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2005 Level IV Design Project

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2005 Level IV Design Project SOCCER ROBOTS Michael Hill Nicholas Jones Michael Shanahan Supervisor: Dr Frank W rnle – PowerPoint PPT presentation

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Title: 2005 Level IV Design Project


1
2005 Level IV Design Project
  • SOCCER ROBOTS
  • Michael Hill
  • Nicholas Jones
  • Michael Shanahan
  • Supervisor Dr Frank Wörnle

2
RoboCup
  • International robotic soccer competition
  • Promotes studies in
  • Automation
  • Artificial Intelligence
  • Strategic Programming

3
Goals Objectives
  • Research develop a design meeting
    RoboCup small-size league entry criteria
  • Manufacturing a team of three such robots
  • Development implement a vision system to enable
    multi-agent coordination

4
Goals Objectives
  • Design implement a communications system to
    facilitate automation strategic game-play
  • Comply with the AU250.00 budget
  • Provide a solid foundation for future project
    teams to build upon achieve success

5
Design Overview
  • Mechanical Design
  • Vision System
  • AI Software
  • Communications System
  • Current Future Work
  • Conclusion

6
Mechanical Design
  • Drive System
  • Kicker Device
  • Power
  • Chassis

7
Mechanical Design
  • Drive System
  • Two Wheel Differential
  • Omnidirectional

University of Auckland, 2005
Weber, 2004
Team Lucky Star, 2004
8
Mechanical Design
  • Drive System
  • Final Design A differential drive system
  • using M42SP-5 stepper motors.
  • Cost effective
  • Readily available
  • Satisfy torque and speed requirements

9
Mechanical Design
  • Drive System Motor Selection
  • Performance Specifications
  • Acceleration 1 m/s2
  • Velocity 1 m/s
  • Parameters
  • Robot Mass 1.9 kg
  • Wheel Radius 30 mm
  • Step Size 7.5o
  • Motor Speed 365 pps


MGEN, 2005
Required Torque 43 mN.m Maximum Speed 1.4
m/s
10
Mechanical Design
  • Kicker Device
  • Spring Powered
  • Pneumatics
  • Solenoid

Weber, 2004
11
Mechanical Design
  • Kicker Device
  • Final Design Pull-type
  • solenoid with lever
  • Cost effective
  • Simple to build

12
Mechanical Design
  • Power
  • Powered Devices
  • MiniDragon development board (5V)
  • Stepper Motors and Drivers (12V)
  • Solenoid (12V)
  • RF Receiver (5V)
  • Power Source
  • Ten 1.2V rechargeable AA batteries in series

13
Mechanical Design
  • Chassis
  • Constructed from
  • 3 mm aluminium
  • Modular design to
  • aid in modification
  • of subsystems

Mattner, 2005
14
Vision System
  • Equipment

Fire Wire Camera (15 FPS) Frame Vision Software
The Imaging Source, 2005
Mattner, 2005
15
Vision System
Colour Identification System
  • Pink Centroid r1
  • Purple Direction r1
  • Yellow Centroid r2
  • Blue Direction r2
  • Orange Ball

16
Vision System
Object Tracking
17
Vision System
  • Takes an image
  • Returns it to the vision software
  • Locates the positions
  • Returns them to the AI System

18
AI Software
  • Controls all robotic movement kicking
  • MATLAB code Simulink block diagrams converted
    to C-code
  • Two phases of operation
  • Ball not in possession
  • Ball in possession

19
AI Software
  • Ball Not In Possession
  • Assumes rate of acceleration is constant over
    small sample time
  • Loop performed every five samples

20
AI Software
  • Ball in possession
  • Constant maxKick defines furthest the ball can be
    projected by kicker device
  • Ball is kicked once dist2Goal is less than
    maxKick
  • Similar algorithm for passing

21
AI Software
  • Problem Data reception too slow for effective
    closed loop navigation
  • Solution AI provides several instructions per
    iteration
  • Development of game-play strategy limited due to
    lack of opposition

22
Communications System
  • Robot instructions are sent in 8-byte telegrams
    via radio transceivers
  • Signals are broadcast to all three robots on same
    frequency
  • Data Transfer Rate 12.5 instructions per second

23
Communications System
  • Bytes 1-4 Telegram Information
  • Contains information about the telegram itself,
    including target robot
  • Bytes 5 6 Motor Instructions
  • Signed Integer varying between -127 to 127
    representing speed and direction for the left and
    right motors, respectively

24
Communications System
  • Byte 7 Solenoid Instructions
  • Set to 1 for energised, 0 for de-energised
  • Byte 8 Checksum
  • Sum of transmitted bits, which must be equal to
    the sum of received bits

25
Current Work
  • Successful in achieving
  • Effective cost efficient design
  • Vision System provides object tracking
  • AI Software with predictive motion nearing
    completion
  • Communications system allows remote interaction

26
Future Work
  • Group Aims
  • Functional team of three robots
  • Perform standard soccer actions
  • e.g. pass, shoot dribble
  • Ball trajectory prediction software
  • Communications system supports continuous robot
    coordination

27
Future Work
  • Recommended Development
  • Manufacture opposition team develop defensive
    AI software
  • Improve vision system data rates to facilitate
    faster game-play
  • Incorporate strategic game-play

28
Conclusion
  • Project budget was the most defining constraint
  • Goals set were inherently optimistic
  • Were able to achieve majority of all fundamental
    hopes for project

29
Acknowledgements
  • We would like to thank the following people
  • Dr Frank Wörnle, our supervisor
  • Bill, Richard and Steve from the mechanical
    workshop
  • Silvio and Derek from the electronics workshop
  • Carnegie Mellon University for the vision drivers
  • Yasutake and Taiki from the 2005 Osaka University
    Team

30
Questions???
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