1. Bad News Bots E2 Ryan Bove Kara Collins Peter Courtney Kyle O’Reilly Benjamin Rowland Concept Design Review

2. Bad News Bots E2 Agenda Project Overview Initial Design Technical Challenges Final Design Prototype Feasibility Summary/Lessons Learned

3. Bad News Bots E2 Project Goal: Initiate a new intercollegiate competition in robotic football Encourage and promote interest in engineering Targeted Customers Notre Dame faculty, freshman engineering class, colleges and universities, robot companies Project Overview

4. Bad News Bots E2 Project Overview Final competition similar to real American football Incorporate throwing, passing, running, kicking, punting, tackling, catching, etc. 11 vs. 11 game Demonstrate one aspect of robotic football Object avoidance: running back robot

5. Bad News Bots E2 Concept Development Final concept: wireless and autonomous control Semester prototype: autonomous control

6. Bad News Bots E2 Prototype Requirements Functional Requirements Move autonomously down field Avoid peg defenders and walls Continuous downfield reorientation Stop when tackled Sensing Requirements Object detection (vision) Robot orientation Contact detection

7. Bad News Bots E2 Technical Challenges Object Detection

8. Bad News Bots E2 Technical Challenges Robot Orientation

9. Bad News Bots E2 Technical Challenges Contact Detection

10. Bad News Bots E2 Technical Challenges Integrating and Controlling sensors Servo motor and IR sensor Servo motor turns the IR rangefinder 60° (base width 6”) Max. angular velocity 5.51 rad/s (4.36 rad/s is optimal) Reading can be taken from the IR rangefinder every 10° Minimum detection width: 0.909”

11. Bad News Bots E2 Technical Challenges Motor Selection

12. Bad News Bots E2 Circuit Diagram Technical Challenges Battery selection based on diagram

13. Bad News Bots E2 Design Development Virtual model development (1) (2) (3)

14. Bad News Bots E2 Final Design

15. Motor sub-assembly Bad News Bots E2 Final Design (cont.)

16. Bad News Bots E2 Field Design

17. Bad News Bots E2 Prototype Feasibility Prototype Requirements Move autonomously down field Avoid peg defenders and walls Continuous downfield reorientation Stop when tackled Object Avoidance - 1 peg

18. Bad News Bots E2 Downfield Reorientation

19. Bad News Bots E2 Tackling

20. Bad News Bots E2 Object Avoidance - 2 pegs

21. Bad News Bots E2 Object Avoidance - 3 pegs

22. Bad News Bots E2 Results Ability to navigate downfield Ability to make left and right turns Ability to reorient itself in a downfield direction Can operate motors at variable speeds The proposal is feasible, but there is room for improvement Future robot could play other positions and operate remotely

23. Bad News Bots E2 Lessons Learned and Showstoppers Sensitivity of electrical components H-bridge connections Compass sensitivity IR and force sensor interaction Stacked tolerance with screw holes during manufacturing Shipping time Importance of quality supplies Importance of prototype testing

24. Bad News Bots E2 Thank You!