Introduce about sensor using in Robot NAO Department: FTI-FHO-FPT Presenter: Vu Hoang Dung.
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Transcript of Introduce about sensor using in Robot NAO Department: FTI-FHO-FPT Presenter: Vu Hoang Dung.
Introduce about sensor using in Robot NAO
Department: FTI-FHO-FPT
Presenter: Vu Hoang Dung
OUTLINE
Introduce Sensors1
Audio2
Vision3
Other Sensors4
Introduce Sensors Sensor is a converter that measures a physical quantity and converts
it into a signal which can be read by an observer or by an instrument. A sensor’s sensitivity indicates how much the sensor’s output changes when the measured quantity changes.
Senses of the NAO, the physical devices in robots that sense the environment are called sensor.
NAO sensors can divide into 3 types main sensors: Audio: include devices which listen to sound and play to sound
from microphone.(Example TTS and STT) Vision: include devices which capture image from camera.
(Example Face detect, Hand detect, Line detect …) Other sensor: include devices which get value from environment.
(Example touch sensor, battery sensor, infrared sensor, laser sensor, sonar sensor).
Introduce Sensors
Audio
Audio NAO has 4 microphones built into its head that it uses to listen to sound around it
Module in Audio
Audio Device: manage audio inputs and outputs Audio Player: play audio file on the robot Audio Recorder: record audio file on the robot Sound Detection: detect sound events Audio Source Localization: localize sounds detected Speech Recognition: make the robot understand what a human says Text To Speech: make the robot speak
Audio
Example
Sound detection and source localization
Value return:• Number of sounds detected• Index of the sound start(=1), sound
end(= 0)• Detection time• Gives an estimate of the probability[0,1]
that the sound detected by the module corresponds to a real sound
Vision
Vision NAO has two cameras in its head. The cameras are vision sensors andprovide camera images for the NAO’s computer to process. This is differentfrom the human “sensor of sight” as sight would include processing the imageTo understand what the robot sees
Vision
Module in Vision Backlighting: enables to check if the image of the camera is backlit. Darkness: gives NAO the ability to detect if it is in a dark environment. Face detection: gives NAO the ability to detect and recognize human faces. Landmark detection: gives NAO the ability to detect specific visual landmarks. Movement detection: gives NAO the ability to detect some movement and tell
where it comes from. Photo capture: provides tools to take pictures and save them on disk. Red ball detection: gives NAO the ability to detect red and circular objects. Video device: manages video inputs. Video recorder: provides video recording tools. Vision recognition: provides learning and recognition capabilities of visual
patterns. Visual compass: gives NAO the ability to use an image as a compass. Beside: Hand detection, line detection, flashcard….
Vision
Example
Landmark detection: use to get position of NAO with environment around
Value return:• Landmark ID• Landmark’s location in
camera angles• The Landmark’s size in
camera angles• Landmark’s is oriented
about the vertical axis with NAO’s head
Vision
Example
Red ball detection:
Value return:• CenterX, centerY are
center of the ball in angles
• SizeX, sizeY are the ball “horizontal and vertical radius”
• Position of the camera in Torso frame
• Position of the camera in robot frame
Other Sensors
Besides above sensors, NAO also uses other sensors as touch, press, balance for robot, measure level power in robot
Sensors: deals with bumpers, tactile hands, tactile head and press chest button. Battery: manage level power and warn the user Fsr: generates the event whenever the foot contact changes Infrared: allows IR communication with NAO Laser: retrieve data sent by the Laser head(optional device) Sonar: retrieves ultrasonic sensor.
Module in other Sensors
Other Sensors
Example
Sensor: get value follow bumper, tactile, chest button
Bumper• Left bumper• Right bumper
Tactile head• Front• Back• Rear
Tactile hand• Back• Left• Right
Chest button• Simple click• Double click• Triple click
Other Sensors
Example
Sonar: 2 emitters, 2 receives
Mode operation
• Frequency: 40kHz• Sensitivity: -86dB• Resolution: 1cm• Detection range: 0.25 – 2.55• Effective cone: 60o
Other Sensors
Example
Event sensor :
• Sonar Left Detected• Sonar Right Detected• Sonar Left Nothing Detected• Sonar Right Nothing Detected• Sonar Left Nothing Detected and
Sonar Right Nothing Detected
Other Sensors
Example
IR:
Use case• Use NAO as a remote
control• Set NAO to receive
orders from a remote control
• Make several NAOs communicate together
Other Sensors
Example
Led Sensor : allows you to control NAO’s LEDs
Example - Subscribe
Example
Subscribe event:
Example - Subscribe
Example
Subscribe event:
Example - Subscribe
Example
unSubscribe event:
Example - Subscribe
Example
Get value:
Questions and Comments
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