ISocRob - Years 5 to 8

The team is composed of four Nomadic Super Scout II (Scouts for short) since mid-April 2000. Here they are all together:

Figure 1: The Team!		Figure 2: Soccer Inside

In this last 2 years (2002 and 2003) the scouts suffered several hardware changes, which include:

• Redesign of the scout's lid
• New up and front camera plus the up camera and mirror support
• New DC-DC converter plus kicking control
• New Kicking device with a handspike mechanism
• New motherboard plus processor

In Figure 2 we can see the guts of the robot. The 'lid' contains the high-level processor and all that that entails: motherboard, memory, hard-drive. 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 camera/mirror set can be seen 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: Pentium III 1000MHz, 512MB RAM, 8GB disk;
  • Low-level Processor: Motorola MC68332
  • Power: 432 watt-hour
• Vision Sensors
  • Philips USB WebCam 740K Pro, ToUCam - parameters:
    • h = 243 mm, camera height from the floor;
    • f = 2.358081 mm, focal distance;
    • c = 1740 mm, distance of the robot to the image center, projected on the floor;
• Communications: WaveLan Turbo 11Mbs wireless Ethernet;
• Kicker: FESTO Electro-pneumatic solution.
• Stopped Robot Detection: Logitech Optical Mouse (not currently being used)

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