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Proposal Presentation

Monday, February 16, 2004

By

John Budinger

Francisco Otibar

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Introduction

• Started in Spring 2003

• Gain experience with robots

• Engage in a fun and challenging project

• Different type of project (not too different)

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Proposals

• Autonomous Robot

• Sensor Subsystem

• Artificial Intelligence

• Robot and Communications

Questions or Comments and Answers

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Autonomous Robot

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Autonomous Robot

• Soccer robot

• Composed of 3 main subsystems

• Design software and hardware

• Combine all subsystems successfully

computer

sensorsrobotCOMM

AI

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Sensor Subsystem

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Sensor Subsystem

• Camera and vision program

• Color, fast, low cost

• Custom versus Commercial

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Sensor Subsystem

• Camera will collect data during play

• Provide information for AI

• Green field

• White borders/boundaries

• Orange golf ball

• Robot w/ mostly black top

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Sensor Subsystem

• Custom solution

• Logitech Messenger QuickCam

• Logitech QuickCam SDK

• Visual C++ 6.0

• Global Vision

• TRIPOD by Prof. Paul Oh

• DevIL for processing

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Sensor Subsystem

• Image Capture

QuickCam drivers and SDK

RGB image

160x120 to 640x480 pixels

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Sensor Subsystem

• Image Capture

• Color Dectection

Homogenized

RGB to HSL conversion

if((pixelColor > MIN_COLOR_VALUE) &&

(pixelColor < MAX_COLOR_VALUE))

pixelColor = COLOR_VALUE;

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Sensor Subsystem

• Image Capture

• Color Dectection

• Image Filter

Remove noise

if(size(blob) < MIN_OBJECT_SIZE)

remove(blob);

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Sensor Subsystem

• Image Capture

• Color Dectection

• Image Filter

• Object Detection

Finds and labels valid objects

if((size(blob) == size(OBJECT)) &&

(color(blob) == color(OBJECT))

label(blob) = label(OBJECT);

Ball

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Sensor Subsystem

• Image Capture

• Color Dectection

• Image Filter

• Object Detection

• Object Position

Center of mass

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Sensor Subsystem

• Image Capture

• Color Dectection

• Image Filter

• Object Detection

• Object Position

• Object Identification*

Not yet…

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Sensor Subsystem

• Image Capture

• Color Dectection

• Image Filter

• Object Detection

• Object Position

• Object Identification*

Not yet…

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Sensor Subsystem

• Camera mount

• Template provided by SDK

• C/C++ for portability

• Calibration and lighting

• Goal: implement complete program

• Consideration: multiple object tracking

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Sensor Subsystem

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Artificial Intelligence

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Artificial Intelligence

• Object position and label

• X,Y coordinates

• Find appropriate command for situation

• … and find it fast!

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Artificial Intelligence

• Keep the algorithm simple and consistent

• Optimize code for common cases

• Line of sight in 2-dimensional map

• Trigonometry and geometry

• “Dummy” robot

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Artificial Intelligence

“Running Man”

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Artificial Intelligence

“Running Man”

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Artificial Intelligence

“Line Man”

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Artificial Intelligence

“Line Man”

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Artificial Intelligence

“Line Man”

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Artificial Intelligence

“Line Man”

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Artificial Intelligence

• Line Man algorithm

• 2 versions of Running Man code

• Goal: robot uses optimal path

• Consideration: multiple objects on field

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Francisco Fighter II:Championship Edition

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Robot and Communications

• 20 cm x 20 cm x 30 cm

• Modular design

• IC dominant

• Simple chassis

• Built in layers

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing

x96 Autonomous Robot

Robot and Communications

• 20 cm x 20 cm x 30 cm

• Modular design

• IC dominant

• Simple chassis

• Built in layers

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Robot and Communications

• IN: rs232 data signal

• OUT: TTL/CMOS data signal

• -/+15V (rs232) to +/-5V (TTL)

• MAX233

• 3 controls (manual, computer, wireless*)

COMMCOMM

Motors

Power Supply Unit

Motor Controls

Data Processing

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Robot and Communications

• IN: data signal

• OUT: control signal

• Decodes message from computer

• 8-bit string to commands

• PIC16F877

• RCM2000 RabbitCore

Data Processing

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing

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Robot and Communications

• IN: AC or DC

• OUT: DC for circuits

• Provide power for circuits and motors

• Monitor power level

• Efficient power supply

• Allow 2 sources (DC or AC)

Power Supply Unit

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing

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Robot and Communications

• IN: processor commands

• OUT: physical motion

• DC motors

• H-bridge

• PWM

• Braking

• Multidirectional

Motor Controls

Motors

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing

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Robot and Communications

• Robot structure and module designs

• Convert to schematic

• Begin production of robot

• Goal: working robot controlled by user or computer

• Consideration: implement ball handler/kicker

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Summary

• 1 robot, 1 ball

• Custom software, hardware design

• Code AI and vision program

• Build robot and circuits

• Goal: robot moves to ball (autonomously)

• Consideration: complete AI and robot first

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Questions? Comments?

Goodbye.