"5dpo Robotic Soccer Team for Year 2004"
Autor(a) principal: | |
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Data de Publicação: | 2004 |
Outros Autores: | , , , , |
Tipo de documento: | Livro |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://hdl.handle.net/10216/67284 |
Resumo: | The design of a Robotic soccer Team is an evolving process where the weaknesses and strengths of previous years drive the new enhancements. Also, the inevitable rule changes take an important role on design. The 5dpo team kept last year omni-directional robots. The robots have a controlled force Electromagnetic passing/kicking mechanism. The vision system is Linux based and uses two Firewire cameras to achieve better resolution and reduce system lag. This setup eliminates previous issues of control degradations caused by non-synchronisation of frames and noisy images. Team strategy is based on a hierarchical three level state machine. A dynamics prediction layer, based on a Kalman Filter, uses the ball and robots dynamics to predict the state at the time when the low level commands are executed thus improving the team performance. |
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"5dpo Robotic Soccer Team for Year 2004"Engenharia electrotécnica, Engenharia electrotécnica, electrónica e informáticaElectrical engineering, Electrical engineering, Electronic engineering, Information engineeringThe design of a Robotic soccer Team is an evolving process where the weaknesses and strengths of previous years drive the new enhancements. Also, the inevitable rule changes take an important role on design. The 5dpo team kept last year omni-directional robots. The robots have a controlled force Electromagnetic passing/kicking mechanism. The vision system is Linux based and uses two Firewire cameras to achieve better resolution and reduce system lag. This setup eliminates previous issues of control degradations caused by non-synchronisation of frames and noisy images. Team strategy is based on a hierarchical three level state machine. A dynamics prediction layer, based on a Kalman Filter, uses the ball and robots dynamics to predict the state at the time when the low level commands are executed thus improving the team performance.20042004-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttps://hdl.handle.net/10216/67284engAntónio Paulo MoreiraSusana GaioPaulo CostaPaulo MarquesArmando SousaPedro Costainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T14:36:20Zoai:repositorio-aberto.up.pt:10216/67284Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T00:05:00.135879Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
"5dpo Robotic Soccer Team for Year 2004" |
title |
"5dpo Robotic Soccer Team for Year 2004" |
spellingShingle |
"5dpo Robotic Soccer Team for Year 2004" António Paulo Moreira Engenharia electrotécnica, Engenharia electrotécnica, electrónica e informática Electrical engineering, Electrical engineering, Electronic engineering, Information engineering |
title_short |
"5dpo Robotic Soccer Team for Year 2004" |
title_full |
"5dpo Robotic Soccer Team for Year 2004" |
title_fullStr |
"5dpo Robotic Soccer Team for Year 2004" |
title_full_unstemmed |
"5dpo Robotic Soccer Team for Year 2004" |
title_sort |
"5dpo Robotic Soccer Team for Year 2004" |
author |
António Paulo Moreira |
author_facet |
António Paulo Moreira Susana Gaio Paulo Costa Paulo Marques Armando Sousa Pedro Costa |
author_role |
author |
author2 |
Susana Gaio Paulo Costa Paulo Marques Armando Sousa Pedro Costa |
author2_role |
author author author author author |
dc.contributor.author.fl_str_mv |
António Paulo Moreira Susana Gaio Paulo Costa Paulo Marques Armando Sousa Pedro Costa |
dc.subject.por.fl_str_mv |
Engenharia electrotécnica, Engenharia electrotécnica, electrónica e informática Electrical engineering, Electrical engineering, Electronic engineering, Information engineering |
topic |
Engenharia electrotécnica, Engenharia electrotécnica, electrónica e informática Electrical engineering, Electrical engineering, Electronic engineering, Information engineering |
description |
The design of a Robotic soccer Team is an evolving process where the weaknesses and strengths of previous years drive the new enhancements. Also, the inevitable rule changes take an important role on design. The 5dpo team kept last year omni-directional robots. The robots have a controlled force Electromagnetic passing/kicking mechanism. The vision system is Linux based and uses two Firewire cameras to achieve better resolution and reduce system lag. This setup eliminates previous issues of control degradations caused by non-synchronisation of frames and noisy images. Team strategy is based on a hierarchical three level state machine. A dynamics prediction layer, based on a Kalman Filter, uses the ball and robots dynamics to predict the state at the time when the low level commands are executed thus improving the team performance. |
publishDate |
2004 |
dc.date.none.fl_str_mv |
2004 2004-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/book |
format |
book |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://hdl.handle.net/10216/67284 |
url |
https://hdl.handle.net/10216/67284 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799135974020612096 |