SBURT Team Description Paper

O.Hashemipour (hashemipour@sbu.ac.ir) N.Noori ,A.Salimi ,M.Hashemi ,M.Shabanian , M.Ghazvini , M.H.Madadi

Department of electrical and computer engineering Shahid Beheshti University Robocup Team,Tehran,Iran

Abstract. We present the description of our Small Size League Team SBURT which is founded in March 2003. we will explain the five main components of our architecture: Mechanical system, Algorithm System, Control system, Vision system, Telecommunication system . Each element is an independent entity and therefore the explanation focus in the overall functionality of the component and the way it interacts with the rest of the elements in the team architecture.

1 Introduction:
SBURT team from Shahid Beheshti University will participate in Robocup smallsizef180- league for the first time. SBURT began its activities in September of 2003. The first stage of developing these robots is to design two standard robots that have the abilities of vision, kicking and wireless communication with a PC server that must control the robots from the overhead CCD camera. The next stage is to develop four player and goal keeper. The first stage of the mentioned design was completed on the 1st November 2004.The work was divided into four categories and each group was supervised by one group leader. At the same time all the members have been giving hand to other groups. One group was the mechanical group that developed the mechanical hardware of the robot the moving and kicking system. This group has many experiences in designing the intelligent mice and after the experiences we choose the omni directional moving system for our robots. Another group is the Image processing group that got many helps from the Mid-size Robocup team of the university and had worked with many image-processing methods. This team operates with a new scheme for Image processing that named as discrete median cut. The Algorithm and control group is responsible for designing the algorithms in some stages of work with the software of visual C and utilizing the hardware of 8051 family micro controllers and this team have many new algorithms that must be executed and tested on a team of robots. The last group is the telecommunication group that suggested an optimum telecommunication system for wireless communication. The most important Topics for the next stage of the work is to improve our DC motors and batteries to get more efficiency from them and now we are thinking about a new algorithm that could work with a new dribbling system and using new kicking systems.

2 Mechanical system:

We divide our mechanical efforts to two groups of moving system and the kicking system.

Moving system:
This team have many experiences in designing mice for the line following and the labyrinth competitions. By developing the mice we have test many moving systems like the system of tanks moving and moving with a couple of DC motors in the back of the mice to get the forward force and a stepper motor in the role of steer. After this experiences we suggest a system that have four wheels a couple of them could get the force in a specified way and another wheels get the force perpendicular to the mentioned forces. During this discussion we faced to the omni directional moving systems. After many calculations we suggest the chassis in Fig-1 for the robots because of the ability of placing suitable motors to have more speed and move in all directions.

Fig 1- schematic chassis of the robots After testing many motors we choose Minimotor Faulhaber 2224 for our project because of maximum efficiency and minimum area of occupation . this motor have an adjustable shaft encoder - Encoder Type : IE2 16 - for giving feedback from the position of the wheels .

Kicking system:
We use solenoid for our kicking system which is controlled by microcontroller .

3 Algorithm system:
The Algorithm group formed to achieve the construction of a team from five robots that could play with each other automatically. The first method is using the labyrinth conditioning structure, which is not a favorite solution. The second method is using artificial intelligence and neural network algorithms with learning abilities. Many works have been done from last mid-size and the small size group in this case. Except these standard methods, there are several alternative good ideas. One of the best ideas is using electron modeling to configure the optimum pattern. This means to consider the force that any robots push another one (that is a function of electron forces and colony principals) to find the optimum pattern. All of the programs are written in windows XPTM and have been executed by visual C ++ IDE.

4 Control system:
For controlling robots we have choose many systems like using optical mouse for locating the area of the robot. The test which have been done on this system havent had a good result because of the speed of the robot that is more than the framing speed of the optical mouse. The other way is to control robots by a gyroscope. But the method was not practicable because the professional gyroscopes were not available.

We use a simple PID controller for motor control. In fact a micro controller receives a control command from the server (control commands includes proper direction and speed of the robot) and calculate speed for each motor. The idea in this case is using fuzzy control to improve our motion flexibility.

5 Vision system:
The image-processing group was formed on the efforts of the last Mid-size group. The first change is to convert programs from MS-Dos to windows XPTM platform. Like the algorithm group visual C++ executes the programs.

One of the ideas of this group is apply a new Image processing method except using routinely methods. This filter is called the discrete median cut. This idea is the modified median cut that considers a square of limited pixels and give the Red, Green, Blue characteristic in three tables. The next step is finding the maximum of the RGB

specifications. This number is the RGB number of the mentioned square. Many Tasks proved high accuracy of this method comparing with other methods. And we used evolution algorithms in our vision system.

6 Telecommunication system:
We have several choices for our telecommunication system like using the RX-2 &TX-2, RX-3 &TX-3 and Blue tooth modules (of course in this league they are not allowed) . The final module that is used is the transmitter of TXF 060U(ISM band compact FSK transmitter module) and the receiver of RMF 600U (ISM band FSK receiver module).

These modules can contact with server with the speed of 10kbit/s. The server only get the point that robot must go because the robot knows that in which point is located. And the most important item for other teams is that the frequency, which we work, is : 433.920 MHz.