mypapers/robocup-uwacs/robocup-uwacs.tex

   1 \documentclass[a4, landscape, semrot]{seminar}
   2
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   4 \usepackage{graphicx}
   5 \usepackage{picinpar}
   6
   7 \slideframe{Oval}
   8
   9 \newcommand{\heading}[1]{%
  10   \begin{center}
  11     \large\bf #1%
  12   \end{center}
  13   \vspace{1ex minus 1ex}}
  14
  15 \newpagestyle{MH}%
  16   {University of Western Australia/Computer Science, Perth, 2000-04-14\hfil\thepage}%
  17   {CIIPS Glory: Global cross platform robot soccer development
  18    \hfill Petter Reinholdtsen}
  19 \pagestyle{MH}
  20
  21 \rotateheaderstrue
  22
  23
  24 \begin{document}
  25
  26 \begin{slide}
  27
  28 \begin{center}
  29 \includegraphics[height=2cm]{soccer-logo-med}
  30 \end{center}
  31
  32 \heading{Global cross platform robot soccer development}
  33
  34 \begin{center}
  35 Petter Reinholdtsen $<$pere@hungry.com$>$
  36 \end{center}
  37
  38 The CIIPS Glory robot soccer team consists of five 15 cm tall robots
  39 running specially developed operating system and control programs.
  40 The system is developed in Germany and Australia, using cross
  41 compilers running on Linux and Windows.
  42
  43 \end{slide}
  44
  45 \begin{slide}
  46
  47 In this presentation, you will learn the following:
  48
  49 \begin{itemize}
  50
  51   \item What is Robot Soccer?
  52   \item Who are CIIPS Glory?
  53   \item What is the Eyebot and which OS is it running?
  54   \item How do we handle global cross platform development?
  55   \item How do robots play soccer?
  56
  57 \end{itemize}
  58
  59 \end{slide}
  60
  61 \begin{slide}
  62
  63 \heading{Robot Soccer}
  64 \begin{itemize}
  65   \item Since 1996
  66   \item MIROSOT ($7.5 \times 7.5 \times 7.5 cm^3$)
  67   \item RoboCup (Leagues; simulation, small, middle, SONY legged and humanoid)
  68   \item Next RoboCup in Melbourne 2000-08-26
  69     \begin{itemize}
  70       \item 73 simulation teams
  71       \item 28 small size teams
  72       \item 31 middle size teams
  73       \item 5 SONY legged teams
  74       \item 3 humanoid teams
  75     \end{itemize}
  76 \end{itemize}
  77
  78 \newslide
  79
  80 \heading{CIIPS Glory}
  81 \begin{itemize}
  82   \item The only robot soccer team in WA
  83   \item Located at CIIPS/EE-UWA
  84   \item Small size league ($2 \times 10$ minutes)
  85     \begin{itemize}
  86       \item $274 \times 152.5 cm^2$ field (ping-pong table)
  87       \item Max 5 robots on each team
  88     \end{itemize}
  89   \item Hopefully humanoid league
  90
  91   \item Local (on-board) and global (overhead) vision
  92   \item Eyebot soccer robots
  93
  94   \item Previous experience
  95     \begin{itemize}
  96       \item PRICAI'98 (Singapore November 1998)
  97       \item Interact'99 (Melbourne August 1999)
  98     \end{itemize}
  99 \end{itemize}
 100 \newslide
 101
 102 \heading{Eyebot Hardware}
 103
 104 \begin{itemize}
 105   \item Motorola 68332 (25-40 MHz)
 106   \item 1 MB RAM and 512 KB Flash ROM
 107   \item Color camera (80x60 24bit)
 108   \item RS232 38400bps radio (418 or 433 MHz)
 109   \item IR distance sensors
 110   \item Two wheels with encoders
 111   \item Digital and analog compass
 112   \item Servo (kicker and camera control)
 113   \item Microphone and speaker
 114   \item Acceleration sensors
 115 \end{itemize}
 116
 117 \newslide
 118
 119 \heading{Robot OS (RoBIOS)}
 120
 121 \begin{itemize}
 122  \item Features (in addition to HW drivers)
 123    \begin{itemize}
 124      \item Multi-threading
 125      \item OS upgrade using serial connection
 126      \item Hardware description table
 127      \item Up to three programs in ROM (optional autoloading)
 128      \item Simulator
 129    \end{itemize}
 130  \item Complete size $< 128$ KB
 131  \item M68 assembly and C using GNU C cross compiler (v2.95.2)
 132  \item GNU C library is available
 133  \item Developed in Germany and Australia (CVS)
 134  \item Bugzilla bug tracking system ({\tt http://www.mozilla.org/bugs/}).
 135
 136
 137 \end{itemize}
 138 \end{slide}
 139
 140 \begin{slide*}
 141 {\tiny
 142 \begin{verbatim}
 143 #include <eyebot.h>
 144 #include <stdlib.h>
 145 MotorHandle     leftmotor, leftmotor;
 146 PSDHandle       psd_front, psd_left, psd_right;
 147 VWHandle        vw;
 148 int
 149 main()
 150 {
 151   LCDMenu("","","","END");
 152   vw=VWInit(VW_DRIVE,1);
 153
 154   psd_front = PSDInit(PSD_FRONT);
 155   psd_left = PSDInit(PSD_LEFT);
 156   psd_right = PSDInit(PSD_RIGHT);
 157   PSDStart(psd_front | psd_left | psd_right, TRUE);
 158   VWStartControl(vw, 7,0.3,7,0.1);
 159
 160   while (KEYRead() != KEY4)
 161     {
 162       if( (PSDGet(psd_front) > 100 && PSDGet(psd_left) > 100
 163         && PSDGet(psd_right)>100 ))
 164         VWDriveStraight(vw,0.01,0.2);
 165       else
 166         {
 167           LCDPutString("Backwards \n");
 168           VWDriveStraight(vw,-0.04,0.2);
 169           VWDriveWait(vw);
 170
 171           if((rand()%2)==0)
 172             {
 173               VWDriveTurn(vw,1.57,0.6);
 174               LCDPutString("Turning Left \n");
 175             }
 176           else
 177             {
 178               VWDriveTurn(vw,-1.57,0.6);
 179               LCDPutString("Turning Right \n");
 180             }
 181           VWDriveWait(vw);
 182         }
 183     }/* end while loop */
 184   return 0;
 185 }
 186 \end{verbatim}
 187 }
 188 \end{slide*}
 189
 190 \begin{slide}
 191
 192 \heading{Client/server CVS}
 193 \begin{itemize}
 194   \item Concurrent Versions System
 195     \begin{itemize}
 196       \item Tag source with what, who and why
 197       \item Allow distributed development
 198     \end{itemize}
 199   \item Server on Linux, clients on Linux and Win32
 200   \item Nightly build to check consistency
 201   \item Auto-generated ChangeLog
 202   \item More info on {\tt http://www.sourcegear.com/CVS/}
 203 \end{itemize}
 204
 205 \newslide
 206
 207 \heading{How do robots play soccer}
 208
 209 \begin{center}
 210 \includegraphics[height=1.5cm]{team1}
 211 \end{center}
 212
 213 The goal is robot soccer without human interference.  The long term
 214 goal is to win humanoid football in 2050.
 215
 216 \begin{itemize}
 217   \item Sensor input processing
 218   \item Self localization, planning and decision making
 219   \item Action
 220 \end{itemize}
 221
 222 \newslide
 223
 224 \heading{Input sensor processing}
 225
 226 \begin{center}
 227 \includegraphics[height=1.5cm]{ball_009}
 228 \end{center}
 229
 230 \begin{itemize}
 231   \item Vision
 232     \begin{itemize}
 233       \item Frame rate is everything
 234       \item Overhead camera 25 fps interlaced (video4linux)
 235       \item On-board digital camera 3.7 - 60 fps
 236       \item CPU and bandwidth intensive
 237       \item Recognize objects when light condition changes
 238     \end{itemize}
 239   \item Distance sensors
 240   \item Compass
 241   \item Dead reckoning
 242 \end{itemize}
 243
 244 \newslide
 245
 246 \heading{Self localization}
 247
 248 \begin{center}
 249 \includegraphics[width=4cm]{localization}
 250 \end{center}
 251
 252 We are testing two approaches and wish to combine both for better
 253 accuracy.
 254
 255 \begin{itemize}
 256 \item PSD radar scanning.
 257    \begin{itemize}
 258      \item Only three sensors (left, front and right)
 259      \item Rotating is slow or inaccurate
 260    \end{itemize}
 261 \item Goal position triangulation.
 262    \begin{itemize}
 263      \item Panning is fast - processing is slow
 264    \end{itemize}
 265 \item Someone might always be in the way...
 266 \end{itemize}
 267
 268 \newslide
 269
 270 \heading{Planning and decision making}
 271
 272 \begin{itemize}
 273  \item Prediction based on physics model
 274  \item Obstacle avoidance
 275  \item Path planning when all the obstacles are moving
 276
 277  \item Team play
 278    \begin{itemize}
 279      \item Coordination
 280      \item Role change
 281      \item Offensive or defensive play?
 282    \end{itemize}
 283 \end{itemize}
 284
 285 \newslide
 286
 287 \heading{Action}
 288
 289 Our goal is autonomous players, capable of playing even when overhead
 290 tracking and radio communication break down.
 291
 292 \begin{itemize}
 293
 294  \item Communication
 295    \begin{itemize}
 296      \item Standard protocol and conventions
 297      \item Different programs can still communicate
 298    \end{itemize}
 299
 300  \item Drive
 301    \begin{itemize}
 302      \item Need fast and accurate steering.
 303    \end{itemize}
 304
 305  \item Kick
 306    \begin{itemize}
 307      \item Ram the ball instead of servo kicker
 308      \item Rotate to hit with tail
 309    \end{itemize}
 310 \end{itemize}
 311
 312 \newslide
 313
 314 \heading{Volunteers}
 315
 316 Everyone willing are welcome to join the team.  We need at least the
 317 following.
 318
 319 \begin{itemize}
 320
 321  \item Programmers for robot control, tracking system and HW drivers
 322
 323  \item HW design and repair
 324
 325  \item Public relations
 326
 327 \end{itemize}
 328
 329 If so, we would like to hear from you at $ciipsglory@uwa.edu.au$.
 330
 331 Sponsors are also very welcome.
 332
 333 \newslide
 334
 335 \heading{Thank you}
 336
 337 \begin{center}
 338 \includegraphics[height=5cm]{soccer1}
 339
 340 {\tt http://ciips.ee.uwa.edu.au/\~{}pere/soccer/}
 341 \end{center}
 342 \end{slide}
 343 \end{document}