Project Proposal 1.

Introduction/Overview Our entry into the Robot Wars competition will have a strong and compact frame, providing the stability and force necessary for an aggressive game plan. As an overall strategy, the main method of attack will be to use our weapon to ram into challenger. In general, our robot will be in constant motion and will actively pursue any detected opponents. Moreover, the aim will be to repeatedly collide with opponents using enough force to disorient and push forward. As input, the main sensors employed will be two WiFi cameras and a three axis accelerometer. Located on the front and rear of the robot's chassis, the former will be the primary sensors used to locate the arena boundaries as well as any opponents. The latter will principally be used to judge the robot's orientation and sense when it is being pushed or attacked. The chassis of the robot will be constructed out of lexan plastic. Relatively inexpensive, durable, and light, it is an ideal material to form the body of our robot and house all our electronic components. During both offensive and defensive strategies, this configuration offers necessary protection to the internal components as well as the strength necessary to carry out an aggressive ramming strategy. Moreover, with a chassis height of approximately 3 1/4", our robot will be quite low to the ground, providing stability and a low probability of tipping. As a weapon, we have chosen a single, fixed lexan rod, running through the centre of the chassis and extending out approximately 1" from the both the front and rear. This extension allows the robot to ram from the front or back, allowing an attack from either orientation. Unlike a cannon, this rod allows a limitless number of hits, without requiring any complex firing mechanism or cumbersome ammunition storage. Using this immobile, sturdy rod, our robot will be able to slam into opponents, earning points with each repeated hit and possibly pushing the opponent out of the arena limits as well. By keeping the rod stationary, the ramming strategy can be implemented without any movement mechanisms which are vulnerable to extensive damage. The drive system will consist of four wheels each driven by motor, able to provide sufficient speed as well as enough power to push a comparably sized vehicle. Moreover, separate signals will be used to control the left and right wheels. As such, this enables the possibility of controlled spinning. This spinning technique can be employed near the arena's centre to rapidly hit an opponent on either side, utilizing both ends of our fixed rod weapon.
Rosey - What are the bumps on the top? the cameras? will they stick out? Yea they will be sticking out will that affect it when its upside down? Okay I though the height surpassed the wheels. I dont think so. We can just invert the stream on the computer once we notice its upside down. mmm yea I think it will be fine. Joe can you please confirm what I am saying?

Figure 1: robot schematic 2.0 Approach and Methodology

When we first discovered what strategy and techniques we wanted our robot to accomplish, we had to figure out what components would best complement our strategy while staying within our budget at the same time. 2.1 Chassis Our chassis consists of a 0.25 inch thick plexiglass (?) frame for a high strength and low weight ratio. It is also very low to the ground to decrease the chance of getting flipped. 2.2 Weapon We chose a simple fixed rod as a weapon over a cannon because a rod can have unlimited hits where as a cannon would run out of ammunition. The rod will be used to simply push a smaller opponent out of the arena or repeatedly hit a larger opponent to gain points. 2.3 Communication System The XBee RF Module is the main connection between the computer and the robot. XBee has a data transfer rate of 250 kbps, which is ideal for fast transmission of commands. The computer will process the video stream from the camera and send the commands to the microcontroller of the robot. 2.4 Image Processing System For the cameras, the AI-Ball Wifi Camera will be used because it is not only very cheap but it also provides a very high transfer bit rate that will help our robot detect the opponent with almost no delay in reaction time. Since our strategy is of an aggressive ram and jam technique, it is essential to know where the opponent is at every split second and the AI-Ball will help us do just that. 2.5 Graphical User Interface (GUI) 2.6 Drive System As our attack strategy revolves around ramming our opponent, with the potential to push the opponent out of the field, we chose to drive our robot with high-torque motors and hightraction wheels. Our robot will employ a four-wheel drive system for maximum power, in order to maneuver our robot at an acceptable speed, without having to sacrifice torque. We will be using the Lynxmotion 12VDC 253RPM 138.9oz-in gearhead motor as it provides sufficient torque at a reasonably high RPM; calculations suggest that two of such motors are sufficient to move a 2.5kg robot at a speed of 1 m/s; by using four motors, our robot should be powerful enough to move itself while pushing an opponent. (edit)-The drive system will be controlled by PWM as it is (a standard method, well understood by the team, requiring minimal hardware and providing low power loss?)(because??). We are also accounting for the possibility that the robot may be flipped over; thus, we chose 3 3/4 each wheels which allows for a chassis height of 3 inch with the wheels extending beyond both sides by inch. As such, the robot will be able to run even when flipped upside down. We will use H-Bridges to change the polarity of the current supplied to the motors such that they can rapidly reverse in direction. By controlling the wheels such that the left wheels and right wheels simultaneously rotate in opposite directions, the robot will be able to make quick turns. 2

Where necessary we will include opto-isolators between the microcontroller and the rest of the drive system. - this is probably more detail than we need - I did not typo chassis ! =(you did!

3.1 Individual Responsibilities Joe Edwards: - GUI - Image processing software - Order parts Mike Estepho: - help build chassis, weapon system, power and drive systems - help with presentations, develop promotional video(s), edit and finalize reports - test/troubleshoot all components/systems Brandon Lau: - Order parts - Order PCB - Assemble drive system Leaminn Ma: 1) Assemble and test the drive system on a breadboard. 2) Design the PCB layout and fit the components of the drive system. 3) Help test and troubleshoot all systems. Peter Michael: - Build chassis and weapon, as well as internal compartments - Help with PCB wiring and soldering components. - Help with Zigbee programming. Rosey Rasoda: Work on team assembling and testing the drive and power systems. Work on team designing he PCB layout and configuring the internal drive system components. Work on documenting, testing, and troubleshooting overall system.

Figure 2: Gantt Chart 4.0 Table of Components

Component Zigbee 1mW Chip Antenna WiFi Camera Lexan Sheet Accelerometer

Task Number 9 10 7

Amount 2 2 1/4" x 12" x8" 1

Part Number XB24API-001

Manufacture r Digi Ai-Ball Plastic Works

Price $22.95 $63.50

Total $45.90 127.00

ADXL33 5

Analog Devices

$9.95

$9.95