Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member of the HockeyBot Federation Ciel: French for sky Guard: to protect or to be careful

Who says what? (Presentation Organization) Overview of why we did what we did…we think Overview of why we did what we did…we think Dreams of Greatness (Project Goals) Dreams of Greatness (Project Goals) Nitty Gritty: Nitty Gritty: –Functional Partition –Software Partition –C’est la vie. (Problems Encountered) Are we there yet? (Analysis of Goals) Are we there yet? (Analysis of Goals) A cup o Java in yo face (Hockey Match) A cup o Java in yo face (Hockey Match) Ask me no questions and I’ll tell you no lies (Q&A) Ask me no questions and I’ll tell you no lies (Q&A)

Senior Project - CS4710 Given Several Items Given Several Items –Systronix JStamp –Lego Mindstorms –Sonar Kit –CMU Camera –Batteries –Anything Else we Contribute Now do something interesting… Now do something interesting…

Capabilities Systronix JStamp Systronix JStamp –Embedded Real-time Java CMU Camera CMU Camera –Realtime Vision Legos Legos –Get the ME out of CE The Sky’s the limit… The Sky’s the limit…

HockeyBot Federation Question: Can an embedded system play street hockey? Question: Can an embedded system play street hockey? Old Answer: Hasn’t been done before. Let’s make it happen. Old Answer: Hasn’t been done before. Let’s make it happen. Goals: Goals: –Use Machine vision and sensor inputs to make a competitive robot in street hockey. –Must be autonomous. –Rely on vision Current Answer: Been there, done that. Current Answer: Been there, done that. –Would Add: Positioning system – Where am I? Positioning system – Where am I? Team Game – Wireless Communication Team Game – Wireless Communication Idea of Offense/Defense Idea of Offense/Defense Second Camera for secondary objectives Second Camera for secondary objectives

Nitty Gritty: Functional Partition

Nitty Gritty: Software Partition

Original Objectives

Problems Encountered CMU Cam dropping a byte CMU Cam dropping a byte Ball Manipulation Ball Manipulation Sonar Not Integrating with new Code Sonar Not Integrating with new Code “Turtle Effect” “Turtle Effect” Turtle Speed Turtle Speed Delayed Snapshot Shooting Delayed Snapshot Shooting LED Fascinations LED Fascinations

End Results – Lean and Mean Javadocs

Did and Didn’t do Goals Met Goals Met –Computer Vision –Basic Hockey Goals Missed Goals Missed –Strategy lost for basic functions Possible Extensions Possible Extensions

‘Bot Action Step outside for the demo at our HockeyBot Arena Step outside for the demo at our HockeyBot Arena Hockey has a Zamboni, HockeyBots have a Roomba Hockey has a Zamboni, HockeyBots have a Roomba Remember to be a Cielguard fan! Remember to be a Cielguard fan!

Questions???