<div dir="ltr"><span id="docs-internal-guid-c30f05b3-1627-034e-218a-f9629dfd556a"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Dear SPL</span></p><br><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Based upon the B-Human code release license, hereby the announcement of using B-Human Code Release 2013 & 2014 is made. Besides, MRL modifications and contributions are listed below.</span></p><br><ul style="margin-top:0pt;margin-bottom:0pt"><li dir="ltr" style="list-style-type:disc;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">BEHAVIOR CONTROL</span></p></li><ul style="margin-top:0pt;margin-bottom:0pt"><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Behavior Structure</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Path Planning and Obstacle Avoidance</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Ball Manipulation Actions</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Kick Action</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap">Adaptive Game Planner </span></p></li><ul style="margin-top:0pt;margin-bottom:0pt"><li dir="ltr" style="list-style-type:square;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">GUI Interface for game strategy and planning manipulation</span></p></li><li dir="ltr" style="list-style-type:square;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Dynamic Role/Post Assignment</span></p></li><li dir="ltr" style="list-style-type:square;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Team Coordination & Synchronization</span></p></li><li dir="ltr" style="list-style-type:square;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Pass Planner</span></p></li></ul><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Accurate kick Range </span></p></li></ul><li dir="ltr" style="list-style-type:disc;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">VISION</span></p></li><ul style="margin-top:0pt;margin-bottom:0pt"><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Robot Perception</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Modifications in Ball </span><span style="font-size:14.6666669845581px;line-height:20.2399997711182px;white-space:pre-wrap;background-color:transparent">Perception</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Landmark and Line </span><span style="font-size:14.6666669845581px;line-height:20.2399997711182px;white-space:pre-wrap;background-color:transparent">Perception</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Goal </span><span style="font-size:14.6666669845581px;line-height:20.2399997711182px;white-space:pre-wrap;background-color:transparent">Perception</span></p></li></ul><li dir="ltr" style="list-style-type:disc;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">LOCALIZATION & MODELING</span></p></li><ul style="margin-top:0pt;margin-bottom:0pt"><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Localization (Self Locator)</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Ball Model (Ball Locator)</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">World Model Structure</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Obstacle Model</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Field Model</span></p></li><li dir="ltr" style="list-style-type:circle;font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;background-color:transparent"><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Combined World Model</span></p></li></ul></ul><br><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;white-space:pre-wrap;background-color:transparent">The contribution of B-Human team to SPL is kindly appreciated by us. It’s also apologized due to late announcement. In fact, as a result of some technical problems related to purchasing new robots, our presence in ongoing RoboCup competitions was not certain till the recent days.</span></p><br><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Hope to see you all in China</span></p><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;white-space:pre-wrap;background-color:transparent">Mohammad Zakeri</span></p><p dir="ltr" style="line-height:1.38;margin-top:0pt;margin-bottom:0pt"><span style="font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;white-space:pre-wrap;background-color:transparent">MRL-SPL</span></p><div><span style="font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;white-space:pre-wrap;background-color:transparent"><br></span></div><div><span style="font-size:14.6666666666667px;font-family:Arial;color:rgb(0,0,0);vertical-align:baseline;white-space:pre-wrap;background-color:transparent"><br></span></div></span><div><div class="gmail_signature"><div dir="ltr"><div><div dir="ltr"><font size="1"><span style="font-style:italic">Mohammad Ali Zakeri</span><i><br>Motion & Control Group - NAO Lab<br style="font-style:italic"></i><span style="font-style:italic">Biped Div., Mechatronics Research Laboratory,</span> <span style="font-style:italic">Qazvin Azad University,</span></font><font size="2"><font size="1"><span style="color:rgb(0,0,255)"><i><span><span><span><span><span><span style="font-style:italic"><span style="color:rgb(0,0,255)"></span></span></span></span></span></span></span><u><span><span><span><span><span><span style="font-style:italic"><span style="color:rgb(0,0,255)"><br></span></span></span></span></span></span></span></u><a href="http://mrl-spl.ir/" target="_blank">http://mrl-spl.ir/</a></i></span></font><br></font><span style="font-size:18px"><span style="font-weight:bold"><span style="font-style:italic"></span></span></span></div></div></div></div></div>
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