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Technical Director Handbook

To Be A Champion You Need to Play Like a Champion

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Table of Contents 1 INTRODUCTION ...... 9 1.1 Purpose ...... 9 1.2 Scope ...... 9 1.3 Audience ...... 9 1.4 References ...... 9 1.5 Definitions ...... 10 2 OVERVIEW...... 10 2.1 Description ...... 10 2.1.1 Robot Definition ...... 11 3 ROBOT ARCHITECTURES ...... 11 3.1 Robot Mechanical Architecture ...... 11 3.1.1 FIRST Robot Sub-Systems ...... 12 3.2 Robot Controls Architecture...... 13 3.2.1 FIRST Robot Electrical Sub-Systems ...... 13 4 TECHNICAL TEAM ORGANIZATION ...... 14 4.1 Technical (Engineering) Team Organization Chart ...... 14 4.2 Technical Discipline Leader Responsibilities ...... 15 4.2.1 Technical(Engineering) Director ...... 15 4.2.2 Mechanical Build Team Leader ...... 15 4.2.2.1 Supplementary Team Leader ...... 15 4.2.2.2 CAD Team Leader ...... 16 4.2.3 Controls Team Leader ...... 16 4.2.3.1 Electrical Team Leader ...... 16 4.2.3.2 Software Team Leader ...... 17 4.2.4 Strategy - Scouting Teams ...... 17 4.2.4.1 Game Strategy Team Leaders ...... 17 4.2.4.2 Scouting Team Leader ...... 17 4.2.5 Safety Team Leader ...... 18 4.2.6 PIT Team Leader ...... 18 4.2.7 Drive Team ...... 18 4.2.7.1 Drive Team Coach ...... 18

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4.2.7.2 Drive Team Robot Driver / Co-Pilot ...... 18 4.2.7.3 Drive Team Human Player ...... 19 5 DESIGN PROCESS ...... 19 5.1 Design Process steps ...... 19 5.2 Design Process Map ...... 21 6 CONCEPT DECISION PROCESS ...... 22 6.1 Concept Controlled Convergence ...... 22 7 PROJECT MANAGEMENT ...... 22 7.1 Personal Characteristics ...... 22 7.2 Project Planning ...... 23 7.2.1 Work Breakdown Structure (WBS) ...... 23 7.3 Reporting Process ...... 23 7.3.1 Team Management Reporting Process ...... 23 7.3.2 Off-Season and Pre-Season Reporting Process ...... 23 7.3.3 Build Season Team Reporting Process ...... 24 7.3.4 Design Reviews ...... 24 8 TECHNICAL MILESTONE SCHEDULES ...... 25 8.1 Off-Season (April - August) ...... 25 8.1.1 Team ...... 25 8.1.2 Mechanical ...... 25 8.1.3 Electrical ...... 25 8.1.4 Software ...... 25 8.2 Pre-Season (September - December) ...... 25 8.2.1 Mechanical ...... 25 8.2.2 Electrical ...... 26 8.2.3 Software ...... 26 8.2.4 Scouting ...... 26 8.3 Build-Competition Season (January - March) ...... 26 8.3.1 Week 1: Robot Requirements Capture/Develop Robot Concept ...... 26 8.3.2 Week 2: Develop Robot Concept/Preliminary Design ...... 27 8.3.3 Week 3: Detail Design/Robot Build ...... 27 8.3.4 Week 4: Robot Build/Robot Module Integration ...... 28 8.3.5 Week5: Robot Module Integration/Test and Evaluation ...... 28 8.3.6 Week6: Test and Evaluation/In Service-Competition ...... 29 9 TECHNICAL(ENGINEERING) NOTEBOOK...... 29

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9.1 Technical(Engineering) Notebook Leaders ...... 29 9.2 Technical(Engineering) Notebook Content ...... 29 10 TECHNICAL TRAINING ...... 29 10.1 Leadership Training ...... 29 10.2 Mechanical Training ...... 30 10.3 Electrical Training ...... 30 10.4 Software Training ...... 30 10.5 Pit Judge Response/Hospitality Training ...... 30 11 CONFLICT RESOLUTION ...... 30 11.1 FIRST " Gracious professionalism" ...... 30 11.2 Team Schedule Conflicts ...... 30 11.3 Behavior Conflict resolution hierarchy ...... 31 12 Appendix A: ROBOT GAME STRATEGY / ROBOT OPERATION - INSTRUCTIONS ...... 32 12.1 First Week of Build Season ...... 32 12.2 Game Strategy Flow Chart ...... 32 12.3 Robot Game Strategy Introduction ...... 33 12.4 Robot Game Strategy Schedule ...... 33 12.5 Materials needed ...... 33 12.6 Robot Game Strategy Development Teams ...... 33 12.7 Roles and Responsibilities ...... 33 12.8 Game Video - Manual...... 34 12.9 Scoring Analysis ...... 34 12.10 Play Analysis ...... 34 12.11 Robot Constraint Analysis ...... 34 12.12 Game Strategy-Robot Operation Development Overview ...... 35 12.12.1 Strategy Development ...... 35 12.12.1.1 Example Strategies ...... 35 12.13 Alliance Team's Strategy Development ...... 35 12.13.1 Team Strategy Development Process ...... 35 12.13.2 Scoring Cost-Benefit Analysis ...... 36 12.13.3 Strategy Failure Analysis...... 36 12.13.4 Robot key performance parameters (KPP) ...... 36 13 Appendix B: KICKOFF-BUS - INSTRUCTIONS ...... 37 13.1 Kickoff Meeting ...... 37 13.2 Bus Trip to HFL ...... 37

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14 Appendix C: GAME SIMULATION "ROBO SHUFFLE"- INSTRUCTIONS ...... 38 14.1 Game Simulation Introduction ...... 38 14.2 Materials Needed ...... 38 14.3 Game Simulation Teams ...... 38 14.4 Roles and Responsibilities ...... 38 14.5 Game Simulation Rules/Play ...... 39 14.5.1 Game Play ...... 39 14.6 Game Simulation results ...... 39 14.7 Homework ...... 40 15 Appendix D: ROBOT REQUIREMENTS / FUNCTIONS - INSTRUCTIONS ...... 41 15.1 Robot Requirements / Functions Introduction ...... 41 15.2 Robot Requirements / Functions Flow Chart ...... 41 15.3 Robot Requirements / Functions Schedule ...... 42 15.4 Robot Requirements / Functions Materials needed ...... 42 15.5 Robot requirements / functions Teams ...... 42 15.6 Robot Requirements / Functions Roles and Responsibilities ...... 42 15.7 Robot Alliance Strategy Completion Process ...... 42 15.7.1 Strategy Analysis ...... 42 15.7.2 Scoring Cost-Benefit Analysis ...... 43 15.7.3 Strategy Failure Analysis ...... 43 15.7.4 Robot key performance parameters (KPP) ...... 43 15.7.5 Alliance Team Presentations ...... 43 15.7.6 Robot Requirements Convergence Process ...... 44 15.7.7 Engineering Specifications ...... 44 15.7.8 Homework ...... 45 16 Appendix E: ROBOT CONCEPT DEVELOPMENT - INSTRUCTIONS ...... 46 16.1 Robot Concept Design Introduction ...... 46 16.2 Concept Development Flow Chart ...... 47 16.3 Concept Development Schedule ...... 47 16.3.1 First Week ...... 47 16.3.2 Second Week ...... 48 16.4 Concept Development Materials needed ...... 48 16.5 Robot Concept Design Roles and Responsibilities ...... 48 16.6 Robot Concept Design Process ...... 48 16.6.1 Module Concept Development Process ...... 48

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16.6.2 Module Concept Assessment ...... 49 16.6.3 Module Concept Refinement ...... 49 16.6.4 Module Concept Selection ...... 49 16.6.5 Module Concept Verification ...... 49 16.7 Concept Presentation ...... 49 16.8 Final Robot Concept Convergence ...... 49 16.8.1 Final Robot Concept Convergence Process ...... 49 16.8.2 Final Robot Concept Selection ...... 50 16.8.3 Final Robot Concept Assessment ...... 50 17 Appendix F: DECISION MATRIX- INSTRUCTIONS ...... 51 17.1 Controlled Convergence ...... 51 17.2 Decision Matrix Layout ...... 51 17.3 Decision Matrix Criteria ...... 52 17.3.1 Mobility Module ...... 52 17.4 Criteria Weight Options ...... 53 17.4.1 Method 1 ...... 53 17.4.2 Method 2 ...... 53 17.4.3 Method 3 ...... 53 17.5 Ranking Options ...... 53 17.6 Decision Matrix Concept Presentation ...... 54 17.7 Decision Matrix Criteria vs Concept Ranking Process ...... 54 18 Appendix G: ROBOT MECHANICAL DETAILED DESIGN - INSTRUCTIONS ...... 55 18.1 Design of Manufacture ...... 55 18.2 Design for assembly ...... 55 18.3 Weight Distribution ...... 55 18.4 Multi-functionality ...... 55 19 Appendix H: ROBOT ELECTRICAL DETAILED DESIGN INSTUCTIONS ...... 56 19.1 Electrical Design ...... 56 20 Appendix I: ROBOT SOFTWARE DETAILED DESIGN INSTRUCTIONS ...... 57 20.1 Software Design ...... 57 21 Appendix J: SCOUTING INSTRUCTIONS ...... 58 21.1 Scouting Introduction ...... 58 21.1.1 Pre-Season Scouting ...... 58 21.1.2 Scouting Tools ...... 58 21.1.3 Competition Scouting Roles and Responsibilities ...... 58

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21.1.4 Pit Scouting ...... 58 21.1.5 Match Scouting ...... 58 21.1.6 Alliance Selection ...... 59 22 APPENDIX K: PIT TEAM - INSTRUCTIONS ...... 60 22.1 PIT Team Introduction ...... 60 22.2 PIT Team Roles and Responsibilities ...... 60 22.3 Loading - Unloading Robot Trailer ...... 60 22.4 PIT Setup ...... 60 23 APPENDIX L: COMPETITION DRIVER TEAM - INSTRUCTIONS ...... 61 23.1 Competition Driver Introduction ...... 61 23.2 Competition Driver Pre-Competition ...... 61 23.3 Competition Driver Roles and Responsibilities ...... 61 23.3.1 Driver Coach ...... 61 23.3.2 Competition Drivers ...... 61 23.4 Competition Strategy ...... 61 24 APPENDIX M: LESSONS LEARNED - INSTRUCTIONS ...... 63 24.1 Continuous Improvement ...... 63 24.2 Lessons Learned process ...... 63 24.2.1 Lessons Learned and Review ...... 63 24.2.2 Lessons Learned Integration ...... 63

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REVISION HISTORY

DATE DESCRIPTION OF CHANGE V141215 RJV-Revised game instructions: clarify rolls, develop robot function list V141125 RJV-Revised game instructions to consider 6 independent approaches, schedule chart for decisions, decision process, revised instruction sheets, corrected wording to match design process description and following clarification descriptions V141115 RJV-updated instruction sheets, decision matrix, electrical architecture dia; added process map of design process V141030 Original draft

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1 INTRODUCTION

1.1 Purpose The purpose of this document is to provide a design process standard for engineering design / build / test / competition of a FIRST robot for CougarTech Team 2228.

This document also defines the project management process to execute the design process.

1.2 Scope The scope of this document covers the FIRST robot design process, project management and technical team leader responsibilities.

Scope gaps: 1) At this version 141125 the technical handbooks referenced in this document are not completed. They will be completed in 2015 2) Many design processes/management steps are not the present Standard Operating Procedure(SOP), however, they should be viewed as goals for the future. 3) The appendix design instruction sheets will be integrated into handbooks when they become available. 4) Document is weak in competition responsibilities and processes (scouting[pit-match]/drive team/pit team)

1.3 Audience The intended audience is the Technical(Engineering) director, sub-team leaders and Technical(Engineering) mentors.

1.4 References Team 2228 - 2007, 2012, 2013 Design Process

RAHS Robotics - Rapid Prototyping Concept

Memphis FIRST Teams - Winning Strategies for FRC

Team 1114 - Effective FIRST strategies for Design and Competition, YouTube: Simbot Seminar Series, simbotics.org/resources

Team 45: FIRST Robot Design: A Team Based Process

WPI: Strategy and Brainstorming, 2006,2007, 2008, Workshops and conference presentations

Chief Delphi: FRC role playing

Team 1511: penfieldrobotics.com/resources, wiki

Team 359: Behind the Lines episode 1: Things Every team Should Know

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Team 358: Team358.org/Team Resources

Team 2228 Mechanical Handbook

Team 2228 Electrical Handbook

Team 2228 Software Handbook

Team 2228 Competition(Scouting/Drive Team) Handbook

Team2228 Team Handbook

1.5 Definitions

CAD Computer Aided Design CCWM Calculated Contribution to Winning Margin COT Commercial Off the Shelf e.g. For example FIRST For Inspiration and Recognition of Science and Technology FRC FIRST Robotics Competition IDE Interface Development Environment i.e. That is I/O Input/Output KOP Kit Of Parts KPP Key Performance Parameters OPR Offensive Power Rating (this is an estimated contribution) PO Purchase Order PoP Proof of Principle PWM Pulse Width Modulation QFD Quality Function Deployment SOP Standard Operating Procedure STEM Science-Technology-Engineering-Math UL Underwritters Laboratory WBS Work Breakdown Structure (see section "Project Planning" for detailed description)

2 OVERVIEW

2.1 Description This document details the robot design process and project management process for FIRST robots based on industry standard design process and project management techniques. It is important to note that all members have a role on the robotics team. Note that there is no "I" in team.

The intention of this document is to document a team standard for robot design in FIRST that embraces the concepts of STEM: 1) Develop a critical thinking process

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2) embrace collaboration 3) engage in hands-on, open-ended participation 4) engage students in personally relevant projects This document also supports the athletic "Play Like a Champion Today" winning philosophy "GROW": Goals + Relationships + Ownership = Winning.

2.1.1 Robot Definition The term robot stems from the Czech word robota, which translates roughly as ‘dull, repetitive labour’. Word robot was coined by a Czech novelist Karel Capek in a 1920 in a play titled Rassum’ s Universal robots (RUR).

Robot Institute of America, 1979 defines a robot as: A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks.

3 ROBOT ARCHITECTURES A robot converts electrical energy via commands into mechanical energy to do work. The following sections show the mechanical and control architecture for a FIRST robot.

3.1 Robot Mechanical Architecture The following is a high level block diagram of the FIRST robot mechanical sub-system modules:

Literature from various FIRST teams refers to mechanical modules as manipulators. An Industrial robot manipulator is typically an arm mechanism created from a sequence of joint and linkage combinations, including the wrist. The wrist on the robot will also has an end effector (e.g. grippers, vacuum cups, spray guns, welding tools).

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The FIRST robot, as with industrial robots, is a reprogrammable, multifunctional manipulator designed to move materials, parts, or tools through programmed motions for the performance of a variety of tasks.

3.1.1 FIRST Robot Sub-Systems There are four basic modules or sections in the mechanical anatomy of a FIRST robot. They are as follows: 1) Mobility Module(Drive Train): The drive train consists of motors through a gear train( mechanical advantage) to drive the robots wheels. (e.g. 6 wheel/2 gear boxes tank drive, or 4 macanum wheels/2 gear boxes, or 5 omin wheel/3 gear boxes slide drive, 4 wheel/8 gearbox swerve(crab) drive) 2) Acquisition Module: The input acquisition module gathers the FIRST game object into the robot and/or receives the game object from a human player or other robot. (e.g 2014-Aerial Assist exercise ball acquisition capture, or 2013-Ultimate Ascent Frisbee capture Shute for human placement of Frisbees) 3) Orientation Module: The orientation process module stores and/or transports and/or orients the game object for the action module to act on the game object. (e.g 2013-Ultimate Ascent Frisbee orienteer/stacker, or 2012-Rebound rumble basket ball storage and conveyor system to ball shooter) 4) Action Module: The action module performs an action on the game object. Typically this action is to place the object or throw the object. (e.g. 2014-Aerial Assist exercise ball thrower, or 2013- Ultimate Ascent frisbee shooter)

Note: Combining modules reduces complexity and improves efficiency of the robot. For example, in "2014-Aerial Assist" one robot design combined the game object Acquisition, Orientation and Action Modules into one mechanism that could lower for acquisition and raise for shooting.

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3.2 Robot Controls Architecture The following is a high level block diagram of the FIRST robot control system modules:

3.2.1 FIRST Robot Electrical Sub-Systems There are five basic sub-systems in the electrical anatomy of a FIRST robot. They are as follows: 1) Power System: The power system provides energy through a battery. The robot is energized through a main power switch and through a power distribution panel. On the power distribution panel the electrical system is protected by the use of fuses that break the electrical circuit on excessive current. 2) Controller: The controller provides the logical sequence of commands to control mechanisms. It uses sensors to understand the state of the robot. Through a program sequence actuators are activated to provide mechanical motion to the robot. 3) Sensors: Sensors are transducers which convert one form of energy into another form to sense mechanical motion (e.g. Light energy[white light/infrared light] - with light energy present there is an electrical signal/no light, no electrical signal[e.g. encoders, horse shoe sensor], other sensors used sense magnetic, force, or pressure). These sensors provide useful information to the robot logic on the state of the mechanical mechanisms. 4) Actuators: These devices produce connectivity between the electrical system and the mechanical mechanisms. Actuators on the robot convert electrical energy into magnetic

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energy. Typical actuators include motor drives => motors, solenoid valves => pneumatic cylinders. 5) Devices: Devices are intelligent sensors or systems that have custom programs that manipulate sensor/actuator information and communicate data back to the robot controller.

4 TECHNICAL TEAM ORGANIZATION

4.1 Technical (Engineering) Team Organization Chart

The team captains are responsible for maintaining the assignment of team members to sub- teams in the organization chart.

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4.2 Technical Discipline Leader Responsibilities Project leaders are the first level of team members that define the character of the team. Thus your commitment to the team has far reaching consequences. The expected time commitment to the team includes: All team meetings, workshops, 4-5 days a week during actual build season and attendance at outreach events.

Each discipline leader should have an understudy that can be a backup. The understudy in conjunction with the discipline mentor will continue executing present tasks.

4.2.1 Technical(Engineering) Director The Technical(Engineering) Director is responsible for overseeing the sub-team work through the design process. The Technical(Engineering) Director responsibilities include, but not limited to: 1) Robot design Team Leader - Mechanical / Electrical / Software 2) Develops the Technical(Engineering) notebook 3) Manages the overall robot build schedule 4) Hosts the build season team status meetings 5) Reports to the Team 2228 management

4.2.2 Mechanical Build Team Leader The robot build team leader is responsible for overseeing the work to build and assemble the robot during build season. The work also includes maintenance of the robot at competitions and during the off season. The Robot Build team leader responsibilities include, but not limited to: 1) Develops a work breakdown structure(WBS) and schedule with sub-team mentor for the robot build 2) Maintain a build schedule and keeps mechanical build team to the schedule through supervision and communication 3) Communicates mechanical build progress to robot design team 4) Work closely with CAD, electrical and programming teams 5) Monitors mechanical weight of robot - documented on a spreadsheet; formatted as the following: item/module/component name/weight 6) At competition, responsible for maintenance and upkeep of the robot 7) Supervises work in pit during competitions in coordination with Safety Captain

4.2.2.1 Supplementary Team Leader The supplementary team reports to the operations part of the team, however, they have responsibilities to support the technical part of the team.

For the technical part of the team, the supplementary team leader is responsible for overseeing the work of the supplementary team to build game field elements for robot testing and to support construction of the CougarTech Pit at competitions. The Supplementary team leader responsibilities include, but not limited to: 1) Interprets FIRST-supplied blueprints of the playing field and builds parts of the field according to those specifications. 2) Develops a work breakdown structure(WBS) and schedule with team mentor

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3) Oversee mechanical build in accordance with mechanical standard (Mechanical Handbook) 4) Organize and supervise design and build of all non-robotic materials including: crate, pit, and practice field; design and construct bumpers for robot; manage workshop and inventory of tools; coordinate with marketing the pit design regarding, and placement of, corporate logos on robot 5) Support field component assembly for robot testing at the end of the robot build cycle

4.2.2.2 CAD Team Leader The CAD team leader is responsible for overseeing the work of the CAD team in developing CAD models of the robot and fabrication drawings of the mechanical components that require machining. The CAD team leader responsibilities include, but not limited to: 1) Oversees the development of CAD models of the overall robot structure and feasibilities of design choices in accordance with CAD standard (CAD Handbook) 2) Oversees the development of robot sub-system prototypes 3) Maintains a CAD design notebook 4) Provides annotated Bill Of Materials(BOM) - annotation BOM is formatted as follows: item/quantity/part name/mfg/mfg part number/cost/web address of spec sheet 5) Insure BOM is delivered to the Technical(Engineering) director for the Technical(Engineering) notebook 6) Communicates CAD progress to robot design team 7) Coordinates with mechanical and electrical build teams all pertinent information regarding the robot design

4.2.3 Controls Team Leader There is a close relationship between the control system and the control program. There may be one team leader for the electrical and software components of the robot or there can be separate team leaders for the electrical and software.

4.2.3.1 Electrical Team Leader The electrical team leader is responsible for overseeing the work of the electrical team to provide electrical support for the robot build team and software team. The electrical team leader responsibilities include, but not limited to: 1) Oversee electrical design including electronics, sensor systems, motion systems and wiring in accordance with electrical standard (Electrical Handbook) 2) Develops robot build work breakdown structure (WBS) and schedule with team mentor 3) Communicates electrical build progress to robot design team 4) Provides annotated electrical Bill of Materials (BOM) - annotation BOM is formatted as follows: item/quantity/part name/mfg/mfg part number/cost/web address of spec sheet 5) Monitors electrical weight of robot - documented on a spreadsheet; formatted as the following: item/module/component name/weight 6) Provides cost analysis of the robot electrical system 7) Provides electrical documentation: schematics, Robot controller I/O definition

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4.2.3.2 Software Team Leader The software team leader is responsible for overseeing the work of the software team to provide control logic for the robot and to support control testing during the build season and at competition. The software team leader responsibilities include, but not limited to: 1) Oversee software design including I/O definition, programming schema, robot functions in accordance with software standard (Software Handbook) 2) Develops robot build work breakdown structure (WBS) and schedule with team mentor 3) Communicates software program progress to robot design team 4) Oversees software support for offseason robot activites 5) Oversee robot programming 6) Provides software documentation: robot program, Robot drive station-robot setup instructions

4.2.4 Strategy - Scouting Teams Strategy and scouting have a close relationship. Typically the strategy team is lead by the team captain and vice-captain with a separate team leader for scouting.

4.2.4.1 Game Strategy Team Leaders The strategy team leaders are responsible for leading the team through the robot strategy sessions during the robot build season. The strategy team leaders responsibilities include, but not limited to: 1) With the Technical(Engineering) Director, Oversee the process to analyze the game and determine the game strategy 2) With the Technical(Engineering) Director, Oversee the process to develop the robot requirements (Robot Function / Design constraints) 3) With the Technical(Engineering) Director, Oversee the process to develop the robot concepts and final design

4.2.4.2 Scouting Team Leader The scouting team leader is responsible for overseeing the work to provide the team with data on robots from other teams and robot/driver performance. This information is used for improving team 2228 match performance and alliance team selection. The scouting team leaders responsibilities include, but not limited to: 1) Oversees the design/analysis of game competition in accordance with Scouting standard (Scouting Handbook) 2) Oversee the development of competition scouting data collection process 3) Assign and coordinate scouts during competitions. This should include Pit scouting and match scouting. 4) Oversee the development of an alliance selection process that includes the types of data to be used 5) Provide current team data to drive team 6) Oversee database of teams/capabilities during competition 7) Oversee preparation / deliver of competition scouting information for alliance selection team

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4.2.5 Safety Team Leader The safety team leader is responsible for overseeing the work to keep each CougarTech member safe by understanding and observing all safety rules in the shop and at competition. The safety team leader responsibilities include, but not limited to: 1) Oversees the team safety in accordance with Safety standard (Safety Handbook) 2) Plan, create, and present annual team safety seminar 3) Work with team members to participate in hands on safety training 4) Distribute and collect safety glasses in the shops 5) Coordinate safety of tools and oversee tools management 6) Download, print, and understand the current year safety manual, including safety (MSDS) information about batteries 7) Represent Team to UL as Safety Captain 8) Act as Pit Boss at all competitions, monitor pit safety, proper tool use, and remove non pit crew personnel.

4.2.6 PIT Team Leader The pit crew team leader oversees the operation of the pit at competitions. The pit team leader responsibilities include, but not limited to: 1) Maintenance of robot 2) Trouble shooting lead with a software member

4.2.7 Drive Team The Drive Team is a tightly coordinated team for running the robot. The drive team coach should be the drive team leader.

The drive team is expected to have backups in the event they are not able to participate.

4.2.7.1 Drive Team Coach The role of the coach is to know the strategy for the entire alliance and communicate well with other teams on the alliance, relay relevant information to the driver and collector, be able to coordinate all three teams so that they can work as one, and have the ability to change the strategy mid-game when needed

The drive team coach responsibilities include, but not limited to: 1) The Coach’s job is to coordinate the Drive Team & keep track of all things happening during a match, and advise the Driver, Co-Pilot, & Human Player as they deem necessary 2) Coordinate with other teams in an alliance strategy

4.2.7.2 Drive Team Robot Driver / Co-Pilot The drivers’ main focus is to efficiency execute fundamental driving maneuvers. Even a great strategy will fail if with poor fundamental driving. The driver should definitely know all the in’s and out’s of how to: control their robot, pinning, as well as how to avoid being pinned

The drive team driver responsibilities include, but not limited to: 1) Drive the robot during competitions 2) The co-pilot is to control robot devices during competitions

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4.2.7.3 Drive Team Human Player The human player responsibilities are defined in the game rules. The human player plays an important role in the game object cycle time. The human player needs to minimize the time a robot does not have a game object.

The drive team human player responsibilities include, but not limited to: 1) The human player is to carry out the tasks set forth by the game rules for human players during competitions 2) The human player is expected to be present or a backup at all competition matches

5 DESIGN PROCESS

5.1 Design Process steps The design process sequences through the following steps: 1) Robot Requirements Capture ("Understand "WHAT") [See appendix instruction sheets: Robot Game Strategy/Robot Operation; Kickoff- Bus; Game simulation "Robo Shuffle"; Robot Requirements/Functions] a) Go to kickoff and obtain game/robot manuals b) Develop robot functions to play the game c) Build the field - simulate the game d) Understand design constraints from FIRST(FIRST robot rules) e) Design Review/Release to develop the robot concepts f) Update Technical(Engineering) Notebook 2) Develop Robot Concept("Think "it" through - Develop "HOW") [See appendix instruction sheets: Robot Concept Development; Decision Matrix] a) Develop possible solutions through convergent thinking. This process entails research, possible previous solutions, math calculations, process physics) b) Review Kit of Parts (KOP) c) Articulate the possible solutions in two and three dimensions(sketch it) d) prototype designs in wood or other simple materials to see if concepts work [Proof of principle(PoP)] e) Refine possible solutions - integrate robot functions into one mechanism if possible f) Select best solution g) Design Review - Release to develop preliminary robot design h) Update Technical(Engineering) Notebook 3) Preliminary Design("original CAD tool - Your brain/pencil and paper: Sketch it-try it- Improve it ") [See appendix instruction sheets: Robot Concept Development; Decision Matrix] a) Per module specification order mechanical parts b) Develop preliminary CAD drawings of modules c) Per module specification and functional specification develop electrical architecture / order parts d) Develop prelim electrical layout

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e) Define I/O for control system software f) Define control software structure / software modules g) Design review - Release to do detail design h) Update Technical(Engineering) Notebook 4) Detailed Design("The devil is in the details) [See appendix instructions: Mechanical/Electrical/Software Design] a) Develop CAD drawings / BOM / BOM weight per CAD handbook b) Develop electrical schematics / BOM / BOM weight per electrical handbook c) Develop control software per software handbook d) Design review - Release to build module components e) Update Technical(Engineering) Notebook 5) Robot build(Fabrication: "Measure twice - cut once") [See Handbooks: Mechanical/Electrical/Software Handbooks] a) Mechanically build robot modules per mechanical handbook b) Electrically build controls for mobility module per electrical handbook c) Electrically build complete controls all robot modules per electrical handbook d) Update Technical(Engineering) Notebook 6) Robot module integration(Assembly) [See Handbooks: Mechanical/Electrical/Software Handbooks] a) Integrate mechanical modules to mobility module b) Integrate electrical modules to robot modules / wire sensors-actuators to control sub-systems c) Update Technical(Engineering) notebook 7) Test and Evaluate [See Handbooks: Mechanical/Electrical/Software Handbooks] a) Test robot to functional / design specification b) Test drive robot c) Update Technical(Engineering) Notebook 8) In service / Competition [See appendix Instructions: Scouting; Competition Driver] a) Adjust, re-design or improve robot design/performance b) Update Technical(Engineering) Notebook 9) Lessons learned [See appendix Instructions: Lessons Learned] a) Robot teams review work done during robot build season vs team handbooks and update handbooks per lessons learned.

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5.2 Design Process Map The following map is a Tribus(inventor of diagram) Diagram that shows the relationship of the design process steps and discipline teams work. Process Step Description Mechanical CAD Electrical Software 1) Requirements -Kickoff game video Support robot Support robot Support robot Support robot Capture -Game/Robot Manuals strategy/functional strategy/functional strategy/functional stategy/functional -Development of "WHAT" spec spec spec spec -Design Review Review/Release to develop Robot functional spec per decision process detailed in "Requirements Instructions" robot concept 2) Robot Concept Development of "HOW" Develop robot Develop mobility -Support prototypes -Support prototypes mechanisms module CAD; start -Define sensors, prototypes robot module CAD actuators 3) Preliminary Engineering calculations Perform engineering Complete mobility Develop electrical -Develop software Design calculations module CAD architecture architecture -Develop mobility module software -Design Review Review/Release to design Final Robot concept per decision process detailed in "Concept Instructions" robot 4) Detailed Design Engineering Documentation -Build mobility Complete CAD/ Fab Complete Electronic Complete module of "HOW" module part dwgs docs: Schematics; logic description -Start fabrication I/O definition; fuse where possible map; panel layouts -Design Review Review/Release of fab Design "Walk Through" for mechanical, electrical and software designs("Mistake Proofing") parts/electrical assemblies 5) Build Material machining Build modules Update CAD to fab Build electrical Test drive station and part changes panels mobility module 6) Integration Mechanism integration Assembly robot Update CAD to Assembly electrical Test I/O functionality modules assembly changes panels to robot 7) Test / Evaluation Robot module testing, Support mechanical Update CAD to Support robot Lead module testing performance testing mechanisms changes electrical /performance eval 9) Lessons Learned Design/Build/Competition Review/Update Review/Update Review/Update Review/Update review handbooks handbooks handbooks handbooks

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6 CONCEPT DECISION PROCESS

6.1 Concept Controlled Convergence There are many solutions to a problem. The concept selection process goal is to decide on the best solution.

Think of selection as "controlled convergence" (Pugh, 1981), that is you are doing a multi-step process to narrow down the choices. The first round in a decision process is not the last round. Your decision process may show that after each selection stage, combine and strengthen existing concepts and use the selection results to generate new, stronger concepts for the next selection round. Often, more info must be gathered before the next selection round is possible.

The decision matrix (see appendix on decision matrix instructions) should be used to select and document team decisions. The rating process is accomplished by consensus. Consensus is everyone agreeing with a rating of a concept against a criteria item with the rating values provided. Math will determine the final decision.

Democracy should ensue… but a monarchy may come about during an impasse. The Technical Mentors shall make the decision.

7 PROJECT MANAGEMENT As the project managers(Technical(Engineering) Director and Team Leaders), your job is to plan, budget, oversee and document all aspects of the specific project you are working on. Project managers will work closely with upper management to make sure that the scope and direction of each task is on schedule.

Remember perfection can kill a schedule. “Never let perfectionism get in the way of getting a good job done” To meet the schedule everyone has to understand the plan-support the plan-execute the plan.

The mentors role is to advise and assist in the development of the plan and execution. A mentor will intervene if plan or execution do not meet project milestones.

7.1 Personal Characteristics Project leaders are the first level of team members that define the character of the team. Thus your commitment to the team has far reaching consequences.

The personal characteristics of a project team leaders include, but not limited to: 1) Behave ethically: All leaders should follow FIRSTs' "Gracious Professionalism" 2) Communicate Effectively: Using appropriate communications tools, leaders in a timely manner should speak, listen and write clearly 3) Lead: Leaders should always influence others to achieve results for the team with a positive attitude

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4) Plan: Team leaders should understand team strategies, create implementation plans and evaluate progress 5) Solve Problems: Assess problem situations to identify causes, gather and process relevant information, generate possible solutions, and make recommendations and/or resolve the problem

7.2 Project Planning In the next section two levels of planning are described. The High level task schedule and the detailed weekly task schedule. To accomplish the goals of Team 2228 the team leaders need to develop plans to meet these goals. This is accomplished in the following manner. 1) Based on team strategies develop a scope of work(high level tasks) 2) Create a detailed work break down structure(WBS) which identifies and sequences the activities/documentation needed to successfully accomplish each task 3) Identify resources, training needs, task deliverables, technical approach, and system development process 4) Execute the plan and provide effective communications between the teams and the management team

7.2.1 Work Breakdown Structure (WBS)

7.3 Reporting Process There are three reporting processes. The team management reporting process and the team reporting process.

7.3.1 Team Management Reporting Process The Management/Mentor meetings provide a forum to effectively keep the teams focused on critical elements of the seasonal team phases. The Team Management meetings also provides an effective forum to present problems, shift resources, make decisions. We have named this meeting the "4square".

When: Prior to each team meeting or as needed. Thus, each team meeting night would have the following schedule: 1) Team Leader/Mentor meeting/ team members would bring out and setup all equipment needed for their respected areas. (30min) 2) Execute team meeting plan (3hr) 3) Return team equipment to storage and have an end team meeting (30min) Chair: Team Captain and Vice-Captain Who: Captains, Technical(Engineering) and Operations Directors/Mentors and Lead Mentors Agenda: 1. Status of team events/tasks, next steps, and help needed.

7.3.2 Off-Season and Pre-Season Reporting Process During the Off-Season and Pre-Season, Team Leader/Mentor meetings are required. The Team/Mentor meetings provide a forum to effectively keep the teams focused on critical tasks for the particular season. The Team Leader/Mentor meetings also provides an effective forum to present problems, shift resources, make decisions.

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When: Prior to each team meeting or as needed. Thus, each team meeting night would have the following schedule: 1) Team Leader/Mentor meeting/ team members would bring out and setup all equipment needed for their respected areas. (20min) 2) Execute team meeting plan (3hr) 3) Return team equipment to storage and have an end team meeting (20min) Chair: Captain / Vice-Captain Who: Team Leaders / Mentors Agenda: 1. Progress toward team event milestones; 2. brief status of teams, next steps, and help needed.

7.3.3 Build Season Team Reporting Process During the robot build season Team Leader/Mentor meetings are required. The Team/Mentor meetings provide a forum to effectively keep the teams focused on critical elements of the build season. The Team Leader/Mentor meetings also provides an effective forum to present problems, shift resources, make decisions.

When: Prior to each team meeting or as needed. Thus, each team meeting night would have the following schedule: 1) Team Leader/Mentor meeting/ team members would bring out and setup all equipment needed for their respected areas. (30min) 2) Execute team meeting plan (3hr) 3) Return team equipment to storage and have an end team meeting (30min) Chair: Technical(Engineering) Director Who: Team Leaders / Mentors Agenda: 1. Progress toward design/build milestones; 2. Brief status of teams, next steps, and help needed. 3. Review: game play, KPPs, design and related decisions

7.3.4 Design Reviews Design reviews are import part of any design process. They accomplish the following: 1) Catch errors early 2) Allow everyone to be on the same page of understanding 3) Reduces re-work (Saves time in design process) The intension is NOT to REDESIGN or to CRITICIZE the design. There are multiple answers to any problem. The only question at hand is "Does the solution meet the requirements"

When: Prior to each design phase Chair: Technical(Engineering) Director Who: Sub-Team Leaders / Mentors Agenda: Information presented should be electronic documentation showing design documentation (sketches/calculations/decision matrix/drawings). For fabricated parts dimensioned drawings should be presented.

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8 TECHNICAL MILESTONE SCHEDULES

8.1 Off-Season (April - August)

8.1.1 Team 1) Team lessons learned meeting and handbook update

8.1.2 Mechanical 1) Cleanup/Reorganize the team closet 2) Cleanup/Store mechanical parts away after competition 3) Do a Mechanical Part Inventory 4) Mechanical Inventory BOM: Format of BOM should be organized out as following: a) Item number b) Item description c) Key part parameter description d) Item manufacture Part number e) Supplier Part Number f) Supplier web site address PDF spec sheets should be saved on the team school hard drive 5) Development Team projects to improve team skills(Old/New team leader and team) 6) Participation in team community activities

8.1.3 Electrical 1) Cleanup/Store electrical parts away after competition 2) Do an Electrical Part Inventory 3) Electrical Inventory BOM: Format of BOM should be organized out as following: a) Item number b) Item description c) Item manufacture Part number d) Supplier Part Number e) Supplier web site address PDF spec sheets should be saved on the team school hard drive 4) Development Team projects to improve team skills(Old/New team leader and team) 5) Participation in team community activities

8.1.4 Software 1) Archive robot software 2) Development Team projects to improve team skills(Old/New team leader and team) 3) Participation in team community activities

8.2 Pre-Season (September - December)

8.2.1 Mechanical Mechanical task for the Pre-Season: 1) Competition Robot Ready for Ruckus 2) Competition Robot breakdown after Ruckus and update mechanical inventory BOM

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3) Mechanical Shop Tool Training 4) CAD training 5) Safety Training 6) Mechanical tool inventory (Determine what tools are broken) 7) Mechanical Cost Budget 8) Mechanical part pre-orders - A notebook should be keep for PO requests

8.2.2 Electrical Electrical tasks for the Pre-Season: 1) Electrical Shop Tools training 2) Electrical schematic training 3) Safety Training 4) Competition Robot breakdown after Ruckus and update electrical inventory BOM 5) Electrical Tool Inventory (Determine what tools are broken) 6) Electrical Cost Budget 7) Electrical part pre-orders - A notebook should be keep for PO requests.

8.2.3 Software Software tasks for the Pre-Season: 1) Software language training 2) Software development environment (IDE) 3) Robot program structure training 4) Robot software standard(code grammar rules) training 5) Download software upgrades for lap top and install 6) Robot I/O software construct training 7) Software hardware Tool(PC/routers/modems/joy sticks/etc.) Inventory (Determine what tools are broken)

8.2.4 Scouting Scouting tasks for the Pre-Season: 1) Analyze completion team data for regional teams 2) Develop scouting training for team 3) Improve on data collection process

8.3 Build-Competition Season (January - March)

8.3.1 Week 1: Robot Requirements Capture/Develop Robot Concept Saturday: Go to kick off, study rules, develop strategy, and play game (Robot "What") Sunday: Complete robot strategy and develop robot module list

Design Research Teams(Mechanical/Electrical/Software): Develop concepts(i.e. concept sketches, prelim calculations, pro/con lists, decision matrix). Review KOP's.

Mechanical: Start prototype concepts to prove feasibility, order parts if needed

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Electrical: Support prototype electrical systems; Define electrical architecture; order parts if needed

Software: Define software architecture; Define I/O(i.e physical connection and agreed upon I/O names); develop mobility module code functional specification

Scouting: Develop scouting strategy for mobility module(i.e. pit crew/robot pit scouting sheet);

Technical(Engineering) notebook: electronic versions of: concept sketches, prelim calculations, pro/con lists, decision matrix; electrical architecture dwg; software I/O definition; Mechanical/electrical BOM; Mechanical/Electrical component weight

Design Review: Design review/release of mobility module for detailed design (mechanical/electrical/software)

8.3.2 Week 2: Develop Robot Concept/Preliminary Design Mechanical: Continue prototypes; Complete design calculations. Estimate robot weight; Build mobility module

Electrical: Support prototype electrical systems; Complete electrical architecture; Develop electrical layout with CAD team; Estimate electrical component weight; Build mobility module controls;

Software: Define software architecture; Define I/O; Develop mobility module code; Start robot functional specification

Scouting: Develop scouting strategy for robot(i.e. drive team/match scouting sheet)

Supplementary: Complete field goal construction by the middle of the week

Technical(Engineering) Notebook: electronic versions of: concept sketches, prelim calculations, pro/con lists, decision matrix; electrical architecture dwg; software I/O definition; software mobility functional specification

Design Review: Design review/design release to develop/complete detailed robot design

8.3.3 Week 3: Detail Design/Robot Build Mechanical: Develop robot detailed design; Design review/release of parts to manufacture; Driver training; Drivers test mobility module; check mobility module weight, Mechanical buid BOM: Format of BOM should be organized out as following: a) Item number b) Item description c) Key part parameter description d) Item manufacture Part number e) Supplier Part Number f) Supplier web site address PDF spec sheets should be saved on the team school hard drive

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Electrical: Integrate mobility controls; Develop electrical schematics; Develop fuse map diagram; Design review/release to build electrical sub-panels; Build electrical sub-panels, Mechanical buid BOM: Format of BOM should be organized out as following: a) Item number b) Item description c) Key part parameter description d) Item manufacture Part number e) Supplier Part Number f) Supplier web site address PDF spec sheets should be saved on the team school hard drive

Software: Load mobility software and test mobility module; Complete robot functional specification; Develop autonomous or end game program software

Drive Team/Scouting: Understand the capabilities of the mobility module and drivers. Start the driver strategy notebook

Technical(Engineering) Notebook: electronic versions of: concept sketches, prelim calculations, pro/con lists, decision matrix; electrical schematics; software I/O definition; robot functional specification Mechanical/electrical BOM; Mechanical/Electrical component weight

Design Review: Mechanical review/release of parts to manufacture; electrical schematic review/release to manufacture; software walk through of autonomous or end game program, scouting pit crew/robot pit scouting forms

8.3.4 Week 4: Robot Build/Robot Module Integration Mechanical: Complete part fabrications; Weigh fabricated parts; Start robot module assembly

Electrical: Bench test electrical sub-panels; Weigh electrical sub-panels; Program Jaguar motor drivers for CAN addresses; Check electrical fit on robot

Software: Test autonomous or end game software; Develop teleop robot software Technical(Engineering) Notebook: electronic versions of: concept sketches, prelim calculations, pro/con lists, decision matrix; electrical schematics; software I/O definition; robot functional specification Mechanical/electrical BOM; Mechanical/Electrical component weight

Design Review: Teleop software review/release (i.e. teleop software walk through)

8.3.5 Week5: Robot Module Integration/Test and Evaluation Mechanical: Complete module assembly; Fabricate spares; Support software testing

Electrical: Integrate electrical control panels; Support software testing

Software: Integrate software and test

Scouting: Develop match data collection forms and set up scouting training for team

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8.3.6 Week6: Test and Evaluation/In Service-Competition Mechanical: Drive the robot; Evaluate performance; BOM review; Weight review; Print out documentation for Technical(Engineering) notebook; Photograph; Bag and crate; Competition check list review

Electrical: Support robot evaluation; BOM review; Print out documentation for Technical(Engineering) notebook

Software: Support robot evaluations; print out documentation for Technical(Engineering) notebook

Drive Team: Complete robot operation understanding. Complete game strategy playbook.

Scouting: Complete data collection forms and set up scouting training for team

Technical(Engineering) Notebook: printout for completed notebook: concept sketches, prelim calculations, pro/con lists, decision matrix; electrical schematics; software I/O definition; robot functional specification(autonomous or end game/teleop); CAD images; Mechanical/electrical BOM; Mechanical/Electrical component weight

Design Review: Completed scouting forms; scouting training

9 TECHNICAL(ENGINEERING) NOTEBOOK

9.1 Technical(Engineering) Notebook Leaders The Technical(Engineering) Director is responsible for the development of the Robot Technical(Engineering) Notebook. Golden Rule: "If it is not written, it does not EXIST"

9.2 Technical(Engineering) Notebook Content The Technical(Engineering) notebook should contain, but not limited to the following items: 1) Engineering Design Process 2) Robot Functional Specification 3) Robot Concept development 4) Robot Calculations 5) Robot Specification 6) Robot BOM, Weight analysis 7) Robot design documentation: CAD drawings, electrical schematics, software program

10 TECHNICAL TRAINING

10.1 Leadership Training There are two levels to leadership training: 1. The Technical(Engineering) handbook will be used as the basis for team leadership training. Workshops will provide training in work breakdown structure, decision process, and communications; 2- Management skills(presentations, conflict resolution), Project management tools, Technical problem solving

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10.2 Mechanical Training The mechanical training content is detailed in the Mechanical Handbook. There are six levels of training. 1. Mechanical components. 2- Mechanical tool usage-Assembly techniques 3- Mechanical Mechanisms. 4-CAD, 5- Engineering dynamics(energy calculations), 6-Design excellence: design for manufacturing, six sigma design, 3D printing

The mechanical team should also have electrical training for components and tool usage.

10.3 Electrical Training The mechanical training content is detailed in the Electrical Handbook. There are six levels of training. 1. Electrical components. 2- Electrical tool usage. 3-Electrical design(schematics) 4- Electrical circuit theory/Electronic theory. 5- Engineering calculations. 6-Design excellence- custom design (e.g Printed Circuit boards), failsafe wiring

The Electrical team should also have mechanical training for components and tool usage.

10.4 Software Training The Software training content is detailed in the Software Handbook. There are four levels of training. 1. Software System Architecture / Software program architecture. 2- Software development tool usage. 3- Software algorithm theory. 4-Software design (e.g. UML)

The Software team should also have electrical training for components and tool usage.

10.5 Pit Judge Response/Hospitality Training The pit crew will go through judge training before competition. This training will entail how to respond to judge questions when they visit our pit.

11 CONFLICT RESOLUTION

11.1 FIRST " Gracious professionalism" Dr. Woodie Flowers, FIRST National Advisor and Pappalardo Professor Emeritus of Mechanical Engineering, Massachusetts Institute of Technology, coined the term "Gracious Professionalism®." Gracious Professionalism is part of the ethos of FIRST. It's a way of doing things that encourages high-quality work, emphasizes the value of others, and respects individuals and the community.

With Gracious Professionalism, fierce competition and mutual gain are not separate notions. Gracious professionals learn and compete like crazy, but treat one another with respect and kindness in the process. They avoid treating anyone like losers. No chest thumping tough talk, but no sticky-sweet platitudes either. Knowledge, competition, and empathy are comfortably blended." (www.usfirst.org)

“It's a way of doing things that encourages high-quality work, emphasizes the value of others, and respects individuals and the community.” (www.usfirst.org)

11.2 Team Schedule Conflicts If out of season or during build season scheduled work is not completing on time, mentors will help in organizing and support the work needed to be completed to meet schedule.

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11.3 Behavior Conflict resolution hierarchy It is expected that each team member comply with the HFL, RH school, and Gracious Professionalism rules of conduct.

Team Leaders are responsible for addressing issues with a "Gracious Professionalism" approach. Conflicts should not be address in the general public. If resolution is not obtained the team mentor and team management team should be informed.

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12 Appendix A: ROBOT GAME STRATEGY / ROBOT OPERATION - INSTRUCTIONS

12.1 First Week of Build Season Build season is the most intense part of FIRST Robotics. The first week also determines the robot character and the amount of work needed to develop the robot. To improve the success of the robot, a structured approach is used which includes the following steps: 1) Kickoff meeting - introduction to the game 2) Analysis of the rules and how points are gained 3) Development of a strategy(What the robot does during a match) 4) Concept Development - mechanical/electrical/software architecture 5) Concept Design selection - best solution to fit the defined robot strategy

There are four instruction sheets for the first few days of the build season: 1) Game analysis, Robot game strategy / robot operation 2) Kickoff 3) Game simulation 4) Robot concept design The work sheets provide a plan to develop a robot and have fun doing it.

12.2 Game Strategy Flow Chart

[See appendix Game Simulation "Robo Shuffle" instructions on game simulation]

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12.3 Robot Game Strategy Introduction Designing and building a cool robot is a lot of fun and one that does well in competition is even more fun. However, we should be wary or the cool factor. You have to understand "WHAT" you want to do before you can figure out "HOW" to do it.

Robot strategic analysis is an important part of the robot design. This is accomplished in the following manner: 1) Game analysis: Understand game play / rules 2) Scoring analysis 3) Strategy development (i.e "WHAT" does the robot have to do to play the game?) [note: strategy dictates robot design] 4) Simulate the game to test strategy

The end result of this exercise is to document scoring analysis and game strategy(functions robot has to perform).

12.4 Robot Game Strategy Schedule 7:00AM Leave HFL for Kickoff meeting 12:00PM Leave kickoff for HFL 1:00PM Get lunch(working lunch), Divide into alliances, watch game video, read game manual/robot manual and execute game analysis 1:30PM Prepare for game simulation 3:00PM Gather to play the game simulation 3:45PM Clean up 4:00PM Leave for the day

12.5 Materials needed The following materials are needed to develop the robot strategy. 1) Notebooks or notebook with loose leaf paper 2) Dry erase makers / dry eraser 3) Laptop computer / tablets to obtain rules 4) Overhead projector 5) Camera to record white boards

12.6 Robot Game Strategy Development Teams There will be two Robot game strategy development teams, the Team 2228 Red Alliance and the Team 2228 Blue Alliance. Members will be assigned before kickoff day and consist of team members from all disciplines (Technical/Operations) with experienced/non-experienced members. The leaders of these teams will be the Team Captain/Mentor and the Team Vice- Captain/Mentor respectively.

12.7 Roles and Responsibilities Team Leader - The team leader will be the captain and vice-captain. They are responsible for leading their alliance and delivering documentation and presenting to the whole team for convergence of data for the robot design in the requirements phase.

Alliance Scribe - A scribe shall be selected to collect information the alliance develops and formats the information for presentation to the team.

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Alliance Team Members - The alliance members are responsible for researching, developing ideas, having fun in the challenge. The alliance members will be further divided into alliance teams defined by the game. 1) Team Driver(Pilot): The team driver will drive the robot in the game simulation. The After each match the driver should document how the robot needs to move during the game simulation play. 2) Co-Pilot: : the co-pilot is responsible for rolling the dice to determine that an action is complete or a scoring action is successful. 3) Drive Coach: The team coach will communicate information to the driver/co-pilot/human player/scouts on play action occurring during the simulation and work with other alliance coaches. The team coach will flag the robot driver that actions are complete from the dice rolls. 4) Team Human Player: The human player will be provided per the game rules. 5) Team Scouts: The team scouts will document the robot operations and the time it takes to do the operations. The scouts need to note how many game cycles the robot can complete, how many times they received the game object, how many times they blocked, how many times they executed an action to score and if they did score from the dice roll.

12.8 Game Video - Manual Some team members and mentors shall stay at HFL to view kickoff game video and down load game manual and robot manual. Copies to be made available for returning team members to use in game strategy sessions.

On returning from the kickoff presentation, alliance members will get lunch and watch the game simulation video again with their respected alliances.

12.9 Scoring Analysis First things first: READ the rules The following should be considered and documented: 1) Examine every possible way to score points, no matter how obscure 2) How many opportunities do you have to score? 3) What would be a good score? 4) What would be a maximum score? 5) How do you prevent the other alliance from scoring? Develop a "Parking Lot" list of items you do not understand or have questions about.

12.10 Play Analysis The alliance team should then review the play rules with respect to fouls.

12.11 Robot Constraint Analysis The following steps should be completed to acquire all the robot constraints specified by FIRST 1) Read the robot manual 2) Record all robot constraints with respect to weight, size, operating environment

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12.12 Game Strategy-Robot Operation Development Overview

12.12.1 Strategy Development In developing a game strategy you expect to be the most successful consider the following: a) The strategy should yield the most points. b) How do we play the game? i. Offense / Defense / Teaming? ii. How do we play the game in autonomous or end game mode / Teleop mode? c) Will the strategy yield the most points? d) Competing strategies - How will they defend against us? e) Are their clues in the Kit Of Parts? Review the KOP. Parts provided may provide some information on what the game designers were thinking on how the robot should look like.

12.12.1.1 Example Strategies Offensively focused: Ex. Collect balls from the floor and move them across the field (with the ability to cross the bridge), score in the middle basket (also have ability to score in either middle level basket or the lowest basket if necessary), and balance on the bridge at endgame (potentially with other robots) [Rebound Rumble] Defensively focused: Ex. Collect basketballs from the floor on the opposing side of the field and move them to our side. When possible, obstruct the scoring position of opposing robots. Balance at endgame (potentially with other robots) [Rebound Rumble]

12.13 Alliance Team's Strategy Development

12.13.1 Team Strategy Development Process The alliance will break up into alliance teams with a driver, coach and team scouts. The coach will be the team leader. Mentors will also join an alliance team. The teams will separate to different locations in the building to develop their team strategy.

The team should think about the functionality of the mobility module. (i.e. The robot has to turn left or right as it moves forward. Or the robot needs to have two fronts so that the joy stick works the same way. Or the robot needs to do a 180 degree swing if blocked. etc...)

Note: use words(VERBS) that translate to mechanism functions (e.g. Raise/Lower, throw, pick up, climb, draw in, push/retract, catch, etc)

1) Develop a name for your team and a team number. 2) Pick competition members: driver/co-driver/coach/scouts 3) Each alliance team will then develop and document a robot play strategy for autonomous / teleop / end game that are defined by the rules. Make a sequence list of robot play action. (i.e like the play book of football moves; those x's and o's)

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4) Develop a robot function strategy with respect to the general robot model modules: (i.e. Mobility Module, Acquisition module, Orientation module, Action module). Develop a function list formatted as follows: Probability Number / robot model module / Robot function a) Probability number: 4 - acquisition module, 3 - orientation module, 2 - action module b) Robot module: Mobility Module, Acquisition module, Orientation module, Action module c) Robot function: function description(i.e. use verbs 5) For the mobility module the team should define the drive configuration: 4WD, 6Wheel-center wheel drive, or mecanum wheels

Each team member should have written down the above lists. The memebersalso review the information they need to collect and document. This will be used on Sunday to complete the alliance strategy.

12.13.2 Scoring Cost-Benefit Analysis For each task you must compare the difficulty of accomplishment to the reward for doing so. This is where the strategic value vs. coolness factor decision often pops up. The best tasks to perform are those which are relatively easy, yet provide big points. Also, remember denying your opponents points makes your alliance points more valuable.

12.13.3 Strategy Failure Analysis After combining strategy ideas look for any flaws in your strategies. The questions to ask include: a) Does this strategy make sense? b) Is the strategy legal with respect to FIRST Game/Robot rules? c) Is it feasible? d) Do you think the team could build this kind of robot? e) Does the team have the technology to build this robot? f) Does the strategy fit within the robot budget? Develop a "Parking Lot" list of items you do not understand or have questions about.

12.13.4 Robot key performance parameters (KPP) Determine the key performance parameters(KPP) of the robot (e.g. speed, weight, turn, push, range)

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13 Appendix B: KICKOFF-BUS - INSTRUCTIONS

13.1 Kickoff Meeting When watching the game animation, consider the following and write responses in your notebook: 1) What ways can you score? a) Point values for each possible action? 1. Autonomous Ex. Scoring into top basket for 2x points [2012-Rebound Rumble] 2. Tele-Op Ex. Scoring Frisbees into the middle goal [2013-Ultimate Ascent] 3. Endgame Ex. Mini bot racing up pole [2011-Logo Motion] b) Risks involved? 1. Ex. Potential damage from trying to climb the pyramid [2013-Ultimate Ascent]

2) What important rules were mentioned in the game animation? a) Ex. No pinning (contact for excess of 5 seconds) [2012-Rebound Rumble]

3) Were there any implied or explicitly stated suggestions? If so, what were they? a) Ex. Robot that shoots baskets [2012-Rebound Rumble] b) Ex. “… wise teams will design robots that can right themselves in case this happens…” (referring to flipping over when crossing the barrier) [Breakaway]

4) Did the animation mention any important features? If so, what? a) Ex. Massive barrier dividing field [Breakaway]

13.2 Bus Trip to HFL On the way back to HFL consider the following and enter them into your notebook: 1) Do not panic that you do not have the foggiest idea how the robot can be built. 2) Review the kickoff questions with others on the bus. 3) Think of ways you would play the game as if you were the robot 4) Think about the robot functions needed to play the game with respect to the general robot model (i.e. Mobility Module, Acquisition module, Orientation module, Action module)

Back at HFL we will be having a working lunch by watching the video again in our alliance groups.

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14 Appendix C: GAME SIMULATION "ROBO SHUFFLE"- INSTRUCTIONS

14.1 Game Simulation Introduction The game simulation provides the team the opportunity to test their alliance game strategies. The typical FRC field dimensions are 54ft x 27ft and the typical robot floor size is 32in x 38in. Due to school room the game will be played on at 1/2 scale in the hallway in front of gym A at HFL.

Thus the field dimensions will be 27 x 13 ft and the robot footprint will be 16 x 19in.

To simulate robot mobility and motion delays the robot driver shuffles the robot with a push/pull arm.

The game is set up to also simulate the time delays encountered in the game due to robot actions and human interaction with the robot.

14.2 Materials Needed The material needed for this simulation includes: 1) 6 robot frames and six push sticks 2) 6 die for action probability 3) 6 green flags for coaches 4) Phone with Stop watch application 5) Whistle and/or PA system 6) Yellow caution tape to mark off the playing field 7) Blue painters tape / Red painters tape? 8) Paper and pencils to record robot operations and scores 9) Cameras to record action 10) Cardboard / balloons to make game object props

14.3 Game Simulation Teams There are two alliances the RED and BLUE. The number of members will match the number listed in the game rules.

14.4 Roles and Responsibilities The following roles and responsibilities will be assigned: 1) Robot Driver: Each robot will have a driver. To execute an action the driver communicates to the coach and waits for confirmation. (e.g. the driver signals the coach that the driver wants to do a scoring action. The coach tells the co-pilot to roll the dice and then signals the driver with a green flag that the action is done. ) NOTE: THE DRIVER CAN ONLY WALK ON THE FIELD - NO RUNNING 2) Co-Pilot: The co-pilot will roll the die to determine the success of each action. For the actions defined in the strategy for acquisition and orientation the co-pilot rolls the die until the number is greater than the number specified on the strategy. For a scoring action the co-pilot only rolls ONCE. If the number is greater than 2 the scoring action was successful. 3) Robot Coach: The coach communicates with the driver/co-pilot/other alliance teams. The coach will tell the co-pilot to roll the die for actions requested by the driver (i.e. hand

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signals would be effective seeing there will be a lot of noise) and communicate the results (green flag) to the driver. 4) Time Keeper: The time keeper with the use of a phone stop watch application will keep time for the game per the game rules. 5) Human Player: The human player will perform the duties that are required by the game rules. 6) Scouting: all other enthusiastic alliance members will be scouts. They should cheer on their team and record acquisition attempts, defense attempts, scoring attempts and the value of die results. 7) Referees: There will be a referee for each alliance. Mentors will be the referees. Referees will count down all blocks and look for fouls. 8) Announcer: The announcer will start the game and narrate if they wish 9) Field/Game Object Construction: Mentors will builds the field with caution tape and makes game objects

14.5 Game Simulation Rules/Play

14.5.1 Game Play 1) The announcer will start the game and the timer will start the timer. 2) Autonomous or End Game: The robots will be place in their autonomous or end game position if there is an autonomous end game event in the game. The robot driver will move the robot and perform an autonomous or end game action by verbal/hand signal declaring the action(e.g. "SHOOT"). The coach will tell the co-pilot to get the die value and the coach will communicate the results to the driver(i.e. green flag). 3) Teleop Robot Operations: For every operation a robot does, the driver communicates to the coach and the coach will respond with a green flag from the die roll by the co-pilot. 4) Block: To block a robot an alliance robot driver must yell "BLOCK". Both robots involved must STOP. The blocking robot must stay the full referee "block" count down. 5) Scoring: For a scoring action the robot driver must communicate the action they are about to accomplish(e.g. "SHOOT", "LIFT", "PLACE") by verbal/hand signal. The coach will tell the co-pilot to get the die value and the coach will communicate the results to the driver(i.e. green flag). 6) End Game: If there is an end-game the timer should tell the announcer and robots should go to the proper location on the field. The driver will communicate by verbal/hand signal to the coach the robot operation. The coach will tell the co-pilot to get the die value and the coach will communicate the results to the driver(i.e. green flag). 7) The announcer needs to keep the field aware of the time 8) At the end of match the scouts will tally up the points for each alliance. 9) After each game the alliances should review their strategy and robot functions. 10) Repeat the game. Say best (3 out of 5) or (4 out of 7) games.

14.6 Game Simulation results The results of playing the game is to have everyone have a better understanding on how the game is played and what functions the robot has to do.

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14.7 Homework All alliance members should think of what was the best game strategy, what robot operations need to operate quickly, what needs to be robust, and what robot operations could be simplified.

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15 Appendix D: ROBOT REQUIREMENTS / FUNCTIONS - INSTRUCTIONS

15.1 Robot Requirements / Functions Introduction Today is interaction day. At this point the team members have a better understanding of the game and how it is played. The task at hand is to complete the robot functional specification. The robot functional specification will be the basis for the robot concept and design.

In the design of the robot the requirements is divided into two sections: 1) Functional Requirements 2) Design Constraints On our first day of the design season the team worked on the functional requirements of the robot with respect to the robot strategy to play the game.

Design constraints are the robot requirements that are listed in the FIRST robot manual. The combination of the functional and design constraints provides the foundation for robot concept development.

15.2 Robot Requirements / Functions Flow Chart

RED BLUE Alliance Alliance

Prepare for Prepare for -Review robot/alliance strategy vs game play team team -Develop electronic presentation presentation presentation

Converge robot function/ constraints

Robot -Add function execution times to robot Functional specification Specification

Define robot -“NAME” robot modules modules

-Assign members to robot module research Assign teams research -Mech/Elect/Software Discipline Leaders will be research team leaders teams

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15.3 Robot Requirements / Functions Schedule 1:00PM Alliances to complete review of design constraints/complete robot functions 1:45PM Alliances present their strategy and design constraints(7min each) 2:00PM Convergence of strategy and design constraints 2:30PM Robot strategy and design constraint Design Review 3:15PM Define robot concept study group teams(no team members are assigned) 4:45PM Plan for Monday 4:00PM Go home and start thinking about the "HOW"

15.4 Robot Requirements / Functions Materials needed The following materials are needed to develop the robot requirements. 1) Notebooks or notebook with loose leaf paper 2) Dry erase makers / dry eraser 3) Laptop computer / tablets to obtain rules 4) Overhead projector 5) Camera to record white boards

15.5 Robot requirements / functions Teams The same teams from the first day of the robot design will remain the same. The leaders of these teams will be the Team Captain/Mentor and the Team vice-Captain/Mentor respectively.

15.6 Robot Requirements / Functions Roles and Responsibilities Team Leader - The team leader will be the captain and vice-captain. They are responsible for leading their alliance and delivering documentation and presenting to the whole team for convergence of data for the robot design in the requirements phase.

Alliance Scribe - A scribe shall be selected to collect information the alliance develops and formats the information electronically for presentation for the team.

Alliance Members - The alliance members are responsible for providing the strategy for the robot.

15.7 Robot Alliance Strategy Completion Process From the first day's work each alliance team should complete its robot strategy(what the robot has to do) from their analysis and lessons learned in the game simulation. This includes: 1) Alliance team should review and document lessons learned from the game simulation. 2) Do a cost to benefit analysis 3) Do a strategy failure analysis 4) Develop key performance parameters 5) Complete electronic presentation of robot functions and robot design constraints from FIRST (i.e. a spreadsheet list of robot functions/constraints linked to generic sections of the robot).

15.7.1 Strategy Analysis In the strategy analysis the following questions should be asked: Drivers: 1) What strategy obtained the most points? 2) What driver operations were needed to play the game?

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3) How many cycles did the robot do during the game time? 4) How long did take to do the robot operations? 5) What worked best: defense/offence, combination? 6) What functions have to be very robust(e.g.([Areial Assist] capture ball quickly within a large range)? 7) Is every robot operation on the game object constrained (i.e If the robot pushes a ball with one point it will not go strait, however if it constrained by three points of contact the ball will move as directed)? Make a "Parking Lot" list of items you do not understand or have questions about.

15.7.2 Scoring Cost-Benefit Analysis For each task you must compare the difficulty of accomplishment to the reward for doing so. This is where the strategic value vs. coolness factor decision often pops up. The best tasks to perform are those which are relatively easy, yet provide big points. Also, remember denying your opponents points makes your alliance points more valuable.

15.7.3 Strategy Failure Analysis After combining strategy ideas look for any flaws in your strategies. The questions to ask include: a) Does this strategy make sense? b) Is the strategy legal with respect to FIRST Game/Robot rules? c) Is it feasible? d) Do you think the team could build this kind of robot? e) Does the team have the technology to build this robot? f) Does the strategy fit within the robot budget?

15.7.4 Robot key performance parameters (KPP) Determine the key performance parameters(KPP) of the robot (e.g. speed, weight, turn, push, range)

15.7.5 Alliance Team Presentations At the end of this stage of design, your alliance should have assembled all the necessary information to present your strategy to the team. This means explaining how you plan to score, gather game pieces, navigate the field, and any other ways you plan to play. Unlike before, this explanation should not be “simple,” but detailed and thorough. You should specify how each action is accomplished. Although more in depth, your strategy should avoid from describing specific components or physical systems and mechanisms.

1) This presentation should include a) How you plan to play the game during each portion (Autonomous, Tele-Op, and End Game) b) Specific actions (shoot rather than score), but no mention of specific components or dimensions Note: use words(VERBS) that translate to mechanism functions (e.g. Raise/Lower, throw, pick up, climb, draw in, push/retract, catch, etc) 2) Two lists should be developed

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a) Robot functionality: Things you want the robot to do(e.g. shoot balls, climb, gather, ...). The function list should be organized with respect to the robot model modules (i.e. Mobility Module, Acquisition module, Orientation module, Action module). b) Robot constraints: Constraints dictated by FIRST

15.7.6 Robot Requirements Convergence Process The robot requirements convergence process consists of the following steps 1) Each alliance presents its findings 2) The robot constraint lists are compared. Duplicate items are combined. These requirements have to be meet in the design of the robot. 3) The robot functionality lists are compared, duplicate items are combined, and one robot functionality list should result. 4) Robot functionality list classification and importance rating: This is the robot requirements convergence decision point. The approach is to rate each robot function by team consensus. (road block hierarchy: team captains/Technical(Engineering) Director => Technical Mentors) a) Function Classification: Each function should be classified as Acquisition, Orientation, Action, or Mobility. The spread sheet should be organized in the following manner: 1. Robot Model Module(Acquisition, Orientation, Action, or Mobility) 2. Robot importance 3. Robot Function/Constraint Description b) Each robot function importance should be rated as High(RED box), Medium(BLUE box), or LOW(Yellow box). 5) At this point we have a robot definition of what is important for the robot to do to play the game. And the robot functions have been organized with respect to a robot structure model, and design constraints that have to be met. 6) Reality Check: The team needs to do another strategy failure analysis. 7) The captain, vice-captain, and Technical(Engineering) director with the team will develop research teams for Monday. The discipline team leaders will be assigned as research team leaders.

15.7.7 Engineering Specifications At this point we have "marketing" functions for the robot. To improve the concept process there should be engineering specifications for each function. For example: Function: low speed force for defending and high speed to access goals. The engineering specification would be 1) load speed: 2ft/sec, 2) high speed: 18ft/sec. This would relate to a drive system with a two speed gear train. You just have to do the calculations.

The Technical(Engineering) Director is responsible for holding the robot functional and engineering specification.

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15.7.8 Homework 1) All team members should start to think about what mechanisms would meet the robot functional specification. The engineering specification provides the detail to size the mechanisms. 2) Read the concept development instructions

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16 Appendix E: ROBOT CONCEPT DEVELOPMENT - INSTRUCTIONS

16.1 Robot Concept Design Introduction The robot design concept process translates robot functionality into robot mechanisms. There are many solutions to a problem. Engineering is the iterative process to find an optimal solution for robot functionality. The process to develop concepts is based on convergent thinking where sub- teams use research, evaluation of previous work, engineering calculations, and process physics.

It has been found that concepts developed first by individuals and then refined by a team is more effective than a team starting with a blank paper and brainstorming ideas (e.g. FIRST, Microsoft, Facebook, Apple, Web browser, Ethernet[Xerox], however, NOTE that their concepts/ideas were based on the previous work of many individuals. Each of these inventions were based on needs of customers).

A complete robot mechanism concept addresses robot defined functionality with the integration of robot constraints defined by the robot rules.

The concept team should then with "Gracious Professionalism" review each concept and try to improve it. The assessment process will eliminate concepts that cannot be used and converge to the best concept.

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16.2 Concept Development Flow Chart

16.3 Concept Development Schedule

16.3.1 First Week Monday Mobility module team / robot module teams start robot module concept research Tuesday Develop concept pros-cons-risk list Wednesday Concept convergence through use of decision matrix Thursday Mobility module design review/release for detailed design; Module concept review; Convergence of concept strategy; definitions of prototypes and expected results Saturday Start prototype design

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16.3.2 Second Week Monday Continue prototyping Tuesday Prototyping testing Wednesday Prototype testing and test results Thursday Concept design review/release for detailed design

16.4 Concept Development Materials needed The following materials are needed to develop the robot requirements. 1) Notebooks or notebook with loose leaf paper 2) Dry erase makers / dry eraser 3) Laptop computer / tablets to obtain rules 4) Overhead projector 5) Camera to record white boards 6) Robot functions/constraints specification

16.5 Robot Concept Design Roles and Responsibilities Concept team leader: The concept team leader is responsible for overseeing the concept development process using the concept process and concept process tools.

Concept team members: The concept team members are responsible for providing the concept content by doing research, evaluating previous robot concepts, do engineering calculations, finding physics that pertains to the concepts.

16.6 Robot Concept Design Process

16.6.1 Module Concept Development Process In developing a complete concept the following items should be considered: 1) Walk through the function requirement. Look for keep words that translate to mechanism functions (e.g. Raise/Lower, throw, pick up, climb, draw in, push/retract, catch, etc) 2) In developing a concept, understanding the parts you have in our inventory and parts in the Kit Of Parts. These will be the basic components to build the robot mechanisms based on the requirements. 3) Think of the energy tools you have at hand: Motors, springs, pneumatics 4) DO NOT reinvent the wheel - have you seen mechanisms before that address the function. Remember that there are only six simple machines: incline plane, wheel/axle, lever, pulley, wedge, screw. 5) Make a sketch of your concept (Pictures are worth a thousand words). Use "The first CAD tool": your brain, pencil and paper 6) Develop Pros/Cons/Risks list for every concept 7) Research the physics needed - do some calculations 8) Develop an interface list that details the module concept interface expectations with other modules. 9) Make a "Parking Lot List": of what you do not understand 10) Define interfaces and power/actuation strategies (motors, actuators, sensors…). This will be the basis for the electrical and software design.

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16.6.2 Module Concept Assessment Before proceeding with concept refinement and validation it is advisable to do a reality check on the concept. The basic questions to ask include, but not limited to include: 1) Does the module concept satisfy the robot function definition? 2) Does the module concept meet the design constraints defined by the robot rules? 3) Do you have the technology to build the module concept? 4) Is the concept complex? You only have three weeks to design it and build it. Remember K.I.S.S(Keep It Simple Stu...) 5) From the Pros/Cons list, are there cons that would make the concept impossible to make or adds a lot of complexity to the concept

16.6.3 Module Concept Refinement Concept refinement is an iterative process to improve the concept (this is the fun part). Think of the following questions: 1) How do I make the concept: a) Lighter? / Faster? b) More robust c) Simpler d) Cheaper e) More efficient f) Easier to construct, assemble, repair g) How do I combine robot functions into one mechanism

16.6.4 Module Concept Selection Concept selection shall be based on data. The use of a decision matrix shall be used. Refer to the decision process section of this document. Note that making the right choices based on your analysis will determine the fate of your season.

16.6.5 Module Concept Verification In the development of concepts the concept teams may find that a concept has merit, however, there is a lack of confidence in the concept. Prototypes are developed to verify the concept. There should always be a list of what information/performance the prototype will provide. Every module concept should not be prototyped. From analysis the best concept/concepts should be prototyped and evaluated. Evaluation should continue through detailed design process.

16.7 Concept Presentation Concept presentation shall be electronic and provide the following information: 1) Hand sketch of the concept 2) Pros-Cons-Risk list 3) Decision matrix for several concepts that meet the robot functional criteria.

16.8 Final Robot Concept Convergence

16.8.1 Final Robot Concept Convergence Process The final robot concept is an iterative process based on the sum of parts. For each module the best concept was developed with considerable detail. The final robot concept is an integration of those concepts.

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The Robot concept should go through refinement process asking the following questions: 1) How do I make the robot concept: a) Lighter? / Faster? b) More robust c) Simpler d) Cheaper e) More efficient f) Easier to construct, assemble, repair How do I combine robot functions into one mechanism

16.8.2 Final Robot Concept Selection The final Robot concept selection shall be based on data. The use of a decision matrix shall be used. Refer to the decision process section of this document. Note that making the right choices based on your analysis will determine the fate of your season.

16.8.3 Final Robot Concept Assessment The final robot concept should adhere to the Golden Rule of FIRST Golden Rule : Always build within your team’s limits Teams who try to do more than they’re capable of tend to fail. – Evaluate your abilities and resources honestly and realistically– Limits are defined by manpower, budget, experience -Avoid building unnecessarily complex functions– “Is it really needed?” “Could we better use our resources elsewhere?”

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17 Appendix F: DECISION MATRIX- INSTRUCTIONS

17.1 Controlled Convergence Think of selection as "controlled convergence" (Pugh, 1981), that is, you are doing a multi-step process to narrow down the choices. The first round in a decision process is not the last round. Your decision process may show that after each selection stage you can combine and strengthen existing concepts and use the selection results to generate new, stronger concepts for the next selection round. Often, more info must be gathered before the next selection round is possible.

17.2 Decision Matrix Layout Structured selection is generally best done in a matrix format (Most common tool - Excel spreadsheet). Selection criteria are listed down left column, concepts listed along top row.

If the matrix is overwhelming, generally it means the problem was not well divided into subtopics, or that decisions at the systems level are being driven by the detail level. The following is an example of a decision matrix.

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17.3 Decision Matrix Criteria The team must determine the selection criteria. A good definition should accompany the criteria name. These are the specific measures that the concepts will be judged on. The criteria should be developed by consensus of the team.

The core criteria should include, but not limited to: 1) Complexity Complexity is a measure of how many mechanisms, metal cuts, number of gears, belts, number of fashioners, etc. Complexity relates the time to design, fabricate, assembly and test. The goal is to minimize the complexity. "Keep it simple" 2) Manufacturability Technology is a criteria that is a measure of fabrication processes available to the team (e.g. sheet metal processing, laser cutting, welding, 3D printing, etc). The goal is to manufacture a robot with the simplest methods and fewest parts. "Build within Your capabilities" 3) Energy usage This criteria is a measure of how energy is used. The work the robot has to do will be the same, however, how the energy is used will be different. The goal is to minimize electrical energy to develop mechanical potential energy (e.g. The use of mechanical advantage[gearing/levers], potential energy devices[springs] and compressed air. Note that high energy should be developed through mechanical advantage into springs or rotating masses.) 4) Reliability Reliability is a criteria that is a measure of how robust the design is (e.g with the robot withstand being hit by another robot and not have any of its mechanisms damaged or are the motors sized correctly so that they do not over heat, etc) 5) Cost The cost criteria is a measure of complexity with respect to the robot budget. The goal is to minimize the cost. 6) Robot Constraints Robot constraints are the limits put on the robot design by FIRST. 7) Robot Functions Does the robot meet the functional requirements that were developed in the strategy phase 8) Resources Does the team have the member resources/skills to complete the tasks. "Build within Your capabilities"

17.3.1 Mobility Module The mobility module is a distinct module of the robot that is a major factor in the performance of the robot and should be addressed by itself. For a the mobility module, criteria should include, but not limited to: 1) Maneuverability This criteria defines how the robot needs to move in the game.

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2) Speed/Torque This criteria specifies the speeds and torques required for the game. 3) Traction This criteria specifies the game playing field surface and the robot wheel interaction.

17.4 Criteria Weight Options

17.4.1 Method 1 No ranking at all. All criteria are of equal importance. This may be the case if a lot of pre-work has been done to reduce the number of criteria.

17.4.2 Method 2 Weight options include magnitude range or a normalized range. The magnitude range would rank the attributes from 1 to 5 with 5 being the most important. Multiple criteria's can have the same weight. Everyone has to agree on the value. This could take a long time to get everyone to agree.

17.4.3 Method 3 Another method is use a normalized range. Every team member ranking the criteria's from 1 to N(the number of attributes) with N being the most important. Put the results in columns with respect to their criteria item and then sum up each criteria row. Sum the resulting column and divide each row sum by this number. This will give a normalized value such that all weights will add up to "1".

The normalized range is the preferred method in that opinions are translated into a math equation.

For example: Team Member values 1 criteria #1 3 2 3 3 = 11 =>11/24= 0.46 2 Criteria#2 1 1 1 2 = 5 =>5/25= 0.21 3 Criteria#3 2 3 2 1 = 8 =>8/24= 0.33 Column Sum 24

17.5 Ranking Options The original Pugh decision matrix would rank other concepts with respect to a baseline concept. Seeing we do not have a baseline we need to just rate each concept on how well the concept meet the attribute. The rating value is typically 1-5 with 5 being the best. Everyone has to agree on the value.

There are only 4 distinct values to use: 1) 0 - Does not meet Criteria 2) 1 - Meets criteria somewhat 3) 3 - Meets criteria 4) 5 or 9 - Exceeds criteria. a) Using 9 for this value will result in a larger distance between the best concept and the rest of the concepts b) Or using 9 should be used by the one concept that accomplishes the criteria the best.

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17.6 Decision Matrix Concept Presentation All concept should be presented at approximately the same level of detail. The concepts should also be in the same level of scope. Concept presentations should include, but not limited to: 1) A sketch of the concept 2) List of pros and cons 3) A verbal description of the concept reviewing the sketch and pros and cons

17.7 Decision Matrix Criteria vs Concept Ranking Process The following steps should be followed in developing a decision score: 1) Rate each concept to a criteria with the ranking values agreed on. 2) Develop a sum of products rating for each criteria. This is the column sum of: all criteria importance multiplied by the concept rating the team has given for each criteria.

Rating each criteria should be done by consensus. Consensus means that all agree within the bounds of the criteria. Not if they like the concept or not! If there is an impasse, the leader of the rating exercise will make the final decision.

At this point we have a selection, however, we are not finished yet. We need to iterate the concept selected and ask the following questions: 1) Can we combine best designs of another concept with the selected concept? 2) Is there ways to remove risks and undesirable features from the selected concept? 3) Can we combine functions to improve the concept selected?

After selection process, the team should sit back and take a fresh look. Does the selection match intuition? If not, why not? Was there anything that was missed? Does the team feel comfortable about the choices? Remember, these are important decisions that are being made. You're putting the life of the project into your chosen concept. It better be the best or else you will be in trouble down the line. .

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18 Appendix G: ROBOT MECHANICAL DETAILED DESIGN - INSTRUCTIONS

18.1 Design of Manufacture In the design of a robot consider the following: 1) Simplicity a) Fewer things to fail b) Easier and faster to build and repair c) Lighter/more durable/more elegant 2) Constrained design: a) The use of 45 degree bracing provides constraint to perpendicular robot members. b) Use of angle aluminum channels

18.2 Design for assembly In the design of a robot consider the following with respect to design for assembly: 1) All bolts should be accessible 2) Use of lock-nuts to avoid nuts falling off during competition

18.3 Weight Distribution In the design of a robot consider the following with respect to weight distribution 1) Keep as much weight as low as possible 2) Put weight of the wheels 3) Placement of the battery is important in determining the center of gravity

18.4 Multi-functionality In the design of a robot consider the following with respect to multi-functionality: 1) Multi-functionality cuts down on weight, build time, complexity 2) Use of a common shaft for multiple functions

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19 Appendix H: ROBOT ELECTRICAL DETAILED DESIGN INSTUCTIONS

19.1 Electrical Design In designing the electrical system the following items should be considered: 1) Electrical schematics should be developed. Also an electrical block diagram of component outlines and physical location of cables/cable labels 2) The design of the electrical panels should be design such that they can be accessed for repair or testing. 3) The panels should be assembled with electrical components and fitted on the robot to test for any interferences. 4) The wiring should not be a rats nest. Control wiring(low voltage) should be routed together separate from motor wiring. (This is done to prevent electrical noise from coupling into low level sensor circuits.) 5) All cables should be labeled. 6) The CAN communications wires should be twisted pair wires. (This is done to prevent electrical noise from coupling into low level sensor circuits.) 7) Color code should be consistent throughout the robot

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20 Appendix I: ROBOT SOFTWARE DETAILED DESIGN INSTRUCTIONS

20.1 Software Design In designing the robot software the following items should be considered: 1) The software program should followed the team style guide 2) Inputs should be designed for failsafe wiring 3) A method of pre-testing/testing should be developed 4) The software should have a design review walkthrough before testing to check for: a) Logic errors b) Out of range errors c) Communications errors d) System input fault errors

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21 Appendix J: SCOUTING INSTRUCTIONS

21.1 Scouting Introduction Scouting provides projection of opponents strategy in future matches. It is essential for alliance picking and crucial in getting a good second round picking. Scouting also offers a great opportunity to involve more students in the competition.

21.1.1 Pre-Season Scouting In preparation for the competition season the scouting team should develop the following: 1) From the team's robot strategy develop data collection forms for Pit scouting and Match scouting with attributes. 2) Update Team database from previous years with scoring and performance indexes 3) Provide analysis of ranking, OPR and elimination results from previous years 4) Train team on scouting process before the competition season

21.1.2 Scouting Tools 1) The norm has been pencil and paper with forms that match this year's game. 2) Laptops/tablets for data collection and data analysis 3) Smart phones for communications, game information, data entry

21.1.3 Competition Scouting Roles and Responsibilities Scouting Team Leader: The scouting team leader is responsible for organizing the pit and match team member lists. Overseeing data entry into the database and presentation of data for the alliance selection process.

Scouting Members: The scouting members(Students and Mentors) are responsible for accurate data collection and data entry of information.

21.1.4 Pit Scouting The pit scouting team needs to obtain the following information: 1) Pictures of each robot. There should be three pictures with one of the pictures with the robot number visible. 2) Type of drive train 3) Number of wheels, traction/wheel, drive train gearing(gear ratio), number of motors in drive train. 4) Acquisition module method 5) Action module method The pit scouting team needs to exact pictures and rename with team numbers.

21.1.5 Match Scouting The scouting team leader will organize a team of 6 team members to collect match team data. This team is rotated with different members during the day. The Blue Alliance and FRC Spyder App provides scoring, ranking, and OPR. The match scouting information should be considered: 1) Scoring attempts/failures 2) Penalties 3) Type of play - offensive/defensive 4) Driver/robot performance on match field

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21.1.6 Alliance Selection In alliance selection the following information will be used: 1) PIT scouting along with robot images 2) Blue alliance and FRC spyder data for RANK, OPR, DPR, CCMM 3) Match performance from match scouting 4) Do Not pick list - developed from PIT Crew input. 5) Driver feedback - who did they play with the best

The alliance selection process starts with the team ranking up to 24 teams. The first 8 teams are the team captains for finals. If we are in the top 8 we need to have a list for first choice and second choice. Remember that the second pick can be crucial to the success of your alliance.

Based on the information collected teams should be first eliminated. From the resulting teams based on the data a ranked selection list should be developed.

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22 APPENDIX K: PIT TEAM - INSTRUCTIONS

22.1 PIT Team Introduction ??

22.2 PIT Team Roles and Responsibilities ??

22.3 Loading - Unloading Robot Trailer ??

22.4 PIT Setup ??

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23 APPENDIX L: COMPETITION DRIVER TEAM - INSTRUCTIONS

23.1 Competition Driver Introduction The driver team is an important part of the competition. A good game strategy and scouting information can win the majority of matches with a week robot. And a good game strategy with a good robot is unbeatable.

23.2 Competition Driver Pre-Competition During robot build the driver team should consider the following: 1) Understanding robot abilities 2) Which driver is the best (Practice-Practice-Practice) 3) Develop a play book should be developed that list strategies for different circumstances and strategies for defense 4) All strategies should have 5) Test defense strategies

23.3 Competition Driver Roles and Responsibilities

23.3.1 Driver Coach The driver coach has the following responsibilities: 1) The coach must watch the entire field, keep track of the score and the robots 2) The field coach must also watch the referee for warning 3) Instructions must always be given. Don’t leave them hanging 4) Field coach also must communicate with the alliance partner’s field coach 5) The field coach should be updating the clock every 10 seconds, with a 10 second countdown at the end 6) Game strategies are fluid. The coach should make all decisions to deviate from the initial strategy. The coach needs to calmly reevaluate and come up with a new plan. 7) Never lose sight of the main goal – Winning the match 8) The coach is also responsible for driver scouting information

23.3.2 Competition Drivers The competition drivers have the following responsibilities: 1) Tune out the crowd and announcer. The drivers must focus on the match 2) GIVE IT YOUR ALL, don’t be afraid of damage, however, don’t take overly dangerous risks 3) Drivers should not look up at the clock or score 4) Listen to the your coach

23.4 Competition Strategy At a competition the driver team should consider the following before the match: 1) Work with alliance members on an alliance strategy. This should be a combination of strategies. The strategy should define what each robot will do.

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2) Never mislead your partner about your abilities. If you can’t do something, make sure they know that. Winning the match is the first priority. 3) Each plan should include contingencies. Create time limits on actions. If something is taking too long, you have to move onto the next. Many teams lose matches because they don’t abandon failed objectives

After a match the team should review what went well and what. From scouting information you may have to readjust your strategy. You need to adapt to the competition.

For finals meet with your alliance and discuss strategy. Each robot may have more targeted strategy. Also, a good strategy is key to beating a technically superior alliance.

CougarTech Team 2228 Technical Director Handbook CT1011 Revision V141215 Page 63 of 63

24 APPENDIX M: LESSONS LEARNED - INSTRUCTIONS

24.1 Continuous Improvement In the robot design/build/test/competition process we learn new methods to improve the process. The key to a good continuous improvement program is based on one principle: "If it is not written it does not exist". Going through the lessons learned review process is only part of the process. The lessons learned need to be integrated back into the handbooks for future teams.

If it is not written we approach insanity principle: "Doing the same thing over and over expecting different results" or the Not invented here syndrome: I don't like what was done before. Let's start over again.

24.2 Lessons Learned process

24.2.1 Lessons Learned and Review During the different robot seasons team members should note in their note books what didn't work and what was done to improve the process. At the end of the robot seasons all members should develop a lessons learned list based on the following headings: 1) Start: What processes should the team start to do. 2) Stop: What processes the team should stop doing 3) Continue: What processes should the team continue doing There should be a lessons learned scribe documenting the lessons learned

24.2.2 Lessons Learned Integration The management team and mentors will then convert the lessons learned into the team handbooks.