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Global College of Engineering and technology

UFMFKA-30-2 Microcontroller Applications Group Laboratory

Coursework Assignment Final Report

IRON Sumo Robot

S. No Reg. No Name of Student

1 202311377 Mohammed Salim Al Mamari

2 23086199 Musab Rashid Al Maqbali

3 23046821 Ali Mohammed Al Badi

4 23086176 Mohammed Juma Al Mahfudhi

5 23046826 Ahmed Mohammed Al Mamari

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Contents
Page
1. Introduction ……………………………………………. 3
1.1. Team Introduction ………………………….. 4
1.2. Project Introduction ………………………….. 4
2. Aim & Objective ……………………………………… 7
3. design Concept and justification ……………………. 8
4. Work program and Gant chart ………………………….. 11
5. Hardware design and Justification ……………………. 12
6. Software design and Justification ……………………. 13
7. Summary of the sensor tests ………………………….. 14
7.1.HW201 IR sensor …………………………………………… 14
7.2.HC-SR04 ultrasonic sensor test ………………………. 15
8. Summary of control and navigation tests ……………… 16
8.1.Arduino Uno microcontroller ……………………….. 16
8.2.L298N Module Pinout Configuration ………………… 20
8.3. TT DC motor with wheel ……………………………… 21
9. Coasting ……………………………………………. 22
10. Summary of problems encountered ……………… 22
11. Conclusions ……………………………………… 23
12. Appendix ……………………………………… 23

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1. Introduction
What is a Microcontroller?

A microcontroller is a compact integrated circuit designed to govern a specific operation in

an embedded system. A typical microcontroller includes a processor, memory, and input/output
(I/O) peripherals on a single chip.

Sometimes referred to as an embedded controller or microcontroller unit (MCU),

microcontrollers are found in vehicles, robots, office machines, medical devices, mobile radio
transceivers, vending machines and home appliances, among other devices. They are essentially
simple miniature personal computers (PCs) designed to control small features of a larger
component, without a complex front-end operating system (OS).

What is binary language?

bit is a binary digit, the smallest increment of data on a computer. A bit can hold only one of two
values: 0 or 1, corresponding to the electrical values of "low" and "high" or "On" and "Off"
respectively.

Because bits are so small, you rarely work with information one bit at a time. Bits are usually
assembled into a group of eight to form a byte.

A byte is eight bits, a word is 2 bytes (16 bits), a doubleword is 4 bytes (32 bits), and a quadword
is 8 bytes (64 bits). A kilobyte (KB) is 1,024 bytes, not one thousand bytes as might be expected,
because computers use binary (base two) math, instead of a decimal (base ten) system.

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1.1. Team Introduction
Our team (Group 24) consists of 5 team members:
Ahmed Al-Mamari: team leader.
Mohammed Al-Mahfudhi: focal point for electronics parts.
Ali Al-Badi: focal point for Arduino skitch & logic.
Mohammed Al-Mamari: focal point for Chassis framework.
Musab Al-Maqbali: focal point for troubleshooting & fault finding.

1.2. Project Introduction

Project Name: Autonomous Sumo Robot.

Project Aim: to build autonomous sumo robot that will participate in a competition against
another sumo robot & will fight to push each other of the arena that will showcase our
learning throughout Microcontrollers Application Group Lab Model. Autonomous Sumo
Robot build based on below requirement by the course work specification.

FIG-1 Team Meeting

Robot Regulations:
1. The robot specification restrictions are measured before each round. During the round,

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the robot’s specification are not restricted.
3. The robot should not damage or destroy the arena and the obstacles.
4. assist, touch, or interfere with the robot during the round is not allowed by any means.
Violating this rule will lead to disqualification from the competition.
5. During the rounds, the robot should finish the round by itself. Any external intervenes
such as wired and wireless connections, radio communication, and remote controls are
not allowed. Violating this rule will lead to disqualification from the competition.
6. Any flaming devices are not allowed.UFMFKA-30-2 7
7. Devices that throw things at your opponent are not allowed.
8. Sticky substances to improve traction are not allowed. Tires and other components of
the robot in contact with the ring must not be able to pick up and hold a standard for
more than two seconds.
9. liquid, powder, gas or other substances storage elements for throwing at the
opponent are not allowed.
10. 15 minutes between rounds is allowed during the competition to modify/fix the
robots.
11. Robots must be handed to the judges before the end of the 15 minutes. Teams that fail
to do so will be disqualified from the upcoming round.
12. In the case of mechanical malfunctioning, teams are allowed to fix the robot within
the
round time and restart from the start points.
13. sharp edges, including but not limited to the front scoop, must not be sharp enough to
scratch or damage the ring, other robots, or players.
14. If two tires go out of the arena, the round will be considered over. The points for
completed obstacles will be counted. And the decision of judges is final.

Round Description:
Two robots compete in GCET ROBOTIC COMPETITION but following the basic
system of traditional human sumo matches. Each robot is required to force the other from
a circular arena of 1m diameters. The teams will compete against each other. A team will
lose if the robot drops or if it is driven out of the arena or goes out of the arena. The
rounds will be held on a league basis where the team with best score will be given the
advantage to go onto the next round without competing only if there is an odd number of
teams.

Rounds/Tasks:
First Fight: Navigation Test- In this round, the robot has to find 3 objects located in
different positions of arena, within a total time of 3 minutes, unless extended by the
judges. Each object pushed out of the arena be awarded 5 points.
Second Fight: Torque Test- In this round, robots are placed face to face on the arena.
Teams will be provided three chances to knock each other’s robot within a total time of 3
minutes, unless extended by the judges. The team who wins two rounds or obtains more
points at the end of three rounds, within the time limit.
Final Fight: Find and Knock - Before round, a coin will be tossed to decide the position

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of the robot. The winner of the toss has right to place robot in any position
within 45 degrees angle. This the test to verify the navigation strategy of the
robot.

FIG-2 Sumo Robot fight

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2. Aim & Objective

in this project is to build a sumo robot as specified by the rules and specification. This robot must be
functional and will participate in collage activities in three tests (Navigation test, torque test and find
and nock test).
During the journey of Sumo Robot designing and building to match the requirement of the
competition and win in it set of skills that required to accomplish the task such as engineering skills,
working with machinery and hand tools, team working skills, material skills, troubleshooting skills
and so-on shall be learned improved & demonstrated.
Th sumo robot must participate in three tests in the arena with two colors which are white and black.
in the test both robots must through the opponent off the arena. the test has tree 3 rounds yet the final
round has a rule which is the audience will be separated in two teams and each team will stand by the
vote chosen.
Teamwork Skills improving and sharing knowledge and helping each other in their tasks. Designing
and building sumo robot framework is an added hands-on skill on working on metals and using hand
tools.
Installation and connecting project components make it more effective to learn how to find correct
connection and to differentiate between inputs and outputs as will differentiate between analog and
digital terminals. Throughout the project Research and development skills will be improved and the
final product of the project will improve as will. And at the end to bring everything together their will
come problems and issues during final stage of startup and to overcome the issues that shows during
the project life cycle troubleshooting skills will improve and new skills will be learned through
teamwork.
Aim and objectives of this coursework can be briefed as below:
 Teamwork building
 Hands on experience
 Time management
 Troubleshooting
 Networking
 Technical report writing
 Soft skills improving
 Leadership skills
 Research and Development skills

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3. design Concept and justification

Initial idea was to go with 4 wheels design which will provide more traction to the arena surface and
will have X 2 power more than 3 wheels design. Robot body was selected to be made of steel alloy
for rigidity & added weight well increase the robot traction, also steel availability in scrab material
make it easy to find it with cheep price. During search of material the team found galvanized steel
which make it rust resistant as will. Furthermore, for the upcoming future competitions either similar
project we may use and BIOMATERIAL similar to 3d printing filament to spread its value efficiency
or if the budget allowed high durancy and light material can be used such as carbon-fiber or titanium.

FIG-3 4 wheels design

During electronic devices installation and testing the team faced multiple issues such as wiring access,
high power consumption and Robot slow movement due to the weight of the chassis. Due to the
previously mentioned reasons the design was changed from 4 wheels to 3 wheels design.
3 wheels design was proved to be easy for hand making and providing good access for all electronic parts
and its wiring. It required less parts installation and consumed less power. 3 wheels drive was easier to
program and also for fight maneuverability it was better than 4 wheels drive.

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FIG-4 3 wheels design
Materials selection
Galvanized steel for Robot main framework (chassis)
Ridged, durable and rust resistance.
Arduino DC motors
Installed and hidden downside in the opposite side of the basement, found
it’s the best location to be matching with wheels installation. Also, it will
give more space for the other components to install in the top.
Wheels
We choose 3 cm diameters for sumo robot, because of low inertia. Also
connected the wheels to DC motor by using small gears and tighten well
by screws in between. By this way it will be stronger during the
competition, and it will not disintegrate easily.

360 wheels
we use free 360 wheel at the front, it will provide easy to rotate at any
direction and it will be fast response while DC drive motor moving.
Arduino Uno microcontroller
Selected because we already worked on it and familiar with its wiring
connections.
Motor drive model L298N
We already worked on it during the classroom study and it can deliver sufficient
power and good control for the motors.
Ultrasonic sensor model HC-SR04
Installed the in the front side of sumo robot to detect the object easily.

IR sensors model HW-201

Installed & hidden down in the front side of the robot to give good
appearance as well its safe place during the competition.
9v DC battery
Installed properly top side and tighten well, again we chosen the location
in the side to give the robot good appearance as well to provide good
access for other electronic components.

Because the robot was made of hard materials and provided with 2 No’s 9v batteries it was programmed
to attack its opponent directly without any defensive logic.

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Fig.4 hardware setup

4. Work program and Gant chart

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FIG.5 Gantt Chart

Work progress was executed as planned except when the design changed from 4 wheels to 3 wheels,
that caused some delay in the submission of the course work yet by teamwork managed to submit it
before deadline.
One of the challenges is to plane the team meeting because all team members are working and some
of them work based outside muscat, so the meet face to face for the project tow times only and
Microsoft teams meeting tool was one of the key elements to carry out non planned meeting.

5. Hardware design and Justification

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Galvanized steel selected for the robot chassis due to its strength & rust resistance. 3 wheels design
selected to reduce the robot weight and it was easy to work on it. 3 wheels design have the advantage
of lower power consumption, less components to be used, less wiring, and more straight forward
programming.

Arduino UNO microcontroller selected because it has been used throughout the semester & the team
familiar with it. All electronic parts as shown below used because it is the same used in the module &
it was provided by the collage for free and returned at the end.

2 IR sensors model HW201 was received from the collage and used for the project it is easy
installation and programming make it best option for the project.

Ultrasonic Sensor HC-SR04 from the collage used since the team familiar with it and spares available
in the lap in case the existing one failed.

Motor Drive L298N used to control the wheel due to its fixability to install 2 or 4 motors and ability
to control motor rotation direction.

DC 3V-6V DC 1: 120 Gear Motor TT Motor was selected due to its availability and familiarity, also
it is low power consumption which make big factor of the selection.

FIG.6 Hardware configuration

6. Software design and Justification

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Arduino skitch programmed to make the robot aggressive and attacking its opponent once identified.
Once the robot switch on it will wait for 5 seconds and if no black line detected it will start rotating
360 DEG to search for opponents. IR sensors used to detect the black line (fight arena borders) and
ultra sonic sensor used to detect any object in front of the robot. Arduino UNO used to communicate
& control all other devices in the Robot, and it controls the wheels through L298N motor drive.

Below flowchart shows the logic structure of the Sumo Robot and its mechanism with
priority. It shows the whole programming structure due to the priority of the sensor to be
operated to control the motors and its direction. Based on the intention of Sumo Robot
strategy which is attacking only we have achieved that strategy through below flowchart.

FIG.7 Flow Chart

7. Summary of the sensor tests

7.1. HW201 IR sensor

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The HW201 contains emitting and receiving tubes, transmitting tubes emitting infrared
frequencies the sensor has the reception tube which receives that infrared frequency when it
detects the obstacle. There is a green light that gets ON after that, the module also has a
potentiometer through which one can adjust the detection distance.

FIG.8 IR sensor FIG.9 IR sensor

Features and Specifications

 Features
2 to 30cm adjustable sensing range (on-board Potentiometer)
35-degree Detection Angle
LM393 Comparator Selection Output
Easy to use.
 Specifications
Main Chip: LM393
Detection Distance: 2~30cm
Detection Angle: 35 °
Working Voltage: 3.3V~5V
Board Size: 31 * 14mm / 1.22 * 0.55in
Board Weight(1pc): 3g
20mA supply current.

2 IR sensors installed one in the back and one in the front of the Sumo Robot then they are connected to
Arduino UNO and programmed. They are tested to detect the black line at the boarders of the arena and
succeeded. It takes few trials to adjust the potentiometer, height from the ground and angle to make them
work as designed.

IR sensor can be used in tow modes Digital & Analog output. It is connected to Arduino UNO &
programmed to give output 0 or 1 in digital mode which can be utilized to detect lines and distance.
IR sensor consists of transmitter & receiver, the transmitter emitting infrared lights that can’t be seen by
human eyes & the receiver detect the light reflection. IR can be used in robots’ application such as line
detector & distance measurement.
Some of the IR sensor application and it isvery critical that it is used in fire and gas detection
instrumentation. It is used in fire detectors to detect IR that emitted by flame & trigger alarming devices
to protect from fire hazards. Also because IR wave length can be changed when it is pass through.h
hydrocarbon gases it is usec as main components in hydrocarbon gas leak detection instrumentation

7.2. HC-SR04 ultrasonic sensor test

The sensor is composed of two ultrasonic transducers. One is transmitter which outputs
ultrasonic sound pulses and the other is receiver which listens for echo waves.

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It emits an ultrasound at 40 000 Hz which travels through the air and if there is an object or
obstacle on its path It will bounce back to the module. Considering the travel time and the speed
of the sound (343 m/s) you can calculate the distance.
Distance = (speed X time) / 2

FIG.10 Ultra Sonic sensor

HC-SR04 specifications and dimensions
Working Voltage: DC 5V
Working Current: 15mA
Working Frequency: 40Hz
Max Range: 4m
Min Range: 2cm
Measuring Angle: 15 degree
Trigger Input Signal: 10µS TTL pulse
Echo Output Signal Input TTL lever signal and the range in proportion
Dimensions: 45 * 20 * 15mm

One Ultrasonic sensor installed on the top of the robot; it is more than 2 cm away from the front edge of
the robot to avoid any mismeasurement. It is connected to the Arduino UNO and tested to read objects.
The skitch made built to control one motor if there is no objects and the robot will start rotating 360 deg
as it has been confirmed during the testing. Once objects placed in front of the robot it will attack it.

Number Name Description

1 Vcc The Vcc pin powers the sensor, typically with +5V
2 Trigger Trigger pin is an Input pin it must be kept high for 10us to initialize
measurement by sending microwave.
3 Echo Echo pin is an Output pin. This pin goes high for a period which will be equal
to the time taken for the US wave to return to the sensor.
4 Ground This pin is connected to the Ground of the system.

ultrasonic sensor can be used to measure distance between objects. It uses sender sound wave source &
receiver to receive the echo, the distance can be calculated as distance = duration * 0.034 / 2.
Learned how to connect ultrasonic with Arduino and how to install its library. Also learned the
calculation to convert the time between trig & echo to distance.
Ultrasonic used in a lot of industrial application such as level measurement and it is one of the latest and
most reliable instrumentation GWR (guided wave radar level transmitters). Also it is very well known in
flow measurement and most accurate methods in ultrasonic flow meters for custody transfer gas flow
meters.

8. Summary of control and navigation tests

8.1. Arduino Uno microcontroller

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Arduino Uno is a microcontroller board based on the ATmega328P. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, USB connection,
a power jack, an ICSP header and a reset button. It contains everything needed to support the
microcontroller; simply connect it to a computer with a USB cable or power it with an AC-to-
DC adapter or battery to get started.

FIG.11 Ultra Sonic sensor

Arduino Uno Specification

 Microcontroller: ATmega328P

 Operating Voltage: 5V

 Input Voltage (recommended): 7-12V

 Input Voltage (limit): 6-20V

 Digital I/O Pins: 14 (of which 6 provide PWM output)

 PWM Digital I/O Pins: 6

 Analog Input Pins: 6

 DC Current per I/O Pin: 20 mA

 DC current for 3.3V Pin: 50 mA

Difference between Analog and Digital Signal

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Analog Signals Digital Signals

Continuous signals Discrete signals

Represented by sine waves Represented by square waves

Human voice, natural sound, analog Computers, optical drives, and other
electronic devices are a few examples electronic devices

Continuous range of values Discontinuous values

Records sound waves as they are Converts into a binary waveform

Only used in analog devices Suited for digital electronics like

computers, mobiles and more

Fig. 12 Complete schematic design of sumo robot

The following table shows the regarding the wiring diagram and the connection of Arduino
AUNO to the Ultrasonic sensor, IR sensors and Motor driver.
Arduino Pin # Connect to

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VIN 5V

5V Solder Breadboard (+)

GND Solder Breadboard (-)

GND BATTERY NEGATIVE (-)

D13 L298N MOTOR DRIVER (IN4)

D12 L298N MOTOR DRIVER (IN3)

D11 L298N MOTOR DRIVER (ENB)

D9 L298N MOTOR DRIVER (ENA)

D8 L298N MOTOR DRIVER (IN2)

D7 L298N MOTOR DRIVER (IN1)

L298N Motor Driver Pin Connect to

12V BATTERY POSITIVE (+)

GND BATTERY NEGATIVE (-)

OUT1 Left Motor (any side)

OUT2 Left Motor (another side)

OUT3 Right Motor (any side)

OUT4 Right Motor (another side)

IR Sensor front Pin Connect to

VCC Solder Breadboard (+)

GND Solder Breadboard (-)

OUT A4 ON Arduino

IR Sensor back Pin Connect to

VCC Solder Breadboard (+)

GND Solder Breadboard (-)

OUT A5 ON Arduino

Ultrasonic HC-SR04 sensor Left pin Connect to

GND Solder Breadboard (-)

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VCC Solder Breadboard (+)

TRIG A0 ON Arduino

ECHO A1 ON Arduino

Ultrasonic HC-SR04 sensor Right pin Connect to

GND Solder Breadboard (-)

VCC Solder Breadboard (+)

TRIG A2 ON Arduino

ECHO A3 ON Arduino

FIG.13 Internal Connection and Pin Configuration

8.2. L298N Module Pinout Configuration

This L298N Motor Driver Module is a high-power motor driver module for driving DC and
Stepper Motors. This module consists of an L298 motor driver IC and a 78M05 5V

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regulator. L298N Module can control up to 4 DC motors, or 2 DC motors with directional
and speed control.

FIG-14 Ultra Sonic sensor

Features & Specifications

 Driver Model: L298N 2A

 Driver Chip: Double H Bridge L298N
 Motor Supply Voltage (Maximum): 46V
 Motor Supply Current (Maximum): 2A
 Logic Voltage: 5V
 Driver Voltage: 5-35V
 Driver Current:2A
 Logical Current:0-36mA
 Maximum Power (W): 25W
 Current Sense for each motor
 Heatsink for better performance.
 Power-On LED indicator

8.3. TT wheel motor

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It is DC brush motor comes with gears and also a wheel.The motor can be run
from voltage 3V to 6VDC. It is perfect to build a small-sized mobile robot for student
projects. The motor is also known as the TT motor.

Fig.15

Features
 Working Voltage: 3-6V
 Specifications: double shaft, the wheel can be attached at both sides of the motor
 Gear ratio: 1:48
 No-load speed (at 5V): 90RPM
 No-load current (at 5V): 190mA
 Rated Torque: 78mN.m (0.8kgf.cm)
 Wheel Diameter: 66mm
 Wheel Thickness: 25mm

9. Coasting
Part price
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Arduino UNO 4 OMR
L298N motor driver 2 OMR
HC-SR04 Ultrasonic sensor 2 OMR
HW201 IR sensor 2 OMR
DC motor and Wheel 4 OMR
Scrab metal for chassis 2 OMR
Wires 1 OMR
9v DC Batteries 2 OMR
Consumable materials 3 OMR

Total 22 OMR

10.Summary of problems encountered

10- Design change from 4 wheels to 3 wheels
Due to high power consumption & difficulties to access components & the wiring the design
changed from 4 wheels to 3 wheels.

11- Difficulties in IR sensors

Positioning IR sensors was difficult and take time to understand the way it should be
positioned to work effectively also one IR sensor got damaged and replaced. Also, it was
essential to add front pumper to protect the IR sensors which was not considered initially.

12- Power supply issues

At first the power supply was given around 7v DC yet it was not enough to run
the robot for long time during so 9 v DC batteries used in place to provide good
and sustainable power

11.Conclusions

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At the end we can conclude that the aim of this module was achieved during the journey
of building, programming the robot, and participating in the collage matches. All steps
added value to the team starting from material selection for the robot body, working with
hand tools to shape the robot, fixing the components, and connecting the wiring. Also,
during the programming of the robot and solving the issue where teamwork plays key
factor to improve our robot.
Additional to the robot building experience we gained a lot of knowledge & experience
during Sumo Robot games where we get to know our strength & weaknesses which can
be avoided in future. Adding to that it was interesting to interact with other reams and
share idea with them. Furthermore, we as a team completed each other for example each
of us had a less knowledge in a certain thing because of this we riches and help each
other one of us held the programming how ever the others divided the hard work some
took assembly while another soldier and wire it.

In addition working in one hand team makes a seen differences in improving the work
and overcoming any difficulties that face us and with that we can see team work riches
our brain and society because if one person works individually he will take time and
might not achieve the ambition due to any circumstance yet as a team someone can cover
on the other and divide the work to be easier and faster to conclude team equal power.

12.appendix
https://www.oman.emb-japan.go.jp/press_release/20101101robot.htm
https://code2flow.com/
UFMFKA-30-2 Current Final Report Specification

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