execution of their code at certain points and inspect their program at those stages.
Finally, the document concludes by providing a link to a reference blog. This blog offers additional information and guidance on configuring the remote Python interpreter in PyCharm, providing the reader with a well-rounded understanding of the process.
Optimizing Gradle Builds - Gradle DPE Tour Berlin 2024Sinan KOZAK
Sinan from the Delivery Hero mobile infrastructure engineering team shares a deep dive into performance acceleration with Gradle build cache optimizations. Sinan shares their journey into solving complex build-cache problems that affect Gradle builds. By understanding the challenges and solutions found in our journey, we aim to demonstrate the possibilities for faster builds. The case study reveals how overlapping outputs and cache misconfigurations led to significant increases in build times, especially as the project scaled up with numerous modules using Paparazzi tests. The journey from diagnosing to defeating cache issues offers invaluable lessons on maintaining cache integrity without sacrificing functionality.
Advanced control scheme of doubly fed induction generator for wind turbine us...IJECEIAES
This paper describes a speed control device for generating electrical energy on an electricity network based on the doubly fed induction generator (DFIG) used for wind power conversion systems. At first, a double-fed induction generator model was constructed. A control law is formulated to govern the flow of energy between the stator of a DFIG and the energy network using three types of controllers: proportional integral (PI), sliding mode controller (SMC) and second order sliding mode controller (SOSMC). Their different results in terms of power reference tracking, reaction to unexpected speed fluctuations, sensitivity to perturbations, and resilience against machine parameter alterations are compared. MATLAB/Simulink was used to conduct the simulations for the preceding study. Multiple simulations have shown very satisfying results, and the investigations demonstrate the efficacy and power-enhancing capabilities of the suggested control system.
2. About Us
LegoGoa Axi0m 22588
Hi! We are team 22588 and we are the first
team from Goa This is our first time in FTC.
Our team consists of 14 students from
different parts of Goa and one is based in
Delhi. We have participated and won many
robotics competitions. We have also
conducted many outreach activities to
students from various sections of our
society.
The vision of our team is to create awareness
about STEM to all students. That is why our
tagline is 'Engineering The Future.'
3. Our Robot
LegoGoa Axi0m 22588
GoBILDA Mecanum Wheels
GoBILDA Chassis
3D Printed Cone Grabber
Coning Arm
3D Printed Cone Holder
VIper Slider Kit
Parts Used To Make This Robot:
Our robot has approx. 72 versions out of that here are some of the main versions.
We didn't have multiple robots. To improve our robot we made multiple changes
like replacing wheel gear designs and using 3D printed parts.
Current Version
Evolution Of Our Robot
4. LegoGoa Axi0m 22588
Season TImeline
November
We started this journey in November.
We learnt CAD Skills and also raised
sponsorships.
December
In December we carried out our major
outreach activities. We also learnt
programming and made a good amount
of progress in the build. We also
participated in a grabber making
challenge by Team 20890.
January
In this month we focused more on the
build and programming. We also
bought a 3D printer. The veteran team
20890 had come to help us refine our
build and code.
February
This month was the end of outreaches
and we completed the build mostly.
(removing the gear racks.) We also
made the locking mechanism for the
cone holder. March
We refined and debugged the code and
started serious practice for robot
controlling. We also printed our
manuals and practiced the
presentation. We were now ready to hit
the road.
5. LegoGoa Axi0m 22588
Robot Mechanisms
Chassis
In the first version, the team connected 3 REV C
Channels with M3 screws. We later changed the
chassis build to fit mecanum wheels and had to
wait for a kit to arrive. In the second version, we
connected 3 U-channels with M4 screws and
attached quad-block mounts on either side of
the middle U-channel. In the third version, Team
Sigma 20890 advised us to use a C-channel with
Make-X pieces for support. In the fourth version,
the coach took the robot to a metal cutting shop
to remove extra metal and the plates were later
used as a base for the slider. In the final version,
we removed heavy parts and added lighter
ones, attached handles for easy carrying, and
removed a gear rack that made some chassis
supports unnecessary.
Slider
Initially, we tried heavy kitchen drawer slides
as sliders but found them too heavy. We learnt
to create a cascade system to make all sliders
move simultaneously, but attaching them at
an angle was problematic. We tried goBILDA
viper slider kit, but had difficulty stringing due
to the sliders being at an angle. We returned
to a linear stringing system. Team Sigma
suggested using one spring with more tension
and adding another slider. During driver
practice, the string snapped, and we replaced
it with a stronger string.
6. Robot Mechanisms
Claw
We took inspiration from
a design we found on
the internet by another
team. We changed the
claw to be better suited
to our robot. Their claw
was also very
complicated a hard to
assemble. We improved
on this by changing the
different parts of the
robot to make it easier to
attach.
LegoGoa Axi0m 22588
Mecanum Wheels
We used a 90-degree
bevel gears to connect
the motors to the
mecanum wheels. As
the grub screws fell out
multiple times, we used
a medium-strength
thread locker to secure
the grub screws and
ensure that the wheels
were tightly attached to
the motors. Mecanum
wheels allow us for
quick navigation around
the field.
Wiring
The messy and lengthy
wires were trimmed.
Wire sleeves were used
to organize slider, claw,
and claw arm wires, with
a beam added to
prevent wire sleeves
from getting stuck. Extra
wheel wiring was placed
under the middle C-
Channel. A REV Battery
powers the robot, with a
switch connected to the
Control Hub mounted
on the slider side with a
plate.
Claw Arm
The claw arm was built
by attaching two beams
to the chassis and
putting a Servo Motor in
the middle. The Core
Hex motor was replaced
with an HD Hex motor
due to speed issues, &
the beam was replaced
with a C-Channel for
support. Finally, two
square plates were
added to the chassis
end, and the claw arm
was attached with
spacers & a bracket for
protection.
7. Design Process (Cone Holder)
LegoGoa Axi0m 22588
To make the base of the cone holder we took the
measurements of the cone and made a rough shape of the
cone holder. We made sure that near the top, the holder
was a lot wider than the cone so that it could receive the
cone from any angle. We added a little bump near the
bottom to align the cone into the holder properly. We also
added an elongated stick that could directly connect to
our servo motor for us to move the cone holder.
The problem with this design was that the cone holder was
a bit too big and the cone could slip around inside it. So we
made the cone holder a bit smaller and changed the inner
bump from a round tip to a conical shape. We also
removed the connecting stick and instead burnt through
holes for screws near the top.
We needed an active locking mechanism powered by a
servo that would hold the cone in place so that even when
we made the cone holder upside down, the cone would
still remain in place and then we could navigate to the
junction and then release the cone. To do this, we first
considered having an arm near the outside of the cone
holder which would then push the cone inward. But after
thinking for a while, we came up with the genius idea of
having the positional bump be taller and then extending a
mechanism into the cone. We then had to think of what
mechanism we could use which would be so small but still
be able to extend properly. Our first idea was to use a gear
rack and gear on the inside which when spun would
extend out and into the cone.
8. Programming
LegoGoa Axi0m 22588
We selected this strategy because we thought
that parking is very easy and gives us guaranteed
20 points. Later we tried adding extra cones to
increase our points.
We used tensorflow to train the custom designed
signal sleeve. We store the signal sleeve number
in a variable. We drop the preloaded cone into the
high junction and then pick one cone from the
stack and drop it in the high junction. Then we
read the variable and park according to it as near
as possible to the substation so that we can
continue during the manual period easily.
PID : Proportional-Integral-Derivative
We used the PID algorithm to position the robot at a desired angle for picking
(90°) the cone and dropping it (135°) in the high junction during the autonomous
period. The IMU sensor values are used to estimate the robot's current position.
9. Scores
Day 1 Day 2 Day 3
150
100
50
0
Top 8 Scores AutoN TeleOP EndGame
147 40 74 33
143 40 71 32
130 40 70 20
125 40 65 20
100 40 40 20
90 40 30 20
70 30 28 12
60 30 18 12
Scoring Strategy
Game Statistics
LegoGoa Axi0m 22588
We cycle really well during our
matches. We also have a cone lock
system that prevents our cones from
falling and our scoring accuracy also
increases. In Autonomous period we
score two cones in the high junctions
and we do parking based on the
custom signal sleeves number. In the
Manual period. During the end-game
we score 2 cones in a medium
junction near our sub-station. Then
we go to a vacant high junction and
cap our beacon.
10. Overall Outreach
LegoGoa Axi0m 22588
Outreaches Students Reached
We divided our outreach activities into 2 categories. FIrst is to create awareness
by reaching to maximum number of people and second is intensive training
sessions to a smaller group of students. It helped us to create a stronger
community by building relationships within the team and with other teams. It
provided valuable opportunities for the team members to develop critical skills like
communication, leadership, and teamwork. Finally, outreach activities helped our
team gain recognition and build a positive reputation in the community.
Hours Volunteered
16
16 400
400 1800
1800
Students
Demos Media Media
300+
300+ 10+
10+ 5L+
5L+
News Articles Impressions/Reach
Lakhs
WE BECAME THE TALK OF THE TOWN!
11. Biggest Outreach @Science Fiesta, Goa Science Centre
LegoGoa Axi0m 22588
Science Fiesta organized by Goa Science Center is a part of the National Science
Day celebrations and leading Scientific and Research institutions across the
country participated in the event. During the event Team Axiom conducted an
FTC awareness session. A presentation with all the necessary details was
prepared. A quiz was conducted during the session and the winners were given
a hands-on experience with our robot. A few parents seemed interested and
asked questions. We managed to outreach to a large number of people.
People Reached
Hours Spent By
Team
250+
250+ 8+
8+
12. Outreach 2 & 3
LegoGoa Axi0m 22588
Chorao is a quiet island in the Mandovi
River. We reached there by taking a ferry.
It was indeed an amazing experience on
the ferry. Here we faced technical
challenges like audio failures and power
cuts. Team Axiom conducted an FTC
awareness session. A presentation with all
the necessary details was prepared. Quiz
was conducted during the session and
the winners were given a hands-on
experience with our robot.
This session commenced by explaining
what robots are, how they function, and
what sensors and motors are. We
explained how to code a Robot and also
gave a brief introduction to FTC. We
helped the participants understand how
Lego Mindstorm works and helped them
when they had issues assembling a Robot.
After building the Robot, we explained
how the Ev3 works and how to use it. For
demonstration, we taught them how to
code the Robot to move forward and
backwards. We showed them how to take
turns and asked them to code the Robot to
traverse in a square. After trying a few
times, they eventually traversed in
predetermined squares and rectangles.
People Reached
70+
70+
Hours Spent
400
400
13. Outreach 4 & 5
LegoGoa Axi0m 22588
We conducted a workshop to create
awareness about various coding-robotics
competitions held at the
international/national/state level. The
students of grade 5 to grade 10 from
Progress High School (Government
School) free of cost!
The students were very excited to attend.
The team member got a chance to clear
up various doubts. They also had a fear of
learning robotics. After attending this
workshop, this fear was gone. The team
motivated them to participate in the
Codeavour 2022 AI competition. This
competition is free of cost for Goa Board
students of std 6th to 8th.
The experience was unique as the school
for specially-abled children. We taught
them EV3 Lego robotics, the platform and
coding with the assistance of the teachers.
It had the construction of the Robot,
learning about the components, coding the
Robot and testing the performance as per
the program. The teachers translated our
talk through sign language for students
with hearing impairments. The teammates
also had taken special efforts in teaching
other students and were well supported by
the teaching staff. The students were
overwhelmed with joy at our learning and
their smiles brought happiness to all
members.
People Reached
100+
100+
Hours Spent
11
11
14. Outreach 42000
Sponsorships 513000
Fees Collected in total 322000
Total Earning 877000
Team Sigma Meetup 21300
Accommodation Advance 29040
Photoshoot 4000
Kits & Hubs 437120
Registration 56640
Miscellaneous 177000
Total Spent 853906
FInance & Marketing
LegoGoa Axi0m 22588
Income
Expenditure
Sponsors