In eYRC 2016 3,620 Students in 905 Teams participated in the competition which was spread across 7 themes. The competition lasted for 6 months, where we were given the task in stages one after other
Our team secured the first place among 167 teams that participated in “Launch a Module” theme
e-Yantra is an initiative to spread education in Embedded systems and Computer programming by the Embedded systems and Robotics lab at IIT Bombay. e-Yantra is sponsored by the Ministry of Human Resource Development.
Task Objective: Recognize objects based on their shape, size, and colour using an overhead camera; then autonomously deposit the objects on their corresponding marker in the arena while avoiding obstacles
Solution: OpenCV and python were used for image processing. A python script finds the most optimal path and relays commands to the robot via a pair of XBee modules. Movement errors are detected using a pair of pink strips placed on the robot; commands are sent to make tiny corrections to keep it from drifting. We build a 2 arm assembly to carry 3 blocks simultaneously so we could complete the task in the shortest time possible
I designed and built the 2 arm assembly and also wrote the embedded C code for controlling the Firebird V robot (motion of the robot, robotic arms, accepting and execution of the commands received from the python script)
Two arm demonstration
Because of some issues found right before the finals, we decided to use only one arm assembly for the final round
Finals at IIT-Bombay
Learnings:
- Keep it simple: In hindsight, a robust one arm configuration was more important than having a complex two arm configuration. It would have reduced the runtime but was more difficult to implement in the limited time that we had
- Solution design: Anticipate potential problems and spend enough time upfront in solution design as it is expensive to fix a design problem
- Project planning: Planning time for unexpected problems that might come in and leave enough time for testing
After the competition, Srijal and I were interviewed for the coveted 7-week summer internship in IIT-B. Read more about my internship project here