Occupation: High school student 11 th grade 16years old, Representative of D.K.T. Skills : Robotics, C/C++(boost), Debugger/Complier,VM, UNIX, ARM, ARM Assembly, Arduino, SIGVerse,Raspberry pi, BeagleBone Black, Network, CAD/CAM, CNC, 3D Printing, 3D Modeling Project: RoboCup@home real/simulation league I was in 3 rd place in the RoboCup JapanOpen 2014@home simulation league. Projects after SICTIC 2014 Security Camp 全国大会 2014, August Tsukuba Robot Challenge2014, November D.K.T. Joint to the world Weight : 1086g Chassis : Polycarbonate Duralumin Design : Solid Edge ST6 Computer : AVR Microcomputer board Arduino Mega 2560 R3 Input : Daisen Electronics infrared pulse sensors * 9 Parralex PING Supersonic sensors * 4 Terrestrial Magnetism sensor Grove push button Output : Serial connecting type 240W Daisen electronics Motor Driver Drive system : Joinmax Digital Omniwheel * 4 Joinmax Digital 16kg・f/cm Motor * 5 Eagle Force LiFePO4 battery Kicker Ball Direction algorithm X vector = (Ball7 + cos45 * Ball8 + cos45 * Ball6- Ball3 - cos45 * Ball4 - cos45 *Ball2) / Maximum value of Ball – Minimum value of Ball Y vector = (Ball1 + sin45 * Ball 8 + sin45* Ball2 – Ball5 – sin45 * Ball4 – sin45* Ball6) / Maximum value of Ball – Minimum value of Ball Directional control Motor power = Kp * (target direction - current direction) + Ki * time + Kd * (last cycle direction – current direction) (Kp,Ki,Kd is a constant, Ziegler-Nichols’ Closed Loop method) Omni Drive Movement Algorithm (distance from motor to center = 9.6cm = r, diameter = 21cm = d) right motor = vector x * sin15 – vector y * cos 15 – r * d * rad of degrees rear motor = -vector x * sin270 + vector y * cos270 + r * d * rad of degrees left motor = -vector x * sin 165 + vector y * cos165 + r * d * rad of degrees Solid edgeで設計 CNCで切り出し RoboCup Japan open 2014 @home Simulation Final 出村賢聖 Demura Kensei 自作机器人 SICTIC2014 Blog: http://kendemu.blogspot.jp Github: http://github.com/kendemu Twitter : @ken_demu Facebook: Kensei Demura Skype : Kensei Demura

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I was in 3rd place in the RoboCup JapanOpen 2014@home simulation league.

Projects after SICTIC 2014 Security Camp 全国大会 2014, AugustTsukuba Robot Challenge2014, November

D.K.T. Joint to the worldWeight : 1086gChassis : Polycarbonate

DuraluminDesign : Solid Edge ST6Computer : AVR Microcomputer board

Arduino Mega 2560 R3Input : Daisen Electronics

infrared pulse sensors * 9Parralex PINGSupersonic sensors * 4Terrestrial Magnetism sensorGrove push button

Output : Serial connecting type 240W Daisen electronics Motor Driver

Drive system : Joinmax Digital Omniwheel * 4Joinmax Digital16kg・f/cm Motor * 5

Eagle Force LiFePO4 batteryKicker

Ball Direction algorithmX vector = (Ball7 + cos45 * Ball8 + cos45 * Ball6- Ball3 - cos45 * Ball4 - cos45 *Ball2) / Maximum value of Ball – Minimum value of BallY vector = (Ball1 + sin45 * Ball 8 + sin45* Ball2 – Ball5 – sin45 * Ball4 – sin45*

Ball6) / Maximum value of Ball – Minimum value of BallDirectional controlMotor power = Kp * (target direction - current direction) + Ki * time

+ Kd * (last cycle direction – current direction) (Kp,Ki,Kd is a constant, Ziegler-Nichols’ Closed Loop method)

Omni Drive Movement Algorithm(distance from motor to center = 9.6cm = r, diameter = 21cm = d)right motor = vector x * sin15 – vector y * cos 15 – r * d * rad of degreesrear motor = -vector x * sin270 + vector y * cos270 + r * d * rad of degreesleft motor = -vector x * sin 165 + vector y * cos165 + r * d * rad of degrees

自作机器人SICTIC2014

出村賢聖Kensei Demura Solid edgeで設計

CNCで切り出し

RoboCup Japan open 2014 @home Simulation Final

出村賢聖Demura Kensei

自作机器人SICTIC2014

Blog: http://kendemu.blogspot.jpGithub: http://github.com/kendemuTwitter : @ken_demuFacebook: Kensei DemuraSkype : Kensei Demura

http://kendemu.blogspot.jp/

http://github.com/kendemu