Project

# Title Team Members TA Documents Sponsor
9 Ant Weight 3-D Printed BattleBot
John Tian
Mig Umnakkittikul
Yanhao Yang
# Ant Weight 3D Printed BattleBot Competition
Team Members

Yanhao Yang (yanhaoy2)

Yunhan Tian (yunhant2)

Mig Umnakkittikul (sirapop3)

# Problem

We will design a 3-D printed BattleBot to attend the competition instructed by Professor Gruev. To attend the competition, we will need to meet the following requirements:

- BattleBot must be under 2 lbs.
- BattleBot must be made only of these materials: PET, PETG, ABS, or PLA/PLA+.
- BattleBot must be controlled by PC via Bluetooth or Wi-Fi.
- BattleBot must have a custom PCB that will hold a microprocessor, Bluetooth or Wi-Fi receiver, and H-bridge for motor control.
- BattleBot must have a fighting tool activated by a motor.
- BattleBot must have an easy manual shutdown and automatic shutdown with no RF link.
- BattleBot will adhere to the rules on the NRC website.

Our overall goal is to design, code, and build a war robot capable of thriving in the robot battle competition.

# Solution

We will build a 2-lb, 3-D printed BattleBot with a front-hinged lifting wedge (shovel) as the weapon to flip and destabilize other robots. The main structure will be ABS for toughness, PLA for non-critical connectors, and PETG around the power system and microcontroller for heat resistance. Control is via PC over Wi-Fi or Bluetooth using an ESP32 microcontroller.The bot will have at least three motors:Two DC-powered motors to control the robot's wheels for mobility. One geared lifter motor for the shovel, controlled through H-bridge drivers.

# Solution Components

## Microprocessor

We will use the ESP32-S3-WROOM-1-N16 for our BattleBot because it combines built-in Wi-Fi and Bluetooth, eliminating the need for separate modules. Its dual-core processor and ample RAM/flash provide sufficient power to handle motor control, PWM generation, weapon actuation, and sensor processing simultaneously. Its weight (6.5 g) is ideal for a 2-lb bot, and it supports many peripherals.

## Attack Mechanism

To attack, destabilize, and flip opponent bots, we will use a front-hinged lifting wedge (“shovel”) as our primary weapon. The wedge will be 3-D printed with PETG for impact resistance, reinforced at hinge and linkage points to withstand stress. It will span about 50–70% of the bot’s width and feature a low, angled tip to slide under opponents effectively. A small, geared lifter motor will actuate the wedge through a lever linkage, which amplifies the torque from the motor to lift a 2-lb target.

## Mobility System

We will use four small wheels (2.25’’), with the two rear wheels powered by high-torque 600 RPM, 12V DC motors. The smaller wheels lower the ride height of the bot, giving it a lower center of gravity, which improves stability during combat and reduces the chance of being flipped, while still providing solid ground traction. The motors strike a good balance between speed and torque, offering sufficient pushing power to maneuver our heavily armored bot effectively.

## Power System

We will use Lithium Polymer (LiPo) batteries, 4S 14.8V 750 mAh, as the higher voltage may be required for the weaponry. LiPo batteries are significantly lighter than NiCd, provide more power, and save space.

Additionally, we will integrate a motor current sensor (e.g., INA219 or ACS712) into the motor driver circuits to monitor current draw. The ESP32 will read these values in real-time, allowing us to detect stalling conditions and activate manual/automatic shutdown to protect motors and electronics.

## Bot Structure Materials

We will use ABS for the main bot structure, as it offers sufficient strength and a good balance between durability and printability. PLA will be used for general-purpose parts, such as inner connection pieces, where high strength is not required. Finally, PETG will be used around the power system and microprocessor to provide additional heat resistance.

# Criterion for Success

The project will be considered successful if:

- The BattleBot can be fully controlled remotely by PC, including movement and wedge activation.
- The wedge lifter and drive motors operate reliably, capable of destabilizing or flipping a 2-lb opponent.
- Manual and automatic shutdowns function correctly, independent of wireless communication.

Digitizing the Restaurant with Network-Enabled Smart Tables

Andrew Chen, Eric Ong, Can Zhou

Featured Project

# Students

Andrew Chen - andrew6

Eric Ong - eong3

Can Zhou - czhou34

# Problem:

The restaurant industry relies on relatively archaic methods of management and customer service. Internal restaurant computer systems are limited and rely on staff members to monitor customer status. Restaurants lack contact-free transactions for clientele.

# Solution Overview:

Our solution to this problem is to develop a standalone LAN restaurant network system to manage customer status and occupancy for restaurants without the need for personnel to monitor it manually. Along with this, to accommodate for contact-free interactions, we propose a system for payment methods. To address customer preferences, we will provide height accommodation built into the table for different types of people.

# Solution Components:

[Self-adjusting Customer Height Accommodation] - The table will be held up with a linear actuator, thus allowing for the overall height to be adjustable. The table will adjust its height accordingly to the customers’ heights once they sit down. We plan to make the table adjust the table’s height by measuring the distance between the bottom of the table with the customer’s knees when they are sitting down using ultrasonic sensors.

[NFC Payment and Card Reader Payment] - The table will have NFC reader and magstripe reader for contactless delivery. The payment data will be sent to the centralized hub for processing and confirmation.

[Table Pressure Sensor] - The status of a table will be gauged based on the amount of weight on the physical table itself. An occupied (or even just an unoccupied and dirty table) will be marked as such since the weight of excess food, water, plates, and whatever else the customer may bring will be measured by this pressure sensor.

[Computer Mesh Network] - We plan to create a mesh network of raspberry pi’s to track the status of tables in a restaurant. This network will communicate via some form of wireless communication (Wi-FI, bluetooth, or Zigbee).

# Criterion for Success:

This project seeks to create a solution in which restaurants can minimize customer interaction with features that accommodate individual needs, such as the height of the table and payment methods. This project will be considered successful with a working prototype that includes features that may be included in an actual restaurant setting.

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