mypapers/robocup-auug/auug-present.tex

   1 \documentclass[a4, landscape, semrot]{seminar}
   2
   3 \usepackage{fancybox}
   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   {Western Australian Unix User Group, Perth, 2000-02-16\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 a specially developed operating system and control programs.
  40 The system is developed from 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 Only robot soccer team in WA
  83   \item CIIPS/Electrical Engineering at 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 vision (onboard camera) and global 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 Radio (418 or 433 MHz)
 109   \item IR distance sensors
 110   \item Two wheels with encoders
 111   \item Servo (kicker and camera control)
 112   \item Microphone and speaker
 113   \item Acceleration sensors
 114   \item Digital compass
 115 \end{itemize}
 116
 117 \newslide
 118
 119 \heading{Robot OS (RoBIOS)}
 120
 121 \begin{itemize}
 122  \item M68 assembly and C using GNU C cross compiler (v2.95.2)
 123  \item Complete size $<$ 128 KB
 124  \item Features (in addition to HW drivers)
 125    \begin{itemize}
 126      \item Multi-threading
 127      \item OS upgrade using serial connection
 128      \item Hardware description table
 129      \item Up to three programs in ROM (optional autoloading)
 130      \item Simulator
 131    \end{itemize}
 132  \item GNU C library is available
 133  \item Developed in Germany and Australia (CVS)
 134  \item Bug tracking system (in development)
 135 \end{itemize}
 136 \end{slide}
 137
 138 \begin{slide*}
 139 {\tiny
 140 \begin{verbatim}
 141 MotorHandle     leftmotor, leftmotor;
 142 PSDHandle       psd_front, psd_left, psd_right;
 143 VWHandle        vw;
 144
 145 int main(int argc, char *argv[])
 146 {
 147   LCDMenu("","","","END");
 148   vw=VWInit(VW_DRIVE,1);
 149
 150   /* this is because #5 has stuffed up PSD */
 151   psd_front = PSDInit(PSD_FRONT);
 152   psd_left = PSDInit(PSD_LEFT);
 153   psd_right = PSDInit(PSD_RIGHT);
 154   PSDStart(psd_front, TRUE);
 155   PSDStart(psd_left,TRUE);
 156   PSDStart(psd_right,TRUE);
 157   VWStartControl(vw, v_lin, t_lin , v_rot, t_rot);
 158
 159   while (KEYRead() != KEY4)
 160     {
 161       if( (PSDGet(psd_front) > 100 && PSDGet(psd_left) > 100
 162         && PSDGet(psd_right)>100 ))
 163         VWDriveStraight(vw,0.01,0.2);
 164       else
 165         {
 166           LCDPutString("Backwards \n");
 167           VWDriveStraight(vw,-0.04,0.2);
 168           while (!VWDriveDone(vw))
 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           while(!VWDriveDone(vw))
 182             VWDriveWait(vw);
 183         }
 184     }/* end while loop */
 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 Keep track of what, who and why
 197       \item Allow distributed development
 198     \end{itemize}
 199   \item Server on Linux
 200   \item Clients on Linux and Win32
 201   \item Daily RoBIOS build
 202   \item Auto-generated ChangeLog
 203   \item More info on {\tt http://www.sourcegear.com/CVS/}
 204 \end{itemize}
 205
 206 \newslide
 207
 208 \heading{How do robots play soccer}
 209
 210 \begin{center}
 211 \includegraphics[height=1.5cm]{team1}
 212 \end{center}
 213
 214 The goal is robot soccer without human interference.
 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{Sensor input 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 Overhead camera (video4linux)
 234       \item Frame rate is everything
 235       \item Local camera
 236       \item CPU and bandwidth intensive
 237       \item object recognition with 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, planning and decision making}
 247
 248 \begin{itemize}
 249  \item Obstacle avoidance
 250  \item Team coordination
 251
 252
 253  \item Prediction based on physics model
 254  \item Team play
 255    \begin{itemize}
 256      \item Role change
 257      \item Offensive or defensive
 258    \end{itemize}
 259 \end{itemize}
 260
 261 \heading{Action}
 262
 263 \begin{itemize}
 264  \item Communicate
 265  \item Drive
 266  \item Kick
 267 \end{itemize}
 268
 269 \newslide
 270
 271 \heading{Sponsoring}
 272
 273 Would you like to get your firm exposed to high tech robotic research
 274 community in an event with international press coverage.
 275
 276 If so, we would like to hear from you.
 277
 278 $robocup@ee.uwa.edu.au$
 279
 280 \newslide
 281
 282 \heading{Thank you}
 283
 284 \begin{center}
 285 \includegraphics[height=5cm]{soccer1}
 286
 287 {\tt http://ciips.ee.uwa.edu.au/\~{}pere/soccer/}
 288 \end{center}
 289 \end{slide}
 290 \end{document}