mypapers/robocup2000/robocup2000.tex

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  22 \newpagestyle{MH}%
  23   {UWA/CIIPS Seminar, Perth, 2000-10-04\hfill\thepage}%
  24   {RoboCup 2000: CIIPS Glory goes Melbourne \hfill Petter Reinholdtsen}
  25 \pagestyle{MH}
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  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 2000: CIIPS Glory goes Melbourne}
  39
  40 \begin{center}
  41 Petter Reinholdtsen $<$pere@hungry.com$>$
  42 \end{center}
  43
  44 \begin{abstract}
  45   This is the story of a team of robots, with two Norwegian and one
  46   Australian coach, participating in the Robot Soccer World Cup.
  47
  48   A short multimedia summary of a trip to Melbourne.
  49 \end{abstract}
  50
  51 \newslide
  52
  53
  54 \heading{Content}
  55
  56 \begin{itemize}
  57 \item The team
  58 \item Our experience
  59 \item The results
  60 \item The local vision derby
  61 \item Some highlights from the workshop
  62 \item Some videos
  63 \end{itemize}
  64
  65 \newslide
  66
  67 \heading{The team}
  68
  69 5 Soccer Eyebots.
  70
  71 Stephen Humble, volunteer.  Programming field player, handling
  72 mechanics and public relations.
  73
  74 Petter Reinholdtsen, volunteer and team leader.  Programming field
  75 player and operating system.
  76
  77 Mari Wang, volunteer.  Programming goal keeper.
  78
  79 Jack Daniels, biped Eyebot.  Public relations.
  80
  81 \newslide
  82
  83 \heading{Experience}
  84
  85 \begin{itemize}
  86
  87 \item Compasses worked perfectly, with less then 2 degrees error. (as
  88   opposed to our lab).  We integrated it into our player on site.
  89
  90 \item Overhead tracking system did not work at all.  The lens was to
  91   wide, and we did not have zoom.  No one had been working on this
  92   part since march, so everything where untested when we left for
  93   Melbourne.
  94
  95 \item 24x7 access to the competition area a real must.  We had a lot
  96   of programming left before we where ready to compete.
  97
  98 \item No Internet-access was a pain.  Forgot some headerfiles required
  99   to compiel the overhead tracker, and had to get one of the
 100   organizers to drive me to RMIT to download.
 101
 102 \end{itemize}
 103 \newslide
 104 \heading{Experience (cont...)}
 105 \begin{itemize}
 106
 107 \item Some resets during game, the batteries holders are not good
 108   enough.
 109
 110 \item Self localization using distance sensors failed due to badly
 111   calibrated sensors and too long calculation delay (~10 second).
 112
 113 \item Always hard to get access to the 418 and 433 MHz radio
 114   frequency.  We had to make it easier to turn on and off radio.
 115   We should try moving to different frequencies.
 116
 117 \item Omni-directional wheels is a big advantage.
 118
 119 \item The dribbler allowed real ball control.
 120
 121 \item Easy to get stuck on the angled walls, with no wheel touching
 122   the ground.
 123
 124 \end{itemize}
 125 \newslide
 126 \heading{Experience (cont...)}
 127 \begin{itemize}
 128
 129 \item The all-wood soccer field was very nice.  Knee-high table
 130   allowed to reach across without climbing.  All-wood gave no compass
 131   disturbances.
 132
 133 \item 4 Stooges had ~12 frames per second using the same hardware as
 134   us.  They could turn off interrupts and run the camera on full speed
 135   as they do not use (or have) any other sensors.
 136
 137 \item Linux where used almost on more then half the computers in the
 138   competition area.  Many of the middle size league teams used Linux
 139   on their robots as well.
 140
 141 \item The information flow where flowing somewhere else.  Find the
 142   league organizer and stay close to him.
 143
 144 \end{itemize}
 145
 146 \newslide
 147
 148 \heading{The results}
 149
 150 \begin{table}
 151 \centering
 152 \begin{tabular}{|l|l|c|}
 153 \hline
 154 CIIPS Glory & TPOTS        & 0 -  3 \\
 155 CIIPS Glory & Rogi Team    & 0 - 10 \\
 156 CIIPS Glory & FU Fighters  & 0 -  7 \\
 157 \hline
 158 Viperoos    & TUD          & 2 -  0 \\
 159 \hline
 160 \end{tabular}
 161 \end{table}
 162
 163 It could have been a lot worse.
 164
 165 TPOTS stayed up all night before their game with us to adjust their
 166 software to stay further away from the opponents (us) to avoid
 167 damaging our robots.  The adjustments did not turn out too well.
 168
 169 FU Fighters turned off their kickers and slowed down their robots a
 170 lot.  So much the ball stopped on the goal line several times without
 171 entering the goal.
 172
 173 \newslide
 174
 175 \heading{Local vision derby}
 176
 177 The local vision teams had a small derby Wednesday evening to compare
 178 our performance.  It was not too impressive. :-)
 179
 180 \begin{table}
 181 \centering
 182 \begin{tabular}{|l|l|c|}
 183 \hline
 184 CIIPS Glory & 4 Stooges    & 0 - 0 \\
 185 Viperroos   & 4 Stooges    & 0 - 0 \\
 186 CIIPS Glory & Viperoos     & 0 - 0 \\
 187 \hline
 188 \end{tabular}
 189 \end{table}
 190
 191 We scored a goal in the penalty shootout against Viperoos.
 192
 193 A lot of people where interested in the local vision and local CPU
 194 systems.  A lot of teams wanted to start with ``real robotics'', as
 195 one from FU Fighters phrased it.
 196
 197 I spoke to a Japanese professor with a local vision team with
 198 omni-directional vision and off board computers.  There where not
 199 competing in RoboCup, but might come next year.
 200
 201 \newslide
 202
 203 \heading{Highlights from the workshop}
 204
 205 \begin{itemize}
 206
 207 \item Omni-directional vision using isometric mirror (F.M. Marchese,
 208   D.G.Sorrenti).
 209
 210   Linear distance on the soccer field, full height view and detailed
 211   view close to the robot.
 212
 213 \item Robust Real Time Color Tracking (M. Simon, S. Behnke, R. Rojas).
 214
 215   FU Fighters plan to release the source for their overhead tracking
 216   system.
 217
 218 \end{itemize}
 219
 220 \newslide
 221
 222 \heading{Biped robots}
 223
 224 There where several biped robots on display.  Some of them could even
 225 walk.
 226
 227 \begin{itemize}
 228
 229 \item Jack Daniels from University of Western Australia
 230
 231 \item ? from De Laboratory Robotics de Paris, France
 232
 233 \item PINO from Kitano Symbiotic Systems Laboratory, Japan
 234
 235 \item MkII from Aoyama Universityis, Japan
 236
 237 \end{itemize}
 238
 239 \newslide
 240
 241 \heading{Proposed rule changes}
 242
 243 At the end of the last day, the small size league sat down to discuss
 244 our experiences with the tournament.  Some important rule changes
 245 where discussed, and they will probably be implemented next year.
 246
 247 \begin{itemize}
 248
 249 \item The soccer field will probably be wider next year
 250
 251 \item The colored balls will be replaced by colored paper patches
 252
 253 \end{itemize}
 254
 255 \newslide
 256
 257 \heading{Videos}
 258
 259 \begin{itemize}
 260
 261 \item Robot helmet-cam by FU Fighters
 262
 263 \item Daily highlights by RoboCup 2000 webcast team
 264   \begin{itemize}
 265     \item Arrival Saturday 26th August
 266     \item F180; Pre-competition Sunday 27th August
 267     \item F2000; Naist vs Golem Tuesday 29th August
 268   \end{itemize}
 269
 270 \item (Some random recordings by Petter Reinholdtsen)
 271
 272 \end{itemize}
 273
 274 \newslide
 275
 276 \heading{Thank you}
 277
 278 \begin{center}
 279 \includegraphics[width=5cm]{soccer-logo-med}
 280
 281 \url{http://www.robocup.org/} and \url{http://www.robocup2000.org/}
 282
 283 \url{http://ciips.ee.uwa.edu.au/~pere/soccer/}
 284
 285 Slides are available from Petter Reinholdtsen $<$pere@hungry.com$>$,
 286 \url{http://ciips.ee.uwa.edu.au/~pere/mypapers/robocup2000/}
 287
 288
 289
 290 \end{center}
 291 \end{slide}
 292 \end{document}