Inct Gt1 Gt2 Gt3

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GT1 - GT1 - DESENVOLVIMENTO DE ROBÔS TÁTICOS DESENVOLVIMENTO DE ROBÔS TÁTICOS PARA AMBIENTES INTERNOS PARA AMBIENTES INTERNOS “Indoor Security Robots” “Indoor Security Robots” LRM – Profs. Fernando Osório, Denis Wolf, LRM – Profs. Fernando Osório, Denis Wolf, Eduardo Simões, Onofre Trindade Jr. Eduardo Simões, Onofre Trindade Jr. USP – ICMC - EESC USP – ICMC - EESC Preliminary Results

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Transcript of Inct Gt1 Gt2 Gt3

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GT1 - GT1 - DESENVOLVIMENTO DE ROBÔS TÁTICOS DESENVOLVIMENTO DE ROBÔS TÁTICOS PARA AMBIENTES INTERNOS PARA AMBIENTES INTERNOS

“Indoor Security Robots”“Indoor Security Robots”

LRM – Profs. Fernando Osório, Denis Wolf, LRM – Profs. Fernando Osório, Denis Wolf, Eduardo Simões, Onofre Trindade Jr.Eduardo Simões, Onofre Trindade Jr.

USP – ICMC - EESC USP – ICMC - EESC

Preliminary Results August, 2009

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PrototypePrototype

IP addresses and the port numbers of the components.

Robots and Sensors

• Pioneer DX and AT• Laser SICK LMS• Erratic Robot• Laser Hokuyo• Cameras on-board with pan-tilt• Wireless Camera• ASR Labs Robot (Under development at São Carlos)

Erratic – Era Mobi

Pioneer DX

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PrototypePrototype

IP addresses and the port numbers of the components.

Robots and Sensors

• Pioneer DX and AT• Laser SICK LMS• Erratic Robot• Laser Hokuyo• Cameras on-board with pan-tilt• Wireless Camera• ASR Labs Robot (Under development at São Carlos)

ASR Labs

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Remote Security ControlRemote Security Control

IP addresses and the port numbers of the components.

Experiments

• Remote Controlling: Pioneer Robot

Robots located at São Carlos, SP (USP) Control located at Porto Alegre, RS (PUC/RS)

• Send Sensorial Data (Video, Sonar, Laser)• Receive Control Commands

It works!

September 2009:Distance learning course: How to program robotsUSP – ICMC and PUC/RS

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GT2 - GT2 - DESENVOLVIMENTO DE VEÍCULOS DESENVOLVIMENTO DE VEÍCULOS TERRESTRES AUTÔNOMOSTERRESTRES AUTÔNOMOS

“Autonomous Vehicle”“Autonomous Vehicle”LRM – Profs. Fernando Osório, Denis Wolf, LRM – Profs. Fernando Osório, Denis Wolf,

Eduardo Simões, Onofre Trindade Jr.Eduardo Simões, Onofre Trindade Jr.SENA – Profs. Marcelo Becker, Glauco Caurin, SENA – Profs. Marcelo Becker, Glauco Caurin,

Valdir Grassi, Daniel MagalhãesValdir Grassi, Daniel Magalhães

USP – ICMC - EESC USP – ICMC - EESC

Preliminary Results August, 2009

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PrototypePrototype

IP addresses and the port numbers of the components.

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PrototypePrototype

IP addresses and the port numbers of the components.

Laser

Camera

GPS

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PrototypePrototype

IP addresses and the port numbers of the components.

Sensors

• Laser SICK LMS 2xx (3 units)• Video Camera Sansung• GPS Garmin• IMU MicroStrain (Inertial Unit)

Actuators

• Automatic Transmission (Gearbox Shift)• Electro-mechanical Steering Servo-assisted

(a) GPS Garmin (b) Laser Sick LMS

(c) Câmera de Vídeo (d) Unidade Inercial IMU - MicroStrain

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Computer Assisted DrivingComputer Assisted Driving

IP addresses and the port numbers of the components.

Obstacle Detection and Alarm

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Computer Assisted DrivingComputer Assisted Driving

IP addresses and the port numbers of the components.

Obstacle Detection and Alarm

- Laser Obstacle Detection- Avoid False Alarms- Suggest reaction: * Speed reduction * Steering

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Computer Assisted DrivingComputer Assisted Driving

IP addresses and the port numbers of the components.

Obstacle Detection and Alarm

Static and Indoor Tests…

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Computer Assisted DrivingComputer Assisted Driving

IP addresses and the port numbers of the components.

Obstacle Detection and AlarmOutDoorTests…

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Computer Assisted DrivingComputer Assisted Driving

IP addresses and the port numbers of the components.

Obstacle Detection and AlarmOutDoorTests…

Real Laser Data (Grey Lines)Real GPS Data (Blue Dots)Focus of Attention Window (Green)

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Computer Assisted DrivingComputer Assisted Driving

IP addresses and the port numbers of the components.

Obstacle Detection and AlarmOutDoorTests…

Real Laser Data (Grey Lines)Real GPS Data (Blue Dots)Focus of Attention Window (Green)

Detect False Alarms:

-Trees - Buildings

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GT3 - GT3 - DESENVOLVIMENTO DE VEÍCULOS DESENVOLVIMENTO DE VEÍCULOS AÉREOS NÃO-TRIPULADOS (VANTs)AÉREOS NÃO-TRIPULADOS (VANTs)

“UAV – Unmaned Aerial Vehicle”“UAV – Unmaned Aerial Vehicle”

LRM – Profs. Onofre Trindade Jr.LRM – Profs. Onofre Trindade Jr.

USP – ICMCUSP – ICMC

Preliminary Results August, 2009

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AGplane 2

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AGplane 2 - Takeoff

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Points of Interest

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Points of Interest

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Agriculture