1. Robotic Football Capstone Proposal Team Members: Nathan Rosenbaum, ME Keegan Ross, ME Zachary Myers, EE Joshua Chenault, EE Tyler Hertenstein, Engineering Ed. Advisors: Dr. LeBlanc Dr. Yoder

2. Project Objective To improve the capabilities of the current team through the introduction of new technology and to help facilitate the expansion of the sport to more schools.

3. Basics of Robotic Football Rules kept as similar to traditional football as possible 8 vs. 8 Robots have size, power, and weight constraints Accelerometer tackling sensors are used to designate collisions resulting in a “tackle”

4. League Passing Rules Unlike traditional football, points are rewarded for completed passes While successful, our team has struggled with passing

5. Current Passing Issues Passing process lacks any form of automation Susceptible to human error Limited degrees of freedom Difficult to orient the QB and the WR Inconsistent passing distance and trajectory

6. Base Level Robot System Arduino and USB Host Shield Switch Driving Motors (2) Sabertooth 1 Accelerometer 5 V power supply PlayStation Controller 12 V power supply Velocity (rpm) LED (tackle light) Interrupt Motion

7. Integration of Vision Tracking CMUcam5 Pixelates the captured images to determine object’s relative location on screen and distance Recognizes up to 7 different colors signatures Operates at 50 fps

8. CMUCam5 Tracking Capabilities Preliminary tests indicate an 8.5 x 11 sized paper can be tracked up to 15 feet consistently Color codes can differentiate objects of interest when multiple colors are on the screen

9. CMUCam5 Implementation Both QB and WR will require a sensor and color marker mast Will allow camera and color marker to extend beyond 24” height limit Reduces interference Swiveling base will allow for semi-autonomous aiming

10. Mechanical Improvements Wide Receiver Extendable netting system to increase surface area and improve chances of retaining bonus Quarterback Improve pitching wheel configuration Optimize launch system and angle

11. Current Tackle Sensor Issues Notre Dame accelerometer board costs >$400 Open-source accelerometer developed in last year’s capstone Comparative testing must be completed to ensure fair play for all robots Test stand was built last year but results were marginal

12. Improved Accelerometer Testing Testing Principles Swinging pendulum F=ma Tackle = 2 g’s for 2 ms Problems Poor Structural Integrity Inconsistency Lacks essential repeatability

13. Improved Accelerometer Testing Improvements & Goals Analyze issues and verify with high-speed camera Improve structural integrity through modifications Create a consistent and effective testing system Budget $200 - Various Hardware & Parts

14. Total Estimated Budget *Shipping costs are calculated within the Proposal – Many sites offer free shipping. ComponentCost Base Cost (QB)836.41 Base Cost (WR)836.41 Quarterback Improvements318.95 Receiver Improvements198.96 Accelerometer Test Stand200.00 Estimated Shipping*27.25 TOTAL ESTIMATE2417.98 PROPOSED BUDGET2500.00

15. Conclusions & Capabilities Proposed improvements will allow for more accurate and frequent passing opportunities Robotic Football team’s scoring focus will transfer from running to passing Standardize the league with general accelerometer testing

16. Thank You Questions? n-rosenbaum@onu.edu k-ross@onu.edu z-myers@onu.edu j-chenault@onu.edu t-hertenstein.2@onu.edu