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F-180 Team

F-180 Team. Freie Universität Berlin Institute of Computer Science AI Group. FU-Fighters. Mechanics and electronics Aluminum frame to protect the electronics Two individual DC-motors for differential drive Passive sphere for third point of support

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F-180 Team

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  1. F-180 Team Freie Universität Berlin Institute of Computer Science AI Group

  2. FU-Fighters

  3. Mechanics and electronics • Aluminum frame to protect the electronics • Two individual DC-motors for differential drive • Passive sphere for third point of support • Shooting plate controlled by a third motor • On-board microcontroller Motorola HC05 • Vision system • NTSC video camera (640x480 Pixel, 30fps) • Searches and tracks colored objects • Determines position of the ball, as well as position and orientation of all robots • Predicts positions in the next frame and investigates only small windows of the image

  4. Behavior control • Reactive, layered system of sensors, behaviors, actuators within a time hierarchy • Higher sensory levels aggregate information • Higher-level behaviors modulate/configure lower-level behaviors • there is no explicit world model • fast reactions (reflexes) are possible

  5. Radio link • Transceiver working at 433-434.5 MHz • Error tolerant transmission • Packets contain target speeds for the motors • Local control of motor speed Who built them ? Our team is composed of three researchers and seven students from the CS Institute at FU Berlin. Upper row: Wolf Lindstrot, Prof. Dr. Raúl Rojas, Manuel deMelo, Dipl.-Inf. Sven Behnke, Oliver Tenchio. Lower row: Martin Sprengel, Dipl.-Inf. Bernhard Frötschl, Mark Simon, Peter Ackers, Andreas Schebesch.

  6. Contact Prof. Dr. Raúl Rojas, Sven Behnke, Bernhard Frötschl Email: {rojas, behnke, froetsch}@inf.fu-berlin.de Internet: http://www.inf.fu-berlin.de/~robocup Phone.: +49 30 838 75 130 / 131 / 133 / 100, Fax: / 109 Mail: FU Berlin, Institut für Informatik, Takustr. 9, 14195 Berlin, Germany Sponsors We thank Conrad Electronic, Faulhaber Motors, Siemens ElectroCom Postautomation and Lufthansa Systems Berlin for their material and financial support

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