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1 1 2013/11/29 Project based Learning: Soccer Agent Program

2 1 2012/12/9 Project based Learning: Soccer Agent Program

3 PBL Learning by doing

4 Schedule 1, /29 Make / / / /10, /24 ( ) /31

5 Schedule 3, /9 Make / / / /23, /27 ( ) /3

6 RoboCup

7 RoboCup

8 2D 1997

9 ....

10 ogiwiki/wiki.cgi/lec2009

11 Example lecture/pbl2009a/demo.swf RoboCup2012 Mexico City Soccer Simulation 2D League Final Match. HELIOS2011 (Fukuoka University, Osaka Prefecture University, Japan) vs. WrightEagle (University of Science and Technology of China, China)

15 (Exercises)

16 An agent is anything that can be viewed as perceiving its environment through sensors and acting upon that environment through effectors. (Russell & Norvig, 1995)

18 float root(float A, float B, float C) { /* A*x*x + B*x + C = 0 */ float discriminant = B*B - 4*A*C;// if (discriminant < 0) printf("error: discriminant is less than zero."); return (-B + sqrt(discriminant)) / (2*A); }

20 Programming an agent is different Agent program: Perceive Act Think

21 int main() { ecobe_init( "testecobe" ); while (ecobe_update()) {... ecobe_flush(); } ecobe_close(); }

22 UNIX ~takayuki/unix.html emacs

23 Unix ( )

24 Unix )

25 hellotest emacs hello.c #include <stdio.h> int main(void) { prin9( Hello World ); return 0; }

26 bin bin hello

27 Unix

28 5 which ls ls which hello 6 bin $PATH export PATH=$PATH:~/bin ( ~ 7. echo $PATH which hello hello

29 Unix

30 8. hellotest sleeptest.c #include <stdio.h> int main(void) { sleep(10); prin9( Hello World ); return 0; } 9. killall

31 Exercises 1. agent 2. 3.

32 1).profile 2 export PATH=$PATH:/home/toyonaka/share/rc/bin export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:./ source ~/.profile 2) mkdir ~/.rcssserver cp /home/toyonaka/share/rc/share/server.conf ~/.rcssserver/ 3) rcsoccersim & 4) rcssclient

33 Exercises 1. first.c agent 2. #include "cinterface.h" int main() { ecobe_init( "happyteam" ); while (ecobe_update()) { ecobe_set_velocity(2,2); ecobe_flush(); } ecobe_close(); } 3. 4.

34 Makefile It allows creating dependency rules for controlling automatic compilation

35 Makefile 1- Makefile lecture/pbl2009a/makefile 2- Makefile 3- first make first CC=gcc LFLAGS=-lpthread DEPS = ecobetrilearn.so %: %.c $(DEPS) $(CC) -o $@ $^ $(LFLAGS)

36 Vector Arithmetics A/2 Vectors are relative Sum Subtract Scale Unit vector: V / V A 2A unit(a) A+B B A -B for any V, always: unit(v) = 1 A-B

37 Vector Arithmetics Example 1: can kick if Vrb < dr+db rr Vrb rb

38 Kicking to goal Task: compute V in the C program Download A A/2 C Vrgl B Vrgr rb D rb = rr = 0.3 A= Vrgr - Vrgl Vrb V B= Vrgl + A/2 C= B - Vrb D= unit(c) rr V= Vrb + D

39 cinterface.h struct strct_vector { float length; float angle; }; struct strct_robot { int id; struct strct_vector position; }; struct strct_goal { struct strct_vector pole1; struct strct_vector pole2; }; int ecobe_init(char *team_name); void ecobe_close(); int ecobe_update(); void ecobe_flush();

40 cinterface.h /* sum(p1,p2) returns the sum of two given vectors p1 and p2 * */ struct strct_vector ecobe_sum(struct strct_vector p1, struct strct_vector p2); struct strct_vector ecobe_subtract(struct strct_vector p1, struct strct_vector p2); /* scale: * scales a strct_vector by multiplying it's lenght with a float scale value */ struct strct_vector ecobe_scale(struct strct_vector p, float scalar); /* normalize: * normalizes a strct_vector by setting it's lenght to 1 */ struct strct_vector ecobe_unit(struct strct_vector p); /* get_ballpos: * gives you a vector pointing towards the ball */ struct strct_vector ecobe_get_ballpos(); struct strct_goal ecobe_get_leftgoal(); struct strct_goal ecobe_get_rightgoal();

41 Exercise 1 exercise-1.pdf

42 Exercise 2, 3

2) TA Hercules CAA 5 [6], [7] CAA BOSS [8] 2. C II C. ( 1 ) C. ( 2 ). ( 3 ) 100. ( 4 ) () HTML NFS Hercules ( )

2) TA Hercules CAA 5 [6], [7] CAA BOSS [8] 2. C II C. ( 1 ) C. ( 2 ). ( 3 ) 100. ( 4 ) () HTML NFS Hercules ( ) 1,a) 2 4 WC C WC C Grading Student programs for visualizing progress in classroom Naito Hiroshi 1,a) Saito Takashi 2 Abstract: To grade student programs in Computer-Aided Assessment system, we propose