Download - Street Soccer Robot
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KOLEJ UNIVERSITI TEKNOLOGITUN HUSSEIN ONN
FACULTY OF ELECTRICAL AND
ELECTRONIC ENGINEERING
DEPARTMENT OF MECHATRONICAND ROBOTIC
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STREET SOCCER
ROBOT
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Presented by:
NUR NAZLIAH BINTI ZAINOL
AT 030142
3BTR
Supervisor :En Babul Salam bin KSM Kader IbrahimPanel :Mr. Ir Tatang MulyanaMrs. Rafidah bt Ngadungon
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INTRODUCTION
Soccer robot is the robot that used in
RoboCup tournament.RoboCup is an international effort to establisha set of robot soccer leagues.
There are considerable research interest inthe task of the having one autonomous vehiclefollow another.
How?
What?
The control scheme used is such that it shouldbe easily modifiable, should take care of variouseventualities.
Another aspect which should be looked atcritically is the generation of optimum trajectoriesof motion for the robot, this is essential to reachat the correct position quickly otherwise playingsoccer will not be possible
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OBJECTIVE
To understand the development concept andtesting the program and what we learning beforeand future.
To learn and understand the operation ofmicrocontroller.
To design and build the autonomous robot,design the electronic circuit for microcontroller,motor, sensor and power supply.
To develop more robots development activitiesand to learn more about robots used and functionand for the revolution and future robots.
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PROJECT SCOPE
Design and build the software and hardware.The software that used is PSPICE, OrCAD,MPLAB IDE and SolidWorks.
Design the electric circuit, wiring circuit andmicrocontroller circuit for the robot.
Design the robot mechanical structure withSolidWork software.
This robot hardware constructs with plasticand will build in sets
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APPLICATION
Even the ability to consider coordinatingbehaviors of autonomous agent is a new one,the field is advancing quickly by building upon
pre-existing work in the field of DistributedArtificial Intelligent (DAI).
Particularly good domain for studyingMultiagent System (MAS).
Can be one of the toys for kids.
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LITERATURE REVIEW
Name of robot Yearmade Typemicrocontroller Type actuator Type of sensor Frame body
AIBO 1998 none DC-gearedmotors and
servomotor
CCD color
camera,
thermometric,
infrared sensor
and tactilesensor
Aluminum
plate
MINHO 1998 Computer motor gear-boxes with
encoders
Encoder couple
sensor and
infrared sensors
Aluminum
plate and PVC
plastic
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EIGEN 1997 DebianGNU/Linux
ISA
interface,
DC
solenoid
Camera system
and the omni
direction camera
system
PVC plastic
GDM-robot 1999 Dual Dynamic Maxonmotor,
Piezogyroscope,
infraredAluminum plate
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Attenuator - DC Motor with gearbox
most common and simples of all motors In robotics, the torque needed is high and low revolutions per
minute (rpm)
TYPE OF
ELECTRIC
MOTOR
DC MOTOR WITH GEARBOX SERVO MOTOR STEPPER MOTOR
Description The universal motor.
Used in a myriad of
applications.
Small and powerful motors that
are widely used.
High torque and low revolutions
per minute (rpm)
Is geared DC motors with
positional control feedback.
The shaft of the motor can be
positioned or rotated through a
minimum of 90 degrees.
Used for locomotive,
movement, steering and
positioning control.
Can control using digital
circuits.
A stepper motor's shaft has
permanent magnets attached to
it, together called the rotor.
Can be run in "open-loop"
mode (without feedback of an
encoder or other device).
Cost Moderate Expensive Expensive
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SENSOR
IR sensor
to detect the obstacle and the other agent.
Photosensors [LDR]
to detect the ball.
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MICROCONTROLLER- PIC 16f84A
As the brain of the robot.
8-bit register microcontroller of ReducedInstruction Set Computer (RISC)architecture.
used to control the DC motor andsensor.
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METHODOLOGY
PSM I
PSM II
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Phase 1: Literature reviews on previous works in robot system.To learn the operation of the robot system.To collect and analyze the information of robot that will be used.
To discover the programming that already used in previous system.
To study the PIC 16F84 system that use to control the robot.
Learn and design the mechanical structure with SolidWorks software.
Phase 2: Develop the programming for PIC 16F84 system.Develop the programming using the MPLAB program.Test the programming at the robot system.
Check the error if have a problem and make correction.Phase 3: Develop the real robot.Develop the robot mechanical like the design in SolidWorks.
Develop the circuit for robot.Test the robot which it function like the programming.
Check the error and make correction.
METHODOLOGY
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EXPECTED RESULT
The program to control motor and sensor willsuccessfully tasting with PIC application andcan control the robot.
When sensors detect the ball, motor will movethe robot to the ball and add it into the goal.
The mechanical part that design with
SolidWork will construct with PVC plastic
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CONCLUSION
RoboCup is an international research and
education initiative.Soccer robot is a particularly gooddomain for studying Multiagent System(MAS).
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GANTT CHART
PSM I PSM II
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REFERENCES
[1] Lovine, J (2002). Robots Androids and Animatrons. 2nd edition.McGraw Hill.
[2] Durin, A and Hendler, J (2000). Robots for KidS. Morgan Kaufmann.
[3] Fuller, J.L. (1999). Robotics, Introduction, Programming and Projects.
2nd edition. Prentice Hall.
[4] Birk, A , Caradeschi, S and Tadokoro, Satoshi (2002). RoboCup2001: Robot Soccer World Cup V. Springer.
[5] Balch, T and Parker, L.E. (2002). Robot Teams. A K Peters.
[6] RoboCup. http://www.dsv.su.se/~johank/RoboCup
[7] RoboCup. http://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.html
http://www.dsv.su.se/~johank/RoboCuphttp://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.htmlhttp://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.htmlhttp://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.htmlhttp://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.htmlhttp://www.csl.sony.co.jp/person/kitano/RoboCup/RoboCup-old.htmlhttp://www.dsv.su.se/~johank/RoboCup -
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LED TEST
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THANK
YOU
S
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Error
No
Troubleshoot
Start
Identification of title, objectives and scope of project
Literature review
Collect and analyze the data and information
Learning and create
Develop simple program
Debug
Error
Compile
Collect circuit diagram
Motor, microcontroller,sensor, voltage regulator
Implement circuit anddownload
Apply to protoboard andtest
Learn 3D model design
Design each part of robot
Combine all part
Repair the error
Error
YES
No
No
PSM II
YES
YES
Present PSM I
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Develop Select circuit Design
PSM I
Develop program (dcmotor, sensor)
Design circuit(PCPICE)
Design chassis
Compile
Error
Debug
Simulate
Simulate
Error
Troubleshoot
Implement circuit anddownload
Build the design
Error
Troubleshoot
Apply to robot and test
Error
Present PSM II
Check and repair the error
Finish
YES YES
YES
NO
NO
NO
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Activity Weekly Schedule
1 2 3 4 5 6 7 8 9 10 11 12 13 14
1. Identify the project topic,
objective and scope
2. Identify and get the information
about components and part that
need to be used.
3. Discuss with supervisor and do
more research
4. Learn and design 3D model
5. List down the components that
need to buy and identify theelectronics store
6. Construct the JDM
Programmer and learn how to
program
7. Construct the circuit of
microcontroller on the proto
board
8. Learn and write simple
program such as control theLED and transfer the circuit to
protoboard and test it.
9. Prepare for PSM 1 seminar
10. PSM 1 SEMINAR
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No Activity Weekly Schedule
1 2 3 4 5 6 7 8 9 10 11 12 13 14
1 Prepare Documentation Thesis
2 Find The Component
3 Test and Experiment Circuit & Hardware
4 Design PVC Circuit & Soldering Component
5 Upgrade the Documentation Thesis
6 Full Report Thesis check by Supervisor
7 Prepare for Presentation 2
8 Presentation PSM 2
9 Sending full report Thesis