ECE 191: Group 2 ECE 191: Group 2 NXT Robots & Their Applications NXT Robots & Their Applications

in Machine Learningin Machine Learning

Mentor: Anjum GuptaMentor: Anjum GuptaGroup: Roanne ManzanoGroup: Roanne Manzano

Eric TsaiEric TsaiJacob Robison Jacob Robison

Sponsored by: SPAWARSponsored by: SPAWAR

Agenda Agenda

Gantt ChartGantt Chart Project OverviewProject Overview ApproachesApproaches Technical DetailsTechnical Details

BluetoothBluetooth ProgrammingProgramming Lego NXT MindstormLego NXT Mindstorm

StatusStatus SummarySummary

Gantt ChartGantt ChartWeek Week 11

Week Week 22

Week Week 33

Week Week 44

Week Week 55

Week Week 66

Week Week 77

Week Week 88

Week Week 99

Week Week 1010

Familiarize with Familiarize with hardwarehardware

Research programming Research programming environments environments

Learn to interface with Learn to interface with the robotsthe robots

ConstructionConstruction

Program robotsProgram robots

Program swarm Program swarm autonomous robots autonomous robots networknetwork

Testing and Testing and TroubleshootingTroubleshooting

Prepare for Final Prepare for Final PresentationPresentation

DocumentationDocumentation

Goals Accomplishments Delayed

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.

Approach: Research Approach: Research Acquire hardware Acquire hardware

4 Lego NXT kits4 Lego NXT kits 4 Bluetooth adapters4 Bluetooth adapters 1.5V Batteries1.5V Batteries

Familiarize with hardwareFamiliarize with hardware MotorsMotors SensorsSensors BrickBrick

Learn various programming languagesLearn various programming languages Developed specifically for Lego NXTDeveloped specifically for Lego NXT

RobotCRobotC leJOSleJOS NXCNXC

Bluetooth compatible?Bluetooth compatible?

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

Technical DetailsTechnical DetailsBluetooth 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 System Supporting 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 2.0 Lego NXT, Windows XP compatibleLego NXT, Windows XP compatible

Allows communication between PC and NXTAllows communication between PC and NXT Serial ConnectionSerial Connection

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

Technical DetailsTechnical Details Lego NXT MindstormLego NXT Mindstorm

Ports similar to RJ12 connectors for sensors & motorsPorts similar to RJ12 connectors for sensors & motors InputInput

LightLight SoundSound UltrasoundUltrasound TouchTouch

OutputOutput MotorsMotors

BrickBrick Supports Bluetooth and 1 USB 2.0 portSupports Bluetooth and 1 USB 2.0 port 32-bit ARM7 microcontroller @ 48MHz32-bit ARM7 microcontroller @ 48MHz

256 KB of Flash Memory256 KB of Flash Memory 64 KB of RAM64 KB of RAM

8-bit Atmel AVR microcontroller @ 4MHz8-bit Atmel AVR microcontroller @ 4MHz 4 KB of Flash Memory4 KB of Flash Memory 512 Bytes of RAM512 Bytes of RAM

Status Status Currently working on learning Python in Currently working on learning Python in

order to add processing power not present order to add processing power not present in the bot by itselfin the bot by itself

Attempting to asses what possible goals Attempting to asses what possible goals are feasible within the remainder of our are feasible within the remainder of our time frame.time frame.

Determining what final task we hope to Determining what final task we hope to perform with these robots that will satisfy perform with these robots that will satisfy the amended requirements of our client. the amended requirements of our client.