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

2. 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

3. 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

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

5. 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++

6. 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

7. 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

8. 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

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

10. 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

11. 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

12. 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

13. 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

14. 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