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Interim Presentation Advancing the soccer robot Ben Jenkins Supervisors: Gordon Lowe, Dr. Haim Hiok Lim Mentor: Charles Greif Overview Background Objective This years work Further development Additional information What is the soccer robot Autonomous vehicle Plays soccer

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Interim presentation l.jpg

Interim Presentation

Advancing the soccer robot

Ben Jenkins

Supervisors: Gordon Lowe, Dr. Haim Hiok Lim

Mentor: Charles Greif


Overview l.jpg
Overview

  • Background

  • Objective

  • This years work

  • Further development

  • Additional information


What is the soccer robot l.jpg
What is the soccer robot

  • Autonomous vehicle

  • Plays soccer

  • Development at Monash Uni started in 1999

  • My research topic for Hons

  • RoboCup hosts soccer competitions


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RoboCup

  • Worldwide research and education initiative

  • Foster AI and intelligent robotics research

  • Provides a standard problem where a wide range of technologies can be used.

  • Project-oriented education.


The soccer robot to date l.jpg

Camera and mirror

Computer

Wheels and drive train

The soccer robot to date


The soccer robot to date6 l.jpg

Camera and

mirror

Wheels and

motors

Motherboard and

misc electronics

Pneumatic

kicker

Soccer ball

The soccer robot to date


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Why the soccer robot?

  • Personal research and development

  • By the year 2050, develop a team of fully autonomous humanoid robots that can win against the human world soccer champion team.

    - RoboCup


Applications l.jpg

Domestic servants

Bomb disposal

Applications

  • Fire fighting

  • Robocop

  • Soccer player


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Sensors

Field Positioning System

Artificial Intelligence

Motion

Building blocks

For the computer buffs

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

Hard disk & floppy drive removed

QNX real-time operating system.


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Objective

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


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This 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


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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


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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


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This years work (cont)

  • Integrate new motion with previous modules

  • Test and debug


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Further development

  • Make robot hit the ball

  • Fine tune the robot to kick goal

  • Make robot work as team member

  • Enhance motion

    • 400mm/sec max speed

    • 2500mm/sec to be competitive


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Additional information

  • [email protected]

  • www.csse.monash.edu.au/~bwjen1

  • RoboCup website

    • http://www.robocup.org/02.html

  • Gordon Lowe, Bldg 63, Rm G15, Clayton.



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