mypapers/robocup-nuccc/robocup-nuccc.tex

   1 \documentclass[a4, landscape, semrot]{seminar}
   2
   3 \usepackage{fancybox}
   4 \usepackage{graphicx}
   5 \usepackage{picinpar}
   6
   7 \slideframe{Oval}
   8
   9 \def\urlend#1{#1\endgroup}
  10 \def\url{\begingroup \tt
  11   \catcode`\_=13 % Don't know why this works.
  12   \catcode`\~=11 \catcode`\#=11 \catcode`\^=11
  13   \catcode`\$=11 \catcode`\&=11 \catcode`\%=11
  14   \urlend}% \url for plain \TeX.
  15
  16 \newcommand{\heading}[1]{%
  17   \begin{center}
  18     \large\bf #1%
  19   \end{center}
  20   \vspace{1ex minus 1ex}}
  21
  22 \newpagestyle{MH}%
  23   {NUCCC presentation, Oslo, 2001-02-17\hfill\thepage}%
  24   {RoboCup: Soccer for the future \hfill Petter Reinholdtsen}
  25 \pagestyle{MH}
  26
  27 \rotateheaderstrue
  28
  29
  30 \begin{document}
  31
  32 \begin{slide}
  33
  34 \begin{center}
  35 \includegraphics[height=2cm]{soccer-logo-med}
  36 \end{center}
  37
  38 \heading{RoboCup: Soccer for the future}
  39
  40 \begin{center}
  41 Petter Reinholdtsen $<$pere@hungry.com$>$
  42 \end{center}
  43
  44 \begin{abstract}
  45   The goal of RoboCup is to be able to play soccer against the FIFA
  46   champions and win.  This should be achieved by 2050.
  47
  48   During 1999 and 2000, I had the opportunity to play with robots as a
  49   Robot Soccer couch on the CIIPS Glory team of Western Australia.
  50   This is the story of the preparations for RoboCup 2000 in Melbourne,
  51   and a summary of our result.
  52 \end{abstract}
  53
  54 \newslide
  55
  56
  57 \heading{Content}
  58
  59 \begin{itemize}
  60
  61   \item What is Robot Soccer?
  62   \item Who are CIIPS Glory?
  63   \item The team
  64   \item What is the Eyebot and which OS is it running?
  65   \item How do robots play soccer?
  66
  67   \item Experience from RoboCup 2000
  68   \item The results
  69   \item The local vision derby
  70   \item Some videos
  71
  72 \end{itemize}
  73
  74 \newslide
  75
  76   \heading{Robot Soccer}
  77     \begin{itemize}
  78       \item Since 1996
  79       \item MIROSOT ($7.5 \times 7.5 \times 7.5 cm^3$)
  80
  81       \item RoboCup (Leagues; simulation, small, middle, SONY legged
  82             and humanoid)
  83
  84       \item Last RoboCup in Melbourne 2000-08-26
  85         \begin{itemize}
  86           \item 73 simulation teams
  87           \item 28 small size teams (3 local vision teams)
  88           \item 31 middle size teams
  89           \item 5 SONY legged teams
  90           \item 3 humanoid ``teams''
  91         \end{itemize}
  92     \end{itemize}
  93
  94 \newslide
  95
  96   \heading{CIIPS Glory}
  97     \begin{itemize}
  98       \item Only robot soccer team in Western Australia
  99       \item CIIPS/Electrical Engineering at University of Western Australia
 100       \item Small size league ($2 \times 10$ minutes)
 101         \begin{itemize}
 102           \item $274 \times 152.5 cm^2$ field (ping-pong table)
 103           \item Max 5 robots on each team
 104         \end{itemize}
 105       \item Hopefully humanoid league
 106
 107       \item Local vision (onboard camera) and global vision
 108       \item Eyebot soccer robots
 109
 110       \item Previous experience
 111         \begin{itemize}
 112           \item PRICAI'98 (Singapore November 1998)
 113           \item Interact'99 (Melbourne August 1999)
 114         \end{itemize}
 115     \end{itemize}
 116
 117 \newslide
 118
 119 \heading{The team}
 120
 121 {\bf 5 Soccer Eyebots}.
 122
 123 {\bf Stephen Humble}, volunteer.  Programming field player, handling
 124 mechanics and public relations.
 125
 126 {\bf Petter Reinholdtsen}, volunteer and team leader.  Programming field
 127 player and operating system.
 128
 129 {\bf Mari Wang}, volunteer.  Programming goal keeper.
 130
 131 {\bf Jack Daniels}, biped Eyebot.  Public relations.
 132
 133 \newslide
 134
 135 \heading{Eyebot Hardware}
 136
 137 \begin{itemize}
 138   \item Motorola 68332 (25-40 MHz)
 139   \item 1 MB RAM and 512 KB Flash ROM
 140   \item Color camera (80x60 24bit, 3.7 fps)
 141   \item Radio (418 or 433 MHz)
 142   \item Infrared distance sensors
 143   \item Two wheels with encoders
 144   \item Servo (camera control)
 145   \item Microphone and speaker
 146   \item Acceleration sensors
 147   \item Digital compass
 148 \end{itemize}
 149
 150 \newslide
 151
 152 \heading{Robot OS (RoBIOS)}
 153
 154 \begin{itemize}
 155  \item M68 assembly and C using GNU C cross compiler (v2.95.2)
 156  \item Complete size $<$ 128 KB
 157  \item Features (in addition to HW drivers)
 158    \begin{itemize}
 159      \item Multi-threading
 160      \item OS upgrade using serial connection
 161      \item Hardware description table
 162      \item Up to three programs in ROM (optional auto-run on boot)
 163      \item Simulator
 164    \end{itemize}
 165  \item GNU C library is available
 166  \item Developed from Germany and Australia (CVS)
 167  \item Bug tracking system (Bugzilla)
 168 \end{itemize}
 169 \end{slide}
 170
 171 \begin{slide*}
 172 {\tiny
 173 \begin{verbatim}
 174 MotorHandle     leftmotor, leftmotor;
 175 PSDHandle       psd_front, psd_left, psd_right;
 176 VWHandle        vw;
 177
 178 int main(int argc, char *argv[])
 179 {
 180   LCDMenu("","","","END");
 181   vw=VWInit(VW_DRIVE,1);
 182
 183   /* this is because #5 has stuffed up PSD */
 184   psd_front = PSDInit(PSD_FRONT);
 185   psd_left = PSDInit(PSD_LEFT);
 186   psd_right = PSDInit(PSD_RIGHT);
 187   PSDStart(psd_front, TRUE);
 188   PSDStart(psd_left,TRUE);
 189   PSDStart(psd_right,TRUE);
 190   VWStartControl(vw, v_lin, t_lin , v_rot, t_rot);
 191
 192   while (KEYRead() != KEY4)
 193     {
 194       if( (PSDGet(psd_front) > 100 && PSDGet(psd_left) > 100
 195         && PSDGet(psd_right)>100 ))
 196         VWDriveStraight(vw,0.01,0.2);
 197       else
 198         {
 199           LCDPutString("Backwards \n");
 200           VWDriveStraight(vw,-0.04,0.2);
 201           while (!VWDriveDone(vw))
 202             VWDriveWait(vw);
 203
 204           if((rand()%2)==0)
 205             {
 206               VWDriveTurn(vw,1.57,0.6);
 207               LCDPutString("Turning Left \n");
 208             }
 209           else
 210             {
 211               VWDriveTurn(vw,-1.57,0.6);
 212               LCDPutString("Turning Right \n");
 213             }
 214           while(!VWDriveDone(vw))
 215             VWDriveWait(vw);
 216         }
 217     }/* end while loop */
 218 }
 219 \end{verbatim}
 220 }
 221 \end{slide*}
 222
 223 \begin{slide}
 224
 225 \heading{How do robots play soccer}
 226
 227 \begin{center}
 228 \includegraphics[height=1.5cm]{team1}
 229 \end{center}
 230
 231 The goal is robot soccer without human interference.
 232
 233 \begin{itemize}
 234   \item Sensor input processing
 235   \item Self localization, planning and decision making
 236   \item Action
 237 \end{itemize}
 238
 239 \newslide
 240
 241 \heading{Sensor input processing}
 242
 243 \begin{center}
 244 \includegraphics[height=1.5cm]{ball_009}
 245 \end{center}
 246
 247 \begin{itemize}
 248   \item Vision
 249     \begin{itemize}
 250       \item Overhead camera (video4linux)
 251       \item Frame rate is everything
 252       \item Local camera
 253       \item CPU and bandwidth intensive
 254       \item Object recognition with light condition changes
 255     \end{itemize}
 256   \item Distance sensors
 257   \item Compass
 258   \item Dead reckoning
 259 \end{itemize}
 260
 261 \newslide
 262
 263 \heading{Self localization, planning and \\
 264         decision making}
 265
 266 \begin{itemize}
 267  \item Obstacle avoidance
 268  \item Team coordination
 269
 270
 271  \item Prediction based on physics model
 272  \item Team play
 273    \begin{itemize}
 274      \item Role change
 275      \item Offensive or defensive
 276    \end{itemize}
 277 \end{itemize}
 278
 279 \heading{Action}
 280
 281 \begin{itemize}
 282  \item Communicate
 283  \item Drive
 284  \item Kick
 285 \end{itemize}
 286
 287 \newslide
 288
 289   \heading{Preparing for competition}
 290
 291     \begin{itemize}
 292
 293       \item Tested and debugged RoBIOS, Eyebot and sensor drivers.
 294
 295       \item Redesigned the robot frame to get better balance and less
 296             friction.
 297
 298       \item Tried to improve radio communication reliability.
 299
 300       \item Tried to find sponsors.
 301
 302       \item Tried to speed up camera frame rate by designing a
 303             parport FIFO buffer to reduce the number of interrupts per
 304             frame from ~20.000 to 20.  Not finished in time.
 305
 306       \item Tested various self localization methods, no one worked
 307             well enough.
 308
 309     \end{itemize}
 310
 311 \newslide
 312
 313   \heading{Experience from RoboCup 2000}
 314
 315     \begin{itemize}
 316
 317       \item Compasses worked perfectly, with less then 2 degrees
 318             error. (as opposed to our lab).  We integrated it into our
 319             player on site.
 320
 321       \item Overhead tracking system did not work at all.  The lens
 322             was to wide, and we did not have zoom.  No one had been
 323             working on this part since march 2000, so everything were
 324             untested when we left for Melbourne.
 325
 326       \item 24x7 access to the competition area a real must.  We had a
 327             lot of programming left before we were ready to compete.
 328
 329       \item No Internet-access was a pain.  Forgot some header files
 330             required to compile the overhead tracker, and had to get
 331             one of the organizers to drive me to RMIT to download it.
 332
 333     \end{itemize}
 334
 335 \newslide
 336
 337   \heading{Experience (cont...)}
 338     \begin{itemize}
 339
 340       \item The robots had some resets during game, the batteries
 341             holders are not good enough.
 342
 343       \item Self localization using distance sensors failed due to
 344             badly calibrated sensors and too long calculation delay
 345             (~10 second).
 346
 347       \item Always hard to get access to the 418 and 433 MHz radio
 348             frequency.  We had to make it easier to turn on and off
 349             radio.
 350
 351       \item Omni-directional wheels and the new dribbler used by some
 352             teams are a big advantage.
 353
 354       \item Too easy to get stuck on the angled walls, with no wheel
 355             touching the ground.
 356
 357     \end{itemize}
 358
 359 \newslide
 360
 361   \heading{Experience (cont...)}
 362
 363     \begin{itemize}
 364
 365       \item The all-wood soccer field was very nice.  Knee-high table
 366             allowed to reach across without climbing.  All-wood gave
 367             no compass disturbances.
 368
 369       \item 4 Stooges had ~12 frames per second using the same
 370             hardware as us.  They could turn off interrupts and run
 371             the camera on full speed as they do not use (or have) any
 372             other sensors.
 373
 374       \item Linux were used almost on more then half the computers in
 375             the competition area.  Many of the middle size league
 376             teams used Linux on their robots as well.
 377
 378       \item The information flow were flowing somewhere else.  Find
 379             the league organizer and stay close to him.
 380
 381     \end{itemize}
 382
 383 \newslide
 384
 385   \heading{The results}
 386
 387 \begin{table}
 388 \centering
 389 \begin{tabular}{|l|l|c|}
 390 \hline
 391 CIIPS Glory & TPOTS        & 0 -  3 \\
 392 CIIPS Glory & Rogi Team    & 0 - 10 \\
 393 CIIPS Glory & FU Fighters  & 0 -  7 \\
 394 \hline
 395 Viperoos    & TUD          & 2 -  0 \\
 396 \hline
 397 \end{tabular}
 398 \end{table}
 399
 400 It could have been a lot worse.
 401
 402 TPOTS stayed up all night before their game against us to adjust their
 403 software to stay further away from the opponents (us) to avoid
 404 damaging our robots.  The adjustments did not turn out too well.
 405
 406 FU Fighters turned off their kickers and slowed down their robots a
 407 lot.  So much the ball stopped on the goal line several times without
 408 entering the goal.
 409
 410 \newslide
 411
 412 \heading{Local vision derby}
 413
 414 The local vision teams had a small derby Wednesday evening to compare
 415 our performance.  It was not too impressive. :-)
 416
 417 \begin{table}
 418 \centering
 419 \begin{tabular}{|l|l|c|}
 420 \hline
 421 CIIPS Glory & 4 Stooges    & 0 - 0 \\
 422 Viperroos   & 4 Stooges    & 0 - 0 \\
 423 CIIPS Glory & Viperoos     & 0 - 0 \\
 424 \hline
 425 \end{tabular}
 426 \end{table}
 427
 428 We scored a goal in the penalty shootout against Viperoos.
 429
 430 A lot of people were interested in the local vision and local CPU
 431 systems.  A lot of teams wanted to start with ``real robotics'', as
 432 one from FU Fighters phrased it.
 433
 434 \newslide
 435
 436 \heading{Biped robots}
 437
 438 There were several biped robots on display.  Some of them could even
 439 walk.
 440
 441 \begin{itemize}
 442
 443 \item Jack Daniels from University of Western Australia
 444
 445 \item ? from De Laboratory Robotics de Paris, France
 446
 447 \item PINO from Kitano Symbiotic Systems Laboratory, Japan
 448
 449 \item MkII from Aoyama Universityis, Japan
 450
 451 \end{itemize}
 452
 453 Only MkII could even get up from his LEGO chair, and walk over to the
 454 ball to kick it. (it missed on the goal).
 455
 456 In a few years, the biped league should playing games in RoboCup.
 457
 458 \newslide
 459
 460 \heading{Videos}
 461
 462 \begin{itemize}
 463
 464 \item Robot helmet-cam by FU Fighters
 465
 466 \item Daily highlights by RoboCup 2000 webcast team
 467   \begin{itemize}
 468     \item Arrival Saturday 26th August
 469     \item F180; Pre-competition Sunday 27th August
 470     \item F2000; Naist vs Golem Tuesday 29th August
 471   \end{itemize}
 472
 473 \end{itemize}
 474
 475 \newslide
 476
 477 \heading{Thank you}
 478
 479 \begin{center}
 480 \includegraphics[width=5cm]{soccer-logo-med}
 481
 482 \url{http://www.robocup.org/} and \url{http://www.robocup2000.org/}
 483
 484 \url{http://ciips.ee.uwa.edu.au/~pere/soccer/}
 485
 486 Slides are available from Petter Reinholdtsen $<$pere@hungry.com$>$,
 487 \url{http://www.student.uit.no/~pere/mypapers/robocup-nuccc/}
 488
 489
 490
 491 \end{center}
 492 \end{slide}
 493 \end{document}