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Theory removed Projects added New Embedded Systems Platforms and Robotics Platforms Technologies used in Previous classes FPGA Microcontrollers Revolutionary new technologies Adiabatic Quantum Computer from DWAVE – link through Internet GPU Supercomputers and CUDA

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what projects you can do in ece 574

Theory removed

  • Projects added
  • New Embedded Systems Platforms and Robotics Platforms
  • Technologies used in Previous classes
    • FPGA
    • Microcontrollers
  • Revolutionary new technologies
    • Adiabatic Quantum Computer from DWAVE – link through Internet
    • GPU Supercomputers and CUDA
    • Tetrix Robotic Platform for Serious Hobby Robotics

What Projects you can do in ECE 574

This is an old and new class

old projects
Old Projects
  • Spectral Transforms and DSP
    • FFT Matching Sebastian Winter 2008
    • Hough for Ovulo-computer
    • Hough for robot PSUBOT
    • Radon Transform

Some can be redesigned and improved

  • Logic Machines and Problem Solving
    • LDM
    • CCM
    • Tautology Machine of Sasao
    • Graph Coloring
    • Oracle
    • Decomposition Machine
    • Rough Set Machine
  • Medical
    • Ovulocomputer
    • Cervix Cancer
    • Teeth measurement apparatus and patent
old projects and possible collaborations
Old Projects and possible collaborations
  • VISION
    • Morphological Image Processor
    • Canny Edge Detector
    • Sobel Edge Detector
  • Crazy Student Ideas and Interesting blocks
    • Systolic Sorter
    • Sorter Absorber
    • Julia set Winter 2008
    • Quaternions and octonions for this task
    • Sharks and fish
    • Strange life generator
  • Robotics
    • PID controller
    • Adaptive PID Controller
  • Very Old from Poland
    • Cement Company
    • Rolling Machine
    • Turing Machine
    • Multi-Channel PID controller
    • Tracking camera
    • Spy camera on workers
    • Plotter Interpolator
  • Kameyama
    • Emotional robot
    • Ball catching Robot
new fpga gpu controller projects
New FPGA/GPU/Controller Projects
  • Diagnosis of Autism
    • Hough for eye tracking
    • Eye tracking for autism
    • Prosody for autism
  • GPU
    • GPU for quantum simulation
    • GPU for GA and Quantum GA
    • GPU for motion of walking robot
    • Stock Market Predictor
    • Many Body Dynamics simulation

Transforms

Hough

Radon for cancer therapy

Poisonous Mushrooms recognition

Julia and Mandelbrot set

  • Robot Controllers To Save Human Life
    • Robot to put signs on a Highway

Products for Fun and Entertainment

Modern Sculpture for your house: Julia and Mandelbrot set Generators extended to Quaternions, Octonions and Clifford Algebras

  • Walking Robot Controllers for Entertainment
    • Tetrix + FPGA
    • Sozobot + FPGA or micro
simpler gpu projects
Simpler GPU Projects
  • Cellular Automata
  • Quantum Computer simulation or matrix-matrix and matrix-vector multiplication
  • Genetic Algorithm
  • World visualization
  • SAT
  • Graph Coloring
  • Constraints Satisfaction
constraint satisfaction projects
Constraint Satisfaction Projects
  • Swarm
  • Emotion Recognition for DWAVE
  • Motion control for complex motions such as dances and gymnastics for KHR-1 or Sozobot Robots.
  • Waltz algorithm for object recognition
  • Error Correcting code design
  • Graph coloring various variants
vision
Vision
  • Hough Transform for lines – ovulation prediction application
  • Hough Transform for robot
  • Hough Transform for circles – cancer of eye application
  • Vision processor based on morphological algebra.
spectral transforms
Spectral Transforms
  • Fast Fourier
  • Cosine
  • Walsh
  • Haar
  • Linearly Independent
  • Adding/Arithmetic
  • Hough optimized
  • Radon
  • Hartley
  • Matching
  • Filtering-convolution
  • From Alan Coppola - industrial
reconfigurable computers
Reconfigurable Computers
  • CCM
  • Neural Networks for Prof. Starzyk
  • Neuro-biologically inspired for Prof. Kameyama
embedded systems for robots
Embedded Systems for Robots
  • Using quaternions for a robot
  • CMU cam for tracking
  • Use of ASC Controller for robot
  • Use of MSC controller
  • Advanced robot controller for Prof. Levin
  • Motion generation based on curves and their processing for Prof. Traczyk and Buller/De Garis – FFT processing
  • Biped that dances
  • Sozobot control
projects for fall 2008
Projects for Fall 2008
  • Projects can be continued:
  • Winter 2009 in 572 class (Combinational Logic class)
  • Spring 2009 in 573 class (Sequential Systems class)
  • Spring 2009 in 510 Quantum Computing class.
  • As Master of Science Thesis (Mathias, Vishwanath, everybody else)
  • As PhD Thesis (Vamsi, Scott, Carlos)
  • As individual projects for credit.

Seven projects

as seven is a lucky number

our system
Our system

QC Orion

Camera

Display

Internet

Microphone

Speaker

PC

Bluetooth

Bluetooth

FPGA

board

GPU

board

Robot’s motors

and effectors

Robot’s sensors

our system13
Our system

QC Orion

Internet

Camera

Display

CS API

OpenCV

Microphone

SAPI

Speaker

SAPI

PC

Robot C

RobotC

Bluetooth

Bluetooth

VHDL

CUDA

Robot’s motors

and effectors

Robot’s sensors

GPU

board

FPGA

board

slide14

Project number 1: Spectral Transforms for object recognition with rotation, scaling and translation Vamsi Srinivas Parasa = Group Leader, Omar Joshi = Lead HDL programmer, Sudheer G = FPGA expert

Learn and present Fast Fourier Transform (FFT) and other transforms that are useful for image matching

Develop the concept of FPGA architecture for object recognition as in title.

Present the previous work of Sebastian Schueppel and other students

Learn how to take image from camera (with others in this class)

Write Verilog or VHDL code for FPGA for Altera Board. You can reuse any software from our previous projects or from internet but you must specifically mention what is it and give it to me to compare.

Download to board.

Test the board.

Analyze

Write a journal and a conference papers (if applicable)

This project is a candidate for submission to DAC contest in FPGA category

SPECTRAL PROJECT

spectral project
Spectral project

QC Orion

Internet

Camera

Display

CS API

OpenCV

Microphone

SAPI

Speaker

SAPI

PC

Robot C

RobotC

Bluetooth

Bluetooth

VHDL

CUDA

Robot’s motors

and effectors

Robot’s sensors

GPU

board

FPGA

board

slide16
Project number 2: Fractal Images based on higher order algebrasScott Blakely, Vishwanath Kusugal and Tobias Oerstein

Learn about Mandelbrot Set and Julia sets. Understand concept of fractals.

Learn how to take image from camera (with others in this class)

Learn about OpenCV and image preprocessing

Learn about complex numbers, quaternions and octonions as their generalizations in higher order algebras.

Learn about FPGA fractal generator from last year project. Understand the interface

Build a processing system that starts from camera, creates initial image and next processes it fractally, using old (complex numbers) and new (quaternions and octonions) theories

FRACTAL PROJECT

This project is a candidate to submission to DAC contest in FPGA category

fractal project
FRACTAL project

QC Orion

Internet

Camera

Display

CS API

OpenCV

Microphone

SAPI

Speaker

SAPI

PC

Robot C

RobotC

Bluetooth

Bluetooth

VHDL

CUDA

Robot’s motors

and effectors

Robot’s sensors

GPU

board

FPGA

board

project number 3 gpu and cuda scott storms sagar raj one more from class one out of class
Project number 3: GPU and CUDAScott Storms, Sagar Raj, one – more from class, one out of class

Present the architecture of GPU

Present examples of codes in CUDA

SAT

Matrix Matrix multiplication

Matrix Vector multiplication

Emotion Recognition or Face Recognition

Any other CS, Systolic or CA problem that can be done efficiently on CUDA

Write software

Download to coprocessor

Test, analyze and write paper for conference

CUDA project

This project is a candidate to submission to DAC contest in FPGA category

cuda project
CUDA project

QC Orion

Internet

Camera

Display

CS API

OpenCV

Microphone

SAPI

Speaker

SAPI

PC

Robot C

RobotC

Bluetooth

Bluetooth

VHDL

CUDA

Robot’s motors

and effectors

Robot’s sensors

GPU

board

FPGA

board

slide20
Project number 4: Constraint Satisfaction Problem Interface to Adiabatic Quantum ComputerDmitriy Labunsky, Boshra Samy and Yasuda

Learn and present about Constraint Satisfaction Problems (Samy)

Give examples of Constraint satisfaction problems (Samy)

Learn OpenCV how to acquire face image (Yasuda)

Face recognition, Emotion Recognition or similar problems for human-robot interaction in real time as CS problems. (Yasuda and Samy)

Learn API to interface CS problems to quantum computer Orion (Samy)

Test software (Dmitriy,Yasuda and Samy)

Analyze and write journal paper (Dmitriy,Yasuda and Samy)

Think about and propose “Killer Applications” for CS/Orion

ORION project

This project is a candidate to submission to DAC contest in conceptual category

orion project
ORION project

QC Orion

Internet

Camera

Display

CS API

OpenCV

Microphone

SAPI

Speaker

SAPI

PC

Robot C

RobotC

Bluetooth

Bluetooth

VHDL

CUDA

Robot’s motors

and effectors

Robot’s sensors

GPU

board

FPGA

board

project number 5 testing reversible logic circuits carlos nieva
Project number 5:Testing Reversible Logic CircuitsCarlos Nieva

What are reversible gates?

What are reversible circuits?

What is test?

Stuck-at model and other models of faults

Why reversible circuits are easy to test

Previous work on testing reversible circuits (Markov Hayes, Patel etc)

Work of Jeff Allen in his MS thesis.

Your ideas of improving Jeff’s model.

Examples of testing real reversible oracles.

Write a conference paper

This project is a candidate to submission to Test conference contest for students

project number 5 lego nxt tetrix robot quincy chiu
Project number 5: Lego NXT/Tetrix robot Quincy Chiu

Learn RobotC language

Learn LegoNXT/Tetrix platform

Build a mobile robot with an arm that can grab items and transport them to other location.

This project has to concentrate on programming sensors in a mobile robot with hand.

The project can be continued towards Artificial Intelligence and new type of Neural Networks developed in Ohio University - collaboration

SENSORS PROJECT

This project will be used in our collaboration with Tears of Joy Puppet Theatre and Ohio University

slide24

SENSORS PROJECT

QC Orion

Internet

Camera

Display

CS API

OpenCV

Microphone

SAPI

Speaker

SAPI

PC

Robot C

RobotC

Bluetooth

Bluetooth

VHDL

CUDA

Robot’s motors

and effectors

Robot’s sensors

GPU

board

FPGA

board

Lego/Tetrix Robot

slide25

Project number 6: Emotion Learning and Mimicking Robot Mathias Sunardi. This is individual project but done together with Dmitriy and other students

This work should be included in Mathias Thesis

This work should use all software already developed by Mathias

The project has to be an illustration of integration of image processing, speech and motion generation.

Mathias has to present his work early as a lecture

Final demo at the end of the class.

Details to be discussed in person.

DANCING PROJECT

This project will be used in our collaboration with Tears of Joy Puppet Theatre

slide26

DANCING PROJECT

QC Orion

Internet

Camera

Display

CS API

OpenCV

Microphone

SAPI

Speaker

SAPI

PC

C

VHDL

CUDA

Robot’s motors

and effectors

Robot’s sensors

GPU

board

FPGA

board

KHR-1 Robot

accelerometer

slide27

Project number 7: Realistic Hand motion generation for a humanoid robot Aditya Bhutada. This is individual project but done together with Dmitriy and other students

Learn about how servo works and present in class.

Learn how stepper motor works and present in class.

Learn how the ASC-16 controller works and present in class.

Learn about a realistic human-like hand for “Dmitriy’s big robot”

Write software for typical behaviors of the hand such as shaking hand, greeting a human, playing drum, etc.

Analyze and conclude results. Collaborate with group of students who work on robot puppet.

HAND PROJECT

This project will be used in our collaboration with Tears of Joy Puppet Theatre

slide28

HAND PROJECT

QC Orion

Internet

Camera

Display

CS API

OpenCV

Microphone

SAPI

Speaker

SAPI

PC

C

ASC-16

Controller

VHDL

CUDA

Robot’s motors

and effectors

Robot’s sensors

GPU

board

FPGA

board

Dmitri’s Robot

Accelerometer

inclinometer

first project presentations graded as part of final project grade
First Project Presentations. Graded as part of final project grade.

Project Spectral – Wamsi Parasa - Next week. (others will speak later)

Project CUDA – Scott Storms- Next week (others will speak later)

Project Orion –Bosra Samy - Two weeks from today. (others will speak later)

Project Hand – Aditya Bhutada – two weeks from now

Project Fractal – Scott Blakely, Vishwanath Kusugal and Tobias Oerstein– two weeks from now

Project Sensors - Quincy Chiu– two weeks from now

Project Dancing – Mathias Sunardi – next week

  • You must be prepared to speak at this time, regardless what happened, even Martian attack on Oregon.
  • You may be rescheduled.
project overview
Project Overview
  • Original project goal: To Program a swarm of autonomous Lego NXT robots to perform a specific task without human interaction.
  • To learn more about both the accuracy and functionality of sensors and motors packaged with the Lego NXT Robots
  • To learn to program in one or all of three Lego oriented programming languages (Lejos, NXC, and Robot C)
  • To apply what we know about machine learning to “teach” robots or rather to allow them to learn and behave based upon their environment and each other.
approach research
Approach: Research

Acquire hardware

4 Lego NXT kits

4 Bluetooth adapters

1.5V Batteries

Familiarize with hardware

Motors

Sensors

Brick

Learn various programming languages

Developed specifically for Lego NXT

RobotC

leJOS

NXC

Bluetooth compatible?

approach programming
Approach: Programming

RobotC

Line Tracking

NXC

Bitbot Program

Stores values in arrays

Communicates through Bluetooth

Master -> Slave

Light Following

Random Movement

Python

Establish Bluetooth communication

technical details
Technical Details

Bluetooth

Frequency of 2.402GHz to 2.480 GHz

Spread Spectrum Frequency Hopping

NXT Bluetooth capabilities

Hardware

CSR BlueCore 4 v2.0+EDR System

Supporting the Serial Port Profile

Master to Slave communication only

Bluetooth Adapter

Kensington Bluetooth USB Adapter 2.0

Lego NXT, Windows XP compatible

Allows communication between PC and NXT

Serial Connection

technical details36
Technical Details

Programming

NXC

Similar to C

Easy to use IDE

Limited Bluetooth capabilities

Limited processing power

Python

Scripted Language

Used in many other applications

Communication is between PC and NXT

Will use PC processing power

technical details37
Technical Details

Lego NXT Mindstorm

Ports similar to RJ12 connectors for sensors & motors

Input

Light

Sound

Ultrasound

Touch

Output

Motors

Brick

Supports Bluetooth and 1 USB 2.0 port

32-bit ARM7 microcontroller @ 48MHz

256 KB of Flash Memory

64 KB of RAM

8-bit Atmel AVR microcontroller @ 4MHz

4 KB of Flash Memory

512 Bytes of RAM

homework 4 cellular automaton this is the last homework of the class
Homework 4. Cellular AutomatonThis is the last homework of the class

Find any simulator of Cellular Automata on the WWW.

Recommended simulators are on my webpage.

Select your own application for simulation. You cannot take it from Internet but you can take and modify the application if you clearly mention the web address and you write what you modified.

Describe the cellular automaton. It can be whatever you want. Here are some examples.

Game of life with modified rules

Sobel filter

Any other filter, may be your invention?

Thinning algorithm

Two-dimensional sorter

Logic gate simulator

Sharks and fish simulation

Spread of religion simulation

Economic system simulation

Particle simulation

Simulate

Change parameters

Simulate

Draw conclusions and write a report.

Present in class and make it really exciting

Midterm 1 is

at the end

of October

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