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What Projects you can do in ECE 574

Theory removed Projects added New Embedded Systems Platforms and Robotics Platforms Technologies used in Previous classes FPGA Microcontrollers Revolutionary new technologies Adiabatic Quantum Computer from DWAVE – link through Internet GPU Supercomputers and CUDA

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What Projects you can do in ECE 574

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  1. Theory removed • Projects added • New Embedded Systems Platforms and Robotics Platforms • Technologies used in Previous classes • FPGA • Microcontrollers • Revolutionary new technologies • Adiabatic Quantum Computer from DWAVE – link through Internet • GPU Supercomputers and CUDA • Tetrix Robotic Platform for Serious Hobby Robotics What Projects you can do in ECE 574 This is an old and new class

  2. Old Projects • Spectral Transforms and DSP • FFT Matching Sebastian Winter 2008 • Hough for Ovulo-computer • Hough for robot PSUBOT • Radon Transform Some can be redesigned and improved • Logic Machines and Problem Solving • LDM • CCM • Tautology Machine of Sasao • Graph Coloring • Oracle • Decomposition Machine • Rough Set Machine • Medical • Ovulocomputer • Cervix Cancer • Teeth measurement apparatus and patent

  3. Old Projects and possible collaborations • VISION • Morphological Image Processor • Canny Edge Detector • Sobel Edge Detector • Crazy Student Ideas and Interesting blocks • Systolic Sorter • Sorter Absorber • Julia set Winter 2008 • Quaternions and octonions for this task • Sharks and fish • Strange life generator • Robotics • PID controller • Adaptive PID Controller • Very Old from Poland • Cement Company • Rolling Machine • Turing Machine • Multi-Channel PID controller • Tracking camera • Spy camera on workers • Plotter Interpolator • Kameyama • Emotional robot • Ball catching Robot

  4. New FPGA/GPU/Controller Projects • Diagnosis of Autism • Hough for eye tracking • Eye tracking for autism • Prosody for autism • GPU • GPU for quantum simulation • GPU for GA and Quantum GA • GPU for motion of walking robot • Stock Market Predictor • Many Body Dynamics simulation Transforms Hough Radon for cancer therapy Poisonous Mushrooms recognition Julia and Mandelbrot set • Robot Controllers To Save Human Life • Robot to put signs on a Highway Products for Fun and Entertainment Modern Sculpture for your house: Julia and Mandelbrot set Generators extended to Quaternions, Octonions and Clifford Algebras • Walking Robot Controllers for Entertainment • Tetrix + FPGA • Sozobot + FPGA or micro

  5. Simpler GPU Projects • Cellular Automata • Quantum Computer simulation or matrix-matrix and matrix-vector multiplication • Genetic Algorithm • World visualization • SAT • Graph Coloring • Constraints Satisfaction

  6. Constraint Satisfaction Projects • Swarm • Emotion Recognition for DWAVE • Motion control for complex motions such as dances and gymnastics for KHR-1 or Sozobot Robots. • Waltz algorithm for object recognition • Error Correcting code design • Graph coloring various variants

  7. Vision • Hough Transform for lines – ovulation prediction application • Hough Transform for robot • Hough Transform for circles – cancer of eye application • Vision processor based on morphological algebra.

  8. Spectral Transforms • Fast Fourier • Cosine • Walsh • Haar • Linearly Independent • Adding/Arithmetic • Hough optimized • Radon • Hartley • Matching • Filtering-convolution • From Alan Coppola - industrial

  9. Reconfigurable Computers • CCM • Neural Networks for Prof. Starzyk • Neuro-biologically inspired for Prof. Kameyama

  10. Embedded Systems for Robots • Using quaternions for a robot • CMU cam for tracking • Use of ASC Controller for robot • Use of MSC controller • Advanced robot controller for Prof. Levin • Motion generation based on curves and their processing for Prof. Traczyk and Buller/De Garis – FFT processing • Biped that dances • Sozobot control

  11. Projects for Fall 2008 • Projects can be continued: • Winter 2009 in 572 class (Combinational Logic class) • Spring 2009 in 573 class (Sequential Systems class) • Spring 2009 in 510 Quantum Computing class. • As Master of Science Thesis (Mathias, Vishwanath, everybody else) • As PhD Thesis (Vamsi, Scott, Carlos) • As individual projects for credit. Seven projects as seven is a lucky number

  12. Our system QC Orion Camera Display Internet Microphone Speaker PC Bluetooth Bluetooth FPGA board GPU board Robot’s motors and effectors Robot’s sensors

  13. Our system QC Orion Internet Camera Display CS API OpenCV Microphone SAPI Speaker SAPI PC Robot C RobotC Bluetooth Bluetooth VHDL CUDA Robot’s motors and effectors Robot’s sensors GPU board FPGA board

  14. Project number 1: Spectral Transforms for object recognition with rotation, scaling and translation Vamsi Srinivas Parasa = Group Leader, Omar Joshi = Lead HDL programmer, Sudheer G = FPGA expert Learn and present Fast Fourier Transform (FFT) and other transforms that are useful for image matching Develop the concept of FPGA architecture for object recognition as in title. Present the previous work of Sebastian Schueppel and other students 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 our previous projects or from internet but you must specifically mention what is it and give it to me to compare. Download to board. Test the board. Analyze Write a journal and a conference papers (if applicable) This project is a candidate for submission to DAC contest in FPGA category SPECTRAL PROJECT

  15. Spectral project QC Orion Internet Camera Display CS API OpenCV Microphone SAPI Speaker SAPI PC Robot C RobotC Bluetooth Bluetooth VHDL CUDA Robot’s motors and effectors Robot’s sensors GPU board FPGA board

  16. Project number 2: Fractal Images based on higher order algebrasScott Blakely, Vishwanath Kusugal and Tobias Oerstein Learn about Mandelbrot Set and Julia sets. Understand concept of fractals. Learn how to take image from camera (with others in this class) Learn about OpenCV and image preprocessing Learn about complex numbers, quaternions and octonions as their generalizations in higher order algebras. Learn about FPGA fractal generator from last year project. Understand the interface Build a processing system that starts from camera, creates initial image and next processes it fractally, using old (complex numbers) and new (quaternions and octonions) theories FRACTAL PROJECT This project is a candidate to submission to DAC contest in FPGA category

  17. FRACTAL project QC Orion Internet Camera Display CS API OpenCV Microphone SAPI Speaker SAPI PC Robot C RobotC Bluetooth Bluetooth VHDL CUDA Robot’s motors and effectors Robot’s sensors GPU board FPGA board

  18. Project number 3: GPU and CUDAScott Storms, Sagar Raj, one – more from class, one out of class Present the architecture of GPU Present examples of codes in CUDA SAT Matrix Matrix multiplication Matrix Vector multiplication Emotion Recognition or Face Recognition Any other CS, Systolic or CA problem that can be done efficiently on CUDA Write software Download to coprocessor Test, analyze and write paper for conference CUDA project This project is a candidate to submission to DAC contest in FPGA category

  19. CUDA project QC Orion Internet Camera Display CS API OpenCV Microphone SAPI Speaker SAPI PC Robot C RobotC Bluetooth Bluetooth VHDL CUDA Robot’s motors and effectors Robot’s sensors GPU board FPGA board

  20. Project number 4: Constraint Satisfaction Problem Interface to Adiabatic Quantum ComputerDmitriy Labunsky, Boshra Samy and Yasuda Learn and present about Constraint Satisfaction Problems (Samy) Give examples of Constraint satisfaction problems (Samy) Learn OpenCV how to acquire face image (Yasuda) Face recognition, Emotion Recognition or similar problems for human-robot interaction in real time as CS problems. (Yasuda and Samy) Learn API to interface CS problems to quantum computer Orion (Samy) Test software (Dmitriy,Yasuda and Samy) Analyze and write journal paper (Dmitriy,Yasuda and Samy) Think about and propose “Killer Applications” for CS/Orion ORION project This project is a candidate to submission to DAC contest in conceptual category

  21. ORION project QC Orion Internet Camera Display CS API OpenCV Microphone SAPI Speaker SAPI PC Robot C RobotC Bluetooth Bluetooth VHDL CUDA Robot’s motors and effectors Robot’s sensors GPU board FPGA board

  22. Project number 5:Testing Reversible Logic CircuitsCarlos Nieva What are reversible gates? What are reversible circuits? What is test? Stuck-at model and other models of faults Why reversible circuits are easy to test Previous work on testing reversible circuits (Markov Hayes, Patel etc) Work of Jeff Allen in his MS thesis. Your ideas of improving Jeff’s model. Examples of testing real reversible oracles. Write a conference paper This project is a candidate to submission to Test conference contest for students

  23. Project number 5: Lego NXT/Tetrix robot Quincy Chiu Learn RobotC language Learn LegoNXT/Tetrix platform Build a mobile robot with an arm that can grab items and transport them to other location. This project has to concentrate on programming sensors in a mobile robot with hand. The project can be continued towards Artificial Intelligence and new type of Neural Networks developed in Ohio University - collaboration SENSORS PROJECT This project will be used in our collaboration with Tears of Joy Puppet Theatre and Ohio University

  24. SENSORS PROJECT QC Orion Internet Camera Display CS API OpenCV Microphone SAPI Speaker SAPI PC Robot C RobotC Bluetooth Bluetooth VHDL CUDA Robot’s motors and effectors Robot’s sensors GPU board FPGA board Lego/Tetrix Robot

  25. Project number 6: Emotion Learning and Mimicking Robot Mathias Sunardi. This is individual project but done together with Dmitriy and other students This work should be included in Mathias Thesis This work should use all software already developed by Mathias The project has to be an illustration of integration of image processing, speech and motion generation. Mathias has to present his work early as a lecture Final demo at the end of the class. Details to be discussed in person. DANCING PROJECT This project will be used in our collaboration with Tears of Joy Puppet Theatre

  26. DANCING PROJECT QC Orion Internet Camera Display CS API OpenCV Microphone SAPI Speaker SAPI PC C VHDL CUDA Robot’s motors and effectors Robot’s sensors GPU board FPGA board KHR-1 Robot accelerometer

  27. Project number 7: Realistic Hand motion generation for a humanoid robot Aditya Bhutada. This is individual project but done together with Dmitriy and other students Learn about how servo 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 about a realistic human-like hand for “Dmitriy’s big robot” Write software for typical behaviors of the hand such as shaking hand, greeting a human, playing drum, etc. Analyze and conclude results. Collaborate with group of students who work on robot puppet. HAND PROJECT This project will be used in our collaboration with Tears of Joy Puppet Theatre

  28. HAND PROJECT QC Orion Internet Camera Display CS API OpenCV Microphone SAPI Speaker SAPI PC C ASC-16 Controller VHDL CUDA Robot’s motors and effectors Robot’s sensors GPU board FPGA board Dmitri’s Robot Accelerometer inclinometer

  29. First Project Presentations. Graded as part of final project grade. Project Spectral – Wamsi Parasa - Next week. (others will speak later) Project CUDA – Scott Storms- Next week (others will speak later) Project Orion –Bosra Samy - Two weeks from today. (others will speak later) Project Hand – Aditya Bhutada – two weeks from now Project Fractal – Scott Blakely, Vishwanath Kusugal and Tobias Oerstein– two weeks from now Project Sensors - Quincy Chiu– two weeks from now Project Dancing – Mathias Sunardi – next week • You must be prepared to speak at this time, regardless what happened, even Martian attack on Oregon. • You may be rescheduled.

  30. Project Example:NXT Robots & Their Applications in Machine Learning

  31. Gantt Charts Please create such charts for your project for this quarter Goals Accomplishments Delayed

  32. Project 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.

  33. Approach: Research Acquire hardware 4 Lego NXT kits 4 Bluetooth adapters 1.5V Batteries Familiarize with hardware Motors Sensors Brick Learn various programming languages Developed specifically for Lego NXT RobotC leJOS NXC Bluetooth compatible?

  34. Approach: Programming RobotC Line Tracking NXC Bitbot Program Stores values in arrays Communicates through Bluetooth Master -> Slave Light Following Random Movement Python Establish Bluetooth communication

  35. Technical Details Bluetooth Frequency of 2.402GHz to 2.480 GHz Spread Spectrum Frequency Hopping NXT Bluetooth capabilities Hardware CSR BlueCore 4 v2.0+EDR System Supporting the Serial Port Profile Master to Slave communication only Bluetooth Adapter Kensington Bluetooth USB Adapter 2.0 Lego NXT, Windows XP compatible Allows communication between PC and NXT Serial Connection

  36. Technical Details Programming NXC Similar to C Easy to use IDE Limited Bluetooth capabilities Limited processing power Python Scripted Language Used in many other applications Communication is between PC and NXT Will use PC processing power

  37. Technical Details Lego NXT Mindstorm Ports similar to RJ12 connectors for sensors & motors Input Light Sound Ultrasound Touch Output Motors Brick Supports Bluetooth and 1 USB 2.0 port 32-bit ARM7 microcontroller @ 48MHz 256 KB of Flash Memory 64 KB of RAM 8-bit Atmel AVR microcontroller @ 4MHz 4 KB of Flash Memory 512 Bytes of RAM

  38. Homework 4. Cellular AutomatonThis is the last homework of the class Find any simulator of Cellular Automata on the WWW. Recommended simulators are on my webpage. 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 and you write what you modified. Describe the cellular automaton. It can be whatever you want. Here are some examples. Game of life with modified rules Sobel filter Any other filter, may be your invention? Thinning algorithm Two-dimensional sorter Logic gate simulator Sharks and fish simulation Spread of religion simulation Economic system simulation Particle simulation Simulate Change parameters Simulate Draw conclusions and write a report. Present in class and make it really exciting Midterm 1 is at the end of October

  39. Some slides used from Anjum Gupta, Roanne Manzano, Eric Tsai and Jacob Robison

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