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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.


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Camera and mirror

Computer

Wheels and drive train

The soccer robot to date


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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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Any questions

?


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