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©SIProp Project, 2006-2008,[object Object],1,[object Object],Auto Chasing Turtle,[object Object],HirotakaNiisato,[object Object],Noritsuna Imamura,[object Object]
About ourselves,[object Object],Ourselves,[object Object],HirotakaNiisato(@hirotakaster),[object Object],Noritsuna Imamura(@noritsuna),[object Object],About SIProp Project,[object Object],Open Source Software Project,[object Object],The world of media (communication medium) is extended.,[object Object]
Agenda,[object Object],Summary,[object Object],Part “Software”,[object Object],Detect the face,[object Object],Calculate the course,[object Object],Calculate the distance,[object Object],Part “Hardware”,[object Object],How to control the robot,[object Object],How to process the analog data,[object Object],Need more power supply,[object Object]
Summary,[object Object],This product is "Auto Chasing Turtle".,[object Object],By autonomous control, this robot recognizes people's face and approaches to the detected human. ,[object Object]
Robot behavior,[object Object],Rotate and look for the human who becomes a target.,[object Object],Detect the human with recognizing people's face by using RGB camera of Kinect.,[object Object],If it can detect the human, it calculates the course which it should follow. And It direction is changed.,[object Object],Calculate the distance to target by using Z(depth) camera of Kinect.,[object Object],Walk toward to target.,[object Object],2-5 are repeated until it becomes a suitable distance. And if losts target, returns to 1.,[object Object],The scene that it is working in real time can be seen by iPad.,[object Object]
Movie,[object Object]
YouTube,[object Object],http://www.youtube.com/watch?v=8EgfAk5RBVo,[object Object],Source Code & detail explanation,[object Object],http://www.siprop.org/ja/2.0/index.php?product%2FAutoChasingTurtle,[object Object],Movie,[object Object]
complete set parts,[object Object],Robot,[object Object],KONDO Animal 01,[object Object],Controllers,[object Object],For servo,[object Object],RCB3,[object Object],For application,[object Object],Beagleboard-xM,[object Object],Linaro-Kernel,[object Object],Android(Embedded Master),[object Object],Sensors,[object Object],Kinect,[object Object],RGBcamera,[object Object],Z(Depth)camera,[object Object],Connect to outside,[object Object],Radio wave,[object Object],Wi-Fi router,[object Object],Viewer,[object Object],iPad,[object Object],Power supply,[object Object],12V1A output,[object Object],10V1A output,[object Object],5V3A output,[object Object]
complete set parts,[object Object]
Why this project?,[object Object],DENSUKE project,[object Object],Mobile Internet Device with Cyber-Pet User Interface,[object Object]
DENSUKE project,[object Object],OESF(Open Embedded Software Foundation) Future Systems WG’s mission,[object Object],http://fswg.oesf.biz/,[object Object],Project leader,[object Object],Mr. Ohtsuki,[object Object],The Father of AIBO,[object Object],Partners,[object Object]
Detail of “Kinect Turtle world”,[object Object]
Why KINECT and Robot ?,[object Object],Application have changed ,[object Object],Game, Motion Controller, Nunchuk,[object Object],Cell Phone, Tablet,[object Object]
Why KINECT and Robot ?,[object Object],KINECT show the next future,[object Object],Camera, Depth censor.,[object Object],Recognition of human’s data.,[object Object],Mobility Problem ...,[object Object]
Why KINECT and Robot ?,[object Object],KINECT on Robot is result of mobility problem.,[object Object],sensory system,[object Object],drive system,[object Object],Robot movement,[object Object],Camera data,[object Object],Depth censor,[object Object],Analyze,[object Object],Grey Walter's turtle robot in 1949.,[object Object]
Part “Software”,[object Object]
ofxDroidKinect,[object Object],openFrameworks,[object Object],x,[object Object],Kinect,[object Object],x,[object Object],Android,[object Object]
About ofxDroidKinect,[object Object]
About ofxDroidKinect,[object Object],This is the Android Application Framework which runs on openFrameworks & uses Kinect.,[object Object],Using softwares,[object Object],openFrameworks for Android,[object Object],Linaro Android,[object Object]
Using Kinect,[object Object],OpenKinect,[object Object],Open Source Free Library,[object Object],openFrameworks,[object Object],OpenNI,[object Object],PrimeSense,[object Object],Initial support for the Android & ARM platforms.,[object Object],Kinect for Windows SDK,[object Object],Kinect Services for Microsoft Robotisc Developer Studio,[object Object]
Control Robot and KINECT,[object Object],ofxDroidKinect,[object Object],USB,[object Object],Serial,[object Object],openFrameworks,[object Object],Linaro/Android,[object Object],Wifi,[object Object]
Analyze KINECT data,[object Object],Detect the Face,[object Object],Calculate the course,[object Object],Calculate the distance,[object Object],1. detect,[object Object],3. distance,[object Object],2. course,[object Object]
Detect the face,[object Object],What’s data ?,[object Object],640x480 RGB image, using KINECT’s camera, ,[object Object],Characteristics of human face.,[object Object],KINECT Image,[object Object]
Detect the face,[object Object],Not all frame, but realtime analyzing.,[object Object],Auto search around people.,[object Object],analyze thread,[object Object],10fps,[object Object],image,[object Object],thread,[object Object],FaceDetector detector = new FaceDetector(w, h, faces.length);,[object Object],intnumFaces = detector.findFaces(bitmap, faces);,[object Object],if (numFaces > 0) {,[object Object],    // Calculate the course, Calculate the distance,[object Object],} else {,[object Object],    // search around,[object Object],},[object Object]
Calculate the course,[object Object],Using width.,[object Object],Specify centerposition of face.,[object Object],Specify position of the face in 4-sections relavive to KINECT’s image.,[object Object]
Calculate the course,[object Object],Using height.,[object Object],Change Kinect’s angle.,[object Object],Specify position of the face in image relavive to KINECT’s image.,[object Object],if (pointX > 0 && pointX < w/4) {,[object Object],DroidBot.getInstance().turnRight2();    	// right position,[object Object],} else if (pointX >= w/4 && pointX <= 3*w/4) {,[object Object],       ;				// center position,[object Object],} else if (pointX > 3*w/4 && pointX <= w) {,[object Object],DroidBot.getInstance().turnLeft2();	// left position,[object Object],},[object Object],int angle = 30 - pointY*30/h;,[object Object],if (angle > 0 && angle <= 30),[object Object],OFAndroid.setAngle(angle);,[object Object],void Java_cc_openframeworks_OFAndroid_setAngle(JNIEnv*  env, jobject,[object Object],thiz, jint angle) {,[object Object],       if (angle > 30)         angle = 30;,[object Object],       else if (angle < 0)     angle = 0;,[object Object],kinectApp->kinect.setCameraTiltAngle(angle);,[object Object],},[object Object]
Calculate the distance,[object Object],Mesure the depth of specified point using KINECT.,[object Object],Robots walk forward or back, depending on the mesured distance.,[object Object],int dist = OFAndroid.getDistance(pointX, pointY);,[object Object],if (dist < 100)     			DroidBot.getInstance().walkBack4();,[object Object],else if (dist >= 100 && dist < 150)		DroidBot.getInstance().walkToward4();,[object Object],else if (dist >= 150 && dist < 200)		DroidBot.getInstance().walkToward8();,[object Object],else if (dist >= 200 && dist < 300)		DroidBot.getInstance().walkToward16();,[object Object],else if (dist >= 300)                           	DroidBot.getInstance().walkToward32();,[object Object],JNIEXPORT,[object Object],jint,[object Object],JNICALL Java_cc_openframeworks_OFAndroid_getDistance(JNIEnv*  env,,[object Object],jobjectthiz, jintobjx, jintobjy){,[object Object],       return (int)kinectApp->kinect.getDistanceAt(objx, objy);,[object Object],},[object Object]
Performance problem,[object Object],Data analyze and image processing,[object Object],Face recognition,[object Object],More resource !!,[object Object],GPU, Multi core.,[object Object]
Part “Hardware”,[object Object]
Androidで出来る!! KinectとiPadを使った亀ロボ
How to control the robot?,[object Object],Only control servos’ angle.,[object Object],Accuracy,[object Object],Reaction velocity,[object Object],Torque,[object Object],Compact(Size, Weight),[object Object]
How to control a servo?,[object Object],RCB series,[object Object],24 controls pins,[object Object],Control commands,[object Object],Control all servo at same time !,[object Object]
More control,[object Object],Do you know this IC?,[object Object]
How to process more sensors?,[object Object],Analog data is stream data!,[object Object],Need powerful processor,[object Object],Need to save power for Mobile,[object Object],Now Solution,[object Object],ARM base Processor,[object Object],dual Cortex A9,[object Object],MALI 400 GPU,[object Object],Next trend,[object Object],GPGPU,[object Object],FPGA,[object Object]
How to optimize for each sensors?,[object Object],         http://linaro.org/,[object Object],Mission,[object Object],Optimize for each SoC & Platform,[object Object],We are committer!,[object Object]
Campus Party Colombia 2011,[object Object]
MAKE:style,[object Object],Hardware,[object Object],beagleboard-xM,[object Object],KONDO Animal,[object Object],Kinect,[object Object],Software,[object Object],ofxDroidKinect,[object Object],Linaro Kernel,[object Object],Android(Embedded Master),[object Object],  Do It Yourself ⇒Do It With Others!,[object Object]

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Androidで出来る!! KinectとiPadを使った亀ロボ

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