PmWiki | Robots / Blind Robot Brigade - Project Management Overview

Major Challenges

Physical Construction - The physical actuators and sensors attached to our robot would often shake and sometimes even fully detach. In order to fix this, a Lego-based mounting system was created and the robotic arm was securely attached using Legos and a bit of high-temperature adhesive. The sensors were taped into place with as much adhesive tape as could possibly fit on the robot. WE had to take care when affixing these external devices, as it would be difficult to change the layout after we finished.
Sensors - During the period when we were developing our robots, the arena for the competition was moved to another location. This required us to re-sample our photo sensor values, as the lighting conditions were different in that position. Also, the values for the two different colors of balls could sometimes be very close, based on the sensors normal fluctuation in voltage. In order to remedy this, we introduced an average that takes 5 samples and averages them together to get a more accurate reading. Also, the photo sensor we used to find the brightest light source was initially located a bit off center -- this resulted in the robot heading off to the wrong angle when trying to head to the goal. This was fixed by moving the sensor to a central location.
Programming - The most difficult part of the programming was integrating the two separate components of the code. Each component (ball finding and the photo sensor tasks) worked well separately, but together they caused some unexpected results. This task was made easier when many of the core features of the code were integrated into functions. Also, the program was continuously being edited even while the competition was in place. In order to reduce the chance of sabotage from an opponent with large flashlights (and to increase accuracy), the light finding code was changed to refresh its brightest value every two seconds. This caused the embarrassing incident where the robot continued to spin in place because we forgot to tell it to travel straight forward again.

Group Coordination

In most cases, we alternated days with the robot unless it was essential for a person to work on one if the components of the code or the physical design.
- We made good use of loaner robots to allow bot of us to work on nights where one was available.
We were able to keep in contact through both instant messaging and telephone conversations.
The biggest problem was our relative distance from each other. Rather than travel to each other's house, it was easier to meet at the UMass lab and work a bit before exchanging who had possession of the robot.

Progress[/Procrastination?]

Dan

If I were to change something from a project management standpoint it would be to use my time at Lowell more productively. In the beginning when the project was first assigned I procrastined and did not work as hard out of school or in school as I could have on the egg hunt. I was still working on the wall following and anfter that was finished the egg hunt due date was very soon. So If I had worked harder for the last month or so it may not have been as hectic as it was at the end.

Chris

The hardest part about project management, for me, is trying to distribute the tasks over a longer period of time. I tend to go slow at the beginning and procrastinate, then finish in a flurry of activity in the final days. This was aggravated by the simultaneous requirement to finish an Env. Bio project. In the end, I made minimal progress on robotics at the beginning because I was placing my focus mainly on the Wastewater plant, because that project had to be finished the week before this one did. These projects were also concurrent with a History midterm project at my high school, which was due in the same timeframe. If I could change anything, I would try to make my focus on the projects a bit more even during the initial period, so that I wouldn't be so pressured during the end.

Division of Work

Dan

We attempted to work together and divide the work as evenly as possible. However, it doesnt always work out that way. At first I was busy with the wall following and was not able to dedicate much time to the egg hunt. During this time Chris was able to work on it and do more than I was able to. Then after we were working together, we both worked on putting together our robot and creating our design. Then as we coded more and more Chris's code was working better than mine and he helped me with some different coding practices and strategies to help me along. As we began to merge our code together Chris, being better at C programming did more of the fusing and touch-up of the code. We both put in the time and contributed ideas into the final project but he was coding it because he had more experience and was better at C programming. While Chris did more of the coding, we both put in the time and effort. I don't think that either of us should be penalized points I just think Chris should be given a huge bonus for putting up with me. But if it must be taken away from one and given to the other, it would be I not Chris that should be docked points.

Chris

To be quite honest, I'm not a very good team player. Normally I am a real control freak, and having to work with another person is a strain on me. I often grab hold of as much of the project as I can and rarely assign work to my team members, or even consult with them. I tried not to do that in this project, but I was only somewhat successful. This wasn't a problem near the beginning of the project, as Dan was still completing his Lab 5, and after he finished we decided that he would work on the photo sensor components while I would work on locating the balls. We were able to scavenge the Lego base I had previously built for the robot, and create an arm to mount on the robot. When I brought it home, I created the "pincers" up front and attached them to the robot. I was the main force in combining the two segments of code and debugging, mostly because I have a greater experience with C programming and coding in general. I can never advocate taking points away from someone I worked with, and I can't say I deserve any extra points.

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