WEEK 5 16-20 August 2010

Objective

Objectives This research study intends to plug the research gap and will demonstrate the development for high-speed miniature mobile robot soccer parameter by:

a) The development for high-speed miniature mobile robot soccer by considering the size of the robot.
b) The development for robot soccer competition.
c) To design the robot to be small, compact, quick, strong, stable and with long-lasting power.
d) To create creative body components for ball-handling purposes.
e) To minimize the architecture of robot.

Figure 1: Mechanical design of the robot (side view)

The size of a robot is limited to 7.5 x 7.5 x 7.5 cm. The robot's mechanical design (see figure 1 above). Due to the small   size,   the mechanical   design   is mainly determined by the choice of motors. They need to be powerful in order to accelerate the robot sufficiently fast while at the same time being small, energy-efficient and easy to control. Again due to size restrictions, stepper-motors are unsuitable.  That means   that   the   choice   is   limited   to   linear motors, which in turn means that a rotation sensor is needed.

 

Week 4

figure 1: Example block diagram

Discuss about the block diagram of the systems. The system in the block diagram we use a zigbee, micro-controller, forward reverse circuit for motor and the systems for kick the ball.

 figure 2: Zigbee specification

The 802.15.4 standard is used for wireless communication which occurs in 2.40 to 2.48 GHz band in 12 channels at 250 Kbps using an XBee chip. These modules send and receive data to the microcontroller using UART at a baud rate of 57600 bps.

 Figure 3: A block diagram of the robot’s hardware system.

Our main circuit boards use FPGA to local feedback control loop. A PI algorithm drives all motors with a suitable PWM signal. Each EC-45 motor has an encoder which generates the feedback signal with a maximum error rate of 1 degree on the wheel. The motors are driven using L6235 chip. 

week 3 (2 - 6 August 2010)

This week, I continues to do the report proposal which I do the Literature Review. For the literature review, I choose 2 example from: 1. A DSP-BASED SOCCER ROBOT FOR FIRA MIROSOT by Thomas Klute, Norman Weiss, Simon Schulz and Thomas Pfeifer from Computer Science I University of Dortmund, Germany presents a soccer robot for the FIRA MiroSot league based on a DSP design instead of the more common microcontroller design to provide more flexibility in the use of the robot    2. M. H. Ali, A. A. Shafie, M. F. Alias from International Islamic University Malaysia, P.O Box 10, 50278, Kuala Lumpur design Autonomous Soccer Robot Using Triple Infra-red Sensor for Ball Detection. From this example, our robot is similar with example 1. it because the design of robot to be small, compact, quick, strong, stable, with long-lasting power, and creative body components for ball-handling purposes.

Week 2 (26 - 30 July 2010)

I prepare the proposal Development of High-Speed miniature mobile robot for soccer competition. This week, I  do the Introduction and Problems Statement about the Development of High-Speed miniature mobile robot for soccer competition. I also find the information about the robot soccer from www.robocup.org/  www.fira.net/  and other website. This link is a video about the robot soccer competition: 

Week 1

19 July 2010 - Find the project title for Final Year Project website http://203.106.204.204/fyp. The project we choose from the website is Development of High-Speed miniature Mobile Robot for Soccer Competition. This is a part of development for robot soccer competition. The robot has to be small, compact, quick, strong, stable, with long-lasting power, and creative body components for ball-handling purposes. The student need to have background in robotics, or at least with mechanical and electrical skills.

20 July 2010 - This project idea from MR. Zulkhairi Bin Mohd Yusof. So, MR. Zulkhiri Bin Mohd Yusof is my Supervisor for Final Year Project.

21-23 July 2010 - We do the research from the internet about the Soccer Robot. Which is about the type of robot soccer, what the component, and how the design of robot soccer. We try to understand about the systems of robot, the architecture of robot. Especially, The mechanical part of robot.

From the research, we got many information about the soccer robot. The information we got from internet can help me to do this project.