Prsentation PowerPoint

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LEURRE PROJECT, Alexandre Colot, 2003
LEURRE EUROPEAN PROJECT
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Autonomous Systems Lab
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Summary
LEURRE PROJECT, Alexandre Colot, 2003

• Goals of the LEURRE Project
• People involved
• Experiments
• Models
• Tracking System
• Why not Use Alice ?
• InsBot Developpement
• InsBot Tools
• Future Work
• Advantages of working in a European Project
• Questions

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1. Goals
LEURRE PROJECT, Alexandre Colot, 2003
- Behavioural model develop probabilistic
models of individual and aggregation behaviours,
formalize in a programming language. -
Mixed-societies simulations on computers and
experimentation on  Real  mixed society of
insects and insect-like robots (InsBots). -
Controlling the global behaviour society change
the global behaviour of a mixed society. -
Towards some general methodology provide a  
general methodologie   for the study and control
of mixed societies.
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2. People Involved
LEURRE PROJECT, Alexandre Colot, 2003

• Participants
• Jean-Louis Deneubourg, ULB (Bruxelles,Belgium)
• Philippe Mathieu, International Solvay
  Institutes for Physics and Chemistry
  (Bruxelles,Belgium)
• Guy Theraulaz, Laboratoire d'Ethologie et de
  cognition animale (Toulouse,France)
• Colette Rivault, Ethologie-Evolution-Ecologie
  (Rennes,France)
• Roland Siegwart, EPFL-LSA (Lausanne,Switzerland)
• Subcontractors
• - Alcherio Martinoli, EPFL (Lausanne,
  Switzerland)
• Nadine Lefort-Piat, ALB (Besançon, France)

EPFL LEURRE-Team
Masoud Asadpour Behaviour Programming
Gilles Caprari Harware Software
Alexandre Colot Hardware Design
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3. Experiments
LEURRE PROJECT, Alexandre Colot, 2003
Insect selected Coockroach (Periplaneta
Americana)
Size 35mmx20mmx15mm Max. Speed 1m/s Life
- Birth - 0 -gt 6 Month Larval life (sex
undetermined) - 6 -gt 12 Month Adult life
(Male and Female) - Death -gt We will use
only Male coockroach (Always the same behaviour)
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3. Experiments
LEURRE PROJECT, Alexandre Colot, 2003

• Influence on the Society
• Without robots or with robots
• behaving like coockroaches
• Same probability to be in each shelters
• With robots with a special behaviour
• Change the probablities

• Individual Behaviour
• Random Walk
• Tigmotactism (wall following)

• Aggregation Behaviour
• Random Walk
• Tigmotactism (wall following)
• Probability to stop depend on
• already stopped cockroaches in
• the local perception area
• -gt The collective behaviour can be explained
• with simple individual behaviours

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3. Experiments
LEURRE PROJECT, Alexandre Colot, 2003
Experimental Setup
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4. Models
LEURRE PROJECT, Alexandre Colot, 2003
Individual Behaviour
Random-Walk
Wall-Following
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4. Models
LEURRE PROJECT, Alexandre Colot, 2003
Collective Behaviour
Individual Behaviour
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5. Tracking System
LEURRE PROJECT, Alexandre Colot, 2003

• Datas
• - Arena 1m diameter
• Multi-element tracking (up to 20 elements)
• Max. Speed 1m/s- Size of elements from 2cmx2cm
• Hardware
• PC 2 GHz, 256 Mo RAM, Win2000, Firewire PCI Card
• Unibrain Fire-i400 Camera, Firewire 640x480, max.
  20 fps
• C-Mount Lense (f 2.1)
• Software
• Visual C 6.0
• IPL (Intel Processing Library)
• OpenCV

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5. Tracking System
LEURRE PROJECT, Alexandre Colot, 2003
Example Tracking of 4 Coockroaches
Output xml (xi,yi,t) file
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6. Why not use Alice
LEURRE PROJECT, Alexandre Colot, 2003

• Advantages
• Existing Robot
• Ultra Low Power
• Low-Cost
• Disadvantages
• Not enough IRs Sensors
• Sensors not well positionned
• Speed too slow
• Low Computing Power
• Sensors can be added only on top
• Decision Use to test first interractions, begin
  to program the algorithm,
• learn how program a robot while InsBot is not
  finished

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7. InsBot Development
LEURRE PROJECT, Alexandre Colot, 2003
General Connector
Pgm Signals
Pgm Signals
USART
USART
PIC18LF6720 _at_ 16 MHz 64 Ko Flash Behaviour
Processor
PIC18LF6720 _at_ 16 MHz 64 Ko Flash Hardware
Processor
I2C Bus 400 KHz
USART
HF Module
IOs
IOs
Watch Motors
10 IRs Sensors
2 T Sensors 0.33C Prec.
Linear Camera 102 Pixels 8 Bits
Mobile Antennas
IR TV Remote Receiver
Li-Polymer 3.7V 150mAh
Maximum Power Consumption 50 mA -gtMinimum
Autonomy 3 Hours
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7. InsBot Development
LEURRE PROJECT, Alexandre Colot, 2003
Real InsBot
3D Model

• Weight 15 g
• Size 37 mm x 30 mm x 22 mm
• Proximity Measurement 8 cm

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8. InsBot Tools
LEURRE PROJECT, Alexandre Colot, 2003
Recharging Tool
Programming Tool
Full Recharge in 2.5 Hours Leds Information
CCS PCWH C Compiler
SysQuake Serial Monitoring
Library of High Level Functions
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8. InsBot Tools
LEURRE PROJECT, Alexandre Colot, 2003
Doxygen
Pic Downloader for PIC18
Web Site Leurre.dns2go.com (Non-Official)
CVS ViewCVS
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9. Future Work
LEURRE PROJECT, Alexandre Colot, 2003

• RESULTS
• Developpement of the InsBot 0.1 (and Real-Time
  Os)
• SysTrack 1.0
• - Coockroach are not always afraid by InsBots
  (without chimical marks and no cookroach like
  behaviour)
• FUTURE WORK
• -InsBot 0.2 (smaller, 5 robots for september
  planned)
• -Implement and test all models
• Convert SysTrack in a post processing software
• Influence the society
• Study another mixed society (chick, imprinting),
  with a new robot

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10. Advantages of a European Project
LEURRE PROJECT, Alexandre Colot, 2003
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Autonomous Systems Lab
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10. Advantages of a European Project
LEURRE PROJECT, Alexandre Colot, 2003
http//asl.epfl.ch
Autonomous Systems Lab
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10. Advantages of a European Project
LEURRE PROJECT, Alexandre Colot, 2003
http//asl.epfl.ch
Autonomous Systems Lab
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10. Advantages of a European Project
LEURRE PROJECT, Alexandre Colot, 2003
http//asl.epfl.ch
Autonomous Systems Lab
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10. Advantages of a European Project
LEURRE PROJECT, Alexandre Colot, 2003
http//asl.epfl.ch
Autonomous Systems Lab
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10. Advantages of a European Project
LEURRE PROJECT, Alexandre Colot, 2003
http//asl.epfl.ch
Autonomous Systems Lab
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11. Questions
LEURRE PROJECT, Alexandre Colot, 2003
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Autonomous Systems Lab