Administrative

Triple Helix returns to flight with a FPV drone competition

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As Triple Helix Robotics begins a new school year, our team leaders have been thinking about how we’ll accomplish the goals of the team– inspiring students with STEM– within the restrictions placed on us by the pandemic we’re all living through. In these slides, senior mentor Todd Ferrante explains the team’s current thinking in response to the continued public health crisis: this season, it’s up to us to create the spark of inspiration that will draw people– students and mentors– to participate in the team this year.

Triple Helix returns to flight by coming together to create the Tele Operated Robotics Competition– an internal tech challenge involving small bots which can be built by students at home and at the Peninsula STEM Gym, using the tools and techniques that are available to us.

Slides, last updated 15 Sep 2020

Awards

Woodie Flowers submission 2020

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Triple Helix students are proud to publish this Woodie Flowers Award nominating essay for our mentor Wendy Bretton.

Wendy Bretton first joined Triple Helix four years ago as a software mentor, but her impact on the team has been much larger than that. As a professional software engineer for over 20 years, Mrs. Bretton has an incredible amount of knowledge that she is willing to share with both students and mentors alike. She has created an atmosphere on the software subteam where everyone’s input is valuable. Because of this, it is rare to see Mrs. Bretton without at least one or two students by her side. She is constantly encouraging members to take on different tasks and learn more.

Mrs. Bretton has always been devoted to promoting STEM, even long before she joined Triple Helix. As a mother of two, when her kids were in elementary school she heard about FLL, and after finding out that no one at their school wanted to start a team, she started one herself. This FLL team has been to state championships countless times and is still going strong. Mrs. Bretton even has her own website that shares a variety of STEM topics, activities, and ideas. She is often contacted by new parents asking how to get their children involved in STEM. Her devotion and dedication to promoting STEM has had a tremendous effect on those around her.

Interestingly enough, when Mrs. Bretton first joined Triple Helix, she was not expecting to become the software lead, however, she quickly became an asset to the team by taking over the lead position when the previous software mentor left. Not only did she keep the software subteam afloat, but she implemented a structured, well-documented framework that allows students to begin contributing from day one by following procedures shared in Google Keep notes. Mrs. Bretton focuses on ensuring that every student has an equal opportunity to participate. Carson, one of the youngest members on the team says, “Mrs. Bretton makes sure everyone has a task regardless of their experience level.”

Mrs. Bretton strives to ensure that all students are able to express their creativity. She encourages teamwork throughout the subteam, and because of this, students are often found working together on the code. Long after a meeting ends, Mrs. Bretton will be looking over all of the altered code and integrating it into a stable baseline so that testing can start at the next meeting. This system guarantees that all the students can actively participate in writing the code. She even managed to implement this practice with last year’s robot – the most complicated robot the team has made.

In conclusion, Mrs. Bretton is more than just the team’s software mentor. She not only works alongside the students, but also provides life advice, support, and even rides to meetings. Liz, one of the team’s alumni, states, “Her positive energy truly bleeds out into everything that she does.” To sum it up, Mrs. Bretton’s passion for promoting STEM has created many lifelong learners, gracious professionals, and thoughtful citizens who continue to be active in the STEM community.

Outreach

Destination Deep Space Spectator’s Guide

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One of the topics which has come up repeatedly in 2363’s after-competition lessons learned meetings is how confusing it is for non-FIRSTers to attend FRC events. Triple Helix has produced a simple tri-fold brochure that can be handed to your non-FIRSTer visitors, team parents, grandparents, sponsors, etc. It doesn’t answer every question they will have. But, hopefully you will get fewer “I had no idea what was happening” comments from your visitors.

One side has general info that’s common to all FRC events. The other side has game specific info. Feel free to print these up, hand them out, and make FRC events more enjoyable for your guests.

Spectator’s Guide

Chief Delphi discussion

Awards

Chairman’s Award submission 2019

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Triple Helix is proud to publish this essay as part of our submission for the 2019 FIRST Robotics Competition Chairman’s Award.

Triple Helix has been a leader of the Hampton Roads (HR) community since 2008. Since then we’ve worked tirelessly to spread the values of FIRST and to increase interest in STEM in our region. During the past five years, we’ve forged new connections between our FIRST team and the VA Peninsula at over 90 community and sponsor-hosted events, encouraging others to join the FIRST community.

Rumble in the Roads, the annual off-season competition we operate with partner teams 5957 and 1610, is our largest STEM outreach event. Since 2014, we’ve attracted an average of 30 teams from VA, NC, and MD and 300 visitors, including students, parents, mentors, and government figures such as the school’s superintendent and the Vice Mayor of Newport News. This event is an opportunity for teams to practice and train new students before the start of the next build season. In 2018 we supported rookie teams 7429, 7675, and 7715, helping them prepare for the following FRC season by waiving their Rumble competition fees and partnering them with veterans who shared their experience and resources like their drive teams, pit crews, and drivetrains.

In 2018, Triple Helix established the Peninsula STEM Gym, which is a shared space that provides a plethora of options for local FIRST teams to explore. Attached to a community woodworking makerspace, the STEM Gym serves as a workshop, practice field, and collaboration space for all levels of FIRST teams. We have a full-size FRC and FTC playing field available for teams to effectively prepare for competitions. Plans are evolving to further expand the use of the space for local FIRST teams.

Our team has maintained a YouTube channel since 2013, where we post tutorials, build season logs, and videos of matches from competitions we attend. These videos are used by FRC teams for drive team development. This past year the team has taken on the task of building an archive of mechanical video tutorials, such as how to build bumpers or a drivetrain, as a way to assist young teams and curious minds alike. We post videos of tested engineering and team practices for the FRC community and provide a long-term visual history of our team. For example, our 2018 Gripper Prototype video gained over 47,000 views and influenced a number of teams’ intakes, such as team 5472, who thanked us for posting it as well as our “contributions to the FIRST community.”

Our sponsors are a part of our identity, and they have a huge impact on how we perform at competitions and in the community. For example, we interacted with over 1,200 visitors when we displayed our robot alongside sponsors DoD STEM and SPAWAR at the 2016 Naval Air Station Oceana Air Show in VA Beach. At NASA Langley’s invitation, we demonstrated our robot at their Exploration Days event at Busch Gardens Williamsburg for over 20,000 park visitors from around the world during each day of the event. We’ve exhibited at NASA’s Youth Day where we were a key part of the experience for NASA employees and their children. In 2016, we partnered with sponsor Jefferson Lab to host the HR FRC Kickoff; they later commissioned our team to 3D print parts for the GlueX Experiment. In 2017, manufacturing firm Continental Corp. invited us to tour their facilities and show our robot to their staff. We show our gratitude for our local sponsor, the Junior Woman’s Club of Hilton Village, by annually supporting their dinner theater event as wait staff. Club members stated “Your students did a wonderful job waiting tables for us at Dinner Theatre!” In July of 2017, NASA and Boeing invited us to the NASA Langley Centennial Gala; student leaders mingled with industry officials, made professional connections, and participated in a milestone event. Later that summer, we gave a presentation about our team’s strategies and structure to AFCEA’s HR chapter at Langley AFB.

Our team regularly works with organizations, businesses, and schools to incorporate FIRST into our region. We annually participate at the CNU Community STEM Day where we demonstrate robot capabilities to 4,500 visitors. Our team has previously run the FRC Summit at CNU, where regional teams share knowledge on topics such as scouting, build season strategies, and off-season projects. We participated in the 2016, 2017, and 2018 YMCA STEM Fairs at the VA Air and Space Center, showing our robot to over 1,600 students, local dignitaries, and business leaders.

We sponsor and support several local FIRST teams. During the 2016 and 2017 seasons, we provided mentor help and technical resources to FRC team 5957. We donated critical equipment to Warwick River Christian School’s FLL team 24104 when they formed in 2016. In 2017 and 2018, we provided mentor support to FLL team 2581. We continue to sponsor Hines Middle School FTC team by funding their registration and competition fees. In 2017, we loaned climbing ropes, mentor support, and mechanical resources to teams that needed them at competitions. Regarding our past support, FRC team 5546’s head mentor has stated that

“Triple Helix has had a tremendous impact on our rookie year. In the offseason leading up to 2015 they sponsored us for a free trip to Rumble in the Roads, and let us use one of their practice robots to compete with. This really helped us see FIRST-hand what to expect in the upcoming FRC year. Earlier in the school year, they donated one of their previous robots to help us practice and learn how FRC bots operate. Because of this donation, we were able to jump right into our build season, and had our own working drivetrain quickly. On top of all that, they have been very open and generous with information, working with us during a brainstorming session at Franklin, and offering to help us troubleshoot our RoboRio. We owe much of our already successful build season to Team 2363.”

During the 2017 season, our team provided a home to FRC team 122’s students and mentors during an inactive year. Following this experience, one of team 122’s students stated that

“Being on the Triple Helix team helped me grow and experience STEM and leadership from a completely different perspective. It was refreshing to see how such an organized and structured team functioned. For instance, Team 122 never held official ‘reflecting’ sessions that compared previously set goals to what was accomplished at the competitions. However, after being on Triple Helix, I realized just how important that step is to improving as a team. Additionally, communicating through Slack was something that was new to me, but a great method of communication that I learned thanks to Triple Helix. I plan on bringing all these great things I learned from this team to Team 122.”

We’re devoted to making a positive impact on our community through FIRST. A favorite outreach opportunity is with a chapter of Cooperating Hampton Roads Organizations for Minorities in Engineering (CHROME) at a local church; after meeting 20 curious CHROME Club elementary school students in 2015, the students asked for us to return for more robot-related antics, which we have successfully done in 2016 and 2017. We introduced our robot to the 2016 STEM for Girls summer camp hosted by the Peninsula Jaycees and to the visitors at the Lewis Ginter Botanical Garden Nature Connects: Art with LEGO event.

We’re dedicated to spreading awareness of FIRST within our school system. While managing different aspects of the 2016 VA Odyssey of the Mind State Finals Tournament, we were able to advertise our team and answer questions about FIRST. At the end of this event, former MHS Activities Director Pete Mercier stated

“Triple Helix not only dominates the world of robotics, but they are absolutely committed to community service! Even as they are planning for HUGE competitions of their own, they helped all day on Saturday, running events, helping guests, and assisting our cafeteria staff with the serving of food and disposal of trash! They were eager and helpful and we thank [their mentors] for not just helping to get these great kids involved, but for inspiring the spirit of service in these tech-savvy students!”

In 2017, we exhibited at the State of the City Luncheon to local dignitaries and potential sponsors to exemplify advanced STEM programs in our school system; we were able to meet many school board members who were previously unaware of our team. We’ve made a strong connection with our student body through our participation in activity fairs and open houses where we’ve displayed our robot’s capabilities and team’s aesthetic. Through demonstrations at local elementary and middle schools, we ensure that there will be students joining our team in the future.

We’re very proud of our lasting impact on students. We’ve been recognized for our role in encouraging young women to pursue STEM careers by increasing the participation of female students on our team, encouraging their role in leadership positions, and providing opportunities for them to become engaged in the engineering process. Of alumni who graduated in the last 5 years, 97% of our students pursue college educations, with 83% pursuing STEM careers. In our senior exit interviews, graduating seniors report that their Triple Helix experiences award them “a glimpse into the type of job I want to have professionally, a more complete understanding of project management, friendships that I will never forget, and leadership skills to take into college and the workplace.” Students leave with “valuable relationships with mentors who work in industry” and “the confidence to pursue an engineering degree!” Perhaps most succinctly put, however, came from one alumni who said, “I learned what I wanted to do in life.”

Our team regularly quotes the phrase, “it’s not just about the robots.” This has truly been expressed in our constant zeal for spreading the values of FIRST throughout our region, in our ongoing mission to inspire others to pursue technological fields and participate in the worldwide FIRST community.

Awards

Woodie Flowers submission 2019

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Triple Helix students are proud to publish this Woodie Flowers Award nominating essay for our mentor Nate Laverdure.

Nate Laverdure joined Triple Helix six years ago and took on the role of head coach the following year. As a cryogenics mechanical engineer at Jefferson Labs, he is extremely valuable to the team as a whole, serving as the primary coordinator of Triple Helix activities in the community. As head coach, Nate has transformed the team’s structure to put students in leadership positions and has moulded the atmosphere into an incredibly friendly and inclusive environment. The relationship he has with students is respectful and comfortable, so much so that students refer to him by his first name. The amount of time and work he has dedicated to Triple Helix is inspiring to mentors and students alike.

Nate emphasizes the mentality of continuous improvement by organizing team meetings before and after competitions in which we reflect on the positives and negatives of our team’s performance at events. He also introduced System Integration Meetings, in which students from different subteams communicate their progress on team projects during the build season. These meetings maximize communication across the team and encourage students to communicate consistently in work environments. “Nate keeps everyone on the same page with emails and on slack, he leads the team in meeting about competition and makes sure everyone understands what’s going on,” says Sigrid.

Nate encourages learning by asking students to brainstorm how they would solve a problem rather than giving an outright answer. He motivates students through guided problem solving and ensures that students take on most of the projects and are recognized for doing so. “Nate makes the whole challenge and competitions less stressful by focusing on solving current problems instead of just winning,” said Eric. He also prioritizes assisting other teams in and out of competitions, sending pit crew members to other teams in need of a helping hand as well as collaborating with local teams in the off-season. To address the lack of practice space, Nate founded the Peninsula STEM Gym as a place where local teams can practice and collaborate.

At the start of each season, Nate presents the team with a list of priorities that need to be respected, including self, homework, and robotics. The purpose of this exercise is to establish a team mentality of balancing personal health and extracurricular activities. By impressing upon the students the importance of a balanced life, Nate encourages us to refrain from physical and mental overexertion, in the shop or at home. Nate serves as a model for students to emulate, as well as a resource, often teaching students physics and helping with other homework.

He’s influenced the team culture in a truly unforgettable and incredible way, provided a safe space for students to be completely expressive, and helped the team culture grow from that of a workplace into a family. Nate is not only our mentor, he is our friend.

Programming

Method for Arcade Drive input scaling

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“Arcade Drive” is a popular joystick control method for skid-steer robot drivetrains, where one joystick axis controls the “throttle” (speed forward and back) and the other axis controls the rate of rotation of the robot chassis.

We provide a method for scaling the [-2, 2] range of (throttle command + turn command) down to [-1, 1] for use with an arcade drive.

This scaling is applied smoothly with no discontinuities anywhere in the input range. There is also no loss of information– both outputs (power/speed commands to motor controllers on the left and right sides of the drivetrain) always depend on both inputs (the driver’s throttle and turn joystick commands).

Explainer document

Code example

Chief Delphi discussion

Mechanical

Converting Festo’s flow rate spec to Cv

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Festo gives the flow rate through their solenoid valves in terms of “standard nominal flow rate”. What does this mean? How does it compare with other valves on the market?

Here’s a spreadsheet that converts the specified flow rate (which is actually a mass flow rate even though it’s in units of volume/time) into a flow coefficient or Cv. This lets you directly compare the size of the valve to other vendors’ stuff.

Spreadsheet

Chief Delphi discussion