Universität Dortmund What Projects you can do in ECE 574 This is an old and new class Theory removed Projects added Robotics Platforms New Embedded Systems.

Universität Dortmund

What Projects you can do in ECE 574

This is an old and new classThis is an old and new class

Theory removed

Projects added

New Embedded Systems Platforms and Robotics PlatformsRobotics Platforms

Technologies used in Previous classesTechnologies used in Previous classes

1. FPGA

2. Microcontrollers

Revolutionary new technologiesnew technologies

1.1. AdiabaticAdiabatic Quantum Computer from DWAVE – link through Internet

2. GPU GPU Supercomputers and CUDA

3. Tetrix Robotic PlatformTetrix Robotic Platform for Serious Hobby Robotics


Old ProjectsSpectral Transforms and DSPSpectral Transforms and DSP

FFT Matching Sebastian Winter 2008

Hough for Ovulo-computerHough for robot PSUBOTRadon Transform

Spectral Transforms and DSPSpectral Transforms and DSPFFT Matching Sebastian Winter

2008Hough for Ovulo-computerHough for robot PSUBOTRadon Transform

MedicalMedicalOvulocomputer

Cervix Cancer

Teeth measurement apparatus and patent

Logic Machines and Problem SolvingLDM

CCM

Tautology Machine of Sasao

Graph Coloring

Oracle

Decomposition Machine

Rough Set Machine

Some can be redesigned and improved


Old Projects and possible collaborations

VISION

Morphological Image Processor

Canny Edge Detector

Sobel Edge Detector

RoboticsRoboticsPID controller

Adaptive PID Controller

Crazy Student Ideas and Interesting blocks

– Systolic Sorter– Sorter Absorber– Julia set Winter 2008Winter 2008– Quaternions and octonions for this Quaternions and octonions for this

tasktask– Sharks and fishSharks and fish– Strange life generatorStrange life generator

Kameyama Kameyama Emotional robot

Ball catching Robot

Very Old from Poland Very Old from Poland Cement Company

Rolling Machine

Turing Machine

Multi-Channel PID controller

Tracking camera

Spy camera on workers

Plotter Interpolator


New FPGA/GPU/Controller New FPGA/GPU/Controller ProjectsProjects

Diagnosis of AutismDiagnosis of AutismHough for eye tracking

Eye tracking for autism

Prosody for autism

Diagnosis of AutismDiagnosis of AutismHough for eye tracking

Eye tracking for autism

Prosody for autism

GPUGPUGPU for quantum simulationGPU for GA and Quantum GAGPU for motion of walking robotStock Market PredictorMany Body Dynamics simulation

Walking Robot Controllers for Walking Robot Controllers for EntertainmentEntertainmentTetrix + FPGA

Sozobot + FPGA or micro

TransformsTransformsHough

Radon for cancer therapy

Poisonous Mushrooms recognition

Julia and Mandelbrot set

Products for Fun and EntertainmentProducts for Fun and EntertainmentModern Sculpture for your house: Julia and

Mandelbrot set Generators extended to Quaternions, Octonions and Clifford Algebras

Robot Controllers To Save Human LifeRobot Controllers To Save Human LifeRobot to put signs on a Highway


Simpler GPU ProjectsSimpler GPU Projects

1. Cellular Automata

2. Quantum Computer simulation or matrix-matrix and matrix-vector multiplication

3. Genetic Algorithm

4. World visualization

5. SAT

6. Graph Coloring

7. Constraints Satisfaction

1. Cellular Automata

2. Quantum Computer simulation or matrix-matrix and matrix-vector multiplication

3. Genetic Algorithm

4. World visualization

5. SAT

6. Graph Coloring

7. Constraints Satisfaction


Constraint Satisfaction Constraint Satisfaction ProjectsProjects

1. Swarm

2. Emotion Recognition for DWAVE

3. Motion control for complex motions such as dances and gymnastics for KHR-1 or Sozobot Robots.

4. Waltz algorithm for object recognition

5. Error Correcting code design

6. Graph coloring various variants

1. Swarm

2. Emotion Recognition for DWAVE

3. Motion control for complex motions such as dances and gymnastics for KHR-1 or Sozobot Robots.

4. Waltz algorithm for object recognition

5. Error Correcting code design

6. Graph coloring various variants


VisionVision

1. Hough Transform for lines – ovulation prediction application

2. Hough Transform for robot

3. Hough Transform for circles – cancer of eye application

4. Vision processor based on morphological algebra.

1. Hough Transform for lines – ovulation prediction application

2. Hough Transform for robot

3. Hough Transform for circles – cancer of eye application

4. Vision processor based on morphological algebra.


Spectral TransformsSpectral Transforms1. Fast Fourier

2. Cosine

3. Walsh

4. Haar

5. Linearly Independent

6. Adding/Arithmetic

7. Hough optimized

8. Radon

9. Hartley

10. Matching

11. Filtering-convolution

12. From Alan Coppola - industrial

1. Fast Fourier

2. Cosine

3. Walsh

4. Haar

5. Linearly Independent

6. Adding/Arithmetic

7. Hough optimized

8. Radon

9. Hartley

10. Matching

11. Filtering-convolution

12. From Alan Coppola - industrial


Reconfigurable ComputersReconfigurable Computers

1. CCM

2. Neural Networks for Prof. Starzyk

3. Neuro-biologically inspired for Prof. Kameyama

1. CCM

2. Neural Networks for Prof. Starzyk

3. Neuro-biologically inspired for Prof. Kameyama


Embedded Systems for Embedded Systems for RobotsRobots

1. Using quaternions for a robot

2. CMU cam for tracking

3. Use of ASC Controller for robot

4. Use of MSC controller

5. Advanced robot controller for Prof. Levin

6. Motion generation based on curves and their processing for Prof. Traczyk and Buller/De Garis – FFT processing

7. Biped that dances

8. Sozobot control

1. Using quaternions for a robot

2. CMU cam for tracking

3. Use of ASC Controller for robot

4. Use of MSC controller

5. Advanced robot controller for Prof. Levin

6. Motion generation based on curves and their processing for Prof. Traczyk and Buller/De Garis – FFT processing

7. Biped that dances

8. Sozobot control


Projects for Fall 2008Projects for Fall 2008Projects can be continued:

1. Winter 2009 in 572 class (Combinational Logic class)

2. Spring 2009 in 573 class (Sequential Systems class)

3. Spring 2009 in 510 Quantum Computing class.

4. As Master of Science Thesis (Mathias, Vishwanath, everybody else)

5. As PhD Thesis (Vamsi, Scott, Carlos)

6. As individual projects for credit.for credit.

Projects can be continued:

1. Winter 2009 in 572 class (Combinational Logic class)

2. Spring 2009 in 573 class (Sequential Systems class)

3. Spring 2009 in 510 Quantum Computing class.

4. As Master of Science Thesis (Mathias, Vishwanath, everybody else)

5. As PhD Thesis (Vamsi, Scott, Carlos)

6. As individual projects for credit.for credit.

Seven projects as seven is a lucky number


Our systemOur system

PC

Internet Display

Speaker

Bluetooth

Robot’s motors and effectors

Camera

Microphone

Robot’s sensors

QC Orion

FPGA board

GPU board

Bluetooth


Our systemOur system

PC

InternetDisplay

Speaker

Bluetooth


Camera

Microphone

Robot’s sensors

QC Orion

FPGA board

GPU board

Bluetooth

RobotC

CS API

OpenCV

Robot C

SAPISAPI

CU

DA

VH

DL


Project number 1: Project number 1: Spectral Transforms for object recognition with rotation, scaling and Spectral Transforms for object recognition with rotation, scaling and

translationtranslation Vamsi Srinivas Parasa = Group Leader, Omar Joshi = Lead HDL Vamsi Srinivas Parasa = Group Leader, Omar Joshi = Lead HDL

programmer, Sudheer G = FPGA expert programmer, Sudheer G = FPGA expert

• Learn and present Fast Fourier Transform (FFT) and other transforms that are useful for Learn and present Fast Fourier Transform (FFT) and other transforms that are useful for image matchingimage matching

• Develop the concept of FPGA architecture for object recognition as in title.Develop the concept of FPGA architecture for object recognition as in title.• Present the previous work of Sebastian Schueppel and other studentsPresent the previous work of Sebastian Schueppel and other students• Learn how to take image from camera (with others in this class)Learn how to take image from camera (with others in this class)• Write Verilog or VHDL code for FPGA for Altera Board. You can reuse any software from Write Verilog or VHDL code for FPGA for Altera Board. You can reuse any software from

our previous projects or from internet but you must specifically mention what is it and give our previous projects or from internet but you must specifically mention what is it and give it to me to compare.it to me to compare.

• Download to board.Download to board.• Test the board.Test the board.• AnalyzeAnalyze• Write a journal and a conference papers (if applicable)Write a journal and a conference papers (if applicable)

• Learn and present Fast Fourier Transform (FFT) and other transforms that are useful for Learn and present Fast Fourier Transform (FFT) and other transforms that are useful for image matchingimage matching

• Develop the concept of FPGA architecture for object recognition as in title.Develop the concept of FPGA architecture for object recognition as in title.• Present the previous work of Sebastian Schueppel and other studentsPresent the previous work of Sebastian Schueppel and other students• Learn how to take image from camera (with others in this class)Learn how to take image from camera (with others in this class)• Write Verilog or VHDL code for FPGA for Altera Board. You can reuse any software from Write Verilog or VHDL code for FPGA for Altera Board. You can reuse any software from

our previous projects or from internet but you must specifically mention what is it and give our previous projects or from internet but you must specifically mention what is it and give it to me to compare.it to me to compare.

• Download to board.Download to board.• Test the board.Test the board.• AnalyzeAnalyze• Write a journal and a conference papers (if applicable)Write a journal and a conference papers (if applicable)

This project is a candidate for submission to DAC contest in FPGAFPGA category

SPECTRAL SPECTRAL PROJECTPROJECT


Spectral projectSpectral project

PC

InternetDisplay

Speaker

Bluetooth


Camera

Microphone

Robot’s sensors

QC Orion

FPGA board

GPU board

Bluetooth

RobotC

CS API

OpenCV

Robot C

SAPISAPI

CU

DA

VH

DL

VH

DL


Project number 2: Project number 2: Fractal Images based on higher order algebrasFractal Images based on higher order algebras

Scott Blakely, Vishwanath Kusugal and Tobias OersteinScott Blakely, Vishwanath Kusugal and Tobias Oerstein

• Learn about Mandelbrot Set and Julia sets. Understand concept of Learn about Mandelbrot Set and Julia sets. Understand concept of fractals. fractals.

• Learn how to take image from camera (with others in this class)Learn how to take image from camera (with others in this class)

• Learn about OpenCV and image preprocessingLearn about OpenCV and image preprocessing• Learn about complex numbers, quaternions and octonions as their Learn about complex numbers, quaternions and octonions as their

generalizations in higher order algebras.generalizations in higher order algebras.• Learn about FPGA fractal generator from last year project. Understand Learn about FPGA fractal generator from last year project. Understand

the interfacethe interface• Build a processing system that starts from camera, creates initial image Build a processing system that starts from camera, creates initial image

and next processes it fractally, using old (complex numbers) and new and next processes it fractally, using old (complex numbers) and new (quaternions and octonions) theories (quaternions and octonions) theories

• Learn about Mandelbrot Set and Julia sets. Understand concept of Learn about Mandelbrot Set and Julia sets. Understand concept of fractals. fractals.

• Learn how to take image from camera (with others in this class)Learn how to take image from camera (with others in this class)

• Learn about OpenCV and image preprocessingLearn about OpenCV and image preprocessing• Learn about complex numbers, quaternions and octonions as their Learn about complex numbers, quaternions and octonions as their

generalizations in higher order algebras.generalizations in higher order algebras.• Learn about FPGA fractal generator from last year project. Understand Learn about FPGA fractal generator from last year project. Understand

the interfacethe interface• Build a processing system that starts from camera, creates initial image Build a processing system that starts from camera, creates initial image

and next processes it fractally, using old (complex numbers) and new and next processes it fractally, using old (complex numbers) and new (quaternions and octonions) theories (quaternions and octonions) theories

This project is a candidate to submission to DAC contest in FPGAFPGA category

FRACTAL FRACTAL PROJECTPROJECT


FRACTAL FRACTAL projectproject

PC

InternetDisplay

Speaker

Bluetooth


Camera

Microphone

Robot’s sensors

QC Orion

FPGA board

GPU board

Bluetooth

RobotC

CS API

OpenCV

Robot C

SAPISAPI

CU

DA

VH

DL

VH

DL


Project number 3: Project number 3: GPU and CUDAGPU and CUDA

Scott Storms, Sagar Raj, one – more from class, one out of Scott Storms, Sagar Raj, one – more from class, one out of classclass

• Present the architecture of Present the architecture of GPUGPU• Present examples of codes in Present examples of codes in CUDACUDA• SAT SAT • Matrix Matrix multiplicationMatrix Matrix multiplication• Matrix Vector multiplicationMatrix Vector multiplication• Emotion RecognitionEmotion Recognition or or Face RecognitionFace Recognition• Any other CS, Systolic or CA problem that can be done efficiently Any other CS, Systolic or CA problem that can be done efficiently

on CUDAon CUDA• Write softwareWrite software• Download to coprocessorDownload to coprocessor• Test, analyze and write paper for conferenceTest, analyze and write paper for conference

• Present the architecture of Present the architecture of GPUGPU• Present examples of codes in Present examples of codes in CUDACUDA• SAT SAT • Matrix Matrix multiplicationMatrix Matrix multiplication• Matrix Vector multiplicationMatrix Vector multiplication• Emotion RecognitionEmotion Recognition or or Face RecognitionFace Recognition• Any other CS, Systolic or CA problem that can be done efficiently Any other CS, Systolic or CA problem that can be done efficiently

on CUDAon CUDA• Write softwareWrite software• Download to coprocessorDownload to coprocessor• Test, analyze and write paper for conferenceTest, analyze and write paper for conference

This project is a candidate to submission to DAC contest in FPGA category

CUDA projectCUDA project


CUDA projectCUDA project

PC

InternetDisplay

Speaker

Bluetooth


Camera

Microphone

Robot’s sensors

QC Orion

FPGA board

GPU GPU boardboard

Bluetooth

RobotC

CS API

OpenCV

OpenCV

Robot C

SAPISAPI

CU

DA

CU

DA

VH

DL


Project number 4: Project number 4: Constraint Satisfaction Problem Interface to Adiabatic Constraint Satisfaction Problem Interface to Adiabatic

Quantum ComputerQuantum ComputerDmitriy Labunsky, Boshra Samy and YasudaDmitriy Labunsky, Boshra Samy and Yasuda

• Learn and present about Constraint Satisfaction Problems (Learn and present about Constraint Satisfaction Problems (SamySamy))• Give examples of Constraint satisfaction problems (Give examples of Constraint satisfaction problems (SamySamy))• Learn OpenCV how to acquire face image (Learn OpenCV how to acquire face image (YasudaYasuda))• Face recognition, Emotion Recognition or similar problems for human-Face recognition, Emotion Recognition or similar problems for human-

robot interaction in real time as CS problems. (robot interaction in real time as CS problems. (Yasuda and Samy)Yasuda and Samy)• Learn API to interface CS problems to quantum computer Orion Learn API to interface CS problems to quantum computer Orion

((SamySamy))• Test software (Test software (Dmitriy,Dmitriy, Yasuda and Samy)Yasuda and Samy)• Analyze and write journal paper (Analyze and write journal paper (Dmitriy,Dmitriy, Yasuda and Samy)Yasuda and Samy)• Think about and propose “Killer Applications” for CS/OrionThink about and propose “Killer Applications” for CS/Orion

• Learn and present about Constraint Satisfaction Problems (Learn and present about Constraint Satisfaction Problems (SamySamy))• Give examples of Constraint satisfaction problems (Give examples of Constraint satisfaction problems (SamySamy))• Learn OpenCV how to acquire face image (Learn OpenCV how to acquire face image (YasudaYasuda))• Face recognition, Emotion Recognition or similar problems for human-Face recognition, Emotion Recognition or similar problems for human-

robot interaction in real time as CS problems. (robot interaction in real time as CS problems. (Yasuda and Samy)Yasuda and Samy)• Learn API to interface CS problems to quantum computer Orion Learn API to interface CS problems to quantum computer Orion

((SamySamy))• Test software (Test software (Dmitriy,Dmitriy, Yasuda and Samy)Yasuda and Samy)• Analyze and write journal paper (Analyze and write journal paper (Dmitriy,Dmitriy, Yasuda and Samy)Yasuda and Samy)• Think about and propose “Killer Applications” for CS/OrionThink about and propose “Killer Applications” for CS/Orion

This project is a candidate to submission to DAC contest in conceptual categoryconceptual category

ORION projectORION project


ORION projectORION project

PC

InternetDisplay

Speaker

Bluetooth


CameraCamera

Microphone

Robot’s sensors

QC OrionQC Orion

FPGA board

GPU board

Bluetooth

RobotC

CS APICS API

OpenCV

OpenCV

Robot C

SAPISAPI

CU

DA

VH

DL


Project number 5:Project number 5:

Testing Reversible Logic CircuitsTesting Reversible Logic Circuits

Carlos NievaCarlos Nieva

• What are reversible gates?What are reversible gates?• What are reversible circuits?What are reversible circuits?• What is test?What is test?• Stuck-at model and other models of faultsStuck-at model and other models of faults• Why reversible circuits are easy to testWhy reversible circuits are easy to test• Previous work on testing reversible circuits (Markov Hayes, Patel etc)Previous work on testing reversible circuits (Markov Hayes, Patel etc)• Work of Jeff Allen in his MS thesis.Work of Jeff Allen in his MS thesis.• Your ideas of improving Jeff’s model.Your ideas of improving Jeff’s model.• Examples of testing real reversible oracles.Examples of testing real reversible oracles.• Write a conference paperWrite a conference paper

• What are reversible gates?What are reversible gates?• What are reversible circuits?What are reversible circuits?• What is test?What is test?• Stuck-at model and other models of faultsStuck-at model and other models of faults• Why reversible circuits are easy to testWhy reversible circuits are easy to test• Previous work on testing reversible circuits (Markov Hayes, Patel etc)Previous work on testing reversible circuits (Markov Hayes, Patel etc)• Work of Jeff Allen in his MS thesis.Work of Jeff Allen in his MS thesis.• Your ideas of improving Jeff’s model.Your ideas of improving Jeff’s model.• Examples of testing real reversible oracles.Examples of testing real reversible oracles.• Write a conference paperWrite a conference paper

This project is a candidate to submission to Test conference contest for students


Project number 5: Project number 5: Lego NXT/Tetrix robot Lego NXT/Tetrix robot

Quincy ChiuQuincy Chiu

• Learn RobotC languageLearn RobotC language• Learn LegoNXT/Tetrix platformLearn LegoNXT/Tetrix platform• Build a mobile robot with an arm that can grab items and Build a mobile robot with an arm that can grab items and

transport them to other location.transport them to other location.• This project has to concentrate on programming sensors in This project has to concentrate on programming sensors in

a mobile robot with hand.a mobile robot with hand.• The project can be continued towards Artificial Intelligence The project can be continued towards Artificial Intelligence

and new type of Neural Networks developed in Ohio and new type of Neural Networks developed in Ohio University - collaborationUniversity - collaboration

• Learn RobotC languageLearn RobotC language• Learn LegoNXT/Tetrix platformLearn LegoNXT/Tetrix platform• Build a mobile robot with an arm that can grab items and Build a mobile robot with an arm that can grab items and

transport them to other location.transport them to other location.• This project has to concentrate on programming sensors in This project has to concentrate on programming sensors in

a mobile robot with hand.a mobile robot with hand.• The project can be continued towards Artificial Intelligence The project can be continued towards Artificial Intelligence

and new type of Neural Networks developed in Ohio and new type of Neural Networks developed in Ohio University - collaborationUniversity - collaboration

This project will be used in our collaboration with Tears of Joy Puppet Theatre and Ohio University

SENSORS SENSORS PROJECTPROJECT


PC

InternetDisplay

Speaker

Bluetooth Bluetooth


Camera

Microphone

Robot’s sensors

QC Orion

FPGA board

GPU board

Bluetooth Bluetooth

RobotC

CS API

OpenCV

Robot C

SAPISAPI

CU

DA

VH

DL

SENSORS SENSORS PROJECTPROJECT

Lego/Tetrix Lego/Tetrix RobotRobot


Project number 6: Project number 6: Emotion Learning and Mimicking Robot Emotion Learning and Mimicking Robot

Mathias Sunardi.Mathias Sunardi. This is individual project but done together with This is individual project but done together with

Dmitriy and other studentsDmitriy and other students

• This work should be included in Mathias ThesisThis work should be included in Mathias Thesis• This work should use all software already developed by This work should use all software already developed by

MathiasMathias• The project has to be an illustration of integration of image The project has to be an illustration of integration of image

processing, speech and motion generation.processing, speech and motion generation.• Mathias has to present his work early as a lectureMathias has to present his work early as a lecture• Final demo at the end of the class.Final demo at the end of the class.• Details to be discussed in person.Details to be discussed in person.

• This work should be included in Mathias ThesisThis work should be included in Mathias Thesis• This work should use all software already developed by This work should use all software already developed by

MathiasMathias• The project has to be an illustration of integration of image The project has to be an illustration of integration of image

processing, speech and motion generation.processing, speech and motion generation.• Mathias has to present his work early as a lectureMathias has to present his work early as a lecture• Final demo at the end of the class.Final demo at the end of the class.• Details to be discussed in person.Details to be discussed in person.

This project will be used in our collaboration with Tears of Joy Puppet Theatre

DANCING PROJECTDANCING PROJECT


PC

InternetDisplay

Speaker


Camera

Microphone

Robot’s sensorsRobot’s sensors

QC Orion

FPGA board

GPU board

CS API

OpenCV

OpenCV

C

SAPISAPI

CU

DA

VH

DL

DANCING PROJECTDANCING PROJECT

KHR-1 KHR-1 RobotRobot

accelerometer


Project number 7: Project number 7: Realistic Hand motion generation for a humanoid robot Realistic Hand motion generation for a humanoid robot

Aditya Bhutada. This is individual project but done Aditya Bhutada. This is individual project but done together with Dmitriy and other studentstogether with Dmitriy and other students

• Learn about how servo works and present in class.Learn about how servo works and present in class.• Learn how stepper motor works and present in class.Learn how stepper motor works and present in class.• Learn how the ASC-16 controller works and present in class.Learn how the ASC-16 controller works and present in class.• Learn about a realistic human-like hand for “Dmitriy’s big Learn about a realistic human-like hand for “Dmitriy’s big

robot”robot”• Write software for typical behaviors of the hand such as Write software for typical behaviors of the hand such as

shaking hand, greeting a human, playing drum, etc.shaking hand, greeting a human, playing drum, etc.• Analyze and conclude results. Collaborate with group of Analyze and conclude results. Collaborate with group of

students who work on robot puppet.students who work on robot puppet.

• Learn about how servo works and present in class.Learn about how servo works and present in class.• Learn how stepper motor works and present in class.Learn how stepper motor works and present in class.• Learn how the ASC-16 controller works and present in class.Learn how the ASC-16 controller works and present in class.• Learn about a realistic human-like hand for “Dmitriy’s big Learn about a realistic human-like hand for “Dmitriy’s big

robot”robot”• Write software for typical behaviors of the hand such as Write software for typical behaviors of the hand such as

shaking hand, greeting a human, playing drum, etc.shaking hand, greeting a human, playing drum, etc.• Analyze and conclude results. Collaborate with group of Analyze and conclude results. Collaborate with group of

students who work on robot puppet.students who work on robot puppet.

This project will be used in our collaboration with Tears of Joy Puppet Theatre

HAND PROJECTHAND PROJECT


PC

InternetDisplay

Speaker


Camera

Microphone

Robot’s sensorsRobot’s sensors

QC Orion

FPGA board

GPU board

CS API

OpenCV

OpenCV

C

SAPISAPI

CU

DA

VH

DL

HAND PROJECTHAND PROJECT

Dmitri’s Dmitri’s RobotRobot

Accelerometer

inclinometer

ASC-16 Controller


First Project Presentations. Graded as First Project Presentations. Graded as part of final project grade.part of final project grade.

1.1. Project Spectral – Project Spectral – Wamsi Parasa Wamsi Parasa - Next week. (others will - Next week. (others will speak later)speak later)

2.2. Project CUDA – Project CUDA – Scott StormsScott Storms- Next week (others will - Next week (others will speak later)speak later)

3.3. Project Orion –Project Orion –Bosra SamyBosra Samy - Two weeks from today. - Two weeks from today. (others will speak later)(others will speak later)

4.4. Project Hand – Project Hand – Aditya Bhutada Aditya Bhutada – two weeks from now5.5. Project Fractal – Project Fractal – Scott Blakely, Vishwanath Kusugal Scott Blakely, Vishwanath Kusugal

and Tobias Oersteinand Tobias Oerstein – two weeks from now6.6. Project Sensors - Project Sensors - Quincy ChiuQuincy Chiu– two weeks from now7.7. Project Dancing – Project Dancing – Mathias SunardiMathias Sunardi – next week – next week

1.1. Project Spectral – Project Spectral – Wamsi Parasa Wamsi Parasa - Next week. (others will - Next week. (others will speak later)speak later)

2.2. Project CUDA – Project CUDA – Scott StormsScott Storms- Next week (others will - Next week (others will speak later)speak later)

3.3. Project Orion –Project Orion –Bosra SamyBosra Samy - Two weeks from today. - Two weeks from today. (others will speak later)(others will speak later)

4.4. Project Hand – Project Hand – Aditya Bhutada Aditya Bhutada – two weeks from now5.5. Project Fractal – Project Fractal – Scott Blakely, Vishwanath Kusugal Scott Blakely, Vishwanath Kusugal

and Tobias Oersteinand Tobias Oerstein – two weeks from now6.6. Project Sensors - Project Sensors - Quincy ChiuQuincy Chiu– two weeks from now7.7. Project Dancing – Project Dancing – Mathias SunardiMathias Sunardi – next week – next week

• You must be prepared to speak at this time, regardless what happened, even Martian attack on Oregon.

• You may be rescheduled.


Project Example:Project Example: NXT Robots & Their Applications NXT Robots & Their Applications

in Machine Learningin Machine Learning


Gantt ChartsGantt ChartsWeek 1Week 1 Week 2Week 2 Week 3Week 3 Week 4Week 4 Week 5Week 5 Week 6Week 6 Week 7Week 7 Week 8Week 8 Week 9Week 9 Week Week

1010

Familiarize with hardwareFamiliarize with hardware

Research programming Research programming environments environments

Learn to interface with the Learn to interface with the robotsrobots

ConstructionConstruction

Program robotsProgram robots

Program swarm autonomous Program swarm autonomous robots networkrobots network

Testing and TroubleshootingTesting and Troubleshooting

Prepare for Final PresentationPrepare for Final Presentation

DocumentationDocumentation

Goals Accomplishments Delayed

Please create such charts for your Please create such charts for your project for this quarterproject for this quarter


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 kits4 Bluetooth adapters4 Bluetooth adapters1.5V Batteries1.5V Batteries

Familiarize with hardwareFamiliarize with hardwareMotorsMotorsSensorsSensorsBrickBrick

Learn various programming languagesLearn various programming languagesDeveloped specifically for Lego NXTDeveloped specifically for Lego NXT

RobotCRobotCleJOSleJOSNXCNXC

Bluetooth compatible?Bluetooth compatible?

Acquire hardware Acquire hardware 4 Lego NXT kits4 Lego NXT kits4 Bluetooth adapters4 Bluetooth adapters1.5V Batteries1.5V Batteries

Familiarize with hardwareFamiliarize with hardwareMotorsMotorsSensorsSensorsBrickBrick

Learn various programming languagesLearn various programming languagesDeveloped specifically for Lego NXTDeveloped specifically for Lego NXT

RobotCRobotCleJOSleJOSNXCNXC

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

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 Details

Bluetooth 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 SystemSupporting 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 2.0Lego NXT, Windows XP compatibleLego NXT, Windows XP compatible

Allows communication between PC and NXTAllows communication between PC and NXTSerial ConnectionSerial Connection

Bluetooth 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 SystemSupporting 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 2.0Lego NXT, Windows XP compatibleLego NXT, Windows XP compatible

Allows communication between PC and NXTAllows communication between PC and NXTSerial ConnectionSerial Connection



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

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



Lego NXT MindstormLego NXT MindstormPorts similar to RJ12 connectors for sensors & motorsPorts similar to RJ12 connectors for sensors & motors

InputInputLightLightSoundSoundUltrasoundUltrasoundTouchTouch

OutputOutputMotorsMotors

BrickBrickSupports Bluetooth and 1 USB 2.0 portSupports Bluetooth and 1 USB 2.0 port32-bit ARM7 microcontroller @ 48MHz32-bit ARM7 microcontroller @ 48MHz

256 KB of Flash Memory256 KB of Flash Memory64 KB of RAM64 KB of RAM

8-bit Atmel AVR microcontroller @ 4MHz8-bit Atmel AVR microcontroller @ 4MHz4 KB of Flash Memory4 KB of Flash Memory512 Bytes of RAM512 Bytes of RAM

Lego NXT MindstormLego NXT MindstormPorts similar to RJ12 connectors for sensors & motorsPorts similar to RJ12 connectors for sensors & motors

InputInputLightLightSoundSoundUltrasoundUltrasoundTouchTouch

OutputOutputMotorsMotors

BrickBrickSupports Bluetooth and 1 USB 2.0 portSupports Bluetooth and 1 USB 2.0 port32-bit ARM7 microcontroller @ 48MHz32-bit ARM7 microcontroller @ 48MHz

256 KB of Flash Memory256 KB of Flash Memory64 KB of RAM64 KB of RAM

8-bit Atmel AVR microcontroller @ 4MHz8-bit Atmel AVR microcontroller @ 4MHz4 KB of Flash Memory4 KB of Flash Memory512 Bytes of RAM512 Bytes of RAM


Homework 4. Cellular AutomatonHomework 4. Cellular AutomatonThis is the This is the last homeworklast homework of the class of the class

1.1. Find any simulator of Cellular Automata on the WWW.Find any simulator of Cellular Automata on the WWW.2.2. Recommended simulators are on my webpage.Recommended simulators are on my webpage.3.3. Select your own application for simulation. You cannot take it from Internet but Select your own application for simulation. You cannot take it from Internet but

you can take and modify the application if you clearly mention the web address you can take and modify the application if you clearly mention the web address and you write what you modified.and you write what you modified.

4.4. Describe the cellular automaton. It can be whatever you want. Here are some Describe the cellular automaton. It can be whatever you want. Here are some examples.examples.1.1. Game of life with modified rulesGame of life with modified rules2.2. Sobel filterSobel filter3.3. Any other filter, may be your invention?Any other filter, may be your invention?4.4. Thinning algorithmThinning algorithm5.5. Two-dimensional sorterTwo-dimensional sorter6.6. Logic gate simulatorLogic gate simulator7.7. Sharks and fish simulationSharks and fish simulation8.8. Spread of religion simulationSpread of religion simulation9.9. Economic system simulationEconomic system simulation10.10. Particle simulationParticle simulation

5.5. SimulateSimulate6.6. Change parameters Change parameters 7.7. SimulateSimulate8.8. Draw conclusions and write a report.Draw conclusions and write a report.9.9. Present in class and make it really excitingPresent in class and make it really exciting

1.1. Find any simulator of Cellular Automata on the WWW.Find any simulator of Cellular Automata on the WWW.2.2. Recommended simulators are on my webpage.Recommended simulators are on my webpage.3.3. Select your own application for simulation. You cannot take it from Internet but Select your own application for simulation. You cannot take it from Internet but

you can take and modify the application if you clearly mention the web address you can take and modify the application if you clearly mention the web address and you write what you modified.and you write what you modified.

4.4. Describe the cellular automaton. It can be whatever you want. Here are some Describe the cellular automaton. It can be whatever you want. Here are some examples.examples.1.1. Game of life with modified rulesGame of life with modified rules2.2. Sobel filterSobel filter3.3. Any other filter, may be your invention?Any other filter, may be your invention?4.4. Thinning algorithmThinning algorithm5.5. Two-dimensional sorterTwo-dimensional sorter6.6. Logic gate simulatorLogic gate simulator7.7. Sharks and fish simulationSharks and fish simulation8.8. Spread of religion simulationSpread of religion simulation9.9. Economic system simulationEconomic system simulation10.10. Particle simulationParticle simulation

5.5. SimulateSimulate6.6. Change parameters Change parameters 7.7. SimulateSimulate8.8. Draw conclusions and write a report.Draw conclusions and write a report.9.9. Present in class and make it really excitingPresent in class and make it really exciting

Midterm 1 is Midterm 1 is at the endat the end

of Octoberof October


Some slides used from Anjum Gupta, Some slides used from Anjum Gupta, Roanne Manzano, Eric Tsai and Roanne Manzano, Eric Tsai and

Jacob Robison Jacob Robison

Universität Dortmund What Projects you can do in ECE 574 This is an old and new class Theory removed Projects added Robotics Platforms New Embedded Systems.

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