FIRST Game Analysis:
Workshop Edition
October 25, 2014
1
Who are we?
• Anne Shade
– 17th year in FIRST
– FIRST Regional Director, Maryland
– Former 2377 General Manager and Coach (2007-2009)
• Steve Shade
– 16th year in FIRST
– Lead Team Development Subcommittee Chesapeake
Regional
– Chesapeake Regional Head Referee
– Former 2377 Lead Engineer and Coach (2007-2009)
– Senior Engineer – Modeling and Simulation, Rolls-Royce
Marine North America
2
Overview
• Understand the decision matrix tool
Decision
Making
Game
Analysis
Robot
Requirements
• Understand how to play the game
• Determine how many points is needed to win matches
• Construct a game strategy to meet the point goal
• Translate team strategy into robot requirements
• Describe resources for the build
3
Ground Rules
• No “right” way to build competitive
robots
• Our system has worked for many
teams
• Our system is adapted for each team
and game, but basic tools still apply
4
Common Themes
• Write it down
• Post it up
• Questions
– What do you want to accomplish?
– Who is responsible?
– How are you going to accomplish it?
– Repeat
5
Decision Making Process
• Process normally included as part of the Team
Handbook
• Consensus Approach
– Decision Matrix Tool is a favorite
– Quality Functional Deployment / House of Quality
(QFD/HOQ) is more thorough but complicated
– Affinity techniques
– Limit the use of voting
• Too easy to go with the “cool” option, even if it doesn’t fit
with the team strategy
• At some point there needs to be 1 person
empowered to make a decision for the good of
the team
– Must be willing to make the call even when
unpopular for the majority
6
Decision Matrix
• Establish decision criteria
• Establish criteria weights
• Complete matrix without weights
shown
• Apply weights
• Evaluate results
7
Decision Criteria
• What are the most important criteria
to your game strategy?
• Need about 5 to 10 criterion.
• Examples
– Scorability
– Complexity
– Reliability
– Penalty Risk
8
Decision Criteria
• Rate the importance of each of your
decision criteria.
• Each criteria needs a rating between
1 (little importance) to 5 (high
importance)
• Don’t multiply out the matrix until all
raw scores are filled in.
9
Decision Matrix - Filled In
> 3 better than reference
< 3 worse than reference
Concept 1
4WD Toughbox
2 Motors
Concept 2
6WD Toughbox
4 Motors
Weight
ed
Score
Weight
ed
Score
Raw
Score
Concept 3
6WD
SuperShifter
4 Motors
Raw
Score
Weight
ed
Score
= 3 same as reference
Concept 4
Holonomic
4 Motors
Raw
Score
Weight
ed
Score
Concept 5
Mecanum
4 Motors
Criteria
Weight
Raw
Score
Raw
Score
Weight
4
3
2
1
2
2
Power
3
3
5
5
1
1
Traction
4
3
4
5
1
2
Maneuverability
5
3
4
4
5
5
Complexity
3
3
2
2
1
1
Maintainability
5
3
3
1
2
2
Reliability
5
3
4
2
2
2
Durability
5
3
3
2
1
1
Speed
4
3
3
5
4
2
Cost
2
3
2
1
2
2
Weight
ed
Score
Weighted Total
10
Decision Matrix - Filled In
> 3 better than reference
< 3 worse than reference
Concept 1
4WD Toughbox
2 Motors
Concept 2
6WD Toughbox
4 Motors
Weight
ed
Score
Raw
Score
Weight
ed
Score
Concept 3
6WD
SuperShifter
4 Motors
Raw
Score
Weight
ed
Score
= 3 same as reference
Concept 4
Holonomic
4 Motors
Concept 5
Mecanum
4 Motors
Raw
Score
Weight
ed
Score
Raw
Score
Weight
ed
Score
Criteria
Weight
Raw
Score
Weight
4
3
12
2
8
1
4
2
8
2
8
Power
3
3
9
5
15
5
15
1
3
1
3
Traction
4
3
12
4
16
5
20
1
4
2
8
Maneuverability
5
3
15
4
20
4
20
5
25
5
25
Complexity
3
3
9
2
6
2
6
1
3
1
3
Maintainability
5
3
15
3
15
1
5
2
10
2
10
Reliability
5
3
15
4
20
2
10
2
10
2
10
Durability
5
3
15
3
15
2
10
1
5
1
5
Speed
4
3
12
3
12
5
20
4
16
2
8
Cost
2
3
6
2
4
1
2
2
4
2
4
Weighted Total
120
131
112
88
84
11
Big Picture Robot Building
Process
Robot
Requirements
Robot Testing
Team
Strategy
Robot Design
Robot
Construction
12
Game Analysis Goals
• Understand how to play the game
– Score points
– Major fouls
• Start defining each team’s strategy
– WHAT your robot is going to do
• Next Step - Define HOW your robot will
accomplish the strategy
– Develop robot requirements
NO PARTS OF THIS DISCUSSION INCLUDES
TALKING ABOUT HOW TO BUILD THE ROBOT!!!
13
Game Analysis Process
Evaluate the Game
Match Scores
Develop Strategies
•
•
•
•
•
•
•
•
• Brainstorm methods to
achieve the target match
score
Arena
Scoring Opportunities
Fouls
Ranking Process
Design Robot
• Goal - Achieve Strategy
• Robot Requirements act
as design guide
Alliance
Team
Qualifying
Eliminations
Develop Robot
Requirements
• Demands
• Wishes
Select a Strategy
• Decision Matrix to select
a strategy
14
Example – 2014 Aerial Assist
Tele-Op
Ball
Truss
Catch
Assist
10
10
10
0, 10, 30
Cycle Total
60
Autonomous
Mobility
Ball
Hot Bonus
Auto Total
5 per robot
15 per ball
5 per ball
75
15
How do we play the game?
• What is each object / robot worth
when scored?
• Are there bonus points (e.g. winning
autonomous, minibot race)?
• Limited number of objects (e.g 2011)
or do objects cycle (e.g. 2010)?
• Is there a maximum match score?
• How are teams ranked?
16
The Big Questions
How many points does an
alliance need to score to
win a match?
17
Example - 2014 Aerial Assist
(continued)
Autonomous
Mobility
Ball
Total
Maximum
15
60
75
Effects of
Effects of Auto/Truss/
Cycles
Catch
15
15
60
45
75
60
Tele-Op
Ball
Truss
Catch
Cycle Total
Cycles
Total
Total Match
40
10
10
60
7
420
40
10
10
60
4
240
40
0
0
40
4
160
495
315
220
18
The Big Questions
How many points does
our team need to score
to win a match?
19
Example - 2014 Aerial Assist
(continued)
Autonomous
Mobility
Ball
Total
Tele-Op
Ball
Truss
Catch
Cycle Total
Cycles
Total
Total Match
Option 1 Option 2 Option 3 Option 4 Option 5
15
15
15
15
5
30
30
30
0
15
45
45
45
15
20
20
10
0
30
4
120
10
10
0
20
6
120
40
0
0
40
3
120
31
0
0
31
5
155
10
10
0
20
7
140
165
165
165
170
160
20
Game Strategy
• Your team does not have to score all
of the alliance points, just assist in
doing so.
• Best to drive and do one thing really
well, than to do many things OK or
worse.
• Not interested in what needs to be
built in order to make the strategy a
reality.
21
Strategy Development
• As a team, brainstorm strategy
concepts that would help your alliance
reach the point goal for each match.
• Examples (2011) (55-60
pts/match/team goal)
– 1 Ubertube top row and 2 top row Logos
+ 4th place minibot (58 points)
– 1 Ubertube top row and 1 top row Logo
+ 1st or 2nd place minibot (60 points)
– 1 Ubertube middle row and 2 middle row
Logos + 1st place minibot (58 points)
22
Strategy Selection
• Develop a set of strategies that will
realistically meet your points goal
• Select 3-6 possible strategies to
evaluate
• Use a decision matrix to select a
strategy concept that will be the
team’s focus for the next six weeks
23
How close were we at kickoff?
18
2014 Qualifying
82.5% of Qualifying and
75% of Elimination
matches scored 157 or less.
2014 Elimination
16
14
Percent Occurrence
12
Data from The
Blue Alliance
10
8
6
4
2
0
0
50
100
150
200
Alliance Scores
250
300
350
24
Robot Requirements
• Now that we know WHAT we want to
do, we need to figure out HOW we
are going to accomplish the task.
• Establish Robot Requirements
– Demands
• Weight
• Size
• Kick Ball across field (e.g. 2010)
– Wishes
• Kick 10 Balls per Match (e.g. 2010)
• Hang in 5 seconds or less (e.g. 2010)
25
Defining Specifications
Specification Sheet Example
D=demand
D/W
D
W=wish
Specification Requirements
Weight - Under 120 lbs (excl. Battery + Bumpers)
Responsibility
Source
Team
FIRST
W
Drive Train - Under 40 lbs
Drive
Team
W
Manipulator - Under 50 lbs
Manipulator
Team
W
Electrical - Under 20 lbs
Controls
Team
W
Spare Weight - 10 lbs
Team
Team
Drive Train W
Speed 8 ft/s
Drive
Team
D
6 Wheel
Drive
Team
Manipulator D
Pick up tetras
Manipulator
Team
W
Pick up 3 tetras at a time
Manipulator
Manipulator
Be able to change out gearbox in 10 minutes
Drive
Team
Under $2000
Team
FIRST
D
Be finished in 6 weeks
Team
FIRST
W
Have Drive train complete by Week 3
Drive
Team
Maintenance D
Cost D
Schedule -
26
Determine Robot Requirements
• As a team, start putting together your
team’s specification sheet.
• Start to include engineering
requirements (with units) such as
robot speed, number of objects to
handle, speed to perform a task, etc.
• Include breakdowns (like weight or
size) when known, estimates are OK
for now.
27
Designing Robot Systems
• Find examples
– Robot in 3 Days
• 5 separate designs in 2014!!!!!
– Team 45’s Ball grabber in ’98 & ’04
• 45, 121, 1902, 2377 robots from 2008
• Design Philosophies
– Detailed Paper or CAD design then
construction
– Prototype concepts from the start until proof
of concept is achieved, then complete
design and build
• No matter what, need to track weight!
28
Host Your Own Kickoff
• Teams are encouraged to host own
kickoff events
– Space limitations at Capitol Technical
University to view kickoff
• Contact Anne Shade if willing to share
kickoff space
29
Resources
• ChiefDelphi Discussion Forums
– www.chiefdelphi.com
• Team Updates
– www.usfirst.org
• FIRST Q&A
– www.usfirst.org
• [email protected]
– MD FIRST Team Support e-mail including Anne
and Steve
• Robot in 3 Days
– Ri3D (Ri3D, AndyMark, Boom! Done)
• www.robotin3days.com
– Vex Pro (Team Copioli, Team JVN)
• www.BuildBlitz.com
• FIRST Technical Resources
– http://www.usfirst.org/roboticsprograms/frc/Technica
l-Resources
30
Once Built
• Re-evaluate Strategy
– How close are you to your initial goals?
• Be Realistic with what you can do
– Know the machine limits
• Watch how game is played at other events
– Game play evolves, very different each week
• Keep Improving Design
– Apply good ideas from what you watched
• Expand Horizons
– Style of play is different in other parts of country
31
Top Ten Most Important Robot
Things
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
Drive
Drive
Drive
Weight / Size
Strategy
Manipulator(s)
Controls
Practice Time
Practice Time
Practice Time
32
History of FRC
33
1992 – Maize Craze
34
1992 – Maize Craze
• 28 Teams – 1 event – High
School Gym, NH
• Small Tethered Robots
• Played on Bed of Corn
• Chairman’s – X-Cats
Xerox and Wilson Magnet
High 191
35
1993 – Rug Rage
• 1 event (NH)
• Larger Radio Controlled Robots
(RNets!)
• Robots on carpet
• Chairman’s –
ATT and Science High 7*
*This is not the current Team 7. The
team was not present in the 1998
season when numbers were
permanently assigned and have not
participated in FIRST for many
years.
36
1994- Tower Power
37
1994 - Tower Power
• 1 event (NH)
• Vertical designs
• Chairman’s – X-Cats Xerox and
Wilson Magnet High #191
38
1995 - Ramp N’ Roll
39
1995 - Ramp N’ Roll
• FIRST
Championship
Event – EPCOT
• 1 Regional (NH)
• Tank tread drive
• Chairman’s –
Nashua High 151
40
1996 – Hexagon Havoc
41
1996 – Hexagon Havoc
• 1 Regional and
Championship
• Chairman’s –
Walnut High 144
• WFA – Dr. Woodie
Flowers
• Rumble at the
Rock begins
42
1997 – Toroid Terror Field
43
1997 – Toroid Terror
• FIRST Championship
expands to EPCOT Parking
Lot
• 3 Regionals (NJ, IL, NH) and
Championship
• High lift mechanisms
• “Mouse that roared” Beatty/Hammond wins
Nationals
• Chairman’s – Chief Delphi
Delphi Corp & Pontiac Central
High 47
• WFA – Elizabeth Calef 88
• River Rage began
44
1998 – Ladder Logic Field
45
1998 – Ladder Logic
• New Batteries
• No Tipping Rule
• No Detachments
Rule
• Last year of
placebos
• Crab style
steering
• Chairman’s –
Boston Edison &
Plymouth North
High 23
• WFA – Michael
Bastoni 23
46
1998 – Ladder Logic Bracket
47
1999 – Double Trouble Field
48
1999 – Double Trouble
• Pillow Game Pieces
• Victor 883 Speed
Controller (Tekin Rebels
prior)
• Alliances (2 vs. 2)
• 3rd partner allowed
• Single Elimination Finals
• Chairman’s – East Tech
High 120
• WFA – Ken Patton 65
49
2000 – Co-opertition FIRST
Field
50
2000 – Co-Opertition FIRST
• Expanded Field
• Get 3x Loser’s Score
• Innovation FIRST
Control System
– NO MORE RNets!!!!!!!
• Ball collection systems
• Gear Switching
• Chairman’s – Baxter
Bomb Squad 16
• WFA – Kyle Hughes 27
51
2001 – Diabolical Dynamics
Field
52
2001 – Diabolical Dynamics
• Big Experiment…..
Failed
• 4 vs. 0 (the clock) Alliances
• Championship Divisions
• New Pneumatics Kit from
Bimba and Parker
• Teeter Totter Balancing
• Chairman’s – Chatsworth
High 22
• WFA – “Mr. Bill” Beatty 71
53
2002 – Zone Zeal Field
54
2002 – Zone Zeal
• Alliances 2 vs. 2
• Flat Field, Heavy
Goals
• Entanglement Rules
• 4 Field Personnel
• Chairman’s – Buzz
Robotics 175
• WFA – Dave
Verbrugge 67
55
2003 – Stack Attack Field
56
2003 – Stack Attack
•
•
•
•
Tote Destruction
Autonomous Component
Open Up Parts Suppliers
Regional Chairman’s
Award
• Championship Moves to Reliant Stadium and
the Astrodome (Houston, TX)
• Chairman’s – Cybersonics 103
• WFA – Andy Baker 45
57
2004 – FIRST Frenzy Field
58
2004 – FIRST Frenzy
“Raising the Bar”
• IFI Updates to “C”
• Win-Loss-Tie Seeding
Structure
• Regional WFA
• Championship moves to
Georgia Dome (Atlanta,
GA)
• Chairman’s – CheezyPoofs
254
• WFA – Dave Kelso 131
59
2005 – Triple Play
60
2005 – Triple Play
• 3 vs. 3 Alliances
• Tetrahedral
Game Pieces
• Lots of Penalties
• Chairman’s –
HOT Team 67
• WFA – Paul
Copioli 217
61
2006 – Aim High
62
2006 – Aim High
• Auto scoring system
• Offensive and
defensive periods
• More penalties
• Chairmans’: Team
111 Wildstang
• WFA: Rob Mainieri
63
2007 – Rack n’ Roll
64
2007 – Rack n’ Roll
•
•
•
•
•
Tubes make a comeback
Height/Weight classes
Red/Yellow cards
More stupid penalties
Match generation
algorithm limitations
• Chairmans’: Team 365
MOE
• WFA: Dan Green 111
65
2008- FIRST Overdrive
66
2008- FIRST Overdrive
• Large balls
• Little defensive
allowed
• Match algorithm
improved
• Chairman’s: 842
• WFA: Mark
Breadner 188
67
2009 – Lunacy
68
2009 – Lunacy
• Orbit Balls
• Slick Wheels
and Surface
• NI cRio
Controller
• Chairman’s:
236
• WFA: John
Novak 16
69
2010 – Breakaway
70
2010 - Breakaway
•
•
•
•
•
•
Soccer Balls
Carpet Back
Bumps
CAN allowed
Chairman’s: 341
WFA: Chris
Fultz 234
71
2011 – LogoMotion
72
2011 - LogoMotion
•
•
•
•
Inner Tubes
Scoring Zones
Minibot Races
Championship
in St. Louis
• Chairman’s: 359
• WFA: John
LaRock 365
73
2012 - Rebound Rubble
74
2012 – Rebound Rubble
•
•
•
•
Foam Basketballs
Protected Keys
Bridge Balancing
Co-opertition
Bridge
• Chairman’s: 1114
• WFA: Earl Scime
2614
75
2013 – Ultimate Ascent
76
2013 – Ultimate Ascent
•
•
•
•
•
Frisbees
Climbing
Robot in 3 Days
Chairman’s: 1538
WFA: Faridodin
“Fredi” Lajvardi
842
77
2014 – Aerial Assist
78
2014 – Aerial Assist
• Assist Points
• Cycle Time
• Referee
Influence
• 5x Robot in 3
Days
• Chairman’s: 27
• WFA: Lane
Matheson 932
79