1. 1 Robotics Technology

2. 2 Irish Mini Sumo Robot Competition Explained

3. 3 Educational Aims To develop student interest and expertise in the area of Applied Control through building autonomous Mini Sumo Robots and subsequently competing them against each other in both school based and national Mini Sumo Robot Tournaments. Students will develop skills in the following areas: Design Material Processing Mechanisms Robotics PIC Control Mathematics GENIE PIC Programming Software

4. 4 1.Competition Overview

5. 5 What is Robot Sumo? Robot-Sumo is a sport in which two robots attempt to push each other out of a circle (in a similar fashion to the sport of Sumo). The robots used in this competition are often called Sumobots. The engineering challenges are for the robot to find its opponent (usually accomplished with infrared or ultra-sonic sensors) and to push it out of the flat arena. A robot should also avoid leaving the arena, usually by means of a sensor that detects the edge. The most common "weapon" used in a Sumobot competition is an angled blade at the front of the robot, usually tilted at about a 45 degree angle towards the back of the robot. This blade may have an adjustable height for different tactics.

6. 6 Sumo Robot Classes There are four main classes of Sumo Robot. ClassMax Length (cm) Max Width (cm) Max Weight (grams) Max Height (cm) Mega20 3000Unlimited Mini10 500Unlimited Micro551005 Nano2.5 252.5 The Irish Schools Competition is currently only for the Mini Sumo Robot.

7. 7 Ring Name Ring Diameter Ring Height White Border Width Start Line Width Start Line Length Start Line From Center Mini Sumo 77 cm2.5 cm 1 cm10 cm5cm Mini Sumo Robot Competition Ring Schools should make a similar ring from sprayed MDF etc to test their Mini Sumo Robots.

8. 8 A mini-sumo robot must be able to do the following: Stay in the ring: Survive Look for the opponent: Hunt Aim at the opponent: Target Push the opponent: Attack Irish Mini Sumo Robot Competition

9. 9 StateDescriptionActions SURVIVEThe robot enters this state when it detects the table edge using its LDR sensor(s) Its goal is to survive by not going off the table The robot rotates away from the sensor that sensed the edge to face back toward the centre of the table Rotate away from the line sensor that sensed the edge. Switch back to HUNT state when rotation is complete.

10. 10 StateDescriptionActions HUNTThe robot is not at the edge of the table but hasn’t sensed the opponent The robot moves around in a set pattern so its infra red range sensor(s) will sweep across the ring in the hope of sensing the opponent Switch to SURVIVE state if table edge is detected Switch to TARGET state if range sensors indicate an object ahead Otherwise, drive in the set pattern

11. 11 StateDescriptionActions TARGETThe opponent has been sensed ahead using the infra red sensor(s) Aim the robot to face the opponent directly Switch to SURVIVE state if ring edge detected If still sensing opponent, but opponent is not directly ahead, turn slightly to aim at opponent If opponent is directly ahead and close switch to ATTACK state If opponent is ahead but not close, move straight forward Otherwise, switch to HUNT state

12. 12 StateDescriptionActions ATTACKThe opponent has been found and aiming is complete. Drive straight ahead at full power to push the opponent off the table. 1. Switch to SURVIVE state if table edge detected. 2. Otherwise, drive straight forward at full power.

13. 13 Mini Sumo Robot Examples

14. 14

15. 15

16. 16

17. 17

18. 18

19. 19

20. 20

21. 21

22. 22

23. 23 This is a SolidWorks render of a sample Mini Sumo Robot. Instructions for the manufacture of this robot are available in folder 3.Sample Mini Sumo Robot Manufacture

24. 24 Rear view of the SolidWorks render.

25. 25 Required Components for Irish Mini Sumo Robot Competition

26. 26 In order to minimise costs for and ensure fairness and equality during competition, specifications for the following main components have been created: Motors PIC Control Board Edge Sensing LDR Infra Red Distance Sensor

27. 27 Specified Motors http://www.rapidonline.com/Electrical-Power/Fans-Motors/Gearboxes/120:1-Inline- motor-and-gearbox/81728/kw/motor This economy motorised gearbox is fitted with a 3 to 12V DC motor. The output shaft is 5.5mm diameter and 9mm long with 2 flats. It is available from Rapid Electronics. Click on the link below for details.

28. 28 Specified Motors http://www.rapidonline.com/Electrical-Power/Fans-Motors/Gearboxes/Worm-drive- gearbox-with-motor/64483/kw/Motor+and+gearbox+1%3a220 A robust worm-drive gearbox powered by an MM28 motor (included). Most suitable for applications where an easy to fit, high torque output is required. Ideal for student based projects including robots and buggies Click on the link below for details.

29. 29 PIC Control Board The GENIE E18 Motor Board must be used to control the Mini Sumo Robot. A kit containing all necessary components to build this board can be purchased at: http://www.rapidonline.com/sku/Electronic-Components/Integrated- Circuits/Genie/GENIE-18-pin-microcontroller-system-kits/124896/13-6016 The required GENIE Design studio software can be downloaded free from the GENIE website at: http://www.genieonline.com/ The folder labelled 4. Using GENIE Design Studio to Program a Mini Sumo Robot contains information on using the software along with example videos of student Mini Sumo Robots in action.

30. 30 GENIE E18 Motor Board

31. 31 Edge Sensing LDRs A compact low cost cadmium sulphide light dependent resistor (LDR) housed in a small package. Click on the link below for details of this or similar LDRs: http://www.rapidonline.com/Electronic- Components/Optoelectronics/Photodetectors/Miniature-light-dependent- resistor/34796/kw/ldr

32. 32 Infra Red Distance Sensor The GP2Y0A21 Sharp distance sensor is a great way to add obstacle avoidance or motion sensing to your robot or any other project. With built in emitter and receivers, a detection range of 10 to 80cm and an analogue voltage indicating the distance, this sensor is very easy to use. Click on the link below for details. http://www.pololu.com/catalog/product/136/pictures

33. 33 If any school is interested in entering the 2012 Inaugural Irish Mini Sumo Robot Tournament which will be held in January 2012 please contact: Declan Askin St. Gerald’s College Castlebar Co. Mayo 087 4181690 declan.askin@stgeraldscollege.com www.geralds.ie