ROBOCON 2020 Robot Design Handbook

Firstly, the assembly of the base of PR is shown in Figure 2. The base is designed USM with the dimension of 600 mm × 600 mm. It is made up of 2 sub parts (yellow and blue part) that facilitate the suspension effect of the PR. It is very important to consider the possibility of the uneven of the floor of the game field when dealing with a 4-wheeled robot. This is to make sure all the wheels will be in contact with the ground for a better control. Four 18 V 240 RPM DC motors are used to drive a 5-inch omni wheel each to manoeuvre the PR. Figure 3: The assembly of the clamp of PR In Figure 3, the assembly of the clamp of PR is shown. The clamp is designed to clamp the rugby ball using pneumatic system. 5 bar of air pressure is to initiate the extension of the pneumatic cylinders. At the end of the clamp is the clamp pad. The clamp pad is produced using 3D printing part known as the PLA filament. The shape of the clamp pad is specially designed to clamp the ball tightly without dropping the ball. 2.1.2 ELECTRONIC DESIGN The electrical components used in the circuitry of the PR could be categorized into four categories based on their function: power supply, control unit, sensor and actuators. Power supplies, as their name suggests, supplies power to the circuitry that they are connected to and as such, they are a must in the design of robots. The PR uses a combination of lithium polymer (LiPo) batteries with different cell counts (one 2S and one 4S) to supply the required power to all of the electrical devices present on the robot. 145

Figure 4: Arduino Due (AT91SAM3X8E) On any robot design, the control units serve as the brains for the robots and are responsible for utilizing the sensors and actuators on the robots to accomplish its intended tasks. In this case, the PR utilizes an Arduino Due (AT91SAM3X8E) microcontroller unit (MCU) as its control unit. This MCU is responsible for receiving instructions from its operator via its Bluetooth communication unit, receiving readings from sensors and controlling actuators to provide the appropriate responses. While control units serve as the brains for robots, sensors serve as the eyes for them. Sensors are capable of detecting changes in the environment and relaying said change to the control units. For the PR, a combination of three distance sensors and 1 gyroscope are used to assist in the locomotion of the robot as well as manoeuvring the robot to predetermined locations on the game field. Actuators serve as the means for control units to perform changes either on the robot themselves or to the environment that the robots are present in. For the PR, a combination of four electrical motors and two electrical relays are used to control the hardware-based and pneumatic-based mechanisms that are present on the robot. 2.1.3 SOFTWARE DESIGN USM Two Arduino Due, Arduino1 and Arduino2 are used for Pass Robot. Arduino1 acts as the brain and controls the lower body of the robot whereas Arduino2 controls the upper body of the robot. Encoders and sensors are used to determine the position of the robot and execute certain functions for different conditions. Arduino1 monitors the motors of the wheels and controls them through a PID system. MPU6050 is used to determine the orientation of the robot whereas distance sensors are used to command the robot to move to a specific location. The flowchart in Figure 5 and Figure 6 summarizes the operation of Arduino1 and Arduino2 of PR respectively. Firstly, the robot will be calibrated through switches depends on the zone given. The Pass Robot will move towards the given direction and stops at the given distance, which is determined by distance sensors. When the targeted position is reached, a signal will be sent from Arduino1 to Arduino2 to execute the arms of the robot to pick the rugby and pass it to TR. 146

Figure 5: Operation of Arduino1 of PR USM Figure 6: Operation of Arduino2 of PR 147

USM 2.2 TRY ROBOT (TR) 2.2.1 MECHANICAL DESIGN The main functions of the TR are to receive the try ball from the PR, to make a try at try spot and to return to the kicking zone follow by kicking the kick ball set by the operators. The mechanism of the TR can be break into the base, basket, try mechanism and kick mechanism. Figure 7: The assembly of the base of TR Firstly, the assembly of the base of TR is depicted in Figure 7. The base is designed with the dimension of 600 mm x 600 mm. Four 18 V 680 RPM DC motors are used to drive a 6-inch omni-wheel each to manoeuvre the TR. Figure 8: The basket used to receive the ball passed from PR Secondly, the basket as illustrated in Figure 8 is designed with a height of 1 meter and a width of 0.6 meter to increase the area of the receiving part. The ball received will undergo damping to kill the impact of the ball using yoga mat and some rubber by increasing the time of impact, hence reducing impulsive force that will bounce out the ball. The ball is then rolled down and stop by the front gate (purple) that is closed using rubber band. 148

Figure 9: Try mechanism using pneumatic system USM The try mechanism of TR is using pneumatic system as shown in Figure 9. When the TR reach the Try Spot, it will activate the cylinder on top to push the ball out of the front door and to ensure the cylinder is in contact with the ball as well as the ball is in contact with the ground. The second cylinder on the side of the basket is then activated to open the front gate and to retreat the TR from the Try Spot. Figure 10: Kicker installed on the TR The kick mechanism of TR is shown in Figure 10 The dimension of the kicker is 310 mm and is driven by gear chain mechanism. The torque of the motor is transmitted by a gear ratio of 2 to 1 (20-tooth sprocket for driver and 10-tooth sprocket for driven). This will increase the speed of the kicker and hence increase its momentum. The kicker is also welded with some weight at the end of the kicker to increase the momentum as well in the equation of P=MV where P is the momentum of the kicker. Large momentum of the kicker is then transferred to the ball and converted to kinetic energy of the ball. 149

2.2.2 Electronic Design Similar to PR, the electrical components used in the circuitry of TR could be categorized into four categories based on their function as well: power supply, control units, sensors and actuators. For the power supply, the TR uses a combination of lithium polymer (LiPo) batteries with different cell count (one 3S and one 6S) to supply the required power to all of the electrical devices present on the robots. For the control units, the TR uses an Arduino Mega 2560 (ATmega2560) microcontroller unit (MCU) instead of an Arduino Due (AT91SAM3X8E) MCU. Even though the MCU used on the TR differs from that of the PR, the tasks it performs is similar to that of the PR which are to receive instructions from its operator via its Bluetooth communication unit, receive readings from sensors and control the actuators to provide the appropriate responses. Figure 11: An Arduino Mega 2560 (ATmega2560) For the sensors, the TR uses a combination of two rotary encoders and one gyroscope to assist the TR in accomplish the tasks of locomotion and manoeuvring the robot to predetermined locations on the game field. For the actuators, the TR uses a combination of 5 electrical motors and 2 electrical relays to perform the tasks of controlling the hardware-based and pneumatic-based mechanisms that are present on the robot. USM 2.2.3 Software Design Try Robot is used to kick the rugby. PS3 is connected to the Try Robot to control the robot. The flowchart in Figure 12 illustrates the operation of TR. Firstly, the timers, interrupts and I/O ports is initialized. Then, PS3 is checked whether is connected or not. After PS3 is connected, adjust the thumbstick or press the button to control TR. If thumbstick is adjusted, the robot will move according to the direction of the thumbstick. If the triangle button is pressed, TR will kick the rugby. Besides, TR will press the rugby to the ground if square button is pressed. Press the circle button to move the robot backward and make the rugby stay at try zone. 150

Figure 12: Operation of TR USM 3.0 ROBOT TESTING The design of PR and TR are done by using Solidworks, a CAD software. The motion of the robots is stimulated in the software before building the robot to ensure the mechanism can work well and run smoothly. The overall size of the robots are designed according to the dimension stated in the rulebook. The weight of PR is 17 kg, the dimension of PR for before extended is 893 mm x 780 mm x 550 mm while 770 mm × 780 mm × 990 mm when extended. Compressed air pressure in PR is 2.6 bar, volume of compressed air is 24 litres and the maximum speed of PR 1.2 m/s. The operation time of PR with full-charged battery is 40 minutes of continuous operation. 151

Figure 13: PR (Before extended) Figure 14: PR (Extended) Since the TR’s mission is to receive the rugby, to make a try at try spot and to return to the kicking zone to kick the kick ball set by the operators. Therefore, we designed maximum area for the basket to increase the possibility of the rugby to fall into it. However, the rugby can bounce out from the basket due to high impulsive force. Therefore, we used soft padding in the basket to increase the time impact so that the rugby will not bounds out from the basket easily. The weight of TR is 25 kg, dimension of TR for before extended is 890 mm x 700 mm x 990 mm while 1160 mm x 700 mm x 990 mm when extended. Compressed air pressure in TR is 5.0 bar, volume of compressed air is 3 litres and the maximum speed of TR is 2.0 m/s. TR’s operation time with fully charged battery is around 20 minute’s continuous operation. USM Figure 15: Assembly of TR in Solidworks The kicking mechanism mimics human kicking mechanism. In order to ensure the angular momentum created can be converted to kicking force in desired range, we used trial and error using encoder and monitoring the data using software hence we can determine the height for the leg of TR to rise and observed the impact produced by the foot by monitoring the distance travelled by the rugby. 152

4.0 DISCUSSION The reason behind of using two different microcontrollers in TR and PR is that due to time constraint in code development. Although the specs of Arduino Due is much better than Arduino Mega, Due is a M3 ARM Cortex while Mega is a AVR, the architecture of ARM is harder to comprehend than AVR. While we have successfully developed code for AVR direct-register programming, unleash important functionality of a AVR which previously limited by the Arduino IDE. on the other hand, the code for ARM is still under research. The opened surface area of the basket is designed as large as possible to increase the possibility of the rugby fall into the basket. The basket frame is surrounded with soft padding to decelerate the speed of the rugby so the rugby will not bounce out of the basket. Besides, the kicking mechanism of TR mimics the kicking mechanism of a human being. The leg is made of a hollow steel tube while the foot is made of a solid steel cylinder. Hence, the centre of mass is located on the foot in order to maximize angular momentum of the system. The driving force is provided by an electrical motor and transmitted to the leg by sprocket and chain. The motion of the leg is determined using the motor’s encoder and controlled using software. To activate this mechanism, simply press a button on the controller, then the leg will rise to a pre-set position and kick the rugby. 5.0 SUSTAINABLE ENGINEERING PRACTICE USM Sustainability is one of the considerations during the robot designing. We reused some wasted materials such as plastic bottles, recycled polyester and recycled rubber band in building the robots. The plastic bottles function as pressure tank, recycled polyester is used for suspension the PR and recycled rubber band is used in TR. Besides, the whole frame of both robots are made up of recycled steel from previous robots that participated last year ROBOCON MALAYSIA 2019 and ABU ROBOCON 2019. As for safety consideration, emergency button is installed to both robots. 6.0 CONCLUSION In conclusion, the mission of PR is to pass the rugby to TR. Meanwhile, TR is designed to score Try and make a Goal Kick. In order to successfully finish all the tasks, both robots are well-designed with many considerations. For example, increase the possibility of the rugby fall into the basket by maximizing the opened surface area of the basket and maximize angular momentum of the system by locating the centre of mass on the foot of kicking mechanism. The robots are able to perform all the tasks after many times of testing and corrections. 153

Acknowledgements First of all, we would like to express our greatest gratitude to our supervisor, Dr. Anwar Hasni Abu Hassan for his guidance and assistance throughout whole project. We also appreciate for the financial support from Universiti Sains Malaysia and Vitrox Technologies Sdn Bhd. Besides, we would like to acknowledge to those who have guided us either directly or indirectly with some useful suggestions to improve the robots. This is a great experience for us and also enrich our knowledge. References 1. The Ball (n.d.). Retrieved on September 15, 2020, from http://www.rugbyfootballhistory.com/ball.htm 2. Robocon Malaysia 2020 Rules (n.d.). Retrieved on September 14, 2020 from https://roboconmalaysia.com/malaysia-robocon-rules/ USM 154

USM 155

TEAM MONASH TEAM MONASH FROM MONASH UNIVERSITY MALAYSIA Mohammed Ayoub Juman, Alpha Agape Gopalai, Tan Chee Pin, Wong Chun Yin, Navaneeth Nair R Dhileepan, Jared Kok Chee Chiew, Teh Jayson, Jason Han Zhi Kwang, Loh Chun Hong, Ong Xia Hong, Loh Thim Cay, Liew Kai Wen, Kim Whi Jin, Kong Zi Jing. Mechatronics Discipline, School of Engineering, Monash University Malaysia, Jalan Lagoon Selatan, Bandar Sunway, 47500 Subang Jaya, Selangor ABSTRACT This report summarises the mechanical design, electronic design and software design of the two robots, i.e. Pass Robot (PR) and Try Robot (TR) developed by Monash University Malaysia to participate in ROBOCON 2020 in Malaysia. In this report, we discuss the design of the robots which carry out passing and receiving the Try Ball from Pass Robot to Try Robot and kicking the Kick Ball by Pass Robot at Kicking Zone 1, 2 or 3. The connection between the motors/servos and electric board is described using the Electrical Diagram. The flowchart is featured in this report to describe the workflow process of both robots. This report also presents the data and discussion of findings. Before the conclusions, limitations and recommendation, sustainable engineering practices are covered in this report. The limitations and recommendations for both robots are provided to improve the design of the robots in the future. 156

1.0 INTRODUCTION TEAM MONASH The Team was formed in December and it took the students one month to conduct research on the feasibility of each method for passing, kicking, receiving and manoeuvring. After the New Year, students started to build the robots starting from the base to all the necessary mechanisms for the robots. Due to the uncertainties on the delivery of items from China due to the COVID-19 outbreak, most of the items were ordered from local suppliers two weeks prior to Christmas and Chinese New Year. The designs for kicking and passing came up with the help from YouTube and Google. This sped up the research process and reduced the time taken to finalise the designs for both robots. The ideas for the other robots’ features were given by the lecturers and seniors. The team is highly motivated and truly honoured to build the robots to compete with some of the top engineering institutes nationwide. Monash University Malaysia is looking forward to gaining more experience in robotics from this competition and will be able to pass it down to the future group of students and hopefully able to apply the acquired knowledge for other robotics related competitions. 2.0 DETAILED DESIGN This section discusses the mechanical design, electronic design and software design of both Pass Robot and Try Robot. 2.1 PASS ROBOT MECHANICAL DESIGN The mechanical part of Pass Robot comprises of three main elements which are the base, the kicking mechanism and the passing mechanism. The base is constructed using square, hollow aluminium alloy to withstand great kicking force and the mass of all the subsystems without yielding while maintaining a light weight. mecanum wheels are used for the moving mechanism. Figure 1 shows the kicking mechanism which consists of a pair of drums connected to resistance bands, a steel shaft, a pair of steel gears with the motor side gear having 3 teeth trimmed off, two steel rods as legs and a trimmed aluminium block as the feet. The motor rotates the gears which rotates the feet of the robot to an angle of approximately 270 degrees before the gears disengage. The resistance bands pull the kicking leg back to kick the ball. The passing mechanism is designed based on the jugs wheels concept which shoots the ball using two rubber wheels as shown in Figure 2 and Figure 3. In this robot design, an acrylic robotic arm with two degrees of freedom is added to collect the Try Ball and move it to the jugs wheels in order to pass it to the Try Robot. 157

TEAM MONASH (a) (b) Figure 1: Pass Robot Kicking Mechanism (a) Isometric (b) Front Views (a) (b) (c) (d) Figure 2: Pass Robot (a) Isometric (b) Front (c) Side (d) Top views 158

(a) (b) TEAM MONASH Figure 3: Pass Robot Passing Mechanism (a) Isometric (b) Front Views 2.2 TRY ROBOT MECHANICAL DESIGN The mechanical part of Try Robot comprises of three main elements which are the base, the receiving mechanism and the gripping mechanism. The base of Try Robot is made using medium-density fibreboard (MDF) due to its lighter weight, stiffness and strength compared to acrylic base. Omni-wheels are used for the moving mechanism. The receiving mechanism is a simple mechanism which is constructed using four L-shaped aluminium alloy poles and an old bed sheet. Figure 4 shows the overall structure of the Try Robot. The gripping mechanism consists of an aluminium box at which the bed sheet is attached to it and a V-shaped clamp as illustrated in Figure 5. The aluminium box is used to collect the Try Ball when it is received. The V-shaped clamp is utilised to hold the Try Ball and rotates it before it is placed on the Try Spot. (a) (b) 159

TEAM MONASH (c) (d) Figure 4: Try Robot (a) Isometric (b) Top (c) Front (d) Side Views (a) (b) (c) (d) Figure 5: (a) Try Robot Gripping Mechanism Isometric (b) Front (c) Top (d) Side Views 160

2.3 PASS ROBOT ELECTRONIC DESIGN TEAM MONASH Figure 6: Pass Robot Electronic Design 2.4 TRY ROBOT ELECTRONIC DESIGN Figure 7: Try Robot Electronic Design 161

TEAM MONASH 2.5 PASS ROBOT SOFTWARE DESIGN Figure 8: Pass Robot Software Design 162

2.6 TRY ROBOT SOFTWARE DESIGN TEAM MONASH Figure 9: Try Robot Software Design 163

TEAM MONASH 3.0 PRESENTATION OF DATA The team is investigating the relationship between the average distance travelled and the angle of the Kick Ball. The angle is measured between the Kick Ball and the floor. The distance travelled by the Kick Ball is taken three times and the data collected is averaged. The plot is created and shown in Figure 10 below. Figure 10: The plot of the average distance travelled against the angle 4.0 DISCUSSION From the plot shown in section 3, regardless of the angle between the Kick Ball and the floor, the distance travelled by the Kick Ball is further than the target distance which is the distance between the front of Kick Zone 3 and the goal post. Therefore, it saves the player’s time to set up without adjusting the angle. 5.0 SUSTAINABILITY ENGINEERING PRACTICES Together with ABU ROBOCON, Monash University Malaysia advocates the sustainability engineering practices in robot development. We achieved it by reducing the consumption of electricity for the robots by reducing the weight of the Try Robot using MDF board rather than square hollow steels and eliminating the method of using a high speed and high torque motor (which consumes more electricity) to drive the kicking arm to kick the Kick Ball. Hence, the elastic method is applied by using resistance bands to store elastic energy when they are in tension to kick the Kick Ball. The Team reused the old bed sheet as a suitable material for the receiving mechanism so it eliminates the need to get a new bed sheet which can reduce carbon emissions and energy consumption to get this new bed sheet. 164

6.0 CONCLUSION, LIMITATION AND RECOMMENDATION TEAM MONASH Try Robot is able to perform its required function but it still has room for improvement. A decoder can be added to the wheel to measure the distance travelled and automate the locomotion of the robot, thus human error while controlling the robot will be minimized and the robot can perform a try quicker. Proximity sensors can also be utilised to ensure that the Try Robot is in the optimum position range while performing a try, this can reduce the time for the operator to tweak the position when performing a try and makes the whole process faster. Pass Robot is only able to pass the Try Ball at a distance of 2.5 m which is adequate but it can be improved by using different motors with higher speed and sufficient torque to pass the Try Ball at a distance further than 2.5 m to reduce the movement of the Pass Robot along the Passing Zone once it picks the ball from the Try Ball Rack by passing diagonally instead. The kicking is time constrained as the Pass Robot has to be adjusted manually to aim at the kicking post. Therefore, automating the kicking action would speed up the process of alignment. Acknowledgements We would like to express our deep sense of gratitude to Assoc. Prof. Tan Chee Pin, Dr. Ayoub Juman, Dr. Alpha Agape and Mr. Da Ming for organizing this competition and choosing us to be part of the team. Throughout the process of making the robots, we also appreciate the help and guidance provided by the lab technicians who are Mr Khalid, Mr Khilal, Mr Panneer and Mr Tharmaa and seniors who deserve our greatest gratitude. Finally, we would like to extend our thanks to Monash University Malaysia for the financial support. References 1. “ABU Robocon Rulebook,” ABU Robocon 2020, 30-Sep-2019. [Online]. Available: https://www.aburobocon2020.com.fj/. [Accessed: 10-Dec-2019]. 165

WALLABIES UOWMKDU WALLABIES UOWMKDU FROM UOW MALAYSIA KDU UNIVERSITY COLLEGE Leong Min Shen, Lee Yong Aik, Chau Zun Yin, Yap Yan Ting, Teo Ren Ghee, Lee Chong Kai UOW Malaysia KDU University College Glenmarie Campus, Jalan Kontraktor U1/14, Seksyen U1,40150, Shah Alam, Selangor, Malaysia ABSTRACT This report presents the Wallabies Rugby Robots consists of two robots that are able to play rugby. One robot would be responsible for passing and another robot would be in charge of getting the try ball set. Then the players would be required to choose either a Pass Robot (PR) or Try Robot (TR) robot to perform the kicking mechanism. The game starts by having the two robots on their respective starting zones and when the game starts, the PR would collect a rugby ball from the try ball rack and pass it to the TR, where the TR was required to catch the rugby ball. TR then would need to navigate through a multitude of obstacles and perform a touchdown with at the try spots. With the try ball set at the try spot, the team may notify the referee and the team would be allowed to set up the rugby ball for the robot to score. The score obtained would vary depending on the distance of the kicking. 166

1.0 INTRODUCTION WALLABIES UOWMKDU For the ROBOCON 2020 competition, two robots were built in order for them to play a game of rugby. The two robots are a Pass Robot (PR) and Try Robot (TR). For the Wallabies Robots, PR was chosen to be built with the kicking mechanism. In order to generate a strong force for the kicking mechanism, the PR relies on the strength of a DC motor aided by the spring tension. The passing mechanism for the PR was designed with the usage of three pneumatics. The first pneumatic would lift the passing limb, the second pneumatic was used to pass the ball to TR, and the third pneumatic was used to slow down the return of the passing limb. As for TR, the catching mechanism was built using a net and the unloading mechanism was built at the bottom, which is controlled using a servo motor. Both robots were designed to be controlled by the team members using radio controllers in order to achieve better control of the robots’ situations during the matches. The Wallabies PR is unique in the sense that it requires the team to share ideas and knowledge to finalise on the kicking and passing mechanisms. Thorough planning was committed to achieve the goal of kicking the rugby ball and scoring. The Wallabies TR robot uniqueness stems from the fact that the team decided to simplify the design and its mechanisms in order to have less complexity or errors during testing. Sustainable engineering practices such as minimising waste by designing and simulating the assembly of the robot using software tool such as Solidworks. The two robots inner circuits were also well planned, with the team reusing old unwanted parts to build certain parts of both robots. 2.0 DETAILED DESIGN 2.1 MECHANICAL DESIGN 2.1.1 TRY ROBOT DESIGN The design of the Try Robot (TR) as shown in Figure 1 was drawn in the CAD software known as Solidworks software. The frame of the TR robot consists of 3030 aluminium extrusion profiles and 20 mm x 20 mm aluminium hollow square bars. The aluminium alloy was mainly chosen due to its strength to weight ratio property. The TR robot requires a high strength frame to hold the impact of receiving the rugby ball, while having a lighter weight for easier acceleration and deceleration i.e. reducing the inertia of the robot. Simulation on the frame was done to identify the weight of the frame to ensure that the design did not exceed the requirement weight as well as to select the motor which has the proper torque for TR to operate. 167

WALLABIES UOWMKDU Figure 1: Design of the Try Robot in Solidworks software. The TR robot was designed such that it could catch the rugby ball after positioning itself so that the rugby ball was thrown into the net of the TR robot. The TR robot then transported the rugby ball to the designated location and released the rugby ball by lowering the cage. The frame had limit switches installed to the frames to limit the motor that controlled the cage movement from rotating once the cage touched either the main frame or the floor. The cage movement is controlled using a power window motor. This motor is controlled by an Arduino UNO via a relay. The cage was connected to the power window motor via a string. The TR robot movement used castor wheels. Two wheels at the front of TR are controlled with DC motor via motor driver while the other two castor wheels are free moving. 2.1.2 PASS ROBOT DESIGN The design of the Pass Robot (PR) was also drawn with Solidworks software as illustrated in Figure 2. PR has the same frame material as the TR. The passing mechanism is manipulated by two pneumatics. One of the pneumatic is used to lift the ball while the other is intended to throw the rugby ball to the TR. The pneumatics are supplied with compressed air, which is stored in the bottles. 168

WALLABIES UOWMKDU Figure 2: Design of the Pass Robot in Solidworks software. The pneumatics will be controlled by the Arduino UNO via a relay. As for the kicking mechanism, it is controlled by a high torque DC motor with additional four springs to increase the kicking force. The DC motor is controlled by a motor driver. The movement of the PR is also similar to the TR, which moved via castor wheels with two of the castor wheels controlled using DC motor via motor driver while the other two castor wheels are free moving. 2.2 ELECTRICAL CIRCUIT DESIGN Figure 3 shows the electrical schematic diagram from the Try Robot and Figure 4 shows the electrical schematic diagram of the Pass Robot. 169

WALLABIES UOWMKDU Figure 3: Electric Schematic Diagram for Try Robot. Figure 4: Electric Schematic Diagram for Pass Robot. 170

2.3 SOFTWARE DESIGN WALLABIES UOWMKDU Figure 5: Flow Chart of Try Robot. Figure 5 shows the flow chart of the receiving mechanism of Try Robot. The Arduino will receive the signal from the receiver which comes from the user controller. First, it checks the cage location to determine if it lays on the highest or the lowest position. If it is laying on the highest or lowest position, the cage cannot be further lifted or released respectively. Then, it checks the receiver signals. If the Arduino receives a HIGH signal, it will lift the cage and vice versa. 171

WALLABIES UOWMKDU Figure 6: Flow Chart of Pass Robot. Figure 6 shows the flow chart of the Pass Robot. First, the Arduino will receive the signal from the receiver. Then, it will determine the component (pneumatic 1, pneumatic 2 or kicking mechanism) that the user wants to control. Next, the selected component will operate if a HIGH signal is received. A LOW signal will off the selected component immediately. 172

WALLABIES UOWMKDU Figure 7: Flow Chart of Motor Driver for both Try and Pass Robot. Figure 7 shows the flow chart of the movement of both Pass and Try Robots. The motor driver will receive the signal from the receiver, then it will determine the direction of the movement that the user wanted to control to. Next, it will trigger both motors with specific rotation to fulfil the movement that is required from the user. 173

WALLABIES UOWMKDU 3.0 ROBOT TESTING (a) (b) (c) Figure 8: (a) The first generation of passing pole. (b) The second generation of passing pole with base structure. (c) The third generation of passing pole with a lifter. Figure 9: Testing for lifting a rugby ball on the rack. (a) (b) Figure 10: (a) Testing for the passing mechanism (before passing). (b) Testing for passing mecha- nism (after passing). 174

WALLABIES UOWMKDU (a) (b) Figure 11: (a) Testing for the kicking mechanism (before kicking). (b) Testing for kicking mechanism (after kicking). 4.0 DISCUSSION Based on the results obtained, each of the mechanisms managed to complete the requirement of the tasks. The overall movement speed of the PR robot was found to be difficult to control as compared to the TR robot due to its larger dimension and heavier weight. Furthermore, due to both robots using caster wheels for the motion, it can be difficult to position the robots. This problem can be avoided by implementing omnidirectional wheels, but due to the lack of budget, the robots opted for caster wheels. Aside from that, the pressure of the compressed air dropped little by little when the pneumatics were operating, but dropped significantly if the passing mechanism is dropped while Pneumatic Cylinder 1 is extended. Therefore, the Pneumatic Cylinder 1 is required to retract first before the passing mechanism dropped. After several testing, it was found that the PR robot was able to throw the rugby ball about seven to nine times before the pressure of the compressed air dropped below the required air pressure. Besides that, the TR robot string that controlled that cage may move from its designated roller causing it to snap due to the friction between the string and the sharp edge of the robot frame. After this problem was identified, a barrier was attached, sandwiched between the roller to prevent the string from moving away from the roller. 175

WALLABIES UOWMKDU 5.0 SUSTAINABLE ENGINEERING PRACTICES One of the notable sustainable engineering practices that is implemented by almost every engineering sector is minimizing the wastage of materials. This practice was implemented by designing the mechanical design of both the PR and TR robots via CAD drawing, or specifically Solidworks software for the 3-D model of both of the robots. This approach allowed accurate visualization of the design of both robots with accurate dimensions, which resulted in near zero mistakes when fabricating the robots. Although both of the PR and TR robots underwent several simulations before fabrication, both of the robots still went through several changes and modifications as it still did not meet the requirement during real life testing. The changes include the mechanical and electrical design of both of the PR and TR robots. The results of the changes in mechanical design were wastage of aluminium extrusion profile, aluminium rods, pneumatic tube, and pneumatic cylinder. Hence, the practice of 3R was used for such situations. These wastages were mostly re-used, for instance, the unused aluminium extrusion profiles were kept instead of dumped away as it can still be used for other projects as the length of the unused aluminium extrusion profile length was considerably long mainly due to the dimension of both of the robots. Aside from that, the changes in electrical design resulted in wastage of wire as well as cable lux. The changes in the circuit components caused the changes in wiring routes and length, which required either changes to a longer wire or shorting the existing wire that will result in the short leftover wire. The long unused wire will be kept for future use while some of the short leftover wire will be kept depending on the length of the wire. 6.0 CONCLUSIONS In conclusion, the Wallabies Pass Robot (PR) and Try Robot (TR) are able to perform and fulfil the requirements set by the competition. The PR would be controlled by a player and able to pass and score points via kicking with relatively high success rate. The TR is able to catch the ball passed by PR, and also able to avoid obstacles, via player control, and drop the try ball onto the try zone. One of the limitations of both robots is that they are equipped with castor wheels which limits the movement of robots significantly. One of the recommendations is to replace the castor wheels with omnidirectional wheels. Another limitation that was found in the PR is the pneumatic system which became weaker after each usage. The recommendation to improve this is by adding a larger container to maintain pressure longer for more passing attempts. 176

Acknowledgements WALLABIES UOWMKDU First of all, we would like to express our gratitude and appreciation to all who have given us the possibility to complete this project. A special thanks to our team manager, Mr. Jailani, who provided full support in stimulating suggestions and encouragements throughout this journey. We would like to acknowledge with much appreciation the crucial role of lab staff from UOW KDU Malaysia, who gave us the permission to utilise all the equipment available in the lab. We also would like to thank our team advisors, Mr. Fadzil and Mr. Shaharizal who have given their full efforts in guiding the team to complete this project. Not forgetting UOW KDU Malaysia, all the team members really appreciate the financial aid provided by them. The generous funding from the university has resulted in the successful completion of this project. Lastly, we would like to extend our deepest gratitude to the organiser of ROBOCON 2020 for giving us the opportunity to explore more on practical knowledge. References 1. Joseph, P. (1930). U.S. Patent No. 1,785,876. Washington, DC: U.S. Patent and Trademark Office.Aceves, A. (2020, June 04). 177

UKM UKM FROM UNIVERSITI KEBANGSAAN MALAYSIA Muhd Hijazz Farhan Mafuzah1, Muhammad Danial Mohamad Khir1, Aminuddin Kamaruzaman2, Ahmad Yazid Yazirruddin2 1Department of Electrical, Electronic & Systems Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 UKM Bangi, Selangor, Malaysia. 2Department of Mechanical & Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 UKM Bangi, Selangor, Malaysia. ABSTRACT The contest theme for ABU ROBOCON 2020 is ROBO RUGBY 7s. This game requires two robots which are Pass-Kicking Robot (PKR) and Receive-Try Robot (RTR). Pass-Kicking Robot roles are to pass, pick and kick the rugby ball. For the picking mechanism, it uses DC motor with encoder as picking arm and servo-controlled claw to pick the ball. To launch the ball, it uses the combination of two DC motors where it uses the same concept found in Disk Ball Launcher. For kicking mechanism, it uses brushless DC (BLDC) motor and spring system to exert force to the ball. The robot movement uses four BLDC motors via mecanum wheels with omni directional movement. All these mechanisms are controlled by Arduino Mega. Receive-Try Robot roles are to receive and attempt to put the received ball at any of the try spots. It uses four sets of servos to control the try hand where two of them are used for opening the claw and the rest for the arm part. The RTR movement uses two BLDC motors where it operates exactly trolley-like concept. The unique of the designed robots are we use conservative approach towards electronic components usage that salvage from older projects. Hence, it maximises our creativity 178

towards available resources to develop the best results besides indirectly reduce UKM the overall costs. Other than that, every single mechanical designs and fabrications are entirely designed by the students themselves. The current designed robots could be repurposed, reconstructed and improved for medical purpose where it can be applied to hospital patient’s bed. The new features include controlling the movement of the bed wirelessly and assist patient’s to be able to move by bipedally on their own. 1.0 INTRODUCTION ROBOCON Malaysia 2020 is an open national level of robotic competition. The requirements of technical skills of the students is crucial for designing and assembled two types of robots which are Pass-Kicking Robot (PKR) and Receive-Try Robot (RTR) in order to compete. The Pass-Kicking Robot (PKR) starts from the Pass-Kicking Robot (PKR) Start Zone (PRSZ). The Pass Robot picks up one try ball from the wall rack and pass the try ball from the passing zone to Try Robot located receiving zone. The Receive-Try Robot (RTR) starts from Receive-Try Robot Start Zone (RTRSZ) and moves into the receiving zone to receive the try ball from the Pass Robot. The Try Robot receives the ball successfully from the Pass Robot will be given 1 point. The Try Robot then goes along the five defending obstacles to score the try in one of the five try spots will be given two points for each try. After a successful try, a kick step can be taken from the kicking zone to make the goal by either the Try Robot or Pass Robot. Successful goal kick from Kicking Zone 1 will be given five points for each successful goal. Successful goal kick from Kicking Zone 2 will be given ten points for each successful goal. Successful goal kick from Kicking Zone 3 will be given twenty points for each successful goal. If the opponents try ball or kick ball lands in your field without touching the conversion post, 10 points will be given for each board. The game continues until all the seven kick balls are used or when the three minutes has passed. The strategy to win is to design a mechanism that we can electronically control and does the tasks efficiently. The concept of Pass-Kicking Robot (PKR) is to use the mecanum wheels to ensure that the robot is able to move omni directionally. The mechanisms are programmed to ensure that we have some pre-set parameters for every tasks. We also have two launcher disks that use DC motor that will rotate in order to launch the ball. The details of the robot will be described in Section 2. The concept of the Receive-Try Robot (RTR) is to use two BLDC motors which use the same concept of trolley-like movement where it is proven to achieve a high linear speed compared to mecanum wheel omni directional movement as in Pass-Kicking Robot (PKR). Besides, the design of the try mechanisms requires four servos which two servos are used at the arm and another two servos at the claw. This will be further elaborated in Section 2. 179

2.0 DETAILED DESIGNS 2.1 MECHANICAL DESIGN UKM Figure 1(a): Pass Robot Plan Figure 1(b): Pass Robot Front View Figure 1(c): Pass Robot Side View 180

Figure 2(a): Try Robot Front View Figure 2(b): Try Robot Side View UKM Pass Robot as shown in Figures 1(a)-(c) is designed to enable a massive force output with the aid of input design that enable it to calibrate. Thus, the ball launch will be slightly more accurate and consistent in order to reach the desired goal. The use of mecanum wheels will increase the agility of the robot besides making the robot’s movement better. The picking mechanism used is designed to be rugby ball shape and a claw-like shape to increase the grip especially during picking operation. Try Robot as illustrated in Figures 2(a)-(b) is designed to be goal-like shape. The broader and wider space of goals will increase the chances of the rugby ball to be caught at ease. The ball will then roll down the sloped tracks and will be captured by the hand of the robot. This movement will ensure that the ball both touches the robot and ground during the trying phase. 2.2 ELECTRONICS AND SOFTWARE DESIGN Figure 3: Block Diagram of Pass Robot 181

UKM From Figure 3, the components that are used can be categorized into 4 different parts which are the Picking Mechanism, Kicking Mechanism, Launcher Disk and Movement. For Picking Mechanism part, the components involved are a servo 17 kg-cm powered by 7.4 V lithium polymer battery which is being used to move the claw mechanism of the robot and a DC motor with an encoder powered by one battery rated at 12 V as well as 5 V from Arduino to supply the power to the encoder. For Kicking Mechanism part, it uses a 50 W BLDC motor powered by two 12 V batteries connected in series to produce a total of 24 V in order to rotate the piston arm of the Kicking Mechanism. For the Launcher Disk, the robot uses two 775 DC motors in parallel powered by a battery rated at 12V and for the Movement part, four BLDC motors are used. Two of these motors are connected in parallel which being supplied by two batteries for the rear and two motors for the front. Figure 4: Block Diagram of Try Robot From Figure 4, it can be seen that the Try Mechanism consists of four servos where a servo is rated at 17 kg-cm and three other servos are rated at 25 kg-cm. Two servos are installed for the Try Arm and another two for Try Claw Opening. Each of the servo is supplied with lithium polymer battery rated at 7.4 V. For the Moving part, it uses two BLDC motors connected in parallel to attain high linear speed and they are powered by two batteries connected in series. 182

Figure 5 shows the flowchart for the Pass Robot. It begins with pairing process of UKM the controller. Once the controller is detected, then the program turns into input detection mode. If no controller is connected, the LED mode on the controller will not turned on. In the input detection code, the input is separated into directional button and action button. For the directional button, it can only be one input at a time. This is because of the sequence of the if-else sequence of the directional button. For the action button, the input acts depending on cases. In this design, while we may have two buttons pressed at one time, we have decided to design our program to be feasible with only one input. Figure 5: Flowchart of Pass Robot 183

UKM Figure 6: Flowchart of Try Robot The flowchart in Figure 6 is almost identical to Pass Robot flowchart with the exception of limited directional button and different output of action button. This is mainly because of the trolley-like movement of RTR Robot and the different actions of RTR Robot. 3.0 DISCUSSIONS For our robot design process, as aforementioned, we used conservative approach where all components are gathered from previous projects. This step is considered as risky due to the component’s availability in the market especially the BLDC motors that are currently in use. Besides, not all recent components are backward compatible with older version of BLDC motors. 184

For Kicking Mechanism, pneumatic system cannot work on its own. It must work UKM with other system for instance in this case either the spring system, the motor system, or the combination of both systems. It is mainly because the function of the pneumatic system is to boost the acceleration of the robot and cannot be used during the whole phase of the kicking process. Besides, in order to produce the best result for Kicking Mechanism, a right pressure kicking with a right pneumatic bore size must be considered. Online pneumatic pressure calculator has been used to guide and assist the design process. The value, however, may vary according to the real conditions. Attempts must be made several times to increase the accuracy and precision of the final value. 4.0 SUSTAINABLE ENGINEERING PRACTICES The unique of the designed robots are where we use conservative approach towards electronic components usage that salvage from older projects. Hence, it maximizes our creativity towards available resources to develop the best results besides indirectly reduce the costs. Other than that, every single mechanical designs and fabrications are entirely designed by the students itself. The current designed robots could be repurposed, reconstructed and improve for medical purpose where it can be applied to hospital patient bed. The new features include control wirelessly the movement of the bed and assist patient’s to be able to move by bipedally on their own. 5.0 CONCLUSIONS ROBOCON 2020 competition is a platform for students to venture in problem- solving and communication skills. These two skills is necessary and required for all engineer-to-be in order to create the best output results. Besides that, this competition has taught us on how to handle emotion, time, resources, management, and people from various ages to various backgrounds. We also have the chance to broaden our networks as well as develop an amazing teamwork skill. In the early phase, the main problem that we experienced as a team was miscommunication since the team involved two different departments i.e. the mechanical and electrical department. However, as the work progresses, we were able to overcome this problem. The COVID-19 is also another problem in the development of our robots because it restricts our movement in obtaining all the materials and components. There was no progress during the MCO period as the Robots are left in the Laboratory and no one can access the lab. The lack of funds was also another problem faced by our team. In terms of software, some of the sensors used in the robot are not compatible with microcontroller (Arduino). In terms of electronic components, since we used conservative 185

UKM approach in gathering components for our robots, we faced problem since some of the components are obsolete. Besides that, the electronic components have high tendency to malfunction. A frequent check must be done to ensure that all components are working as desired. In terms of mechanical, it is difficult to find and obtain the right resources for the robots. Acknowledgments The UKM ROBOCON Team has been formed on February 2015 which consist members form Department of Electric and Electronic System and Department of Mechanical and Material. The Advisors for this team are Dr. Anuar Mikdad Muad, Dr. Aqilah Baseri Huddin, Dr. Mohd Hairi Mohd Zaman, Dr. Wan Aizon Wan Ghopa, and Prof. Madya. Ir. Dr. Rizauddin Ramli that give supports for our team and continuous encouragement and guidance to complete this task. 186

References UKM 1. Bell JH, Schairer ET, Hand LA, Mehta RD (2001) Surface pressure measurements using luminescent coatings, Annu. Rev Fluid Mech 33:155 2. Brancazio PJ (1987) Rigid-body dynamics of a football. Am J Phys 55:415–420 3. Holmes C, Jones R, Harland AR, Petzing JN (2006) Ball launch characteristics for elite rugby union players. Eng Sport 6(1):211–216 4. Kato K, Ohya A, Karasawa K (1999) Stability and control of airplanes, vol 11. University of Tokyo Press, Tokyo (in Japanese) Puklin E, Carlson B, Gouin S, Costin C, Green E, Ponomerev S, Tanji H, Gouterman M (2000) Ideality of pressure-sensitive paint. I. Platinum tetra (pentafluoropheny) porphine in fluoroacrylic polymer. J Appl Poly Sci 77:2795–2804 5. Seo K, Kobayashi O, Murakami M (2004) Regular and irregular motion of a rugby football during flight. Eng Sport 5(1):567– 573 6. Seo K, Kobayashi O, Murakami M (2006) Flight dynamics of the screw kick in rugby. 7. Sports Eng 9:49–58 8. Stevens BL, Lewis FL (2003) Aircraft control and simulation, 2nd edn. Wiley, New York, pp 25–34 9. Yamashita T, Sugiura H, Nagai H, Asai K, Ishida K (2007) Pressure- sensitive paint measurement of the flow around a simplified car model. J Vis 10:289–298 10. Cylinder Force Calculator. Retrieved from http://www.pneumaticsonline.com/ Calc5.asp 11. Pneumatic Sizing. Retrieved from https://www.festo.com/eap/en_us/PneumaticSizing/ 12. Complete Motor Guide for Robotics. Retrieved from https:// www.instructables.com/id/ Complete-Motor-Guide-for-Robotics/ 13. Arduino DC motor Control Tutorial. Retrieved from https:// howtomechatronics.com/ tutorials/arduino/arduino-dc-motor-control-tutorial- l298n-pwm-h-bridge/ 14. MDDS60 Quick Start Guide.pdf. Retrieved from https:// drive.google.com/file/d/ 0BzFWfMiqqjyqblZJTlI5REhReHM/view 15. What are the Best Ways to Control the Speed of DC motor? Retrieved from https:// 16. www.elprocus.com/what-are-the-best-ways-to-control-the-speed-of-dc-motor/ 187

UMP BOT UMPBOT FROM UNIVERSITY MALAYSIA PAHANG Riky Danieal Misman1, Ahmad Nur Aiman Mohamad Hajar2, Muhammad Fadzlan Huzaini1, Ikmal Idham Kamal1, Muhammad Hidayat Haslin1, Ikmanizardi Basri1, Muhammad Najmi Abdullah Shukor1, Muhammad Ulinuha Damanhari2 1Faculty of Manufacturing and Mechatronic Engineering Technology, Universiti Malaysia Pahang, 26600 Pekan, Pahang 2Faculty Mechanical and Automotive Engineering Technology, Universiti Malaysia Pahang, 26600 Pekan, Pahang ABSTRACT ROBOCON Malaysia 2020 competition requires teams to prepare two robots which are the Try and Kicking robot. In this report we will discuss on how we prepare the robots that was made before the start of the ROBOCON Malaysia 2020 competition. There are lots of task that was completed. In this report, we will explain a little bit of our team finding and demonstrate our hard work in the process of building the Try and Kicking robots. We also make our previous robot from ROBOCON tournament as reference to get the idea in the making these robots. There lots of attempts that have been done to make the better version of mechanism and electrical part for the robot until it function as smoothly as we wanted them to be. 188

1.0 INTRODUCTION UMP BOT The ROBOCON Malaysia 2020 competition is a national level competition. The contest theme and slogan set by the international level ABU ROBOCON 2020 is “ROBO RUGBY 7s” and reinforced with the national level theme - “Menggempur Halangan, Menjulang Kejayaan”. UMPBot is the representative of University of Malaysia Pahang (UMP), which is one of the teams that participate in this national competition. This technical report consists of two main parts including the technical details of Pass Robot (PR) and Try Robot (TR). The theme and rule for the Asia-Pacific competition regarding PR and TR can be referred to [1] while [2] is the theme and rule for the national competition. In the next section, the technical details of each robot are presented into two main parts, which are mechanical design and electrical design. 2.0 DETAIL DESIGN 2.1 MECHANICAL DESIGN 2.1.1 MECHANICAL DESIGN FOR TRY ROBOT The mechanism part of the Try Robot is designed in accordance with the three main elements which are locomotion of robot, Try mechanism and kicking mechanism as shown in Figure 1. The main body is designed using various sizes and thickness of the same type of metal which is mild steel as illustrated in Figure 2. Mild steel was chosen specifically for its lighter weight while withstanding force as well as able to be adjoined together more easily using welding process. The movement of the Try Robot is regulated by four motors fitted with omni wheels giving it more fluidity in its movement. For the kicking mechanism, the concept of pull and release is applied by using a gear chain and motor to pull the lever that pulls the leg backwards. Since the pulling lever does not share the same axis as the kicking leg, it will slip. Accompanied by the strong rubber tube fitted on the robot, the leg will be released with a strong force to initiate the kick as shown in Figure 3. For the Try mechanism, a simple flipping of the ball landing platform is designed using power windows and servo motors. 189

UMP BOT Figure 1: Isometric view for Try Robot Figure 2: Whole view of Try Robot 190

Figure 3: The kicking mechanism in action UMP BOT Figure 4: The try mechanism 2.1.2 MECHANICAL DESIGN FOR PASS ROBOT The mechanism part of the Pass Robot is designed in accordance with the two main elements which is locomotion of robot, and Pass mechanism. For the Pass mechanism, the robot has two stages, which are ball taking and ball passing. The main body is designed using various sizes and thickness of the same type of metal which is mild steel. Mild steel is chosen specifically as the weight is relevant to support the Try Robot and that it could be adjoined more easily using welding process. Figure 5 shows the overall design of Try Robot. In order to take the ball, the Pass Robot uses gripper that is attached at the arm of the Pass Robot. The arm is affixed with a power window motor. A servo will move the gripper to get the ball. After that, for the ball passing stage, the robot uses pnuematic sytem as shown in Figure 6. The pneumatic piston is to throw and pass the ball to the Try Robot. For the movement of the Try Robot, it is regulated by four motor fitted with omni wheels giving it more fluidity in its movement. 191

UMP BOT Figure 5: Isometric view and top view of Pass Robot Figure 6: Front view and side view of Pass Robot 2.2 ELECTRONIC DESIGN 2.2.1 PASS ROBOT AND TRY ROBOT ELECTRICAL ELECTRONIC This section presents the technical specification of Print Circuit Board (PCB) design, electronic component, and microcontroller. 2.2.2 PRINTED CIRCUIT BOARD (PCB) DESIGN To complete the design of our robots, we developed two layers PCB circuit design layout for different uses. 2.2.2.1 MAIN CONTROLLER Figure 7 shows the main controller PCB. An Arduino Mega Microcontroller will be attached to this board. Every input signal from the sensors and output signal for the actuators are going to be transmitted by this module. It also has 12 V battery connection to power up the microcontroller and a fuse to prevent any current surge in the system that could damage the board. 192

Figure 7: Main Controller PCB design UMP BOT 2.2.2.2 CONTROL PANEL Figure 8: Control Panel PCB design 193

UMP BOT This is the control panel PCB. On the left hand side of the board, there is a total of four toggle switches that connected to four batteries independently. Two of the switches will connect to the emergency stop button to cut-off the power of the motor so that the robot can stop immediately should there be an error on the robot during its operation. In the middle, there is an LCD display that acts as a GUI (Graphic User Interface) and displayss every information that the programmer want to display for feedback output. On the right hand side of the PCB, there are six push buttons which are used to control up, down, left, right, select and back input. This is to ease the troubleshooting process. 2.3 SOFTWARE DESIGN 2.3.1 PASS ROBOT FLOWCHART Figure 9: (PR) Arduino Program Flowchart 194