Pouya Mansournia

Mohammad Ali Kamkar

Mona Yeganedoost

Kia Khoshbakht
Mohammad.H Heydari

Amirkabir University of Techno...
- Introduction to Urban Robotic
- Technical Introduction
- Electronic overview
- Mechanical overview
- Software architectu...
Urban Robot League
Tasks
– Finding Rubbish in a Street
– Segregation rubbish
– Marking locations on an automatically gener...
Brief History
•

Start (2009)
• 1st place in Robocup junnior Rescue (2009)
• 1st place in Robocup Rescue Graz (2009)
• 1st...
Main Board
•

Industry grade Motherboard
– Small (115 x 165 mm)
– Powerful
• Pentium M 1.4 GHz, 2M L2 cache
– Robust
• Fan...
Electronics Features
1.

Main Board

Main Processor ARM lpc2378 NXP
Work @ 25Mhz Crystal
3 Analog Power (+3,+5,+5A)
Driver...
Electronics Features
2. Sensors
a.
b.
c.
d.
e.
f.

Compass Sensors
Laser Scanner Hokuyo URG-04LX
Distance Sensors
Color Se...
Electronics Features
3. Power Board
a.
b.
c.
d.

Brushes
Motors
Relays
Water Pumps
Electronics Features
4. GPS Localization
a. GSM Communication Chip
b. GPS
$GPGLL,3543.016368,N,05123.721984,E,110611.000,A,A*50
$GPGSA,A,3,20,23,32,16,13,01,07,31,04,,,,1.54,0.87,1.27*0E
$GPGSV,3,...
Electronics Features
5. Power Supplier
a. Switching Power
b. Analog Power
Mechanical Features
1. Physical & Mobility
Mechanical Features
2. Cleaner Tools
Programming
1. Problems
a.
b.
c.
d.

How to pass all streets?
How to clean all walls and blocks?
How to pass barriers?
How...
How to pass all streets?
a. Binary Table

-

Every “1” in table means of untraveled way
Every “0” in table means of blocke...
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19...
Passed ways' addresses saves
in a vector and for second
move, Robot uses the saved
reverse addresses.
First

T11(2,18)
T12...
SLAM
•

SLAM: Simultaneous Localization And Mapping
– Generating a map of unknown environment while
localizing the mapping...
Navigation and SLAM
SLAM
Mapping

Localization

Integrated
approaches
Active localization

Exploration
Motion control

© M...
The SLAM Problem
•

•

Given
– Robot controls
– Nearby measurements
Estimate
– Robot state (position, orientation)
– Map o...
Future Works
1. Using Quad-Copter for anonymous mapping.
2. Using 6 Degree automatic arm for collecting special garbage.
Thanks for your spiritual and financial support

Chadormalu Mining & Industrials Co.

Municipality Region 2
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Chadormalu Urban Robot

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Keeping them clean the streets and sidewalks are always one of the top priorities of municipalities. Maintain cleanliness in particular areas such as busy city sidewalks downtown commercial streets, parks and squares are two-fold significance. They not only protect the health of the citizens to maintain cleanliness, but also helps the town beauty.Urban environments are carried out each day by municipal cleaning agents. Cleaning the streets and sidewalks during certain hours of the day for obvious reasons, usually early in the morning before the busy streets is done. Especially the large and noisy machines or dust is generated by municipal officials to the citizens can be very annoying.Ideal solution for solving the problems of urban cleaning robots. These bots collect garbage from the streets and sidewalks of the city,Robots aim to improve the quality of urban life, especially in the central areas of the city. Urban streets where the traffic of people and keeping the streets clean, prevent erosion and keep alive the city is the.

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Chadormalu Urban Robot

  1. 1. Pouya Mansournia Mohammad Ali Kamkar Mona Yeganedoost Kia Khoshbakht Mohammad.H Heydari Amirkabir University of Technology Shayan Khorsandi Nov 1th, 2013 – AUTCup Tehran, Iran
  2. 2. - Introduction to Urban Robotic - Technical Introduction - Electronic overview - Mechanical overview - Software architecture - Visions of Urban Robots - Simulation localization and mapping (SLAM)
  3. 3. Urban Robot League Tasks – Finding Rubbish in a Street – Segregation rubbish – Marking locations on an automatically generated map
  4. 4. Brief History • Start (2009) • 1st place in Robocup junnior Rescue (2009) • 1st place in Robocup Rescue Graz (2009) • 1st place in Khwarizmi Robotics Competitions (2010) • 2nd place in Robocup junnior Soccer (2011) • 3rd place in Iranopen 2D (2011) • 3rd place in Iranopen 2D (2012) • 2nd place in Amirkabir Robotics Competitions (2012)-Urban Robot
  5. 5. Main Board • Industry grade Motherboard – Small (115 x 165 mm) – Powerful • Pentium M 1.4 GHz, 2M L2 cache – Robust • Fanlless (-40 to +80 C) • Compact Flash compatible • PC/104-plus compatible • 0% ~ 90% relative humidity
  6. 6. Electronics Features 1. Main Board Main Processor ARM lpc2378 NXP Work @ 25Mhz Crystal 3 Analog Power (+3,+5,+5A) Driver Motor L6203
  7. 7. Electronics Features 2. Sensors a. b. c. d. e. f. Compass Sensors Laser Scanner Hokuyo URG-04LX Distance Sensors Color Sensors Mercury Switch AVL ( GPS-GSM )
  8. 8. Electronics Features 3. Power Board a. b. c. d. Brushes Motors Relays Water Pumps
  9. 9. Electronics Features 4. GPS Localization a. GSM Communication Chip b. GPS
  10. 10. $GPGLL,3543.016368,N,05123.721984,E,110611.000,A,A*50 $GPGSA,A,3,20,23,32,16,13,01,07,31,04,,,,1.54,0.87,1.27*0E $GPGSV,3,1,12,20,84,181,36,23,58,319,37,32,58,128,46,30,39,082,*7E $GPGSV,3,2,12,16,36,116,46,13,33,288,41,01,21,201,51,07,17,224,51*7C $GPGSV,3,3,12,31,16,043,34,04,13,314,28,11,05,191,,10,00,314,*7E $GPRMC,110611.000,A,3543.016368,N,05123.721984,E,0.000,302,120312,,,A*7B $GPVTG,302,T,,M,0.000,N,0.000,K,A*12 $GPZDA,110611.000,12,03,2012,,*51 GPS Outputs
  11. 11. Electronics Features 5. Power Supplier a. Switching Power b. Analog Power
  12. 12. Mechanical Features 1. Physical & Mobility
  13. 13. Mechanical Features 2. Cleaner Tools
  14. 14. Programming 1. Problems a. b. c. d. How to pass all streets? How to clean all walls and blocks? How to pass barriers? How to pass movable barriers?
  15. 15. How to pass all streets? a. Binary Table - Every “1” in table means of untraveled way Every “0” in table means of blocked way
  16. 16. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 ` ` mXn
  17. 17. Passed ways' addresses saves in a vector and for second move, Robot uses the saved reverse addresses. First T11(2,18) T12(3,18) T13(4,18) T14(5,18) T15(6,18) T16(5,17) T17(5,16) T18(5,15) T19(5,14) T20(5,13) T21(5,12) T22(5,11) T23(5,10) Second
  18. 18. SLAM • SLAM: Simultaneous Localization And Mapping – Generating a map of unknown environment while localizing the mapping system within that map
  19. 19. Navigation and SLAM SLAM Mapping Localization Integrated approaches Active localization Exploration Motion control © Makarenko et al
  20. 20. The SLAM Problem • • Given – Robot controls – Nearby measurements Estimate – Robot state (position, orientation) – Map of world features Ground truth map (what happens) Local map Global map (what robot thinks)
  21. 21. Future Works 1. Using Quad-Copter for anonymous mapping. 2. Using 6 Degree automatic arm for collecting special garbage.
  22. 22. Thanks for your spiritual and financial support Chadormalu Mining & Industrials Co. Municipality Region 2

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