Team Name
Bit Bangers
Timeline
Fall 2023 – Spring 2024
Students
- Rodrigo Munoz
- Rolando Rosales
- Raquel Reyes
- Noor Abdullah
- Velu Manohar
Abstract
The objective of the preliminary rounds is to demonstrate the use of an autonomous robotic system within a confined area to push a button at one end and return to its starting position. Then, in the elimination rounds, the robotic system will perform a series of maneuvers with competitors in the same arena, moving from charging station to charging station until a singular robotic system is left in the trial. The initial game field simulates a known task and environment, while the competitive time trial presents unknown factors with competitors and power optimization challenges.
Background
Super capacitors offer high power density and rapid charging capabilities; however, their limited capacity is a challenge to balance. This scenario also presented more unique constraints: a 5-minute charging window at the onset of each round, followed by only 10 seconds per visit to a charging station once the round commences. This resulted in a two-factor challenge—finding a super capacitor that could charge sufficiently within 10 seconds while also having extended discharge times to cover substantial ground.
Navigating the field also proved challenging as we needed to be able to accurately map the field to ensure our robot could accurately discern its next coordinates amidst dynamic axis shifts. We approached this using an Inertial Measurement Unit (IMU) to establish system heading relative to a fixed point on the field, as well as Time of Flight (ToF) sensors for real-time distance measurements to calculate subsequent coordinates.
Project Requirements
- Super Capacitor: A super capacitor must be utilized for the elimination rounds in place of the battery. The super capacitor must be connected to the receiver end of the charger.
- Autonomous Operations: Required. Robots may not be tethered or controlled wirelessly by the team with the exception of the remote start/kill buttons.
- Construction: Robots should be built by the student teams and not be purchased as a complete unit.
- Size: No limits. Must be able to pass through tee posts in seeding rounds.
- Weight: No limits. Weight will be an optimization factor for the elimination rounds.
- Chemicals/Explosives: Explosives and volatile liquids are not permitted. Chemical batteries are allowed but only if used correctly and with appropriate safety and handling.
- Battery/Charger: The battery for the robot must be ≤ 1500 mAH in capacity and removable. The wireless charger that will be utilized will provide a 5 V output voltage with the current draw dependent upon how close you can get your receiver.
- Additional Devices: Multiple vehicles are not allowed, but any additional devices required on the robot for efficient operation are allowable.
- Bill of Materials: A Bill of Materials for the robot, including itemized and total cost, is to be submitted by each team by March 31st, 2024.
System Overview
Vision, Embedded Systems, Power Systems, and Chassis Design. All layers will be detailed below in the
subsections, but they are all interconnected in both direct and indirect forms.
Figure 1: A simple architectural layer diagram
The “Computer Vision” layer, which will be subsequently referred to as such or as “Layer W” involves
the components and software needed to perform the field mapping needed to follow a predetermined
path in the competition, as well as detection of a button that will be pushed. It utilizes OpenCV in
conjunction with a MIPI camera, takes the input, processes it accordingly and makes a decision based
on the API given.
The “Embedded Systems” layer, which will be subsequently referred to as such or as “Layer X” involves
the software needed to run the robot. It involves the microcontroller, sensor data, and motor control
sublayers, which includes the wheel controls, any decision making actions to be performed, such as how
to avoid other robots or obstacles, any ethernet connections needed, the sensor (for obstacle detection)
processing, as well as the pressing of the button. It will work in conjunction with Layers W and Y.
The “Power System” layer, which will be subsequently referred to as such or as “Layer Y” involves the
supercapacitor and battery components, as well as their charging and discharging rates. Studies for
power consumption and conservation would also fall under this layer, and it works in conjunction with
both Layer X and Z. Its core function will be to ensuree that the rest of the robot is provided with enough
power for a long enough period of time to perform all the needed tasks in an efficient and quick manner.
The “Chassis Design” layer, which will be subsequently referred to as such or as “Layer Z” involves
placement and housing for all the components on the robots. This includes the drive train, housing
for the microcontroller, power source, and wheel placement. It is in this layer where dimensions for
the vehicle and all these components will be decided and calculated. It will work in conjunction (by
extension) with all the other layers due to the fact that any component the other layers relies on will be
taken into consideration here.
Results
Through the created functions, the system consistently demonstrated the capability to navigate to specified coordinates accurately. The precision of the initial positioning, coupled with the dynamic adjustments made during motion, resulted in successful navigation with minimal deviation from the intended path. The process from calibration to destination had a high degree of accuracy, showcasing the effectiveness of the navigational strategy and the reliability of the robotic system in a competitive environment.
Project Files
System Requirements Specification
Architectural Design Specification
References
- Urone, P. P., & Hinrichs, R. (2022, July 13). 19.6 capacitors in series and parallel – college physics 2E. OpenStax. https://openstax.org/books/college-physics-2e/pages/19-6-capacitors-in-series-and-parallel
- Urone, P. P., & Hinrichs, R. (2022b, July 13). 21.6 DC circuits containing resistors and capacitors – college physics 2E. OpenStax. https://openstax.org/books/college-physics-2e/pages/21-6-dc-circuits-containing-resistors-and-capacitors
