Robotic Football Capstone Proposal

Team Members:Nathan Rosenbaum, ME

Keegan Ross, MEZachary Myers, EEJoshua Chenault, EE

Tyler Hertenstein, Engineering Ed.

Advisors:Dr. LeBlancDr. Yoder

Project ObjectiveTo 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.

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”

League Passing Rules

• Unlike traditional football, points are rewarded for completed passes

• While successful, our team has struggled with passing

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

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

Fixed Cost $836.41

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

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

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

Mechanical ImprovementsWide Receiver• Extendable netting system to increase surface

area and improve chances of retaining bonus

Quarterback• Improve pitching wheel

configuration• Optimize launch system

and angle

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

Improved Accelerometer TestingTesting Principles• Swinging pendulum• F=ma• Tackle = 2 g’s for 2 msProblems• Poor Structural Integrity• Inconsistency• Lacks essential repeatability

Improved Accelerometer TestingImprovements & Goals• Analyze issues and verify with high-speed camera • Improve structural integrity through

modifications• Create a consistent and effective testing systemBudget• $200 - Various Hardware & Parts

Total Estimated Budget

*Shipping costs are calculated within the Proposal – Many sites offer free shipping.

Component CostBase Cost (QB) 836.41Base Cost (WR) 836.41Quarterback Improvements 318.95Receiver Improvements 198.96Accelerometer Test Stand 200.00Estimated Shipping* 27.25TOTAL ESTIMATE 2417.98PROPOSED BUDGET 2500.00

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

Thank YouQuestions?

• n-rosenbaum@onu.edu• k-ross@onu.edu• z-myers@onu.edu• j-chenault@onu.edu• t-hertenstein.2@onu.edu