Project

# Title Team Members TA Documents Sponsor
36 Intelligent Basketball Retrieval & Return Robot
 Jinghui Zheng
Libo Zhang
Linzhi Du
Zichao Lin
 design_document1.pdf
final_paper1.pdf
other1.pdf
other2.pdf
other3.pdf
presentation1.pptx
presentation2.pptx
 Timothy Lee
1. Problem
1.1 Background
Basketball training often requires players to repeatedly retrieve the ball after each shot, which interrupts practice rhythm and reduces training efficiency. Although some existing training machines can return the ball automatically, many of them only deliver passes in fixed directions and cannot adapt to the player’s changing position. Therefore, there is a practical need for a smarter basketball passing device that can collect the ball automatically, locate the user, and return the ball accurately to support more efficient and continuous individual training.
1.2 Problem Statement
The problem this project aims to address is how to design and develop an automated basketball passing machine that can collect the ball after a shot, identify the user’s position through a wearable Bluetooth locator, and deliver the ball back to the user with appropriate direction and accuracy. The system should improve the continuity and efficiency of individual basketball training.
2. Solution overview
The proposed solution is an automated basketball passing machine that integrates mechanical design, electronic hardware, and embedded control to achieve ball collection, user localization, and directional ball delivery. After the basketball enters the machine, a collection and feeding mechanism transfers it into a ready-to-launch position. At the same time, the system receives location information from a wearable Bluetooth device attached to the user’s wrist. Based on the processed positioning data, the controller estimates the user’s relative direction and distance, and then adjusts the launching mechanism accordingly.

From a technical perspective, the system consists of three main parts. First, the mechanical subsystem includes the ball collection structure, ball storage and feeding mechanism, and a launching unit capable of controlling the release direction and passing speed. Second, the electronic subsystem includes the main control board, Bluetooth communication module, motor drivers, sensors, and power management circuit, which together support signal acquisition and actuator control. Third, the software subsystem is responsible for localization data processing, motion control, and coordination of the overall operating sequence. Through the integration of these subsystems, the machine is expected to provide a more intelligent and efficient solution for continuous individual basketball training.

3. Components
3.1 Mechanical Structure
The mechanical structure of the proposed basketball passing machine can be divided into three main parts: the ball collection mechanism, the ball storage and feeding mechanism, and the ball launching mechanism.

First, the ball collection mechanism is designed to capture the basketball after the user takes a shot and guides it back into the machine automatically. A net-based collection structure, similar to a funnel-shaped mesh, is installed around the basket and the main rebound area. This net is supported by a lightweight frame and connected to the inlet of the passing machine. After the ball falls or rebounds from the basket area, it is intercepted by the inclined net surface and rolls downward under gravity toward the collection opening. In this way, the system can reduce manual ball retrieval and improve the continuity of shooting practice.

Second, the ball storage and feeding mechanism adopts an inclined rolling channel. After entering the machine inlet, the basketball moves into a sloped channel where multiple balls can be temporarily stored in sequence. Because of the inclined geometry, each ball rolls naturally toward the feeding end under gravity. A controllable blocking device is installed near the launching position to ensure that only one ball is released at a time. This design is mechanically simple, easy to manufacture, and suitable for stable sequential ball feeding.

Third, the ball launching mechanism uses a dual-wheel launching structure. In this design, two high-speed rotating wheels are arranged on both sides of the basketball. When a ball is fed into the launching position, the friction generated by the rotating wheels accelerates the ball and launches it toward the user. By adjusting the rotational speed of the wheels, the system can control the passing speed and adapt to different user distances. Compared with other launching methods, the dual-wheel structure offers better controllability, relatively simple construction, and good compatibility with motor-driven actuation.

To further improve the directional passing capability, two additional adjustment mechanisms are included in the launching subsystem. The first is a launching angle adjustment mechanism, which allows the launcher to change its vertical angle so that the ball trajectory can be adapted for different passing distances or heights. The second is a turntable base, which supports horizontal rotation of the entire launching unit. Driven by a motor, this rotating base enables the machine to align the launcher with the user’s position based on the localization result. With the combination of vertical angle adjustment and horizontal rotation, the machine can achieve more flexible and accurate ball delivery.
3.2 Electronic Hardware
The electronic hardware system is responsible for sensing, computation, communication, and actuation control of the robot. It mainly consists of the following modules:
Main Control Board: The main control board (microcontroller-based) serves as the central processing unit of the system. It coordinates all subsystems, processes sensor data, calculates motion and launching parameters, and sends control signals to the motor drivers and actuators.
Wireless Positioning Module: A wireless positioning module (such as Bluetooth beacon or UWB module) is used to estimate the real-time location of the trainer. The robot receives positioning signals from the wearable device and determines the relative position of the user, enabling accurate ball return direction calculation.
Motor Driver Modules: Motor driver circuits are used to control the motors responsible for ball collection, internal ball transport, and the launching mechanism. These drivers provide sufficient current and precise speed control to ensure stable mechanical operation.
Power Management Module: The power module regulates and distributes power from the battery to different electronic components. Voltage regulation circuits ensure stable operating voltages for the microcontroller, sensors, communication modules, and motor drivers.
Sensors and Interface Circuits: Additional sensors and interface circuits may be used to detect system states such as ball presence, motor status, or mechanical limits. These sensors help the controller monitor system operation and improve reliability and safety.
3.3 Software
The software subsystem serves as the central intelligence of the basketball passing machine, responsible for localization data processing, motion control, and coordination of the overall operating sequence. First, the positioning information processing module interprets data received from the user's wearable Bluetooth locator to accurately determine the player's real-time position, distance, and relative angle. Second, based on these coordinates, the launch parameter calculation algorithm determines the necessary mechanical adjustments. This includes calculating the required rotational speed for the dual-wheel launching structure to achieve the correct passing speed , as well as computing the target angles for the horizontal turntable and vertical adjustment mechanisms. Third, the motion control program translates these computed parameters into precise electrical signals to drive the respective motors accurately. Finally, the overall system control logic acts as the main state machine that seamlessly manages the entire workflow—from coordinating the controllable blocking device for ball feeding to target locking and launching—ensuring safe, continuous, and reliable operation.
4. Criteria of Success
4.1 Functional Success
The system must be able to autonomously collect basketballs that land within the operating area near the hoop and return them to the trainer without manual intervention. After detecting the presence of a basketball, the robot should navigate to the ball, retrieve it using the ball collection mechanism, and transport it to the launching module.
Using the wireless positioning information from the trainer’s wearable device, the system must determine the relative position of the user and adjust the launching mechanism accordingly. The robot should then launch the basketball toward the trainer so that it can be received within a reasonable catching distance.
Throughout the process, the system should perform ball detection, retrieval, positioning, and launching in a coordinated and automated manner, enabling continuous basketball training with minimal interruption.
4.2 Performance Success
The system must achieve stable and reliable performance during autonomous basketball retrieval and return operations. The robot should be able to successfully collect basketballs located within the designated operating area near the hoop and transport them to the launching mechanism without jamming or mechanical failure.
When returning the ball to the trainer, the launching mechanism should deliver the basketball within a reasonable catching distance of the user. The target landing area should be within approximately 1–2 meters of the trainer's position, allowing the trainer to receive the ball comfortably during practice.
Additionally, the system should complete the entire cycle of ball detection, retrieval, positioning, and launching within a reasonable time, enabling continuous training without long interruptions between shots. The robot should also maintain consistent operation over multiple retrieval cycles to demonstrate system stability and reliability.
4.3 Engineering Success
Engineering success for this project is defined by the complete design, fabrication, and integration of its three primary technical disciplines: mechanical structure, printed circuit board (PCB) hardware, and software code. From a mechanical standpoint, this requires the physical realization and stable assembly of the collection, feeding, and launching mechanisms. For the electronic hardware, it necessitates the development of a fully functional custom PCB that reliably integrates the main control board, Bluetooth communication module, motor drivers, sensors, and power management circuits. For the software, it requires the deployment of robust control algorithms and communication protocols. The ultimate criterion for engineering success is the successful joint debugging (system integration) and continuous operation of the complete machine. This final milestone will demonstrate that all mechanical components, electronic circuits, and embedded code work together seamlessly as a unified system to achieve automated ball collection, user localization, and directional delivery.

Recovery-Monitoring Knee Brace

Featured Project

Problem:

Thanks to modern technology, it is easy to encounter a wide variety of wearable fitness devices such as Fitbit and Apple Watch in the market. Such devices are designed for average consumers who wish to track their lifestyle by counting steps or measuring heartbeats. However, it is rare to find a product for the actual patients who require both the real-time monitoring of a wearable device and the hard protection of a brace.

Personally, one of our teammates ruptured his front knee ACL and received reconstruction surgery a few years ago. After ACL surgery, it is common to wear a knee brace for about two to three months for protection from outside impacts, fast recovery, and restriction of movement. For a patient who is situated in rehabilitation after surgery, knee protection is an imperative recovery stage, but is often overlooked. One cannot deny that such a brace is also cumbersome to put on in the first place.

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Solution:

Our group aims to make a wearable device for people who require a knee brace by adding a health monitoring system onto an existing knee brace. The fundamental purpose is to protect the knee, but by adding a monitoring system we want to provide data and a platform for both doctor and patients so they can easily check the current status/progress of the injury.

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Audience:

1) Average person with leg problems

2) Athletes with leg injuries

3) Elderly people with discomforts

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Equipment:

Temperature sensors : perhaps in the form of electrodes, they will be used to measure the temperature of the swelling of the knee, which will indicate if recovery is going smoothly.

Pressure sensors : they will be calibrated such that a certain threshold of force must be applied by the brace to the leg. A snug fit is required for the brace to fulfill its job.

EMG circuit : we plan on constructing an EMG circuit based on op-amps, resistors, and capacitors. This will be the circuit that is intended for doctors, as it will detect muscle movement.

Development board: our main board will transmit the data from each of the sensors to a mobile interface via. Bluetooth. The user will be notified when the pressure sensors are not tight enough. For our purposes, the battery on the development will suffice, and we will not need additional dry cells.

The data will be transmitted to a mobile system, where it would also remind the user to wear the brace if taken off. To make sure the brace has a secure enough fit, pressure sensors will be calibrated to determine accordingly. We want to emphasize the hardware circuits that will be supplemented onto the leg brace.

We want to emphasize on the hardware circuit portion this brace contains. We have tested the temperature and pressure resistors on a breadboard by soldering them to resistors, and confirmed they work as intended by checking with a multimeter.