Aaron Swenson Samuel Farnsworth Derek Stewart Craig Call

Agenda Previous Action Items State of project mechanical vision AI/architecture controls Items from FSD… is it up to spec? Demonstration Conclusion

Previous Action Items Mechanical Rework component placement, including replacing breadboard with vectorboard Update power connectors to make the system more stable AI/Architecture Complete AI library and play strategies Implement Kalman filter Implement path tracking and prediction continued...

Previous Action Items continued... Controls Implement path planning and basic motor controls Thoroughly test current control architecture Vision Remove fisheye effect from video Track shapes in addition to color - found not necessary

Overview… hasn’t changed

Mechanical System - The Good Heat shrink bundles Small vector board Robot casing

Mechanical System - The Bad Floating ground Burned out encoders

Is it up to spec? # Metric Min/Max Value Ideal Value Actual Value 1 Top Speed 12 in/sec 16 in/sec 34 in/sec 2 Total Power Consumption < 50W < 40W ~4W idle ~6W running 3 Radius of Communication 10 meters 20 meters ~35 meters

Vision - The Good Fixed Camera Skew Before After

VISION - The Good Added an easy-to-use controller Easily pick what we track Switch instantly from Home to Away Easily adjust for camera/lighting changes

VISION - The Latency Image segmentation Looks at small area around objects to speed up tracking Slow Still about a second of latency

Computer Architecture - The Good ROS nodes communicate beautifully ROS launch file functional Libraries easily accessible on either the desktop or odroid

Computer Architecture - The Bad ROS took longer to complete than expected Parallelized computing was more difficult to implement in ROS Not necessarily immediately expandable to a two robot system

Artificial Intelligence Processed Vision Information Implemented Rush Goal Oriented toward the goal

Artificial Stupidity Only did one play/strategy Latency affects play/strategy selection Class decision delay

Control System - The Good Motion and direction Architecture Ros nodes for each level Testing Easy to change and update Quick to test

Control System - The Bad The matrices (M- and rotation) Orientation (theta?) Delays ROS Encoders Vision latency (1½ sec delay!)

Difficulties Faced Floating Ground Vision Lag Control Matrices Team Communication

All’s Well That Ends Well Group dynamic Suggestions for next semester Camera Jersey Other hardware and equipment Problems/Issues Page Commonly encountered issues and fixes

Questions? Comments?

Questions? Comments?

Questions? Comments?

OLD SLIDE SHOW FOR REFERENCE AFTER THIS POINT

Overview

Previous Action Items Mechanical: Complete robot design Build second robot Vision: Robot and ball detection Kalman Filter implemented Controls: Implement PID control Speed and distance controlled commands (move to any point) AI/Architecture: ROS setup and communicating between systems Implement 1 offensive and 1 defensive play

Milestones Acheived Mechanical: Complete robot design Build second robot Vision: Robot and ball detection Kalman Filter implemented Controls: Implement PID control Speed and distance control commands (move to any point) AI/Architecture: ROS setup and communicating between systems Implement 1 offensive and 1 defensive play

Difficulties Faced Build second robot: Still working on first robot, parts have not yet arrived. Improve design before replication Kalman Filter implemented: Camera specifications kept changing Distance control commands : PID Controller took longer to complete than anticipated Implement 1 offensive and 1 defensive play: High dependency on Vision

Schedule

Schedule continued...

Schedule continued...

Schedule continued... The following tasks do not have a set start date or duration: Maintain code base (Sam) Optimization (Sam) Debug algorithms (Sam) Refine Vision (Derek) Perform routine maintenance (Aaron)

Program Status Mechanical Reworked robot frame Added wiring for encoder feedback Easy battery/power cord switching Vision Color identification algorithm working Tracking ball and robot position (cm) and orientation (d Controls Implemented velocity controller and trajectory tracker Designed M-matrix (rotational matrix) logic AI/Architecture ROS up and running on robot and base station Refactored code base for easier use AI library code base started

Program Status - New Robot Frame Bottom Layer Middle Layer Top Layer

Action Items Mechanical Rework component placement, including replacing breadboard with vectorboard Update power connectors to make the system more stable Vision Remove fisheye effect from video Track shapes in addition to color continued...

Action Items continued... Controls Implement path planning and basic motor controls Thoroughly test current control architecture AI/Architecture Complete AI library and play strategies Implement Kalman filter Implement path tracking and prediction

Questions? Comments?