1997 UC Robot Team for AUVS Contest

Oakland University and the U.S. Army Tank-Automotive Armament (TACOM)　
hosted the International Ground Robotics Competition on May 31- June　
2, 1997 in Rochester, Michigan. A team consists of from 3 to 15 student　
members, at least one faculty advisor and possible their sponsors.　
The students can be undergraduate or graduate students from any major.　
The most popular majors for contestents are in mechanical, electrical,　
electronics, computer and computer engineering as well as computer　
science.　
　　 

During the previous four years, 57 teams have competed in the event　
with over 600 students from 22 universities.　 

There are two competition events: the Vehicle Performance Competition　
where the autonomous robotic vehicles compete to finish a course in　
the shortest time, or by traveling the farthest distance in the　
allotted time; and the Vehicle Design Competition that evaluates the　
documentation, management and presentation of each team.　 

The performance competition require the autonomous vehicles to sense　
lane marking lines, avoid obstacles, stay within the lanes and adapt　
to differing line patterns, colors and quality, travel across ramps　
and go through sand traps.　 

The design competition requires the team to submit a technical report　
a month prior to the main competition documentation their design,　
approach, team and resource management and present a 10 minute talk　
detailing their approach. They demonstrate the vehicle hardware and　
answer and questions the panel of judges may have. This part of the　
competition challenges the students to pay attention to the importance　
of documentation, presenting, promoting and defending their project.　 

The Association of Unmanned Vehicle Systems International sponsors the　
1997 competition with the Society of Automotive Engineers, Oakland　
University, Fanuc Robotics and Ernst and Young as co-sponsors. The　
competition awards more than $12,000 in prizes to the first, second　
and third place winners in each event.　
 

Nikhil Kelkar MS IE 1997　
Umesh Nikam MS IE 1997　
Kalyan Kolli MS IE 1998　
Krishnamohan Kola MS IE 1998　
Wen-chuan Chiang Ph.D. IE 1999　
Raymond Ande BS EET 1998　
Sreeram Mallikarjun MS IE 1998　 

Rob Hicks, BS MET 1996 Team Advisor　
Dr. Ernie Hall, MINE, Faculty Advisor　
 

The UC team packed three vans and left for Detroit about 10 PM on Friday, May 31 since they were scheduled for an early presentation on Saturday. They arrived at the hotel about 3 AM.　 

They unpacked their vehicle early on Saturday, June 1, and prepared for the qualifying and practice runs. They also prepared for their presentation before the team of judges in the early afternoon.　 

More design presentation were held on Sunday June 2. The teams were busy with qualifying and practice runs. A welcome ceremony and design award presentations were given at 5 PM. The UC team won an Exemplary Design award.　 

Our team had not been able to qualify on Sunday and had to arrive at the test ground at 6 AM for a qualifying run on Monday, June 3. The competition was delayed because of rain but finally started in the rain.　 

Our best run came about 7 PM on Monday. Our robot went 325 feet　
before it ran into an obstacle, the money bucket which was marked with a　
green $.　 

We packed up and left about 9 PM and one van arrived back in Cincinnati at 3 AM and the other two at 10 AM the next morning.　
 

The results of the performance competition were:　 

1. Hosei University - Japan Full course 4:25 min　
2. University of Colorado - Denver Full course 4:40 min　
3. Oakland University Full course 6:44 min　
4. University of Colorado - Boulder Full course 7:37 min　
5. Virginia Tech - Christine 510 feet　
6. University of Michigan - Dearborn 491 feet 6 inches　
7. University of Alberta - Canada 343 feet 7 inches　
8. University of Cincinnati 325 feet 3 inches　
9. Cedarville College 204 feet 9 inches　
10. Virginia Tech - Calvin 72 feet　
11. Colorado - School of Mines 53 feet 10 inches　
12. University of Tulsa - Hurrican Bill 33 feet　
13. Virginia Tech - Ivan 32 feet　
14. Wright State University 14 feet 10 inches　
15. West Virginia University 12 feet 2 inches　
The results of the design competition were:　 

1. Virginia Tech - Christine　
2. Virginia Tech - Ivan　
3. University of Michigan - Dearborn　 

An SAE Exemplary Design award went to the University of Cincinnati for several innovations including a fault diagnostic system and a fuzzy logic controller.　
　
 

This was our fifth year in the AUVS contest　
but we still ran into a completely new situation - running　
our robot in the rain! In the previous years it never rained.　
In fact last year in Orlando, it was so hot and humid that it was　
really hard to work. This year it rained and rained and rained.　
The contest organizers had three choices. They could have cancelled　
the contest. Then we would have all been disappointed. They could　
have delayed the contest or rescheduled it. Then we and they would　
have been out of funding. So they ran it in the rain.　
I am really proud of our team. They　
worked harder and smarter in the most unusual conditions. Who takes　
their computer out in the rain? We had hardware problems that I had　
never seen before such as a battery post melting, software problems　
that got worked out at the last minute, and the weather.　
The team from Hosei University were the first ones to cover their　
robot in plastic, put on ponchos and test in the rain. Since they had　
their Dean of Engineering with them and had come a very long way, they　
were determined to win.　 

Looking back I see that the biggest mistake I made was　
this Spring when it rained, we didn't go out and test.　
We did a lot of things right and are now preparing technical papers　
for the Intelligent Robots Conference this Fall.　
The fuzzy logic controller is unique and novel and works.　
The fault diagnosis system also was a splendid idea and　
taught us all a lot about anticipating things that can go wrong.　
The ultrasound systems were solidly designed. The steering systems　
worked well. The speed control was fine. The vision system was　
splendid.And the remote emergency stop system worked well.　
Our team worked together well and overcame many problems.　 

For next year, I think we should start this Summer if we are to　
continue with the contest. The papers we are now writing will help　
everyone understand the design.　
It was a great experience.　 

Please send corrections or updates Ernie.Hall@uc.edu