From Design to Implementation: Prototyping

and Realising Robots for ABU Robocon 2024

Eugene Cheah Shi Hong, Jared Liw Zhi Long, Phang Jun Shen and Ng Yee En​
Sunway University Robocon Team 2024
Selangor, Malaysia
[email protected], [email protected],
[email protected], [email protected]

​ Abstract— The ABU Asia-Pacific Robot By focusing on these objectives, the research aims to
Contest (ABU Robocon) is an annual robotics provide a comprehensive analysis of the contest tasks,
competition that stands as a platform for college delve into the technical specifics of the robots'
students to showcase their technical ingenuity. functioning and explore their practical implications in
Embracing this opportunity, we investigated the real-world settings beyond the competition scope, with
mechanisms employed to produce agile and robust the ultimate objective of Sunway Robocon Team 2024
robots for this event. This paper depicts a achieving success and winning the contest.
comprehensive analysis of robot development,
including design considerations, algorithms, gaming III. METHODOLOGY
strategies, etc. To anticipate potential failures during The methodology employed in this research
the competition, we also examined the technical comprises:
specifications and possible caveats to minimise the 1) Task Analysis and Challenge Identification:
impact of environmental factors. In conclusion, this Conduct a study of the tasks set by ABU Robocon 2024,
paper aims to equip the Sunway team with valuable identifying potential technical requirements involved in
insights to secure victory in ABU Robocon 2024 [1]. replicating rice cultivation stages. Perform a
comparative analysis by reviewing similar tasks from
​ Keywords— Robotics, ABU Robocon 2024, previous Robocon events or related robotics projects to
Mobile Robot Design. identify possible hurdles.
2) Technical Implementation of Robot Tasks: Define
I. INTRODUCTION and establish the design specifications for Robot A and
The ABU Robocon 2024 contest, held in Vietnam, Robot B, encompassing the necessary hardware
has derived its robot tasks from the concept of terraced components, sensors and mechanical configurations
field. These tasks simulate the stages of rice cultivation, required for task execution. Document the software
such as sowing, harvesting and transporting grains to the algorithms, coding languages and control systems for
warehouse. The central theme emphasises that “Efficient both robots, emphasising integration and
cultivation brings a warm and prosperous life for synchronisation of hardware and software
everyone”. functionalities.
Two robots, Robot A and Robot B, are required for 3) Documentation and Presentation: Compile
the contest. Robot A specialises in planting seedlings thorough and comprehensive technical documentation
and harvesting paddy rice, while Robot B's primary outlining the design, development and functionality of
function is to distinguish paddy rice from empty grains Robot A and Robot B, including detailed diagrams, code
and store the paddy rice in a silo. Robot A can be either snippets and performance evaluation results. Prepare a
manually controlled or fully automated, while Robot B research paper or proposal summarising the
is mandated to function autonomously, devoid of any methodology, objectives, findings and potential
communication or interaction with Robot A [2]. applications, ensuring clarity and coherence in
conveying the research process and outcomes.
II. OBJECTIVES
The research aims to accomplish the following
objectives:
1) Task Analysis: Analyse the tasks designated for
ABU Robocon 2024, emphasising potential challenges
and technical prerequisites involved in simulating rice
cultivation stages through robotics.
2) Technical Implementation: Present in-depth
technical details of how the robots execute tasks,
encompassing hardware specifics, software intricacies
and the integration processes employed in their
functionality.
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IV. MECHANISMS
A. Wheels and Drivetrain
1) Mecanum Wheels

Fig. 4. X-drive omni wheels.

Fig. 1. A Mecanum wheel.

Fig. 5. Omni X-drive assembling [4].

Fig. 2. Robot motion according to the direction and angular speed of The utilisation of omni wheels in robotics,
the wheels [3]. particularly in arrangements like the X-drive, has been
prevalent, exemplified in events such as the NHK 2021
Mecanum wheels, characterised by their greater Robocon practice. Omni wheels, being lighter than
weight and higher cost compared to omni wheels, are Mecanum wheels, offer a notable reduction in weight.
often integrated into drivetrains for their unique The X-drive configuration with omni wheels facilitates
functionalities. In Mecanum drivetrains, wheels and extensive freedom of movement, akin to Mecanum
wheels. This setup enables all four motors to exert force
rollers are strategically aligned to optimise motor force
at 45-degree angles during forward, backward, or
application. This arrangement allows all four motors to sideways movement, while two motors can apply full
exert their full force for forward and backward force when moving diagonally. Additionally, all four
movement while directing all four wheels to push at motors exert full force when executing turns.
45-degree angles during turning or sideways strafing. However, due to their high degree of
Moreover, when driving diagonally, two motors manoeuvrability, omni wheels' design allows for easy
contribute force through the 45-degree angles, ensuring pushing or movement in various directions.
Additionally, to maximise the advantages of omni
versatile manoeuvrability.
wheels, the drivetrain configuration should ideally form
a perfect square. This orientation optimises the wheel
2) Omnidirectional X-drives (Holonomic Drives)
layout and enhances the system's manoeuvrability and
versatility, allowing for smoother and more effective
movement in various directions.

Fig. 3. An omni wheel.

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TABLE I. DRIVETRAIN FORCES the robot. The holonomic wheel structure maximises its
Mecanum Omni X-drive advantages for manual control, enabling smoother and
more precise navigation, which can be advantageous for
Forwards or Backwards 4 2.8 tasks requiring flexibility and quick adjustments.
Considering all factors related to the wheeling
Left or Right 2.8 2.8 mechanism, 360-degree wheels exhibit the most
potential for completing Abu Robocon 2024 tasks at the
Diagonal 1.4 2
fastest speed. However, they may encounter challenges
Turning 2.8 4 in achieving perfectly horizontal or vertical movements
through control, thereby increasing the difficulty of
accurately planting seedlings. As an alternative choice,
3) 360-Degree Four-Wheel Steering omni and Mecanum wheels enhance the possibility of
precise seedling planting. Mecanum wheels are
advantageous in terms of coding and assembly
compared to omni wheels with an x-drive configuration,
which requires a perfectly squared diagonal
arrangement. The primary advantage of an omni X-drive
over a Mecanum wheel is its consistent and average
speed in all directional movements, but such
characteristics are not crucial for Abu Robocon tasks.
Hence, Mecanum wheels would be a better choice.

5) Four-Wheel Differential Drive

Fig. 6. 360-degree wheeling [5].

The 360-degree wheeling mechanism, as employed

by the Chongqing University of Posts and
Telecommunications for Robocon 2022, served as
another popular choice for mobile robots seeking
enhanced speed. This mechanism offers holonomic
movement akin to Mecanum wheels and omni wheels
but avoids the reduced traction and slower speeds
associated with holonomic wheels, as it relies on
standard wheels. However, achieving precise straight
movement posed a relative challenge for this Fig. 8. A four-wheel differential drive with four motors [7].
mechanism. Its operation demands highly accurate
steering, wherein mechanical components play a crucial The four-wheel drive system stands out as one of the
role. most prevalent drive systems utilised in mobile robots. It
is highly adept with PID (Proportional-Integral-
Derivative). Kindly refer to section IX for more details.
Controlled line following due to its zero turning
radius, high speed capabilities and ease of assembly,
making it a favoured choice among various drive
mechanisms.

6) Two Drives with a Non-Wheel Caster

The design featuring a two-wheeled drive robot with
an active caster in the front is widely recognised as the
most prevalent configuration for line-following robots.
This design excels at swiftly changing directions,
Fig. 7. 360-degree wheeling by Chongqing University of Posts and making it a popular choice across numerous
Telecommunications [6]. line-following robot competitions. Its ability to swiftly
respond and maintain speed while accurately following
4) Preference for Robot A lines has contributed to its widespread adoption in such
Holonomic wheel structures offer enhanced competitions.
manoeuvrability and omnidirectional movement, making
them a favourable choice for manual control in Robot A.
This design allows for more freedom in movement
directions without the need to change the orientation of
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moves up and down with the change in air pressure. The

gripping force ought to be calculated and adjusted using
the formula:
𝑚𝑔𝑎
𝐹≥ 𝑛µ
𝑆
where,
-​ F = Gripping force of a single finger (N);
-​ m = Mass of the workpiece (kg);
-​ g = Gravitational acceleration (9.81 m/s²);
Fig. 9. Common mechanism of line following robots [8]. -​ a = Acceleration from dynamic movement
(m/s2);
7) Preference for Robot B -​ n = Number of fingers ​(n = 2 for two-finger
Given the collaborative nature of fully automatic gripper; n = 3 for three-finger gripper);
functionality and line following, it appears that -​ μ = Coefficient of friction;
holonomic drive trains might not be suitable for Robot -​ S = Safety factor.
B. Instead, a non-holonomic drive system has been Pneumatic grippers offer rapid response times and a
opted for, allowing Robot B to emphasise speed, compact design, making them ideal for applications with
ultimately targeting a first-strike capability within the limited space. However, they rely on compressed air,
game.
which necessitates additional space for air storage and
Given that Robot B doesn't demand high
responsiveness in line following due to the straight lines introduces potential uncertainties during robot operation
in Abu Robocon 2024, a four-wheel drive mechanism [12].
with enhanced speed, attributed to its increased drive
forces, has been selected. This choice is aimed at aiding 2) Mechanical Grippers
in achieving the coveted first-strike capability.

B. Gripping Mechanisms
1) Pneumatic Grippers

Fig. 12. Mechanical gripper with gearing [13].

Fig. 10. A parallel pneumatic gripper [9].

Fig. 13. Mechanical gripper with screw [14].

Mechanical grippers are commonly chosen for their

ease of assembly and adaptability to diverse needs,
allowing customisation for both parallel and angular
gripping with high degree control in the finger
separation distance [15]. While they may possess a
Fig. 11. Operating principle of a pneumatic gripper [10].
relatively lower force-holding capacity, they remain
suitable for Abu Robocon 2024 tasks involving seedling
Pneumatic grippers were utilised during the practice
grabbing, taking account that the seedlings weigh
for Robocon 2020 at The Robotics Forum, VIT Pune approximately 335 g [2].
[11].
In this mechanism, the gripper is connected to the 3) Preference for Robot A
compressed air storage. Compressed air is then released For Robot A, the use of pneumatic grippers could
into the cylinder, granting motion to the piston rod, significantly reduce the number of required motors and
which is connected to the gripping fingers. The fingers hence minimise weight on the gripping system.
open and close parallelly or angularly and the piston However, if no other mechanisms on this robot involve
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compressed air usage, it is advisable to opt for

mechanical grippers instead.

4) Preference for Robot B

Given that Robot B wouldn't use compressed air for
other mechanisms, pneumatic grippers may not be
suitable for Robot B. Storing compressed air specifically
for one gripper could occupy excessive space and might
not be efficient. Hence, a mechanical gripper would be a
better solution if Robot B is using a gripper. Fig. 16. Bearing with external gear.

The choice between external and internal gearing for

C. Seedling Collecting Design (Robot A)
the rotation of cylinders in bearings involves several
1) Two Rotating Cylinders with Three Grippers Each
considerations:
a) Durability vs. Implementation Difficulty: Internal
gearing bearings might have a shorter lifespan compared
to external gearing bearings. However, implementing
internal gearing can be more challenging than external
gearing due to its complexity.
b) Ease of Control and Motor Efficiency: External
gearing allows for the control of both cylinders' rotation
with just one motor, provided the motor's driving force
Fig. 14. Schematic diagram of rotating cylinders. is adequate. This setup offers simplicity in control and
potentially reduces the number of motors required.
The setup of two rotating cylinders, each equipped
with three grippers, enables the robot to simultaneously
store six seedlings, requiring only three picking motions
since it can collect two seedlings at once. Moreover, the
robot's capability to place three seedlings in appropriate
locations simultaneously further decreases the time
needed for this task. Automation of this process offers
time-efficiency benefits. Each cylinder's rotation of 120
degrees to the next gripper facilitates loading another Fig. 17. Schematic representation of a dual-cylinder rotational system
batch of seedlings, contributing to the streamlined powered by a single motor.
operation of the system.
Both cylinders are positioned at a distance of 500 c) Longevity and Maintenance: External gearing
mm from centre to centre. This distance corresponds to bearings might offer longer durability due to their design
the spacing between the first and third seedlings as well simplicity. They could require less maintenance
as the separation between two areas designated for compared to internal gearing, which may have more
planting seedlings [2]. intricate components.
d) Torque Transmission and Force: External gearing
generally provides better torque transmission due to
larger diameters, enabling efficient force transmission in
rotational motion.
Considering the advantages and disadvantages of
external and internal gearing bearings, external gearing
presents significant benefits for small-scale projects.
Moreover, external gearing is comparatively simpler to
fabricate, particularly when gearing bearings are scarce
on the market. 3D printing gears for external gearing
proves more accessible than the intricacies involved in
Fig. 15. Ball bearing with internal gear [16]. producing internal gearing bearings, making it a more
viable option for small-scale projects where availability
and ease of manufacturing are pivotal factors.
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D. Vertical Movement of Grippers efficient lifting mechanisms that could better align with
1) Hydraulic scissors the specific requirements and constraints of the event.

3) Winch

Fig. 18. A hydraulic double scissors mechanism [17].

This mechanism has found common usage in larger

robots, primarily due to its high degree of customization.
However, it occupies substantial space because of its Fig. 21. Illustration of the winching system within a rotating cylinder.
complexity. Not only does it involve intricate
mechanisms, but it also entails a complex, dynamic Winching lifting systems offer faster response times
and have the capability to lift multiple grippers
mathematical model of the scissor lifting system [18].
simultaneously, reducing the number of motors required.
This complexity in both the physical construction and However, the selection of the motor's torque and the
the mathematical modelling contributes to the larger choice of string or cable are crucial considerations in
spatial footprint required by this method. this system. Determining the appropriate torque ensures
that the motor can handle the lifting load effectively,
2) Rack and Pinion while selecting the right type and strength of string or
cable ensures durability and safety in the lifting process.
These considerations are vital for the efficient and
reliable performance of the system.

4) Preference for Robot A

As precise lifting distance isn't crucial for the tasks
in Abu Robocon 2024, a winching mechanism would be
Fig. 19. Rack and pinion.
preferred. This choice offers faster responsiveness
compared to other mechanisms and is easier to
assemble, meeting the needs of the competition's tasks.

E. Ball Collecting Mechanisms

1) Grippers
Kindly refer to section IV(B).

2) Pressing with Wheels

This mechanism presses a metal frame with
rotational wheels against the ball, allowing the ball to
slip and fit perfectly onto the metal frame, holding it in
Fig. 20. Working principle of rack and pinion [19]. place. The ball is then adjusted onto a secure platform to
be transported around or stored temporarily.
The rack and pinion lifting system offers precise
vertical movement and does not need any separate
machine room [20]. However, for the Abu Robocon
2024 competition, this system might not be ideal due to
its relatively slow lifting speed and the requirement for a
larger number of motors in our proposed design. The
competition's demands might necessitate faster and more
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5) Preference for Robot A

Compared to other possible alternatives, the brushing
and lifting mechanisms simultaneously function as a
lifting and collecting system, making it the preferred
choice for high efficiency. Unlike other options such as
grippers and pressing with wheels, it offers distinct
advantages, particularly in terms of speed.

6) Preference for Robot B

In the same way, Robot B prefers the brushing and
Fig. 22. Collect a ball by pressing.
lifting mechanisms. In this instance, a kicker is not
3) Brushing and lifting required because the main goal is to precisely position
A conveyor belt constantly moving anticlockwise paddy rice into silos rather than launch them a long way.
collects balls from the bottom of the robot to the top and While it is acknowledged that the regulation only
releases them to a temporary storage section. Having permits one paddy rice to be moved at a time, this
been held in place, each ball is projected forward and technique may provide for time savings because gripper
upward by a kicker. devices are not present.
Considering grippers are unnecessary in this Furthermore, the effectiveness of this mechanism
mechanism, much time could be saved and multiple can be enhanced by incorporating any passive collecting
balls can be collected efficiently through the rotation of mechanism, such as pressing with wheels, thereby
the conveyor belt. However, a potential concern arises maximising the likelihood of Robot B successfully
regarding the ability to generate sufficient force for picking up a paddy rice.
projecting the ball to the required distance.
F. Ball Shooting
1) Catapult

Fig. 25. Design of a catapult [21].

Collecting ball for storage Kicking of ball A catapult is a shooting system that manipulates the
conversion of the elastic potential energy of the rubber
Fig. 23. Brushing, lifting and kicking. bands into mechanical energy to throw the balls in a
projectile trajectory. The catapult system allows the
4) Vertical Conveyor Belt
tuning of forces applied to the balls by changing the
This mechanism lifts the ball upwards using a
number of rubber bands.
vertical conveyor belt. It has an entrance with an
However, its throwback should also be taken into
inclined metal piece at the bottom front. The ball can be
account, in which the rubber bands need to be replaced
launched after having been lifted to the top of the robot.
after certain times of shooting have been carried out.
This mechanism does not need a storage section.
The risk of the snapping of rubber bands and large
However, bringing the ball into the entrance using the
amounts of stress applied to the robot owing to the
moving conveyor belt could pose a slight challenge.
tension of the rubber bands should also be addressed if
this mechanism is being considered. Furthermore, a
highly functioning motor is required to stretch the
rubber band in order to initiate the launching
mechanism.
To address the issue in terms of snapping rubber
bands, it is viable if we use latex bands instead of rubber
bands as the main launching material due to the high
tensile strength and elasticity of the material, which
makes it an ideal candidate for the ultimate launching
Fig. 24. Entrance with slide and conveyer belt (red). material.
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On the contrary, certain types of latex bands are still with flywheels (EM-FW-TMD) system [24].
not prone to oxidation, and this problem should be taken Considering the simplicity of the system and the budget
into serious consideration when choosing the best for the robot construction, a mass vibration absorber
amongst the latex bands. This problem has made another would be the exemplary system to be taken into
candidate stand out among the materials: EPDM consideration in the vibration attenuation of the robot.
(Ethylene Propylene Diene Monomer) rubber. This
synthetic rubber has excellent resistance to oxidation as 3) Double Flywheel Shooter
its carbon backbone is almost saturated. Therefore,
EPDM has been widely used in
high-temperature-resistance conveyor belts, hoses and
cable sheaths. However, EPDM based on
ethylidene-2-norbornene (ENB) is very sensitive to
thermal oxidation. Thermo-oxidative ageing of EPDM
initially results in the degradation of EPDM molecular
chains (chain scissions) [22].
Please refer to the following reference for a
demonstration video on this mechanism:
Vladimir Makarov, Slim Reloading Catapult Vex Over
Under. (Aug. 27, 2023). Accessed: Jan. 8, 2024. [Online
Video].
Available: https://youtu.be/Hq8NUz5166Y Fig. 27. The general 3D structure of the double flywheel system.

2) Single Flywheel Shooter

Fig. 28. Working principle of a double flywheel shooter.

Fig. 26. 3D model of a single flywheel shooter. A double flywheel is similar to a single flywheel, but
instead of employing a backboard, it incorporates an
Kindly review the given link for a demonstration additional rotating wheel [25].
video showcasing the single flywheel shooter The projectile motion of the ball can be adjusted by
mechanism: tuning the backspin of wheels. Double flywheels are
FRC Team 226 Hammerheads Troy Michigan, Robot larger and heavier, but most importantly, they have to
Build - Full shooter queuer testing 5 shots. (Jun. 25, apply more compression to the ball as the contact time is
2020). Accessed: Jan. 10, 2024. [Online Video]. short. This mechanism generally employs two motors,
Available: https://youtu.be/R49kfRkLAy0 but the system can also be configured to only use one
Single flywheel shooter is a system applying the motor with a clever gearing scheme.
high revolution per minute (RPM) of a rotating wheel to
launch a ball with high velocity. The biggest benefits of 4) Preference for Robot A
single flywheels over double flywheels are their A single flywheel shooter is much more
consistency, reduced use of motors and distance because recommended in terms of its stability and simplicity
of greater backspin. They're consistent because of their relative to a catapult and a double flywheel shooter. To
back spin with the plate and only tuning of one motor. illustrate, a single flywheel shooter requires no
Nonetheless, high RPM wheel rotation could synchronisation of multiple wheels. A single flywheel
contribute to the entire structure’s vibration and may shooter also enables fast shooting and minimises the
result in instability and inconsistency in the shooting risks of motor overload.
process. To address this concern, it is recommended to
set up a vibration absorber system if the robot is found V. ROBOT A GAME STRATEGIES
to be vibrating too frequently. Some of the examples for A. Level of automation
the vibration absorber system include the mass vibration 1) If a seeding storing method is chosen, The loading
absorber, centrifugal pendulum vibration absorber process of seedling should be fully automated to save
(CPVA) [23] and electromagnetic tuned mass damper time.
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2) The team responsible for robot control should calculation through the speed of sound in the air. See
undergo pre-competition training to ensure accuracy. Annex A to learn how HC-SR04 works on Arduino.
One individual would manage control, while the other In application, the sensor is used to prevent Robot B
two would provide hand signals from an alternative from colliding into the boundaries in the Silo Zone.
perspective. For example, if the controller is observing Besides, by measuring from the top of a silo, it can be
along the x-axis, the helper should position themselves used to tell the number of paddy rice in the silo. These
where they can observe the y-axis. It's crucial that the data are useful for the planning of gaming strategies.
controller double-checks with the helper before placing
the seedling. C. Colour sensor: Adafruit TCS34725
3) A manual approach for seedling placement is Robot B is designated to identify blue/red paddy rice
essential for achieving higher accuracy, especially from purple empty grains to ensure the correct ball
considering that the line provided does not correspond placement into the silos. To accomplish this, we propose
directly to one line for each planting area. This manual TCS34725 as the colour sensor.
intervention aids in precise seedling placement, ensuring For a more in-depth discussion on sensors, please
alignment with the designated planting areas. consult the provided hyperlink:
4) A manual approach for paddy rice collection is Andreas Spiess, Light Sensors Tested: Measuring Light
required since specific lines indicating the location of with Microcontrollers (Apr. 12, 2020). Accessed: Jan. 4,
each paddy rice are not provided. 2024. [Online Video].
Available: https://youtu.be/r6mof_5w0rU
VI. ROBOT B ELECTRONIC COMPONENTS
A. Infrared (IR) sensor array: Pololu QTR-8RC
QTR-8RC is a versatile reflection sensor array
equipped with 8 IR emitter/phototransistor pairs.

Fig. 29.QTR-8RC reflectance sensor array [26]. Fig. 31. RGB sensor, TCS34725, with IR filter [28].

The sensor array reads the reflected light intensity TCS34725 contains a 3x4 photodiode array
from each of the sensors to determine the position of the composed of colour-filtered and clear (unfiltered)
line relative to the robot. With this value, we are able to photodiodes. By illuminating the target with an external
incorporate the PID control algorithm (will be light source, the photodiodes capture the reflected light
introduced later) to form a continuous feedback loop intensity for each individual red, green, blue and clear
that keeps the robot on track. (RGBC) colour channel. We may then access the data
The QTRSensors library comes in handy for Arduino using the I2C interface (SDA and SCL pins) [29]. See
boards to interface with the QTR-8RC. For instance, the file “tcs34725.ino” in the Adafruit TCS34725 library for
QTRSensors::readLineWhite() function meets our needs in a demonstration. For ease of reading, the code is
this project by estimating the white line position without attached here as well in Annex C [32].
requiring us to perform a lot of calculations.

B. Ultrasonic sensor: HC-SR04

One critical aspect of Robot B’s functionality
involves environmental sensing to navigate in the
Harvest Zone. To achieve this, HC-SR04 is used for
proximity measurement. It has a detection range of 2 cm
to 400 cm and an accuracy of about 3 mm.

Fig. 30. HC-SR04 ultrasonic sensor [27].

The HC-SR04 sensor operates on the principle of Fig. 32. TCS34725 photodiode spectral responsivity [29].
ultrasonic echo-ranging, emitting ultrasonic pulses and
measuring the time it takes for the pulses to return after On the other hand, colour sensors can also be used to
bouncing off an object. This allows for distance restrict Robot B’s movement in the Harvest Zone when
collecting the paddy rice. This adds an extra measure to
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avoid unexpected behaviour by Robot B. However, to -​ A silo is full (with three paddy rice) and
accurately identify every colour on the game field, contains a minimum of two paddy rice of the team’s
further testing is necessary. colour;
-​ The topmost paddy rice is of the team’s colour.
VII. ROBOT B ALGORITHM In the event that no “Mùa Vàng” is achieved by
A. Line Follow Algorithm either team, the team with the highest score wins the
This aspect plays an important role in allowing game. A successful storage of one paddy rice by Robot
autonomous navigation of Robot B between three key B will contribute 30 points to the overall score of the
zones (the Start Zone, Storage Zone and Silo Zone) team.
along the white line on the game map. An algorithm To keep track of the opponent team’s actions, Robot
allows the robot to move at a high speed while B measures the distance from the top of a silo using an
maintaining a minimum deviation from the designated ultrasonic sensor. We can easily deduce the number of
path. paddy rice in it by taking account of the dimension of a
PID (Proportional-Integral-Derivative) control is a paddy rice.
widely used feedback control technique that excels in For simplicity of explanation, each of the five silos is
line following applications due to its ability to precisely represented by a combination of three symbol states:
regulate the robot's movement. It continuously monitors -​ “V”​ : an own team’s paddy rice;
the error between the robot’s current position and the -​ “X"​ : an opposing team’s paddy rice;
target path, calculates a corrective output and applies it -​ “O”​ : blank.
to the actuators. As an illustration, “VXO” symbolises that a silo has
The adjustment, 𝑢(𝑡), is made based on the two paddy rice in it: a paddy rice from us followed by a
following equation: paddy rice from the opposing team (viewing the silo
𝑡
from bottom to top). Either team that stores one more
𝑢(𝑡) = 𝑘𝑝𝑒(𝑡) + 𝑘𝑖 ∑ 𝑒(𝑖) + 𝑘𝑑[𝑒(𝑡) − 𝑒(𝑡 − 1)] paddy rice in this silo will achieve “Mùa Vàng”. Taking
𝑖=0
another example, “OOV” is not a valid state as a paddy
where, rice cannot be at the top without anything under it.
-​ 𝑘𝑝, 𝑘𝑖 and 𝑘𝑑 = P, I and D gains; To come up with a strategy, we analyse every
-​ e(t) = Amount of deviations from the path. possible state on a case-by-case basis:
The P term is proportional to the current error, TABLE II. SILO ANALYSIS
generating an immediate response to the deviations. The
I term eliminates steady-state error whereas the D term State Description
minimises overshoot and oscillations.
VXO Two teams compete to win
XVO this silo.

VVO Win this silo by putting in one

more paddy rice.

XXO Take action to prevent the

opposing team from winning
this silo.

VOO Storing a paddy rice here may

XOO bring an advantage or even a
OOO disadvantage.

VVV A round of applause for

Fig. 33. Significance of PID on the movement of the robot [30]. VXV winning the silo!
XVV
Taking advantage of this concept, we can come up
with an algorithm as such by integrating it with our QTR VVX Neutral; the silo belongs to no
XXV teams.
sensor array. See Annex B for the code snippet.
Note that further testing is needed to fine tune the VXX Sadly, we have lost this silo.
PID gains for the best performance of Robot B [31]. XVX
XXX
VIII. ROBOT B GAME STRATEGY
A. Silo Game Theory A further discussion among team members is needed
According to the Robocon 2024 rulebook [2], “Mùa to decide between the defensive (prioritising states
Vàng” (Harvest Glory) is achieved when three silos marked green) and combative (prioritising states marked
meet every of the following conditions: orange) strategies. A clearer plan should also be
formulated regarding the states marked white above.
On the other hand, the team should be aware of the
latency in the data Robot B collected. It is not feasible to
 11

get the real time, most up-to-date data of every silo [10]​Charles Kolstad. “Pneumatic Gripper - How They Work.”
tameson.com.https://tameson.com/pages/pneumatic-gripper
using merely an ultrasonic sensor. However, we opine
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that a strategy based on this should be cost-effective and [11]​Varad Dhat, Picking of Rubgy Ball from rack. (Feb. 28, 2013).
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Available:https://youtu.be/vRV2fNOvHMU?si=ypIM4K5-5Afr6L
IX. CONCLUSION A2
[12]​Lakisha Davis. “4 Types of robotic grippers and their Pros and
In this paper, we have presented a comprehensive Cons.”
analysis of the design and implementation of two robots metapress.com.https://metapress.com/4-types-of-robotic-grippers-
for the ABU Robocon 2024 contest, which simulates the and-their-pros-and-cons/ (accessed Jan. 8, 2024)
stages of rice cultivation. We have discussed the [13]​Alfredo Serrato-Sosa. “Gripper Design.” wikis.utexas.edu
https://wikis.utexas.edu/display/RMD/Gripper+Design (accessed
technical details of the mechanical configurations, Jan. 5, 2024)
algorithms, electronic systems and gaming strategies for [14]​How To Mechatronics, Robot Gripper Mechanism in SolidWorks
both Robot A and Robot B. We have also evaluated the 2012. (Feb. 24, 2013). Accessed: Jan. 6, 2024. [Online Video].
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https://youtu.be/qKZLx1wtFCk?si=fI8n2qFkeZqJSA7V
and options for each task as well as justified our choices [15]​K. A. Paul-Ajuwape, “Design and Manufacturing of a Lead Screw
based on the requirements of the contest. Robotic Gripper,” Master's thesis, Dept of Mech. Eng., MIT.,
Cambridge., MA., USA., 2022. [Online]. Available:
X. ACKNOWLEDGMENTS https://dspace.mit.edu/bitstream/handle/1721.1/144530/paulajuwa
We would like to extend our sincere gratitude to pe-alexkpa-sb-meche-2022-thesis.pdf?sequence=1&isAllowed=y
[16]​Fenghe Slewing Bearing. “Slewing ring bearing with internal
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[18]​B. Cirak, “Dynamic Analysis of The Hydraulic Scissors Lift
this paper. Mechanism,” in International Journal of Science and Research
(IJSR), vol.8, Dec. 2019. [Online]. Available:
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[2]​ “Game Rules.” aburobocon2024.vtv.gov.vn. orientalmotor.com.
https://aburobocon2024.vtv.gov.vn/gamerules (accessed Jan. 9, https://blog.orientalmotor.com/benefits-of-an-absolute-rack-and-pi
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[3]​ Doroftei, V. Grosu, V. Spinu., “Omnidirectional Mobile Robot – [20]​A. Thirugnanam, P. Das, L. Rakesh, Eds., “Design and Fabrication
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Pub., 2007. [Online]. Available: https://docplayer.net/20924043-Design-and-fabrication-of-rack-an
https://www.researchgate.net/publication/221786657_Omnidirecti d-pinion-lift.html
onal_Mobile_Robot_-_Design_and_Implementation [21]​“Catapult”, wiki.purduesigbots.com.
[4]​ 京都大学機械研究会[Kyoto University Machanical Research https://wiki.purduesigbots.com/hardware/shooting-mechanisms/ca
Association], (NHK学生ロボコン2021) 京都大学解説動画 tapult (accessed Jan. 7, 2024)
[(NHK Student Robocon 2021) Kyoto University Explanation [22]​N. Ning, Q. Ma, Y. Zhang, L. Zhang, H. Wu, M. Tan, “Enhanced
Video]. (Oct. 18, 2022). Accessed: Jan. 4, 2024. [Online Video]. thermo-oxidative ageing resistance of EPDM at high temperature
Available:https://youtu.be/W7WasXYdHD0?si=vDFDIjFmCuiq4 by using synergistic antioxidants,” in Polymer Degradation and
Umg Stability vol.102, Feb. 2014. [Online]. Available:
[5]​ Nevon Projects. “360-Degree Rotating Vehicle.” https://dokumen.tips/documents/enhanced-thermo-oxidative-aging
nevonprojects.com. -resistance-of-epdm-at-high-temperature-by-using.html?page=1
https://nevonprojects.com/360-degree-rotating-vehicle/ (accessed [23]​J. Kim, J.-H. Ri, H. Jang, C.-U. Choe,
Jan. 10, 2024) “Centrifugal pendulum vibration absorber with geometric
[6]​ Paul Zhao, Robocon mid-test CQUPT-HXC. (Feb. 12, 2023). nonlinear damping,” in Journal of Sound and Vibration vol.571,
Accessed: Jan. 10, 2024. [Online Video]. Available: Sept. 2023. Available:
https://youtu.be/mkpJ7_LQJrI?si=tplVqrmJYx8xLoIt https://www.sciencedirect.com/science/article/abs/pii/S0022460X
[7]​ L.S.R. Mechsy, M.U.B. Dias, W. Pragithmukar, A.L. Kulasekera. 23004807
(Oct. 2017). A Mobile Robot Based Watering System for Smart [24]​C.-S. Lin, G.-L. Lin, “Application of electromagnetic tuned mass
Lawn Maintenance. Presented at 17th Int. Conf. on Control, damper with flywheels for controlling building structure
Automation and Systems, Ramada Plaza, Jeju, Korea . [Online]. vibration,” in Earthquake Engineering & Structural Dynamics
Available:https://www.researchgate.net/publication/321818992_A vol.52 Is.12, Jun. 2023, Available on:
_mobile_robot_based_watering_system_for_smart_lawn_mainten https://onlinelibrary.wiley.com/doi/10.1002/eqe.3948?af=R
ance [25]​91A VEX-Men, “Flywheel”, wiki.purduesigbots.com.
[8]​ Bot Reboot, Making a simple Arduino Line Follower Robot. (Feb. https://wiki.purduesigbots.com/hardware/shooting-mechanisms/fl
10, 2022). Accessed: Jan. 10, 2024. [Online Video]. Available: ywheel (accessed Jan. 9, 2024)
https://youtu.be/Qm8jX0L9oSQ?si=AlLYLR1EAWjUHbIk [26]​“QTR-8RC Reflectance Sensor Array.” pololu.com.
[9]​ ceylon CAD, Two Jaws Gripper - The Safest Way To Grip Round https://www.pololu.com/product/961 (accessed Jan. 5, 2024).
Objects. (Jan. 6, 2024). Accessed: Jan. 9, 2024. [Online Video]. [27]​“5VDC HC-SR04 Ultrasonic Sensor.” my.cytron.io.
Available:https://youtu.be/pcXq9rUa098?si=SYNDPfpBuTLZUR https://my.cytron.io/p-5v-hc-sr04-ultrasonic-sensor (accessed Jan.
wU 5, 2024).
 12

[28]​“RGB Color Sensor with IR filter.” my.cytron.io. [30]​TILI Automation. “What is PID Controller?.” tili.eu.org.
https://my.cytron.io/p-rgb-color-sensor-with-ir-filter (accessed Jan. https://www.tili.eu.org/2021/05/what-is-pid-controller.html
5, 2024). (accessed Jan. 6, 2024).
[29]​ams OSRAM Group. TCS3472 Color Light-to-Digital Converter [31]​gberl001. “How to Program a Line Following Robot.”
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xamples/tcs34725/tcs34725.ino
 13

X. ANNEXES
Annex A
unsigned int ultrasonicDistance() {​
digitalWrite(US_TRIG, LOW);​
delayMicroseconds(2);​
digitalWrite(US_TRIG, HIGH);​
delayMicroseconds(10);​
digitalWrite(US_TRIG, LOW);​
​
unsigned int distance = pulseIn(US_ECHO, HIGH) * 0.017;​
return distance > 2000 ? distance : 0;​
}

Annex B
#include <QTRSensors.h>
​
QTRSensorsRC qtr_sensors((unsigned char[]) {QTR_PIN1, QTR_PIN2, ...}, 8, TIMEOUT, EMITTER_PIN);​
unsigned int sensor_values[8];​
int last_error = 0, accum_error = 0;​
​
void setup() {​
pinMode(L_MOTOR, OUTPUT);​
pinMode(R_MOTOR, OUTPUT);​
}​
​
void loop() {​
unsigned int line_pos = qtr_sensors.readLineWhite(sensor_values);​
int error = SETPOINT - line_pos;​
​
// Compute the motor adjustment​
int ut = KP * error + KI * accum_error + KD * (error - last_error);​
​
// Record​
last_error = error;​
accum_error += error;​
​
// Adjust motors​
analogWrite(L_MOTOR, constrain(SET_SPEED - adjust, MIN_SPEED, MAX_SPEED));​
analogWrite(R_MOTOR, constrain(SET_SPEED + adjust, MIN_SPEED, MAX_SPEED));​
}
 14

Annex C [32]
#include <Wire.h>​
#include "Adafruit_TCS34725.h"​
​
/* Example code for the Adafruit TCS34725 breakout library */​
​
/* Connect SCL to analog 5​
Connect SDA to analog 4​
Connect VDD to 3.3V DC​
Connect GROUND to common ground */​
​
/* Initialise with default values (int time = 2.4ms, gain = 1x) */​
// Adafruit_TCS34725 tcs = Adafruit_TCS34725();​
​
/* Initialise with specific int time and gain values */​
Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_614MS, TCS34725_GAIN_1X);​
​
void setup(void) {​
Serial.begin(9600);​
​
if (tcs.begin()) {​
Serial.println("Found sensor");​
} else {​
Serial.println("No TCS34725 found ... check your connections");​
while (1);​
}​
​
// Now we're ready to get readings!​
}​
​
void loop(void) {​
uint16_t r, g, b, c, colorTemp, lux;​
​
tcs.getRawData(&r, &g, &b, &c);​
// colorTemp = tcs.calculateColorTemperature(r, g, b);​
colorTemp = tcs.calculateColorTemperature_dn40(r, g, b, c);​
lux = tcs.calculateLux(r, g, b);​
​
Serial.print("Color Temp: "); Serial.print(colorTemp, DEC); Serial.print(" K - ");​
Serial.print("Lux: "); Serial.print(lux, DEC); Serial.print(" - ");​
Serial.print("R: "); Serial.print(r, DEC); Serial.print(" ");​
Serial.print("G: "); Serial.print(g, DEC); Serial.print(" ");​
Serial.print("B: "); Serial.print(b, DEC); Serial.print(" ");​
Serial.print("C: "); Serial.print(c, DEC); Serial.print(" ");​
Serial.println(" ");​
}