ROBOCON 2020 Robot Design Handbook

ROBUST ROBOTICS Figure 17 : PCB layout for TR 2.3 SOFTWARE DESIGN In this team, the software division focuses on the design of the flow and sequence of the robot movements. A flowchart is developed for each task in helping the programmer to assign input for specific actions. If an error occurs, then the flowchart will be used as a reference to troubleshoot the error during debugging. 2.3.1 SOFTWARE DESIGN FOR TR AND PR MECHANISM The flowchart represents the process of how the TR and PR were programmed to fulfil the competition requirement. Figure 5 and Figure 6 is the elaborated process of TR and PR, respectively. 295

ROBUST ROBOTICS Figure 18 : Flowchart for TR 296

ROBUST ROBOTICS Figure 19 : Flowchart for PR 3.0 PRESENTATION OF DATA There was jerk effect in the movement of robot as the motor were given full speed at once and abruptly stop when no power supply provided. Equation (1) below show the calculation for the jerk reduction of motor used for the movement of both TR and PR from zero to maximum speed and from maximum speed to zero using step-response of first- order system. The desired response is at which resulted in transfer function, defined as: (1) After solving equation (1) the discrete form solved using MATLAB is given by [3]: (2) 297

ROBUST ROBOTICS By changing its settling time, , the same method was used to obtain equation (3) below to calculate jerk reduction from maximum speed back to zero given by: (3) 4.0 EVALUATION OF FINDINGS The uniqueness of Robust Robotics TR and PR were the manipulation of simple physics that had been applied in parts of the mechanism. A simple ball positioning and manipulating the angle of the arm was used to ensure the ball fall perfectly on the passing mechanism instead of a mechanised gripper. Moreover, the catapult concept was used to launch the ball with the aid of springs because the force from pneumatic independently was insufficient to launch the ball to the maximum distance required. On the TR side, simple pneumatic gripper was used as it was proven to be the fastest method to perform a touchdown rather than imitating a full motion hand gesture. A pair of aluminium plate supported by a servo motor helps ensuring the ball to remain in touch while TR performing touchdown. In addition, the kicking mechanism of PR was programmed to kick in a running motion rather than stationary. This reduce the possibility of the mechanism from being orthogonal projection to the ball before the kicking action take place. 5.0 SUSTAINABLE ENGINEERING PRACTICES Sustainability is one of the most important aspect in engineering and robotics field. That is why Robust Robotics main frame of TR and PR were built using 20x20mm Aluminium Profile even though it is heavier than light steel that have been used widely in robotics field. Aluminium profile was used because it is reusable for the upcoming season of ROBOCON. Furthermore, the robot base frame can be integrated into various payload required for the upcoming competition. Robust Robotics always consider using components or spare parts from previous competition so none of the components were wasted. Therefore, the team practiced to be environmentally-friendly since all materials used were recycled during each season and the defected materials will be properly disposed. Hence, this will lead to a better financial management and lower expenditure. 298

6.0 CHALLENGES ROBUST ROBOTICS Major impact faced by Robust Robotics during MCO is the lack of manpower throughout the process of finishing the robot. This issue leads to a slower progress and prolonged completion time. Next, the accessibility to the laboratory are constraint within the operating hours. Furthermore, some collaborated facilities that are required in completing the robot are inaccessible. 7.0 CONCLUSIONS In conclusion, two robots have been successfully built and developed to fulfil this year’s participation in ROBOCON MALAYSIA 2020. However, these robots have few limitations. Firstly, the robot is highly dependent on the precision such as the ball set up as it mainly uses simple physics to perform the task. Then, all the team members need to learn how to control the robot because both robots were manually controlled. Other than that, both robots meet the expectation and performed excellently. 299

ROBUST ROBOTICS Acknowledgements The team would like to thank the Universiti Pertahanan Nasional Malaysia for continuous support towards the success of this project. This work also credits the direct involvement of the affiliated team members and supervisors: Amirul Ariffin Bin Ahmad Jaya Hemavathy A/P Paaniappan Muhammad Afiq Bin Mohamad Alimi Siti Suriani Bt Jemssaini Mohamad Hafizul Hakimi M. Kusaini Nur Hafizah Binti Mohd Norhan Muhammad Syimir Bin Mohd Azaman Nur Ainaqilah Binti Juma’in Muhammad Muaz Bin Shamsudin Azri Haziq Bin Ahmad Hilmi Tee Kai Wen Mohamad Huzairi Bin Mohamad Yusri Azneen Awalliah Mohd Amir Syam Muhammad Khaleed Bin Diril Razlan Anis Sofea Binti Ramli Nur Aufa Afiqah Bt Salihuddin Sarah Husna Binti Muhamad Nazri Nur Fatin Izzati Bt Tajudin Monissri Rasamanikam Nisa Maisarah Binti Mazni Dr. M. Luqman Hakim Abd Rahman Dr. Ahmad Shukri bin Abu Hasim En. Akram bin Abdul Azid Dr. Mohd Sabirin bin Rahmat Dr. Asnor Mazuan bin Ishak En. Muhammad Akhimullah bin Subari References [1] A. F. Cavalcanti and M. V. Araujo, “Small Wheeled Autonomous Mobile Soccer Robot,” in Robotics: SBR-LARS Robotics Symposium and Robocontrol, Sao Carlos, Brazil, 2014. [2] “GrabCAD,” Stratasys Solutions Ltd, 2017. [Online]. Available: https://grabcad.com/ library. [Accessed 1 October 2020]. [3] N. S. Nise, Control Systems Engineering, MA: John Wiley & Sons, Inc., 2011. 300

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ROBOTECH ROBOTECH FROM POLITEKNIK PORT DICKSON Mohamad Zamri Muhamad, Siti Zalina Mokhtar, Mohd Izhar Ahmad, Noremy Che Azemi, Munirah Md Nujid, Hairol Samsol Ithnin, Mohd Yuzi Abd Kadir, Mohd Zaini Kemon Electrical Engineering Department, Polytechnic Port Dickson, KM 14, Jalan Pantai, 71050, Sirusa, Negeri Sembilan ABSTRACT ROBOCON is a research and education initiative competition, which aims to develop artificial intelligence and robotics research by using competitive soccer as a standard problem with some of the country's themes. This paper presents a detailed engineering design process and the outcome for an Omni-directional and mecanum mobile robot platform for the ROBOCON competition. The design included a mechanical base, kicking mechanism, an Arduino microcontroller-based control system, various motor interfacing units, and the analysis of omnidirectional and mecanum motions. PR and TR can be moved forward, reverse, turn right and left for a specific distance according to the controller specification embedded in the microcontroller Arduino and Motor devices for control the movement parts. The testing results showed that the robot was able to move by using mecanum and omnidirectional with a speed of ~2 m/s and able to kick a size of rugby ball for a distance of at least 1 meters higher. 302

1.0 INTRODUCTION ROBOTECH Nowadays, robots are everywhere, performing jobs more cheaply and with greater accuracy and reliability than human beings. Intense involvement of these robots in everyday life requires human specialists with up-to-date knowledge to maintain and monitor them as well as to develop new, smarter and more advanced machines [1]. As robotics is part of the fourth industrial revolution (IR 4.0) along with other technologies, it is the backbone of the factory of the future. Mobile robotics industry related to creating mobile robots, which are robots that can move around in a physical environment. Mobile robots are generally controlled by software and use sensors and other gear to identify their surroundings. It may have wheels, tracks, legs or a combination of them. This work involves two robots which are the Pass Robot (PR) and Try Robot (TR). The robots are made with the aim of participating in the contest of ROBOCON MALAYSIA 2020. During the competition, the robots compete to complete all tasks within a set period of time. The competition is to play rugby 7’s game using two robots and five obstacles as five defending players. The highlight of this game is how the two robots collaborate to score Try and the Goal Kick [2]. In order to complete the whole mission, Robotech PPD prepare Pass Robot (PR) which is an omni-directional mobile robot based on mecanum wheels to pick up the Try Ball, pass the Try Ball and kick the Kickball. The second robot is Try Robot (TR) which is the omni-wheel robot to receive the Try Ball and score try with the Try Ball. The construction of these robots will provide a great challenge and valuable experience in gaining knowledge for better results. 2.0 DETAILED DESIGN 2.1 PASSING ROBOT (PR) OVERVIEW The Passing Robot (PR) design requirements and specifications were set so that the robot was to be fully autonomous and capable of moving by using DC Motor and Quad mecanum wheel 90° rotation with a speed of at least 2 m/s and able to kick a size rugby ball for a distance of at least 1 meters. The robot started generating conceptual designs by breaking the whole system into the following modules: Pass and Kicking. Several conceptual designs were generated for each module. The designs in each category are based on functional capability, easiness of implementation, modularity for interface with other components, reliability, and cost. Each criterion was assigned a specific kicking and pass factor based on its importance to the final product. Considering compatibility, the team combined the designs of each module to compose two overall conceptual designs. 303

The two modules of PR Robot are Passing and Kicking. The element of passing is developed by picking and throwing or passing the rugby ball to the other robot which is Try Robot (TR). Meanwhile the element of kicking a rugby ball is handicapped by the inherent variation of human kickers; it is not possible for a human to control the exact foot position, speed and point of contact on the ball from one kick to the next. The aim of this work was to build a robotic kicking mechanism capable of kicking a rugby ball in a consistent manner and kicking as far as professional rugby kickers. ROBOTECH 2.1.1 SYSTEM ARCHITECTURE Table 1 shows the project specification for this Passing and Kicking robot. The main purpose of producing this specification is to clarify some important aspects of the robot and make sure it is feasible and available in the market. Module Table 1. Specification of Receive and Try Robot Interface Specification Arduino Uno, Cytron MDDS10A motor driver, Cytron PS2 shield, Controller PS2 wireless controller and PS2 wired controller Programming language Arduino language Actuator IG45 motor, power window motor, brushless dc motor, servo 2.1.2 ROBOT DESIGN PR Robot moving by using Quad mecanum with 90º four-wheel rotation. The aspects of kicking such as the mechanics, kinematics and dynamics of place kicking a rugby ball. For the kicking and passing process, the robot structure consists of a kicking and passing made from hollow steel and aluminium steel in order to pass to another robot with kicking to the goal side. Hollow steel is used for body structure and kicking mechanism because it is lightweight and strong which can be formed into the desired design to ensure the passing and kicking mechanism below can receive it. The passing and kicking robot has dimensions (82 x 75 x 66) cm which are length, width and height respectively, as shown in Figure 1. Hollow steel is used as the main material for robot bases because it is easy to design, strong to sustain the motor movement without breaking apart. There are 5 IG45 motors with 4 used for mecanum wheels, the other motor for Passing Robots and 1 brushless DC motor attached to this robot base. 304

ROBOTECH Figure 1: The measurement of PR Robot 2.1.3 INPUT AND OUTPUT (I/O) PINS ASSIGNMENT Table 2. Input and Output (I/O) Pin Assignment for Arduino UNO Arduino UNO Pin Cytron MDDS10 A mo- Actuator tor driver 4 DIG2 MOTOR1 5 AN2 (mecanum wheel 1) 6 DIG1 7 AN1 MOTOR 2 (mecanum wheel 2) 305

Arduino UNO Pin Cytron MDDS10 A motor driver Actuator 8 DIR2 MOTOR 3 9 PWM2 (mecanum wheel 3) 10 DIR4 11 PWM4 MOTOR 4 (mecanum wheel 4) ROBOTECH Arduino UNO Pin Cytron MDDS10 A mo- Actuator tor driver 0 DIG11 MOTOR 5 (Power Window) 1 AN11 12 DIG12 13 AN12 2.2 TRY ROBOT (TR) OVERVIEW In this receive and Try Robot project, the hardware and software function are combined to ensure the system works successfully. The Arduino UNO will be used for interfacing the robot and PS2 controller in order to maneuver the mecanum wheel and control the movement of the try process for the robot. The overview of the robot is shown in Figure 2. Figure 2: Receive and Try Robot overview 306

2.2.1 SYSTEM ARCHITECTURE Table 3 shows the project specification for this receive and Try Robot. The main purpose of producing this specification is to clarify some important aspects of the robot and make sure it is feasible and available in the market. Table 3. Specification of Receive and Try Robot Module Specification Interface Arduino Uno, Cytron MDDS10A motor driver, Cytron PS2 ROBOTECH shield Controller PS2 wireless controller Programming language Arduino language Actuator IG45 motor, power window motor 2.2.2 ROBOT DESIGN Figure 3 shows the design of the robot with (a) receiving basket (b) trying mechanism and (c) receiving basket dimension for receiving and trying the robot that has been developed. Figure 3: Robot design (a) receiving basket (b) trying mechanism and (c) receiving basket dimension 307

ROBOTECH For the receiving process, the robot structure consists of a basket made from PVC pipe and net in order to receive the ball from Passing Robot. PVC pipe is used for the basket because it is lightweight and can be formed into the desired design to ensure the trying mechanism below can receive it. The receive and Try Robot has dimensions (77.5 x 82.5 x 84.5) cm which are in length, width and height respectively, as shown in Fig 2 (a). Aluminium is used as the main material for robot bases because it is easy to design, cheap and strong to sustain the motor movement and basket weight. There are 4 IG45 motors used for mecanum wheel movement and 1 power window motor attached to this robot base. 2.2.3 INPUT AND OUTPUT (I/O) PINS ASSIGNMENT Table 4 shows the pin assignment for receive and Try Robot design. The main purpose of this pin assignment is to ensure that all I/O pins for Arduino UNO are properly assigned for troubleshooting and programming code configuration processes. Table 4. Input and Output (I/O) Pin Assignment for Arduino UNO Arduino UNO Pin Cytron MDDS10 A motor driver Actuator 4 DIR1 MOTOR1 5 PWM1 (mecanum wheel 1) 6 DIR1 MOTOR 2 7 PWM1 (mecanum wheel 2) Arduino UNO Pin Cytron MDDS10 A motor driver Actuator 8 DIR1 MOTOR 3 9 PWM1 (mecanum wheel 3) 10 DIR1 11 PWM1 MOTOR 4 (mecanum wheel 4) Arduino UNO Pin Cytron MDDS10 A mo- Actuator tor driver 0 DIR1 MOTOR 5 1 PWM1 (Power Window) 308

3.0 ROBOT TESTING ROBOTECH Both robots were tested on the self-made competition field by referring to ROBOCON 2020 rulebook. 3.1 PASSING ROBOT Passing robot wheel movement based on mecanum wheel setup. The movement are referring to the diagram in Figure 4. The movement control using Playstation PS2 based controller (wired or bluetooth can be used). If a wireless controller is used, it may have a slight delay below 0.5 second and depending on several situations. As a standard, the manoeuvre key (up, down, left, right) will move forward, reverse, left, right, and 45º movement in combination with those keys. Additional keys were used for 360º movement and signal for passing and kicking tasks. Figure 4: Movement control using Playstation PS2 based controller 309

ROBOTECH Figure 5: Playstation PS2 As a basic digital wiring, from the PS2 receiver board, a 5 V digital signal is sent to the motor driver and allows 11.1 V to supply and power the motor wheel. Nominal current for each motor without load is around 2 A and after all equipment was assembled, the current rise to 5 A. The 10A motor driver is used to stand the high flow current. LiPO battery 11.1 V 2200 mAh has been used and it suits the demand power needed for three (3) minutes. All 4 motors only can be operated in form of digital signal (on/off) and don’t have any analog or PWM speed controls. 3.2 PASSING TASK The passing (R) button on the right side of the controller is used to move forward or reverse when passing the ball. Signals from the PS2 receiver board (5 V digital) will be sent to the motor driver and 11.1 V voltage will be supplied to the motor (power window type) for passing tasks. R2 button is for moving the motor forward for passing and R1 button for reverse the arm to home position. The arm dimension was set to 70 cm with a turn angle 70°. After several trials, distance of passing can be reached for more than 10 meters. The highest point that the ball can reach is around 1.5 meters. 3.3 KICKING TASK The square button is used for kicking tasks. Signals from the PS2 receiver will send 5 V digital voltage to the motor driver and allow 11.1 V cross thru for powering the scooter motor to complete the kicking task. For the mechanism, combination of 1 feet arm, sprocket, one-way rotation bearing, chain and scooter motor. High torque and speed from the motor will drive the mechanism and be able to shoot the ball more than 10 meters in length with the highest point more than the height of the goal post. 310

3.4 TRY ROBOT ROBOTECH Passing robot wheel movement based on omni-wheel setup. The movement are referring to the diagram in Figure 6. The controller for the robot uses the same type as a Passing Robot. Modification of wiring is made to suit the movement pattern for omni-wheels. R1 and R2 buttons were used to move the trial tray forward or reverse. All the operational voltage and current are similar to the Passing Robot. Both robots are attached with an emergency push button for safety just in case the robot acts unpredictably or in “hang” condition. 3.5 ACCEPTING THE BALL TASK Basic design of bucket/cage are used for accepting the ball from a Passing Robot. A simple plate was attached at the front side of the robot to avoid the ball going outside through the front of the cage. 3.6 TRY BALL TASK As the accepting ball was successful, the ball was directly placed in the tray at the bottom of the cage/bucket. The tray will be moved forward by rotation and place the ball at the try zone as controlled by the player. Figure 6: The omnidirectional movement 311

ROBOTECH 4.0 DISCUSSION/ EVALUATION OF FINDINGS According to the ROBOCON regulations, each robot should be designed with a specific size and each robot with its attachments should not be more than a 100x100 cm square but it can be more than this size, after extend the material to replace “human leg” for kicking and “human hand” for passing and trying mechanism process. Therefore, in normal situations, the kicking mechanism must exceed 1 meters higher. The kicking mechanism of a robot should be designed properly so that it can enter controlled and precise strokes in different conditions. An appropriate kicking system should also be able to enter a stroke to the ball with the maximum speed, because the receive robots are not so rapid and agile that can analyze kicking before the ball enters the basket and move towards the considered point. The amount of energy required for kicking with the maximum speed is by testing the rotation of gear and the length of steel mechanism. If the kicking mechanism can’t reach the point, so need to consider changing the rotation gear or the kicking mechanism part. The robot kick was tested under varying conditions of tee position, kick duration and differential delay between the actuation of upper and lower rotation of freewheel and brushless DC Motor. The effectiveness of that mechanism will kick the ball higher and exceed the limit 1 meter. The TR development to receive and try to shoot the rugby ball. It functions just as a human hand. This robot needs to receive the rugby ball from PR and need to consider the mechanism for receiving a higher body to avoid the ball bouncing outside from the basket. Then these baskets of TR also need to be built with strong material and can receive any hit from a rugby ball. The mechanism from basket to base, must be capable of moving together to make sure the body of TR smoothly moves without failing when receiving and trying process. 5.0 SUSTAINABLE ENGINEERING PRACTICES On the early stage of designing the robots, consideration was given on reusing material and part from ROBOCON 2019 competition. Most of part are reused such as: i. Motor (IG45) ii. Wheel and coupler iii. Other motor (power windows) iv. Motor Driver/Relay Driver v. Batteries 312

vi. Controller board ROBOTECH vii. Any switches / sensors viii. Aluminium / steel hollow (frame) ix. Cables x. Miscellaneous part (screw, L frame, bolt & nuts, cable connector port) By reusing the parts, it will save the environment by reducing waste and reduce the robots’ development cost. 6.0 CONCLUSIONS Overall, the objectives of this Pass and Try robot for ROBOCON 2020 have been achieved which are developing hardware and software for manoeuvring and completing the task. The operational of the robots fulfil the rules and the regulation that has been stated in Rulebook Guideline ROBOCON Malaysia 2020. From the analysis that has been made, it is clearly shown that the movement for mecanum and omnidirectional wheels are precise and easy to control in order to avoid the obstacles in the field. Other than that, the robot can be wirelessly or wired control for maneuvering the Pass and Try robot successfully. Besides that, safety buttons for emergency stops enable the robot to be shut down if anything happens during the games and practice session. Generally, the robot program runs smoothly as planned. However, some of the mechanisms are easily broken and dismantled such as the power window motor and nuts joints at the robot. For the future, both robots can be equipped with vision systems in order to facilitate the operator to have a clear view while operating the robot or working autonomously. 313

ROBOTECH Acknowledgments The authors would like to thank the Director of Politeknik Port Dickson, En. Isa Bin Azahari, Deputy Director of Academic, Dr. Nor Haniza Binti Mohamad and Deputy Director of Academic Support, En. Abdul Rahim Bin Ibrahim gave encouragement and support in order to complete this robot development. Besides that, Head of Department of Electrical Engineering and Head of Department of Mechanical Engineering that helps and gives ideas to overcome problems that occur while doing this project. References 1. A. Sergeyev and N. Alaraje, \"Promoting Robotics Education: Curriculum and State-of- the Art Robotics Laboratory Development\", Technology Interface Journal, vol. 10, no. 3, 2010. 2. Rulebook Guideline Robocon Malaysia 2020, April 2020, https:// roboconmalaysia.com/malaysia-robocon-rules/ 3. R. Flemmer and C. Flamer, “A Humanoid Robot for Research into Kicking Rugby Balls”, ASME Journal of Mechanisms and Robots, March 2015 4. Yanfei Liu et al., “An Autonomous Omnidirectional Robot”, 2010 5. Y. Liu and J. Zhao, “A kicking mechanism for a soccer playing robot—a multidisciplinary senior design project,” in American Society of Engineering Education (ASEE) Annual Conference & Exposition, Austin, Tex, USA, 2009. 314

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KOGAS A & KOGAS B KOGAS A AND KOGAS B FROM PUSAT LATIHAN TEKNOLOGI TINGGI (ADTEC) KULIM Mohd Sayuti Mohd Salim, Hanif Hamzah, Muhammad Fauzan Kamarudin, Muhammad Saiful Azzam Shamsul, Afif Nuqman Muhamad Zukri, Azam Sobri, Muhammad Farizuan Muhammad Fauzi, Afif Rifqi Osman, Charon Nai Sin, Muhammad Hidayat Noorazadie, Muhammad Izzat Halim, Muhamad Faries Filzan Fadzlye, Shahrul Nizam Bibid, Shahridzuwal Md Jabarulla Jabatan Mekatronik, Pusat Latihan Teknologi Tinggi (ADTEC) Kulim, LOT 635, Jalan Mahang, 09700 Karangan, Kedah Darul Aman. ABSTRACT The ROBOCON Malaysia 2020 contest theme “Robo Rugby 7s” is a game to play using two mobile robots. The robots are assigned to pass, receive and score the Try Ball and the ultimately kicking the Kick Ball over the conversion post. Known as Pass Robot (PR) and Try Robot (TR) are controlled via PS3 remote control installed with four trans wheel mounted to DC motor +24 Volt have been arranged at an angle of 45º at every corner. There are two mechanisms on the PR robot purposely to pick up the Try Ball from the rack and throw it to the TR robot. Another mechanism is to kick the Kick Ball towards the cross of the conversion post. This kicking leg mechanism applies rubber stretching force is pulled and triggered by linear motor as the drive. Meanwhile, the robot TR brought 316

a large bucket to catch the Try Ball thrown by the PR robot then goes along the five KOGAS A & KOGAS B defending obstacles and unload the ball in the Try Spot. Both robots are manually controlled including for movement, picking up, passing, receiving, placing the Try Ball and finally kicking the Kick Ball solely all depends on the operator skills. For the record, KOGAS team has managed to make one try and one goal kick on average within one minute. Among the tasks that take a long time is the ability to manoeuvre the robot to pick the Try Ball on the rack so that it enters the robot vise. In addition, placing the Try Ball into the spot is very challenging and finding the strategic location of Tee also contributes a lot of time loss. Apart from the contest, robots are also become the students’ final year project (FYP). Since the presentation of the project disallow in game oriented but require to meet the industry’s needs, the robots must also can be apply in real-practice for example the TR robot controlled to carry the waste of COVID19 patients so that there’s no direct contact to the front liner. 1.0 INTRODUCTION The ROBOCON Malaysia 2020 tag-line “Menggempur Halangan, Menjulang Kejayaan” introduced two types of robots named Try Robot (TR) and Pass Robot (TR) represent the rugby 7’s as players. Compare to last year, the organizer is allowed both robots operate manually which is much convenient rather than depending on unstable sensors as auto robot. The KOGAS design concept, TR robot mechanically much simple compared to PR robot since its duties are only capture the Try Ball and accelerate across five obstacles then execute the try into Try Spot. The ability of the operator to control the TR movements to make sure the throwed Try Ball from PR enter inside the bucket is crucial. The dimension of the bucket opening is 900 mm x 900 mm and inclined at -60° where the height of the rear and front frame is 1000mm and 500mm respectively. From the practice, the successful rate of TR robot catches the ball is 80%. At the bottom of the bucket where the Try Ball located, there’s the flipped mechanism powered by DC motor to overturn the Try Ball into the Try Spot. Meanwhile, the PR robot tasks are more crucial especially pick up the Try Ball from the rack. The operators must control the robot efficiently so that the ball and robot's vise at the strategic position before making a pass. The best time of the PR robot KOGAS start moving until it perfectly pass the ball is 32 seconds. The idea of the PR robot sequences is, first approach the ball at rack, second lift up the ball just to make sure there’s no any contact with the rack and finally launch the ball directly to the TR robot. Sometime the ball falls either because of collision when robot approaching to the ball or the ball rolling on robot’s vise due to the movement of robot. 317

KOGAS A & KOGAS B 2.0 DETAILED DESIGN Mechanically, KOGAS robots’ TR and PR are built as simplest as possible but can do the jobs effectively since both robots are controlled manually. Our main objective is that the robots can move smoothly and easily handled heading to the target in a short period. From the experience, the mobility of the robot plays an important role in achieving victory especially when both teams encounter mechanical problem such as gripper not functioning, worn-out actuator, leakage air reservoir etc. during the match. TR and PR robots’ base are made from 9 mm thick plywood with typical square shaped 600 mm x 600 mm in size. Each diagonal was fitted with +24 V DC motor mounted with trans wheel type are arranged at a 45-degree angle as shown in Figure 1. Figure 20: Position of trans-wheel at every corner of square base robot The main reason of trans-wheel selection is that it can move the robot in all 8 directions in 360-degree. The platform is more effectively able to drive sideways laterally with ease without turning the front [1]. Table 1 shows rotational direction of all four motors’ PR (front facing the rack) and TR (front facing the obstacles) for red team move from the Starting Zone, (SZ) [2]. Upon the game has started, the PR will move forward while the TR moves to right sideways along the receiving zone till end fence as shown at Figure 2. 318

Table 4: Step sequence reference of TR and PR for Red Team STE TR ROBOT PR ROBOT P FFFRRRFFOORORNNOONTTNNTTT 1 FRONT 2 3 Once TR manages to catch the Try Ball, it will move in northwest direction where KOGAS A & KOGAS B only motors 2 and 3 rotate but motors 1 and 4 stop as shown at step 2. The operator can still change direction to avoid collisions with obstacles while keeping the TR front facing the Try Spot. These steps are crucial to save time as short as possible since the Try mechanism located at the front of robot. At step 3, the robot moves forward approaching the Try Spot. KOGAS team has chosen the option where the team member will set the Kick Ball in the Kicking Zone. After placement, PR moves southwest toward Kick Ball and then rotates clockwise around 90 degrees until kicking mechanism at the back of the robot opposite the Kick Ball. The operator will adjust the robot move backward until appropriate distance before triggering the Thor as shown at step 3. 319

KOGAS A & KOGAS B Figure 21: ROBOCON 2020 Game Field PR robot has two main tasks which are collecting then passing the Try Ball and kicking the Kick Ball required two different types of mechanism as shown in Figure 3. First mechanism is to lever the Try Ball out from the rack using PR’s arm vise. When the vise and ball already at the right position, the operator will activate the lever actuator – double acting cylinder to lift up the ball from the rack. As the ball placed over the vise convincedly, then the operator will release the “Arm” PR robot which powered by two pneumatic double acting cylinder to launce the Try Ball toward the TR robot. The second mechanism, called “Thor”, consists of a hammer secured with rubber band and hooked to a linear motor + 24V manually by team member before the game starts. A linear motor with force of 2000N will hold the Thor that stretching the rubber band and then act as a trigger after being activated by the operator. The team has to request permission for retry to make second kicking attempt. 320

Figure 22: PR robot mechanism KOGAS A & KOGAS B (a) (b) (c) (d) Figure 23: PR robot from different view (a) Top (b) Side (c) Rear (d) Isometric 321

KOGAS A & KOGAS B Figure 24: TR robot mechanism KOGAS TR robot has only one mechanism which is make a Try by placing the Try Ball in Try Spot where, TR and Try Ball has to be in contact with each other [3]. The flipped mechanism locate at the bottom of the bucket is installed with DC motor. There is a window who being grip by plastic cardboard to avoid the ball from falling out. Three plastic cardboard fittings can absorb enough from ball impact but not from the DC motor force when flipped. The flip level is controlled by the operator at a predetermined speed so that the ball does not fall during Try process. 322

(a) (b) KOGAS A & KOGAS B (c) (d) Figure 25: PR robot from different view (a) Top (b) Side (c) Front (d) Isometric 2.1 ELECTRONICS DESIGN As for electronics design, KOGAS team has decided to use Arduino Mega 2560 system for both robot units. The details specifications are as stated below: 2.1.1 PR Robot • SmartDrive Duo-60 2 units as motor driver. • Relay module 3 units as solenoid valve controller. • USB Host Shield 1 unit as Bluetooth communicator. 2.1.2 TR Robot • SmartDrive Duo-60 2 units as motor driver. • MDD 10A 1 units as motor driver for flip mechanism. 323

KOGAS A & KOGAS B 2.2 SOFTWARE DESIGN As for software design, KOGAS team provide the PR programme as stated below: Figure 26: Initialize the PS3 remote control and direction of robot Figure 8: Initialize relays and mechanism control 324

3.0 PRESENTATION OF DATA ON ROBOT TESTING This chapter will describe data testing results to evaluate both robotic performance before competition. The selected testing is TR Speed in Receiving Zone. 3.1 PR ROBOT SPEED Table 5: Speed Performance Test NO. TESTED BATTERY RESULT (SECOND(S)) 1 TESTED 1 23.7 38 2 TESTED 2 23.6 32 3 TESTED 3 23.5 35 4 TESTED 4 23.3 32 5 TESTED 5 23.1 38 KOGAS A & KOGAS B 6 TESTED 6 22.9 36 7 TESTED 7 22.7 38 8 TESTED 8 22.6 36 9 TESTED 9 22.5 33 10 TESTED 10 22.3 30 35 AVERAGE 3.2 PR THROWING BALL RANGE Table 6: Throwing Range Performance Test NO. TESTED Pressure (bar) RESULT (Meter) 1 TESTED 1 6.0 2.3 2 TESTED 2 5.5 2.3 3 TESTED 3 5.0 2.3 4 TESTED 4 4.5 2.3 5 TESTED 5 4.0 2.0 6 TESTED 6 3.5 2.0 7 TESTED 7 3.0 2.0 8 TESTED 8 2.5 2.0 9 TESTED 9 2.0 1.8 10 TESTED 10 1.5 1.8 2.08 AVERAGE 325

KOGAS A & KOGAS B 4.0 CONCLUSIONS, LIMITATIONS AND RECOMMENDATIONS The conclusion are the design and development meet all the objectives of this research project was designed and created. In additional testing found that all performance was met the required design and subsequent testing of motion speed and throwing are also designed in accordance with specification of ROBOCON Rules. Thus, the design of both robot design confirmed and ready to join the competition. Acknowledgments Firstly, we would like to express our thanks and gratitude to the almighty and gracious Allah ( ( ‫س‬.‫و‬.‫ت‬for bestowing us with mercy, patience, knowledge, strength and the blessing so that we can finally complete our project. Our gratefulness won’t be complete without giving my thanks and gratitude to all party who are involved directly or indirectly towards our completion of the project especially to our Director of ADTEC Kulim, and our colleagues for their help. Lastly, may this study give blessing from Allah. References [1] K. H. ANGELICA LEJDEBY, Omni wheel robot, STOCKHOLM: TRITA MMKB, 2016. [2] R. T. Dick Swan, \"A Look at Holonomic Locomotion,\" Servo Magazine, 2013. [Online]. Available: https://www.servomagazine.com/magazine/article/a-look-at- holonomic-locomotion. [Accessed 2020]. [3] R. M. 2020, \"Theme & Rules “ROBO RUGBY 7s”,\" Ministry of Higher Education, 326

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BM HERO BM HERO FROM INSTITUT KEMAHIRAN TINGGI BELIA NEGARA BUKIT MERTAJAM Hafizah Talib, Hashim Ahmad, Muhammad Syazwan Yahya, Rohazaidi Mohd Ali Piah, Syahrial Nureddin Kuswadi Mohd Naim, Hasan Subir, Azilan Aria, Norhayati Abu Bakar Institut Kemahiran Tinggi Belia Negara Bukit Mertajam, Jalan Berapit, 14000 Bukit Mertajam, Pulau Pinang ABSTRACT The theme of ROBOCON Malaysia 2020 is Robo Rugby 7s where it is mimicking the concept of rugby game. The project aims to develop two manual robots that act as rugby players. The first robot also known as Pass Robot (PR) is able to pass or throw the ball from the PR start zone to the second robot known as Try Robot (TR), located in the Receiving zone. PR robot was designed and developed using pneumatic concept to ensure that the robot is able to do designated tasks such as passing and kicking the ball. On the other hand, the TR design was simpler since it requires the robot to receive and score the try ball in the Try Spot. Testing session was conducted and the results show that the two developed robots were able to complete the designated task. 328

1.0 INTRODUCTION BM HERO As Malaysia is moving towards the Fourth Industrial Revolution (I.R 4.0), robotics has become embedded in educational system under Science, Technology, Engineering and Mathematics (STEM) program [1]. Robotics involves the activities design, construction, operation, and use of robots. The goal of robotics is to design intelligent machines that can help and assist humans in especially in performing repetitive task in production and manufacturing [2]. In Malaysia, robotics competition is one of the platforms for the students to showcase their ideas, creativity and innovation in designing and developing robots. ROBOCON Malaysia is one the major competition in Malaysia for higher learning students. The theme of ROBOCON Malaysia 2020 is Robo Rugby 7s where there are two robots and five obstacles that act as defending player. Both of the developed robots are can either be autonomous or manual which controlled by human. 2.0 ROBOT DESIGN AND SPECIFICATION Both of the developed robots are manual where they were controlled by the drivers. The design and development processes can be divided in two major parts which are mechanical design and electronics design. 2.1 ROBOT DESIGN AND SPECIFICATION: MECHANICAL DESIGN There are three main mechanical mechanisms needed to be developed for both robots. These include performing the driving, lifting and rotating task. For the PR, it uses the driving and lifting of mechanism. The robot is driven by four omni-wheels and uses differential drive mechanism for turning purposes. The wheels always rotate at the same speed based on PWM signal supplied by microcontroller. All the moving-purpose wheels are powered by a DC gear motor 12 V, 250 rpm. The wheel motor get the input signal from the microcontroller based on the feedback from remote control. The deferential drive will continue turning the robot until it is aligned. The speed of the robot can be changed by increasing or decreasing of percentage of PWM signal that are given to the motor drive. For lifting mechanism, we control the solenoid valve that is connected to pneumatic cylinder (3 bar) in order to lift and pass the ball to the TR (touch robot). On the other hand, to kick the ball, sling shot concept is used to inject force to kick the ball pass the conversion post. The TR uses the same drive as PR. For the lifting mechanism, we control the motor that is connected to the pulley to push and score the ball at Try Spot. The ball passed by PR will be captured by the net. 329

Both of PR and TR use 60 mm mecanum omni-wheel to move around the field. The omni-wheel is used since the wheel is able to make the robot move omnidirectionally, not only move forward and backward, but also sideways and diagonally [3]. The advantages of using mecanum Omni-wheel are it is easy and simple to use and its ability to hold heavy weight. Figure 1 shows the movement chart of mecanum omni-wheel Figure 1: The Macanum omni-wheel movement chart Table 1 shows the specification of PR and TR. The PR is slightly larger than TR with the weight of 25 kg. Both of robots use aluminium and PLA as the main material of the body. The setting of air pressure for the PR is 3 bar while the TR did not use any of pneumatic system. Figure 2 show the design of PR robot with (a) Bottom view; (b) Side view; (c) Front view and (d) Back view. Design of TR is shown in Figure 3. Specification Table 1 Robot Specification TR Dimension 709.61 x 823.48 x 751.76 Mass (Kg) PR 800.22 x 929.42x 760.22 15 Material 25 Aluminium + PLA Air pressure Aluminium + PLA none 3 bar BM HERO 330

Figure 2: The design of PR robot with (a) Bottom view; (b) Side view; (c) Front view BM HERO and (d) Back view 331

BM HERO Figure 3: The design of TR robot with (a) Bottom view; (b) Side view; (c) Front view and (d) Back view 2.2 ROBOT DESIGN AND SPECIFICATION: ELECTRONIC DESIGN Figure 4: The electronic design of PR 332

Figure 4 shows the electronic design of PR. The robot is powered by two voltage BM HERO source which are 12 Vdc and 7 Vdc. The 12 Vdc power source is used to power up motor drives for both sides (left and right) whilst 7 Vdc is use as a supply for microcontroller. The reason why there are two separate voltage source is to protect the microcontroller from the surge current during the motor starts. Relay has been integrated in many of electro- pneumatic control system to increase automation flexibility [4]. In the PR design, the relay is used to trigger the pressure to activate pneumatic system to perform either kicking or passing the Try Ball. Emergency stop button is installed as a precautionary measure to ensure the safety of drivers, operator and publics. The pilot lamp is used to indicates the functionality of the electronic system. Figure 5: The electronic design of TR 333

BM HERO Figure 5 shows the electronic design of TR. The electronic design of TR is simpler compared to PR since it does not use any pneumatic system. The basic design is identical to PR except it uses motor drive 100 A instead of relay. Since both of PR and TR were operated manually, they require remote control and the type of remote control used is PS2 wireless controller. The wireless control helps to ease out the communication between remote and microcontroller compared to wired controller [5]. 2.3 ROBOT TESTING Testing has been conducted using printed field. The size and colours code of the printed field follow the provided ROBOCON Malaysia rulebook. Figure 6 – 7 shows the process of robot testing. Figure 6 Robot testing and verification The results show that the developed PR and TR are able to perform designated tasks within stipulated times. Though there few mechanical and control problem, the teams able to identify and address the issue. The robot drivers attend long hours of practice to maximize the robot speeds in performing passing, receiving, placing and kicking the ball. 334

Figure 7: Robot testing and verification BM HERO 3.0 CONCLUSIONS In conclusion, the process of designing and developing the robots in order to participate in ROBOCON Malaysia 2020 is very challenging. It requires hard work, determination and commitment. Although, the team faces various obstacles such as lack of resources, we were able to overcome and manage to complete the robot. The developed robots are able to perform the required tasks within stipulated time is the big achievement for the team. The knowledge and experience gained from the process is very much rewarding. In the future, we hope that we are able to increase the performance of the robot as well as to reduce human error. The limitation we faced is the lack of knowledge and experience since we are new to the robotics field. It takes time to come out with the proper design and the robot development itself is very challenging yet rewarding. 335

BM HERO Acknowledgements The project was fully funded by Bahagian Pembangunan Kemahiran Belia, Kementerian Belia dan Sukan Malaysia. We would like to express our gratitude towards the Director of IKTBN Bukit Mertajam, Tn Haji Mohd Sukimi bin Mat Salleh for his continuous encouragement throughout the process of completing this project. Special thanks to Mr Mohd Fadli bin Sulaiman, for his assistance and guidance in designing the control system of the robot. Big thanks to staffs and students of IKTBN Bukit Mertajam for their helps and support. References 1. Ahmad Muslihin Ahmad, Nooraida Yakob, Nur Jahan Ahmad, “Science, Technology, Engineering and Mathematic (STEM) Education in Malaysia: Preparing the Pre- service Science Teachers”, Journal of Natural Science and Integration Vol (1) No (2) 2019 2. Bruno Siciliano, Oussama Khatib, Springer Handbook of Robotics, Springer-Verlag Berlin Heidelberg 2016 3. Jun Qian, Bin Zi, Daoming Wang, Yangang Ma, Dan Zhang, “The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System”, Sensors 2017, 17, 2073 4. Jeff G. Pereyras, “Development of a Basic Electro-pneumatic Control Trainer”, Asian Journal of Multidisciplinary Studie, Vol. 2, No. 2, (2019) 5. Mohd Ashiq Kamaril Yusoffa, Reza Ezuan Saminb, Babul Salam Kader Ibrahim, “Wireless Mobile Robotic Arm”, International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012), Procedia Engineering 41 ( 2012 ) 1072 – 1078 336

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