First successes in robotics

Two months in this school year have passed, and a lot has happened. Most of our project work up to now was just research; we evaluated the JADE framework for distributed agent systems, the rule based language JESS, and the Protégé Ontology API, which all are Java based and can therefore run on the CBC controller.

On friday, Dr. David Miller arrived at Vienna, and our teacher wanted to have a robot prototype to show. On wednesday, we met at university to build something out of lego... which proved to be difficult, because the collection of Lego parts was very limited, and we hardly managed to connect a single motor to the lego gears. So we met at my place the next day and built a robot out of Fischertechnik which is, in my opinion, clearly superior to Lego. The result was this robot:

Each of the tracks is powered by two motors, although that didn't seem to bring much of a performance gain. The thing on top, in case you didn't recognize it, is a camera, and the robot's objective was to follow a blue ball.

We actually programmed the robot twice; once with C, which is natively available on the controller, and once with Java, which was installed on our controller at the university during summer. My part was the Java program, and I tried to add a few abstractions to later reuse the code.

• As each of the tracks is powered by multiple motors, I added an abstraction for the motors, to combine multiple physical motors into one logical motor
• Next was the drive and navigation. Our robot is tracked, so its steering uses the speed difference of the tracks. I tried to keep the theoretical possibility to use another type of steering, although some adaption is probably necessary.
• Last but not least, the robot's construction may make it more convenient to wire it in a specific way. What actuators and sensors are on which pins can be configured, so that a new construction does not necessarily mean to change the program. Especially imagine how many times a motor may be accessed in the program, and what it would mean to change all the occurrences.

Now this is just foundation code, and the real logic, checking the camera and following the ball, was simply implemented in the main method in a loop. And that's the glorious result:

For those of you that don't understand the quiet, german comments: We have adjusted the camera for our lighting, and it already got pretty dark. For the video, we turned on the lights, and suddenly, the robot stopped recognizing the ball. So, the first thing you see in the video is me turning off the lights again, and then you can hear my teacher commenting on it^^

Delaying Laterna Magica: Graduation Project

School has totally got me now. We spent last week in Carinthia and focused completely on the project. It was a great experience and we laid much of the foundation work. Today, we got even more long-term assignments, and my impression is that the difference to our graduation project is not the amount of work, but that the teachers don't give us as much time...

Okay, enough of that. What I really want to tell today is two things. Bad news are always first, so let's get it out of the way: I won't have much (if any) time to work on Laterna Magica in the near future.
And the reason is already the good news: I have a veeery interesting graduation project together with 3 colleagues: We're building and programming a robot to attend a robot competition in the USA.

Okay, to make my excitement clear, let's break this down:
We're building a robot
I think this is pretty clear. The competition consists of a few challenges, and the robot has to reflect these hardware-wise to show optimal performance. The challenges are presented at the end of October; an employee of the competiton's organization visits us personally, because we'd be the first team from Europe to attend.
We're programming a robot
This is probably the most interesting part of it. Our project is sponsored by TU Wien, Vienna's technical university, and our job is not just to program the robot, but to do so using a rule- and agent-based artificial intelligence.

• Rule-based is basically a programming approach such as imperative or functional. It means to define a program in terms of condition-reaction pairs. It is supported by a framework which checks the conditions and execites the appropriate actions. While this might not seem spectacular, think about it: have you ever written or seen a program using this approach? Note that this is not another name for an event system; events also result in a reaction, but they only allow for reactions on one-time events (if some event happens), not to states (if some condition holds).
  Rule-based systems are good for modelling intelligent behavior. A human reacts to events because of the state-changes they cause, not the events themselves: If a window falls open, you close it because it's cold or loud outside, not because the window has opened.
• Agent is just another word for actor. Remember how I wrote about the downloader; it's essentially the same. The only difference is that all this is now integrated into a rule system, which also changes the way how the agents exchange messages. Besides that, the concept of parallel processing stays. In our case, the focus lies on the independence of the actors to cooperatively reach a solution for a problem, and not on simpler multithreading by getting away from traditional synchronization.
• Artificial intelligence always sounds good, but what does it really mean? Our parent project at TU Wien has a very specific goal: To build cooperative robots capable of disassembling Lego models. We won't get anywhere near disassembly, but the cooperation is still there, just in the software though. In the end, an artificial intelligence is always task-oriented, and the border where intelligence begins is not well-defined. The question is very interesting, but more philosiphical than technical, so maybe in a later post.

...to attend a robot competition in the USA
This is a goal we all really want to reach, but if we do will depend on how we perform. Our project is definitely complex, so if it doesn't work out too well, we won't go. I'm positive about it, though.
The competition we would attend is BotBall, organized by the KISS Institute of Practical Robotics, and we have the honor to be invited directly to the final "Global Conference of Educational Robotics", without attending any of the qualification tournaments. (I hope you can read from all this how proud I am^^)

So the last point to check for today is: This is definitely good news for me, but how is it for you? Well, I'll write about it, of course. Some things might be off-topic in terms of Magic, but artificial intelligence is definitely in, right? Be sure to check back in a few weeks, there are definitely interesting things to come!