Humanoid Robot Soccer Locomotion and Kick Dynamics: Open Loop Walking, Kicking and Morphing into Special Motions on the Nao Robot

Striker speed and accuracy in the RoboCup (SPL) international robot soccer league is becoming increasingly important as the level of play rises. Competition around the ball is now decided in a matter of seconds. Therefore, eliminating any wasted actions or motions is crucial when attempting to kick the ball. It is common to see a discontinuity between walking and kicking where a robot will return to an initial pose in preparation for the kick action. In this thesis we explore the removal of this behaviour by developing a transition gait that morphs the walk directly into the kick back swing pose. The solution presented here is targeted towards the use of the Aldebaran walk for the Nao robot. The solution we develop involves the design of a central pattern generator to allow for controlled steps with realtime accuracy, and a phase locked loop method to synchronise with the Aldebaran walk so that precise step length control can be activated when required. An open loop trajectory mapping approach is taken to the walk that is stabilized statically through the use of a phase varying joint holding torque technique. We also examine the basic princples of open loop walking, focussing on the commonly overlooked frontal plane motion. The act of kicking itself is explored both analytically and empirically, and solutions are provided that are versatile and powerful. Included as an appendix, the broader matter of striker behaviour (process of goal scoring) is reviewed and we present a velocity control algorithm that is very accurate and efficient in terms of speed of execution

Photostop

The use of photodissociation to produce cold, slow molecules from a molecular beam of cold, fast molecules is dubbed “photostop”. The essence of the scheme is thus: a pulsed molecular beam of a precursor molecule AB seeded in a noble carrier gas is crossed by a laser beam. The laser light dissociates AB, producing fragments A and B. These recoil from the dissociation site. The speed of the molecular beam and the wavelength of the laser beam are tuned so that the recoil velocity of those A molecules recoiling opposite to the molecular beam direction cancels out their initial velocity. This leaves a certain amount of A close to stationary in the laboratory frame. The photostop technique was first demonstrated with the production of cold, slow NO radicals by the photodissociation of nitrogen dioxide, both at Durham and in South Korea. The work described in this thesis began as a development of the NO photostop experiment, with an attempt made to magnetically trap NO. Latterly, the photostop project became part of the Millikelvin Molecules in a Quantum Array (MMQA) collaboration, the aim of which is the trapping of ten million cold, polar molecules. To this end, the photostop of SH radicals by the photodissociation of hydrogen disulphide was demonstrated

Trajectory solutions for a game-playing robot using nonprehensile manipulation methods and machine vision

The need for autonomous systems designed to play games, both strategy-based and physical, comes from the quest to model human behaviour under tough and competitive environments that require human skill at its best. In the last two decades, and especially after the 1996 defeat of the world chess champion by a chess-playing computer, physical games have been receiving greater attention. Robocup TM, i.e. robotic football, is a well-known example, with the participation of thousands of researchers all over the world. The robots created to play snooker/pool/billiards are placed in this context. Snooker, as well as being a game of strategy, also requires accurate physical manipulation skills from the player, and these two aspects qualify snooker as a potential game for autonomous system development research. Although research into playing strategy in snooker has made considerable progress using various artificial intelligence methods, the physical manipulation part of the game is not fully addressed by the robots created so far. This thesis looks at the different ball manipulation options snooker players use, like the shots that impart spin to the ball in order to accurately position the balls on the table, by trying to predict the ball trajectories under the action of various dynamic phenomena, such as impacts. A 3-degree of freedom robot, which can manipulate the snooker cue on a par with humans, at high velocities, using a servomotor, and position the snooker cue on the ball accurately with the help of a stepper drive, is designed and fabricated. [Continues.

Magnetic field control of ultracold atom-molecule collision

In this work we investigate the potential of controlling cold (O(K)−mK) and ultracold (mK-μK) atom-molecule collisions by tuning scattering states across Feshbach resonances using magnetic fields. We are interested in particular in the prospect of suppressing the often undesirable inelastic collisions. The He-O_2 system provides the vehicle for our study. We calculate bound and quasi-bound states of several isotopic combinations, including their Zeeman structure, to reveal the underlaying pattern for easier characterization of quasi-bound states in terms of rigorous and approximately good quantum numbers. These calculations also help us locate the fields at which zero-energy resonances will occur. Scattering calculations are then performed for collisions of 3^He and 4^He with {16}^O_2 at fixed (1 μK) energy but varying magnetic field. The field is varied to sweep the scattering state across resonance. At low and ultralow energies we enter the Wigner threshold regime where the S-partial wave dominates the wavefunction. The cross sections, and the real and imaginary parts of the scattering length, vary dramatically across resonance. Their profiles are used to analyze the resonances. In a highlight of our results we show that dramatic suppression of inelastic cross sections occur for 4^He-{16}^O_2 . The resonances are relatively wide (of order 100 Gauss), with suppression of inelastic scattering over a similarly wide range of fields and for temperatures ranging from 10 mK down to 1 μK. We conclude that under certain conditions it is possible to almost completely eliminate inelastic collisions. This is potentially very important for cooling techniques, such as evaporative and sympathetic cooling, that require efficient elastic cross sections. Suppression of inelastic collisions can not only increase thermalization efficiency but it can also result in longer trap-lifetimes by reducing transitions to untrapable states

Virtual Reality Games for Motor Rehabilitation

This paper presents a fuzzy logic based method to track user satisfaction without the need for devices to monitor users physiological conditions. User satisfaction is the key to any product’s acceptance; computer applications and video games provide a unique opportunity to provide a tailored environment for each user to better suit their needs. We have implemented a non-adaptive fuzzy logic model of emotion, based on the emotional component of the Fuzzy Logic Adaptive Model of Emotion (FLAME) proposed by El-Nasr, to estimate player emotion in UnrealTournament 2004. In this paper we describe the implementation of this system and present the results of one of several play tests. Our research contradicts the current literature that suggests physiological measurements are needed. We show that it is possible to use a software only method to estimate user emotion