ECE 191: Group 2 NXT Robots & Their Applications in Machine Learning Mentor: Anjum Gupta Group: Roanne Manzano Eric Tsai Jacob Robison Sponsored by: SPAWAR

Agenda Gantt Chart Gantt Chart Project Overview Project Overview Approaches Approaches Technical Details Technical Details Bluetooth Bluetooth Programming Programming Lego NXT Mindstorm Lego NXT Mindstorm Status Status Summary Summary

Gantt Chart Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8 Week 9 Week 10 Familiarize with hardware Research programming environments Learn to interface with the robots Construction Program robots Program swarm autonomous robots network Testing and Troubleshooting Prepare for Final Presentation Documentation GoalsAccomplishmentsDelayed

Project Overview Original project goal: To Program a swarm of autonomous Lego NXT robots to perform a specific task without human interaction. To learn more about both the accuracy and functionality of sensors and motors packaged with the Lego NXT Robots To learn to program in one or all of three Lego oriented programming languages (Lejos, NXC, and Robot C) To apply what we know about machine learning to “teach” robots or rather to allow them to learn and behave based upon their environment and each other.

Approach: Research Acquire hardware Acquire hardware 4 Lego NXT kits 4 Lego NXT kits 4 Bluetooth adapters 4 Bluetooth adapters 1.5V Batteries 1.5V Batteries Familiarize with hardware Familiarize with hardware Motors Motors Sensors Sensors Brick Brick Learn various programming languages Learn various programming languages Developed specifically for Lego NXT Developed specifically for Lego NXT RobotC RobotC leJOS leJOS NXC NXC Bluetooth compatible? Bluetooth compatible?

Approach: Programming RobotC RobotC Line Tracking Line Tracking NXC NXC Bitbot Program Bitbot Program Stores values in arrays Stores values in arrays Communicates through Bluetooth Communicates through Bluetooth Master -> Slave Master -> Slave Light Following Light Following Random Movement Random Movement Python Python Establish Bluetooth communication Establish Bluetooth communication

Technical Details Bluetooth Bluetooth Frequency of 2.402GHz to GHz Frequency of 2.402GHz to GHz Spread Spectrum Frequency Hopping Spread Spectrum Frequency Hopping NXT Bluetooth capabilities NXT Bluetooth capabilities Hardware Hardware CSR BlueCore 4 v2.0+EDR System CSR BlueCore 4 v2.0+EDR System Supporting the Serial Port Profile Supporting the Serial Port Profile Master to Slave communication only Master to Slave communication only Bluetooth Adapter Bluetooth Adapter Kensington Bluetooth USB Adapter 2.0 Kensington Bluetooth USB Adapter 2.0 Lego NXT, Windows XP compatible Lego NXT, Windows XP compatible Allows communication between PC and NXT Allows communication between PC and NXT Serial Connection Serial Connection

Technical Details Programming Programming NXC NXC Similar to C Similar to C Easy to use IDE Easy to use IDE Limited Bluetooth capabilities Limited Bluetooth capabilities Limited processing power Limited processing power Python Python Scripted Language Scripted Language Used in many other applications Used in many other applications Communication is between PC and NXT Communication is between PC and NXT Will use PC processing power Will use PC processing power

Technical Details Lego NXT Mindstorm Lego NXT Mindstorm Ports similar to RJ12 connectors for sensors & motors Ports similar to RJ12 connectors for sensors & motors Input Input Light Light Sound Sound Ultrasound Ultrasound Touch Touch Output Output Motors Motors Brick Brick Supports Bluetooth and 1 USB 2.0 port Supports Bluetooth and 1 USB 2.0 port 32-bit ARM7 48MHz 32-bit ARM7 48MHz 256 KB of Flash Memory 256 KB of Flash Memory 64 KB of RAM 64 KB of RAM 8-bit Atmel AVR 4MHz 8-bit Atmel AVR 4MHz 4 KB of Flash Memory 4 KB of Flash Memory 512 Bytes of RAM 512 Bytes of RAM

Status Currently working on learning Python in order to add processing power not present in the bot by itself Currently working on learning Python in order to add processing power not present in the bot by itself Attempting to asses what possible goals are feasible within the remainder of our time frame. Attempting to asses what possible goals are feasible within the remainder of our time frame. Determining what final task we hope to perform with these robots that will satisfy the amended requirements of our client. Determining what final task we hope to perform with these robots that will satisfy the amended requirements of our client.