ROSE 2011 http://www.rfc1149.net/rose2011 ELECINF344 / ELECINF381 Télécom ParisTech Thu, 22 Sep 2011 12:49:18 +0000 en hourly 1 http://wordpress.org/?v=3.2.1 MB Led Final Video http://www.rfc1149.net/rose2011/2011/06/17/mb-led-final-video/ http://www.rfc1149.net/rose2011/2011/06/17/mb-led-final-video/#comments Thu, 16 Jun 2011 23:05:01 +0000 Cedric LeN http://www.rfc1149.net/rose2011/?p=1850 At last, here comes the ultimate video of MB Led showing off a large panel of its features.

www.youtube.com/watch?v=dxhkEBGJZMA

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At last, here comes the ultimate video of MB Led showing off a large panel of its features.

www.youtube.com/watch?v=dxhkEBGJZMA

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RoseWheel.free.fr http://www.rfc1149.net/rose2011/2011/05/01/rosewheel-free-fr/ http://www.rfc1149.net/rose2011/2011/05/01/rosewheel-free-fr/#comments Sun, 01 May 2011 01:12:25 +0000 drix http://www.rfc1149.net/rose2011/?p=1830 Our awesome video is on the RoseWheel.free.fr home page…

…have a look ;)

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Our awesome video is on the RoseWheel.free.fr home page…

…have a look ;)

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[CASPER] New video http://www.rfc1149.net/rose2011/2011/04/28/casper-new-video/ http://www.rfc1149.net/rose2011/2011/04/28/casper-new-video/#comments Thu, 28 Apr 2011 21:39:55 +0000 Thomas Q http://www.rfc1149.net/rose2011/?p=1825 We posted a new video showing our group performing with casper :

- Video tracking

- Dancing

- Mail fetching

- Vocal commands

 

www.youtube.com/watch?v=P_KPBAyqIzA

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We posted a new video showing our group performing with casper :

- Video tracking

- Dancing

- Mail fetching

- Vocal commands

 

www.youtube.com/watch?v=P_KPBAyqIzA

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TSV Safe Express: remote controlling is possible! http://www.rfc1149.net/rose2011/2011/04/28/tsv-safe-express-remote-controlling-is-possible/ http://www.rfc1149.net/rose2011/2011/04/28/tsv-safe-express-remote-controlling-is-possible/#comments Thu, 28 Apr 2011 08:47:49 +0000 Siwar Rais http://www.rfc1149.net/rose2011/?p=1817 We have yesterday worked on the control of our circuit from a remote server, and we finally could remotely control all lights on the circuit. We could also run our train in both directions, corresponding to the remote program commands.

As we send information about the car position (sensor information), the remote program controls [...]]]> We have yesterday worked on the control of our circuit from a remote server, and we finally could remotely control all lights on the circuit. We could also run our train in both directions, corresponding to the remote program commands.

As we send information about the car position (sensor information), the remote program controls our circuit continuously.

After that, we were facing the problem that the railroad switches weren’t decoding our DCC commands. So we have reprogrammed them. After that some of the railroad switches. Unless the railroad switches aren’t included in our work specification, we try to control them all in order to make a free circulation of our train. Vaibhav and Theodor are concentrating on this part while I am doing the presentation for tomorrow.

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Copterix: a wonderful day http://www.rfc1149.net/rose2011/2011/04/28/copterix-a-wonderful-day/ http://www.rfc1149.net/rose2011/2011/04/28/copterix-a-wonderful-day/#comments Thu, 28 Apr 2011 02:35:46 +0000 Axel http://www.rfc1149.net/rose2011/?p=1813 While Loïc and Bertrand were working on Friday’s presentation slides, Samuel and myself spent the whole day testing our copter’s PID.

We finally found two majors bugs in our code (a motor offset unbalancing the system and a Integral term too often cleared). After that we were able for the first time to get [...]]]> While Loïc and Bertrand were working on Friday’s presentation slides, Samuel and myself spent the whole day testing our copter’s PID.

We finally found two majors bugs in our code (a motor offset unbalancing the system and a Integral term too often cleared). After that we were able for the first time to get a real flight while only acting on the thrust using remote control. We now have to add yaw PID and altitude PID and we may have something really nice to show on Friday.

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IRL: Tweets on the laser and DMX http://www.rfc1149.net/rose2011/2011/04/27/1808/ http://www.rfc1149.net/rose2011/2011/04/27/1808/#comments Wed, 27 Apr 2011 12:39:43 +0000 caroline K http://www.rfc1149.net/rose2011/?p=1808 This morning our armadeus board seemed not to want to work properly. We must repare it or use another one.

DMX

We did our first real tests with the DMX yesterday. We are now able to control a light with our DMX board. The information sent to the light can be modified by [...]]]> This morning our armadeus board seemed not to want to work properly. We must repare it or use another one.

DMX

We did our first real tests with the DMX yesterday. We are now able to control a light with our DMX board. The information sent to the light can be modified by ZigBee. The ZigBee signal will be generated by a daemon on the armadeus which will listen to requests sent through 0MQ. These features are written but we need to get our armadeus back before performing full tests.
Next step is to use data from the database to select which parameters must be send to the light depending on the tweet we want to display.

Displaying tweets on the laser

Yesterday, we finally displayed a tweet retreived in the database on the laser, with a smooth scroll.
The main daemon, in C, starts by querying the oldest validated tweet in the database, then sends the string to a program that converts it to ILDA frames representing the animation of the scrolling text. As this processing is a bit too heavy to be efficiently done on the board, we decided to offload it on Google AppEngine, which offers great performances ! Whenever we do not have access to AppEngine, the processing is done on the board, but it is really slower. A cache mecanism is being implemented. If you want to use this service, you can find a documentation at irlrose2011.appspot.com. For the moment, it is protected by a password because we need to keep the bandwith and CPU time for our own tests.
Then, the result (a series of ilda points) is sent back to the main daemon through a socket, that tranforms these ILDA points in points that will be displayed on the laser, and passes it through a 0MQ socket to the process handling the laser queue.

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MB Led: weld of MB Leds and implementation of a remote http://www.rfc1149.net/rose2011/2011/04/27/mb-led/ http://www.rfc1149.net/rose2011/2011/04/27/mb-led/#comments Wed, 27 Apr 2011 07:55:19 +0000 Guillaume http://www.rfc1149.net/rose2011/?p=1803 During the week end, we welded the MB Leds with Alexis. It was quite long but eventually we have our own blocks.

Benjamin created the remote functionality; It works quite well. If a block turns of 180°, it will be the remote to change the program.

I fixed some problems in the algorithm with [...]]]> During the week end, we welded the MB Leds with Alexis. It was quite long but eventually we have our own blocks.

Benjamin created the remote functionality; It works quite well. If a block turns of 180°, it will be the remote to change the program.

I fixed some problems in the algorithm with the MB Leds and I will continue until the presentation.

After firmware transmission Cédric tried the firmware upgrade already implemented on TP PCB by Benjamin but failed to implement it on MB Led blocks in due time and eventually stopped his work : In fact, we have few time left and we prefer to focus on the presentation. Now, he will work on an animations.

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TSV Safe Express: Big time troubleshooting. http://www.rfc1149.net/rose2011/2011/04/27/tsv-safe-express-big-time-troubleshooting/ http://www.rfc1149.net/rose2011/2011/04/27/tsv-safe-express-big-time-troubleshooting/#comments Wed, 27 Apr 2011 05:30:54 +0000 Theodoros http://www.rfc1149.net/rose2011/?p=1800 Today we have faced numerous problems. The ethernet module causes a crash in our central station and we still haven’t figured out the solution. We also tried to connect all card’s (6 captor-6 traffic lights cards) to our main station and they failed to join our the network. As Alexis consulted us to do, [...]]]> Today we have faced numerous problems. The ethernet module causes a crash in our central station and we still haven’t figured out the solution. We also tried to connect all card’s (6 captor-6 traffic lights cards) to our main station and they failed to join our the network. As Alexis consulted us to do, we lowered the baud rate of the CAN bus so that problem is solved. All cards join the network and  CAN baud rate now is configured at 125kbp/s.

Regarding the communication of the server with the train we were able to track the position of the train and send it to the server. Our goal now is to remotely control lights and train, and we are working on it.

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Copterix : battery problem http://www.rfc1149.net/rose2011/2011/04/27/copterix-battery-problem/ http://www.rfc1149.net/rose2011/2011/04/27/copterix-battery-problem/#comments Wed, 27 Apr 2011 00:23:49 +0000 Loïc http://www.rfc1149.net/rose2011/?p=1797 Last days, we spent plenty of time understanding why we had so much problems.

It started yesterday evening: our motors weren’t responding to our commands. After long hours debugging with an oscilloscope, we finally succeed in making them work again, but we didn’t find any rational explanation of this problem.

Today, as we wanted [...]]]> Last days, we spent plenty of time understanding why we had so much problems.

It started yesterday evening: our motors weren’t responding to our commands. After long hours debugging with an oscilloscope, we finally succeed in making them work again, but we didn’t find any rational explanation of this problem.

Today, as we wanted to test graphical logs of copter flights, we experimented big problems again. After having taken advices from our professors, we added some improvements to our code: we improved our scripts, added locks on processes to avoid multiple instances of them… Finally, we found the problem which was making us mad. One of our battery has a big problem: it seems it can’t deliver enough power to the motors, what gives our copter a very strange behaviour.

We now have the same conditions of work than a few days earlier, but with a better work environment. We are going to spend next day intensively working on the stabilization and the command of our copter, we hope this will be easier than the days we just passed through.

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[Casper] Face tracking http://www.rfc1149.net/rose2011/2011/04/26/casper-face-tracking/ http://www.rfc1149.net/rose2011/2011/04/26/casper-face-tracking/#comments Tue, 26 Apr 2011 10:36:47 +0000 Alain http://www.rfc1149.net/rose2011/?p=1790 We now have our face tracking algorithm running on BeagleBoard. Since a tracking only based on face detection was to slow and not very intuitive (you always have to look the camera), we decided to use a blob tracking algorithm, which we initialize with the face detection algorithm.

First, Casper looks for a face. [...]]]> We now have our face tracking algorithm running on BeagleBoard. Since a tracking only based on face detection was to slow and not very intuitive (you always have to look the camera), we decided to use a blob tracking algorithm, which we initialize with the face detection algorithm.

First, Casper looks for a face. When it finds one, it learns the associated color histogram. After what it tracks the histogram (with the OpenCV Camshift function), for a few tens of frames. If it does not find a face again during the blob tracking, it stops at the end of the frames. Otherwise, it keeps tracking the « blob » face.

We adopt a multithread program : a thread looks for a face every second, and a thread is responsible for blob tracking when a face is found. The first thread is used to set a counter which is decremented by the second thread.

www.youtube.com/watch?v=ELzY4lmkWz4

 

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[CASPER] can fetch and store mails http://www.rfc1149.net/rose2011/2011/04/26/casper-can-fetch-and-store-mails/ http://www.rfc1149.net/rose2011/2011/04/26/casper-can-fetch-and-store-mails/#comments Tue, 26 Apr 2011 10:29:54 +0000 Thomas Q http://www.rfc1149.net/rose2011/?p=1791 We made some improvements in our mail fetcher. Now, it’s able to fetch mails from most mail server ( pop3, secured or not). It can fetch the last mail received and store its content and subject into a file, so it can be read by our text-to-speach engine.

Moreover, we had the mail fetcher [...]]]> We made some improvements in our mail fetcher. Now, it’s able to fetch mails from most mail server ( pop3, secured or not). It can fetch the last mail received and store its content and subject into a file, so it can be read by our text-to-speach engine.

Moreover, we had the mail fetcher work in the Beagleboard.

As a reminder, we are using the C++ library Vmime 0.9.1.

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Soutenances des projets 2011 : vendredi 29 avril après-midi http://www.rfc1149.net/rose2011/2011/04/26/soutenances-des-projets-2011-vendredi-29-avril-apres-midi/ http://www.rfc1149.net/rose2011/2011/04/26/soutenances-des-projets-2011-vendredi-29-avril-apres-midi/#comments Tue, 26 Apr 2011 10:11:32 +0000 Samuel Tardieu http://www.rfc1149.net/rose2011/?p=1785 Les soutenances des projets de ROSE 2011 auront lieu vendredi 29 avril 2011 de 13h30 à 17h30 environ au foyer des élèves de Télécom ParisTech. Les soutenances sont publiques et l’accès se fait par le 53 rue Vergniaud.

Au menu cette année : un train électrique, un octocoptère, un laser qui joue des animations [...]]]> Les soutenances des projets de ROSE 2011 auront lieu vendredi 29 avril 2011 de 13h30 à 17h30 environ au foyer des élèves de Télécom ParisTech. Les soutenances sont publiques et l’accès se fait par le 53 rue Vergniaud.

Au menu cette année : un train électrique, un octocoptère, un laser qui joue des animations et récupère les tweets pendant une soirée, un robot trompe qui suit son maître, un clone de segway amélioré, des nouveaux glips.

 

Venez nombreux !

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[CASPER] has a new body http://www.rfc1149.net/rose2011/2011/04/26/casper-has-a-new-body/ http://www.rfc1149.net/rose2011/2011/04/26/casper-has-a-new-body/#comments Tue, 26 Apr 2011 09:28:20 +0000 Thibault http://www.rfc1149.net/rose2011/?p=1775 Yesterday, we started to prepare our robot’s external appearance for the final presentation.

We replaced the robot’s elements with new elements in plexiglas that we manufactured ourselves, during the afternoon.

You can see below the robot’s arm assembled:

Yesterday, we started to prepare our robot’s external appearance for the final presentation.

We replaced the robot’s elements with new elements in plexiglas that we manufactured ourselves, during the afternoon.

You can see below the robot’s arm assembled:

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IRL is reaching its final rush to the last presentation. http://www.rfc1149.net/rose2011/2011/04/26/irl-is-reaching-its-final-rush-to-the-last-presentation/ http://www.rfc1149.net/rose2011/2011/04/26/irl-is-reaching-its-final-rush-to-the-last-presentation/#comments Tue, 26 Apr 2011 07:59:20 +0000 caroline K http://www.rfc1149.net/rose2011/?p=1769 ILDA and Web app
Since the last post we did a lot of tests in real situation, namely with several programs running on the board. We deemed that the operation to translate a text to an ILDA animation tends to be far too slow that’s why we decided to rely on a web [...]]]>
ILDA and Web app
Since the last post we did a lot of tests in real situation, namely with several programs running on the board. We deemed that the operation to translate a text to an ILDA animation tends to be far too slow that’s why we decided to rely on a web app based on the google appengine api for Python. Yesterday, we turned words into action and started to create the web app and a proxy in the card to query the webapp or in case of a failure, redirect request to the embedded slow instance of the program. We did deploy the web app on appspot.com and our first tests tend to confirm that the service is accelerated by a factor of 30 to 60 depending on the load of the board. We did realize a website to present our restfull API to that webapp and we will put it online as soon as possible.

Website
As far as website are concerned, we want to introduce our brand new website. Feel free to comment or share any kind of feedback.

FPGA
We hunted some bugs in our code and yet it works better and we don’t intend to make any kind of fix on it till the presentation.

DMX and additional board
We have contacted TSM and we will be able to try our code with real equipments.
We can communicate with our additional board via Zigbee. We have now to connect this feature with the other parts of the project with 0MQ.

Software FIFO
Our software fifo works, we are putting all the pieces together to make our « driver/conductor/leader » module which will manage all the features of the project.
Today we’ll stick the pieces, it’s a milestone !

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TSV Safe Express: Demystifying Conundrums http://www.rfc1149.net/rose2011/2011/04/26/tsv-safe-express-demystifying-conundrums/ http://www.rfc1149.net/rose2011/2011/04/26/tsv-safe-express-demystifying-conundrums/#comments Tue, 26 Apr 2011 02:20:17 +0000 Vaibhav Singh http://www.rfc1149.net/rose2011/?p=1762 During the last two days, we have faced a lot of problems with the sensors of the track. We had two types of interrupts that were causing us problems:-
1. Debouncing Interrupts
2. Fake Interrupts

Problem: We have configured STM32 GPIO ports to Internal Pull-Up. All our sensors cards are powered [...]]]> During the last two days, we have faced a lot of problems with the sensors of the track. We had two types of interrupts that were causing us problems:-
1. Debouncing Interrupts
2. Fake Interrupts

Problem: We have configured STM32 GPIO ports to Internal Pull-Up. All our sensors cards are powered by the Central Station Card through the CAN bus. We observed that there is some kind of parasitic signal that comes from the booster towards our Central Station which produces a glitch in the power towards the Nodes (Sensors card in this case). Due to this glitch in power, the GPIO ports which were pulled high become low and thus Fake Interrupts are produced. Thanks to Alexis who stayed till 5 in the morning to help us debug the problem.

The first one was solved by making sure that the any interrupts (that is not fake) from the sensors is processed only if there is atleast a gap of 100ms since the last time it was called. For the second one, which is more tricky, we use a simple method (a FreeRTOS task) which checks for glitches. This method was proposed by Samuel and we thank him for assisting with our software.

Right now, we are trying to do all the mapping of Reed Sensors and Lights to the XML Layout of the track. This is required as the central station needs to talk to server giving him with sensor input.

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Wireless RoseWheel http://www.rfc1149.net/rose2011/2011/04/25/wireless-rosewheel/ http://www.rfc1149.net/rose2011/2011/04/25/wireless-rosewheel/#comments Mon, 25 Apr 2011 04:34:27 +0000 florian http://www.rfc1149.net/rose2011/?p=1753 After a long night of debugging, we finally managed to make the bluetooth working.  We are now able to send instruction and receive information from RoseWheel through the bluetooth interface using minicom on a laptop. We are also able to pair with an Android smartphone but we haven’t been able to verify the data [...]]]> After a long night of debugging, we finally managed to make the bluetooth working.  We are now able to send instruction and receive information from RoseWheel through the bluetooth interface using minicom on a laptop. We are also able to pair with an Android smartphone but we haven’t been able to verify the data transmission yet. We are still working on the Android application, but hopefully tomorrow we will be able to start our first tests of wireless communication with RoseWheel.

We also tested the  range of the Bluetooth with the transmitter inside the chassis and we received the signal from a distance of approximately 10 meters with two walls in between.

We started the implementation of the human-interface board. We have found a big LCD driven by the same controller as the one of our laboratory boards. We plan to use it to display information to the user directly on the handlebars, such as the engine power, battery level and the current angle measured by the sensors. As we are going to place the LCD vertically we had to rewrite a new set of characters made to be displayed in this orientation.

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Copterix: Flight in the complex http://www.rfc1149.net/rose2011/2011/04/25/copterix-flight-in-the-complex/ http://www.rfc1149.net/rose2011/2011/04/25/copterix-flight-in-the-complex/#comments Mon, 25 Apr 2011 00:27:52 +0000 Bertrand Chazot http://www.rfc1149.net/rose2011/?p=1741 Today, we went to the complex, a more spacious room than the one where we used to do our tests. The tests were quite conclusive. We were able to do some « landing » (the copter was caught by Axel near the floor because of turbulences caused by the proximity of this obstacle). With more power [...]]]> Today, we went to the complex, a more spacious room than the one where we used to do our tests. The tests were quite conclusive. We were able to do some « landing » (the copter was caught by Axel near the floor because of turbulences caused by the proximity of this obstacle). With more power to the motors, we made the copter stay longer in the air, about 10/20 seconds (sadly, it wasn’t filmed).

www.youtube.com/watch?v=jtBNTa4ZoLs

We also used the remote to control the trust and the setpoint of the PID. It will need some software adjustments since it is still to brutal and rather hard to use.

Tomorrow, we’ll restore height control in our PID and see how much the copter drifts. This drift shall be corrected with the remote.

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Copterix: some reflexions about Kanade http://www.rfc1149.net/rose2011/2011/04/25/copterix-some-reflexions-about-kanade/ http://www.rfc1149.net/rose2011/2011/04/25/copterix-some-reflexions-about-kanade/#comments Mon, 25 Apr 2011 00:25:52 +0000 Axel http://www.rfc1149.net/rose2011/?p=1740 After having spent hours focusing on our PID into the Télécom ParisTech’s dancing room, we joined Télécom Robotic’s room in order to work on our implementation of Lucas and Kanade algorithm, because of a giant chessboard in green and red, perfect for image processing. We fixed Copterix in the air using some strings, and [...]]]> After having spent hours focusing on our PID into the Télécom ParisTech’s dancing room, we joined Télécom Robotic’s room in order to work on our implementation of Lucas and Kanade algorithm, because of a giant chessboard in green and red, perfect for image processing. We fixed Copterix in the air using some strings, and started test, with or without threshold, and it wasn’t really efficient…
We thought a moment about using ‘unfisheye’ opencv’s algorithm (see joined photo to understand why we wanted to use it), but it took 0.6 seconds per frame on our Gumstix…

Fisheye

What our camera actually sees: we can observe a 'fisheye' effect

Then we stopped and decided we should decide exactly how, even if it worked, Lucas and Kanade would help us to correct Copterix’s drift.
As we have 10 frames per second when processing the algorithm, it will be really difficult to determine in real time if we actually corrected the drift whenever we would want to correct it, and that is why we imagined the following algorithm:

  1. wait for Copterix to be horizontal (pitch and yaw < epsilon)
  2. take a reference picture and search the good features to track on it (quite heavy operation)
  3. while Copterix is horizontal (pitch and yaw < epsilon)
  4. ____take a picture, compare it with reference
  5. ____if not horizontal (pitch and yaw >= epsilon)
  6. ______wait for Copterix to be horizontal (pitch and yaw < epsilon)
  7. ______go to 3.
  8. ____if drift is big enough (move size > threshold)
  9. ______go to 12.
  10. ____if we don’t find enough features to track
  11. ______go to 1.
  12. ask PID to incline Copterix toward the good direction (we have to decide an angle)
  13. wait a chosen time (we have to be over-precise on this data)
  14. ask PID to set Copterix horizontal
  15. go to 1.

The real difficulty of this algorithm is that it infers we do own a powerful and precise PID, able to remain horizontal most of the time, and to follow an order in the better and faster possible way, which is of course not true.

That is why we are now considering the fact that we may not have time to have a excellent PID AND implement such a precise algorithm; we will talk about it tomorrow with our teachers.

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RoseWheel now detects obstacles. http://www.rfc1149.net/rose2011/2011/04/24/rosewheel-now-detects-obstacles/ http://www.rfc1149.net/rose2011/2011/04/24/rosewheel-now-detects-obstacles/#comments Sun, 24 Apr 2011 13:33:42 +0000 florian http://www.rfc1149.net/rose2011/?p=1726 Yesterday we finished to implement the drivers for both the distance sensors: the infrared and the ultrasonic one. They actually work better than expected as their detection cones are a little thinner than expected.

At last, Rosewheel will come with 2 infrared sensors and 1 ultrasonic sensor. The infrared sensors will be used to [...]]]> Yesterday we finished to implement the drivers for both the distance sensors: the infrared and the ultrasonic one. They actually work better than expected as their detection cones are a little thinner than expected.

At last, Rosewheel will come with 2 infrared sensors and 1 ultrasonic sensor. The infrared sensors will be used to detect falls and ravines whereas the ultrasonic sensor will be used to detect obstacles.

It’s not possible to link the sensors to the mainboard with a wire longer than 15cm, we will not be able to place them on the top of the handlebars to detect ravines as we previously thought. But, given the fact that the detection cone of the infrared sensor is really thinner than expected we finally conclude that we will have a sufficient range to detect ravines with sensors place on the chassis basis.

Indeed, we need a range of detection long enough as even if it could sound a bit counter-intuitive, to stop, Rosewheel needs to accelerate so that it could place back its center of gravity upright the wheels axis and then stop.

For the obstacles detection, we will use the ultrasonic sensor placed right in the middle of the chassis, with a slight upward inclination so that it doesn’t take the floor as an obstacle. As the range of detection is up to 4 meters, it will generate errors with long distance obstacles that aren’t actually on RoseWheel’s path. Thus, we have to handle only the detection of obstacles that are closer than 4 meters. We haven’t yet defined this range but we will have a clearer idea during the tests.

To be continued.

 

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Copterix: Lucas and Kanade http://www.rfc1149.net/rose2011/2011/04/24/copterix-lucas-and-kanade/ http://www.rfc1149.net/rose2011/2011/04/24/copterix-lucas-and-kanade/#comments Sun, 24 Apr 2011 00:32:16 +0000 Samuel Mokrani http://www.rfc1149.net/rose2011/?p=1716 Today, we began to write some articles for the website and we mainly worked on Lucas and Kanade algorithm. We did some tests and we have some good results when the camera is recording pictures from the ceiling, but we have bad results when they are from the floor. Here is some illustrations:These pictures represent the evolution of the helicopter movement (x and y). The first picture was taken when the camera was watching the floor held by Loïc. We cannot distinguish a good evolution of the motion.

For the second picture, the camera was oriented to the ceiling. The copter was put on a table that we could move. The first peak represents a slow movement in one direction and a fast movement in the opposite direction. The second peak represents the same experiment with the introduction of some manual oscillations.

Tomorrow, in order to solve these problems, we will first of all apply a low pass filter and we will try to use a draughtboard on the floor with a good lighting.

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