The Escalade: Autonomous Search and Rescue Robot Part 1

Objective

The goal is to create an autonomous search and rescue robot, capable of applying a mapping, and search and rescue algorithm and retrieve a target on a model scale. Collected data will be wirelessly transmitted to a control computer via an XBee Module.
A printed maze is used to simulate the bounded navigable terrain and a golf-ball serves as the target for rescue.

The Team 

1. RST - The team leader, responsible for managing project deadlines, submissions, and scheduling. RST also contributed to the overall hardware design of robot and was responsible for building the internals and assembling the robot. Under RST's unparalleled leadership, the team mustered more man-hours from its members and completed more revisions and prototypes of the robot than any of the team's competitors. The result, despite a few major setbacks, the team built superior robot compared to its competition, the Escalade.
2. KGL - The team's lead software developer. KGL was responsible for nearly all the software aspects of this project from creating the foundation of the robot's search & rescue algorithm to integrating the software to function with a wireless Xbee module. Moreover, KGL single handedly create the GUI on for the remote control.
3. WCC - The team's second hardware designer, hardware integration officer expert, and secretary. WCC designed and aided in the building of the robot's motor control module. WCC also took on the task of integrating the hardware together and patiently tested nearly every hardware component to discover and eliminate hardware problems. Lastly, WCC was responsible for keeping track of the accounts and did a fine job; the numbers balanced out at the end.
4. BPY - BPY was responsible for CAD drawing of the robot's chassis and then building the chassis. It was crucial all the hardware components fitted together so BPY created revision after revision to ensure all the tolerances were met and contributed in the construction of all the prototypes and subsequently the final version of our robot, the Escalade. Lastly, BPY, aided KGL in the development of the robot's software and created one of search and rescue algorithms.
5. ABC - ABC's official title is the integration and testing officer. Despite ABC's great effort, the responsibilities assigned were too much for ABC. ABC subsequently functioned as a live soldering vise and was assigned one of the most important responsibilities, getting the coffee. Unfortunately, even that was somehow too difficult.

Design

Micro-controller & RF Communications

For our micro-controller, we went with an Arduino Mega 2560 instead of the cheaper Uno. Planning ahead, we expect the additional digital pins may come in useful later on. If not, there's always the option of expansion.
For wireless communications between the robot and PC, we used a XBee module and a Xbee USB dongle.

Algorithm

We know two things about the maze our rover has to navigate. The starting point will always be at the bottom left while the exit will be located at the top right. 

To map and solve the maze, we applied the right/left-hand-rule for solving mazes. The coordinates of the intersection tiles will be recorded relative to the starting point and displayed on the GUI (below). The shortest path solution will then be determined with the fully mapped maze and then traversed by our robot.

Motors

The critical component for moving the robot, we used a pair 29:1 gearbox motor with an integrate encoder (found here) to keep track of the revolutions of the motor shaft. Knowing the number of revolutions will give us a more accurate estimation of distance travelled based on the diameter of the wheels and allow for greater control.
At 12 volts, the motors an run at up to 350RPM, allowing for greater speed. However, this includes a drawback of a high stall current require us to design and build our own motor control module described in the next subsection.

Motor Module

The motors themselves are useless without a method of applying logic to them to control the direction and speed of rotation. This is where the motor module comes in. While module modules can be purchased ready to use, we were unable to find one that would fit the specifications of our motor with a stall current of 5A. Pre-assembled motor control modules are mostly only available at about 2A. As a result, we designed and built our own motor control module.
WCC designed the following schematic for our motor control module. Two of these were put together, one for each motor.

This motor control module serves as the interface between the micro-controller and motors.  Two digital pins are inputted into the control module to the rate of rotation, one for each direction.

Infrared Sensors

In order to solve the maze, we needed sensors to detect the paths and boundaries of the maze. For this task, we used pairs of IR emitters and sensors. Knowing the paths and boundaries are marked in black, the sensors will detect a different reading from the IR emitters emitting against a black object as opposed to a white object. Six pairs of sensors & emitters were placed strategically around the based of our robot to follow the maze.

Chassis

We wanted to build something easy to assemble and large enough to house our internal components, so we opt for something in the shape of the cube. The chassis has went through more revisions than another of our major components. BPY created the CAD drawings and had the aluminum pieces cut out with a water jet. Subsequently, the pieces were folded to shape and powder-coated red.

Rescue Mechanism

We implement the rescue mechanism with a door and servo motor at the front of the robot. As the robot approaches the target, the door opens up and closes over the target, capturing or rescuing it.


Circuitry

Using the free version Eagle PCB design software, we were able to connect all components together on a 8cm by 10cm PCB. Due to the dimensional restrictions of the free version of the program, we really had to cram all the components together tightly. Despite the tight dimensions, we were still able to incorporate the team's logo and names onto the board. Over coming the size restrictions would have allowed us to add male pins to the board so the Arduino microntroller can be plugged directly to the board, effectively, creating a custom shield for the Arduino. The schematics were first draw out and then converted to a CAD PCB drawing which was subsequently sent to be commercially etched out.

End of Part 1

 

Bistro 101

Phone: (604) 734-0101

Address :  Bistro 101, 101 - 1505 West 2nd Avenue, Vancouver, BC

Hours: 11:30am - 2:00pm, 6:00pm - 9:00pm (Monday to Friday)

Website:  http://www.bistro101.com/

Date of Visit:  Jan. 21, 2013

Parking: Parking around Granville Island or West 2nd.

Starters

Bread Basket

8.5/10

• Varied selection from the bakery including cheese sticks, raisin bread, sun-dried tomato scones and a few others I didn't take note of.
• Cheese sticks/twist were crunchy and buttery.
• The scones were savory and buttery, very similar to a biscuit.

I was expecting buns and baguettes and was plesantly surprised to be presented with such a wide selection of artisan baked goods as a complimentary starter. It was more or less a sampler of the goods offered by Bakery 101 at the entrance of Bistro 101 and from what was offered, it was an excellent representation of what's offered in the bakery next door.

Sweet and Savoury Pancake

4/10

•  Another complimentary starter, a mini pancake topped with raspberry purée and ricotta cheese mixed with mushrooms, and finally garnished with a raspberry and mint leaf.
• A very unique starter, however the flavors did not combine very well.

I've never tasted such a combination of ingredients. The pancake and mushroom ricotta topping was savory while raspberry and mint was tart and took away the savouriness of the starter. Nonetheless, it wasn't bad, and I can't complain about complimentary. The raspberry and mint did cleanse the palette, setting up the following appetizers.

Appetizers

Yukon Gold Clam Chowder

6/10

Sustainable BC Scallop

7/10

• Two pan-fried scallops served on beet purée and apple sauce
•  Lightly dressed kale salad topped with sunflower seeds on the side

The scallops were a bit under done, another 20 seconds or so of searing would have improved the dish. The purée did compliment the sweetness of the scallops nicely, however, it would have worked better in a smaller quantity to just bring out the flavors.

Westcoast Seafood Cake

7/10

• Seafood croquette served on a bed of garden salad topped with a dollop of tartar sauce
• The croquette was mainly comprised of salmon
• The portion of the croquette was a bit small
• Arugula salad was lightly dressed

The seafood cake, while good, was a bit disappointing. In short it tasted like a salmon burger slider and there did not appear to be much of any other kind of seafood in there. Despite that, the cake was no where near dry.

Mushroom in Phyllo Pastry Cup

7.5/10

• Pan-fried mushrooms and bacon in cream sauce served in a baked poppy-seed phyllo pastry cup garnished with fennel. Reduced balsamic vinegar.
• The most unique appetizer option
• The flavors didn't go too well together, nonetheless, it was still a good dish
• Served with a poached spinach and cherry tomatoes. 

The filling was comprised of sliced mushrooms and bacon .The phyllo pastry cup was a bit bitter and didn't work too well with the filling,but the balsamic reduction was able to balance out the bitterness. While the taste wasn't the best, points were given for the dish's presentation. This appetizer was basically an oversized Hors D'oeuvre.

Entrées

 

Trout en Croute

8.5/10

• Steelhead trout baked in puff pastry, served with side of brussel sprouts, eggplant ragout, and braised greens
• Trout was not overcooked or dry
• Ragout was too salty, neutralized the sweetness of the trout
• Brussels sprouts were hard and crunchy

The trout arrived perfectly cooked, in a generous portion, and wrapped in a flaky golden brown crust. The sides came in an ample amount, however, sub-par. The ragout was excessively salty and acidic doing the main dish a disservice. Texture-wise, decent. The brussel sprouts were hard, crunchy, and had a strong flavor. The braised winter greens was the only side that was decent. Disregarding the sides,  this dish was easily the best entrée on the Dineout 2013 menu.

Pilsner Braised Boneless Short Rib

6.5/10

Pan Roasted Duck

7/10

• Duck Breast pan-fried, served with plum sauce and gnocchi
• Duck breast was cooked properly but arrived a bit cool.
• Gnocchi was a bit hard
• Overall dished was very similar to a roasted duck found at Chinese Barbecues, (also commonly served with plum sauce)

The duck breast was tender and cook pan-fried to a medium doneness. The fat between the skin and the breast greatly amplified the savouriness of the dish. The skin unfortunately, was soggy when it could have been crispy. Drenching the breast in sauce didn't help. The gnocchi on the side was rather poor. Far too much flour was used to make them, making them a bit hard. The braised greens on the side were a bit cold. While the overall dish was good, it did not introduce any unique flavors.

Desserts

 

 Poached Pear & Amaretto Tart

6.5/10

• Slices of poached pear topped on an Amaretto flavoured tart topped with more almond slices
• Paired with candied ginger ice-cream
• Portion of ice-cream could have been larger

A different take apple strudel à la mode with room for improvement. The pear and tart was prepared a head of time, however, if they were reheated and served with a larger potion of the ice-cream, this dish would have been greatly improved.

The ice-cream was home-made, smooth and a had little hints of ginger.

Torrone Semifreddo

7.5/10

• Nougat Semifreddo (an Italian desert similar to frozen whipped cream) on a shortbread base, served with a piece almond crisp and garnished with a gooseberry (or goldenberry).
•  The semifreddo has a lighter consistency than ice-cream. Nuts mixed in added crunch to it.
• Almond crisp was sweet, crispy, and flavorful

This dessert combined a lot of different textures, the semifreddo itself was smooth and creamy mingled with tiny bits of crunchy pistachio on top a soft crumbly base. The almond crisp was formed to decorate the dish and further augmented the crunch of the nuts when eaten together with the semifreddo.

Chocolate Cardamom Truffle Cake

5/10

• Truffle cake flavoured with chocolate, cardamom spice, and coffee, sprinkled with cocoa powder
• Garnished with long strips chocolate and vanilla sauce.
• Bitter

I sampled this dessert after sampling the previous two dessert options. Perhaps my palette has been affected. While I found this cake too bitter, my guests agree that this dish was delicious. The texture of cake was similar to that of a mousse. A bit of cardamom did introduce a unique flavor combination, however this dish as a whole reminiscent tiramisu, having a similar flavors and texture.

Service

• Waitstaff was attentive and their intention seemed to be good, however it was evident the staff was inexperienced
• The staff appeared unfamiliar with the menu items, however, the menu does change regularly
• Glasses were filled regularly
• Dishes arrive hot

Atmosphere

• Elegant and contemporary dining room
• Chair's weren't too comfortable
• Kitchen stations are all visible to the patrons via windows. 
• Bar and lounge at front entrance
• Bakery outside entrance
• Restrooms were clean

Verdict

Bistro 101 represents one the values available in the city. Even though the majority of the staff are students of the culinary institute, this establishment runs efficiently and produces quality food better than most restaurants with a similar price point I've experienced. While some of the dishes do require a bit of tweaking and service can be lacking in a few areas, it's no where enough to turn anyone away. I highly recommend this restaurant and suggest you get a reservation before you arrive.

Koi Japanese Restaurant

Phone: (604) 945-6866
Address :  2573 Shaughnessy St, Port Coquitlam, BC V3C3G3
Hours:  N/A
Website:  N/A
Date of Visit:  Jan. 8, 2013
Parking: Free 2-hour Street Parking

Koi Japanese Restaurant is an mid-sized restaurant serving quality food at reasonable prices. An all-you-can-eat menu is available past 5:00pm. Take-out is also available.

I ordered from the all-you-can-eat menu. Based from my previous experience at other all-you-can-eat Japanese restaurants, my expectations weren't too high. I was very impressed when the quality of the food turned out to be very good. Due the greater variety of foods sampled, my review of the food items will be more brief and less in depth than usual in the following sections

A copy of the all-you-can-eat menu follows:

Appetizers

Goma-Ae: The boiled spinach salad was served in a very well-done sesame-based dressing and topped with roasted sesame. Likely pre-made ahead of time, however, the dressing was absolutely delicious. I'm unsure whether or not it is store bought, I haven't tasted sesame dressing like that before. It may have been supplemented with additional seasonings such as sugar if so.

Basa Fish Katsu:  Basa is a white cat-fish. Deep-fried in panko bread crumbs, topped with Kewpie mayonnaise and katsu sauce, and served on a bed of lettuce. This dish was done well. The fish is not dry and the coating was crunchy.

Salmon Katsu: Salmon coated in break crumbs and deep-fried. This dish was rather weak, the salmon was overcooked and very dry.

Tonkatsu: This is your standard deep fried pork-chop. Arrive hot and crispy. The pork was not overcooked nor dry.

Korroge: This is a starch based (potato I believe) croquette filled with bits of vegetables served similarly the aforementioned katsu dishes. The croquette was served hot and its soft texture complemented the crunch exterior very nicely.

App Tempura: The App Tempura was served as a set containing a piece of yam, zucchini, carrot, and prawn tempura with a tentsuyu dipping sauce. The tempura arrived hot and was coated lightly with a crispy batter. Unfortunately, prawn tempura on its own is unavailable on the all-you-can-eat menu.

Takoyaki: Takoyaki is a ball-shaped appetizer containing chucks of octopus meat coated in a wheat-based batter. This dish was topped with nori flakes and green onions and served with mayonaises and I believe katsu sauce instead of proper takoyaki sauce, nonetheless, it was delicious.  I highly recommend this dish. It was one of the better takoyaki dishes I have had in Canada. The takoyaki arrived hot, contained a generous ammount of octoupus chucks, the batter was firm and not too overwhelming, and the takoyaki had a nice round shape

Chicken Karrage (Wings): This was your standard deep fried chicken wing. The wings were not overcooked and still moist on the inside.

Sushi and Sashimi

To be completed on a later date.

Service

• Service was overall good. Note we were there were only two tables present including my table while I was dining. Service did not noticeably slow down when more people arrived.
• Our food came fast, and everything that we ordered arrived.
• Our tea was refilled regularly
• Only one waitstaff was present on the floor.

Atmosphere

• Dining area was clean, and well lit. However, despite the decorations the place still appeared plain.
• Shoji screens were put up as dividers between tables.
• Restrooms were clean

Verdict

My at Koi Japanese Restaurant was overall very good. The quality of the food and service was very good for an all-you-can-eat Japanese restaurant, perhaps, one of the best (and I have quite a few) leaving me no room to criticize. I would recommend sticking with the hot food and the sashimi. The nigiri sushi wasn't great. I would definitely return to this establishment in the future.

The Point Grill

Phone: (604) 822-9503
Address :  The Point Grill, Building 4 - 2205 Lower Mall, Marine Drive Residence
Hours: 11:00am - 10:00pm (Daily)
Website:  http://pointgrill.food.ubc.ca/
Date of Visit:  Jan. 11, 2013
Parking: Campus Parking which can be pricy

The Point Grill one the only two sit down restaurants at UBC campus, the only being Sage Bistro. The latter is currently closed, leaving The Point Grill as the only option if you're to dine on campus, and it appears that they can afford to compromise on the quality as a result. Moreover, it is one of the pricier options to dine at on UBC campus. The Point Grill specializes in burgers, pasta, and a few grilled dishes made to sustainable and local ingredients when possible.

Mushroom Burger

3/10

 

• Dressed with only swiss cheese and mushrooms
• Fries were dry, cold, and unevenly seasoned
• Patty was burnt.

I ordered the mushroom burger because I assumed it would be a safe option only to discover the burger was very substandard. This establishment cannot even grill a burger properly. The patty was burnt. Moreover, I expected the burger to be dressed with some vegetables, lettuce, onions, and tomatoes, lettuce at the very least, however it had only cheese and mushrooms.

The fries on the side were cold, dry, and unevenly seasoned. I received a bowl of hot fries after notifying the wait staff. They were pretty quick to correct the error, however, the new batch of fries weren't much better, just hot.

Cod and Chips

6/10

 

• Cod was relatively moist
• Batter was light and fluffy but coated the cod unevenly; some areas were very thick
• Poutine was topped with miso gravy
• Coleslaw was acceptable

The Cod and Chips was substantially better than the burger. The beer batter cod was okay, not good but also not bad. It was coated with a very uneven layer of batter; I was able to tear off entire chunks of fried batter.
The chips were upgrade to a poutine, which was unimpressive. The Point Grill utilizes miso gravy, which sounds like an interesting take, but it didn't taste very good. Moreover the fries were not crispy but soggy.
Also on the side was a coleslaw.

Service

• Service started off fairly quickly, slowed down as more diners entered.
• There was only one wait staff on the floor during the busy lunch hour.
• Took a while for the bill to arrive.

Atmosphere

• Dining area was clean, modern, and well lit. Several flat screens are on the wall showing sports.
• Restrooms were clean

Verdict 

Even though there are very few options to dine at on UBC campus, I would not return to this restaurant. The food was overall, bad but edible. A better burger can be found at the Student Union building on the campus for less.