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Introduce about sensor using in Robot NAO. Department: FTI-FHO-FPT Presenter: Vu Hoang Dung. OUTLINE. Introduce Sensors. 1. 2. Audio. Vision. Other Sensors. 3. 4. Introduce Sensors.

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introduce about sensor using in robot nao

Introduce about sensor using in Robot NAO

Department: FTI-FHO-FPT

Presenter: Vu Hoang Dung

outline
OUTLINE

Introduce Sensors

1

2

  • Audio
  • Vision
  • Other Sensors

3

4

introduce sensors
Introduce Sensors
  • Sensoris a converter that measures a physical quantity and converts it into a signal which can be read by an observer or by an instrument. A sensor’s sensitivity indicates how much the sensor’s output changes when the measured quantity changes.
  • Senses of the NAO, the physical devices in robots that sense the environment are called sensor.
  • NAO sensors can divide into 3 types main sensors:
    • Audio: include devices which listen to sound and play to sound from microphone.(Example TTS and STT)
    • Vision: include devices which capture image from camera. (Example Face detect, Hand detect, Line detect …)
    • Other sensor: include devices which get value from environment. (Example touch sensor, battery sensor, infrared sensor, laser sensor, sonar sensor).
audio
Audio
  • Audio
  • NAO has 4 microphones built into its head that it uses to listen to sound
  • around it
  • Module in Audio
  • Audio Device: manage audio inputs and outputs
  • Audio Player: play audio file on the robot
  • Audio Recorder: record audio file on the robot
  • Sound Detection: detect sound events
  • Audio Source Localization: localize sounds detected
  • SpeechRecognition: make the robot understand what a human says
  • TextTo Speech: make the robot speak
audio1
Audio
  • Example
  • Sound detection and source localization
  • Value return:
    • Number of sounds detected
    • Index of the sound start(=1), sound end(= 0)
    • Detection time
    • Gives an estimate of the probability[0,1] that the sound detected by the module corresponds to a real sound
vision
Vision
  • Vision
  • NAO has two cameras in its head. The cameras are vision sensors and
  • provide camera images for the NAO’s computer to process. This is different
  • from the human “sensor of sight” as sight would include processing the image
  • To understand what the robot sees
vision1
Vision
  • Module in Vision
  • Backlighting: enables to check if the image of the camera is backlit.
  • Darkness: gives NAO the ability to detect if it is in a dark environment.
  • Face detection: gives NAO the ability to detect and recognize human faces.
  • Landmark detection: gives NAO the ability to detect specific visual landmarks.
  • Movement detection: gives NAO the ability to detect some movement and tell where it comes from.
  • Photo capture: provides tools to take pictures and save them on disk.
  • Red ball detection: gives NAO the ability to detect red and circular objects.
  • Video device: manages video inputs.
  • Video recorder: provides video recording tools.
  • Vision recognition: provides learning and recognition capabilities of visual patterns.
  • Visual compass: gives NAO the ability to use an image as a compass.
  • Beside: Hand detection, line detection, flashcard….
vision2
Vision
  • Example
  • Landmark detection: use to get position of NAO with environment around
  • Value return:
    • Landmark ID
    • Landmark’s location in camera angles
    • The Landmark’s size in camera angles
    • Landmark’s is oriented about the vertical axis with NAO’s head
vision3
Vision
  • Example
  • Red ball detection:
  • Value return:
    • CenterX, centerY are center of the ball in angles
    • SizeX, sizeY are the ball “horizontal and vertical radius”
    • Position of the camera in Torso frame
    • Position of the camera in robot frame
other sensors
Other Sensors
  • Besides above sensors, NAO also uses other sensors as touch, press, balance for robot, measure level power in robot
  • Module in other Sensors
  • Sensors: deals with bumpers, tactile hands, tactile head and press chest button.
  • Battery: manage level power and warn the user
  • Fsr: generates the event whenever the foot contact changes
  • Infrared: allows IR communication with NAO
  • Laser: retrieve data sent by the Laser head(optional device)
  • Sonar: retrieves ultrasonic sensor.
other sensors1
Other Sensors
  • Example
  • Sensor: get value follow bumper, tactile, chest button
  • Bumper
    • Left bumper
    • Right bumper
  • Tactile hand
    • Back
    • Left
    • Right
  • Tactile head
    • Front
    • Back
    • Rear
  • Chest button
    • Simple click
    • Double click
    • Triple click
other sensors2
Other Sensors
  • Example
  • Sonar: 2 emitters, 2 receives
  • Frequency: 40kHz
  • Sensitivity: -86dB
  • Resolution: 1cm
  • Detection range: 0.25 – 2.55
  • Effective cone: 60o
  • Mode operation
other sensors3
Other Sensors
  • Example
  • Event sensor :
  • Sonar Left Detected
  • Sonar Right Detected
  • Sonar Left Nothing Detected
  • Sonar Right Nothing Detected
  • Sonar Left Nothing Detected and Sonar Right Nothing Detected
other sensors4
Other Sensors
  • Example
  • IR:
  • Use case
    • Use NAO as a remote control
    • Set NAO to receive orders from a remote control
    • Make several NAOs communicate together
other sensors5
Other Sensors
  • Example
  • Led Sensor : allows you to control NAO’s LEDs
example subscribe
Example - Subscribe
  • Example
  • Subscribe event:
example subscribe1
Example - Subscribe
  • Example
  • Subscribe event:
example subscribe2
Example - Subscribe
  • Example
  • unSubscribe event:
example subscribe3
Example - Subscribe
  • Example
  • Get value:
slide21

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