Chloe: Chess Robot

1
Chloe Chess Robot

• BAM Applications
• Shawn Domer, Rachel Kurschat, Jacqui Wagner,
  Robert Withrow, and Kurt Witkowski
• Advisor Dr. L.D. Thede

2
Introduction

• Problem Statement
• Constraints
• Project Chloe
• Cost Analysis
• Demonstration

3
Problem Statement

• To design and implement an automated
• chess playing machine, named Chloe, to
• be used as an educational or
• instructional tool to aid in learning of
• image processing, chess algorithms, and
• robotic control.

4
Constraints

• Relevant
• Sustainability
• Manufacturability
• Economics
• Health and Safety
• Environmental

• Irrelevant
• Social
• Political
• Ethical

5
Control System

• Handles flow of control with output files
• Chess algorithm outputs a move for the robot to
  the data file because the robot always moves
  first.
• Robot reads the move and executes it. When
  complete, it writes done to a data file.
• When done is activated, the robot waits for
  user to move.
• When a move is detected, it is stored in the data
  file.
• Chess algorithm reads the move and computes the
  next move.
• Process repeats until checkmate occurs.

6
Vision System

• Specs
• Windows application
• Purchased camera C/C libraries from the camera
  manufacture, EPIX
• Camera interface is written in C/C code
• Image processing software is written in C code
• Algorithm
• Reads images as color, then converts to black and
  white for easier comparison.
• Reads images as a byte array and splits into an
  array of 64 groups of bytes that corresponds to
  the 64 positions on the chess board.
• Compares the new picture of the 64 blocks to the
  old picture of the 64 blocks to find a move.

7
Chess Algorithm

• Specs
• MS-DOS application
• Chess algorithm is written in C code
• Enable a user to play a full game of chess
• Include 11 different timer configurations and 10
  difficulty levels
• Algorithm
• Reads user moves from an input file in .lst
  format produced by the vision system.
• Displays computer moves on the screen and in an
  output file in .lst format.
• Moves are entered using standard algebraic
  notation (e.g. b2b4).

8
Robotic Arm

• Serial Port Communication Specs
• Baud rate 9600
• Parity even
• Stop bits 2
• Data bits 7
• COMPORT1
• Algorithm
• Receives information about the next move from GNU
  chess.
• Moves the chess pieces on the chess board and
  moves captured pieces off the board, if
  necessary.
• Sends information back to the control system
  telling it the move was completed.

9
Cost Analysis

• Vision System
• Camera
• 1620.00
• C/C XCAP Libraries
• 500
• Robotic Arm
• 3500.00
• Chess Algorithm
• shareware

10
Demonstration
11
Demonstration
12
Conclusion

• Problem Statement
• Constraints
• Project Chloe
• Cost Analysis
• Demonstration

13
Questions?