x96 Autonomous Robot Proposal Presentation Monday, February 16, 2004 By John Budinger Francisco Otibar

x96 Autonomous Robot Introduction Started in Spring 2003 Gain experience with robots Engage in a fun and challenging project Different type of project (not too different)

x96 Autonomous Robot Proposals Autonomous Robot Sensor Subsystem Artificial Intelligence Robot and Communications Questions or Comments and Answers

x96 Autonomous Robot Autonomous Robot

x96 Autonomous Robot Autonomous Robot Soccer robot Composed of 3 main subsystems Design software and hardware Combine all subsystems successfully computer sensors robot COMM AI

x96 Autonomous Robot Sensor Subsystem

x96 Autonomous Robot Sensor Subsystem Camera and vision program Color, fast, low cost Custom versus Commercial

x96 Autonomous Robot 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

x96 Autonomous Robot Sensor Subsystem Custom solution Logitech Messenger QuickCam Logitech QuickCam SDK Visual C Global Vision TRIPOD by Prof. Paul Oh DevIL for processing

x96 Autonomous Robot Sensor Subsystem Image Capture QuickCam drivers and SDK RGB image 160x120 to 640x480 pixels

x96 Autonomous Robot Sensor Subsystem Image Capture Color Dectection Homogenized RGB to HSL conversion if((pixelColor > MIN_COLOR_VALUE) && (pixelColor < MAX_COLOR_VALUE)) pixelColor = COLOR_VALUE;

x96 Autonomous Robot Sensor Subsystem Image Capture Color Dectection Image Filter Remove noise if(size(blob) < MIN_OBJECT_SIZE) remove(blob);

x96 Autonomous Robot 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

x96 Autonomous Robot Sensor Subsystem Image Capture Color Dectection Image Filter Object Detection Object Position Center of mass

x96 Autonomous Robot Sensor Subsystem Image Capture Color Dectection Image Filter Object Detection Object Position Object Identification* Not yet…

x96 Autonomous Robot Sensor Subsystem Image Capture Color Dectection Image Filter Object Detection Object Position Object Identification* Not yet…

x96 Autonomous Robot Sensor Subsystem Camera mount Template provided by SDK C/C++ for portability Calibration and lighting Goal: implement complete program Consideration: multiple object tracking

x96 Autonomous Robot Sensor Subsystem

x96 Autonomous Robot Artificial Intelligence

x96 Autonomous Robot Artificial Intelligence Object position and label X,Y coordinates Find appropriate command for situation … and find it fast!

x96 Autonomous Robot 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

x96 Autonomous Robot Artificial Intelligence “Running Man”

x96 Autonomous Robot Artificial Intelligence “Running Man”

x96 Autonomous Robot Artificial Intelligence “Line Man”

x96 Autonomous Robot Artificial Intelligence “Line Man”

x96 Autonomous Robot Artificial Intelligence “Line Man”

x96 Autonomous Robot Artificial Intelligence “Line Man”

x96 Autonomous Robot Artificial Intelligence Line Man algorithm 2 versions of Running Man code Goal: robot uses optimal path Consideration: multiple objects on field

x96 Autonomous Robot Francisco Fighter II: Championship Edition

x96 Autonomous Robot 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

x96 Autonomous Robot Robot and Communications IN: rs232 data signal OUT: TTL/CMOS data signal -/+15V (rs232) to +/-5V (TTL) MAX233 3 controls (manual, computer, wireless*) COMM Motors Power Supply Unit Motor Controls Data Processing

x96 Autonomous Robot 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

x96 Autonomous Robot 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

x96 Autonomous Robot 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

x96 Autonomous Robot 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

x96 Autonomous Robot 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

x96 Autonomous Robot Questions? Comments? Goodbye.