The description of team “KIKS”
Riki KAWASE1, Yuya TATEOKA2, Yukikazu TANIGUCHI3,Makoto KAINUMA4, Masato WATANABE5 and Touko SUGIURA6Toyota National College of Technology
Department of Electrical and Electronic Engineering,
Eisei-cho,Toyota,Aichi, 471-8525 Japan1

fall_line329@yahoo.co.jp
2e79922@ yahoo.co.jp
3tanippe23@ yahoo.co.jp
4sonic@mc.ccnw.ne.jp
5masa@toyota-ct.ac.jp
6
SUGI@toyota-ct.ac.jp

1 Introduction
RoboCup participation is finish of a creativity educational program. Since 1989, whena 16 years old to 18 year-old student participates in NHK technical college robot
contest, "thing structure education" is performed. We thought that the unit
manufacture of the robot could be carried out simply by combining a mechanism.
Then, the picture database of a mechanism was manufactured. Moreover, technicaldata compilation was performed for technical tradition. Furthermore, in order to workout an idea, the K-J method was used, and the presentation of an idea was performed
once for about two months every week. As a result, it became national conference
championship and the national conference most numerous participation school.
It aged 1999 and the speed of thinking of creativity, width, the depth, and originality
were quantitatively evaluated using the S-A creativity test. The standard score of thecreativity of the student who received creativity education does not have a common
student and great difference, and the consistent result was shown. Since the value ofstandard deviation is small, this is considered because the educational effect ofcreativity did not appear notably. In order to fully evaluate the degree of the effect ofcreativity education, it is necessary to perform the education continued for a long
period of time.
We chose RoboCup from 2001 as further developed type of creativity education.
Artificial intelligence, image processing, automatic control, etc. have muchtechnology in which the high student of creativity gets interested in RoboCup. It isaimed at the student who experienced the robot contest of 19 to 20 years old. The
creativity education which used RoboCup was taken as Problem-based learning.
Consequently,” KIKS “achieved championship in RoboCup Japan convention
F180 League in the second half in 2003 in only two years. The student desires theparticipation to a world convention, as a result of reaching a world level. For thisreason, in a creativity development program, there is most important thinking motive
more than enough, and it is expected that creativity is extended by leaps and bounds.

Their creativity is measured by 16 years old and 18 years old by the S-A creativity
test, and is again measured after a world convention end of 20 years old. The standard
score of each item in the creativity factor of the student who has not received thecreativity development program is compared. This expects that quantitive evaluationof creativity education is fully attained.

2Robot Configuration

A robot is cheap, is strong and is based on handmade. The following robots can makebelow from an one set 1000US dollar. A drive system is a four flower drive all
direction move mechanism. The tire is using the common gear of plastic nature. The
amount of money is cheap because of the tire which used the common gear, theflexibility of the diameter of a tire is high, and an axle part module is made small. The
kick mechanism is using solenoid. For this reason, the strength of kick power can beproperly used by changing charge voltage. Furthermore, it has the dribble mechanism.

Fig.1: Gear Wheel

Fig.2: Motor Driver Board

Main CPU of a robot circuit is using H8. H8 receives the signal from a receiving
module, and takes out the number-of-rotations data of a motor. this -- each object for
motor driver control -- it sends to PIC16F873 by serial communication PIC16F873
are performing PID control for IC L for a drive6203 of a motor from the encoder
output signal of a motor. The frequency synthesizer system which used the feeble
electric wave 300Mhz belt performs the communication method of a receivingmodule. Operating frequency can be arbitrarily chosen at 25Khz step of 314.700315.300Mhz. The maximum data transmission speed is 9.6Kbpses. We use RS232C
for a communication protocol.

3System Configuration

1. A picture server acquires a camera to a picture from global vision.
2. Picture server The position of a ball and a robot is analyzed.
3. Transmit the information on the field to AI server by UDP.
4. AI server determines action of each robot.
5. Distribute action data to each robot using a transmitting machine.

Fig.3: System Configuration

4Soft Ware Description

Software of KIKS It is created by Microsoft Visual C++ 6.0, and operates on
Windows. VisionSystem and AI server of KIKS consist of the framework and User
code. A framework is a common portion used as the base of software, and change is
not needed fundamentally. By preparing it and making easy inclusion of the portion
which is not common, a new developer should create only User codes (raveling, acommunication format, judgment of operation, control, etc.) which become mounting
peculiar to User, and can reduce such a term and a labor to development.

4.1Vision System

Vision System of KIKS operates on Windows and uses one camera (TMC6700madefrom PULNIX- CL) connected by the camera link. This can acquire the picture
information (648Pixelx484Pixel.YCrCb4:2:2 format) on the whole field surface(4.9mx3.9m). Moreover, this camera can take in the picture of 60 sheets in 1 second,and Vision System has sufficient speed to process the picture of only that.Distortionby the lens is contained in the picture obtained from the camera. In Vision System ofKIKS, the righter value can be known about position information at least by applying

the compensation with consideration to distortion of a lens to the coordinates of therobot and ball which were obtained as a result of image processing. The various
information (the position of a ball, an ally robot's position, an angle, and position ofan enemy machine) acquired by processing a picture is sent to AI server by UDP
communication.
4.2

AI server

Fig.4 : Explanation of a module
Some modules with a different role combine and this program is made. There are
View module, UDP receiving module, a RS232C transmitting module, of operation
judgment / control module, etc. as those modules. Each module is exchanging data
through Mediator module.Fig.4
Of operation judgment / control module is using the limited state machine (FSM:Finit
State Machine). Each robot has some states (Shoot, Clear, Blocking, etc.) which
suited the role of a keeper, a defense, and a forward. A robot determines action of
oneself by it being in one state among these states. A robot changes action bychanging in the state where the next differs from the present state according to the war
situation and a command.

5.Conclusion
World convention participation is as a result of prolonged creativity education. By
analyzing the accumulation of an S-A creativity test result over five years, we expectthat the quantitive evaluation of the development of the composition element increativity can be carried out.