1. Aaron Swenson
Samuel Farnsworth
Derek Stewart
Craig Call

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

3. 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...

4. 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

5. Overview… hasn’t changed

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

7. Mechanical System - The Bad
Floating ground
Burned out encoders

8. 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

9. Vision - The Good
Fixed Camera Skew
Before After

10. 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

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

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

13. 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

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

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

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

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

18. Difficulties Faced Floating Ground Vision Lag Control Matrices
Team Communication

19. 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

20. Questions? Comments?

21. Questions? Comments?

22. Questions? Comments?

23. OLD SLIDE SHOW FOR REFERENCE AFTER THIS POINT

24. Overview

25. 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

26. 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

27. 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

28. Schedule

29. Schedule continued...

30. Schedule continued...

31. 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)

32. 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

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

34. 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...

35. 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

36. Questions? Comments?