1. x96 Autonomous Robot Design Review Thursday, May 6, 2004 By John Budinger Francisco Otibar

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

3. x96 Autonomous Robot Design Reviews Autonomous Robot Sensor Subsystem (revised*) Artificial Intelligence (revised) Robot and Communications (revised) Questions or Comments and Answers

4. x96 Autonomous Robot Autonomous Robot still the same

5. x96 Autonomous Robot Autonomous Robot Soccer robot Composed of 3 main subsystems (sensors, AI, robot) Design software and hardware (separate modules) Combine all subsystems computer sensors robot COMM AI

6. x96 Autonomous Robot Autonomous Robot InputOutput ImagesCoordinates CoordinatesCommands CommandsAction sensors robot AI

7. x96 Autonomous Robot Sensor Subsystem almost the same

8. x96 Autonomous Robot Sensor Subsystem Input raw data (unprocessed image) Output object coordinate and label (X, Y, OBJECT)

9. x96 Autonomous Robot Sensor Subsystem Collect as much data as quickly as possible Low cost and reliable Custom versus Commercial

10. x96 Autonomous Robot Sensor Subsystem Custom solution Logitech QuickCam Messenger(DEAD) Logitech QuickCam SDK (C++)(DEAD) MS Visual C++ 6.0(DEAD) TRIPOD by Prof. Paul Oh (testing C code) DevIL (complicated processes)

11. x96 Autonomous Robot Sensor Subsystem Global Vision Green field White markers/borders Orange golf ball Robot w/ mostly black top

12. x96 Autonomous Robot Sensor Subsystem Image Capture (SDK) Color Detection (color comparison) Image Filter (matrix) Object Detection (size, color) Object Position (center of mass) Object Identification*** Markers Specified colors/pattern Ball

13. x96 Autonomous Robot Sensor Subsystem Image Capture (SDK) Color Detection (color comparison) Image Filter (matrix) Object Detection (size, color) Object Position (center of mass) Object Identification*** Markers Specified colors/pattern

14. x96 Autonomous Robot Sensor Subsystem Sensor application Camera mount fluorescent lights green carpet Newer problems: SDK, Windows Result: Nothing new Consideration: multiple object identification and tracking

15. x96 Autonomous Robot 100% Artificial Intelligence

16. x96 Autonomous Robot Artificial Intelligence Input all objects (coordinates and labels) Output robot command (BYTE)

17. x96 Autonomous Robot Artificial Intelligence Uses objects position and labels Creates a map with XY coordinates Implemented in C++

18. x96 Autonomous Robot Artificial Intelligence Find appropriate command for situation … and find it fast! Keep the algorithm simple and consistent Optimize code for common cases “Dummy” robot Line Man algorithm meets specifications Quad Man… sort of

19. x96 Autonomous Robot Artificial Intelligence “Line Man”

20. x96 Autonomous Robot Artificial Intelligence “Line Man”

21. x96 Autonomous Robot Artificial Intelligence “Line Man”

22. x96 Autonomous Robot Artificial Intelligence “Quad Man”

23. x96 Autonomous Robot Artificial Intelligence void FieldMap(int X, int Y, int OBJECT, Map *field); void Motor0(int DIRECT, int SPEED); void Motor1(int DIRECT, int SPEED); void Kick(void); void RobotCommand(BYTE command);

24. x96 Autonomous Robot Artificial Intelligence Line Man algorithm with tracking Based on line of sight Dynamic turning/movement Includes steering/acceleration Ideal for current robot design Problems: Law of Cosines, angle less than 180 Result: Quad Man Consideration: multiple objects on field

25. x96 Autonomous Robot Francisco Fighter II: Championship Edition

26. x96 Autonomous Robot Robot and Communications Input commands (BYTE) Output action (move, kick, sleep)

27. x96 Autonomous Robot Robot and Communications ? cm x ? cm x ? cm Modular design IC dominant Simple chassis Built in cards (not layers)

28. COMM Motors Power Supply Unit Motor Controls Data Processing x96 Autonomous Robot Robot and Communications ? cm x ? cm x ? cm Modular design IC dominant Simple chassis Built in cards (not layers)

29. x96 Autonomous Robot Robot and Communications Chip count: 7 ICs PC Tx Rx Decode Data Process PWM Motor Driver 0 Motor Driver 1 Motor 0 Motor 1 User COMM PSU V-Reg

30. x96 Autonomous Robot Robot and Communications IN: rs232/user signal OUT: TTL/CMOS data signal MAX232A (ext. cap., fast baud rate) -/+10V (rs232) to +/-5V (TTL) Various controls (manual, computer, wireless*) COMM Motors Power Supply Unit Motor Controls Data Processing

31. x96 Autonomous Robot Robot and Communications COMM Motors Power Supply Unit Motor Controls Data Processing

32. x96 Autonomous Robot Robot and Communications IN: data signal OUT: control signal Decodes message from computer 8-bit string to commands PIC16F877 (33 I/O, USART, 2 PWM, 20MHz) Data Processing COMM Motors Power Supply Unit Motor Controls Data Processing

33. x96 Autonomous Robot Robot and Communications Data Processing COMM Motors Power Supply Unit Motor Controls Data Processing

34. x96 Autonomous Robot Robot and Communications Data Processing COMM Motors Power Supply Unit Motor Controls Data Processing

35. x96 Autonomous Robot Robot and Communications Data Processing COMM Motors Power Supply Unit Motor Controls Data Processing

36. x96 Autonomous Robot Robot and Communications IN: AC or DC OUT: DC for circuits 9V battery ??? AA batteries (12-15V, 2A) Power Supply Unit COMM Motors Power Supply Unit Motor Controls Data Processing

37. x96 Autonomous Robot Robot and Communications Power Supply Unit COMM Motors Power Supply Unit Motor Controls Data Processing

38. x96 Autonomous Robot Robot and Communications IN: processor commands OUT: physical motion 12V DC motors LMD18200 (PWM, braking, bidirectional) Motor Controls Motors COMM Motors Power Supply Unit Motor Controls Data Processing

39. x96 Autonomous Robot Robot and Communications Motor Controls Motors COMM Motors Power Supply Unit Motor Controls Data Processing

40. x96 Autonomous Robot Robot and Communications Chip count: 5 ICs PC Tx Rx Motor Driver 0 Motor Driver 1 Motor 0 Motor 1 User COMM PSU Decode Data Process PWM V-Reg

41. x96 Autonomous Robot Robot and Communications

42. x96 Autonomous Robot Robot and Communications Power Management Motor Drivers Data Processing Communications Module

43. x96 Autonomous Robot Robot and Communications

44. x96 Autonomous Robot Robot and Communications Robot structure and module designs Convert to schematic Begin production of robot WHEELS!!! Result: semi-working robot controlled by computer Consideration: implement ball handler/kicker

45. x96 Autonomous Robot Robot and Communications Robot structure and module designs Convert to schematic Begin production of robot BATTERIES!!! Result: semi-working robot controlled by computer Consideration: implement ball handler/kicker

46. x96 Autonomous Robot Robot and Communications PROBLEMS

47. x96 Autonomous Robot Summary 1 robot, 1 ball Custom software, hardware design Code AI and vision program Result: robot moves…

48. x96 Autonomous Robot Questions? Comments? Goodbye.