Functional Specifications Document
Robot Soccer
ECEn 490 - Senior Project
Aperture Science
Aaron Swenson (Leader)
Samuel Farnsworth
Derek Stewart
Craig Call
TABLE OF CONTENTS
Introduction………………………………….…...... 3
Project Description……………………….…………….…….. 3
Project Requirements…………………………...……….………. 4
Project Specifications………………………………….…………. 4
Linking Project Specifications and Needs..……………………. 5
Conclusion………………………………………………………… 6
Introduction
This document describes the functional specifications for the robot soccer project designed and implemented by Team Aperture Science, winter 2015. The team members include Aaron Swenson (team leader), Derek Stewart, Craig Call, and Samuel Farnsworth (team members). This document consists of:
● Project Description
● The Project Requirements
● The Project Specifications
● Linking Customer Needs and Specifications
● Conclusion/Final Remarks
Project Description
Robot Soccer is a senior design course at Brigham Young University. The course description, simply stated, is to build a robot with certain constraints that can effectively play soccer against other robots. The class is divided into 7 teams, each consisting of about 4 people. The roles of each person on the team fall into the following divisions: Mechanical, AI, Robot Vision, and Control. The team was broken up as follows (primary, secondary):
● Mechanical: Aaron, Derek
● Motion: Sam, Aaron
● AI: Craig, Sam
● Vision: Derek, Craig
The teams were first responsible for programming algorithms for a MATLAB based simulator
Project Requirements
Our primary customers for robot soccer would be our professors. However, if the designs were good enough, and the rules maintained, an official robot soccer league would be our customer as well. For the time being, we will assume our customers are only our professors.
We have been given a set of requirements from our customers that we must maintain in order to compete in any tournament. The table below shows the requirements given to us from an external wiki page. They have been prioritized as high, medium, and low.
# / Customer Requirement / Priority1 / Robots are not to be too large / medium
2 / All robots must be fully autonomous using mostly on-board resources / high
3 / Vision processing is the only computation allowed off-board / high
4 / The ball in play must be a standard sized golf ball / low
5 / The robots must play in a wood constructed field / low
6 / There are two robots allowed and each must wear a colored triangle / medium
7 / Robots cannot damage other robots / high
8 / Robot parts cannot fall on the field / medium
9 / Robots cannot fix the ball to their bodies / low
10 / Robots cannot use adhesives to dribble the ball / low
Table 1: Customer Requirements and Priorities
Project Specifications
The objective of the assignment is to develop and showcase two small, compact robots that can autonomously position itself in a small soccer field, identify and locate the small soccer ball and maneuver around opponent robots to score as many goals as possible. Given the competitive nature of the assignment, product specifications will be chosen to perform approximately the same as other teams in some aspects of the assignment while outperforming the competition in other areas.
Robot specifications will include the following:
play time (battery life),
top speed,
the number of wheels.
Most of these specifications are consistent across the competition with the other teams as we are all using the same base system and thus are not distinguishing features of our design.
Mission directed specifications include the following:
Artificial Intelligent Algorithms and
robot size.
In this category we have more freedom to choose allowing us to set ourselves apart. We will seek a medium range of communication, a high resolution camera, and we will keep the robot size and power consumption to a minimum to increase the play time. The primary defining factor of our team will be the efficacy of our Artificial Intelligence algorithms.
Linking Project Specifications and Needs
We can measure each of the needs and specifications detailed above by the use of metrics. Each metric found in table 2 provides a benchmark for every aspect of our project that is critical for mission success. Table 3 shows exactly how each metric aligns with the interpreted customer needs.
# / Metric / Min/Max Value / Ideal Value1 / Total cost of additional parts / < 150 USD / < 50 USD
2 / Play time / 15 min / 25 min
3 / Hardware platform / 3 wheels / robot / 3 wheels / robot
4 / Overall size of system / < 160π in3 / < 100π in3
5 / Robot weight / < 10 lbs / < 5 lbs
6 / Top speed / 12 in/sec / 16 in/sec
7 / Total power consumption / < 50 W / < 40 W
8 / Communication type / Wi-Fi / 3G/4G
9 / Radius of Communication / 10 m / 20 m
10 / Camera Resolution / 640 X 480 / 720p
11 / Camera Frame Rate / 20 frames/sec / 30 frames/sec
12 / RF emissions / < 20 W eff / < 10 W eff
13 / Positional error radius / 2 cm / 1 cm
Table 2: Metrics of project requirements
1 / 2 / 3 / 4 / 5 / 6 / 7 / 8 / 9 / 10 / 11 / 12 / 13Functional Soccer-Playing Robot / X / X / X / X / X / X
Real-Time Data from Image Proccesing PC / X / X / X / X / X / X
Autonomous Movement, Feedback Controlled / X / X
Low Cost / X
Table 3: Correlation between interpreted customer needs and specified metrics (numbers correspond to the metrics found in table 2)
Conclusion
Our primary objective for this project is to design a robot that effectively plays soccer autonomously against other robots, while cooperating with robots on the same team. The specifications were thought out and based on what we believe our robot will and should be capable of by the end of the semester. Some specifications were limited by current technology, and others by time constraints. We hope to provide a basis for other teams to move forward with this project in the future, expanding on the concepts that we developed and implemented.