SoutheastCon 2023-24 | IEEE USF 24/25

Project 2023-2024

The "IEEE Southeast Convention" is an annual convention that is held in various regions within the Southeastern United States. This year the convention was held in Atlanta Georgia and featured a hardware competition. The purpose of this competition was to test an engineering team's ability to design, fabricate, and deploy a customized robot to complete goals outlined by the competition committee.

Objective of the competition”s

Competition's Rules

For that year's competition, the robot was supposed to simulate a rover that has been deployed to pass a brave and treacherous path of obstacles and dangers to deliver the thrusters to the Kennesaw State University launch pad to launch a rocket avoiding an asteroid collision towards earth.

Each team had to perform given tasks in a three-minute time limit and be judged on performance against other university’s team submissions.

Per the rules of the competition:

•Robot must be completely autonomous during competition

•Robot must fit in 1 foot cube prior to competition start

•Robot should start upon green LED light flash

•Robot should complete as many tasks as possible within three-minute time limit

•Robot must have own internal power supply

•Robot must have an emergency cut off switch

•Robot should have ability to move specific objects to specific identified locations on the play area

Figure 1: Mock-up of play area the robot is designed around

Field components

Packages

• There will be a total of 8 packages: 5 large and 3 small.

• All packages will start in the Package Pickup Zone.

• The placement of the large packages will not change while the placement of the small packages will be randomized across runs in the Package Pickup Zone

. • The large packages will be 1.5 inches-cube and the small packages will be 1 inch-cube.

• The small packages will be 1 inch-cube and a different color from the larger packages.

Fuel tanks

• There will be 3 fuel tanks of the same size.

• The placement of the fuel tanks is constant, and it is located next to the launch button that stops the doomsday timer.

Proposed Design

The proposed design for this competition has had multiple iterations to the approach of the competition.

Overview:

This iteration features two robots working in tandem to ensure precision and efficiency during field traversal. Robot 1 serves as a carrier for Robot 2 and is responsible for depositing cubes. Robot 2 traverses the field, crossing gaps, and picking up required components.

Hardware Components:

Both robots are equipped with ATMega4809 microcontrollers for control and coordination.
Robot 1 does not require sensors for navigation but is equipped with a color sensor to detect the start of the game.
Robot 2 utilizes a combination of IR sensors and ultrasonic sensors for field navigation.

Functionality:

Robot 1:

Acts as a carrier for Robot 2.
Deposits cubes at designated locations.
Relies on Robot 2 for precise navigation through the field.

Robot 2:

Utilizes IR sensors and ultrasonic sensors to navigate the field.
Crosses gaps and obstacles to reach required components.
Coordinates with Robot 1 for efficient traversal.

Collaborative Strategy:

Robot 1 and Robot 2 work in sync to achieve the overall objective.
Robot 1 focuses on cube deposition while Robot 2 handles field traversal and component collection.
Communication and coordination between the two robots ensure smooth operation and maximize efficiency.

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Overview:

During the construction phase of both robots, concerns arose regarding their structural integrity. The fully 3D printed base of Robot 2 and the layout of Robot 1 led to tilting issues when navigating uphill. In response, a redesign was undertaken to address these concerns and create a more stable and adaptable robot.

Unified Design Approach:

The team shifted towards a unified design approach, creating a single robot that incorporated the key components and functionalities of both Tom and Jerry.

Key Components:

Utilization of two ATMega4809 microcontrollers to handle the increased complexity and functionality.
Integration of three H bridges and a total of 8 servos for precise control and maneuverability.
Implementation of a servo controller to manage servo movements efficiently.
Utilization of color sensors , Ultrasonic sensor and IR sensors for navigation and object detection, ensuring accurate positioning and obstacle avoidance.

Structural Improvements:

Adoption of a fully metal iron base to enhance durability and stability, addressing concerns with the structural integrity of Robot 2's 3D printed base.
Design of two aluminum pillars with metal hooks to facilitate the passage of the zipline, ensuring reliable traversal through this obstacle.

Benefits:

The unified design approach streamlines development and maintenance efforts by consolidating components and functionalities into a single, cohesive platform.
Structural improvements enhance the overall stability and durability of the robot, ensuring reliable performance in challenging terrain and tasks.

Conclusion:

The third iteration represents a significant advancement in the design and functionality of the robot, addressing previous concerns and creating a more robust and adaptable platform for navigating and completing tasks within the field.

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Overview:

Following final testing for the competition, it was observed that the IR sensors used for navigation and object detection were unreliable. In response, three additional ultrasonic sensors were integrated to replace the IR sensors, ensuring more reliable performance in navigating and detecting objects within the field. Additionally, during the competition weight and component distribution became a concern.

Improvements in Mobility:

To address concerns regarding the weight of the metal components impacting the robot's mobility, several modifications were made:

Custom laser-cut acrylic pieces were utilized to replace certain 3D printed components, reducing weight while maintaining structural integrity.
The bottom iron base was replaced with a lighter material, enhancing mobility and precision in the robot's movement.

Optimization of Component Distribution:

In response to the failure of a custom-made battery and to reduce overall weight, the components of the robot were redistributed. This redistribution aimed to improve accuracy and ease of reassembly, as the previous version had the two microcontrollers stacked together, complicating maintenance and repairs.

Benefits:

Integration of ultrasonic sensors improves reliability in navigation and object detection, enhancing the robot's performance in competition scenarios.
Adoption of lighter materials and optimized component distribution improves mobility and precision, ensuring the robot can navigate the field effectively and complete tasks with greater efficiency.

Conclusion:

The final iteration represents a culmination of iterative improvements aimed at enhancing reliability, mobility, and performance. By addressing issues identified during testing and competition, the robot has been optimized for success in challenging environments and competitions.

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Overview:

After modeling the robots within the field and assessing their joint composition, further modifications were implemented to enhance their capabilities. These modifications were aimed at improving the efficiency and functionality of both robots.

Modifications for Robot 1:

Brush-like structures were designed and integrated into Robot 1 to sweep cubes effectively as it moves through the first hill section of the field.
The power distribution and sensor mount structure of Robot 1 were elevated to accommodate the elongation of Robot 2.
A server controller was added to control the movement of the brushes with ease, ensuring efficient cube sweeping.

Modifications for Robot 2:

Three robotic arms were added to Robot 2, each equipped with a modified gripper structure to enhance its manipulation capabilities.
The length of the gripper structure was adjusted to optimize functionality.
The robotic arms were also equipped with hook structures to facilitate passing through ziplines.

Additional Enhancements:

Both robots were assigned names: Robot 1 became "Tom" and Robot 2 became "Jerry," adding a touch of personality to the team.
The remainder of the components, from an electrical perspective, remained unchanged to maintain compatibility and streamline development.

Benefits:

The addition of brush-like structures and elevated power distribution enhances Robot 1's ability to navigate through terrain and collect cubes efficiently.
Robot 2's enhanced manipulative capabilities, with the addition of robotic arms and modified gripper structures, enable it to perform more complex tasks such as passing through ziplines and manipulating objects with precision.

Conclusion:

These modifications represent a significant advancement in the capabilities of both robots, further optimizing their performance and adaptability in navigating and completing tasks within the field.

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Embedded model of the final design

Desing 1 and Desing2 content

Design1 link to folder:

https://drive.google.com/drive/folders/1wvMiJv6ZCtVM-qszTb3P2uJCmV7D5Xat?usp=sharing

Design2 link to folder:

https://drive.google.com/drive/folders/1PlxOHCb5I9ndgwzsWpnfd2ZmUgpeJUrS?usp=sharing

Outcome

Pre-Competition Challenge:

Unforeseen Hurdles:

Two hours before the competition, an unexpected issue surfaced: the microcontroller belts malfunctioned, rendering our robot inoperative. Despite this setback, our team remained determined to find a solution.

Swift Adaptation:

With time ticking down, we swiftly adjusted our strategy. Recognizing the urgency, we prioritized the functionality of our robot's drive train and control of the brushes.

Competition Performance

Resilience in Action:

Despite the challenges encountered, our team demonstrated resilience and determination throughout the competition.

Final Placement:

Out of 50 competitors, we secured the 21st position. While not the outcome we aimed for, we take pride in our ability to adapt and compete under pressure.

Continuous Improvement

Post-Competition Evaluation:

Following the competition, we conducted a thorough assessment of our robot's performance, identifying areas for improvement.

Learning from Mistakes:

We are committed to learning from our mistakes and making necessary adjustments to enhance our robot's structure and functionality.