Long, Qiaoxi. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2011. / Includes bibliographical references. / Abstracts in English and Chinese. / Abstract --- p.2 / 摘要 --- p.3 / Table of Contents --- p.4 / Acknowledgements --- p.6 / List of Figures --- p.7 / List of Tables --- p.9 / Chapter Chapter 1 --- Introduction --- p.10 / Chapter 1.1 --- Robot Soccer --- p.10 / Chapter 1.2 --- IRIP and IRIS --- p.11 / Chapter 1.3 --- Motivation and Literature Review --- p.14 / Chapter 1.4 --- Technical issues and Contributions --- p.15 / Chapter 1.5 --- Thesis Outline --- p.16 / Chapter Chapter 2 --- The IRIS system --- p.17 / Chapter 2.1 --- Hardware setup --- p.17 / Chapter 2.2 --- Software architecture --- p.21 / Chapter Chapter 3 --- Internet Accessibility --- p.26 / Chapter Chapter 4 --- Auto-charging --- p.32 / Chapter 4.1 --- Hardware setup --- p.33 / Chapter 4.2 --- Communication --- p.36 / Chapter 4.3 --- Vision --- p.41 / Chapter 4.4 --- Motion control --- p.44 / Chapter 4.4.1 --- APF --- p.44 / Chapter 4.4.2 --- CRC --- p.50 / Chapter 4.5 --- Processing Schemes --- p.51 / Chapter Chapter 5 --- Auto-Scoring and Auto-Judging --- p.56 / Chapter 5.1 --- Auto-scoring --- p.56 / Chapter 5.2 --- Auto-judging --- p.57 / Chapter 5.3 --- Judge robot --- p.59 / Chapter Chapter 6 --- Experimental Results --- p.63 / Chapter Chapter 7 --- Conclusions --- p.69 / Chapter 7.1 --- Summary --- p.69 / Chapter 7.2 --- Future work --- p.70 / Appendix A --- p.72 / Bibliography --- p.73