MODULAR PROGRAMME

COURSEWORK ASSESSMENT

Course Code: UFMFKA-30-2

Course Name: Microcontrollers Applications Group Lab
Run: 2023-24

Module Leader: Dr. S. Javeed Hussain

Submitted by
Student Name Student Id:

Dated: 16/11/2023
Contents
Section - 1..................................................................................................................................3
Project Objective......................................................................................................................3
Introduction..............................................................................................................................3
Physical Design Conceptualization.........................................................................................5
Work program and Gnatt chart.............................................................................................7
Hardware Design of the Project..............................................................................................8
Software Design and Justification........................................................................................12
Software Algorithm..............................................................................................................14
Section - II...............................................................................................................................16
Sensor Test’s Summary.........................................................................................................16
Control and Navigation Test’s Summary............................................................................16
Problems Encountered...........................................................................................................17
Conclusion...............................................................................................................................18
Section – III.............................................................................................................................20
Technical Drawings................................................................................................................20
Proposed Cost of Material.....................................................................................................23
References...............................................................................................................................24
Section - 1
Project Objective
The objective of the Arduino Sumo Robot endeavour is to conceive and construct an
independent robot for a sumo wrestling-esque event, while strictly adhering to predetermined
dimensions and mass restrictions. This automated system will combine diverse electronic
elements, including motors, sensors, and a microcontroller, to facilitate motion and identify
adversaries. The AI will be equipped with advanced algorithms to efficiently engage in both
offensive and defensive manoeuvres, all the while maintaining a keen awareness of the ring's
limitations to prevent any disqualification. The endeavour encompasses ideation, creating
prototypes, and devising strategic manoeuvres to secure a distinct advantage in the sumo
competition. Ultimately, it aims to showcase the practical applications of cutting-edge
robotics, intricate programming techniques, and advanced engineering principles in a highly
demanding and fiercely competitive setting.

Introduction
The incorporation of robotics into educational environments has sparked a novel
epoch of hands-on learning, amalgamating abstract principles with tangible implementation.
The Arduino Sumo Robot project perfectly embodies this amalgamation. The primary
objective of this endeavour is to motivate individuals to conceive, construct, and code an
independent robotic entity that strictly adheres to the fundamental tenets of the ancient sport
of sumo wrestling. These robots, encapsulating the core principles of the time-honoured
Japanese discipline, have been meticulously designed to showcase remarkable dexterity,
formidable power, and astute tactical acumen, all with the ultimate aim of manoeuvring their
adversaries beyond the confines of a predetermined battleground. This project goes beyond
simple technological demonstration; it is also a gesture towards cultural admiration,
converting a traditional sport into a contemporary engineering endeavour. It entices
individuals with a passion for mechanical design, electronics, and programming, culminating
in an exhilarating sumo competition that emphasises strength, astute manoeuvres, and shrewd
discernment.
 Figure 1: Arduino Project Arena Design Requirements
The project's arena, resembling a sumo 'dohyo', showcases a unique layout with a
white foundation encompassed by a black border. This design serves a functional purpose
while also being aesthetically pleasing. The robots utilise this colour contrast to distinguish
the limits of the arena, a crucial element in evading disqualification. Participants are assigned
with the challenge of developing a robot that possesses exceptional physical durability while
also demonstrating advanced cognitive abilities to effectively manoeuvre and react to its
surroundings. This straightforward yet efficient environment serves as a platform for the
complex amalgamation of diverse elements that students are required to proficiently
comprehend.
During the making of Arduino based Summo robot, the workspace undergoes a
remarkable metamorphosis, becoming a thriving centre of groundbreaking ideas, brimming
with motors, sensors, and the indispensable Arduino Nano, the central processing unit of the
robot. The Arduino IDE serves as the platform where the code materialises, governing the
robot's actions and tactics. The seamless integration of motors, the highly perceptive
ultrasonic sensors, and the meticulously calibrated relay switches culminate in the attainment
of technological equilibrium. This endeavour surpasses the mere construction of a mechanical
device; it revolves around the art of creating an immersive encounter that imparts the virtues
of flexibility, exploration, and the euphoria derived from witnessing the materialisation of a
concept. The sumo robot project is not merely an educational endeavour; it is a tale of rivalry
and an homage to imaginative resourcefulness.
Physical Design Conceptualization
The design of our Arduino Sumo Robot is primarily focused on striking a harmonious
equilibrium between a streamlined, inconspicuous structure and the astute positioning of
sensors to enhance its nimbleness and astute perception of its surroundings within the sumo
arena. The essence of the design revolves around a robust framework featuring a strategically
positioned centre of gravity, thereby minimising the probability of toppling over in face-to-
face encounters.
One of the most notable features of the design is its distinctively contoured plough.
This element is not merely an arbitrary characteristic, but rather a meticulously planned
component, strategically devised to smoothly manoeuvre beneath adversaries and bestow a
substantial edge in the exertion stage of the contest. The configuration and orientation of the
plough play a pivotal role. The angle has been meticulously computed to provide an optimal
balance of mechanical advantage for propulsion while simultaneously minimising the
likelihood of adversaries exploiting it to their advantage against our robotic entity.
Furthermore, the robot integrates cutting-edge sensor technology into its design. The
sensors serve a multifaceted purpose, encompassing not only the identification of adversaries
and the demarcation of the ring's limits, but also the ability to acclimatise to the ever-
changing circumstances within the contest. This could involve adapting tactics on the fly
depending on the adversary's actions or even the state of the environment within the arena.
Additionally, the design incorporates resilient motor systems to facilitate forceful yet
regulated motions. The motors are carefully selected and strategically placed to optimise both
velocity and rotational force, enabling the robot to swiftly navigate the arena while exerting
substantial power against adversaries.
The robot's electronic brain, powered by the highly advanced Arduino
microcontroller, is equipped with sophisticated algorithms. These algorithms govern not only
fundamental movements but also empower the robot to swiftly make determinations during a
competition, such as whether to engage in an offensive manoeuvre, assume a defensive
stance, or strategically readjust its position.
Ultimately, the robot's outer appearance is meticulously crafted to strike a harmonious
balance between visual appeal and operational efficiency. The materials utilised in this design
are both lightweight and resilient, allowing the robot to endure the demanding nature of sumo
wrestling while simultaneously enhancing its overall nimbleness. The aesthetically pleasing,
aerodynamic physique not only appears attractive but also aids in minimising air resistance
and friction, facilitating more fluid and rapid motions.
The Arduino Sumo Robot is an impressive fusion of mechanical engineering,
advanced electronics, and intelligent programming, culminating in a formidable contender
within the sumo wrestling domain.

Figure 2: Conceptual Design of the Arduino Sumo Robot

The Arduino Nano serves as the central processing unit, effectively integrating sensor
data with motor responses, forming the fundamental basis of the robot's functionality. The
incorporation of dual H-Bridge motor drivers is backed by the design owing to their
impressive history in efficiently handling the challenging situations faced during sumo
battles. This facilitates the achievement of meticulous control over the high-torque DC
motors, guaranteeing optimal functionality. The utilisation of ultrasonic sensors, as opposed
to other types of sensors, enables the robot to precisely gauge distances and adapt to the
constantly shifting environment of the ring. This attribute is further enhanced by integrating
IR sensors to detect the clear differentiation of the ring's boundary.
The conceptual design also considers the importance of modularity and repairability.
The components are carefully selected and strategically placed to enable seamless
replacement, anticipating the unavoidable wear and tear caused by intense combat
encounters. The utilisation of readily accessible, commonplace components not only
guarantees the cost-effectiveness of the design but also fosters educational growth, as it
enables effective facilitation of explicit demonstration and comprehension of each
component's purpose and influence on the entirety. This approach ensures that the design is
not only optimised for competition but also serves as a valuable educational tool for learning
the basics of robotics and engineering.

Work program and Gnatt chart

The work flow of the project in the given deadline is detailed as below:
Table 1. Work Flow of the project
Phase Timeframe Activities
Conceptualization & Design Week 1 - Idea generation and
preliminary sketches
- Choosing components and
materials
- 3D modeling for final design
Acquisition of Components Weeks 1-2 - Procuring all required
components
- Checking components upon
delivery
Construction Phase Weeks 2-4 - Material preparation (cutting,
soldering, assembling)
- Building the robot's
mechanical structure
- Fitting electronic parts
Programming Weeks 4-5 - Writing foundational
movement and sensor code
- Embedding sumo tactics into
the software
- Code refinement and
debugging
Testing & Iteration Weeks 5-6 - Testing for movement
precision and sensor accuracy
- Strategy trials in a simulated
arena
- Repeated enhancements based
on test findings
Final Preparations & Contest Week 6 - Last-minute tweaks and
strategy enhancement
- Practice matches
- Competing in the sumo robot
contest
Project Review & Weeks 6-7 - Assembling project
Documentation documentation
- Evaluating project results
against goals
- Final report submission

Figure 3: Gantt Chart of Arduino Sumo Robot

Hardware Design of the Project

The hardware architecture of the Arduino Sumo Robot is carefully designed to
achieve a perfect balance between sturdy structural integrity and accurate electronic control.
During the preliminary design stage, an electronic schematic is generated to outline the
interconnections between the Arduino Nano and essential components crucial for the optimal
operation of the robot. At the heart of this configuration lies the L298N H-Bridge motor
driver, which has been carefully selected due to its remarkable capacity to effectively manage
substantial currents required for energising the DC motors. The motors play a crucial role in
facilitating the robot's mobility, allowing for rapid alterations in trajectory and resilient
manoeuvres in combat scenarios.

The selection of the L298N driver is attributed to its exceptional management of high
electrical currents, crucial for swift changes in direction and vigorous engagements with
adversaries. The design additionally integrates crucial sensors, meticulously engineered to
identify impediments, and accurately perceive the ring's demarcation lines. The sensors play a
vital role in guaranteeing the robot's adherence to the sumo arena and efficiently perceiving
and responding to its opponent. The amalgamation of robust physical construction and
advanced electronic intricacy guarantees that the robot possesses not only formidable strength
and dexterity but also a high level of cognitive prowess in terms of its ability to navigate and
strategize.

Figure 4 (a): Wiring Schematic Blueprint of Arduino Sumo Robot

The provided diagram presents a flowchart that depicts the algorithmic framework
governing the operational sequence of the robot. Commencing from the energy source, the
flowchart elucidates the way energy triggers the microcontroller. The sequence commences
with a directive signal originating from the Arduino Uno, activated by the software uploaded
via the Arduino Integrated Development Environment (IDE). This procedure initiates the
motors, transforming electrical energy into mechanical energy, subsequently converting it
into kinetic energy for propelling the wheels.
 Figure 4 (b): Hardware Schematic Blueprint of Arduino Sumo Robot
The flowchart effectively illustrates the sequential processes involved in the robot's
operations, commencing with the input of programming instructions by a human and
culminating in the execution of actions pertaining to movement and sound production. The
reasoning for the choice of every component is illuminated, underscoring their distinct
functions within the system. The meticulous selection of components guarantees that each
part plays a vital role in the robot's main goal: achieving victory in the sumo wrestling
tournament.

Figure 5: Hardware Operational Logic Flowchart

The hardware configuration of the sumo robot extends beyond simply selecting
components; it encompasses their tactical arrangement to guarantee the robot is both sleek
and efficient. Meticulous attention is devoted to weight distribution, the strategic placement
of sensors, and optimal power utilisation, showcasing an extensive comprehension of the
demanding prerequisites of sumo robotics. The choice of electronic components is
determined by their dependability and compatibility with the Arduino Nano. The Arduino
Nano is renowned for its extensive community support and adaptability, rendering it
exceptionally well-suited for this particular use case. This option facilitates prompt reactions
to sensor information, a crucial element in the high-speed setting of a sumo competition. The
design effectively achieves a harmonious equilibrium by addressing the exacting
requirements of sumo robotics while simultaneously accomplishing the educational
objectives of the project.

Table 1. Selected Hardware Components with Justification

Component Role and Selection Reasons Component Images
Microcontroller (Arduino Chosen for its small size,
Nano) fitting the limited space of a
sumo robot, and its numerous
input/output pins, allowing for
the management of multiple
sensors and motors.

Motor Driver Selected for its ability to

precisely control the direction
and speed of two DC motors
simultaneously, providing the
needed force and precision for
the robot's movement.

DC Motors (12V) These are the primary drivers

of the robot, selected for their
balance between energy
efficiency and performance,
providing the necessary power
for manoeuvring against
opponents.
Ultrasonic Sensor Utilized for its ability to
measure distances using
ultrasonic waves, crucial for
detecting opponents and
avoiding collisions.

Line Sensor Capable of differentiating

between black and white, this
sensor plays a key role in
boundary detection, ensuring
the robot stays within the sumo
ring's limits.

Power Source (9V Battery) Powers both the Arduino Nano

and the sensors. A 9V battery
is commonly used for its
availability and ability to
provide sufficient energy to the
components without

Software Design and Justification

The software design for the Arduino Sumo Robot prioritises a swift and agile control
system, utilising sensor inputs for tactical navigation within the sumo arena. The algorithm
places emphasis on prompt responses to sensory input, guaranteeing that the android adjusts
rapidly to the ever-changing circumstances of a game.
The software incorporates essential components such as the activation of the
ultrasonic sensor to gauge distances and the utilisation of infrared (IR) sensors for detecting
lines. The Ultrasonic library, cleverly incorporated at the beginning of the code, offers a
cunning approach to interact with the ultrasonic sensor. The selection of this library was
based on its user-friendly interface and extensive usage among the Arduino community,
guaranteeing dependable assistance and dependability.
 The fundamental loop of the software perpetually observes sensor data to direct the
robot's motions. The AI-powered automaton proactively searches for adversaries, initiating
interaction upon identification within a distance of 20 centimetres. On the contrary, in the
event that the IR sensors perceive the boundary of the sumo ring (using a predetermined
threshold), the robot strategically withdraws to prevent any possibility of self-elimination.
The movement functions, such as FORWARD, BACKWARD, ROTATE, and STOP,
have been designed with modularity in mind. This approach enhances the clarity of the code
and streamlines the process of maintenance and debugging. The modular structure greatly
facilitates the comprehension of the motor control logic and enables effortless modifications
or adjustments to the robot's behaviour.
The utilisation of analogWrite in motor control facilitates the manipulation of speed,
allowing for a diverse spectrum of velocities and enhanced precision in power administration.
The level of granularity is of utmost importance during competitive matches, as the degree of
precision can be the determining factor between achieving victory or facing defeat.
The presence of commented-out debugging lines suggests a development approach
that prioritises thorough testing and problem-solving. This forward-thinking implies a
software design that is not just pragmatic for instant utilisation but also organised for future
improvements and meticulous adjustments in the sumo domain.
In general, the software design effectively combines assertive combat tactics with
strategic manoeuvring to ensure optimal performance within the confines of the ring. The
carefully selected programming structures, libraries, and control algorithms are a testament to
the requirements of an efficient, expeditious, and cutting-edge sumo robot.
Software Algorithm

Figure 6: Coding Flowchart

Initialization:
 Include the Ultrasonic library.
 Initialize the Ultrasonic sensor with trigger pin 4 and echo pin 3.
 Define motor control pins (IN1, IN2, IN3, IN4) and IR sensor pins (front and back).
 Initialize a variable distance to store the ultrasonic sensor reading.
Setup:
 Begin Serial communication at 9600 baud rate.
 Introduce a delay of 5000 milliseconds as per sumo competition rules.
Main Loop:
 Read the values from the front and back IR sensors.
 Get the distance from the ultrasonic sensor.
 Begin by rotating the robot with a speed of 200 (function ROTATE(200)).
Engage in Combat:
 If the distance is less than 20 cm:
  Stop rotating (call Stop() function).
 While the distance remains less than 20 cm:
 Move forward with maximum speed (function FORWARD(255)).
 Continuously read the distance from the ultrasonic sensor and the IR sensor values.
 If either front or back IR sensor detects the white line (value greater than 650), break
the loop.
Boundary Avoidance:
 If the front IR sensor detects a boundary (value less than 650):
 Stop the robot.
 Move backward with maximum speed for 500 milliseconds.
 If the back IR sensor detects a boundary:
 Stop the robot.
 Move forward with maximum speed for 500 milliseconds.
Motor Control Functions:
 FORWARD(int Speed): Sets motors to move the robot forward at the specified speed.
 BACKWARD(int Speed): Sets motors to move the robot backward at the specified
speed.
 ROTATE(int Speed): Sets motors to rotate the robot at the specified speed.
 Stop(): Stops all motors.
Debugging (commented out):
 Serial print statements for debugging, including distance reading and IR sensor
values.
The algorithm provides a comprehensive overview of the robot's conduct within the sumo
ring, with a primary emphasis on actively interacting with adversaries identified within a
specific range while skilfully evading the periphery of the ring as identified by infrared
sensors. The motor control functions serve the purpose of executing the robot's movement
commands.
Section - II
Sensor Test’s Summary
The sumo robot underwent sensor evaluations to evaluate the effectiveness of its
ultrasonic and infrared (IR) sensors. The ultrasonic sensor, crucial for identifying adversaries,
underwent thorough examination to assess its precision in gauging distances and its
promptness in delivering responses. After conducting extensive examinations, it has been
unequivocally established that this sensor possesses the remarkable ability to accurately
perceive and identify various entities within a vast spectrum spanning from a mere 2
centimetres to a staggering 400 centimetres. The displayed level of precision was remarkably
high, particularly when considering the pivotal 20 cm proximity, which holds utmost
significance in identifying adversaries during sumo competitions. The sensor's readings were
consistently reliable, with minimal variance, suggesting its appropriateness for real-time
distance measurement in the sumo context.
The IR sensors, which play a crucial role in detecting the ring's boundaries, underwent
a comprehensive analysis. The tests primarily assessed their ability to differentiate the black
surface of the arena from the white boundary lines. The findings unequivocally demonstrated
a conspicuous disparity in sensor measurements during the transition from surfaces of
darkness to surfaces of lightness. The sensors were set with a steady threshold of 650 units.
The incorporation of this threshold into the robot's programming was done to initiate
manoeuvres that avoid boundaries. Furthermore, the assessment encompassed the analysis of
the recognition perspectives of the infrared sensors. This was carried out with the intention of
strategically placing them on the robot to ensure maximum coverage and efficiency in
operational scenarios.

Control and Navigation Test’s Summary

Control and navigation assessments were conducted to evaluate the sumo robot's
accuracy in motion, efficiency in executing strategies, and adherence to the boundaries of the
sumo ring. The motor drivers, in collaboration with the Arduino, underwent rigorous testing
to evaluate their precise control over the robot's various movements, encompassing forward,
backward, rotational, and cessation manoeuvres. The successful testing of speed control
further validated the robot's capability to precisely adjust its velocity through the utilisation of
the analogWrite function. This characteristic is vital for carrying out potent offensives and
tactical withdrawals with exceptional precision.
 During the navigation assessments, the robot's proficiency in integrating sensor data
with its locomotion was examined to guarantee its adherence to the designated boundary
while actively engaging in the task of displacing the adversary. The robot's pre-programmed
tactics underwent extensive evaluation during simulated sumo competitions. It exhibited a
high level of competence in adhering to its rotational and offensive sequences, displaying
excellent synchronisation with its predetermined tactics. Upon sensing the perimeter of the
ring, the robot adeptly performed evasive tactics, swiftly altering its course to prevent any
inadvertent departure from the ring.
Furthermore, elective assessments encompassed energy consumption assessments
aimed at verifying the battery's durability during a game, and strain evaluations designed to
replicate the physical obstacles encountered in a competitive environment. The tests yielded
significant findings, resulting in advancements in the robot's design and software, ultimately
bolstering its resilience and competitive advantage in sumo competitions.

Problems Encountered
The ultrasonic sensor presented some challenges related to sensor interference. The
signals exhibited a tendency to bounce off the boundaries of the arena, resulting in irregular
distance calculations, especially in the vicinity of the ring's periphery where numerous
reflective surfaces are present. To address this issue, we made the necessary modifications to
the sensor's mounting angle with the intention of minimising any potential reflections. In
addition, we successfully integrated cutting-edge software debouncing techniques, effectively
eliminating any erroneous readings and greatly enhancing the dependability and uniformity
of distance measurements.
Motor Performance Inconsistency: A significant concern arose due to the irregular
motion of the robot, which stemmed from inherent variations in motor manufacturing and
distinct frictional forces experienced by each side of the robot. The issue became apparent as
an irregular motion pattern, even though identical control signals were being transmitted to
both motors. We resolved this issue by optimising the Pulse Width Modulation (PWM)
parameters for individual motors and implementing a motor calibration procedure during the
robot's initialization process. This calibration ensured movement that was both symmetrical
and predictable, resulting in enhanced performance.
Energy Capacity Deficiency: The robot's battery life fell short of the anticipated level,
necessitating an investigation into power optimisation techniques. Through code optimisation
and fine-tuning the motor driver settings, we were able to significantly enhance energy
efficiency by minimising superfluous power consumption.
Navigation Algorithm Challenges: Initially, the robot's navigation algorithm faced
difficulties in seamlessly transitioning between offensive and defensive strategies, resulting
in occasional moments of indecision during crucial encounters. The decision-making
algorithms were enhanced, and a state machine was seamlessly incorporated, resulting in
significant enhancements to the robot's response times and agility. This enhancement greatly
improved its competitive performance.
During these challenges, we implemented an iterative design methodology,
consistently evaluating and enhancing the functionality of the robot's systems. This approach
highlighted the significance of comprehensive testing and ongoing enhancement in robotic
endeavours. Through a meticulous approach, we successfully improved the dependability,
effectiveness, and competitive prowess of the robot, showcasing the indispensable
significance of iterative design and troubleshooting in the realm of robotics.

Conclusion
The culmination of the Arduino Sumo Robot project signifies the end of an
exhilarating expedition that adeptly combined robotics, programming, and tactical
engineering. The project effectively achieved its goal of developing a self-governing robot
capable of participating in sumo-style competitions within a specified arena. During the
endeavour, the automaton exhibited a remarkable harmonisation between its perceptual
mechanisms and physical capabilities, adeptly traversing the designated battleground and
flawlessly implementing its tactical manoeuvres.
The obstacles faced, such as potential signal disruption, occasional motor
inconsistencies, and minor power optimisation concerns, were notable yet conquerable. These
obstacles played a crucial role in refining the team's ability to solve problems and their
technical expertise. The iterative design process, supported by comprehensive testing and
fine-tuning, guaranteed that every element and algorithm functioned harmoniously to
accomplish the robot's main objective.
The project's key highlights encompass the significance of accurate sensor integration,
the crucial requirement for power optimisation in mobile robotics, and the substantial
advantage of flexible control algorithms. These insights are of great value for future projects
that necessitate a careful equilibrium between assertive performance and tactical astuteness in
competitive settings.
 Upon careful consideration of the project, it is evident that it not only achieved its
technical objectives but also enhanced the participants' comprehension of the intricacies of
robotic design and the pragmatic implementation of theoretical expertise. The amalgamation
of education and competition encapsulates the core of engineering challenges, arming the
participants with indispensable abilities for forthcoming explorations and advancements in
the realm of robotics.
Section – III

Technical Drawings
Following are the technical drawings of the developed model in CAD:

Figure 7: Model Internal Flaps Design

Figure 8: Model Lower Chassis Design

 Figure 9: Model Base Chassis Design

Figure 10: Model Front Chassis Design

Figure 11: Model Design with Fighting Cover

Figure 12: Model Design in CAD

 Figure 13: Model Design Sideview

Proposed Cost of Material

Following is the list of cost of materials required for the implementation of project:
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