Modernizacija robota TIOSS korištenjem robotskog vida i govora

master's thesis

• Title (english): Modernization of the TIOSS Robot Using Robot Vision and Speech
• Author: Jana Alajbeg
• Mentor: Ana Sović Kržić (mentor)
• Committee member: Ana Sović Kržić (predsjednik povjerenstva)
• Committee member: Damir Seršić (član povjerenstva)
• Committee member: Davor Petrinović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-06, Croatia

Abstract

Nedavni pronalazak robota kojeg su članovi Kibernetičke grupe tadašnjeg Elektrotehničkog fakulteta u Zagrebu izradili 1958. godine ponovo je probudio interes javnosti. Humanoidni robot TIOSS (teledirigirani izvršni organ samoorganizirajućeg sustava) prvi je put predstavljen na Zagrebačkom velesajmu 1965. godine. Nakon intenzivnih kreativnih rasprava, proizašla je izvanredna ideja za diplomski rad koji se fokusira upravo na obnovu TIOSS-a, a dio renovacije opisan u ovome radu modernizacija je sustava i obnova motora koji će omogućiti ponovno kretanje glave prema izvoru svjetlosti u prostoriji. Također, planirano je ugraditi kamere kako bi se korištenjem računalnog vida dodatno unaprijedio sustav. Osim provjere i testiranja motora, produljivanja i analize spajanja žica, potrebno je bilo shvatiti što je od preostalih komponenti bilo u robotu kada je ispravno funkcionirao 1958. godine. Napravljena je shema čitavog sustava, određene su sve elektroničke komponente nužne za rad robota i način na koji su one bile povezane te se tada moglo započeti s realizacijom. Nadalje, jednostavno programabilno jednokomponentno računalo Raspberry Pi 4 korišteno je kao mozak robota za uspješno upravljanje motorom te za obavljanje računalnog vida. Implementiran je programski kod kojim je ostvareno slanje signala preko ADP-a na Raspberry Pi priključak za uključenje motora kojim se okreće glava u smjeru najjače svjetlosti u prostoriji, ovisno o iznosu napona na dijagonalama mosta. Kao nepoznata komponenta Wheatstoneovog mosta korištena su dva fotootpornika, ugrađena sa svake strane robotske glave. Dodatno, izrađen je dio programskog koda koji služi za obavljanje računalnog vida uz pomoć kamere ugrađene na robotskoj glavi. Nakon uspješnog pokretanja motora za okretanje glave, detektiraju se objekti crvene boje te se zvučnicima u unutrašnjosti robota reproducira zvučni zapis. Ovaj naizgled jednostavan zadatak pokazao se vrlo izazovnim, no restauracija i modernizacija robota TIOSS u velikoj su mjeri uspješno ostvareni.

Abstract (english)

The recent discovery of a robot made by members of the Cybernetics Group at the former Faculty of Electrical Engineering in Zagreb in 1958. has once again sparked the public interest. The humanoid robot TIOSS (Teledirected Executive Organ of a Self-organizing System) was first presented at the Zagreb Velesajam in 1965. After intense creative discussions, an extraordinary idea emerged for a master's thesis focused on the restoration of TIOSS, and part of the renovation described in this paper is the modernization of the system and the restoration of the motor that will enable the head to move towards a light source in the room. Additionally, cameras are planned to be installed to further improvement of the system using computer vision. In addition to testing and evaluating the motor, extending and analyzing wire connections, it was necessary to understand which components were present in the robot when it was functioning correctly in 1958. A schematic of the entire system was created, and all the electronic components necessary for the robot's operation and their interconnections were determined, enabling the implementation to begin. Furthermore, a simple programmable single-component computer, Raspberry Pi 4, was used as the robot's brain to successfully control the motor and perform computer vision tasks. A code was implemented to send signals through the ADC to the Raspberry Pi GPIO pins that activate the motor which rotates the head towards the strongest light source in the room based on the voltage difference on the bridge diagonal. Two photoresistors were used as unknown components of the Wheatstone bridge, integrated on each side of the robot's head. Additionally, a part of the code was developed to perform computer vision tasks using the camera installed on the robot's head. After successfully starting the head-turning motor, objects of red color are detected, and a sound recording is played through the robot's internal speakers. This seemingly simple task proved to be quite challenging, but the restoration and modernization of the TIOSS robot have been largely successful.

• Keywords: Modernizacija; Obnova; TIOSS; Humaniodni robot; Računalni vid
• Keywords (english): Modernization; Restoration; TIOSS; Humanoid robot; Computer vision
• Language: croatian
• URN:NBN: urn:nbn:hr:168:283384
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-10-11 08:15:48