Download - Behaviour Based Robotics
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Behaviour Based Robotics
Ryan Kenneth ClayKamil RytelMert GurtenJack SavoryChunfan GaoWilliam Garret-JonesMiles Plaskett
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Robots we use today
● Automated production lines
● Robotic surgery
● Automated motor vehicle e.g. Mars Rover
● Cleaning robot e.g. Roomba
● Robotic lawnmower
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What is a ‘Robot’?
● ‘A machine capable of carrying out a complex series of actions automatically, especially programmable by a computer.’ (Oxford Dictionary)
● An autonomous robot can make actions without direct user control. It has the ability of self-government.
● Behaviour-based robots exhibit actions that are modelled by its environment.
● The robot can ‘sense’ the world through the various sensors
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The Task
● Design a robot with the ability to respond to an artificially created environment. The robot has to:
– work in an environment created by a projector
– roam and detect ‘grass’ or ‘dirt’
– explore 'grass'/'dirt' in order to ‘clean’ it up
– avoid virtual (projected) and physical obstacles
● Develop a software that would create the virtual world
– User Interface: map creation and preview
– Backend: blob detection and environment alteration
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Lego NXT
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Sensors Used In The Project
● Light sensor
● Colour sensor
● Sonar
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Group workflow diagram
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The line following algorithm.
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From the light sensor to the colour sensor
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The angle problem
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The Shield
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The Shield
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The obstacle avoidence
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The GUI
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The UI backend
● Initial idea of using Python
● Implemented using OpenCV library for java
● The blob detection
– Uses Hough Circle Transform, a general technique for identifying the locations and orientations of certain types of features in a digital image.
● When the circle is detected, green colour in that area is being removed, which simulates the 'dirt'/'grass' removal.
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The summary
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Achievements?
● Completely new experience: work with a 'real world' robot – not just software simulation on the screen
● Connection of the real world (robot) with the virtual reality (projected maps)
● Dynamic alteration of the virtual world
● Successful ending of the project despite the problems faced
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The future
● Robots usage in programming teaching
● Lego NXT can be easily programmed
● It is faster and easier to program the robot, therefore to understand the problem and the code
● Using robots (especially Lego NXT) can show that programming can be fun, not just boring code on the screen
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The future
● Robotics is developing
● AI involvement
● Sensor precision
● Interaction with software
● Different approaches, methodologies – a big field for research
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The end