INTRODUCTION

This chapter discusses the description of the project, objectives of the project and

its scope and limitations, which will give an introduction to the concept of the project.

I. DESCR IPTION OF THE PROJECT

Mobile robots are automatic machines that are equipped for locomotion. They have

the ability to move around inside of their environment and do not remain fixed in a single

location. They are the opposite of industrial robots which have jointed arms or grippers

that attach to the fixed body of the robot and are more or less a stationary robot. The project

is relatable to the Amazon’s warehouse; wherein mobile robots are the ones that are sorting

products on its own. It was build and program to do work by itself autonomously without

any remote control or supervision of human beings. Autonomous mobile robot is widely

applied in the industry today; the technology is growing faster as time passes by. Making

the future is now at hand of the society’s future engineers or designers.

The project is an autonomous robot which executes or reenact robot Sumo wrestling

in a modernized and technological way. The Sumo robot competition’s objective is to push

your opponent out of the ring. Two robots compete in a head-to-head match following the

basic system of traditional human Sumo matches. Robots are allowed no weapons, and are

not allowed to flip each other. The sole purpose of it is a pushing match between the two

robots to force the other robot outside the arena.

1
II. OBJECTIVES OF THE PROJECT

A. GENERAL OBJECTIVE

To design and develop a mobile robot (Sumo-bot) that must be fully autonomous;

wherein it must reenact the actual Sumo wrestling, the mobile robot must detect its

opponent and must sense the Sumo ring efficiently.

B. SPECIFIC OBJECTIVES

 To be able to design a mobile robot that will sense its opponent from

a distance.

 To be able to design a mobile robot that will detect the surface

(Sumo ring) it’s moving in; Black surface: the robot must move and

roam around the ring, White surface: the robot must reverse; must

avoid the white part of the ring.

 To be able to design a mobile robot that will move around the Sumo

ring and be able to push its opponent outside the ring using the

different variation on the speed

III. DEFINITION OF TERMS

 Sumo-Bot – It is the name and aim prototype of the project; the robot used on the

sport in which two robots attempt to push each other out of the circle.

 Autonomous- acting independently or having the freedom to do so.

 Sumo ring – The platform where the robot Sumo competition is being act in; Black

in color and 154 cm in diameter.

2
 Arduino Uno R3 – It is a device where the codes is being uploaded, it acts as a

memory and as a CPU at the same time; it is a microcontroller board based on the

ATmega328.

 Ultrasonic sensor – Used in the prototype for sensing its opponent; measures the

distance by using ultrasonic waves.

 Mobile Robots – Have the capability to move around in their environment and are

not fixed to one physical location.

 Motor Driver – A device or group of devices that serves to govern in some

predetermined manner in the performance of an electric motor.

 PWM (Pulse Width Modulation) – Used in controlling the speed of the motor; a

great method of controlling the amount of power delivered to a load without

dissipating any wasted power.

 Trigger – One of the four pins seen in an Ultrasonic senor (TRIG); the purpose of

the trig pins is to cause the module to send out a” Ping”.

 Echo – One of the four pins seen in an ultrasonic sensor (ECHO); the echo sensor

emits a short ultrasonic wave; it provides the output pulse to the host when the echo

is detected.

 Ground - Commonly used pin on the Arduino; A common return path for electric

current.

 Li-Ion Battery – The battery used to support the motor of the robot; a type of

rechargeable battery in which lithium ions move from the negative electrode to

positive electrode during discharge.

3
 Infrared – measure infrared light radiating from objects in its field of view; applied

on the reflectance sensors used by the proponents.

 Actuator – The Pololu DC motor; the actuator uses by the proponents on the

prototype; it is responsible for moving and controlling a mechanisms or system.

4
IV. REVIEW OF THE RELATED LITERATURE

1. Design of Semi-Autonomous Robots for Competitive Robotics

Competitive robots come in different types, the two most popular competition were

Sumo-wrestling and soccer playing robots. These types of competitions were also

implemented inside the universities to enhance the effectiveness of learned material. These

projects were continuously upgrading and updating each and every time. It also pushes and

motivates people towards education and careers in science.

These robot competitions have led to advanced robot designs with navigating and

tracking abilities, a combination of programming and hardware designing. This project also

requires planning for its electrical and mechanical design, machining the components,

software development and testing the robots. The robot’s major physical components for

Sumo bots were its plow design, chassis, and its differential drive. In terms of the electrical

systems of these type of robots, its input voltage range is wide from 9V to 18V, so external

batteries were used. Sumo bots must be able to detect and attack their opponent whenever

it is sensed by the sensors attached to it.

In summary, the proponents were able to create a type of robot, which is called

Sumo bot that is capable of tracking colors and its robot opponent. It pushes its opponent

around outside a circular arena and at the same time it can repel from the color white

because of its line tracking ability.

P. Benavidez, C. Gleinser, A. Jaimes, J. Labrado, C. Riojas and Mo Jamshidi, Ph.D.,

Lutcher Brown Endowed Chair Department of Electrical and Computer Engineering The

University of Texas at San Antonio San Antonio, USA gax646@my.utsa.edu,

5
logan2145@gmail.com, aldo.jaimes@gmail.com, jdlabrado@gmail.com,

cjriojas427@gmail.com, mo.jamshidi@utsa.edu

2. World Modeling and Position Estimation for a Mobile Robot Using Ultrasonic

Ranging

For a competitive robot such as Sumo bots it is necessary to use at least one sensor.

It is responsible for detection of the limits to free space and position estimation using an

ultrasonic range devices. It limits itself depending on the codes and instructions set to it.

The perception of the robot serves two important roles, the detection of the limits

to free space and position estimation. Regarding to free space the term “colliding” is also

related. Colliding is a result from the limitation of the space available surrounding the

Sumo bot. Position estimation lets the robot locate itself during the motion with respect to

its given task and instructions. Each of the sensors were mounted with orientations, range

data from all sensors are acquired continuously stored in a buffer and used as a basis for

reflex level obstacle detection and avoidance. In addition, the sensors were also used to

construct a sonar horizon, a description of the free-space visualized around the robot.

The proponents have used an HC-SR04 Ultrasonic for the Sumo bot. An HC-SR04

operates in +5V, theoretically measuring a distance from 2cm to 450cm and practically

measuring a distance from 2cm to 80cm, has an accuracy of 3mm, measured angle covered

is less than 15 °, operating current is less than 15mA and its operating frequency is 40Hz.

6
James L. Crowley Institut National Polytechnique de Grenoble Grenoble, France 1989

IEEE Conference on Robotics and Automation, ICRA 89, Scottsdale Az., Vol 3, pp 1574-

1579, May 1989.

https://components101.com

3. Design, Development and Implementation of Educational and Entertainment

Mobile Robots Utilizing Arduino Microcontroller

The real struggle of creating a Sumo bot, is to make it move. The codes used must

be accurate and precise enough to be able to properly instruct the Sumo bot. The hardware

used to computerize the Sumo bot is called a microcontroller.

Microcontrollers are responsible for carrying the instructions and codes, to bring

the Sumo bot in motion. Programming languages are used to encode the codes in to the

microcontrollers. Then these microcontrollers were attached or connected to the Sumo bot

circuitry. The microcontroller was encoded to do the task of following the lines and objects,

avoid obstacles and other dynamic functionality that may be added.

The proponents have used Arduino Uno R3 as a microcontroller to the Sumo bot

project. Arduino Uno requires a C++ programming language to be functional. Its size,

68.6mm x 53.3mm, accurately fit to the size of the Sumo bot’s chassis which is 98mm x

98mm. The Arduino UNO has only 32K bytes of Flash memory and 2K bytes of SRAM.

7
Ruvel J. Cuasito, Sr. College of Industrial and Information Technology Mindanao

University of Science and Technology CM Recto Ave., Lapasan, Cagayan de Oro City,

9000, Philippines cuasitorj@yahoo.com

4. Design and Implementation of Object Seeking Robot

Robots can be programmed in different ways in accordance to the design and needs

of its designers. One of the application that are used by robot is to seek or track an object.

Object tracking has been a large part of implementing the mobile robot navigation. The

robot controller is implemented using an Field-programmable gate array for fast

prototyping. The robot was tested to satisfy the required specifications.

The main component that makes a robot able to seek is called a sensor. The sensors

are responsible for color sensing that instructs the robot to be in motion. Sumo bot wrestling

is one of the ways to be able to test the seeking or object racking abilities of robots. The

movements’ speed and direction are based on the received information from the sensors.

As the sensor senses something it will start to move according to the instruction given to

it.

The proponents have used an HC-SR04 Ultrasonic Sensors for sensing its

opponent. This sensor is no longer need to calibrate, instead the maximum distance is

defined in the program. It detects the object and attacks the object sensed in front of it. In

addition, the proponents have used a pair of QTR – A1 Reflectance Sensor. This sensor is

programmed so that if it will sense the white lines, it will repel and go back inside of the

black surface of the Sumo ring.

8
International Journal of Computer and Electrical Engineering, Vol. 4, No. 6, December

2012

Alauddin Al-Omary, Member, IACSIT

5. Line Tracking Robot

Mobile robots can also have the ability to track a line. A line could be a path for the

robot to follow, the robot will not stop moving and following the path unless it doesn’t

sense a line anymore. The sensorial features of the robot represent its eyes. It helps the

robot to visualize the color line and executing the instruction given to the robot after the

sensing process.

For this type of sensing ability, the robot is more effective if it will track a path of

black line or a white line. These two line colors are the most used colors for line tracking

robots. For IR Sensors, good reception of signals can be achieved if the receiver and emitter

are mounted under the same angle from the normal of the movement plan.

The proponents have used a pair of QTR-1A Reflectance Sensor for line tracking

purposes of the Sumo bot. The sensor was calibrated, through the means of, sensor height

from the surface and the shade of the black color on the Sumo bot Sumo ring used during

the testing. In addition, the proponents’ Sumo bot can detect the black surface as its safe

zone while the white line was its boundary.

Proceedings of the 15th International Conference on Manufacturing Systems – ICMaS

Published by Editura Academiei Române, ISSN 1842-3183 “Politehnica” University of

9
Bucharest, Machine and Manufacturing Systems Department Bucharest, Romania, 26 – 27

October, 2006

6. Maker: Autonomous Solar-powered Vehicle as a Learning Tool in Robotics and

Green Energy

Making a robot requires a center piece that utilizes every other item that is used in

it. The most commonly used microcontroller is Arduino Microcontroller. It is an open-

source electronics platform that is easy-to-use hardware and software. It has both physical

programmable circuit board and an Integrated Development Environment or IDE that runs

your computer, it is also used to write and upload computer code to physical board. This

type of microcontroller is commonly used on a Sumo bot.

It is called center of a robot because it is the one who instruct all of the components

or the one that appoints every parts of the robot on how will they actually behave. This

type of microcontroller is also used in some autonomous vehicle technology that is having

an environmental benefit such as decreasing fuel consumption that reduces number of

congestion the road. It can also read inputs, light on a sensor, can activate a motor, can turn

on a led, can also publish something online. It is one of the commonly used because it is

easy-to-use for beginners, yet flexible enough to the advanced users.

The proponents used an Arduino microcontroller to command all of the components

or part of a Sumo bot on how will they behave each and every time the Sumo bot is turned

on. It also helps the customized remote control car which the steering is controlled

autonomously by an Arduino microcontroller. Arduino microcontroller has been the center

10
or the brain of many projects, from everyday objects and to complex scientific. It helps the

community of makers to contribute an incredible amount of accessible knowledge that can

be a great help the future generations and experts.

Dr. Richard Y. Chiou, Drexel University (Eng. & Eng. Tech.), Dr. Yalcin Ertekin, Drexel

University (Tech.) and Prof. Tzu-Liang Bill Tseng, University of Texas, El Paso

7. A New Wearable Fingertip Haptic Interface for the Rendering of Virtual Shapes

and Surface Features

Some robots need a QTR Reflectance sensor such as Line Tracker, Haptic Thimble

and a Sumo bot. it is also used when building a Sumo bot to sense the surface color while

moving in the ring so that it can never touch the ground. It is planned as an line sensor, but

can also use as general purpose proximity or an reflectance sensor. It was also designed to

be used accompanied by the board parallel to the surface being sensed.

It helps to monitor, record or scan the surface sensing if it’s a white or black so that

it will stop or move while on the stage and it also can explore or investigate the surface,

can render collision, surface asperities and features. It always defends in the program itself

on whether it will stop when it senses any black or white color or on what color is indicated

on the code itself which helps the Sumo bot to win against it opponent while on the game

on the center stage. It is ideal for your mobile robot on making them smart and independent

for any other plan demands this types of measurement.

11
 The proponent used an QTR reflectance sensor to scan or evaluate the surface if it

is having any item which can make any collision, surface asperities and textures that can

make any complication on the robot. It can help a Sumo bot to sense the surface color on

when to stop or when to move so that it will stop when it detects the white border on the

stage to prevent it on falling while on stage.

Massimiliano Gabardi1, Massimiliano Solazzi, Daniele Leonardis and Antonio Frisoli

HAPTICS SYMPOSIUM '16, APRIL 8–11, 2016, PHILADELPHIA, PENNSYLVANIA,

USA

978-1-5090-0903-9/16/$31.00 ©2016 IEEE

https://www.arduino.cc/en/Guide/Introduction

8. Development of a Speed Control for a DC Motor Using a Fuzzy Logic Controller

Many studies identified some benefits of DC Motor and Arduino Board on robots

such as a Sumo bot. The DC motor will help the robot to move freely in the stage and the

Arduino Board will manipulate or control the speed of the DC Motor. An DC motor is a

type of revolving electrical machine that transform direct current electrical energy to

mechanical energy. And an Arduino board is the brain or the center that controls all of the

parts of the robot on how will they behave.

In some of robots it commonly used an Arduino Uno or an Arduino Mega. By

implementing this you can achieved access of data applicable to the system and to measure

the RPM in how will it behave. A couple of cases uses fuzzy logic controller to offer

12
students or some designers a new platform to understand the main concept of embedded

system and closed loop control system. An fuzzy control system is an mathematical system

that examines analog input values in terms of logical quantity that take on continuous

values between 0 and 1. The DC motor helps controlling the speed easily and the Arduino

on manipulating every movement and also controlling the speed of the DC motor.

In this case, the proponents used an Arduino Board to control the behavior of the

speed of the DC Motor. It may also measure the RPM of the DC Motor and access the data

points of the system. It may also help the fuzzy logic controller to implement an

understanding the main idea in regards to closed loop system and embedded system. DC

Motor can also use in electric traction, electric footing, cranes, lifts, air compressor,

elevators, winching systems, and some versatile electric equipment’s.

Gabriel OLTEAN, Laura-Nicoleta IVANCIU, Horea Alin BALEA, Bases of Electronics

Department, Technical University of Cluj-Napoca, Romania. 26-28 G. Baritiu Street, Cluj-

Napoca, Romania, phone:+40-264-401-471, laura.ivanciu@bel.utcluj.ro

9. A Student Mobility Program Through Cross Cultural and Technical Exposure

Students need an exposure to be able to learn and gain some experiences and

knowledge that can help them on ever day lives and on the near future. This helps the

students to actually experience and participate in some different things and different

approaches in technology.

This type of program makes the participants learn about how to tackle and approach

different science and technology. It will help the students gain knowledge that will benefit

13
them in their further studies that will inspire them to pursue more on some technologies

that they tackle actually on the program such as robotic experience which can help the

students to learn not only the basic parts but also the other applications of robotics in the

industry.

The Proponents of the program is to make the students to be actually expose and

experience themselves different applications of technology. It will make them boost their

confidence level to communicate with other people in any type of situations and gained

some knowledge that will help them on future. It can also help students to familiarize

different types of robotics such as mobile robot on actually making it and watching it battle

on the stage.

Teruaki Ito*, Effendi Bin Mohamad†, and Mohd Rizal Bin Salleh‡

The University of Tokushima , Universiti Teknikal Malaysia Melaka

Japan

10.

14
V. SCOPE AND LIMITATIONS

SCOPE

 The robot handles two different power sources; 9V which will

support the Arduino UNO R3 and two 18650 Li-ion 3.7V li-ion

battery that will provide the actuator’s needed supply.

 The prototype can find its opponent in a span of 200 cm, in 30

degrees angle from the ultrasonic sensor.

 The mobile robot is capable of moving at its programed maximum

speed (590 rpm) once it senses its opponent.

 The mobile robot is capable of sensing color based on the on the

surface it is moving (Inner ring and color battle ground: Black;

outside ring color: White); that will be calibrated and supported by

the proponent’s program.

 The mobile robot is capable of searching its opponent within the

black surface of the ring vicinity and reverse backward once it

senses the white part of the Sumo ring.

 The prototype sensor’s response on the Sumo ring is above 90%

making it efficient on the Sumo ring.

 The actuators were capable giving up 100% of its maximum

capacity; it is based on the program handled by prototype

15
LIMITATIONS

16
VI. CIRCUIT/WIRING DESCRIPTION

A. CIRCUIT/WIRING OPERATION

The prototype is powered by two battery sources; a single 9-volt battery

connected to Arduino and two Li-ion 3.7 volts battery which powers the actuators

of the prototype. The main part of the robot is its microcontroller which is set to be

its brain: Arduino Uno R3 is the microcontroller used by the proponents. Sensors

were used to make move without the use of any remote control, making it

independent. Ultrasonic Sensors and IR sensors were used for the robot to be fully

autonomous (for the opponent’s sensing and reflectance reaction on the surface of

the Sumo ring sensing respectively). The Ultrasonic sensor’s TRIG and ECHO pins

were connected to the digital pin sockets numbered 7 and 8 respectively, while the

two reflectance output pins were on the analog sockets numbered 0 and 1

respectively. Other pins of the sensors were connected on the 5 volts and GND pin

socket of the Arduino. The use of motor shield lessen the space needed; the

proponents only plug the Motor shield on the top of the Arduino excluding the Vin

pin since the motor drivers source is different from the Arduino’s source. It is

because the current that is needed by the DC motor cannot be handled by the

Arduino’s current regulator which made the first Arduino of the proponent

damaged and cannot be used at the same time. The Pololu DC motors were

connected to the motor shield in which the commands or code passes through from

the Arduino.

17
B. WIRING DIAGRAM

Figure 1: Schematic / Wiring Diagram

The circuit and wiring design of the Sumo-bot.

18
VII. PARTS AND COMPONENTS USED

A. PARTS LIST AND DESCRIPTION

Name Specifications
Arduino Uno R3  Microcontroller: ATmega328P
 Operating Voltage: 5V
 Input Voltage: 7-12V
 Input Voltage: 6-20V
 Digital I/O Pins 14 (provide 6 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
 Flash Memory: 32 KB
(ATmega328P)
 SRAM: 2 KB (ATmega328P)
 EEPROM: 1 KB (ATmega328P)
 Clock Speed: 16 MHz
 LED_BUILTIN: 13
 Length: 68.6 mm
 Width: 53.4 mm
 Weight : 25 g
Pololu 2213 DC Motor  Gear ratio: 51.45:1
 No-load speed at 6V: 590 rpm
 No-load current at 6V: 0.07 A
 Stall current at 6V: 1.6 A
 Stall torque at 6V: 0.86 kg·cm
 Max output power at 6V: 1.3 W
 Extended motor shaft: Y
 Motor type: 1.6A stall at 6V
 Max efficiency at 6V: 38 %
 Speed at max efficiency: 490 rpm
 Torque at max efficiency: 0.15 kg·cm
 Current at max efficiency: 0.32 A
 Output power at max efficiency: 0.75
W
 Size: 10 × 12 × 26 mm1
 Weight: 9.5 g
 Shaft diameter: 3 mm2

19
 Ardumoto l289  Logic Control Voltage: 4.5-5.5V
 Motor Supply Voltage: 6-15V
 Max Drive Current: 2A
 Maximum Power Dissipation: 25W
(up to 75 degree Celsius)
 Operating Temperature: -25 degree
Celsius ~ +130 degree Celsius
 Output Duty Range: 0%~100%

Zumo Chassis  Batteries Required: 4 AA batteries

 Size: 98 mm(W) × 86 mm(L) × 39
mm(H)

Pololu QTR-1A Reflectance Sensor  Size: 7.62mm × 12.7mm × 2.54mm

 Weight: 0.2 g2
 Great for edge detection and line
following applications
 Carries a single infrared LED and
phototransistor pair in an inexpensive,
tiny 12.7m × 7.62 mm sensor module
that can be mounted almost anywhere
and is great for edge detection and line
following applications.
 The LED current-limiting resistor is
set to deliver approximately 20-25
mA to the LED when VIN is 5V.

20
HC-SR04 Ultrasonic Sensor  Operating voltage: +5V
 Theoretical Measuring Distance:
20mm to 4500mm
 Practical Measuring Distance: 20mm
to 800mm
 Accuracy: 3mm
 Measuring angle covered: <15°
 Operating Current: <15mA
 Operating Frequency: 40Hz
 Used to avoid and detect obstacles
with robots like biped robot, obstacle
avoider robot, path finding robot etc.

Chassis Cover (Customed)  The front wedge or blade the robot

provides the robots counter attack of
the robot.
 1.2 mm thickness

18650 Li-ion Battery  Battery Type:

ICR 18600 3.7V 2200mAh Li-ion
Rechargeable Battery
 Model:
ICR186503.7V Li-ion Battery
 Voltage: 3.7V
 Storage Voltage: 3.7-3.9V
 Charging Cut-off Voltage: 4.2V
 Discharge Cut-off Voltage: 3.0V
 Capacity: 2200mAh
 Size: 18*65.0mm
 Used to support and sustain the needs
in power of the robot.

21
VIII. SOURCE CODE

#include <QTRSensors.h>

#include <NewPing.h>

#define TRIGGER_PIN 7

#define ECHO_PIN 8

#define MAX_DISTANCE 200

#define NUM_SENSORS 2 // number of sensors used

#define NUM_SAMPLES_PER_SENSOR 4 // average 4 analog samples per

sensor reading

#define EMITTER_PIN QTR_NO_EMITTER_PIN // emitter is controlled by

digital pin 2

// sensors 0 through 5 are connected to analog inputs 0 through 5, respectively

QTRSensorsAnalog qtra((unsigned char[]) {0,1},

NUM_SENSORS, NUM_SAMPLES_PER_SENSOR, EMITTER_PIN);

unsigned int sensorValues[NUM_SENSORS];

22
int pwm_a = 3; //PWM control for motor outputs 1 and 2 is on

digital pin 3

int pwm_b = 11; //PWM control for motor outputs 3 and 4 is on

digital pin 11

int dir_a = 12; //direction control for motor outputs 1 and 2 is on

digital pin 12

int dir_b = 13; //direction control for motor outputs 3 and 4 is on

digital pin 13

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of

pins and maximum distance.

void setup()

Serial.begin(9600);

setupArdumoto();

delay(5000);

23
void loop() {

int distance = sonar.ping_cm(); //ultrasonic

qtra.read(sensorValues); //edge sensor

/*for (unsigned char i = 0; i < NUM_SENSORS; i++)

Serial.println(sensorValues[i]);

Serial.println('\t');*/

if (sensorValues[0] > 26 || sensorValues[1] > 26) {

if (distance > 50) {

cruise();

delay(50);

if (distance <= 50){

hyperDrive();

24
 delay(50);

if (sensorValues[0] <= 26 || sensorValues[1] <= 26) {

fullReverse();

delay(500);

fullStop();

delay(500);

pivotRight();

delay(500);

void setupArdumoto(){

pinMode(pwm_a, OUTPUT); //Set control pins to be outputs

pinMode(pwm_b, OUTPUT);

25
 pinMode(dir_a, OUTPUT);

pinMode(dir_b, OUTPUT);

digitalWrite(pwm_a, LOW); //Initialize all pins as low

digitalWrite(pwm_b, LOW);

digitalWrite(dir_a, LOW);

digitalWrite(dir_b, LOW);

void cruise() {

digitalWrite(dir_a, LOW); //Set motor direction, 1 high, 2 low

digitalWrite(dir_b, HIGH); //Set motor direction, 3 low, 4 high

analogWrite(pwm_a, 127); //Set both motors to run at 50% duty cycle

analogWrite(pwm_b, 127);

void hyperDrive() { //full speed forward

digitalWrite(dir_a, LOW); //Set motor direction, 1 high, 2 low

26
 digitalWrite(dir_b, HIGH); //Set motor direction, 3 low, 4 high

analogWrite(pwm_a, 255); //Set both motors to run at 100% duty cycle

(full speed)

analogWrite(pwm_b, 255);

void fullReverse() { //full speed backward

digitalWrite(dir_a, HIGH); //Set motor direction, 1 low, 2 high

digitalWrite(dir_b, LOW); //Set motor direction, 3 high, 4 low

analogWrite(pwm_a, 127); //Set both motors to run at 50% duty cycle

(half speed)

analogWrite(pwm_b, 127);

void pivotRight() {

digitalWrite (dir_a,HIGH); //Set motor direction, 1 low, 2 high

digitalWrite (dir_b,HIGH); //Set motor direction, 3 high, 4 low

analogWrite(pwm_a, 153); //Set both motors to run at 60% duty cycle

analogWrite(pwm_b, 153);

27
}

void pivotLeft() {

digitalWrite (dir_a,LOW); //Set motor direction, 1 low, 2 high

digitalWrite (dir_b,LOW); //Set motor direction, 3 high, 4 low

analogWrite(pwm_a, 153); //Set both motors to run at 60% duty cycle

analogWrite(pwm_b, 153);

void fullStop() //stop

{ digitalWrite(dir_a, HIGH); //Set motor direction, 1 low, 2 high

digitalWrite(dir_b, LOW); //Set motor direction, 3 high, 4 low

analogWrite(pwm_a, 0); //Set both motors to run at 0% duty cycle (full

stop)

analogWrite(pwm_b, 0);

28
IX. OPERATIONAL PROCEDURE

1. Turn on the mobile robot by switching the toggle switch at the back of the robot,

bottom right. (See figure below)

2. After turning on the robot, let it stay on the Sumo ring until it finds it opponent;

it is because it is autonomous. (See figure below)

29
3. The robot continuously roam around the Sumo ring until it senses its opponent,

by the time it finds its opponent it will move towards the target at a max speed.

(See figure below)

4. It will push its opponent until the other robot move outside the Sumo ring, that

will prevail the winner of the robot sport. (See figure below)

30
 5. The process will be repeated depending on how many rounds the competition

needs, this will depend on the rules and regulation of the Sumo-bot competition

that you were planning to join.

X. BILLS OF MATERIALS

Qty. Unit Description Unit Price Amount

1 Pc Arduino Uno R3 (Original) ₱1,159.00 ₱1,159.00

1 Pc Arduino Uno R3 (Clone) ₱400.00 ₱400.00
1 Set 3 x 20 Stand offs screw ₱55.00 ₱55.00
1 set 3 x 10 Stand offs screw ₱45.00 ₱45.00
2 Pcs Micro Metal ₱689.00 ₱1,378.00
1 Set Zumo Chassis Kit ₱905.00 ₱905.00
2 Pcs Reflectance Sensors ₱199.00 ₱398.00
1 Pc Arduino Motor Driver ₱359.00 ₱359.00
1 Pc Breadboard with Slot ₱265.00 ₱265.00
1 Pc Ultrasonic Ranging Sensor ₱139.00 ₱139.00
1 Pc Chassis Cover ₱350.00 ₱350.00
2 Pcs 5 meters Solid Wires ₱20.00 ₱40.00
2 Pcs 4 meters Stranded Wires ₱16.00 ₱32.00
1 Pc 18650 Li-ion battery holder – 2 Cell ₱49.75 ₱49.75
2 Pcs 18650 Li-ion battery ₱119.75 ₱239.50
1 Pc 9 Volts Energizer Battery ₱209.75 ₱209.75
1 Pc 9 Volts Battery Holder ₱15.00 ₱15.00
4 Pcs 1.5 Volts AA Battery ₱16.00 ₱72.00
1 Pc. Sintra Board ₱90.00 ₱90.00
Total: ₱ 6021.00

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XI. CONCLUSION

The proponents managed to conduct several tests, trial and error, and calibrating

using the prototype which helps the proponents in concluding the following:

The proponents were able to design a mobile robot that will sense its surrounding

through searching, wherein it will sense its opponent from a distance in front of it.

The proponents were able to design a mobile robot that can detect, avoid and

reverse from the white boundary lines of the Sumo ring and the robot will be on search

mode whenever it is inside the black surface of the Sumo ring.

The proponents were able to design a mobile robot that will move around the Sumo

ring and will push its opponent when detected, outside the ring with its full speed.

Finally, the proponents were able to design and develop a mobile robot that is fully

autonomous and not remote controlled in any fashion, reenacts the sport called Sumo, sense

its opponent and detect and remain inside the Sumo ring efficiently.

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XII. RECOMMENDATION

For the future researchers, who have interest and audacity to further improve the

study about mobile robots with the help of sensor system and automation, the proponents

recommend the following for the amelioration of the study.

XIII. APPENDICES

Robots Specification:

Weight: 431.7 grams

Length: 161 mm

Width: 100mm

Battery: 18650 Li-Ion 2x, 9v Alkaline Battery

Experimental tests on the sensors used:

33
 Table 1: Ultrasonic Sensor Testing

Trial Actual Distance Monitored Distance % Error

(cm) (cm)
1 30 31 3.333
2 45 44 2.222
3 50 48 4
4 65 66 1.539
5 70 69 1.4286
6 85 84 1.1765
7 90 91 1.1111
8 100 100 0
9 105 106 0.952
10 120 117 2.5
The minimal percentage error (lower than 5%) proves that the device (Ultrasonic

sensor) used can give a reliable use in order for the prototype to sense its opponent from

a distance.

Table 2: QTR / IR Sensors (Reflectance Sensor) Testing

Object observed QTR 1 (pin 0/Analog) QTR 2 (pin 1/Analog)

White part of the Tarpaulin 26 25
(room lighting)
White part of the Tarpaulin 24 23
(day lighting)
Bond paper (white) 20 21
Sintra board (white) 26 24
White plastic Bag 60 62
Inside ring (black): room 637 653
lighting
Inside ring (black): day 744 745
lighting
Electrical tape (black) 1003 1005
Matte black case 675 685
Black leather 576 566
Digital value 1 is equivalent to 1023 Analog value.

The testing is used to calibrate and get the analog value which will be used in

coding the prototype; the value will set what will the robot act once it senses that the

34
surface its moving in is outside the condition that is set on the program it will jump in to

another condition.

Table 3: QTR Detection Testing (Sumo ring color detection response)

Equivalent numerical value: Detected = 1; Not Detected = 0

White (Outside ring) Black(Inside ring)

Trial Output Trial Output
1 1 1 1
2 1 2 1
3 1 3 1
4 1 4 1
5 1 5 1
6 1 6 1
7 1 7 1
8 1 8 1
9 1 9 1
10 1 10 1
This table shows the reliability and accuracy of the QTR sensor when it is tested on

the ring; if it will respond once it enters the Sumo ring (Black colored) and when it attempt

to move out of the Sumo ring (White color).

Experimental tests pictures (Sensor testing)

QTR / IR Sensor using 4 sensors on the left and a single sensor on the right.

35
QTR sensor’s analog values: test in different types of object and light condition.

36
 Ultrasonic sensor testing.

Distance values where the Ultrasonic sensor reacts on a distant object at different

37
 The proponents’ discussion about the design and material that will be used on the

prototype

Coding and analyzing the commands and strategy that will be given to the Sumo-bot.

Working on the hardware of the Sumo-bot.

38
Soldering of wires, on the design of the Sumo-bot.

39
The raw and partial design of the Sumo-bot

40
The finished product; A fully autonomous mini Sumo-bot

41
 Last troubleshooting and testing of the prototype

Dry run, observing the Sumo=bot’s movement on the Sumo ring

Data Sheets of the Components Used:

PRODUCT DATASHEET
1-800-383-7323USA/CAN
www.energizer.com

ENERGIZER 522 9V

Specifications

Classification: Alkaline

Chemical System: Zinc-Manganese Dioxide (Zn/MnO2) No

added mercury or cadmium
Designation: IEC-6LF22 ANSI-1604A

42
 Nominal Voltage: 9.0 volts

Industry Standard Dimensions Operating Temp:

Typical Weight:
-18°C to 55°C
45.0 grams (1.58 oz.)
mm (inches)
Typical Volume: 21.1 cubic centimeters

CLOCK RADIO TOY

620 ohm 2 hrs/day 270 ohm 1 hr/day

10.0 10.0
9.0 9.0
8.0 8.0
7.0 7.0
6.0 6.0
5.0 5.0
0 10 20 30 50
40 60 0 6 12

18 24

Service (hours)
10.0 Service (hours)

9.0
ACCELERATED SMOKE DETECTOR

8.0 10K/620 ohm 1 sec/hr pulse

7.0
0 6 12 18 24 30

XIV. CURICULUM VITAE

Dan Marlo S. Bautista

Telephone:
Cellphone: +63-906-542-9935
Email: dann8@rocketmail.com
Address: Block 35 Lot 4 Phase 2 Soldiers Hills 4, Molino 6 Bacoor, Cavite
Birthday: April 2, 1993
Age: 25

OBJECTIVES

To be able to use and enhance my skills academically and professionally as well as

learn more from exposure to more challenging activities

TECHNICAL SKILLS

43
· Basic knowledge in Multimedia Applications
· Microsoft Office (MS Word, PowerPoint, Excel)
· Adobe Photoshop
· Basic knowledge in Coding, and Designing

PERSONAL SKILLS

· Good communication skills both written and oral

· Ability to work independently or as part of a team
· Responsible for all the task assigned

EDUCATIONAL ATTAINMENT
Elementary : Immaculada Concepcion Colleges – Bacoor, Cavite
SY: 2000-2004
High School : Immaculada Concepcion Colleges – Bacoor, Cavite
SY: 2004-2008
College : University of Perpetual Help System Dalta
Alabang-Zapote Road, Pamplona 3, Las Piñas City
SY: 2013- Present

Jefferson Rey S. Flores

Telephone:
Cellphone: +63-935-804-4325
Email: shortone.flores@gmail.com
Address: Block7 Lot36 Phase1 Arcadia Veraville Dulong Bayan Bacoor
Cavite City
Birthday: July 28, 1998
Age: 20

OBJECTIVES

To be able to acquire new skills

TECHNICAL SKILLS

· Basic knowledge in Multimedia Applications (Video and Music Editing)

· Knows how to use Microsoft Office Programs (MS Word, PowerPoint)
· Basic knowledge in using CAD programs (Catia)

44
PERSONAL SKILLS

· Ability to communicate with people properly and can speak English, Tagalog and
Cebuano
· Knows time management and prioritizing
· Good as independent worker or as a part of a team.

EDUCATIONAL ATTAINMENT
Elementary : MRPS Center, Molave
Molave, Zamboanga del Sur
SY: 2005-2008
: Escuela La Madrid Of Cavite
Bacoor City, Cavite
SY: 2008-2011
: St. Michael’s Institute
Bacoor City, Cavite
SY: 2010-2011
High School : St. Michael’s Institute
Bacoor City, Cavite
SY: 2011-2015
College : University of Perpetual Help System Dalta
Alabang-Zapote Road, Pamplona 3, Las Piñas City
SY: 2015- Present

Christian Rhoie C. Colibao

Telephone:
Cellphone: +63-918-659-7533
Email: chrhoie04@gmail.com
Address: 474 Ubas St. Manuela 4B Pamplona 3, Las Piñas City
Birthday: March 21, 1999
Age: 19

OBJECTIVES

To be able to enhance my educational and professional skills and to solve problems

in a creative and effective manner in a challenging position

TECHNICAL SKILLS

· Basic knowledge in Multimedia Applications

· Microsoft Office (MS Word, PowerPoint, Excel)

45
· Basic knowledge in Coding, and Designing

PERSONAL SKILLS

· Good communication skills both written and oral

· Doing manner works with timely
· Ability work independently or as part of a team
· Responsible for all the task assigned

EDUCATIONAL ATTAINMENT
Elementary : Doña Manuela Elementary School
Las Piñas City
SY: 2004-2011
High School : Las Piñas East National Highschool
Las Piñas City
SY: 2011-2015
College : University of Perpetual Help System Dalta
Alabang-Zapote Road, Pamplona 3, Las Piñas City
SY: 2015- Present

Kemp Ralhp O. Bolivar

Telephone:
Cellphone: +63-918-659-7533
Email: kempralhp24@gmail.com
Address: 2439 Mindanao St. CAA, Las Piñas City
Birthday: November 29, 1998
Age: 19

OBJECTIVES

To be able to enhance my educational and professional skills and to solve problems

in a creative and effective manner in a challenging position

TECHNICAL SKILLS

· Basic knowledge in Multimedia Applications

· Microsoft Office (MS Word, PowerPoint, Excel)

46
· Basic knowledge in Coding, and Designing

PERSONAL SKILLS

· Good communication skills both written and oral

· Doing manner works with timely
· Ability work independently or as part of a team
· Responsible for all the task assigned

EDUCATIONAL ATTAINMENT
Elementary : CAA Elementary School
Las Piñas City
SY: 2006-2010
High School : CAA National Highschool Main
Las Piñas City
SY: 2010-2014
College : University of Perpetual Help System Dalta
Alabang-Zapote Road, Pamplona 3, Las Piñas City
SY: 2014- Present

Joseph Matthew M. Lozada

Telephone: 822-71-39
Cellphone: +63-9277621659
Email: josephlozada.becquerel@yahoo.com
Address: 401 Real Street, Pulanglupa Uno,
Las Piñas City
Birthday: November 26, 1998
Age: 19

OBJECTIVES

To assimilate software and hardware technologies for the betterment of the

organization.

TECHNICAL SKILLS

· Computer hardware knowledge

· Microsoft Office (Word, Excel, Powerpoint)

47
· Basic knowledge in video editing (Sony Vegas Pro)
· Hardware support (Audio devices)

PERSONAL SKILLS

· Good in social interaction

· Time management
· Determination and Persistence
· Adaptability

EDUCATIONAL ATTAINMENT
Elementary : La Purisima Concepcion Academy of Malabon
179 Arellano Street, Concepcion, Malabon City, Metro Manila
SY:2004-2006
Bernardo College
Perpetual Village II, Pulang Lupa I, Las Piñas City
Metro Manila, Philippines 1742
SY: 2006-2010
High School : University of Perpetual Help System Dalta
Alabang-Zapote Road, Pamplona 3, Las Piñas City
SY: 2010-2012

Bernardo College
Perpetual Village II, Pulang Lupa I, Las Piñas City
Metro Manila, Philippines 1742
SY: 2012-2014

College : Philippine Christian University

1648 Taft Avenue, cor Pedro Gil St, Malate, Manila,
Metro Manila, Philippines
SY: 2014-2016

University of Perpetual Help System Dalta

Alabang-Zapote Road, Pamplona 3, Las Piñas City
SY: 2016- Present

48