We are a university research project about robotics. This project specifically if focused on participating on the Small Size League (SSL) competition in the RoboCup. The SSL is a robot soccer league which aims to improve multi robot coordination through a soccer match. During a match, teams of 6, up to 11, robots compete using mostly standard soccer rules. During the game, the robots must act completely autonomous, there can be no human interference, except, only in a few cases, for the referee.In order to play a match the robot must be able to control five brushless DC motors (BLDC) and a high voltage board that is responsible forkicking the ball. All the needed electronics are built by the students that participate in the team.Each year, every team that wants to participate in the RoboCup must submit a video demonstrating the capabilities of their robot's and strategy software. The 2022 video can be seen below. More content can be seen in our youtube channel.In our electronic design we basically have two boards: main and kick. The main board is responsible for controlling the BLDC motors, processing the radio commands that come trough a nRF24L01 transceiver, activating the kick board, reading the ball sensor and regulatingthe voltages needed by the board components. The kick board is responsible for charging a high voltage capacitor up to 160V, and activating a solenoid coil, which is how the robots kick the ball.The new main board design is mostly focused on modularity and ease of development, therefore, the BLDC control is handled by a comercial electronic speed controller (ESC - https://www.st.com/en/evaluation-tools/b-g431b-esc1.html) and the main processing unit is a STM32 Discovery board (https://www.st.com/en/evaluation-tools/32f411ediscovery.html)

About the TeamThe PAC Baja team is a Brazilian student-run project from the State University of Sao Paulo (UNESP). The team main goal is to help the students to learn how to run an engineering project trough the building of a Baja SAE prototype and run the prototype in 2 Brazilian Baja SAE competitions every year. The electronics department of our team has been really successful lately, placing among the top 10 electronic's projects on our last Baja SAE National Competition.In 2022 we are starting to build a new prototype, this new car will be called Lamira and will replace the old T-One car which has been used since the 2019 season, but now it's T-One's time to retire. The New Lamira Display ProjectThe new prototype comes various upgrades when comparing to the older car: new suspension geometry, bigger and more reliably chassis, new battery project and a new display project as well, which is where we need most support at the current moment.Display UpgradesOur old display was and LCD commercial type, and our main work with it used to consist by basically programming it and fixing it to the car'schassi. Although it may sound easy and really simple, it came with a bunch of complications. First of all, price, the old LCD display was a commercial one and so it had a commercial price which we can't afford anymore, since we have a limited budget to build a competitive car and the team is highly depending on sponsors. Second, it wasn't the perfect display for a Baja type prototype, LCDs like the one we had have limited visibility on sunny days, that aspect when combined with all the dirt and dust, from an off-road competition, results in lack of visibility, turning the LCD display totally obsolete.The new Display is our own project and it's based on multiplexed LEDs placed on a PCB which was projected using Proteus software, and that's where we need most help...

The Formula CEM vehicles 2019Formula CEM teamAbout the teamWe are a Formula SAE team from Brazil, we represent the Federal University of Santa Catarina, Joinville-SC. We Annually design two cars, an Electric Vehicle (EV) and an Internal Combustion vehicle (IC), to participate in the national competition. In the last year (2019) we had good results, for the IC car we achieved the 12th place, in a total of 44 cars, and we won the 1st place in Energy Efficiency in the Enduro race. For the EV car we ended the competition in the 11th place, in a total of 22 cars.The Formula CEM was founded in 2012, we are a young team, but we already have great results. For the 2020 competition we have high expectations, maintaining the tendency in achieving better results each year.MissionContribute for the development of the industry, promoting innovative solutions incorporated in projects of Formula SAE vehicles, promoting the development of skills in future professionals engineering. SightBe a reference in vehicle projects in the formula SAE competition, aimed at continuous improvement and innovation, with socio-environmental commitment.ValuesCreativity and Innovation;Reliability;Orientation for results;Systemic View;Commitment with the Environment;Teamwork;Auto Efficiency.Our carsOur Circuit BoardsThroughout the year, our electrical team designs our PCBs using the Altium and Proteus software in order to bring them confidence, security and simplicity.Brake System Plausibility Device (BSPD)Analog circuit responsible for safety monitoring between the accelerator and brake pedals, controlling the shutdown circuit of the vehicle, being able to turn it off when necessary. For the car EV.Engine Control Module (ECM)Digital and analog circuit responsible for reading signals of the brake and accelerator pedals, sending the information, via CAN, to the inverter and thus controlling the acceleration and speed of the vehicle. For the car EV.ChargerIt is the component responsible for making the connections between emergency buttons and monitoring circuits while charging the batteries. For the car EV.PrechargerPrecharge is a circuit responsible for charging the inversor capacitors prior to the air coupling, this exists to prevent damage to the circuit due to the high inrush current that the capacitors induce. The precharge consists of a resistor to limit the current and a relay, both attached to a timing circuit that counts the time necessary for charging the capacitors to 90% of the battery voltage rating. For the car EV.DataloggerThis PCB receives analogue and digital data of different types of sensors, and does the treatment of the data. For the car ICThe data received are: 4-wheel speed, tire temperature, longitudinal and lateral acceleration, gyro data on the Z axis, and steering wheel turning data.FonteThis PCB has the function of receiving energy from the battery, and transforming the voltage from 12V to 8V, for the operation of the datalogger arduinos. For the car IC.For more about Formula CEM, you can visit our social media @formulacem

My name is Uriel I am a student of electronic engineering in Brazil, I carry out research in the field of biomedicine, recently I am developing an acquisition system for biological signals, more specifically ECG (electrocardiogram) and EMG (electromyogram), I started with small prototypes and I was evolving .I managed to develop a good low cost circuit, I would like the support of PCBway so that I can finalize this project, just the fact of supplying the PCB would help a lot.Thanks

### DESCRIPTION ( Introduce yourserlf and your project) We are a team from Rio Grande do Norte, Brazil, formed by university students developing a prototype baja off-road participating every year (beginning of the year) of the competition studantil baja SAE Brasil, having one of the best electronics in Brazil. We were in 3rd place overall in our last national competition (2018) and then in 10th overall place in the world stage in the United States of the same year. Our goal is to reach first place in the national (2019) and fifth place in the world (same year).### TECHNICAL DETAILS (With project photos) Our project has four "electronic control units" or only ECU (as we call them) that are responsible for the sensing and data acquisition of the embedded system. As an example, the datalogger, which is responsible for receiving all values from the front and rear ECUs (responsible for the rear and front sensor data) and sending them both to the ECU on the steering wheel and to the telemetry. Here are the specifications (quantities and dimensions) of each ECU (4) that we want to build through you.- Datalogger: Qty 5, 2 layer, 70 x 70 mm- Dashboard: Qty 5, 2 layer, 85 x 50 mm- Front ECU: Qty 5, 2 layer, 78 x 56 mm- Rear ECU: Qty 5, 2 layer, 50 x 60 mm The circuit boards were designed in the protheus and testedon protoboards or on older boards.### Words to PCBWay The proposed project has SMD components and dual layer, in our country few companies work with this type of board, but none with metalized pins making our access to these technologies expensive, so we ask sponsor your organization, so we can stay competitive and then get to the top spot.Best regards,J. AlissonMember of Car-Kará Baja SAE Teamhttps://www.facebook.com/carkara.baja/

DESCRIPTIONPCBWay is a company of Chinese origin that offers high quality manufacturing services of PCBs in prototype and productionIn this document I will show printed circuits that have been made in PCBWay.MY EXPERIENCE IN PCBWAYWhen Anson Bao contacted me via Facebook I was surprised, because I did not plan to do business with people from other countries, I was scared, I thought about my money and I asked me "will they be thieves?" However, after a while I decided to pay to PCBWay, with too much fear I hired the services of this company.They guided me and explained how to pay. They are very understanding, very patient, they make the client feel very good.When I first saw the production process of my PCBs, I was happy because I was doing business with responsible people. After 3 days I received the tracking number of the shipment, after 1 and a half months, I received the printed circuits in my house; I was surprised and fascinated, excellent work, excellent quality, beautiful and very functional.After this first experience, I totally trust PCBWay, so I want to show some printed circuits designed by me and manufactured by PCBWay.Half-Bridge Boost Power Factor Corrector power stage v1Figure 1: HBBPFC power stage PCB v1.Half-Bridge Boost Power Factor Corrector power stage v2Figure 2: HBBPFC power stage PCB v2.HBBPFC's conditional signals v1Figure 3: HBBPFC's contiional signals and control stage PCB v1.HBBPFC's conditional signals v2Figure 4: HBBPFC's contiional signals and control stage PCB v2.Multiple supply voltage based on a single inputFigure 5: multiple supply voltage based on a single input PCB.Hysteretic stageFigure 6: Hysteretic control stage PCB.Words to PCBWayThank you PCBWay and Anson Bao for manufacturing the PCBs and helping me. Excellent service.Andy Rubiano™ Electronic engineer. All Rights reserved.Twitter: @RubianoAndy.Facebook: @RubianoAndy.Instagram: @RubianoAndy.

DESCRIPTIONPower factor correctors or PFCs are developed as a solution to power consumption problems due to their high power factor, protect systems against voltage fluctuations and high currents [1], [2].The purpose of a PFC is that the input current follows the sinusoidal form of the line voltage, so that its unit power factor is obtained [1], [2].The new HBBPFC is a converter designed to obtain 450VDC output (400VDC in the first converter), powered from the mains and obtaining a power factor PF = 1.FIRST DESIGNThis project has three printed circuits designed in Altium Designer, the first, the power stage or HBBPFC, the second, the signal conditioning stage with the control stage and, finally, the supply stage and its implementations were:Figure 1: HBBPFC international project global implementation.EXPERIMENTAL RESULTSThe following figures correspond to some of the results obtained in the implementation of the HBBPFC:Figure 2: HBBPFC international project global testing [1].Figure 3: HBBPFC international project Power Factor visualization [1].Output voltage (vs) = 212.3 + 212.7 = 425VPF = 1.Power output = 83W.NEW DESIGNIn [3] a new design of the signal conditioning PCB was proposed because the DSP used for the implementation of the control stage was obsolete, for this reason, PSoC creator became the new programming environment to develop the controller of the HBBPFC, with a development card based on FPGA with reference CY8CKIT-059 PSoC 5LP CY8C5888LTI_LP097.When changing the programming environment, the operating point of the HBBPFC was changed, increasing its voltage to 450VDC maintaining the power factor (PF = 1). The new implementation of this rectifier with power factor correction is observed in detail below:Figure 4: HBBPFC new implementation side view.Figure 5: HBBPFC new implementation top view.Figure 6: HBBPFC new implementation global view.In the upper part is the printed circuit that has the supply of voltages and the control stage (signal conditioning included), the other PCB is the power circuit (topology of the HBBPFC) and the lower part is the resistive load.With this new design, the result is a unit power factor with a power greater than 100W, as shown in the following figures:Figure 7: waveform of the current and input voltage with measurement of power factor and power of the converter.Figure 8: output voltage of HBBPFC.In summary, with the new design of the HBBPFC the power of the converter is increased maintaining its control of power factor. REFERENCES[1] A. G. Rubiano-Muñoz. “módulo de interconexión entre una fuente para DBD y la red eléctrica”. Andy Rubiano™, pp. 1 - 110. May 2017.[2] A. G. Rubiano-Muñoz. “HBBPFC design and implementation”. Andy Rubiano™,. Recuperated on september 9th of 2017, 2017. [Online]. Available: https://www.pcbway.com/project/sponsor/HBBPFC_design_and_implementation_project.html[3] A. G. Rubiano-Muñoz. “New signal conditioning stage for HBBPFC”. Andy Rubiano™,. Recuperated on december 21th of 2017, 2017. [Online]. Available: https://www.pcbway.com/project/sponsor/New_signal_conditioning_stage_for_HBBPFC.htmlWords to PCBWayThanks PCBWay and Anson Bao for their great help and support during the development of this ambitious project.Andy Rubiano™ Electronic engineer. All Rights reserved.Twitter: @RubianoAndy.Facebook: @RubianoAndy.Instagram: @RubianoAndy.

### DESCRIPTION ( Introduce yourserlf and your project)We are members of a Formula SAE team participating in the brazillian Formula SAE Student competition, in both the internal combustion(IC) and the electric vehicle(EV) categories. We occupy today the 17th position in the national ranking of the IC category and this is our first year competing in the EV category. Our objective is to reach top 10 classification with both vehicles, and to achieve that we need your help to guarantee reliability to our systems.### TECHNICAL DETAILS (With project photos)We design our circuits using Protheus software, and test our ideas by protoboard and software simulations. We use Arduino nanoboards as our microcontrollers for our Electronic Control Modules and blade fuses and relays for power management and safety, as in the automotive industry. In the electric vehicle the need for safety measures is increased and we use integrated circuits to manage vehicle shutdown and LEDs indicating the vehicle's various functionalities. Our vehicle has a 12V battery that powers our systems and our power management PCB handles peak currents up to 30A and up to 15A nominal currents. The largest size of our boards is 140x120mm. One of our circuits is presented below.### Words to PCBWayWe are very hopeful and anxious to hear good news from your organization, and are excited to join our brands with the objective of improving academic performance and learning. We only urge you to haste with your response as we are nearing our deadline to test our vehicles, thank you!

Hello,My name is Luana and I am Current working on the development of a active magnetic bearing. I would like some financial support on the PCB prototype development.Bellow are finit element simulation on the bearing, and now I want to build a prototype.I would like a sort of coupoum so that I can work on my prototype. Futher I will make lager purchase and the project is done, that is why I would like to save the most with the prototype.

DESCRIPTIONPower factor correctors or PFCs are developed as a solution to power consumption problems due to their high power factor, protect systems against voltage fluctuations and high currents [1], [2].The purpose of a PFC is that the input current follows the sinusoidal form of the line voltage, so that its unit power factor is obtained [1], [2].The HBBPFC is a converter designed to obtain 400VDC output, powered from the mains and obtaining a power factor PF = 1 (see results here) [1], [2].To carry out the control step a Texas Instruments DSP (TMDX28069USB or Piccolo™ F28069) is used [3], [4], [5], [6]. This development card is observed in detail below:Figure 1: Piccolo™ F28069 [1]The Piccolo™ F28069 is obsolete, for that reason, the conditioning stage must be redesigned.OLD CONDITIONING STAGEOver time, many PCBs have been made from the signal conditioning stage. The first PCB is shown below:Figure 2: signal conditioning stage first PCB.This PCB has protection by galvanic isolated. The second version of that was a better design. As shown in the following figure:Figure 3: signal conditioning stage second PCB.Nevertheless, both PCBs did not function well because the drastic reduction in all signals caused by the galvanic isolated protection was the main problem. For this reason, the conditioning signal was redesigned from a new control diagram.Figure 4: control diagram applicated for a HBBPFC international project [1].From that diagram another PCB is created without the galvanic isolated protection, avoiding the problem mentioned above. This printed circuit board is:Figure 5: signal conditioning stage third PCB [1], [2].Because the Piccolo™ F28069 is obsolete, the signal conditioning stage shall never use more, therefore, it's created a new version that consists in change the microcontroller for a FPGA with reference CY8CKIT-059 PSoC 5LP CY8C5888LTI_LP097. This development board has digital and analog devices incorporated reducing the number of external components and simplify the design with the same control diagram (shown in the figure 4). That PCB include the supply stage and is observed below:Figure 6: signal conditioning stage new PCB.This PCB is perfectly assembled with the current HBBPFC power stage shown below:Figure 7: HBBPFC power stage.REFERENCES[1] A. G. Rubiano-Muñoz. “módulo de interconexión entre una fuente para DBD y la red eléctrica”. Andy Rubiano™, pp. 1 - 110. May 2017.[2] A. G. Rubiano-Muñoz. “HBBPFC design and implementation”. Andy Rubiano™,. Recuperated on september 9th of 2017, 2017. [Online]. Available: https://www.pcbway.com/project/sponsor/HBBPFC_design_and_implementation_project.html[3] C2000™ MCU 1-Day Workshop, Texas Instruments, february 2012, workshop guide and lab manual.[4] Piccolo Microcontrollers, Texas Instruments, mayo 2012, datasheet of Piccolo™ series, applicated to the microcontrollers TMS320F28069, TMS320F28068, TMS320F28067, TMS320F28066, TMS320F28065, TMS320F28064, TMS320F28063, TMS320F28062.[5] TMS320x2806x Piccolo™, Texas Instruments, december 2011, technical reference manual.[6] Software Frameworks for C2000™ Piccolo™ 32-Bit MCU Family, Texas Instruments.Words to PCBWayThank you PCBWay and Anson Bao for manufacturing the PCBs and helping me. Excellent service.Andy Rubiano™ Electronic engineer. All Rights reserved.Twitter: @RubianoAndy.Facebook: @RubianoAndy.Instagram: @RubianoAndy.

I am a power electronic matster student at Universidade Federal do Rio de Janeiro, in Brazil. I am currently working a Cascaded Doubly-fed Indunction Machine, foucousing on wind energy conversion.For this project I will need many sensors and converter borad in order to control these machines. I am working on the bench to make it possible to control the machine and aquire all the data I need. It means that I will need a lot of PCB, I need 9 current sensing, 6 voltage sensing, the torque transuder signal conditioner board and also for the speed encoder. Unfortunatelly the University is going through a crisis due ours gouvernements problems, in this way I have to bear the costs my self, or stop the project. I love to do what I do and I am trying to reduce the costs at the most to make it possible for me to pay for this.I write papers for congresses and I can use the papers to make a sort of propaganda to PcbWay.Regards

DESCRIPTIONPower factor correctors or PFCs are developed as a solution to power consumption problems due to their high power factor, protect systems against voltage fluctuations and high currents.The purpose of a PFC is that the input current follows the sinusoidal form of the line voltage, so that its unit power factor is obtained.The HBBPFC is a converter designed to obtain 400VDC output, powered from the mains and obtaining a power factor PF = 1.CIRCUIT FEATURESHBBPFC is composed by one inductor, two capacitors, two transistors and the load, as the follow figure:Figure 1: HBBPFC schematic circuit [1].The current flows through the circuit creating two modes of operation through the alternating operation of each of the transistors.Figure 2: HBBPFC's modes of operation [1], [2], [3].PCBS DESINGThis project has three printed circuits designed in Altium Designer, the first, the power stage or HBBPFC, the second, the signal conditioning stage with the control stage and, finally, the supply stage and its implementations were:Figure 3: HBBPFC implementation [1].POWER STAGEThe power stage is the plant or Half-Bridge Boost Power Factor Corrector and its PCB is:Figure 4: power stage [1].SIGNAL CONDITIONING STAGEFigure 5: conditioning stage [1].SUPPLY STAGEFigure 6: supply stage [1].EXPERIMENTAL RESULTSThe following figures correspond to some of the results obtained in the implementation of the HBBPFC:Figure 7: HBBPFC international project global testing [1].Figure 8: HBBPFC international project Power Factor visualization [1].Output voltage (vs) = 212.3 + 212.7 = 425VPF = 1.Power output = 83W.FUTURE WORKSCurrently a new design of the power stage has been developed:Figure 9: new desing of HBBPFC [1].The development card used for the implementation of the control is obsolete, therefore, a new stage of signal conditioning (with supply stage was) designed using a PSoC 5LP (CY8CKIT-059 PSoC 5LP CY8C5888LTI_LP097).Figure 10: new conditioning stage with supply included [1].Another future work is to create a scientific paper (IEEE) with the achievements obtained in this project and to implement a new control strategy to improve results.Resources are currently being searched to finance this project.REFERENCES[1] A. G. Rubiano-Muñoz. “módulo de interconexión entre una fuente para DBD y la red eléctrica”. Andy Rubiano™, pp. 1 - 110. May 2017.[2] J. Bayona, H. Chamorro, A. Sánchez, J. Aguillón García and D. Rubio. “Linear control for a power factor correction rectifier in half-bridge configuration”. IEEE CACIDI 2016 - IEEE Conference on Computer Sciences, pp. 1 - 6. 2016.[3] J. Bayona. “Fuente de alimentación regulable para lámpara fluorescente con baja interferencia electromagnética”. Master thesis. Faculty of Engineering. Pontificia Universidad Javeriana. December 2013. Available: https://repository.javeriana.edu.co/bitstream/handle/10554/15399/BayonaNavarroJhonFredy2013.pdf;jsessionid=B93222A035E128C4EDB3D5D6F3D0B3F7?sequence=1.LAST DISSERTATION PHOTOSFigure 11: Andy Rubiano™ in HBBPFC international project dissertation.Words to PCBWayThank you PCBWay and Anson Bao for manufacturing the PCBs and helping me. Excellent service.Andy Rubiano™ Electronic engineer.Twitter: @RubianoAndy.Facebook: @RubianoAndy.Instagram: @RubianoAndy.

DESCRIPTIONPower factor correctors or PFCs are developed as a solution to power consumption problems due to their high power factor, protect systems against voltage fluctuations and high currents.The purpose of a PFC is that the input current follows the sinusoidal form of the line voltage, so that its unit power factor is obtained.The HBBPFC is a converter designed to obtain 400VDC output, powered from the mains and obtaining a power factor PF = 1.EXPERIMENTAL RESULTSAndy Rubiano™ Electronic engineer.Twitter, Facebook and Instagram accounts: RubianoAndy.Words to PCBWayThank you PCB and Anson Bao for manufacturing the PCBs.

About Our TeamWe are a team from Federal University of Rio Grande do Norte, Brazil/RN, formed by undergraduate students who developers a Baja Off-road car to race on Baja SAE competitions every year on Brazil. We are one of the top 10 teams on Brazil, in the last competition (2017), we have placed 5th in overall with a total o 7 trophies. Like the others, events sponsored by SAE, like Formula SAE, Aero Design SAE, we have to develop one embedded system to our vehicle to acquire data, online or offline. We represents our state (Rio Grande do Norte - RN) on national-level Baja SAE competition here in Brasil. All of our team are undergraduate students in mechanical/mechatronics engineering. Also, we are one of the oldest team on Brasil, founded in 1995, we have two national champions (1998 and 2001, first place) and we were the first Brazilian team to win the international Baja SAE competition in 1998. About Our ProjectFor this competition year, we are planning to develop 4 PCB for our embedded system, each PCB (as we call, electronic control unit, or just ECU) is responsible for certain part of the car. For example, the rear ECU acquires the speed and RPM of the car, among temperature and gas level. The front ECU acquires front-suspension positions and minor data. The data logger ECU, as the name says, saves all the data collected and storages on a SD card, and send it via Xbee to a computer in almost-real time. For last but not least, the steering ECU shows to the pilot all-important data to see on real time race (such as speed and rpm).As the others SAE Collegiate Design Series, we have to project and build an prototype with some subsystems, including a embedded system. Now, for the embedded system, we've placed the 5th on this subsystem presentation. Some pictures of our embedded system project:Our dashboard, integrated on carbon-fiber steering wheel, made by us. Our PCBs for this year has two layers and does not pass the size of 100 x 100 mm; we do our best for developing the smallest and compact PCB for each ECU. This one is the dashboard ECU, it stays inside the steering wheel, among the display and tachometer. It has a integrated buzzer to alert the pilot in some situations, also it is responsible for receiving data and showing on the 2.4" display. In the picture below, we have the rear ECU (top) and the front ECU (bottom). The first one reads speed, rpm and gasoline level on the tank. The second one does many things (we call it the central ECU). One of the most important things that the central ECU does is to send in real time all the data collected from the embedded system to one computer on the team's box (not in picture, but the central ECU also have a GPS integrated).So, with this electronic, we've placed a top 5 in electronics project and 3th in comfort. But, as you can see, our electronic is very simple, all PCB are one sided cooper and are made by a very poor CNC. For this year project, we are planing to make a step over: starting using 2-layer PCB and some SMD components, and applying a more robust manufacturing, so we can spend more time with actually real test besides spending days searching for a broken trace or bad contact on our CNC PCB. Other thing is, as you can see too, we have a distributed system, and for this year our team are going to race with 2 cars. One goal for this year is testing for real a Centralized Vs Distributed embedded system, therefore, besides the four ECUs, we are projecting a centralized ECU to be installed on our second car.Some specs of our 2017 PCBs: We have maintained the amount of pcbs on the first car ( four pcbs); and for they, these are the specs (with quantity and dimensions) of the boards that we are looking to build through you:- Datalogger: Qty 5, 2 layer, 70 x 90 mm- Dashboard: Qty 5, 2 layer, 85 x 50 mm- Front ECU: Qty 5, 2 layer, 50 x 50 mm- Rear ECU: Qty 5, 2 layer, 50 x 64 mmAnd for the second car:- Centralized: Qty 5, 2 layer, 86 x 75 mmWe are starting to work with SMD components and 2 layers PCB, but this kind of technology is very scarce on our country, only two or three companies produces 2-layer PCB, but none of them has metalized pin (vias), so it make to us very difficult to work with these technologies. We hope, with your sponsors, the possibility to improve our embedded system and grow up more and more on our project, to stay as competitive as possible to get the 1th place! Best regards,M. ChiozziMember of Car-Kará Baja SAE Teamhttps://www.facebook.com/carkara.baja/?fref=ts

Competition Introduction with related photos: Our team participates the RoboCUP (//www.robocup.org/) and CBR (//www.cbrobotica.org) universitaries competitions, in the Small Size League (//wiki.robocup.org/wiki/Small_Size_League), Small Size League RoboCup is a competition domain designed to advance robotics and AI research through a friendly competition. Small Size robot soccer is one of the RoboCup league divisions. Small Size robot soccer, or F180 as it is otherwise known, focuses on the problem of intelligent multi-agent cooperation and control in a highly dynamic environment with a hybrid centralized/distributed system. of six robots each. Each robot must conform to the dimensions as specified in the F180 rules: the robot must fit within an 180 mm diameter circle and must be no higher than 15 cm. The robots play soccer with an orange golf ball on a green carpeted field that is 9 m long by 6 m wide. All objects on the field are tracked by a standardized vision system that processes the data provided by two cameras that are attached to a camera bar located 4 m above the playing surface. The vision system - called SSL-Vision - is an open source project maintained by the league’s community. Off-field computers are used to communicate referee commands and position information to the robots. Typically, these computers also perform most, if not all, of the processing required for coordination and control of the robots. Communications is wireless and typically uses dedicated commercial FM transmitter/receiver units. Building a successful team requires clever design, implementation and integration of many hardware and software sub-components into a robustly functioning whole making Small Size robot soccer a very interesting and challenging domain for research and education. Community Introduction with related Community activity photos: Our community is a robotics team RoboIME (www.roboime.com.br), that is part of the laboratory of robotics and artificial intelligence of the Militar Institute of technology (www.ime.eb.br), we have already taken part of some competitions like: LARC 2010 OBR 2011 RoboCUP 2012 RoboCUP 2013 OBR 2014 ROBOCUP 2014 And have already achived some results like: In 2011 we were vice-champions of Latin American Robotics Competition (LARC). In 2012 we were the vice-champion na Latin American Robotics Competition (LARC) In 2014 we were in received the fourth place in Latin American Robotics Competition (LARC) BENEFITS： Target market exposure: Logo in the sponsors area on our team’s site (//www.roboime.com.br/), Logo in the competition banner, Post in our facebook: https://www.facebook.com/roboime/ Contact with brazilian’s market Contact to Brasil’s young engineering talents working in the project, Project Introduction: Embedded System RoboIME electronics consist of nine boards: (a) the Main board, responsible for communication between the other boards; (b) the Stamp board, responsible for the embedded computations; (c) the Kicker board, responsible for maintaining high voltage and activate the kickers; (d) five motor controller boards which are responsible for the robot’s motion control and the dribbling device. (e)Transceiver board, which is responsible for the link between the robot and the main computer. Looking forward to participate this year’s LARC competition, we aim to upgrade the project by enhancing the electronic design. We are making the layout of all boards from scratch, starting for the main boar and motor controller board, using a new platform, the altium designer, and paying much more attention to details like the routing dimensions. We are also changing the assembly process that used to be manual, trying to use an automatic pick and place, the NEODEN TM245PA. Project Details The Main Board This board features a socket to plug the boards in: the kicker’s sensor, a optical sensor that is used to detect if the robot is with the ball possession, dribbler motor, which makes possible to the robot to spin and to move backward without lose the ball, four wheels’ motors, four quadrature encoders and the power supply with safety devices. We are making some changes on this board like substituting the former true hole fuses and capacitor for newer smt resettable fuses and smt capacitors, and adding a current sensor the ina220 to have a precise real time feedback of the current that flows in each motor. We are also adding a connector to the NRF24 transceiver and making an experience with a bulk voltage regulator. Stamp Board This board is responsible for performing all the logical functions. Serving as a brain of sorts for the electronic system. There is an embedded STM32F407VG micro-controller, with an ARM Cortex M4 as main CPU, 1 MB Flash, 192 KB RAM memory, working at 168 MHz, that was programmed in C language using CoIDE and Eclipse IDEs. The main function of the embedded system is to receive the data from the AI and convert it into movement. So, there is a Proportional Derivative Integrative Control sampling the real wheel’s velocity, comparing with the desired and outputting the appropriate voltage to the motor. That control has the fundamental importance of look for the right wheel’s velocity. There is also a current control that doesn’t permit the Motor Controller Board to burn out. Kicker Board This board is responsible for produce the high voltage used to activate the two coils, controlling the kick strength and discharge almost instantly all the power stored on the coils. There are two kinds of kick, the forward kick and the high kick. There are two steps in this board: charge and discharge. The first has the unique function of keep a constant output of 180V DC from a input of 7 8V DC. A DC-DC step-up power supply controlled by the MC34063 IC and two electrolytic capacitors of 2200 μF, 200 V are used for this task. The second is to drive the kickers. In this part are used one TC4427 Mosfet Driver IC and two IRFP4868PBF Power Mosfet that are responsible for close the high voltage circuit of the first step with the ground through the coil, converting electrical into mechanical energy. A precise control of the actuation time ensure that the kick will occur with the right velocity. Motor Controller Board: The idea of the RoboIME electronic is to modularize the electronic project. So, there is one controller module board for each wheel motor. If one of them burns out, it is possible to exchange it quickly. Each board has two TC4427 (MOSFET driver) and two IRF7319 (complementary half H bridge). These ICs create an H-bridge, allowing the velocity control in both directions through a Pulse-Width Modulation, converting a digital signal input into an analog output. Transceiver Board The transceiver board is responsible for the link between the micro-controller and the main computer through a NRF24L01 transceiver. The first is done using a own protocol, operating in the 2,4 GHz band, the second is accomplished through the Serial Peripheral Interface Bus (SPI), a standard.