Robot Soccer First Design Review The Final Four Eric Swindlehurst, Spencer Kropp, James Watts, Tyler Bellows

Overview Introduction Purpose and Motivation Product Design Project Requirements Design Specification Customer Needs Block Diagram Alternate Concepts Concept Selection and Generation Fundamental Design Issues Critical Concepts Schedule Current and Future Work

Introduction - Purpose and Motivation Basic Goal: Build a robot that can play soccer Motivation: To host an entertaining robot soccer tournament for the community at BYU’s ECEn On Display in April 2015

Introduction - Product Design Three-wheeled robot Onboard computer Motor Control Vision Processing System Communications

Design Specifications Robot dimensions Diameter <= 8 inches Height <= 10 inches Robot capabilities Battery operated Play soccer autonomously Max rotation speed <= .5-1 rotations/s Max speed <= 5-10 mph Robot materials Three wheels -- omnidirectional Onboard computer -- ODroid Motor control -- RoboClaw Vision processing -- overhead camera, OpenCV System communication -- ROS Code written in C++

Meeting Customer Needs # Need # Metric Baseline Ideal 1 7 Low Cost <$500 <$300 2 2, 6 Top speed >5mph >10mph 3 6, 7, 8 Spin Rotation >.5 rotation/s >1 rotations/s 4 2, 7 Number of Individual Skills 8 5 1, 4 Number of Team Skills 6 1, 2 Vision Processing 5 fps 10 fps Prediction of Ball Movement Within 10 cm Within 5 cm Goals per Game >0 >=2 9 3, 5 Hardware is modular Major Sections removable All components removable individually 10 Software designed to allow new plays/skills to be added Skills -> Plays Skills -> Plays -> Strategies

Block Diagram Hardware Flow Chart Software Flow Chart Overhead Camera Vision Computer Debug Control Router Vision Calculation Vision Computer AI Debug Receive ODroid RoboClaws Motor Control Motors ODroid

Alternate Concepts Pentagon Design Parallel Wheel Design Angle of kicker affected Parallel Wheel Design Force vectors for motor control wouldn’t cancel Two-Level Robot Not enough space for all components Two and Three ROS Node Designs Needed more compartmentalization and control

Fundamental Design Issues Physical Construction Shape of robot; placement of wheels, controllers and kicker Overall Software Architecture Speed, complexity, modularity, and ease of use

Concept Generation - Robot Shape Physical Construction Weighted Value Pentagon Hexagon Circular Score Weighted Wheel Placement 60 2 120 5 300 Kicker Placement 20 1 4 80 Controller Placement 3 100 Total 160 440 420

Concept Generation - Software Architecture Weighted Value Two Nodes (Vision and Robot) Three Nodes (Vision, Analysis, Decision) Five Nodes (Vision, Analysis, Decision, Motor, Debug) Score Weighted Complexity 30 1 2 60 4 120 Speed 25 100 3 75 Modularity 15 45 5 Ease of Use 150 Total 205 300 420

Schedule By Feb 5th: Have one robot built. Be able to perform the following basic skills: spin in place, go to the center of the field from an arbitrary location and orientation and make a box Feb 18th: Robot be able to score on an open goal and defend a shot on goal. Mar 4th: Robot be able to compete and win a 1 on 1 game of soccer

Schedule Mar 18th: Build 2nd robot and compete in 2v2 tournament Mar 25th: Build 3rd robot and compete in 3v3 tournament Apr 1st: Continue updating AI in preparation for final competition

Current and Future Work Have one robot built, basics of control functions written, basic ROS structure and vision code functioning By next design review (Mar 5th): Functioning robot strategies and plays for One-on-One tournament