From: Petter Reinholdtsen Date: Fri, 12 Mar 2004 11:54:09 +0000 (+0000) Subject: Add more files from www.student.uit.no. X-Git-Url: https://pere.pagekite.me/gitweb/homepage.git/commitdiff_plain/25dca6c445168802eb3bd062f40cfef5a3bd6962 Add more files from www.student.uit.no. --- diff --git a/BeOS/beos-boot-floppy.img b/BeOS/beos-boot-floppy.img new file mode 100644 index 0000000000..731f0e14d8 Binary files /dev/null and b/BeOS/beos-boot-floppy.img differ diff --git a/RoBIOS/RoBIOS_3.1.html b/RoBIOS/RoBIOS_3.1.html new file mode 100644 index 0000000000..575ce5a305 --- /dev/null +++ b/RoBIOS/RoBIOS_3.1.html @@ -0,0 +1,663 @@ + + +Timing of RoBIOS functions + + + +

+

Timing of RoBIOS functions

+

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
AUDIO functions
+Tested on Robot A (1) Running RoBIOS version 3.1 with Eyecam at 35.7 Mhz +
Function(parameters)microseconds per callNumber of calls per second
AUBeep()102774.929.73
AUCaptureMic()17.6956529.37
AUCheckRecord()5.68176182.97
AUCheckSample()5.68176182.75
AUCheckTone()5.68176182.97
Camera functions
+Tested on Robot A (1) Running RoBIOS version 3.1 with Eyecam at 35.7 Mhz +
Function(parameters)microseconds per callNumber of calls per second
CAMGet(&i,&h,&s)12.9477265.34
CAMGetColFrame(&cimg, 0)265957.453.76
CAMGetColFrame(&cimg, 1)265957.453.76
CAMGetFrame(&img)265957.453.76
CAMMode(AUTOBRIGHTNESS)265957.453.76
CAMSet(0,0,0)6.74148428.43
CAMSet(127,127,127)7.60131507.11
CAMSet(255,255,255)7.60131506.99
Camera functions
+Tested on Robot Gavin (4) Running RoBIOS version 3.1 with Color Quickcam at 35.7 Mhz +
Function(parameters)microseconds per callNumber of calls per second
CAMGet(&i,&h,&s)14.9966707.10
CAMGetColFrame(&cimg, 0)641025.641.56
CAMGetColFrame(&cimg, 1)645161.291.55
CAMGetFrame(&img)10.4995318.80
CAMMode(AUTOBRIGHTNESS)9.96100439.42
CAMSet(0,0,0)14.3469726.90
CAMSet(127,127,127)14.8267466.27
CAMSet(255,255,255)14.8267466.27
Key functions
+Tested on Robot A (1) Running RoBIOS version 3.1 with Eyecam at 35.7 Mhz +
Function(parameters)microseconds per callNumber of calls per second
KEYRead()442.002262.44
LCD functions
+Tested on Robot Gavin (4) Running RoBIOS version 3.1 with Color Quickcam at 35.7 Mhz +
Function(parameters)microseconds per callNumber of calls per second
LCDArea(1,1,2,2,1)246.884050.59
LCDArea(1,1,2,2,2)251.223980.52
LCDArea(1,1,32,32,1)58241.1217.17
LCDArea(1,1,64,64,1)14.5468781.05
LCDArea(1,1,8,8,1)3658.18273.36
LCDArea(1,1,8,8,2)3669.05272.55
LCDCPutGraphic(&cimg1)21253.9947.05
LCDClear()56242.9717.78
LCDGetPixel(1,1)41.8223914.52
LCDInvertPixel(1,1)56.9617556.31
LCDLine(1,1,1,64,1)16.0662275.91
LCDLine(1,1,1,64,2)16.0662275.91
LCDLine(1,1,32,32,1)1896.67527.24
LCDLine(1,1,64,1,1)3714.16269.24
LCDLine(1,1,64,1,2)3716.64269.06
LCDLine(1,1,64,64,1)16.0662275.91
LCDMenu("one","two","thre","four")1533.81651.97
LCDMenuI(1,"one")428.092335.98
LCDMenuI(2,"two")428.092335.98
LCDMenuI(3,"thre")428.722332.51
LCDMenuI(4,"four")428.722332.51
LCDMode(CURSOR)15.4464769.39
LCDMode(SCROLLING)15.0266585.96
LCDPutChar(c)520.601920.87
LCDPutGraphic(&img1)13259.0875.42
LCDPutHex(i)4250.07235.29
LCDPutHex1(i)1063.33940.44
LCDPutImage((BYTE*)img1)6275.10159.36
LCDPutInt(i)4260.94234.69
LCDPutIntS(i,6)4254.23235.06
LCDPutString("Testing\n")7889.55126.75
LCDSetChar(1,1,c)127.877820.14
LCDSetChar(10,10,c)127.877820.14
LCDSetPixel(1,1,0)59.9916669.56
LCDSetPixel(1,1,1)57.9217265.44
LCDSetPixel(1,1,2)59.8816701.46
LCDSetPos(0,0)52.6019010.74
LCDSetPos(5,5)52.6019010.74
LCDSetString(1,1,"Testing\n")694.031440.87
LCDSetString(10,10,"Testing\n")695.291438.25
OS functions
+Tested on Robot Gavin (4) Running RoBIOS version 3.1 with Color Quickcam at 35.7 Mhz +
Function(parameters)microseconds per callNumber of calls per second
OSEnable()4.02248667.85
OSGetVar(SYSSAVEVAR7)10.2697423.69
OSMachineID()3.15317460.32
OSMachineName()3.26306526.10
OSMachineSpeed()3.15317460.32
OSMachineType()4.05246913.58
OSPutVar(SYSSAVEVAR7, k)12.5779543.14
OSVersion()2.95338577.37
PSD functions
+Tested on Robot Gavin (4) Running RoBIOS version 3.1 with Color Quickcam at 35.7 Mhz +
Function(parameters)microseconds per callNumber of calls per second
PSDCheck()3.04329218.11
PSDGet(handle)11.9583665.35
PSDGetRaw(handle)10.8891874.24
Timer functions
+Tested on Robot Gavin (4) Running RoBIOS version 3.1 with Color Quickcam at 35.7 Mhz +
Function(parameters)microseconds per callNumber of calls per second
OSGetCount()3.15317460.32
OSGetTime(&hrs, &mins, &secs, &ticks)11.1989342.69
OSSetTime(hrs, mins, secs)7.45134180.79
OSShowTime()24283.6341.18
OSWait(0)10.6693808.63
OSWait(1)10000.00100.00
Image Processing Functions
+Tested on Robot A (1) Running RoBIOS version 3.1 with Eyecam at 35.7 Mhz +
Function(parameters)microseconds per callNumber of calls per second
IPColor2Grey(&cimg1, &img2)14677.8268.13
IPDiffer(&img1, &img2, &img3)14560.2868.68
IPDither(&img1, &img2)7591.29131.73
IPLaplace(himg1[2], &img2)35765.3827.96
IPSobel(&img1, &img2)61425.0616.28
+ + diff --git a/RoBIOS/eyecam-cross.gif b/RoBIOS/eyecam-cross.gif new file mode 100644 index 0000000000..96470b4f22 Binary files /dev/null and b/RoBIOS/eyecam-cross.gif differ diff --git a/RoBIOS/fast-eyecam.ppm b/RoBIOS/fast-eyecam.ppm new file mode 100644 index 0000000000..b77ed740d7 --- /dev/null +++ b/RoBIOS/fast-eyecam.ppm @@ -0,0 +1,5087 @@ +P3 +82 62 +255 +0 7 17 +199 7 16 +1 7 16 +7 7 16 +7 7 17 +7 7 16 +7 7 17 +7 7 16 +7 7 17 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 17 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 17 +7 7 16 +7 7 16 +7 7 18 +7 7 17 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 18 +7 7 16 +7 7 16 +7 7 18 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 18 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 16 +7 7 19 +7 7 21 +7 255 7 +7 255 7 +7 0 255 +7 7 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Thomas Braunl +To: pere@ee.uwa.edu.au + +Hi Petter + +here is the text passage from Klaus and I put in the headlines for +the requested sections. + +Since we want funding for 3 Ph.D.s I suggest the project structure: + - robot operating system + - robot simulator + - behaviour-based application + +What do you think? +Thanks + Thomas + +P.S. can you handle MS Word files as well? +________________________________________________________________________ +Thomas Bräunl e-mail braunl@ee.uwa.edu.au +Dept. of Electrical & Electronic Engineering phone +61 8 9380-1763 +The University of Western Australia fax +61 8 9380-1168 +Nedlands, Perth, WA 6907, Australia http://www.ee.uwa.edu.au/~braunl +________________________________________________________________________ + + +17.1 Aims, significance and expected outcomes + +Aims + +In the broad field of robotics and especially in the field of the +Autonomous Mobile Robots (AMR) the subject of service robotics has +received growing attention in recent years. Service robots need to be +intelligent and be easy to handle by the growing number of +non-professional operators. To fulfil this demanding task, alternative +solutions to the traditional approaches have to be found. + +The classic approaches use the well-known Artificial Intelligence (AI) +planning methods to solve a given problem [LATOMBE 91]. They can only +cope with situations which the programmer has foreseen and implemented +in the robot's control logic. The robot will be helpless if something +unpredictable happens so that the pre-calculated actions cannot be +performed. + +The next step in this development was the biologically inspired +behaviour-based approach [BROOKS 86]. It is based upon a set of simple +behaviours which are independent of each other. Each individual robot +behaviour consists of coupling sensor inputs to actuator outputs to +produce a desired action. The behaviours are organised in priority +order. A so called arbiter chooses the action with the highest +priority and therefore controls the total behaviour of the robot which +makes it appear to be intelligent. This approach has proven to be +robust in the real world with minimal environment modeling. However, +it has a limited capability to learn or acquire knowledge and has few +mechanisms to detect failure. Consider the example of such a robot +detecting an obstacle while aiming for a certain goal in its +environment. The system can become deadlocked between competing +behaviours i.e. escaping the obstacle and approaching the goal. +Several simple techniques have been introduced to solve this problem +without resorting to planning, i.e. wandering behaviours [ANDERSON90] +or relocating the goal [ADAMS90]. Nevertheless, the robot has learnt +nothing from its ordeal and will behave in the same inefficient manner +if it encounters the same obstacle again. + +This shortcoming has led to the development of hybrid +planning-reactive systems [ARKIN90]. The robot monitors the outcome of +the response to the sensor stimulus and decides if another response +needs to be coupled to this sensor input. In other words, to operate +efficiently a behaviour-based robot must be able to learn to +co-ordinate its behaviours. + +The aspect of machine learning is a very interesting and up to date +topic where research is in its infancy. A very promising and popular +approach is the use of so called mobile agents [FRANKLIN96]. The term +"agent" reflects a change of view towards programs; an "agent" has to +be able to cope with broad user expectations. This new view also has +new requirements for machine intelligence, i.e. a user can give the +robot the same orders as he would give to a human. An agent is a +program that acts and decides autonomously in the execution of an +order. In contrast to this, a traditional program is considered to be +passive, as it simply reacts on a user input with a certain output. To +give an example, imagine a hospital with an autonomous mobile robot +that can bring medicine to patients. The doctor tells the robot to +bring a certain medicine to patient X in room Y. The AMR knows where +it can get the medicine and drives to the distribution point. There it +contacts a computer to automatically hand out the medicine. Bad luck, +this specific medicine is not in stock. So the AMR contacts a medicine +database to look for an equivalent product with the same effect which +it can take to the patient. Now just in front of room Y it discovers +that patient X is no longer lying here. A search through the +hospital's database reveals that patient X moved to room Z where the +AMR redirects itself to. It can easily be seen that classic +approaches would not have been able to solve such a complex task. The +designer of the mobile agent has of course trained the robot to +perform many different behaviours, but the agent makes the decisions +on its own and progressively learns new optimal behaviours. + +This concept of mobile agents can be extended to a group of +agents. Members of this group can exchange information to cooperate or +coordinate the next steps in the same task. This requires methods of +communication and some kind of social behaviour, which brings us to a +form of artificial life. A classic example of a task for such a group +of robots is the exploration of an unknown environment. Each member +of the group explores a section on its own and upon return to a +meeting point merges its information with the information of the other +members to build up a complete map. Another example is the +transportation of an unwieldy object. The robots have to co-ordinate +their actions to find suitable positions around the object to move it +together. + +There are widespread applications for an intelligent group of robots +which have not yet been researched. Most of the ideas and techniques +derive from biological models and are implemented by using the +concepts of Artificial Intelligence. + + +To ease implementation and testing of control programs for mobile +agents, we intend to build a modular and distributed robot simulator. +Agents interacting in a real-world environment have some similarities +to asyncron distributed systems, and it seems obvious that a +distributed system is the best way to simulate this aspect of the +problem domain. + +The simulator will be modular to handle new sensors without +recompiling. The sensor modules will be loaded based on a robot +description file which list the available sensors and the placement on +the robot. We intent do build modules distance sensors, radio +communication, compass sensor and simulated camera. + +The camera simulation will use freely awailable 3D tools to generate +the robot view in real time. + +The simulator will be open source and free to use for any other +research project, and we intend to use only freely available libraries +to make sure this system will work on all platforms. + + +In 1992, Oliver Faugeras published a paper describing a method for +automatic selv-calibration of moving cameras or stereo vision. We +intend to implement this method on low resolution cameras and low CPU +power equipment. If we manage to solve the following equation with 9 +unknown coefficients in real time, our solution should give very high +frame rate on high CPU computers. + + ... XXX fill in equation + + + +Significance +xxxx + +Expected outcomes +xxxx + +The outcome of the project will be as follows: +- xx, +- xx, +- Simulation system. + + +17.2 Research plan, methods, techniques + +Research plan +xx. + + +Methods and techniques +xx + + +17.3 Proposed timing +xx (diagram). + + +January 2001 to March 2001 xx +April 2001 to June 2001 xx + +Robot Operating System +April 2001 to October 2001 xx +November 2001 to March 2002 xx +April 2002 to March 2003 xx + +Robot Simulator +April 2001 to September 2001 xx +October 2001 to March 2002 xx +April 2002 to March 2003 xx + +Behaviour-Based System +January 2002 to December 2002 xx +January 2003 to July 2003 xx + +Evaluation and Improvement +June 2003 to December 2003 Evaluation and Testing +October 2003 to December 2003 Writing of final report + + +17.4 Justification of the budget + +xx. + +We need three Ph.D. students to work on this project because ... + + +17.5 Relevance of applicant skills, training and experience to the project + +At Stuttgart Univ., A/Prof. Thomas Bräunl cofounded the "Robotics Lab" with +Prof. Paul Levi. This lab conprised three industrial size mobile platforms, one +carrying an industrial robot manipulator arm, one carrying an innovative stereo +head system. These robot shave been used in several research projects, +including: + +- Implementing a robot operating system in the language Oberon +- Tracking and following a leading vehicle +- Object recognition and flexible manipulation +- Cooperation of multiple vehicles in docking and transportation tasks +- Object tracking with the help of a massively parallel stereo camera system +
+ +At UWA, A/Prof. Thomas Bräunl founded the "Mobile Robot Lab", which comprises +currecntly 15 mobile robot systems of the "EyeBot" family. These are +non-holonomic robots with 2 wheels, holonomic 4-wheel-driven robots, 6-legged +walking robots, and 2-legged walking robots. + +
+17.6 Role of each participant + +The chief investigator xxx. +The three Ph.D. students will ... + + +References + +[ADAMS90] MD Adams, H HU and PJ Probert, "Towards a Real-Time Architecture for +Obstacle Avoidance and Path Planning in Mobile Robots", Proceedings of IEEE on +Robotics and Automation Conference, pp584-589, 1990. + +[ARKIN90] RC Arkin, "Integrating Behavioural, Perceptual and World Knowledge in +Reactive Navigation", Robotics and Autonomous Systems, vol.6 pp105-122, 1990. + +[ANDERSON90] TL Anderson and M Donath, "Animal Behaviour as a Paradigm for +Developing Robot Autonomy", Robotics and Autonomous Systems, vol.6 pp146-168 +1990. + +[BROOKS 86] RA Brooks, "A layered Intelligent Control System for a Mobile +Robot", IEEE Trans. On Robotics and Automation, RA-2, April 1986. + +[FRANKLIN96] S Franklin and A Graesser, "Is it an Agent, or just a Program: A +Taxonomy for Autononmous Agents.", Proc.3 Int. Workshop on Agent Theories, +Architecture, and Languages (ATAL), pp 193-206, Budapest 1996 + +[LATOMBE 91] J-C Latombe, "Robot Motion Planning", Kluwer Academic Press, 1991. + +<> diff --git a/RoBIOS/psd-calibrate/index.html b/RoBIOS/psd-calibrate/index.html new file mode 100644 index 0000000000..0d0502990f --- /dev/null +++ b/RoBIOS/psd-calibrate/index.html @@ -0,0 +1,61 @@ + + +psd-calibrate: Calibrating the Eyebot IR distance sensors + + +

PSD calibration package for eyebot robots

+ +

Current README

+
+Calibrating the Eyebot IR distance sensors
+==========================================
+
+Version 0.1 by Petter Reinholdtsen <pere@td.org.uit.no>
+
+To calibrate the IR distance sensors (PSDs) on the Eyebot, one need to
+update the HDT with a more correct lookup table to map raw data into
+distance in millimeter.
+
+To get the correct lookup table, you run 'psd-calibrate.hex' on the
+robot to collect the correct data.  It assumes the VW drive functions
+are working correct.
+
+Collecting is done by placing the robot directly in front of the wall,
+with at least 1.5 meters free space behind, and probably at least 0.5
+meters of free space to either side.  The front of the robot should
+touch the wall.  Distance is calculated from the sensors.  It is
+assumed that the sensors are 4.5 cm from the center of the robot
+(between the wheels), and it is assumed that the wall is 6 cm from
+this center.  
+
+The robot will then measure the raw values for the different sensor
+pointing into the wall, while moving backwards until it reaches 1
+meter.  The measured data is the average of 10 values collected.  When
+it is finished it will stop and wait for the data to be collected.
+
+The data can be collected using the serial port.  Connect the robot to
+the computer using the serial cable.  The robot is using 115200 bps.
+Run 'cat < /dev/ttyS0 | tee calibrate-data.raw' and press 'DUMP' on
+the Robot.  Check on the PC to make sure the information arrived, and
+press Ctrl-C to stop receiving.
+
+When the datafile is saved on the PC, you can look at it using
+'./plot-psd-calibr.sh calibrate-data.raw'.  This will show the mapping
+between cm (x) and raw data measured (y).
+
+To make the HDT entry, run './make_hdt_map.pl calibrate-data.raw' to
+get the PSD lookup table in C format.  These tables need to be
+inserted into the HCD C file, and the robot updated with the new .hex
+file.  Remember to change 'distX' to the correct symbol for the given
+PSD.
+
+Newer versions might be available from
+<URL:http://ciips.ee.uwa.edu.au/~pere/RoBIOS/>.
+
+ + + + \ No newline at end of file diff --git a/RoBIOS/psd-calibrate/psd-calibrate-0.1.tar.gz b/RoBIOS/psd-calibrate/psd-calibrate-0.1.tar.gz new file mode 100644 index 0000000000..4e991a7321 Binary files /dev/null and b/RoBIOS/psd-calibrate/psd-calibrate-0.1.tar.gz differ diff --git a/RoBIOS/psd-calibrate/psd-data-graph.png b/RoBIOS/psd-calibrate/psd-data-graph.png new file mode 100644 index 0000000000..1e32fb24ff Binary files /dev/null and b/RoBIOS/psd-calibrate/psd-data-graph.png differ diff --git a/RoBIOS/wl-ping-1.0.c b/RoBIOS/wl-ping-1.0.c new file mode 100644 index 0000000000..b2fe9bcb5e --- /dev/null +++ b/RoBIOS/wl-ping-1.0.c @@ -0,0 +1,135 @@ +/* + * Author: Petter Reinholdtsen + * Date: 1999-10-22 + + * Broadcast "Ping