Re: Mystery Solved!
 

Did you notice the Final Recommendations...Increase all bolts from 1" bolts to 4" Bolts!

Re: Mystery Solved!
 

I didn't say that they never had incidents. I did notice a
but nothing that qualifies as a disintegration of the accelerator.

Re: Design and engineering mgmt rules
 

We have a whole series of checklists - one for each subsystem of the robot (drive, electronics, pneumatics, chassis/structural, manipulator 1, manipulator 2, etc.). The check lists are made each year specifically for each system. Two students are responsible for each check list. The use a "call/response" system:

Student 1 (reading from checklist notebook): "Chain at proper tension?".
Student 2 (checks chain tension) "Chain at proper tension."
Student 1 (Checks of item): "Chain at proper tension - check."

Then they move on to the next item.

All the system checks are done immediately after the robot comes off the field. There is a final "list of lists" that is checked off to confirm that everything is done. There is a new list for every match.

Right before the match, there is a "Power up check" done the same way, but this actually tests the functionality of the robot (things like "lift runs up", "upper limit switch operates", etc.

It may seem like a lot, but that's what the small swarm of students are doing around our robots holding all of those black notebooks. It has worked very well for us, finding things that could have been problems before they occur and (more often than I'd like to admit) finding that something that had failed had not actually been checked after the previous match - everything is initialed, so we can figure out how things go wrong.

The lists are best if they are made specifically for your robot and it's functionality.

- Mr. Van
Coach, Robodox

Re: Mystery Solved!
 

Never use a 1" bolt when a 4" bolt will do.

Re: Design and engineering mgmt rules
 

Our Ultimate Ascent robot was our most complex, and we did not have checklists. Every other match we had something not work that should have been on the checklist.

Another important thing for the in-queue checklist is to ensure that you've swapped over to radio-controlled mode rather than tethered, especially if you hit the practice field between matches.

Re: Design and engineering mgmt rules
 

Last year Team 1619's unwritten pre-match checklist for the drivers looked something like this:
1) Ensure you have officially reported to queue (with a robot)
2) Power up robot and tether to it with an ethernet cable while it is sitting on the cart
3) Once connection is established, double-check that the battery currently installed is the one from the previous match (ie: not a fresh one). The reasoning behind this will become clear shortly.
4) Warn people nearby before enabling robot for pre-match tests
5) Enable robot and run through a test of all robot functions. Drive forwards and back, turn left and right. As a note to the drivetrain tests, our robot cart acts as a set of blocks that the robot could spin it's treads freely on without fear of it running away on us. Grab out (combination of rollers and arm) and grab in, manual arm out, manual arm in, manual rollers out, manual rollers in, catch (combination of fingers and rollers), manual fingers open, manual fingers shut. Each check is performed twice and verified by the driver, operator, human player, and drive coach. This is done to ensure nothing unexpected has gone wrong during or since the previous match.
6) While the operator checks the functions he is in charge of, I would go through every bolt on the robot that was accessible with an allen wrench to ensure they were still tight, especially checking the belt tensioning cam. We used locknuts to fasten everything, but we were fairly paranoid after one was discovered to be loose when we had to fix something in the pits.
7) Let the compressor fully charge the pneumatic systems before disabling and turning off the robot. (this and the testing are the reasoning for the old battery in first)
8) Remove old battery and insert fresh battery. The fresh battery sitting on the cart underneath the robot is indicated by a piece of gaffers tape affixed to its side.

By this time we usually were near the front of the queue

9) Review match strategy with alliance partners, ensuring everyone remembers their role and where they will start during the autonomous period. Discuss specific robots on the opposing alliance that will need to be addressed and how to handle them (not applicable this year).
10) Dance if a good song comes on
11) Driver and human player place robot on the field using our calibrated measurement (spacing the robot to a torn flap on the sole of my shoe) while the operator takes the operator console to the player station and plugs in the laptop. Drive coach parks the robot cart.
12) Head back to the player station and again review the strategy for clearing missed autonomous balls. Get excited for the match and wait for the countdown!

We also had another unwritten list of procedures for when the match was over to remove the robot from the field.

1) Congratulate alliance partners on a match well played
2) Driver and human player wait for the alliance station lights to turn green while the drive coach and operator head to the cart with the operator console.
3) Driver and human player lift the robot from the field and replace it onto the cart upon exiting the field. Drive coach and operator pull the cart up to the gate so that the driver and human player don't have to carry the robot more than a couple feet off the field.
4) Head back to the pits while discussing things that went well and things that could be improved upon in the previous match. During the walk we would also lightly inspect the robot for any damage if there are concerns.
5) Take the battery used for pre-match checks and put it on the charger in the pits. Take a fresh battery and place some gaffers tape on it to mark it as fresh before placing it on the robot cart.

These steps helped us catch a few issues (such as a disconnected Anderson connector on our intake roller motors and a loose bolt on our drivetrain) before the match started and allowed us to perform at peak condition throughout our matches. The constant strategy reviews were a big help in qualification matches, because it ensured that everyone was on the same page during the match. It also allowed us to settle into a comfortable and familiar routine before every match, letting us get excited before a match without giving anyone time to ever get nervous, regardless of the situation. It was nice to have something that was the same every time when your alliance partners and opponents kept changing.

One thing that we didn't think do originally, but rapidly changed, is to ensure that between matches the whole drive team was drinking water. During the Utah regional last year I only had 12 oz of water the entire day (a glass of it with dinner), and I felt it that night. Constant muscle cramps overnight were not fun, and I know one of our human players had a similar problem. Since then we have been much better about hydration, and would caution other teams to not fall into the trap of "I don't have time". There's always time for life's basic necessities, even if you're at a robotics competition.

Re: Design and engineering mgmt rules
 

A Langstrom 7-inch Gangly wrench

Re: Design and engineering mgmt rules
 

Quest oculus non vide, cor non delet
What the eye does not see, the heart does not regret
"A lot happens that we are not telling you about."
-- Opening comments from the Apollo guidance computer source code (per Digital Apollo)

"This machine was so modern, so frightfully new, no one knew quite exactly just what it would do!" -- Dr. Seuss, The Butter Battle Book

Re: Design and engineering mgmt rules
 

You forgot checking/changing bumper color. Oh, wait...

Re: Design and engineering mgmt rules
 

Not really a management set... but an old classic. The Wrath of Abibarshim

The important part for this discussion is at the end:

Re: Design and engineering mgmt rules
 

Good list. My personal objections:
14. Feel free to discuss plans on CD.
21. Buttons can be used for state functions when you want positive control. We often do arm in/out on a button because we want "in" to be as fast as "ack! let go!". We also do on/offs when there's a danger or a history of split-second "sure it's on?!" uncertainty. Also, whenever the operator wants it.
22. Drivers can look at the DS for very specific actions. For instance, we did this in 2011 for minibot camera alignment and 2013 for 30-point climb alignment. Operators can look depending on the game, but it should be set up for easy recognition (colors are good). Depending on their skill and technique, my drivers or operators have paid attention to different radii around the robot.
26. Ask your scouts. Ask your partners. Question the differences. Scouts set the high mark, but people can tell you they broke something. They can also explain temporary deficiencies, but my interpretation of this depends very heavily on my relationship with the team and with the coach specifically.

1640's Abridged Drive Team List from final buzzer to auton/teleop buzzer:

1. At the final buzzer - coach: do we need to talk to the head ref? Check other field/score issues? Specifics for alliance partners? Our pit crew? Desperate robot unknowns? Specifics for opponents? Scouts? Other teams/coaches?
2. As Laptop Person packs up - coach: prep someone for question box as necessary, and have someone wait for score screen. Pursue discussions in the above order, congratulating and talking to allies and opponents. Coach restocks coach kit (by year, usually short tether, tape, wire ties, wire cutters, velcro, sharpie). Recover robot when lights go green, quick check as necessary.
3. On the way or in pit (logistics-dependent): run the powered-off pre-match pit/drive team list again, checking for in-match failures. Simultaneously, plug in the driver's station computer and review logs/errors. Make notes as necessary per year. Ensure at least two charged robot batteries is available. Pull current battery only if it's questionable or something's wrong.
4. Once pit crew/match observers are back: recap match as drive team with pit crew/match observers as necessary. Pit Captain sets task list with Coach/Pit Supervisor (same person when I did this).
5. Inter-match: list is executed with continual feedback; coach (at least) meets next alliance and sets strategy. Ensure allies know rules, particularly the HPs. May come back and tweak pit priorities.
6. Pre-queuing (usually 1-2 matches before first call): check laptop battery, robot battery, motor heat if a concern, and robot maintenance status. May charge pneumatics depending on match pace, how much air we store on board, and if there are leaks. Set autonomous and other scripts if applicable. Put/secure correct bumpers on robot or cart if applicable.
7. Queued: review and/or alter quasi-play-by-play match strategy and contingencies with alliance and then specifically with drive team. (I also check safety glasses and buttons for everyone on the alliance at this time.) Particularly reiterate match settings: robot location/orientation/presets, DS presets as applicable. Coach uses this time to check on the psychology of everyone involved. Also execute drive team-specific actions: this depends on my drivers, sometimes dancing, joking, talking. Coach watches matches whenever possible, drivers/HP watch if it's good for their performance (sometimes you just need to relax). Last check for anything out of place. LAST ACTION, often on-field: switch battery, replacing it with one that has a white tab in the Anderson. Remove tab and secure battery and tab (we wire tie our tabs to the batteries).
8. Laptop Person: plug in laptop, check presets and laptop settings as applicable. Communicate on robot alignment by eye and/or camera as applicable. Ensure FMS for self and allies is happening per usual.
9. Autonomous Aligner and Robot Prepper: Wait for green. Actions are very specific to the robot. 2014: align for autonomous, re-straighten swerve wheels, load ball(s) per procedure, confirm alignment, final check, turn on robot (we had a sensitive gyro).
10. Cart Person: if time allows, ensure everything's back in place on the cart.
11. In the Box Pre-Match: coach checks entire alliance station. I look at each person individually (and HPs if not in box) and check for things out of place on the field (I'm also a ref). Drivers both recheck the presets. HP checks HP stuff (move whatever you're allowed to, check game pieces, game dependent). I also typically review the 'first move' with my drivers and each team.
12. Last seconds of autonomous (e.g. once balls have missed or scored on both sides): last communication with coaches of specifically who will move to what, where, by what route.

Re: Design and engineering mgmt rules
 

HAW HAW HAW! And best fishes to you, as well!