Interim PresentationInterim Presentation

Advancing the soccer robot

Ben Jenkins

Supervisors: Gordon Lowe, Dr. Haim Hiok Lim

Mentor: Charles Greif

OverviewOverview

BackgroundObjectiveThis years workFurther developmentAdditional information

What is the soccer robotWhat is the soccer robot

Autonomous vehiclePlays soccerDevelopment at Monash Uni started in

1999My research topic for HonsRoboCup hosts soccer competitions

RoboCupRoboCup

Worldwide research and education initiativeFoster AI and intelligent robotics researchProvides a standard problem where a wide

range of technologies can be used.Project-oriented education.

The soccer robot to dateThe soccer robot to date

Computer

Camera and mirror

Wheels and drive train

The soccer The soccer robot to daterobot to date

Soccer ball

Pneumatickicker

Camera and mirror

Motherboard and misc electronics

Wheels andmotors

Why the soccer robot?Why the soccer robot?

Personal research and developmentBy the year 2050, develop a team of fully

autonomous humanoid robots that can win against the human world soccer champion team.

- RoboCup

ApplicationsApplications

Bomb disposal

Domestic servants

Fire fightingRobocopSoccer player

Building blocksBuilding blocks

Sensors

Field Positioning System

Motion

Artificial Intelligence

For the computer buffs

Pentium 233MHz, 32M RAM, 40M Disk on chip

Hard disk & floppy drive removed

QNX real-time operating system.

ObjectiveObjective

To be able to make the robot “see” the ball and be able to move towards it.

This years workThis years work

Revamp design computers– Hard disk errors– Speed– Reaching the end of there reliable lifespan

Problems– Configuring QNX networks– Transfer code from old machines

This years work (cont)This years work (cont)

Understand previous years contributions– AI (Artificial intelligence)– FPS (Field Positioning System)– MCS (Motion Control System)– MPM (Message Passing Module)– Sensory system– Mechanical system

This years work (cont)This years work (cont)

Convert motion code from windows to QNX.

Problems I am anticipating– Windows is not a RTOS– QNX has advanced IPC techniques

This years work (cont)This years work (cont)

Integrate new motion with previous modules

Test and debug

Further developmentFurther development

Make robot hit the ballFine tune the robot to kick goalMake robot work as team memberEnhance motion

– 400mm/sec max speed– 2500mm/sec to be competitive

Additional informationAdditional information

bwjen1@csse.monash.edu.auwww.csse.monash.edu.au/~bwjen1RoboCup website

– http://www.robocup.org/02.html

Gordon Lowe, Bldg 63, Rm G15, Clayton.

Any questionsAny questions

?