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canolaokahumpkaElectronics - Devices

Nov 2, 2013 (3 years and 5 months ago)

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April 6, 2008

1

ROBO SOCCER

AS A SYSTEM
LEVEL TEACHING PLATFORM

Kai LINDGREN

Helsinki Polytechnic Stadia

In autumn 2008: “Metropolia”

Main building of Helsinki

Polytechnic Stadia. The Robot

Football system is located

in a house across the yard


April 6, 2008

2

USE IN STADIA (MiroSot)

Hardware and system
-
level
programs are in the
responsibility


of Merlin Systems Corp., Ltd.
Plymouth, England.
HOORAY !

Firmware and strategy programs

written
by own students from scratch

Hardware solutions
teached

for own
students

April 6, 2008

3

Insect Robot of Stadia

In the
early
90s

April 6, 2008

4

General view of the apparatus

April 6, 2008

5

News of robot football

In a Finnish
newspaper
”Metro” on
Apr. 6, 2004

April 6, 2008

6

SYSTEM

STRUCTURE
”MiroSot”


Football pitch (field) circa 1,8m x 2,2m


TV
-
camera for each team


PC (computer) for each team


5 MiroSot robots for each side (or 3/2/1 or …)


PC interprets the view (robot and ball
positions) and sends (Bluetooth) individual
commands for the robots of own team.

April 6, 2008

7

SYSTEM PICTURE

April 6, 2008

8

Miabot ROBOT STRUCTURE


Cubic
-
form with edge lenght of 7.5 cm


One wheel on each side. Own motor for
both wheels, battery operated


Motors powered with pulses done with
AVR
-
type micro controller


Communication with PC done with AVR
-
type micro controller


Separate Bluetooth
-
module converts
communication to virtual serial
connections (COM
-
ports)


April 6, 2008

9

ROBOT PICTURES

Merlin Miabot Pro Robot

-

Of MiroSot type

-

Two AVR
-
controllers

-

Fast, robust and heavy

Merlin Miabot Classic Robot

-

One AVR
-
controller


-

Slow, cheaper

April 6, 2008

10

MORE PICTURES

Merlin Miabot Pro
Control Board



with

Bluetooth Daughter
Board

on top

The robots may be
controlled manually with
joystick controllers

April 6, 2008

11

ACHIEVMENTS IN STADIA

One course realized in

Embedded Systems



-

Firmware programming
from scratch


-

Bluetooth communication with PC


-

Run direct lines or circles

Two courses realized in Sytem structure


-

Light adjustments


-

Bluetooth adjusments

Strategy simulation seminars many times


-

For students and teachers


April 6, 2008

12

FINAL WORKS, 15 ECTS

-

Nikolai Barmin: FW
-
programming

-

Teemu Sarvamaa: System structure and

simple programming in PC

-

Mikko Pasanen: Light and Bluetooth
adjustment and strategy programming in PC


Now in construction

April 6, 2008

13

STRATEGY SKELETON ”DIEGO”

In use now. Lacks and development tasks:

1

The strategy do not try to prevent robots from colliding

each other

2

Basically the strategy is only for 3 players for there is

only one kind of attacker and defender.


3

Also I think that the accuracy of robotic movements

should be revised.


4

The exact logic of all decisions should be checked


5

The indentation of the program should be checked


6

The program should be more commented


7

Some often repetitive tasks should be separated to new

functions


8

The collided robots must be got apart immediately of

the walls of the pitch or the other players.


April 6, 2008

14

Arg(x+yi)

double angle (double x, double y)


{


if (abs(x) < 1E
-
6 && abs(y) < 1E
-
6)



return 360; // Error


if (abs(x) < 1E
-
6 && y > 0)



return 90;


if (abs(x) < 1E
-
6 && y < 0)



return
-
90;


double a=atan (y/x);


if (x > 0) // I or IV



return a;


else // x < 0, that is II or III



if (y >= 0) // II




return 180+a



else // III




return
-
180+a;

}

Example of
strategy
development tasks

7



Some often repetitive
tasks should be
separated to new
functions”


April 6, 2008

15

FUTURE PLANS IN STADIA


Establishing of many teams to compete in
strategy programming


Programming of control systems


Switching to potential field strategy
skeleton ”Nottingham”


Free
RoboSoccer

Online game: Play and
download free online games
...






April 6, 2008

16

ADDITIONAL KITS OF MERLIN

Merlin

Miabot

Pro


Infrared

Line


Following

Kit
.


Merlin Miabot Pro
Modular Intelligence Kit

April 6, 2008

17

FIRA information in Google


FIRA
-

Federation of International Robosoccer Association




1995

International Organizing Committee: Micro
-
Robot World Cup
Soccer Tournament, initiated by Jong
-
Hwan Kim, KAIST, Korea



President

Jong
-
Hwan Kim

KoreaKAIST

Vice Presidents:

BingRong Hong

ChinaHarbin Inst. of Tech.

Paul Robinson

U.K.Univ. of Plymouth

Peter Kopacek

AustriaVienna Univ. of Tech.



13th FIRA RoboWorld Cup China 2008

Date: 22
-
25 July 2008

Venue: Shinan Software Park, Qingdao China


April 6, 2008

18

FIRA information in Google

Leagues:


HuroCup



Humanoid Robot


KheperaSot

-

…..


MiroSot



Micro Robot


NaroSot



Nano Robot


AndroSot



Robot 600 g, Remote Control


RoboSot



20cm x 20cm x No limit in h.


SimuroSot



The 3D simulation platform for 5
vs. 5 and 11 vs. 11 games are available at FIRA
web site.


April 6, 2008

19

RoboCup information in Google


RoboCup™ is an international research and education
initiative. Its goal is to foster artificial intelligence and robotics
research



The concept of soccer
-
playing robots was first introduced in 1993.
2006 in Bremen, Germany, in 2007 in Atlanta, USA



President
Prof. Minoru Asada,
Adaptive Machine Systems


Graduate School of Engineering, Osaka University

Vice Presidents:

Prof. Dr.sc. Hans
-
Dieter Burkhard,
Inst. of Informatics Hmboldt

University Berlin


Prof. Manuela Veloso;
Computer Science Department, School of

Computer ScienceCarnegie Mellon University



The 12th RoboCup International Competitions and
Conferences, RoboCup
-
2008 Suzhou is to be held

on 14
-
20 July 2008, Suzhou, China
.

April 6, 2008

20

RoboCup information in Google

Leagues:


Simulation league


Small
-
size robot league


Middle
-
size robot league


Four
-
legged robot league


Humanoid league


Rescue Simulation League

(
Agent

/
Virtual
Robot

)


Rescue Robot League