Robot Soccer

• Controlling robots to play soccer
• Personal project along with 2 of my friends
• Competition held at UoA, run by ECE department
• https://github.com/WesleyYep/robotSoccer

BLAZE

We won the competition last year. Decided to try create our own software

Ongoing project. Supervised by Dr Ho Seok Ahn

Implemented in Java

What do we use

• OpenCV for Java
• Gradle
• jFuzzyLogic

Vision system

Uses OpenCV to capture webcam images and finds robot location through image segmentation(binary)

Control system

Using a mixture of PID and Fuzzy Logic

FunctionBlock fb = loadFuzzy("fuzzy/goalKeeper.fcl");
fb.setVariable("targetTheta", targetTheta);
fb.setVariable("targetDist", targetDist);
fb.evaluate();
fb.getVariable("linearVelocity").defuzzify();
fb.getVariable("angularVelocity").defuzzify();
r.linearVelocity = fb.getVariable("linearVelocity").getValue();
r.angularVelocity = fb.getVariable("angularVelocity").getValue();

Strategy system

• Goalkeeper
  • Predict movement
• Defender
• Attacker
  • Waiting striker

Simulation Demo

VAMIX

• SE206 project
• Video and Audio mixer program
• Implemented in Java and used in Linux
• Lecturers were our clients
• https://github.com/changkon/VAMIX

Target audience

Young adults - wanting to use an easy and simple video/audio editing software

Features

• Download audio from internet
• Play media files
• Extract audio from media file
• Replace audio to a video file
• Overlay audio to a video file
• Change volume in a video file
• Add additional audio tracks to a video file
• Drawing text to a video
• Adding fade in or fade out effects to a video
• Edit subtitles and add subtitles to a video

GUI

Fullscreen

Control panel implemented using FSM and mouse listeners

Linux avconv library

StringBuilder command = new StringBuilder();
command.append("avplay -i \'" + inputFile + "\' ");
command.append("-ss " + data[0] + " -vf ");
command.append("drawtext=\"fontfile=" + data[3]);
command.append(": fontsize=" + data[4]);
command.append(": fontcolor=" + data[5]);
command.append(": x=" + data[6]);
command.append(": y=" + data[7]);
command.append(": text=\'" + data[2] + "\': draw=\'lt(t," + MediaTimer.getSeconds(data[1].toString()) + ")\'\"");

ProcessBuilder builder = new ProcessBuilder("/bin/bash", "-c", command.toString());
builder.redirectErrorStream(true);
Process process = builder.start();

Test Drive

• SE306 project
• Team size of 8
• Implemented in C++ using ROS and used in Linux
• https://github.com/gdsl/SOFTENG-306-PROJECT-1

What did we use

• ROS
• CMake
• Google Test

Objectives

Simulating robots in orchard picking kiwi fruits

Features

• Orchard
• Robots
  • Picker
  • Carrier
• Animals
  • Dogs
  • Cats
• Humans
  • Workers
  • Gardeners
  • Bystanders

GUI

Stage

Stage

Movement

• Moves in x and y directions
• Uses queue system

Obstacle avoidance

Uses information from laser sensors