X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott...
-
date post
21-Dec-2015 -
Category
Documents
-
view
215 -
download
1
Transcript of X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott...
![Page 1: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/1.jpg)
x96 Autonomous Robot
Design Review
Saturday, March 13, 2004
By
John Budinger
Francisco Otibar
Scott Ibara
![Page 2: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/2.jpg)
x96 Autonomous Robot
Introduction… again.
• Started in Spring 2003
• Gain experience with robots
• Engage in a fun and challenging project
• Different type of project (not too different)
![Page 3: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/3.jpg)
x96 Autonomous Robot
Design Reviews
• Autonomous Robot
• Sensor Subsystem
• Artificial Intelligence (revised)
• Robot and Communications (revised)
Questions or Comments and Answers
![Page 4: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/4.jpg)
x96 Autonomous Robot
Autonomous Robotstill the same
![Page 5: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/5.jpg)
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
sensorsrobotCOMM
AI
![Page 6: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/6.jpg)
x96 Autonomous Robot
Autonomous Robot
Input Output
Images Coordinates
Coordinates Commands
Commands Action
sensors
robot
AI
![Page 7: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/7.jpg)
x96 Autonomous Robot
Sensor Subsystemalmost the same
![Page 8: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/8.jpg)
x96 Autonomous Robot
Sensor Subsystem
• Input
raw data (unprocessed image)
• Output
object coordinate and label (X, Y, OBJECT)
![Page 9: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/9.jpg)
x96 Autonomous Robot
Sensor Subsystem
• Collect as much data as quickly as possible
• Low cost and reliable
• Custom versus Commercial
![Page 10: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/10.jpg)
x96 Autonomous Robot
Sensor Subsystem
• Custom solution
• Logitech QuickCam Messenger
• Logitech QuickCam SDK (C++)
• MS Visual C++ 6.0
• TRIPOD by Prof. Paul Oh (testing C code)
• DevIL (complicated processes)
![Page 11: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/11.jpg)
x96 Autonomous Robot
Sensor Subsystem
• Global Vision
• Green field
• White markers/borders
• Orange golf ball
• Robot w/ mostly black top
![Page 12: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/12.jpg)
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
![Page 13: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/13.jpg)
Ball
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
![Page 14: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/14.jpg)
x96 Autonomous Robot
Sensor Subsystem
• Sensor application
• Camera mount
fluorescent lights
green carpet
• New problems? Windows, location, camera?
• Goal: implement sensor program that successfully tracks one robot and one ball
• Consideration: multiple object identification and tracking
![Page 15: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/15.jpg)
x96 Autonomous Robot
All your AI are belong to us!evolution happens…
![Page 16: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/16.jpg)
x96 Autonomous Robot
Artificial Intelligence
• Input
all objects (coordinates and labels)
• Output
robot command (BYTE)
![Page 17: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/17.jpg)
x96 Autonomous Robot
Artificial Intelligence
• Uses objects position and labels
• Creates a map with XY coordinates
• Implemented in C++
![Page 18: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/18.jpg)
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
![Page 19: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/19.jpg)
x96 Autonomous Robot
Artificial Intelligence
“Line Man”
![Page 20: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/20.jpg)
x96 Autonomous Robot
Artificial Intelligence
“Line Man”
![Page 21: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/21.jpg)
x96 Autonomous Robot
Artificial Intelligence
“Line Man”
![Page 22: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/22.jpg)
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);
![Page 23: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/23.jpg)
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
• Goal: robot uses optimal path
• Consideration: multiple objects on field
![Page 24: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/24.jpg)
x96 Autonomous Robot
Francisco Fighter IIb:Championship Edition
![Page 25: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/25.jpg)
x96 Autonomous Robot
Robot and Communications
• Input
commands (BYTE)
• Output
action (move, kick, sleep)
![Page 26: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/26.jpg)
x96 Autonomous Robot
Robot and Communications
• 10 cm x 10 cm x N cm
• Modular design
• IC dominant
• Simple chassis
• Built in layers
![Page 27: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/27.jpg)
COMM
Motors
Power Supply Unit
Motor Controls
Data Processing
x96 Autonomous Robot
Robot and Communications
• 10 cm x 10 cm x N cm
• Modular design
• IC dominant
• Simple chassis
• Built in layers
![Page 28: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/28.jpg)
x96 Autonomous Robot
Robot and Communications
Chip count: 6 ICs
PC
TxRx
DecodeData
Process
PWM
MotorDriver 0
MotorDriver 1
Motor0
Motor1User
COMMPSU
![Page 29: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/29.jpg)
x96 Autonomous Robot
Robot and Communications
• IN: rs232/user signal
• OUT: TTL/CMOS data signal
• MAX233 (no ext. cap., fast baud rate)
• -/+15V (rs232) to +/-5V (TTL)
• Various controls (manual, computer, wireless*)
COMMCOMM
Motors
Power Supply Unit
Motor Controls
Data Processing
![Page 30: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/30.jpg)
x96 Autonomous Robot
Robot and Communications
• IN: data signal
• OUT: control signal
• Decodes message from computer
• 8-bit string to commands
• PIC16F627 (USART, PWM, 20MHz)
Data Processing
COMM
Motors
Power Supply Unit
Motor Controls
Data Processing
![Page 31: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/31.jpg)
x96 Autonomous Robot
Robot and Communications
• IN: AC or DC
• OUT: DC for circuits
• Monitor power level
• Efficient power supply
• 6-8 AA batteries (1.2V, 1.6Ah)
Power Supply Unit
COMM
Motors
Power Supply Unit
Motor Controls
Data Processing
![Page 32: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/32.jpg)
x96 Autonomous Robot
Robot and Communications
• IN: processor commands
• OUT: physical motion
• 1.5-3V Mabuchi DC motors
• LMD18200 (PWM, braking, bidirectional)
Motor Controls
Motors
COMM
Motors
Power Supply Unit
Motor Controls
Data Processing
![Page 33: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/33.jpg)
x96 Autonomous Robot
Robot and Communications
Chip count: 4 ICs
PC
TxRx
MotorDriver 0
MotorDriver 1
Motor0
Motor1User
COMMPSU
DecodeData Process
PWM
![Page 34: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/34.jpg)
x96 Autonomous Robot
Robot and Communications
![Page 35: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/35.jpg)
x96 Autonomous Robot
Robot and Communications
• Robot structure and module designs
• Convert to schematic
• Begin production of robot
• WHEELS!!!
• Goal: working robot controlled by user or computer
• Consideration: implement ball handler/kicker
![Page 36: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/36.jpg)
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… or manually),
as long as the robot moves
• Consideration: complete AI and robot first
![Page 37: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/37.jpg)
x96 Autonomous Robot
Schedule
March 13-21 build and test prototype circuits, design AI
March 22-28 build and test robot, design AI, resume sensor
March 29-April 4 build and test comm, code AI, test sensor
April 5-11 test AI, finalize robot
April 12-18 integrate AI, sensor
April 19-25 debug and test final program
April 26-May 2 test robot with comm (and program)
yeah right…
![Page 38: X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara.](https://reader036.fdocuments.in/reader036/viewer/2022081519/56649d585503460f94a36d4e/html5/thumbnails/38.jpg)
x96 Autonomous Robot
Questions? Comments?
Goodbye.