universität dortmund what projects you can do in ece 574 this is an old and new class theory...
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Universität Dortmund
What Projects you can do in ECE 574
This is an old and new classThis is an old and new class
Theory removed
Projects added
New Embedded Systems Platforms and Robotics PlatformsRobotics Platforms
Technologies used in Previous classesTechnologies used in Previous classes
1. FPGA
2. Microcontrollers
Revolutionary new technologiesnew technologies
1.1. AdiabaticAdiabatic Quantum Computer from DWAVE – link through Internet
2. GPU GPU Supercomputers and CUDA
3. Tetrix Robotic PlatformTetrix Robotic Platform for Serious Hobby Robotics
Universität Dortmund
Old ProjectsSpectral Transforms and DSPSpectral Transforms and DSP
FFT Matching Sebastian Winter 2008
Hough for Ovulo-computerHough for robot PSUBOTRadon Transform
Spectral Transforms and DSPSpectral Transforms and DSPFFT Matching Sebastian Winter
2008Hough for Ovulo-computerHough for robot PSUBOTRadon Transform
MedicalMedicalOvulocomputer
Cervix Cancer
Teeth measurement apparatus and patent
Logic Machines and Problem SolvingLDM
CCM
Tautology Machine of Sasao
Graph Coloring
Oracle
Decomposition Machine
Rough Set Machine
Some can be redesigned and improved
Universität Dortmund
Old Projects and possible collaborations
VISION
Morphological Image Processor
Canny Edge Detector
Sobel Edge Detector
RoboticsRoboticsPID controller
Adaptive PID Controller
Crazy Student Ideas and Interesting blocks
– Systolic Sorter– Sorter Absorber– Julia set Winter 2008Winter 2008– Quaternions and octonions for this Quaternions and octonions for this
tasktask– Sharks and fishSharks and fish– Strange life generatorStrange life generator
Kameyama Kameyama Emotional robot
Ball catching Robot
Very Old from Poland Very Old from Poland Cement Company
Rolling Machine
Turing Machine
Multi-Channel PID controller
Tracking camera
Spy camera on workers
Plotter Interpolator
Universität Dortmund
New FPGA/GPU/Controller New FPGA/GPU/Controller ProjectsProjects
Diagnosis of AutismDiagnosis of AutismHough for eye tracking
Eye tracking for autism
Prosody for autism
Diagnosis of AutismDiagnosis of AutismHough for eye tracking
Eye tracking for autism
Prosody for autism
GPUGPUGPU for quantum simulationGPU for GA and Quantum GAGPU for motion of walking robotStock Market PredictorMany Body Dynamics simulation
Walking Robot Controllers for Walking Robot Controllers for EntertainmentEntertainmentTetrix + FPGA
Sozobot + FPGA or micro
TransformsTransformsHough
Radon for cancer therapy
Poisonous Mushrooms recognition
Julia and Mandelbrot set
Products for Fun and EntertainmentProducts for Fun and EntertainmentModern Sculpture for your house: Julia and
Mandelbrot set Generators extended to Quaternions, Octonions and Clifford Algebras
Robot Controllers To Save Human LifeRobot Controllers To Save Human LifeRobot to put signs on a Highway
Universität Dortmund
Simpler GPU ProjectsSimpler GPU Projects
1. Cellular Automata
2. Quantum Computer simulation or matrix-matrix and matrix-vector multiplication
3. Genetic Algorithm
4. World visualization
5. SAT
6. Graph Coloring
7. Constraints Satisfaction
1. Cellular Automata
2. Quantum Computer simulation or matrix-matrix and matrix-vector multiplication
3. Genetic Algorithm
4. World visualization
5. SAT
6. Graph Coloring
7. Constraints Satisfaction
Universität Dortmund
Constraint Satisfaction Constraint Satisfaction ProjectsProjects
1. Swarm
2. Emotion Recognition for DWAVE
3. Motion control for complex motions such as dances and gymnastics for KHR-1 or Sozobot Robots.
4. Waltz algorithm for object recognition
5. Error Correcting code design
6. Graph coloring various variants
1. Swarm
2. Emotion Recognition for DWAVE
3. Motion control for complex motions such as dances and gymnastics for KHR-1 or Sozobot Robots.
4. Waltz algorithm for object recognition
5. Error Correcting code design
6. Graph coloring various variants
Universität Dortmund
VisionVision
1. Hough Transform for lines – ovulation prediction application
2. Hough Transform for robot
3. Hough Transform for circles – cancer of eye application
4. Vision processor based on morphological algebra.
1. Hough Transform for lines – ovulation prediction application
2. Hough Transform for robot
3. Hough Transform for circles – cancer of eye application
4. Vision processor based on morphological algebra.
Universität Dortmund
Spectral TransformsSpectral Transforms1. Fast Fourier
2. Cosine
3. Walsh
4. Haar
5. Linearly Independent
6. Adding/Arithmetic
7. Hough optimized
8. Radon
9. Hartley
10. Matching
11. Filtering-convolution
12. From Alan Coppola - industrial
1. Fast Fourier
2. Cosine
3. Walsh
4. Haar
5. Linearly Independent
6. Adding/Arithmetic
7. Hough optimized
8. Radon
9. Hartley
10. Matching
11. Filtering-convolution
12. From Alan Coppola - industrial
Universität Dortmund
Reconfigurable ComputersReconfigurable Computers
1. CCM
2. Neural Networks for Prof. Starzyk
3. Neuro-biologically inspired for Prof. Kameyama
1. CCM
2. Neural Networks for Prof. Starzyk
3. Neuro-biologically inspired for Prof. Kameyama
Universität Dortmund
Embedded Systems for Embedded Systems for RobotsRobots
1. Using quaternions for a robot
2. CMU cam for tracking
3. Use of ASC Controller for robot
4. Use of MSC controller
5. Advanced robot controller for Prof. Levin
6. Motion generation based on curves and their processing for Prof. Traczyk and Buller/De Garis – FFT processing
7. Biped that dances
8. Sozobot control
1. Using quaternions for a robot
2. CMU cam for tracking
3. Use of ASC Controller for robot
4. Use of MSC controller
5. Advanced robot controller for Prof. Levin
6. Motion generation based on curves and their processing for Prof. Traczyk and Buller/De Garis – FFT processing
7. Biped that dances
8. Sozobot control
Universität Dortmund
Projects for Fall 2008Projects for Fall 2008Projects can be continued:
1. Winter 2009 in 572 class (Combinational Logic class)
2. Spring 2009 in 573 class (Sequential Systems class)
3. Spring 2009 in 510 Quantum Computing class.
4. As Master of Science Thesis (Mathias, Vishwanath, everybody else)
5. As PhD Thesis (Vamsi, Scott, Carlos)
6. As individual projects for credit.for credit.
Projects can be continued:
1. Winter 2009 in 572 class (Combinational Logic class)
2. Spring 2009 in 573 class (Sequential Systems class)
3. Spring 2009 in 510 Quantum Computing class.
4. As Master of Science Thesis (Mathias, Vishwanath, everybody else)
5. As PhD Thesis (Vamsi, Scott, Carlos)
6. As individual projects for credit.for credit.
Seven projects as seven is a lucky number
Universität Dortmund
Our systemOur system
PC
Internet Display
Speaker
Bluetooth
Robot’s motors and effectors
Camera
Microphone
Robot’s sensors
QC Orion
FPGA board
GPU board
Bluetooth
Universität Dortmund
Our systemOur system
PC
InternetDisplay
Speaker
Bluetooth
Robot’s motors and effectors
Camera
Microphone
Robot’s sensors
QC Orion
FPGA board
GPU board
Bluetooth
RobotC
CS API
OpenCV
Robot C
SAPISAPI
CU
DA
VH
DL
Universität Dortmund
Project number 1: Project number 1: Spectral Transforms for object recognition with rotation, scaling and Spectral Transforms for object recognition with rotation, scaling and
translationtranslation Vamsi Srinivas Parasa = Group Leader, Omar Joshi = Lead HDL Vamsi Srinivas Parasa = Group Leader, Omar Joshi = Lead HDL
programmer, Sudheer G = FPGA expert programmer, Sudheer G = FPGA expert
• Learn and present Fast Fourier Transform (FFT) and other transforms that are useful for Learn and present Fast Fourier Transform (FFT) and other transforms that are useful for image matchingimage matching
• Develop the concept of FPGA architecture for object recognition as in title.Develop the concept of FPGA architecture for object recognition as in title.• Present the previous work of Sebastian Schueppel and other studentsPresent the previous work of Sebastian Schueppel and other students• Learn how to take image from camera (with others in this class)Learn how to take image from camera (with others in this class)• Write Verilog or VHDL code for FPGA for Altera Board. You can reuse any software from Write Verilog or VHDL code for FPGA for Altera Board. You can reuse any software from
our previous projects or from internet but you must specifically mention what is it and give our previous projects or from internet but you must specifically mention what is it and give it to me to compare.it to me to compare.
• Download to board.Download to board.• Test the board.Test the board.• AnalyzeAnalyze• Write a journal and a conference papers (if applicable)Write a journal and a conference papers (if applicable)
• Learn and present Fast Fourier Transform (FFT) and other transforms that are useful for Learn and present Fast Fourier Transform (FFT) and other transforms that are useful for image matchingimage matching
• Develop the concept of FPGA architecture for object recognition as in title.Develop the concept of FPGA architecture for object recognition as in title.• Present the previous work of Sebastian Schueppel and other studentsPresent the previous work of Sebastian Schueppel and other students• Learn how to take image from camera (with others in this class)Learn how to take image from camera (with others in this class)• Write Verilog or VHDL code for FPGA for Altera Board. You can reuse any software from Write Verilog or VHDL code for FPGA for Altera Board. You can reuse any software from
our previous projects or from internet but you must specifically mention what is it and give our previous projects or from internet but you must specifically mention what is it and give it to me to compare.it to me to compare.
• Download to board.Download to board.• Test the board.Test the board.• AnalyzeAnalyze• Write a journal and a conference papers (if applicable)Write a journal and a conference papers (if applicable)
This project is a candidate for submission to DAC contest in FPGAFPGA category
SPECTRAL SPECTRAL PROJECTPROJECT
Universität Dortmund
Spectral projectSpectral project
PC
InternetDisplay
Speaker
Bluetooth
Robot’s motors and effectors
Camera
Microphone
Robot’s sensors
QC Orion
FPGA board
GPU board
Bluetooth
RobotC
CS API
OpenCV
Robot C
SAPISAPI
CU
DA
VH
DL
VH
DL
Universität Dortmund
Project number 2: Project number 2: Fractal Images based on higher order algebrasFractal Images based on higher order algebras
Scott Blakely, Vishwanath Kusugal and Tobias OersteinScott Blakely, Vishwanath Kusugal and Tobias Oerstein
• Learn about Mandelbrot Set and Julia sets. Understand concept of Learn about Mandelbrot Set and Julia sets. Understand concept of fractals. fractals.
• Learn how to take image from camera (with others in this class)Learn how to take image from camera (with others in this class)
• Learn about OpenCV and image preprocessingLearn about OpenCV and image preprocessing• Learn about complex numbers, quaternions and octonions as their Learn about complex numbers, quaternions and octonions as their
generalizations in higher order algebras.generalizations in higher order algebras.• Learn about FPGA fractal generator from last year project. Understand Learn about FPGA fractal generator from last year project. Understand
the interfacethe interface• Build a processing system that starts from camera, creates initial image Build a processing system that starts from camera, creates initial image
and next processes it fractally, using old (complex numbers) and new and next processes it fractally, using old (complex numbers) and new (quaternions and octonions) theories (quaternions and octonions) theories
• Learn about Mandelbrot Set and Julia sets. Understand concept of Learn about Mandelbrot Set and Julia sets. Understand concept of fractals. fractals.
• Learn how to take image from camera (with others in this class)Learn how to take image from camera (with others in this class)
• Learn about OpenCV and image preprocessingLearn about OpenCV and image preprocessing• Learn about complex numbers, quaternions and octonions as their Learn about complex numbers, quaternions and octonions as their
generalizations in higher order algebras.generalizations in higher order algebras.• Learn about FPGA fractal generator from last year project. Understand Learn about FPGA fractal generator from last year project. Understand
the interfacethe interface• Build a processing system that starts from camera, creates initial image Build a processing system that starts from camera, creates initial image
and next processes it fractally, using old (complex numbers) and new and next processes it fractally, using old (complex numbers) and new (quaternions and octonions) theories (quaternions and octonions) theories
This project is a candidate to submission to DAC contest in FPGAFPGA category
FRACTAL FRACTAL PROJECTPROJECT
Universität Dortmund
FRACTAL FRACTAL projectproject
PC
InternetDisplay
Speaker
Bluetooth
Robot’s motors and effectors
Camera
Microphone
Robot’s sensors
QC Orion
FPGA board
GPU board
Bluetooth
RobotC
CS API
OpenCV
Robot C
SAPISAPI
CU
DA
VH
DL
VH
DL
Universität Dortmund
Project number 3: Project number 3: GPU and CUDAGPU and CUDA
Scott Storms, Sagar Raj, one – more from class, one out of Scott Storms, Sagar Raj, one – more from class, one out of classclass
• Present the architecture of Present the architecture of GPUGPU• Present examples of codes in Present examples of codes in CUDACUDA• SAT SAT • Matrix Matrix multiplicationMatrix Matrix multiplication• Matrix Vector multiplicationMatrix Vector multiplication• Emotion RecognitionEmotion Recognition or or Face RecognitionFace Recognition• Any other CS, Systolic or CA problem that can be done efficiently Any other CS, Systolic or CA problem that can be done efficiently
on CUDAon CUDA• Write softwareWrite software• Download to coprocessorDownload to coprocessor• Test, analyze and write paper for conferenceTest, analyze and write paper for conference
• Present the architecture of Present the architecture of GPUGPU• Present examples of codes in Present examples of codes in CUDACUDA• SAT SAT • Matrix Matrix multiplicationMatrix Matrix multiplication• Matrix Vector multiplicationMatrix Vector multiplication• Emotion RecognitionEmotion Recognition or or Face RecognitionFace Recognition• Any other CS, Systolic or CA problem that can be done efficiently Any other CS, Systolic or CA problem that can be done efficiently
on CUDAon CUDA• Write softwareWrite software• Download to coprocessorDownload to coprocessor• Test, analyze and write paper for conferenceTest, analyze and write paper for conference
This project is a candidate to submission to DAC contest in FPGA category
CUDA projectCUDA project
Universität Dortmund
CUDA projectCUDA project
PC
InternetDisplay
Speaker
Bluetooth
Robot’s motors and effectors
Camera
Microphone
Robot’s sensors
QC Orion
FPGA board
GPU GPU boardboard
Bluetooth
RobotC
CS API
OpenCV
OpenCV
Robot C
SAPISAPI
CU
DA
CU
DA
VH
DL
Universität Dortmund
Project number 4: Project number 4: Constraint Satisfaction Problem Interface to Adiabatic Constraint Satisfaction Problem Interface to Adiabatic
Quantum ComputerQuantum ComputerDmitriy Labunsky, Boshra Samy and YasudaDmitriy Labunsky, Boshra Samy and Yasuda
• Learn and present about Constraint Satisfaction Problems (Learn and present about Constraint Satisfaction Problems (SamySamy))• Give examples of Constraint satisfaction problems (Give examples of Constraint satisfaction problems (SamySamy))• Learn OpenCV how to acquire face image (Learn OpenCV how to acquire face image (YasudaYasuda))• Face recognition, Emotion Recognition or similar problems for human-Face recognition, Emotion Recognition or similar problems for human-
robot interaction in real time as CS problems. (robot interaction in real time as CS problems. (Yasuda and Samy)Yasuda and Samy)• Learn API to interface CS problems to quantum computer Orion Learn API to interface CS problems to quantum computer Orion
((SamySamy))• Test software (Test software (Dmitriy,Dmitriy, Yasuda and Samy)Yasuda and Samy)• Analyze and write journal paper (Analyze and write journal paper (Dmitriy,Dmitriy, Yasuda and Samy)Yasuda and Samy)• Think about and propose “Killer Applications” for CS/OrionThink about and propose “Killer Applications” for CS/Orion
• Learn and present about Constraint Satisfaction Problems (Learn and present about Constraint Satisfaction Problems (SamySamy))• Give examples of Constraint satisfaction problems (Give examples of Constraint satisfaction problems (SamySamy))• Learn OpenCV how to acquire face image (Learn OpenCV how to acquire face image (YasudaYasuda))• Face recognition, Emotion Recognition or similar problems for human-Face recognition, Emotion Recognition or similar problems for human-
robot interaction in real time as CS problems. (robot interaction in real time as CS problems. (Yasuda and Samy)Yasuda and Samy)• Learn API to interface CS problems to quantum computer Orion Learn API to interface CS problems to quantum computer Orion
((SamySamy))• Test software (Test software (Dmitriy,Dmitriy, Yasuda and Samy)Yasuda and Samy)• Analyze and write journal paper (Analyze and write journal paper (Dmitriy,Dmitriy, Yasuda and Samy)Yasuda and Samy)• Think about and propose “Killer Applications” for CS/OrionThink about and propose “Killer Applications” for CS/Orion
This project is a candidate to submission to DAC contest in conceptual categoryconceptual category
ORION projectORION project
Universität Dortmund
ORION projectORION project
PC
InternetDisplay
Speaker
Bluetooth
Robot’s motors and effectors
CameraCamera
Microphone
Robot’s sensors
QC OrionQC Orion
FPGA board
GPU board
Bluetooth
RobotC
CS APICS API
OpenCV
OpenCV
Robot C
SAPISAPI
CU
DA
VH
DL
Universität Dortmund
Project number 5:Project number 5:
Testing Reversible Logic CircuitsTesting Reversible Logic Circuits
Carlos NievaCarlos Nieva
• What are reversible gates?What are reversible gates?• What are reversible circuits?What are reversible circuits?• What is test?What is test?• Stuck-at model and other models of faultsStuck-at model and other models of faults• Why reversible circuits are easy to testWhy reversible circuits are easy to test• Previous work on testing reversible circuits (Markov Hayes, Patel etc)Previous work on testing reversible circuits (Markov Hayes, Patel etc)• Work of Jeff Allen in his MS thesis.Work of Jeff Allen in his MS thesis.• Your ideas of improving Jeff’s model.Your ideas of improving Jeff’s model.• Examples of testing real reversible oracles.Examples of testing real reversible oracles.• Write a conference paperWrite a conference paper
• What are reversible gates?What are reversible gates?• What are reversible circuits?What are reversible circuits?• What is test?What is test?• Stuck-at model and other models of faultsStuck-at model and other models of faults• Why reversible circuits are easy to testWhy reversible circuits are easy to test• Previous work on testing reversible circuits (Markov Hayes, Patel etc)Previous work on testing reversible circuits (Markov Hayes, Patel etc)• Work of Jeff Allen in his MS thesis.Work of Jeff Allen in his MS thesis.• Your ideas of improving Jeff’s model.Your ideas of improving Jeff’s model.• Examples of testing real reversible oracles.Examples of testing real reversible oracles.• Write a conference paperWrite a conference paper
This project is a candidate to submission to Test conference contest for students
Universität Dortmund
Project number 5: Project number 5: Lego NXT/Tetrix robot Lego NXT/Tetrix robot
Quincy ChiuQuincy Chiu
• Learn RobotC languageLearn RobotC language• Learn LegoNXT/Tetrix platformLearn LegoNXT/Tetrix platform• Build a mobile robot with an arm that can grab items and Build a mobile robot with an arm that can grab items and
transport them to other location.transport them to other location.• This project has to concentrate on programming sensors in This project has to concentrate on programming sensors in
a mobile robot with hand.a mobile robot with hand.• The project can be continued towards Artificial Intelligence The project can be continued towards Artificial Intelligence
and new type of Neural Networks developed in Ohio and new type of Neural Networks developed in Ohio University - collaborationUniversity - collaboration
• Learn RobotC languageLearn RobotC language• Learn LegoNXT/Tetrix platformLearn LegoNXT/Tetrix platform• Build a mobile robot with an arm that can grab items and Build a mobile robot with an arm that can grab items and
transport them to other location.transport them to other location.• This project has to concentrate on programming sensors in This project has to concentrate on programming sensors in
a mobile robot with hand.a mobile robot with hand.• The project can be continued towards Artificial Intelligence The project can be continued towards Artificial Intelligence
and new type of Neural Networks developed in Ohio and new type of Neural Networks developed in Ohio University - collaborationUniversity - collaboration
This project will be used in our collaboration with Tears of Joy Puppet Theatre and Ohio University
SENSORS SENSORS PROJECTPROJECT
Universität Dortmund
PC
InternetDisplay
Speaker
Bluetooth Bluetooth
Robot’s motors and effectors
Camera
Microphone
Robot’s sensors
QC Orion
FPGA board
GPU board
Bluetooth Bluetooth
RobotC
CS API
OpenCV
Robot C
SAPISAPI
CU
DA
VH
DL
SENSORS SENSORS PROJECTPROJECT
Lego/Tetrix Lego/Tetrix RobotRobot
Universität Dortmund
Project number 6: Project number 6: Emotion Learning and Mimicking Robot Emotion Learning and Mimicking Robot
Mathias Sunardi.Mathias Sunardi. This is individual project but done together with This is individual project but done together with
Dmitriy and other studentsDmitriy and other students
• This work should be included in Mathias ThesisThis work should be included in Mathias Thesis• This work should use all software already developed by This work should use all software already developed by
MathiasMathias• The project has to be an illustration of integration of image The project has to be an illustration of integration of image
processing, speech and motion generation.processing, speech and motion generation.• Mathias has to present his work early as a lectureMathias has to present his work early as a lecture• Final demo at the end of the class.Final demo at the end of the class.• Details to be discussed in person.Details to be discussed in person.
• This work should be included in Mathias ThesisThis work should be included in Mathias Thesis• This work should use all software already developed by This work should use all software already developed by
MathiasMathias• The project has to be an illustration of integration of image The project has to be an illustration of integration of image
processing, speech and motion generation.processing, speech and motion generation.• Mathias has to present his work early as a lectureMathias has to present his work early as a lecture• Final demo at the end of the class.Final demo at the end of the class.• Details to be discussed in person.Details to be discussed in person.
This project will be used in our collaboration with Tears of Joy Puppet Theatre
DANCING PROJECTDANCING PROJECT
Universität Dortmund
PC
InternetDisplay
Speaker
Robot’s motors and effectors
Camera
Microphone
Robot’s sensorsRobot’s sensors
QC Orion
FPGA board
GPU board
CS API
OpenCV
OpenCV
C
SAPISAPI
CU
DA
VH
DL
DANCING PROJECTDANCING PROJECT
KHR-1 KHR-1 RobotRobot
accelerometer
Universität Dortmund
Project number 7: Project number 7: Realistic Hand motion generation for a humanoid robot Realistic Hand motion generation for a humanoid robot
Aditya Bhutada. This is individual project but done Aditya Bhutada. This is individual project but done together with Dmitriy and other studentstogether with Dmitriy and other students
• Learn about how servo works and present in class.Learn about how servo works and present in class.• Learn how stepper motor works and present in class.Learn how stepper motor works and present in class.• Learn how the ASC-16 controller works and present in class.Learn how the ASC-16 controller works and present in class.• Learn about a realistic human-like hand for “Dmitriy’s big Learn about a realistic human-like hand for “Dmitriy’s big
robot”robot”• Write software for typical behaviors of the hand such as Write software for typical behaviors of the hand such as
shaking hand, greeting a human, playing drum, etc.shaking hand, greeting a human, playing drum, etc.• Analyze and conclude results. Collaborate with group of Analyze and conclude results. Collaborate with group of
students who work on robot puppet.students who work on robot puppet.
• Learn about how servo works and present in class.Learn about how servo works and present in class.• Learn how stepper motor works and present in class.Learn how stepper motor works and present in class.• Learn how the ASC-16 controller works and present in class.Learn how the ASC-16 controller works and present in class.• Learn about a realistic human-like hand for “Dmitriy’s big Learn about a realistic human-like hand for “Dmitriy’s big
robot”robot”• Write software for typical behaviors of the hand such as Write software for typical behaviors of the hand such as
shaking hand, greeting a human, playing drum, etc.shaking hand, greeting a human, playing drum, etc.• Analyze and conclude results. Collaborate with group of Analyze and conclude results. Collaborate with group of
students who work on robot puppet.students who work on robot puppet.
This project will be used in our collaboration with Tears of Joy Puppet Theatre
HAND PROJECTHAND PROJECT
Universität Dortmund
PC
InternetDisplay
Speaker
Robot’s motors and effectors
Camera
Microphone
Robot’s sensorsRobot’s sensors
QC Orion
FPGA board
GPU board
CS API
OpenCV
OpenCV
C
SAPISAPI
CU
DA
VH
DL
HAND PROJECTHAND PROJECT
Dmitri’s Dmitri’s RobotRobot
Accelerometer
inclinometer
ASC-16 Controller
Universität Dortmund
First Project Presentations. Graded as First Project Presentations. Graded as part of final project grade.part of final project grade.
1.1. Project Spectral – Project Spectral – Wamsi Parasa Wamsi Parasa - Next week. (others will - Next week. (others will speak later)speak later)
2.2. Project CUDA – Project CUDA – Scott StormsScott Storms- Next week (others will - Next week (others will speak later)speak later)
3.3. Project Orion –Project Orion –Bosra SamyBosra Samy - Two weeks from today. - Two weeks from today. (others will speak later)(others will speak later)
4.4. Project Hand – Project Hand – Aditya Bhutada Aditya Bhutada – two weeks from now5.5. Project Fractal – Project Fractal – Scott Blakely, Vishwanath Kusugal Scott Blakely, Vishwanath Kusugal
and Tobias Oersteinand Tobias Oerstein – two weeks from now6.6. Project Sensors - Project Sensors - Quincy ChiuQuincy Chiu– two weeks from now7.7. Project Dancing – Project Dancing – Mathias SunardiMathias Sunardi – next week – next week
1.1. Project Spectral – Project Spectral – Wamsi Parasa Wamsi Parasa - Next week. (others will - Next week. (others will speak later)speak later)
2.2. Project CUDA – Project CUDA – Scott StormsScott Storms- Next week (others will - Next week (others will speak later)speak later)
3.3. Project Orion –Project Orion –Bosra SamyBosra Samy - Two weeks from today. - Two weeks from today. (others will speak later)(others will speak later)
4.4. Project Hand – Project Hand – Aditya Bhutada Aditya Bhutada – two weeks from now5.5. Project Fractal – Project Fractal – Scott Blakely, Vishwanath Kusugal Scott Blakely, Vishwanath Kusugal
and Tobias Oersteinand Tobias Oerstein – two weeks from now6.6. Project Sensors - Project Sensors - Quincy ChiuQuincy Chiu– two weeks from now7.7. Project Dancing – Project Dancing – Mathias SunardiMathias Sunardi – next week – next week
• You must be prepared to speak at this time, regardless what happened, even Martian attack on Oregon.
• You may be rescheduled.
Universität Dortmund
Project Example:Project Example: NXT Robots & Their Applications NXT Robots & Their Applications
in Machine Learningin Machine Learning
Universität Dortmund
Gantt ChartsGantt ChartsWeek 1Week 1 Week 2Week 2 Week 3Week 3 Week 4Week 4 Week 5Week 5 Week 6Week 6 Week 7Week 7 Week 8Week 8 Week 9Week 9 Week Week
1010
Familiarize with hardwareFamiliarize with hardware
Research programming Research programming environments environments
Learn to interface with the Learn to interface with the robotsrobots
ConstructionConstruction
Program robotsProgram robots
Program swarm autonomous Program swarm autonomous robots networkrobots network
Testing and TroubleshootingTesting and Troubleshooting
Prepare for Final PresentationPrepare for Final Presentation
DocumentationDocumentation
Goals Accomplishments Delayed
Please create such charts for your Please create such charts for your project for this quarterproject for this quarter
Universität Dortmund
Project OverviewProject Overview
• Original project goal: To Program a swarm of autonomous Lego NXT robots to perform a specific task without human interaction.
• To learn more about both the accuracy and functionality of sensors and motors packaged with the Lego NXT Robots • To learn to program in one or all of three Lego oriented programming languages (Lejos, NXC, and Robot C) • To apply what we know about machine learning to “teach” robots or rather to allow them to learn and behave based upon their environment and each other.
Universität Dortmund
Approach: Research Approach: Research
Acquire hardware Acquire hardware 4 Lego NXT kits4 Lego NXT kits4 Bluetooth adapters4 Bluetooth adapters1.5V Batteries1.5V Batteries
Familiarize with hardwareFamiliarize with hardwareMotorsMotorsSensorsSensorsBrickBrick
Learn various programming languagesLearn various programming languagesDeveloped specifically for Lego NXTDeveloped specifically for Lego NXT
RobotCRobotCleJOSleJOSNXCNXC
Bluetooth compatible?Bluetooth compatible?
Acquire hardware Acquire hardware 4 Lego NXT kits4 Lego NXT kits4 Bluetooth adapters4 Bluetooth adapters1.5V Batteries1.5V Batteries
Familiarize with hardwareFamiliarize with hardwareMotorsMotorsSensorsSensorsBrickBrick
Learn various programming languagesLearn various programming languagesDeveloped specifically for Lego NXTDeveloped specifically for Lego NXT
RobotCRobotCleJOSleJOSNXCNXC
Bluetooth compatible?Bluetooth compatible?
Universität Dortmund
Approach: ProgrammingApproach: Programming
RobotCRobotC
Line TrackingLine Tracking
NXCNXC
Bitbot ProgramBitbot Program
Stores values in arraysStores values in arrays
Communicates through BluetoothCommunicates through Bluetooth
Master -> SlaveMaster -> Slave
Light FollowingLight Following
Random MovementRandom Movement
PythonPython
Establish Bluetooth communicationEstablish Bluetooth communication
RobotCRobotC
Line TrackingLine Tracking
NXCNXC
Bitbot ProgramBitbot Program
Stores values in arraysStores values in arrays
Communicates through BluetoothCommunicates through Bluetooth
Master -> SlaveMaster -> Slave
Light FollowingLight Following
Random MovementRandom Movement
PythonPython
Establish Bluetooth communicationEstablish Bluetooth communication
Universität Dortmund
Technical DetailsTechnical Details
Bluetooth Bluetooth Frequency of 2.402GHz to 2.480 GHzFrequency of 2.402GHz to 2.480 GHzSpread Spectrum Frequency HoppingSpread Spectrum Frequency Hopping
NXT Bluetooth capabilitiesNXT Bluetooth capabilitiesHardwareHardware
CSR BlueCore 4 v2.0+EDR SystemCSR BlueCore 4 v2.0+EDR SystemSupporting the Serial Port ProfileSupporting the Serial Port Profile
Master to Slave communication onlyMaster to Slave communication onlyBluetooth AdapterBluetooth Adapter
Kensington Bluetooth USB Adapter 2.0Kensington Bluetooth USB Adapter 2.0Lego NXT, Windows XP compatibleLego NXT, Windows XP compatible
Allows communication between PC and NXTAllows communication between PC and NXTSerial ConnectionSerial Connection
Bluetooth Bluetooth Frequency of 2.402GHz to 2.480 GHzFrequency of 2.402GHz to 2.480 GHzSpread Spectrum Frequency HoppingSpread Spectrum Frequency Hopping
NXT Bluetooth capabilitiesNXT Bluetooth capabilitiesHardwareHardware
CSR BlueCore 4 v2.0+EDR SystemCSR BlueCore 4 v2.0+EDR SystemSupporting the Serial Port ProfileSupporting the Serial Port Profile
Master to Slave communication onlyMaster to Slave communication onlyBluetooth AdapterBluetooth Adapter
Kensington Bluetooth USB Adapter 2.0Kensington Bluetooth USB Adapter 2.0Lego NXT, Windows XP compatibleLego NXT, Windows XP compatible
Allows communication between PC and NXTAllows communication between PC and NXTSerial ConnectionSerial Connection
Universität Dortmund
Technical DetailsTechnical Details
ProgrammingProgrammingNXCNXC
Similar to CSimilar to CEasy to use IDEEasy to use IDELimited Bluetooth capabilitiesLimited Bluetooth capabilitiesLimited processing powerLimited processing power
PythonPythonScripted LanguageScripted LanguageUsed in many other applicationsUsed in many other applicationsCommunication is between PC and NXTCommunication is between PC and NXTWill use PC processing powerWill use PC processing power
ProgrammingProgrammingNXCNXC
Similar to CSimilar to CEasy to use IDEEasy to use IDELimited Bluetooth capabilitiesLimited Bluetooth capabilitiesLimited processing powerLimited processing power
PythonPythonScripted LanguageScripted LanguageUsed in many other applicationsUsed in many other applicationsCommunication is between PC and NXTCommunication is between PC and NXTWill use PC processing powerWill use PC processing power
Universität Dortmund
Technical DetailsTechnical Details
Lego NXT MindstormLego NXT MindstormPorts similar to RJ12 connectors for sensors & motorsPorts similar to RJ12 connectors for sensors & motors
InputInputLightLightSoundSoundUltrasoundUltrasoundTouchTouch
OutputOutputMotorsMotors
BrickBrickSupports Bluetooth and 1 USB 2.0 portSupports Bluetooth and 1 USB 2.0 port32-bit ARM7 microcontroller @ 48MHz32-bit ARM7 microcontroller @ 48MHz
256 KB of Flash Memory256 KB of Flash Memory64 KB of RAM64 KB of RAM
8-bit Atmel AVR microcontroller @ 4MHz8-bit Atmel AVR microcontroller @ 4MHz4 KB of Flash Memory4 KB of Flash Memory512 Bytes of RAM512 Bytes of RAM
Lego NXT MindstormLego NXT MindstormPorts similar to RJ12 connectors for sensors & motorsPorts similar to RJ12 connectors for sensors & motors
InputInputLightLightSoundSoundUltrasoundUltrasoundTouchTouch
OutputOutputMotorsMotors
BrickBrickSupports Bluetooth and 1 USB 2.0 portSupports Bluetooth and 1 USB 2.0 port32-bit ARM7 microcontroller @ 48MHz32-bit ARM7 microcontroller @ 48MHz
256 KB of Flash Memory256 KB of Flash Memory64 KB of RAM64 KB of RAM
8-bit Atmel AVR microcontroller @ 4MHz8-bit Atmel AVR microcontroller @ 4MHz4 KB of Flash Memory4 KB of Flash Memory512 Bytes of RAM512 Bytes of RAM
Universität Dortmund
Homework 4. Cellular AutomatonHomework 4. Cellular AutomatonThis is the This is the last homeworklast homework of the class of the class
1.1. Find any simulator of Cellular Automata on the WWW.Find any simulator of Cellular Automata on the WWW.2.2. Recommended simulators are on my webpage.Recommended simulators are on my webpage.3.3. Select your own application for simulation. You cannot take it from Internet but Select your own application for simulation. You cannot take it from Internet but
you can take and modify the application if you clearly mention the web address you can take and modify the application if you clearly mention the web address and you write what you modified.and you write what you modified.
4.4. Describe the cellular automaton. It can be whatever you want. Here are some Describe the cellular automaton. It can be whatever you want. Here are some examples.examples.1.1. Game of life with modified rulesGame of life with modified rules2.2. Sobel filterSobel filter3.3. Any other filter, may be your invention?Any other filter, may be your invention?4.4. Thinning algorithmThinning algorithm5.5. Two-dimensional sorterTwo-dimensional sorter6.6. Logic gate simulatorLogic gate simulator7.7. Sharks and fish simulationSharks and fish simulation8.8. Spread of religion simulationSpread of religion simulation9.9. Economic system simulationEconomic system simulation10.10. Particle simulationParticle simulation
5.5. SimulateSimulate6.6. Change parameters Change parameters 7.7. SimulateSimulate8.8. Draw conclusions and write a report.Draw conclusions and write a report.9.9. Present in class and make it really excitingPresent in class and make it really exciting
1.1. Find any simulator of Cellular Automata on the WWW.Find any simulator of Cellular Automata on the WWW.2.2. Recommended simulators are on my webpage.Recommended simulators are on my webpage.3.3. Select your own application for simulation. You cannot take it from Internet but Select your own application for simulation. You cannot take it from Internet but
you can take and modify the application if you clearly mention the web address you can take and modify the application if you clearly mention the web address and you write what you modified.and you write what you modified.
4.4. Describe the cellular automaton. It can be whatever you want. Here are some Describe the cellular automaton. It can be whatever you want. Here are some examples.examples.1.1. Game of life with modified rulesGame of life with modified rules2.2. Sobel filterSobel filter3.3. Any other filter, may be your invention?Any other filter, may be your invention?4.4. Thinning algorithmThinning algorithm5.5. Two-dimensional sorterTwo-dimensional sorter6.6. Logic gate simulatorLogic gate simulator7.7. Sharks and fish simulationSharks and fish simulation8.8. Spread of religion simulationSpread of religion simulation9.9. Economic system simulationEconomic system simulation10.10. Particle simulationParticle simulation
5.5. SimulateSimulate6.6. Change parameters Change parameters 7.7. SimulateSimulate8.8. Draw conclusions and write a report.Draw conclusions and write a report.9.9. Present in class and make it really excitingPresent in class and make it really exciting
Midterm 1 is Midterm 1 is at the endat the end
of Octoberof October
Universität Dortmund
Some slides used from Anjum Gupta, Some slides used from Anjum Gupta, Roanne Manzano, Eric Tsai and Roanne Manzano, Eric Tsai and
Jacob Robison Jacob Robison