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EEL 4924 Electrical Engineering Design
(Senior Design)
Final Report
17 April 2011
Project Name: Future of Football
Team Name: Future of Football
Team Members:
Erik Stegman
Kevin Hoffman
Project Abstract: In the future of football, human error will be virtually eliminated. It is a game of inches and all
too frequently these inches are miscalculated, often affecting the outcome of the game. FOF is a total
football tracking system. Through ultrasonic communication, the precise position of the football will be
constantly recorded with a multilateration algorithm. The coordinates will be displayed in real time via 7
segment LEDs running down both sidelines. As the ball moves, a laser line will point to the correct yard
line on the field. Future work involves synchronizing the position with an instant replay system. This
allows a referee to replay the video and determine the exact location of the ball for any given frame. In
addition, the statistical implications of recording all ball trajectories will revolutionize training methods.
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Contents
Abstract ………………………………. 1
Table of Contents ………………………………. 2
Introduction ………...…………………….. 3
Features ………………………………. 3
Technical Objectives ……….……………………… 4
Current Technology ………………………………. 7
Components ………………………………. 8
Project Architecture ………………………………. 11
Future Work ………………………………. 15
Bill of Materials ………………………………. 16
Separation of work ……..………………………... 17
Appendix ………………………………. 19
Figures
Figure 1: Football Circuit ………………………… 5
Figure 2: Field Circuit ………………………… 5
Figure 3: Field Design …………………………. 6
Figure 4: Sonar ………………………… 8
Figure 5: Motor ………………………… 8
Figure 6: Laser ………………………… 9
Figure 7: FPGA ………………………… 9
Figure 8: LEDs ………………………… 9
Figure 9: Chips ………………………… 10
Figure 10: 7 segment LED ………………………… 10
Figure 11: Power ………………………… 10
Figure 12: Transmitter operation ………………………….11
Figure 13: Processor operation …………………………12
Figure 14: Processor initialization …………………………13
Figure 15: Separation of work …………………………17
Figure 16: Gantt chart ………………………… 18
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Introduction: Anybody who regularly watches football is familiar with the frequency of bad ball spotting.
Attachment to the way things have always been done seems to be the driving force in maintaining the
current methods. However, with increased processing power, it is only a matter of time before the game
will undergo dramatic technological renovation. To ensure fairness, human error must be eliminated as
completely as possible. A football tracking system is inevitable and overdue. The question remains of
what is the most efficient method to achieve this goal.
The purpose of FOF is to function as a prototype for future ball tracking systems. The goal is to
record the location of the ball at all times with pinpoint accuracy and relay this information to any
observers. Feedback is critical if the system is to be used during game play. For this reason, lights along
the sidelines seem to be an efficient method for identifying the location of the ball. This is a temporary
solution until electroluminescent Astroturf is invented. Sideline lights allow for easy spotting of the ball
between plays. The final location of the ball will also be spotted with a laser from above. Current
regulations would not permit the laser to be turned on until the conclusion of the play. When inches
become important, the instant replay system may be used. This system allows a ref to review the play as
is currently done. However, after determining the exact moment when the play ends and then guessing at
the ball’s location as is currently done, the video may be frozen and the corresponding lights on the field
will display the exact location of the ball at that point in history. This will ensure that every game is
decided by the players, and not by the officiating.
Features: FoF is a real time tracking system to serve as a model for implementation in college and
professional football. Its features include:
Minimal hardware inside of the football to operate a transmitter
Ultrasonic-based multilateration to serve as a model for full-scale RF tracking
Multiple receiver locations for redundancy and increased accuracy
Real-time visual feedback for spectators using lasers and LEDs
High-precision results accurate to within 1” (<1%) to eliminate human error
Potential for a new paradigm of statistical record keeping and analysis
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Technical Objectives: The main objective of our project is to triangulate the position of a moving football with a high degree
of accuracy using a fully scalable method. The secondary objective is to record this trajectory and
synchronize this data with video recording.
The football should contain as little hardware as possible in order to meet current regulations
An ultrasonic transmitter inside the football will ping intermittently to remove the need for an echo-
type communication between the field and the ball. This pinging will be accomplished by a 555
timer connected to a Schmitt trigger to send digital pulses. The pulse signal will also need to be
amplified to reach the maximum input voltage of 20v for the transmitter. A block diagram is shown
in Figure 1. Potential problems here include passing the signal through the material of the football.
On a full scale model, RF transmission would be necessary but would require significantly higher
clock speeds. In order to replace this with an ultrasonic signal, a hollow ball with a cage structure for
its outer shell will be used to minimize wave obstruction.
Because the football will have internal components, a wireless charging method is desirable for
future work, but outside the scope of this project.
The ultrasonic ping will be received by four stations located at the corners of the field. A geometrical
algorithm will determine the location of the source of the ping in 2 dimensions on the surface of the
field. It will also therefore be able to determine when the ball has crossed out of bounds. The
resulting data will be capable of plotting the 3rd
dimension as well, but will not be used for this
project. A block diagram of the field circuit is shown in figure 2.
As only 3 receivers are necessary for location in 2 dimensions, the 4th
serves as a means of
redundancy. Data points can be generated from any combination of 3 of these stations. This provides
assurance of signal receipt even if 1 station does not receive the ping. In the event that all 4 stations
receive the signal, the 4 data points can be averaged together to increase the accuracy of the output
data.
The determined location of the ball will be represented as an 8 bit digital signal to be output. This
output will then be run through a decoder to illuminate 7 segment LEDs with the ball coordinates
An alternate method of visual feedback involves LEDs placed about 1 inch apart down the sidelines.
In addition to the LEDs, 2 motors will be suspended above the field with an attached line laser
pointing to the field. The motor is equipped with an encoder for fast response and high resolution.
The laser will be illuminated at the end of the play and will point to the last position of the ball.
The field is a scale model of a full football field. The model is able to fit on a table top. Dimensions
are 96” by 42”, mimicking the dimensions of a regulation field. The processing can be adapted to
any size field simply by entering the new field dimensions into the program. A diagram of the field
is shown in figure 3.
In the future a camera module may be set up to record the play. The video would also be recorded
and stored frame by frame. Each frame would be linked to the position data mentioned above. When
a particular frame is selected, the corresponding positional information will also be selected.
When a frame is selected, the light corresponding to the position of the ball during that from will be
illuminated
The location of first down markers and goal line markers may also be stored. When, during replay, a
frame is selected corresponding to a location which achieves a first down or a touchdown, additional
displays and lights and bells and whistles could be used to inform the viewers.
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Figure 1: Football circuit
Figure 2: Field Circuit
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Figure 3: Field Design
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Current Technology:
What is obvious to fans of most professional ball sports is the significant lack of technology
being implemented during game play. Processing power has increased exponentially in recent decades,
but technological developments in football have been stagnant. With the exception of the instant replay
system, the sport has remained virtually unchanged since its advent. Some other systems are in
development, but the sport’s resistance to change has prevented anything from being implemented this
far.
One of the most intricate tracking systems in use today is employed in professional Cricket and
Tennis. The system, developed by UK based Hawk-Eye LTD, uses video processing to track and project
ball trajectories. The statistical implications have revolutionized the sports. During a cricket match,
every play is recorded and mapped. The result is a comprehensive database of every play.
Understanding the outcome of each play based on ball movement has proved invaluable in terms of
training methods. In tennis, the ball is tracked to determine if it has landed out of bounds. This has been
effective in eliminating a certain amount of human error from the game. No longer is a match unfairly
decided by an inaccurate official.
The shortcoming of this system is its visual based processing. While this is effective in games
where the ball never leaves the sight of the camera, it is inapplicable to football. In football, the ball is
often out of sight of the cameras, the fans, and even the officials and other players. In fact, there is
strategy involved in intentionally hiding the ball from sight. This makes any sort of visual tracking
ineffective. What this sport requires is a method of tracking the ball non-visually so a data point is never
missed.
Significant advancement in the field of football technology is currently under development out of
Carnegie Mellon University. Carnegie’s Football Engineering Research Group is working on
revolutionizing all aspects of the game, from smart shoes that record the impact of kicks, to smart
helmets that record information on injury causing collisions. They are working on a football tracking
system as well. This system involves a significant amount of circuitry inside the football. The ball
contains 3-axis gyros and accelerometers. The collected data is processed inside of the football and the
position is transferred remotely to a base station. The flaw in this design is the quantity of circuitry
inside the ball. While the data is highly accurate, the design requires significant alteration of the current
football design. The league has already shown its resistance to change. Significantly altering the football
design is not likely to be well received. Very specific parameters have been determined for the size,
shape, and weight of the ball. These specifications would have to be revamped to implement this system.
For this reason, an ultra compact and lightweight circuit is desirable inside the ball. An RF
transmission system is small enough to be lost inside the ball. The weight would not be significantly
altered. Such a design is more likely to be accepted. The receiving equipment would also be miniature
and easy to add to a field design. These components could even be hidden inside the pilons which are
already located at the corners of the field.
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Components:
Ultrasonic transducers – ProWave: Bistatic open-type 400ST/R120
Figure 4: Sonar
Two parameters were of top concern when selecting the ultrasonic components. Those were
effective range and beam angle. The field is intended to be approximately 4 feet wide and 9 feet long,
corresponding to the dimensions of a regulation size NFL field. This gives a maximum diagonal distance
of approximately 10 feet. Since sensors accurate at 10 feet are usually not accurate under half a foot, we
have elected to move the sensors 6-12 inches away from the field. This gives a necessary effective
distance of 0.5 to 10.5 feet. Although Prowave does not publish the effective distance in their datasheet,
we obtained assurance from the manufacturer that the sensors would meet our needs. The placement of
the sensors at the corners of a rectangle means that for maximum efficiency they need to receive signals
from at least a 90 degree span. Figure 5 shows that the beam angle of this product satisfies this
requirement.
DC motor – 19:1 Metal Gearmotor 37Dx52L mm with 64 CPR Encoder
Figure 5: Motor Using a laser to project on a field of 10 feet with 1 inch accuracy requires high precision in
motor position. For this reason, rather than a servo motor, we selected a dc motor with a feedback
encoder. A servo motor takes a PWM signal of 50 Hz, corresponding to a 20 ms period which is too
slow for our purposes. The DC motor pictured in figure 6 has a gear down ratio of 19 to 1with a 64
count encoder. This yields a motor capable of 500 rpm’s with over 1200 counts per revolution. This is
an accuracy of almost ¼ degree. The encoder feedback is in the form of a PWM signal shown above. A
simple count of the pulses will show how far the motor has turned.
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Laser - Laser Straight Projective Leveler with Water Leveler
Figure 6: Laser We are using a laser to mark a yard line on the field. For this reason the point lasers are
undesirable. The laser level provides a laser line up to 20 feet in length which is more than sufficient.
This component will be able to project a laser that will span the width of the field.
Processing – Altera Cyclone II EP2C8T144C8 FPGA with EPSC16 SROM
Figure 7: FPGA Our original intent was to use a low power MSP430 in the football and a high speed MSP in the
field circuit to handle the interrupts and a CPLD to perform all the decoding. A 555 timer circuit has
replaced the need for a controller in the football. We are to use the FPGA to receive the data from the
ultrasound receiver directly, eliminating the need for the other controller. The Altera Cyclone II FPGA
is already available.
LEDs – Bright Green T1 (3mm) Right Angle LEDs
Figure 8: LEDs
A 10 foot field with 2% accuracy requires approximately 64 LEDs. For this reason we have
chosen to use 64 LEDs connected to (4) 4 to 16 decoders. If we find our accuracy in processing is better
than this 2% resolution, we may add more LEDs. A large package of the LEDs shown in figure 9 was
available for a great price so we will try to work with those.
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IC’s –
Figure 9: Chips
Circuit requirements for this project include a 555 timer capable of greater than 1kHz
frequencies, a Schmitt trigger to digitize the signal and eliminate rise time data anomalies, a voltage
regulator to convert our 12 volt batteries to the 20 volt max handled by the transducers, an amplifier to
increase the 5 volt digital signal to 20 volts, and 4 decoders to use an 8 bit position signal to light up one
of 64 leds. The addition of a MSP430G2211 has replaced the original intent of using a crystal to produce
the 40kHz wave required. It is programmed to output a PWM that does this portion of the football
circuit
7 segment LEDs – HDSP 5723
Figure 10: 7 segment LEDs For simplicity in feedback and error detection, we have chosen to add 2 double 7 segment LED
displays. The coordinate data for the transmitter will be displayed on these LEDs. This is a simple way
to show the output of the chip processing and debug motor and LED strip behavior.
Power – General Brand A27 12v Alkaline Battery
Figure 11: Battery
The football circuit requires a high voltage at a low weight. The 12 volt alkaline batteries shown
in figure 11 are an inch long and weigh less than an ounce. For this reason they were chosen. The field
can use a 5 volt dc power supply from a wall source.
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Project Architecture:
Figure 12: Transmission Flow Chart
The internals of the ball are separated into multiple triangular PCB designs controlling a certain
function of the guts of the ball circuit. One handles power regulation and distribution, Pulsing 20% Duty
Wave, 40kHz wave, and modulating the 40kHz signal into the 20% duty cycle wave and amplifying to
20V to be sent to a Ultrasonic Sensor on every triangle
Hardware:
The hardware is quite simple for this project. Separated into multiple system it can be broken up
down very easy. The first system is the ball circuit.
Ball Circuit – Can be broken up into multiple little system. To produce a wave that will burst a 40kHz
signal every 12ms for only 2ms the ball requires the use of a 555 (NE555N) timer in conjunction with a
Schmitt trigger to digitize the signal. A MSP430(G2211) is used to create the 40kHz signal through its
PWM capabilities. A CMOS switch (CD4016BCE) then uses the Schmitt output as it’s control line to
decide when to let the 40kHz wave through. Once the waveform is created it is them run through a
amplifier (LT1630) to 20V and sent to all Ultrasonic Tranducers.
Once the ball circuit is firing there are receivers (Prowave 400R120) on the field picking up the
signal and amplifying it (LT1630) before sending it along a line to the FPGA prep board.
On the FPGA prep board the signal is then amplified once more (LT1630) and rectified to the
FPGA specifications of a signal -0.5V to 4.6V that can be processed.
The FPGA board is the heart of the system. In it includes a Altera Cyclone II EP2C8T144C8
FPGA with EPSC16 SROM to handle all processing in the realm of multilateration. With the FPGA all
signals can be sent to and from the field representation model. Included are controls to handle display of
segmented LEDs, LED distribution, and controls for powered encoded motor driver with laser level
dependent on quality required and time constraints.
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Figure 13: Field circuit processing flow chart
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Figure 14: Initialization flow chart
Software:
The field circuit is run by a Cyclone II FPGA. The FPGA takes as inputs the signals from the 4
ultrasonic receivers. Its outputs are binary instructions for the motor encoders. All processing will be
done on this chip. Upon startup, the motor encoders will have no memory of previous position, and
therefore need to be initialized. Figure A shows the process of using buttons to align the motors with
their correct starting position. Based on timing of received signals, the program will calculate the
location of the signal transmission. The flow chart for this process is shown above.
The input signals will be in the form of 40kHz square waves. When the signals arrive, they will
be passed through a debounce circuit. The purpose of this circuit is to set an interrupt signal constantly
high when the oscillating signal is received. When all processing is complete, a refresh signal will be
sent back to these blocks to set the output low.
The arrival of these ultrasonic signals will trigger the starting and stopping of timers. The timers
will then display the difference in time between any 2 received signals. This is a saturation timer which
does not reset once it hits its maximum value. Displaying this value will let the program know that a
signal was never received so it should discard this data point. When all 4 timers have stopped, a ready
signal is sent to the next stage to let the next block know that valid data is available for processing. If
any of the timers hit their maximum value, the data is not valid and will not be passed along. The timers
and debounce circuits are then automatically reset to wait for the next signal. The transmitted signal will
take no longer than 9ms to travel the diagonal length of the field. Therefore we can know if a signal was
missed when the timer reads greater than 9ms. The reset will be activated at 10.5ms which will reset all
values in the circuit and await the next received signal. If any signal is missed, the program will simply
wait for the next one and the motor will then be able to catch up with the current position.
In parallel with the timers are 2 bit registers that store the value of which receiver was triggered
first. This lets the position algorithm know the sign of the arrival time difference. T10 = -(T01). Input to
the registers required two individual bits to be converted into a 2 bit vector.
The next stage of the circuit is the logic block. Location of the ball is determined by a method
known as multilateration. This method is commonly used in locating aircraft. This method can
determine a point in 3 dimensional space without knowing the absolute distances from the transmitter to
the receivers. The only input is the difference in arrival times and Cartesian coordinates of the receivers.
The difference in relative distances is determined by multiplying the time difference by the speed of
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sound travel. A comprehensive derivation of the equations will be included in the final report and lab
notebook. The output of this algorithm for our purpose is a value for the x and y coordinates of the
transmitter.
The original design used the 4th
receiver for redundancy. The location should be able to be
calculated from just 3 receivers, I think. Using data from 4 receivers would allow a point to still be
calculated even if it was not received by all 4 stations. In the event it was received by all 4, this method
would also supply 4 data points which could be averaged together for more accuracy. Unfortunately,
extreme difficulty ensued reducing these equations. Only certain combinations of equations yielded
correct data output. Rather than lose more time resolving these problems, we have adjusted the circuit to
intake all received signals and compute using all four measurements. This simplifies the algorithm but
potentially reduces accuracy.
For simplicity, we have implemented 7 segment LEDs to display the output coordinates at this
point in the code. This helps to identify problems in the code for the motors.
This 2D point must then be converted into instructions for the motor. We have employed motors
with hall sensor encoders which return a pulse for each click passed. This motor and encoder
combination yields 1216 counts per revolution. To simplify calculations, data points were rounded to the
nearest inch. An issue of concern was the nonlinearity of change in distance as the laser points to
different locations on the field. As the laser points farther toward the edges, a single count of the encoder
will correspond to a larger distance than the same single count at the center of the field, closest to the
point of laser projection. The change in distance per click is a function of the distance squared. In order
to know how many clicks must be passed to move from point A to point B, the integral of this function
is taken. The integral is an arctan function which is extremely difficult to implement in VHDL. For this
reason we chose to create a look-up table. This table contains 1 value for each position between 0 and
the length or width of the field. These values are approximately the values of the integral at the
corresponding positions. Using this table, the code can take the previous position values, the current
position values, look up both of their corresponding values in the table, and then subtract. This gives the
number of clicks the motor will have to move in order to move from the previous position to the current
position.
Once the number of clicks required is determined, the motors are turned on. The hall sensor
feedback is then used as a clock for a down counter. This counter is loaded with the above value. Once
the count reaches zero, a zero flag is set. The setting of this flag signals the motors to turn off. It also
refreshes the entire circuit and the data collection begins again.
The initial design used a 25.175MHz clock for the timers. At this speed, 18 bit vectors are
necessary to account for the maximum time it could take a signal to traverse the field. These 18 bit
vectors required significant memory to be able to process. The resulting code was accurate to within 0.1
inches, but required 3.5 times more space than was available. Since the circuit boards had already been
created, we chose to scale down our existing code rather than scale up the FPGA and recreate the circuit.
To fit in the space available, the clock speed was divided until the time could be represented with 9 data
bits. The result is a significant loss of accuracy, up to about a 4 inch potential margin of error for most of
the field. There is a problem area as the position approaches midfield. Some of the parameters in the
multilateration algorithm become extremely large here. The required truncation does not allow us to
preserve the accuracy of these numbers. The result is potential garbage data. The code has been
modified to ignore the most extreme errors which occur at exactly midfield. The values are simply
replaced with values corresponding to a position 1 inch away from midfield. This behavior can induce a
4 inch error at some points. If the method were changed to move the value 2 inches away, points on one
end of the field would become more accurate, but points at the opposite end could incur an 8 inch error.
This was more accuracy than we were willing to sacrifice.
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Future Work:
The Future of Football system is intended to be a fully functional, fully scalable model of a
system to be implemented on a professional field. The positioning algorithm in use can be applied to any
field for any sport. The code was written such that the only alterations needed for mapping on a larger
scale are the modification of the field dimensions programmed into the algorithm.
As described above, a look-up table was implemented to simplify the use of the arctangent
function. If the same laser method is desirable on a large field, either the table would have to be
significantly extended, or the arctangent function would have to be implemented directly. However, it is
likely that any full scale method would use an alternate method of position identification. A simple
method is to extend the LED strip behavior identified above. LEDs could potentially be placed as
frequently as ever quarter inch extending the entire length of the sideline. For this method to be usable,
the LEDs would need to be extremely bright. A significant hardware requirement is also added for this
method. This feedback system also requires a human to visually locate the illuminated LED and attempt
to place the ball as closely as possible to that point. This still leaves the door open for human error. A
more expensive alternative would be multiple line lasers in place of the LEDs. The laser would then
project a line across the field from the sideline. This would reduce potential error, but as stated earlier,
would not be usable during the duration of the play. This system is more applicable in the instant replay
scenario.
The most significant alteration necessary for full size implementation is the signal transmission
method. Ultrasound was used for this project due to its affordability and ease of implementation.
Ultrasound is not appropriate for a full-scale field for a number of reasons. First, the signal cannot pass
through a leather ball. The signal would not be able to travel sufficient distance to cover the field. The
sonar signal would take too long to cover the field even if it could reach. And it is likely that the
ultrasound would not function properly in the midst of crowd noise. For these reasons, RF transmission
is desirable. RF signals will pass through the leather of the football and even through the other players. It
can travel much farther than the length of the field and would not be interfered with by stadium
conditions.
RF signals travel at light speed. This means that to measure the difference in arrival times, the
counters need to be powered by an ultra-high speed clock. To obtain 1 inch accuracy from the difference
of arrival times, a 12GHz clock is necessary. For professional use, more precision is desirable. A clock
in this range is commercially available for around $10,000 and can be assembled for closer to $1000.
The output vectors from these counters would also be very large, requiring significantly more chip real
estate than was used in this project.
The heart of this tracking method is not its application in real time, but in conjunction with the
instant replay system. By recording all real-time data points and synchronizing them with video data, the
location of the ball at any point in history can be determined. For plays that require further review, this
is an invaluable tool.
By recording the trajectory of the ball as it travels, the entire history of the game is recorded.
Outcomes of plays can be mapped to the movement of the ball during the play. Once this data is
formally organized, football statistics will be overhauled. Training methods would begin to be based on
actual historical data, rather than theory.
Lastly, this method is not confined to use in football. Virtually any ball sport can benefit from
tracking technology. Soccer, hockey and basketball are among the most likely candidates that do not
current feature any sort of tracking.
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Bill of Materials:
(4) Ultrasonic transducers – ProWave: Bistatic open-type 400ST/R120 (TX/RX pairs) $87
(2) DC motor – 19:1 Metal Gearmotor 37Dx52L mm with 64 CPR Encoder $80
(2) 3A MC33926 Motor Driver Carrier $50
(2) Laser - Laser Straight Projective Leveler with Water Leveler $25
(128) LEDs – Bright Green T1 (3mm) Right Angle LEDs $2
(1) Processing – Altera Cyclone II EP2C8T144C8 FPGA $20
(1) LM2941CT Adjustable output voltage regulator $1
(1) SN74HC14N Schmitt Trigger $1
(1) LM555CN Timer $1
(4) CD4514 Decoder 4 to 16 $2
(1) MC4558CN 20v Operational Amplifier $1
(1) Hollow rubber ball with unobstructed shell $8
(1) 6’x8’ Fake grass field $18
(2) Cans of white spray paint $2
(1) Lumber 2x4 $3
(1) Advanced Circuits PCB $90
(2) MAN6900 7-segment LED displays $0
(7) LT1630 Operational Amplifier $42
(1) MSP430G2211 Microcontroller $1
(1) LM3940 5V – 3.3V Regulator $1
(1) LT1085 5V regulator $1
(1) CD4016BCE CMOS switch $1
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Separation of Work:
Figure 15: Separation of Work
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Gantt Chart:
Below is the breakdown of work by order and duration of each project component.
Figure 16: Gantt Chart
References:
Carnegie Mellon Football Engineering Research Group
http://www.footballtracking.org/
Multilateration Executive Reference Guide
http://www.multilateration.com/
Prowave Air Ultrasonic Ceramic Transducers
http://www.prowave.com.tw/pdf/T400S12.PDF
Altera Cyclone II Device Family Data Sheet
http://www.altera.com/literature/hb/cyc2/cyc2_cii5v1_01.pdf
Pololu 19:1 Metal Gearmotor with 64 CPR Encoder
http://www.pololu.com/catalog/product/1442
Pololu MC33926 Motor Driver Carrier
http://www.pololu.com/catalog/product/1212
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