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

2. Presentation Organization Overview Overview Project Goals Project Goals Project Layout Project Layout Problems Problems Results Results Demo Demo Conclusion Conclusion Q & A Q & A

3. Overview Cs4710 Cs4710 –Given parts Systronix Jstamp Systronix Jstamp CMU Camera CMU Camera Sonar Unit Sonar Unit Lego Mindstorms Lego Mindstorms Batteries Batteries Anything else we buy Anything else we buy –“Do Something Interesting” –Studied Autonomous Robots from U of Michigan HockeyBot Federation HockeyBot Federation –Question: Has anyone played autonomous Street Hockey before? –Old Answer: No. –Rules Autonomous Only on board sensors 5 second shot rule Base Class Sharing

4. Cielguard Goals Unit Testing Unit Testing Real-time Control with Java Real-time Control with Java Corners/Walls Adaptation Corners/Walls Adaptation Offense-Defense Capabilities Offense-Defense Capabilities Ball Detection Ball Detection Goal Detection Goal Detection Rely on Vision Rely on Vision

5. Functional Partition

6. Software Partition

7. Problems 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 PID Controller lost Rotational Sensors PID Controller lost Rotational Sensors Non-Linear Motors Non-Linear Motors

8. Original Goals vs. Completion Original Goals Original Goals –Unit Testing –Real-time Control with Java –Corners/Walls Adaptation –Offense-Defense Capabilities –Ball Detection –Goal Detection –Rely on Vision Completed Goals Completed Goals –Done –Walls OK, Corners Tough –No Defense Offense Only –Done –Great No Sonar Extensions Extensions –Speed –Wireless Communication for team play –Possible Commercial Toy Lego Development

9. Demo Later we’ll step outside for the demo at our HockeyBot Arena. Later we’ll 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! www.cielguard.com www.cielguard.com www.cielguard.com –Robot Movies –Java Documentation –Jar Files –Everything we’ve done

10. Questions?