More Related Content
Similar to 141125CITBrains
Similar to 141125CITBrains (20)
141125CITBrains
- 1. CIT Brains (Kid Size League)
- 2. 1 Introduction ・Chiba Institute of Technology computer system and overall intelligence > image recognition > soccer algorithm ・Hajime Research Institute mechanism and control system
- 3. Camera with Wide LensCPU LP-170 IMU ADIS16375 Servo Motor RS405CBx17 2 Overview of the System 3S (11.1V, 5000mAh )Battery Futaba RS405CB x 18Servo Motor Ether x 1, USB x 4, CF x 1, RS232C x 2, Sound In/Out , Digital I/O, etc Interface Linux (Ubuntu12.04LTS)OS COMMEL LP-170 (Intel Atom D525 1.8GHz) CPU Board All direction and rotation (Select the angle, stride, period and so on) Walking Directions 0.4 m/s (maximum)Velocity (Forward) 600 mmHeight 3.5 kg (Including Batteries) Weight
- 4. 2 Overview of the System 3S (11.1V, 5000mAh )Battery Futaba RS405CB x 18Servo Motor Ether x 1, USB x 4, CF x 1, RS232C x 2, Sound In/Out , Digital I/O, etc Interface Linux (Ubuntu12.04LTS)OS COMMEL LP-170 (Intel Atom D525 1.8GHz) CPU Board All direction and rotation (Select the angle, stride, period and so on) Walking Directions 0.4 m/s (maximum)Velocity (Forward) 600 mmHeight 3.5 kg (Including Batteries) Weight
- 6. 2 Overview of the System 3S (11.1V, 5000mAh )Battery Futaba RS405CB x 18Servo Motor Ether x 1, USB x 4, CF x 1, RS232C x 2, Sound In/Out , Digital I/O, etc Interface Linux (Ubuntu12.04LTS)OS COMMEL LP-170 (Intel Atom D525 1.8GHz) CPU Board All direction and rotation (Select the angle, stride, period and so on) Walking Directions 0.4 m/s (maximum)Velocity (Forward) 600 mmHeight 3.5 kg (Including Batteries) Weight
- 7. 2 Overview of the System スペック トルク: 48.0 [kgf・cm] スピード: 0.22 [sec/60°] 重量: 67 [g] 電源電圧: 11.1 [V] 可動範囲: 300 [deg] 通信形式: RS485半二重通信
- 8. 2 Overview of the System スペック トルク: 48.0 [kgf・cm] スピード: 0.22 [sec/60°] 重量: 67 [g] 電源電圧: 11.1 [V] 可動範囲: 300 [deg] 通信形式: RS485半二重通信
- 9. 2 Overview of the System 通信形式: RS485半二重通信 EIA-485は、2線式、半二重、マルチポイントシリアル 接続を特徴とする、OSIモデルでいう所の物理層の電 気的仕様である。
- 10. 2 Overview of the System 通信形式: RS485半二重通信 EIA-485は、2線式、半二重、マルチポイントシリアル 接続を特徴とする、OSIモデルでいう所の物理層の電 気的仕様である。
- 11. 2 Overview of the System 通信形式: RS485半二重通信 この規格は差動信号を採用 電圧の一方が「1」レベル、もう一方は「0」レベル 少なくとも電圧の差は0.2V以上 受信側は+12Vから-7Vまでの電圧であれば正しい
- 12. 2 Overview of the System 378g重量 5000mAh容量 11.1V電圧 3セルセル数 HP-LG325-5000-3S品番 リチウムポリマー電池品名 ハイペリオンメーカー
- 13. 2 Overview of the System 378g重量 5000mAh容量 11.1V電圧 3セルセル数 HP-LG325-5000-3S品番 リチウムポリマー電池品名 ハイペリオンメーカー ビデオ
- 14. 2 Overview of the System
- 15. 2 Overview of the System
- 16. 2 Overview of the System 撮像素子 1/4インチ CMOSカラーセンサ 総画素数[pixels] 640×480 動作温度[℃] -20 ～+70 出力信号形式 USB2.0 機能 露光・ゲイン・ホワイトバランス 自動調整 各種画像調整機能（アプリケーション制御） 電源電圧[V] 5.0 消費電力[W] 0.53(MAX)
- 17. 2 Overview of the System
- 18. 2 Overview of the System The Intel® Wireless WiFi Link 4965AGN product is an embedded 802.11a/b/g/n¹ PCIe* Mini Card network adapter card that operates in both the 2.4GHz and 5.0GHz spectrum, delivering high throughput and a host of features that enhance today's mobile lifestyle.
- 19. 2 Overview of the System
- 20. 2 Overview of the System
- 21. ２．システム構成
- 22. ２．システム構成
- 23. ２．システム構成
- 26. ２．システム構成
- 29. 2 Overview of the System
- 30. 2 Overview of the System
- 31. 3 Mobility Fig.3 Parallel Mechanism of Foot parallel mechanism ビデオ
- 32. 4 Computer System Fig.4. The slot-in main CPU board
- 33. 5 Image Processing and Position Estimation ・Resolution can be selected from 640x480 and 320x240
- 34. 5 Image Processing and Position Estimation ・Detect the region of the same color → the positions of ball, robots and landmarks ・Position and direction of camera is calculated by inverse kinematics ・We should input the threshold of the color
- 35. 5 Image Processing and Position Estimation ・Positions of land mark → the position of the robot is estimated (particle filter) Fig.6. Estimating Process Using Particle Filter
- 36. 6 Strategy Development Environment ・user-friendly interface [output] ・simple command to sub CPU (the command can also generate by mouse and keyboard) ・table of color (Its effectiveness can be checked immediately) ・program name like forward and keeper (It select the program in robot)own goal color and marker color
- 37. 6 Strategy Development Environment ・user-friendly interface [input] ・image data (It is possible to display the result of image processing) ・detect and estimate positions (It is indicated graphically and saved in storage.) ・command to sub CPU (We can check the algorism) ・message ・color values (We use the YUV color value.)
- 38. CIT Brains (Teen Size League)
- 39. A123 Systems Li-Fe 19.8V x 1Battery Vstone VS-SV3300 x 2, VS- SV3310 x 4, Hajime Servo x10, ROBOTIS RX-28 x1 Servo Motor Ether(100Base-TX) x 1, USB x 1(USB-wireless LAN), CF x 1, RS232C x 2, Sound In/Out , Digital I/O, etc Interface Linux (Ubuntu12.04LTS)OS Main: COMMEL LP-170 (Intel Atom D525 1.8GHz) Sub: Hajime Robot HC5 (Renesas SH-2A/7211) CPU Board All direction and rotation (Select the angle, stride, period and so on) Walking Directions 0.4 m/s (maximum)Velocity 1000 mmHeight 12.0 kgWeight
- 40. A123 Systems Li-Fe 19.8V x 1Battery Vstone VS-SV3300 x 2, VS- SV3310 x 4, Hajime Servo x10, ROBOTIS RX-28 x1 Servo Motor Ether(100Base-TX) x 1, USB x 1(USB-wireless LAN), CF x 1, RS232C x 2, Sound In/Out , Digital I/O, etc Interface Linux (Ubuntu12.04LTS)OS Main: COMMEL LP-170 (Intel Atom D525 1.8GHz) Sub: Hajime Robot HC5 (Renesas SH-2A/7211) CPU Board All direction and rotation (Select the angle, stride, period and so on) Walking Directions 0.4 m/s (maximum)Velocity 1000 mmHeight 12.0 kgWeight
- 41. A123 Systems Li-Fe 19.8V x 1Battery Vstone VS-SV3300 x 2, VS- SV3310 x 4, Hajime Servo x10, ROBOTIS RX-28 x1 Servo Motor Ether(100Base-TX) x 1, USB x 1(USB-wireless LAN), CF x 1, RS232C x 2, Sound In/Out , Digital I/O, etc Interface Linux (Ubuntu12.04LTS)OS Main: COMMEL LP-170 (Intel Atom D525 1.8GHz) Sub: Hajime Robot HC5 (Renesas SH-2A/7211) CPU Board All direction and rotation (Select the angle, stride, period and so on) Walking Directions 0.4 m/s (maximum)Velocity 1000 mmHeight 12.0 kgWeight
- 43. A123 Systems Li-Fe 19.8V x 1Battery Vstone VS-SV3300 x 2, VS- SV3310 x 4, Hajime Servo x10, ROBOTIS RX-28 x1 Servo Motor Ether(100Base-TX) x 1, USB x 1(USB-wireless LAN), CF x 1, RS232C x 2, Sound In/Out , Digital I/O, etc Interface Linux (Ubuntu12.04LTS)OS Main: COMMEL LP-170 (Intel Atom D525 1.8GHz) Sub: Hajime Robot HC5 (Renesas SH-2A/7211) CPU Board All direction and rotation (Select the angle, stride, period and so on) Walking Directions 0.4 m/s (maximum)Velocity 1000 mmHeight 12.0 kgWeight
- 44. 主な仕様概要 重量：72g サイズ：35.6mm x 50.6mm x 35.5mm 最小制御角：0.29 ° ギア比：193：1 Stall Torque：3.7N.m（at 18.5V、1.9A） No load speed : 85rpm（at 18.5V) 動作モード 関節モード（0 °〜300 °） 車輪モード（無限回転） 動作温度：-5℃〜+80℃ 使用電圧：12V〜18.5V（推奨電圧14.8V） Link（Physical）：RS485 Multi Drop Bus ID：254 ID（0〜253） 通信速度：7843bps〜1 Mbps Feedback：Position、Temperature、Load、Input Voltage、etc。 Material：Full Metal Gear、Engineering Plastic Body Standby current：50 mA (RS485: 10mまでは35Mbit/s )