1. Aperture Science Team 3 – Robot Soccer ECEn 490

2. Overview – The Members of our Team Responsible for AI/System Architecture Computer Science experience Enjoys folk dancing? I figure we’ll add things to this if we want to in the morning… EDIT THIS!!! Craig Call

3. Overview – The Members of our Team Samuel Farnsworth Responsible for Control Systems EDIT THIS!!!

4. Overview – The Members of our Team Derek Stewart Responsible for Computer Vision Currently working on very cool things… EDIT THIS!

5. Overview – The Members of our Team Aaron Swenson Team Leader Responsible for Mechanical Systems Responsible for communication with professor Experience in embedded systems and C programming, VHDL

6. Overview – Summary of Points Project Requirements Metrics Mechanical System Vision System Control System System Architecture Project Schedule Summary

7. Project Goals and Requirements Construct a robot that effectively plays a soccer-like game autonomously. Robot must fit into a 160π cubic inch cylinder. (8” diameter, 10” height). The ball will be a standard golf ball. Robot cannot encompass the ball. Robot vision will come from an overhead camera, able to see all parts of the field at once.

8. Mechanical System Body of robot consists of multiple levels of acrylic plastic Small circuits called RoboClaws control each motor Wheels are connected to three motors Wheels are connected on the small side of the hexagon

9. Mechanical System RoboClaws receive signals from Odroid, a microcontroller running Linux Odroid also communicates with an offboard server doing image processing via Wifi Power comes from two 7 volt batteries, regulated to 12 volts and 5 volts

10. Putting it all together…

11. Concept Generation - Scoring WeightMetricsWall ShotElectromagnetic Kicker Rush the Goal Swivel-kick Shot Over-the-head Shot 25%Complexity of Hardware Implementation 841081 25%Complexity of Software Implementation 47836 15%Effectiveness Against No Defense 58977 35%Effectiveness Against Competent Robotic Defense 46347 100%Weighted Total4.055.275.91754.224.3225

12. Concept Generation - Vision WeightMetricsTriangle LEDs CheckerboardDual LEDsDual Colored Markers Single Colored Triangle 5%Ease and cost of solution 385910 20%Ease of software implementation 58486 25%Scalability57577 50%Effectiveness in various lighting conditions. 108956 100%Weighted Total7.407.756.706.306.45

13. Concept Generation - Control WeightMetricsPID Controller - Roboclaw PID Controller - State Space Model Kalman FilterDynamics and Kinematics 25%Time of Software Development 8632 10%Complexity of Software Implementation 10957 35%Effectiveness of Robot Controllability 41093 30%Effectiveness in Multi-Agent System 310 9 100%Weighted Total5.38.97.44.95