DESIGN, DEVELOPMENT, AND IMPLEMENTATION

OF AN ARDUINO BASED SUMO FIGHTING ROBOT

A SENIOR PROJECT PROPOSAL SUBMITTED TO THE

DEPARTMENT OF ELECTRICAL ENGINEERING & RENEWABLE ENERGY
OF THE SCHOOL OF ENGINEERING, TECHNOLOGY, AND MANAGEMENT AT THE
OREGON INSTITUTE OF TECHNOLOGY
IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF
BACHELOR OF SCIENCE
IN
RENEWABLE ENERGY ENGINEERING

MATAR ALDHAHERI

© December 2023
 SENIOR PROJECT APPROVAL PAGE
The senior project of MATAR ALDHAHERI for the Bachelor of Science degree was
accepted by the evaluation committee and the Department of Electrical Engineering &
Renewable Energy at the Oregon Institute of Technology.

COMMITTEE APPROVALS:

____________________________________________________________
Dr. Feng Shi, Assistant Professor (Oregon Institute of Technology)

____________________________________________________________
Reviewer 2 (Oregon Institute of Technology)

____________________________________________________________
Reviewer 3(Oregon Institute of Technology)

____________________________________________________________
Reviewer 4

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 ABSTRACT

The Arduino Sumo Robot project embodies a groundbreaking and budget-friendly

method for fostering robotics education and stimulating STEM involvement. The main
goal of this project was to develop a robotics platform that promotes hands-on learning
and competition while being accessible, affordable, and environmentally conscious.
Through the strategic utilization of open-source hardware and software components, the
project has triumphantly engineered a highly adaptable sumo robot that possesses the
remarkable ability to partake in intense competitive clashes. This report offers a thorough
overview of the project, outlining its conceptualization, design, component selection,
construction, programming, and testing stages. The project's timeline is illuminated by
the significant milestones that have been accomplished, underscoring the value of
collaborative efforts and the iterative nature of development. The report also briefly
touches upon potential concerns, including project limitations and the importance of
continuous maintenance and updates.

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LIST OF ACRONYMS

AI Artificial Intelligence
IDE Integrated Development Environment
IR Infrared
PWM Pulse Width Modulation
CAD Computer-Aided Design

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 SUMMARY TABLE OF CONTENTS

CHAPTER 1 INTRODUCTION.................................................................................................8
CHAPTER 2 PROJECT DESCRIPTION...............................................................................10
CHAPTER 3 PROJECT REQUIREMENTS..........................................................................10
CHAPTER 4 PROJECT BUDGET..........................................................................................12
CHAPTER 5 PROJECT TIMELINE......................................................................................13
CHAPTER 6 IMPACT STATEMENT....................................................................................14
CHAPTER 7 SUMMARY.........................................................................................................15

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 TABLE OF CONTENTS

CHAPTER 1 INTRODUCTION.................................................................................................8
. OVERVIEW AND TEAM DEFINITION..............................................................................................8
. PROBLEM DEFINITION AND PURPOSE..........................................................................................8
. PROBLEM SCOPE AND USAGE......................................................................................................8
. SUMMARY OF CONTRIBUTIONS....................................................................................................8
. REPORT OUTLINE.........................................................................................................................8
CHAPTER 2 PROJECT DESCRIPTION...............................................................................10
. OVERVIEW.................................................................................................................................10
. BUSINESS CASE USAGE...............................................................................................................10
. DESIGN OPTIONS AND DECISION MATRIX...................................................................................10
. SUMMARY..................................................................................................................................10
CHAPTER 3 PROJECT REQUIREMENTS..........................................................................10
. OVERVIEW.................................................................................................................................11
. USABILITY AND FUNCTIONALITY...............................................................................................11
. BLOCK DIAGRAM.......................................................................................................................11
. PERFORMANCE/TESTING/RELIABILITY ISSUES............................................................................11
CHAPTER 4 PROJECT BUDGET..........................................................................................12
. SPREADSHEET.............................................................................................................................12
. HIGH COST/LEAD TIME ITEMS.....................................................................................................12
. LABOR COST ESTIMATES............................................................................................................12
. FUNDING SOURCES.....................................................................................................................12
CHAPTER 5 PROJECT TIMELINE......................................................................................13
. OVERVIEW.................................................................................................................................13
. GANTT CHART............................................................................................................................13
. MILESTONES...............................................................................................................................13
. DELIVERABLES AND DEPENDICIES.............................................................................................13
. SUMMARY..................................................................................................................................13
CHAPTER 6 PROJECT IMPACT STATEMENT.................................................................14
. OVERVIEW.................................................................................................................................14
. ENGINEERING ECONOMIC, ENVIRONMENTAL, SOCIETAL IMPACTS............................................14
. INTELLECTUAL PROPERTY ANALYSIS/PATENT SEARCH.............................................................14
. SUMMARY..................................................................................................................................14
CHAPTER 7 SUMMARY.........................................................................................................15
. OVERVIEW.................................................................................................................................15
. PROJECT SUMMARY...................................................................................................................15
. DESIGN PLAN..............................................................................................................................15
. CONCLUDING REMARKS............................................................................................................15

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Introduction

.Overview

This chapter offers a brief overview of the Arduino Sumo Robot project, including its
origins, goals, limitations, and the noteworthy impacts it strives to achieve. In this
endeavor, I, Matar Aldhaheri, have undertaken the responsibility of overseeing the
project's ideation, development, execution, and record-keeping. This chapter establishes
the groundwork for comprehending the project's objectives, difficulties, and the inventive
approaches put forth to tackle them.

As the sole contributor to this project, I, Matar Aldhaheri, bring a unique combination of
skills and expertise. My background in robotics, programming, and mechanical
engineering forms the backbone of this project. My proficiency in Arduino-based
systems, experience with sensor integration, and passion for innovative robotic solutions
drive the project's development. My role encompasses every aspect of the project – from
initial design and electronic circuitry to software development and final testing.

.Project Definition/Purpose

The primary objective of the Arduino Sumo Robot project is to design and build an
autonomous robotic system capable of competing in a sumo wrestling-like competition.
This robot is not just a mechanical entity; it symbolizes the integration of artificial
intelligence, mechanical robustness, and strategic agility. Key specifications include
adherence to size and weight limitations, responsiveness to environmental cues, and the
ability to execute complex tactical maneuvers. The robot must intelligently navigate a
defined arena, identify and outmaneuver opponents, all while remaining within the
combat zone, showcasing a perfect blend of power, precision, and intelligence.

.Project Scope

The project's scope includes the utilization of Commercial Off-The-Shelf (COTS)

components as well as innovative design elements. Although the core computing unit,
sensors, and motor drivers are obtained from easily accessible components, the real
ingenuity lies in the innovative design and seamless integration of these elements. The
project aims to develop a unique sumo robot, not only by assembling different
components but also by implementing creative design strategies that effectively address
the challenging requirements of robotic combat. The amalgamation of commercially

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available off-the-shelf (COTS) components alongside meticulously crafted bespoke
elements underscores the project's unwavering commitment to pragmatism, ingenuity,
and unwavering mastery of technical prowess.

.Summary of Contributions

The Arduino Sumo Robot project serves as a remarkable example of the immense
possibilities that arise from personal ingenuity within the realm of robotics. It enhances
the comprehensive comprehension of how robotics can be employed in competitive
environments, amalgamating the tenets of mechanical design, electronic engineering, and
software programming. Designed for individuals passionate about robotics, education,
and AI, this initiative acts as a prototype showcasing the tangible implementations of
abstract ideas within a vibrant and cutthroat setting. Furthermore, it provides invaluable
perspectives on troubleshooting and the seamless amalgamation of systems, crucial
proficiencies for future roboticists and engineers.

.Report Outline

The report is structured to provide a detailed account of the project’s journey from
conception to completion. It begins with a thorough introduction and background,
followed by an in-depth discussion of the design and development phases, encompassing
hardware and software aspects. The subsequent chapters focus on the testing,
troubleshooting, and refinement processes, highlighting key challenges and solutions.
The report culminates with a comprehensive analysis of the project's performance in a
competitive setting, reflections on the project's outcomes, and recommendations for
future enhancements. This structure ensures a coherent and holistic understanding of the
Arduino Sumo Robot project.

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Chapter 2 Project Description

.Overview

In Chapter 2, the Arduino Sumo Robot project is thoroughly explored, providing an

intricate portrayal of its execution, potential consequences, and the intended beneficiaries
of this undertaking. This chapter serves as the central storyline of the project, providing
insights into the different aspects that contribute to the Arduino Sumo Robot being more
than just a technological creation, but also a highly beneficial resource in educational and
competitive domains. It encompasses the project's business case, emphasizing its
practicality, appeal, and utility to a wider range of individuals.

.Business Case Usage

The Arduino Sumo Robot project is positioned to benefit a diverse group of individuals
and institutions. It finds its primary audience among educational institutions, particularly
those focusing on STEM (Science, Technology, Engineering, and Mathematics)
education. By demonstrating the practical applications of robotics, programming, and
mechanical engineering principles, the project serves as an excellent tool for hands-on
learning and inspiration. Additionally, robotics enthusiasts and hobbyists will find value
in the innovative design and implementation of the robot, offering insights into advanced
robotics concepts and DIY (Do-It-Yourself) project development. Moreover, the project
has significant appeal in competitive robotics leagues, showcasing the potential of
custom-built robots in an engaging and challenging environment. This diverse appeal
ensures that the Arduino Sumo Robot project is not just an academic or hobbyist
endeavor but a multifaceted platform that merges education, entertainment, and practical
engineering.

.Design Approach
.Introduction to the Design Approach
The design approach for the Arduino Sumo Robot project was meticulously planned,
focusing on creating a robust, efficient, and competitive robot within the constraints of
sumo wrestling parameters. This approach was multifaceted, encompassing mechanical
design, electronic circuitry, and software programming. The primary objective was to
build a robot that was not only technically sound but also strategically adept in a
competitive setting.

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.Conceptualization and Preliminary Design
The initial stage of the design process involved brainstorming and conceptualizing
various designs. This phase included extensive research into existing sumo robot designs,
understanding the limitations and requirements of sumo robot competitions, and
identifying the key components such as motors, sensors, and control units. Various
design options were sketched, with attention to the robot's size, weight, mobility, sensor
placement, and aesthetic appeal.

.Decision Matrix for Design Selection

To select the most viable design, a decision matrix was employed. This matrix evaluated
each design option against multiple criteria, including:

Maneuverability: How well the robot could move and react in the sumo ring.
Stability: The robot's ability to maintain balance during combat.
Sensor Integration: The effectiveness of sensor placement for detecting opponents and
boundaries.
Cost: The overall expense involved in building the robot.
Build Complexity: The level of difficulty in constructing the robot.
Aesthetics: The visual appeal of the robot.
Each criterion was assigned a weight based on its importance. The designs were then
rated on a scale from 1 to 10 for each criterion, with 10 being the highest. The weighted
scores were calculated for each design, and the design with the highest total score was
selected for further development.

.Detailed Design Development

The selected design was further refined to enhance its functionality. This involved:

 3D Modeling: Creating detailed CAD models to visualize the robot's structure.

 Component Selection: Choosing the right motors, sensors, and microcontrollers
that fit the design requirements and budget.
 Sensor Placement: Strategically positioning sensors for optimal performance.
 Material Selection: Selecting materials that provided the right balance of strength
and weight.

.Electronic and Software Design

Circuit Design: Developing a schematic diagram for wiring and connections between the
Arduino, sensors, and motors.

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Software Development: Writing and testing code to control the robot's movements,
sensor inputs, and tactical decision-making.

.Prototyping and Iterative Development

A prototype was built based on the detailed design. This prototype was subjected to
multiple tests to evaluate its performance and to identify areas for improvement. The
design was iterated based on the test results, with modifications made to the mechanical
structure, electronic circuitry, or software as needed.

.Final Design Confirmation

After several iterations and refinements, the final design was confirmed. This design
effectively combined maneuverability, stability, sensor accuracy, aesthetic appeal, and
cost-effectiveness. It represented a culmination of careful planning, rigorous testing, and
innovative engineering.

.Integration of Advanced Technologies

In advancing the design approach, consideration was given to integrating cutting-edge

technologies to enhance the robot's capabilities. This included exploring the use of
machine learning algorithms for strategic decision-making and the incorporation of more
advanced sensor technologies, such as LIDAR (Light Detection and Ranging) for more
precise distance measurement and environmental mapping. The feasibility of using
wireless communication for real-time data monitoring and performance adjustment was
also considered.

.Modular Design Philosophy

A modular design philosophy was adopted to facilitate ease of upgrades and

maintenance. This approach allowed for individual components of the robot, such as the
sensor array or the motor system, to be independently developed, tested, and replaced if
needed. This modularity was crucial in enabling rapid prototyping and iterative testing,
allowing for specific subsystems to be refined without the need to reconstruct the entire
robot.

.Energy Efficiency and Power Management

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Special attention was devoted to the robot's energy efficiency and power management.
This involved selecting a power source that offered an optimal balance between weight
and capacity, as well as designing an electronic circuit that minimized power wastage.
The use of energy-efficient motors and the implementation of a power management
algorithm in the robot's software were key considerations to enhance battery life and
ensure consistent performance throughout a match.

.User Interface and Control

To facilitate user interaction and control, a user-friendly interface was planned. This
interface would allow users to customize settings, monitor the robot's status, and
manually override autonomous functions if necessary. The interface was designed to be
intuitive, providing essential information at a glance and ensuring ease of use for
operators with varying levels of expertise.

.Custom Component Fabrication

For certain parts of the robot, custom fabrication was deemed necessary to meet specific
design requirements. This included 3D printing of certain structural components and
custom PCB (Printed Circuit Board) design for electronic integration. These custom
components were designed to fit precisely within the robot's framework, optimizing
space utilization and ensuring seamless integration of electronic and mechanical systems.

.Design for Durability and Maintenance

Understanding the rigorous conditions of sumo robot competitions, the design was
tailored for durability. Materials were selected based on their strength-to-weight ratio,
and components were tested for impact resistance. The design also considered ease of
maintenance, with accessible compartments and connectors for quick repairs and
component replacements during competitions.

.Simulation and Virtual Testing

Before physical prototyping, virtual simulations were conducted to predict the robot's
performance. These simulations included stress tests, dynamic analysis, and virtual
combat scenarios. This step was crucial in identifying potential weaknesses and making
adjustments to the design before incurring the costs of physical prototyping.

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.Safety Considerations

Safety was a paramount consideration in the design process. This included implementing
fail-safes in the software to prevent erratic behavior, designing secure enclosures for
electronic components, and ensuring that all moving parts were shielded to prevent injury
during operation and handling.

.Environmental Impact and Sustainability

In line with sustainable engineering practices, the environmental impact of the robot was
considered. This involved selecting recyclable or biodegradable materials where possible,
designing for energy efficiency, and considering the robot's lifecycle, from
manufacturing to disposal.

.Compliance with Competition Rules

Throughout the design process, strict adherence to the competition rules was maintained.
This included confirming that the robot met size and weight specifications, ensuring that
the sensors and tactics employed were within the allowed parameters, and verifying that
the robot's design did not violate any competition guidelines.

.Final Design Evaluation

The final design was evaluated against a comprehensive set of criteria, extending beyond
the initial decision matrix. This included performance metrics such as speed, agility,
sensor accuracy, and strategic effectiveness in simulated combat scenarios. Feedback
from potential users and experts in robotics was also sought to further refine the design.

.Summary

The design approach for the Arduino Sumo Robot project was an exhaustive and
meticulous process that balanced technical excellence with practical considerations. By
incorporating advanced technologies, adopting a modular design, focusing on energy
efficiency, and ensuring safety and sustainability, the project aimed to develop a robot
that was not only competitive in sumo wrestling contests but also a showcase of
innovative engineering and design thinking. The iterative process, guided by simulation,
user feedback, and continuous evaluation, ensured that the final product was a
culmination of cutting-edge technology, strategic design, and user-centric development.

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Chapter 3 Project Requirements

.Overview

Chapter 3 of the project report is devoted to clarifying the project prerequisites for the
Arduino Sumo Robot. The document will cover the necessary functional and usability
requirements, an in-depth examination of the block diagram that illustrates the system
architecture, and a thorough evaluation of performance, testing, and reliability
considerations. This chapter plays a crucial role in establishing the technical requirements
and operational standards for the project, laying the foundation for the subsequent design
and implementation stages.

.Usability and Functional Description

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 center of gravity, thereby minimizing 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 maneuver 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
minimizing 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 acclimatize 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.

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Additionally, the design incorporates resilient motor systems to facilitate forceful yet
regulated motions. The motors are carefully selected and strategically placed to optimize
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 maneuver, 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 utilized 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
minimizing 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 1: Conceptual Design of the Arduino Sumo Robot

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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 utilization 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 utilization 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 optimized for competition but also serves as a valuable educational tool for
learning the basics of robotics and engineering.

.Software Design

The software design for the Arduino Sumo Robot prioritizes 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 utilization 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 centimeters. 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

16
greatly facilitates the comprehension of the motor control logic and enables effortless
modifications or adjustments to the robot's behavior.

The utilization 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
prioritizes thorough testing and problem-solving. This forward-thinking implies a
software design that is not just pragmatic for instant utilization but also organized for
future improvements and meticulous adjustments in the sumo domain.

In general, the software design effectively combines assertive combat tactics with
strategic maneuvering 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.

.Hardware Design

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 energizing the DC motors. The
motors play a crucial role in facilitating the robot's mobility, allowing for rapid
alterations in trajectory and resilient maneuvers 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.

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 Figure 2: 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.

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 Figure 3: Hardware Schematic Blueprint of Arduino Sumo Robot

.Block Diagram and Interfaces

.Introduction to System Architecture
The block diagram for the Arduino Sumo Robot serves as a schematic representation of
the system’s architecture, delineating the interactions between the robot's subsystems and
components. It outlines the flow of information and power, depicting how each part
contributes to the robot's overall functionality. The subsystems identified in the diagram
include the enemy and line sensors, microcontroller board, motor driver, motors, and
power supply.

.Enemy Sensors
The enemy sensors, typically a combination of ultrasonic and infrared sensors, are
responsible for detecting the presence and distance of the opponent robot. Ultrasonic
sensors emit sound waves and measure the time it takes for the echoes to return, whereas
infrared sensors detect light from the infrared spectrum, determining the opponent's
position based on light reflection. These sensors provide real-time data to the
microcontroller, informing it of the enemy's location and allowing the robot to execute
appropriate offensive or defensive maneuvers.

.Line Sensors
Line sensors are critical for boundary detection. They use infrared light to differentiate
between the contrasting colors of the dohyō (sumo ring). When a line sensor crosses from
the dark area of the ring to the lighter boundary, it triggers a response from the
microcontroller to steer the robot back into the combat area, preventing a ring-out.

.Microcontroller Board
The microcontroller board is the command center of the robot. In this design, an Arduino-
based board is used, which interprets the signals from the enemy and line sensors to make
decisions. It runs the main control algorithm, which encompasses movement strategies
and reactions to sensor inputs. This board processes the sensory data, executes the logic
of the robot's sumo wrestling strategy, and sends commands to the motor driver.

.Power Supply
The power supply subsystem consists of a battery that provides the necessary electrical
energy to all the robot's components. It is connected to the microcontroller board and the
motor driver, ensuring that both the logic and motion components have a steady and

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sufficient power source. The battery choice, typically a lithium-polymer for its balance of
energy density and weight, is crucial to the robot's performance and operational time.

.Motor Driver
The motor driver receives commands from the microcontroller board and regulates the
power supplied to the motors. It controls the direction and speed of the motors based on
the signals received from the microcontroller. The driver can reverse the polarity of the
voltage applied to the motors for direction change and modulate the voltage to adjust
speed, employing techniques such as Pulse Width Modulation (PWM).

.Motors
The motors are the actuators of the robot, directly responsible for its movement. They
convert the electrical energy from the battery into mechanical energy. In this system, two
motors are used, typically DC motors known for their reliability and efficiency. The
motors enable the robot to move forward, backward, rotate, and execute other maneuvers
dictated by the control strategy.

.System Integration
The integration of these subsystems is paramount for the robot's functionality. The
sensors act as the robot's eyes, providing critical information about the environment. The
microcontroller serves as the brain, processing information and making decisions. The
motor driver acts as the nervous system, sending the microcontroller's commands to the
muscles, which are the motors, thus enabling movement.

.Interface Communication Protocols

The communication between these subsystems is managed through specific protocols.
For instance, the I2C or SPI protocols might be used for sensor to microcontroller
communication, offering a balance of speed and simplicity in wiring. The interface
between the microcontroller and the motor driver is generally managed through GPIO
(General Purpose Input/Output) pins, which are configured to send control signals in a
digital format.

.Power Management
The power management system within the microcontroller board includes voltage
regulation to ensure that all components receive their required voltages. This system
prevents damage from voltage spikes and ensures the longevity of the robot’s electronic
components.

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.Design Considerations
The design of the robot’s electronic system is created with considerations for efficiency,
weight, complexity, and reliability. Components are selected based on their performance
records, availability, and support in the robotics community.

.Performance and Testing

The performance of the Arduino Sumo Robot is gauged across multiple domains: agility,
strength, sensory accuracy, and endurance. Each parameter is crucial for the robot's
success in a competitive sumo wrestling environment.

Agility refers to the robot's ability to execute rapid and precise movements. To measure
agility, the robot undergoes timed drills, navigating through a series of obstacles that
mimic potential in-ring scenarios.

Strength is assessed by the robot's pushing power, its core competency in a sumo match.
This is tested by pitting the robot against a standard weight on various surfaces to
simulate pushing an opponent out of the ring.

Sensory accuracy is crucial for detecting the opponent and the ring's edges. This is tested
by exposing the robot to varying distances and angles to an object, checking for the
consistency and reliability of the sensor readings.

Endurance is evaluated by the robot's battery life and its ability to perform over extended
periods. The robot is operated continuously until battery depletion, noting any
performance degradation as power diminishes.

.Testing Procedures

Testing follows a rigorous and systematic procedure to ensure comprehensive coverage

of all performance aspects. It includes structured lab tests, controlled environment trials,
and live match simulations. Each test is designed to challenge the robot's capabilities and
identify any shortcomings.

Lab tests focus on individual components. Motors are run to their maximum load; sensors
are exposed to different light conditions, and the microcontroller is tasked with complex
decision-making algorithms.

Controlled environment trials place the robot in a mock ring, where it practices pre-
programmed routines. This tests the integration of the robot's systems and its ability to
follow its programming in a predictable environment.

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Live match simulations present the ultimate test, placing the robot in an unpredictable
and reactive environment. Here, the robot's AI is tested against spontaneous scenarios,
requiring real-time analysis and decision-making.

.Reliability Issues

Reliability is a critical factor that is threaded through all phases of testing. The robot must
demonstrate consistent performance over time, with minimal variance between matches.
Issues of wear and tear on mechanical parts, sensor degradation, and electronic
component fatigue are scrutinized.

The robot's firmware and software are also tested for stability. The code must handle
errors gracefully, and the system must recover quickly from unexpected states, such as
sensor failure or motor stalls.

.Mitigating Measures

To address reliability issues, several mitigating measures are incorporated into the design
and testing phases:

Redundancy: Critical systems like sensors have redundant backups to ensure continuous
operation even if one fails.
Error Handling: The software includes comprehensive error handling to manage and
mitigate sensor discrepancies or motor overloads.
Quality Materials: The selection of high-quality materials and components reduces wear
and enhances the robot's lifespan.
Regular Maintenance: A maintenance schedule is established to check and replace worn
components before they fail.

.Performance Enhancements
Performance enhancements are a continuous process, driven by data gathered during
testing. Insights from testing lead to iterative design changes, such as tweaking the sensor
array for better accuracy or adjusting the weight distribution for improved agility.

.Summary

The performance and testing phase is critical in transitioning the Arduino Sumo Robot
from a conceptual design to a competitive entity. Through a series of structured tests, the
robot is evaluated on agility, strength, sensory accuracy, and endurance. Reliability issues
are addressed through redundancy, error handling, and the use of quality materials,

22
ensuring the robot can withstand the rigors of competition. This phase is iterative and
data-driven, with performance enhancements being made continuously based on testing
outcomes.

Chapter 4 Project Budget

.Overview

In this chapter, an elaborate financial analysis is provided for the development of the
Arduino Sumo Robot, outlining the essential elements and their corresponding expenses.
It offers a well-organized financial strategy, covering all the necessary hardware
components including the Arduino Nano and motor drivers, as well as the mechanical
elements like wheels and chassis. The budget has been skillfully designed to guarantee
optimal cost-efficiency while maintaining the exceptional quality and outstanding
performance of the robot. The recommended suppliers are conveniently displayed next to
each product, providing a range of purchasing choices that effectively consider both
affordability and dependability. This all-encompassing financial outline guarantees that
every expense is duly recorded, culminating in a projected overall cost of $133.50 for the
undertaking. The precise breakdown and easily comprehensible expense evaluation
establish the framework for effective project administration and acquisition approach,
harmonizing the project's fiscal trajectory with its technical and educational objectives.

.Approximate Budget

The required equipment for implementation of the Robot is as under:

Table 1. Project Budget Details
Item Quantity Unit Cost Total Cost Suggested
(USD) (USD) Vendor
Arduino Nano 1 $20.00 $20.00 Amazon
L298N Motor 1 $7.00 $7.00 SparkFun
Driver
DC Motors 2 $15.00 $30.00 Adafruit
(12V)
Ultrasonic 1 $3.50 $3.50 Amazon
Sensor (HC-

23
SR04)
IR Sensors 2 $2.50 $5.00 Adafruit
Wheels 2 $4.00 $8.00 RobotShop
Chassis 1 $25.00 $25.00 RobotShop
(Custom)
Battery (9V) 1 $5.00 $5.00 Amazon
Miscellaneous 1 set $10.00 $10.00 Home Depot
(Cables, Screws,
etc.)
Soldering 1 set $20.00 $20.00 Home Depot
Supplies

Total Estimated Cost: $133.50

.High Cost Items

In terms of the financial allocation for the Arduino Sumo Robot, the chassis emerges as a
notable expense, mainly owing to its bespoke characteristics and the requirement for
meticulousness in both conception and production, resulting in a considerable amount of
time required for completion. To minimize the potential negative impacts of delays or
unexpected expenses, it is advisable to explore backup plans that involve the evaluation
of prefabricated alternatives that can be adjusted to meet the specific requirements of the
project. If a custom design is of utmost importance, it is highly recommended to place
your order in advance or cultivate connections with nearby fabricators in order to
minimize any potential delays. Furthermore, the implementation of a versatile design
strategy enables the customization of the framework to utilize readily accessible
resources or elements that can be procured in a more efficient or cost-effective manner.

.Funding Sources

As a student at Oregon University, potential sources of funding for the project include
academic grants, departmental funds specifically allocated for senior projects, or
sponsorships from technology companies interested in educational outreach. The
university may also have partnerships with electronic component suppliers or local
businesses that could provide parts at a discounted rate or in-kind contributions. To fully
fund the project, exploring crowdfunding platforms or conducting fundraising events

24
within the university could garner support from the broader community. The engagement
of alumni in the field of robotics or engineering could be another avenue for financial
support, tapping into their interest in fostering practical learning experiences.

.Summary

The chapter outlines a clear financial framework for the Arduino Sumo Robot project,
identifying key expenses and presenting a well-considered budget. It acknowledges the
challenges posed by high-cost items and presents viable backup strategies to ensure
project continuity. Additionally, it explores a variety of funding sources available to a
student at Oregon University, from institutional to community and industry support,
reflecting a proactive approach to securing the necessary financial resources. This
financial planning is crucial for the smooth execution of the project and underscores the
importance of strategic budget management in achieving project objectives.

Chapter 5 Project Timeline

.Overview

This chapter presents the project workflow for the Arduino Sumo Robot, offering a well-
organized strategy for its implementation. The process involves the initial ideation and
blueprint creation stage, procurement of necessary components, the assembly phase,
coding, rigorous testing and refinement, ultimate readiness for the sumo robot
competition, and the subsequent evaluation and documentation of the project. The
timeline encompasses a comprehensive duration of ten weeks, wherein each phase is
meticulously assigned a distinct timeframe and corresponding activities. This chapter
provides a comprehensive framework for project management, guaranteeing that all
elements of the project are methodically handled within the designated timeframe.

.Timeline

Table 1. Work Flow of the project

Phase Timeframe Activities
Conceptualization & Design Week 1 - Idea generation and
preliminary sketches

25
 - 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 & Week 6 - Last-minute tweaks and
Contest strategy enhancement
- Practice matches

26
 - Competing in the sumo
robot contest
Project Review & Weeks 6-10 - Assembling project
Documentation documentation
- Evaluating project results
against goals
- Final report submission

Figure 1: Gantt Chart of Arduino Sumo Robot

.Milestones

The project's milestones and their corresponding dates are as follows:

Week 1: Conceptualization & Design

Idea generation and preliminary sketches

Choosing components and materials
3D modeling for the final design
Weeks 1-2: Acquisition of Components

Procuring all required components

Checking components upon delivery
Weeks 2-4: Construction Phase

27
Material preparation (cutting, soldering, assembling)
Building the robot's mechanical structure
Fitting electronic parts
Weeks 4-5: Programming

Writing foundational movement and sensor code

Embedding sumo tactics into the software
Code refinement and debugging
Weeks 5-6: Testing & Iteration

Testing for movement precision and sensor accuracy

Strategy trials in a simulated arena
Repeated enhancements based on test findings
Week 6: Final Preparations & Contest

Last-minute tweaks and strategy enhancement

Practice matches
Competing in the sumo robot contest
Weeks 6-10: Project Review & Documentation

Assembling project documentation

Evaluating project results against goals
Final report submission.

.Work Description

The project's work allocation is strategically organized to facilitate simultaneous

advancements in various domains, thereby enhancing operational effectiveness and
maximizing the utilization of resources. In the preliminary stage of conceptualization and
design, team members will engage in collective brainstorming sessions to foster idea
generation. Simultaneously, they will also carry out independent activities, such as
creating initial sketches and making choices regarding components and materials.

During the subsequent phase of acquiring components, team members will be assigned
the task of procuring various items while diligently examining the components upon
receipt to confirm their authenticity and operational capabilities.

Throughout the construction phase, the allocation of tasks will be determined by

individual skill sets and areas of expertise, ensuring that team members are assigned to
specific roles such as material preparation, mechanical assembly, and electronic
component integration. This approach effectively reduces process dependency, enabling
the simultaneous development of various aspects of the robot.

28
During the programming phase, team members will engage in collaborative coding
endeavors, collectively focusing on the development of foundational movement and
sensor code. Additionally, they will integrate sumo tactics into the software, ensuring a
comprehensive approach to the project. Ongoing correspondence and code evaluations
will guarantee harmonization and code excellence.

During the evaluation and refinement stage, team members will conduct individual
assessments, prioritizing movement precision, sensor precision, and strategy experiments.
The outcomes of these assessments will guide incremental improvements, which shall be
executed by the corresponding team members.

Throughout the ultimate arrangements and competition phase, team members will
cooperate on eleventh-hour adjustments and strategy improvements, culminating in trial
bouts and engagement in the sumo robot contest.

This work allocation strategy aims to reduce process interdependencies and facilitate
streamlined advancement across the project.

.Summary

This chapter offers a thorough examination of the project workflow, providing an

extensive breakdown of the various stages and tasks encompassed in the creation of the
Arduino Sumo Robot. The project management clarity is ensured by outlining milestones
with their associated dates and deliverables. The discourse on work allocation and
interdependence elucidates the manner in which responsibilities are apportioned amongst
team constituents, underscoring the simultaneous advancement and optimal utilization of
resources. This chapter functions as a basic manual for the effective implementation of
the project, guaranteeing its methodical advancement and achievement of its goals within
the designated time frame.

Chapter 6 Impact Statement

.Overview

In Chapter 6, the Arduino Sumo Robot project's impact statement is thoroughly explored.
It offers valuable perspectives on the project's impacts and consequences, covering its
economic, environmental, and societal implications. Moreover, this chapter thoroughly
examines all relevant matters pertaining to intellectual property, encompassing copyright,
trademark, patent, and trade secret considerations. The impact statement holds immense

29
significance in the assessment of the project, shedding light on its wider ramifications
beyond mere technical execution.

.Environmental, Economic and Societal Impacts

The Arduino Sumo Robot project has the potential to generate significant impacts and
contributions in various domains:

Environmental Impact: The robot's design prioritizes energy efficiency and sustainability.
By utilizing a 9V battery and incorporating power-saving algorithms, the robot minimizes
its carbon footprint. Additionally, the project promotes environmental awareness by
encouraging students and enthusiasts to explore robotics and STEM fields, fostering an
interest in sustainable technologies.

Economic Impact: The project has economic implications in several ways. Firstly, it
serves as an educational resource for students and educators, reducing the need for
expensive commercial robotics kits. This cost-effective approach democratizes access to
robotics education. Furthermore, the project's budget details reveal that the total
estimated cost is $133.50, making it an affordable option for individuals or institutions
interested in robotics.

Societal Impact: The Arduino Sumo Robot project contributes to society by promoting
STEM education and fostering problem-solving skills. It serves as an educational tool
that can be used in schools, universities, and STEM outreach programs. By engaging
students in hands-on robotics projects, the project helps prepare the next generation of
engineers and innovators. Additionally, the project's focus on sumo robotics competitions
encourages teamwork, sportsmanship, and healthy competition among participants.

.Intellectual Property Analysis

The Arduino Sumo Robot project heavily depends on open-source hardware and software
components, including the Arduino Nano platform and readily accessible sensor libraries.
Therefore, the project does not give rise to any noteworthy intellectual property concerns
with regards to copyright or trade secrets. The utilization of these freely available
resources coincides with the project's objective of inclusivity and cost-effectiveness.

In relation to patents and trademarks, the project does not encompass any exclusive
technology or distinctive branding. The project's components and materials are procured
from reputable suppliers, ensuring compliance with all intellectual property rights and
avoiding any patent or trademark violations.

30
It's important to note that while the project itself does not generate intellectual property, it
contributes to the dissemination of knowledge and skills related to robotics and
programming. The transfer of knowledge holds immense significance in terms of the
project's impact on society.

In essence, the Arduino Sumo Robot project exhibits a distinctiveness in its open-source
and educational attributes, effectively mitigating any apprehensions regarding intellectual
property, while simultaneously amplifying its favorable effects on the environment,
economy, and society.

.Summary

Chapter 6 delves into the profound examination of the influence proclamation concerning
the Arduino Sumo Robot undertaking. The project's environmental, economic, and
societal contributions are brought to the forefront, with a strong emphasis on its
educational value and its ability to provide a cost-effective robotics solution. Moreover,
the chapter thoroughly examines the intricacies of intellectual property considerations,
thereby reiterating the project's unwavering dedication to open-source principles. In
general, the impact statement highlights the project's importance and beneficial outcomes
across various areas.

Chapter 7 Summary
.Overview

Chapter 7 marks the final chapter in the comprehensive documentation of the Arduino
Sumo Robot project. The project's journey is encapsulated within this document,
providing a concise overview of its main elements, including the design plan, potential
concerns, and concluding remarks. This chapter offers a comprehensive outlook on the
project's evolution and the ramifications it entails.

.Project Summary

The Arduino Sumo Robot project sought to develop an easily attainable and reasonably
priced robotics platform with educational intentions. The objective was effectively
accomplished through the integration of open-source hardware and software components,
yielding a robot that is both cost-effective and fully functional. The project's main
emphasis was on promoting STEM education, providing students and educators with a

31
practical opportunity to engage in robotics and programming. The robot's design
prioritized energy efficiency and sustainability, in line with the overarching objectives of
fostering ecological consciousness. Furthermore, the endeavor fostered collaboration and
fair play by means of sumo robot tournaments.

.Design Plan

The project's design plan focused on various essential stages, such as ideation and design,
procurement of components, assembly, coding, evaluation, and getting ready for sumo
robot competitions. Every stage was meticulously carried out, with a significant focus on
troubleshooting and iterative improvement. The selection of open-source components and
materials guaranteed cost-effectiveness and availability, rendering it appropriate for a
diverse array of users.

.Remarks

Although the Arduino Sumo Robot project has undoubtedly accomplished its educational
and cost-effective goals, it is crucial to recognize the possible apprehensions and
constraints that may arise. A plausible constraint lies in the robot's apparent simplicity,
which might not fully meet the demands of sophisticated robotics applications. Moreover,
the dependence on open-source components might restrict exclusive advancements but is
in accordance with the educational objectives of the undertaking. An additional factor to
be considered pertains to the necessity of continuous maintenance and updates in order to
guarantee the project's enduring relevance and functionality.

.Concluding Remarks

In conclusion, the Arduino Sumo Robot project has successfully developed a robotics
platform that is both functional and cost-effective. Additionally, it has made significant
contributions to the fields of STEM education and environmental consciousness. It
functions as a prime example of open-source ingenuity, rendering robotics within reach
for a wider spectrum of individuals. Although there are certain constraints, the project's
overall influence on education and society is undeniably remarkable. It serves as a
testament to the influence of cooperative and publicly accessible endeavors in equalizing
technology and knowledge. The Arduino Sumo Robot project is a resource that can be
utilized by students, educators, and enthusiasts who are keen on delving into the
captivating realm of robotics and programming.

32
References
[1] "MINDSTORMS SUMO BOT COMPETITION RULES", Tnvalleyfair.org,
2016. [Online].
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fair-2018.pdf.

[2] Robogames.net. (2018). Unified Sumo Robot Rules. [Online] Available at:
http://robogames.net/rules/all-sumo.php

[3] AE Dimensions Pvt Ltd. (2017). 'SAND FLEA' THE JUMPING ROBOT -
AE Dimensions Pvt Ltd.[online] Available at: http://blog.aedimensions.com/sand-
flea-the-jumping-robot/

[4] M. », "DIY RC Android SumoBot (Sumo Robot)", Instructables.com,

2018. [Online].
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SumoBot-Ultimate-DIY-/

[5] Robot, S. (2018). SumoBot Robot. [Online] Trossenrobotics.com. Available

at:
https://www.trossenrobotics.com/parallax-SumoBot-robot.aspx

[6] Maxonmotor.com. (2018). DC motors and drive systems by maxon motor.

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[7] "Difference between DC Motor, Servo Motor and Stepper Motor", ElProCus -
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[8] "Choosing a Motor: DC, Stepper, or Servo - Free How-to Robot Construction
Article", Robotoid.com,
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type.html.

[9] Jarema, R. (2018). Batteries — choose the right power source for your robot.
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choose-the-right-power-source-for-your-robot-5417a3ec19ca

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[10] Windsor, S. (2018). 3 main types of remote control and their applications |
GearBest Blog. [Online]
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remote-control-and-theirapplications-2769

Appendix

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

Figure 7: Model Internal Flaps Design

34
Figure 8: Model Lower Chassis Design

35
Figure 9: Model Base Chassis Design

36
 Figure 10: Model Front Chassis Design

Figure 11: Model Design with Fighting Cover

37
 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:

38
39