UNIVERSITA DEGLI STUDI DI CATANIA Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi DIEES Catania, Italy XX BrainStorming Day Eng. Cristoforo Camerano cristoforo.camerano@diees.unict.it Ph. D. Student in Electronics, Automation and Complex Systems Engineering XXIII Course Tutors: Luigi Fortuna, Mattia Frasca
Outline * Technological Platform for robot s art;
Technological Platform for robot s art: Synchronization of the robots
Synchronization of chaotic robots The experiments are related to the behaviour of two twin robots that are used to create art. Moreover, the synchronization between the trajectories followed by two robots can be an initial point to coordinate more robots in order to investigate more interesting luminous paths. STEP 1: The two robots can move in all directions within an arena of 190 cm deep and 245 cm wide. The scenario is totally dark. A camera is located in a strategic point of the arena to take pictures of the whole arena every 10, 15 or 20 seconds. The interaction between the user and the robots occurs even in this case is an interface which includes for our experiments a computer station and a joystick BT controller.
Synchronization of chaotic robots STEP 2: The two robots start a process of synchronization between themself. The synchronized chaotic systems generate trajectories and thus images following an ideal path from kinetic art to immaterial art. STEP 3: The spectator can see two coordinated robots that generate strange attractors through a computing led pattern and a camera which send to a slide projector the pictures that it takes about the luminous paths.
Synchronization of chaotic robots Step1: the arena and the 2 robots Step2: synchronization of the robots Robot MASTER Robot SLAVE Step3: interaction spectator - robots - art Experimental Results and trajectories
The used platform
Design of the robots - Microcontroller - 3 motors - 2 ultrasonic range sensors - 2 differential drive motors - 2 passive wheels - SMD 16 LED light device
Final structure of the robots
Real Platform Virtual Platform Synchronization of the logistic maps inside the robots Master Slave PC Station User
The control law Let us indicate with VMA and VMB the velocities of the two motors (MA and MB). Equations that describe the differential drive model. c is the distance between the two actuated wheels. We have indicated with x, y and ө the position and the orientation of the robot with respect to a fixed frame of reference. The robot is driven by a chaotic control law which specifies VA and VB at each time instant. In particular a logistic map is used. The equation of the logistic map is: z k +1 = az k (1 - zk ) Given zk we build VA(t) and VB(t) for tk t t k 1. A new value of the map, z k 1 is then computed, which allows to calculate VA(t) and VB(t) in the next time interval tk 1 t t k 2, and so on. According to the value of zk the robot can perform different actions. The interval of admissible value of zk is [0,1] and we fixed a constant value k=100.
Experimental Results: trajectories of mechanical Strange Attractors. Art of chaotic robots through kinetic. The following images are referred to the motion of the robots during a time interval of 10 seconds, 15 and 20 seconds respectively.
Conferences and courses L. Fortuna, M. Frasca, C. Camerano., [2008], "Strange attractors, kinematic trajectories and synchronization". International Journal Bifurcations and Chaos,18, ISSN, 1218-1274. Robots controlled by Chaotic Laws, 10 th Experimental Chaos Conference (ECC10): Section-Demo, 3-6 June 2008 Catania, Italy. Tecnologie organiche per dispositivi e circuiti July 2008, (Ing. Manuela La Rosa) University of Catania - Engineering Faculty. The Open Wall Project for Art Competition - ITOvation3 NTNU Faculty for Information Technology, Mathematics and Electrical Engineering, Trondheim (Norway), Trondheim Matchmaking, October 2008.
Conferences and courses Adaptive System Course a.a 2008-2009 University of Catania - Engineering Faculty. Controllo Robusto a.a 2008-2009 University of Catania - Engineering Faculty. "Interactive Bubble Robots for Art: Movement Sequences Learning through Mirror Neurons". Authors: Arturo Buscarino, Cristoforo Camerano, Luigi Fortuna, Mattia Frasca. "CHAOS 09 Second IFAC meeting related to analysis and control of chaotic systems (London, UK June 22nd - 24th, 2009). Microchip Regional Trainig course: Microchip dspic Peripheral Configuration May 2009, University of Catania - Engineering Faculty. Salah U.A., Camerano, C., Fortuna, L:, Frasca, M., Jaccheri, L., Information technology and art: Concepts and state of the practice. Chapter in Borko Furht (Ed.): Handbook of Digital Media in Entertainment and Arts, Springer Verlag, 2009. Laboratorio sui sistemi complessi, July 2009, University of Catania. (lessons by Prof. Leon Chua-University of California-Berkeley).
Conferences and courses ArTe Contest: international contest of digital Art: NTNU Norvegian University of Science and technology, Trondheim- Norway, October 2009. Site under construction: www.complexart.diees.unict.it Chaotic mimic robots. Buscarino A., Camerano C., Fortuna L., Frasca M., Phil. Trans. R. Soc. A 2010 368, 2179-2187. From kinetic art to immaterial art through chaotic synchronization. Belluomo P., Camerano C., Fortuna L., Frasca M., Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Università degli Studi di Catania, viale A. Doria 6, 95125 Catania, Italy, 2009.
Thanks for your Attention For further informations please contact the authors Cristoforo Camerano, Luigi Fortuna, Mattia Frasca cristoforo.camerano@diees.unict.it