1. AME 40463 Senior Design Group E3: Hewlett-Packers Concept Design Review April 24, 2008 Caitlin Feely Ben Nelessen JJ Rees Jamie Rowland Patrick Tennant

2. Project Description Robo-Football Demonstration and Competition Development Intercollegiate robotic “football” competition to encourage interest in science and engineering Develop robot-based game with elements similar to American Football Create rules of the game and quarterback prototype to demonstrate the feasibility and some fundamental features of the game

3. Product Design Requirements Customers – University Engineering Departments and Students – Alumni Sponsors Competition – Other Robo-Sport Competitions Robo Soccer Robotic Football League (RFL) College Competitions like Duke Annual Robo-Climb Competition

4. Product Design Requirements Design Requirements – As similar to American Football as feasible with robo-players Scoring Possession Player Types – Entertaining for everyone not just engineers

5. Options Considered - Ability to move on grass/turf - Indication of tackle/end of play - Use of compressed air as throwing mechanism - Mobile base with rotating parts - Pre-set plays - Embedded intelligence on side of robo-quarterback - Larger scale for greater entertainment value. - Aspiration of full-scale American football - Touch sensor to indicate tackles - Smaller robot for running backs

6. Rules of the Game Players Each team will consist of 7 robo-players: 1 Quarterback, 1 Kicker, 2 Linemen, 3 Receivers/Defensive Backs All players have size restrictions Playing Field The game is played on an indoor field 85 yards long by 50 yards wide with 8 yard end zones The field is surrounded by a barrier 1m high Game Play The game is 5 on 5: Offense – Quarterback, 2 Linemen, 2 Receivers, Defense – 2 Linemen, 3 Defensive Backs Overtime will consist of a kicking competition

7. Limitations Only one robot – Quarterback because we felt it would be the most interesting while displaying more key features of the game Size and Features – Could not buy adequate material to make the larger robot originally planned – Inclusion of bumper and force sensors to indicate a tackle or out of bounds – Remote control

8. Limitations Refinement – Necessity of counterweight Better aesthetics – Safety chain Stronger material – Vocal capabilities Ability to announce play, indicate start of play, etc.

9. Key Technical Issues Wheels – Number, Alignment, and Size – Coupler Design - Our design point

10. Key Technical Issues – Wheels Wheel Assembly Wheel Coupler

11. Key Technical Issues Air Cannon – Firing Mechanism Manual and electronic control – Securing Cannon Multiple HDPE supports to prevent lateral and backward movement

12. Key Technical Issues - Air Cannon Air Cannon Connection

13. Key Technical Issues Cam Design and Support – Lifting the Platform Designed Oscillating Flat Faced Cam-Follower Mechanism – Supporting Cam and Stepper Motor Central PVC support with two HDPE supports to prevent lateral movement

14. Key Technical Issues Cam-Follower Mechanism

15. Key Technical Issues Automation and Controls – Integration of motors and necessary electronic components to control them Two drive motors controlled by H-bridges and one stepper motor controlled by driver board – Writing and refining code to run plays Four preset plays and presets to demonstrate basic movements

16. Key Technical Issues Automation and Controls Circuit Diagram

17. Key Technical Issues Safety – 70 psi maximum pressure – Hand pumping for better pressure control – Schrader valve Manual pressure release – 90 o maximum turns – 5 second delay before play starts – Safety chain – Softer ball – Machine Screws

18. Prototype Performance Prototype Performance Requirements – Fits within rules developed – Demonstrates aspects of American Football – Includes embedded intelligence – Accuracy Accurate within desired ranges – 5 ft radius, 15 attempts Dependent on – Surface – Battery charge – Human error in filling air cannon pressure chamber

19. Final Prototype CAD assembly of the Robot

20. Final Prototype Air Cannon

21. Final Prototype Completed Prototype

22. Feasibility Repeatability – Return to the line of scrimmage – Consistent distance for pressure Entertainment Value – Appeals to engineers and non-engineers Potential – Long-term intercollegiate program

23. Thank You Questions?