ISocRob - Years 3 and 4

As of mid-April 2000 the team is finally homogenous: four Nomadic Super Scout II (Scouts for short). Here they are all together:

Figure 1: The Team!		Figure 2: Soccer Inside

Figure 2 shows the guts of the robot. The 'lid' contains the high-level processor and all that that entails: motherboard, memory, hard-drive, PCI bus (Zoltrix camera grabber - currently not used, since we moved to USB cams). On the inside we have the robot's controller. More descriptive pictures of our scouts can be seen here.

Figure 3: Camera and Mirror and front camera systems		Figure 4: Bird's Eye View

The experimental camera/mirror set is shown in Figure 3. The mirror unwraps the image, resulting in a bird's eye view of the soccer field. An example of the image obtained can be seen in Figure 4.

Specifications

• Comercial Platform consisting of:
  • High-level Processor: 233MHz, 64MB RAM, 8GB disk;
  • Low-level Processor: Motorola MC68332
  • Power: 432 watt-hour
• Vision Sensors
  • Ultrak KC7500CP (Sony CCD) camera;
  • MicroVideo MVC26C CCD;
  • Zoltrix TVmax - Broktree Bt848 based frame grabber;
• Communications: WaveLan Turbo 11Mbs wireless Ethernet;
• Kicker: FESTO Electro-pneumatic solution.
• Stopped Robot Detection: Logitech Optical Mouse

This page has all of these components discriminated (via photos)!