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Content-Centric Embedded ~Treasure Hunting Robot~ for LinuxCon Japan 2012
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Content-Centric Embedded ~Treasure Hunting Robot~ for LinuxCon Japan 2012

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A product world is trying to change focusing on "Content-Centric". Then, it is necessary to design our products by "Content-Centric". For that purpose, it is necessary to perform a trial production …

A product world is trying to change focusing on "Content-Centric". Then, it is necessary to design our products by "Content-Centric". For that purpose, it is necessary to perform a trial production and a products design quickly flexibly.
Therefore we created one robot based on the soul of "DIwO(Do It with Others)" used as basic concepts, such as Make:, in order to realize it.
It is created by combining various products used as SoC which Pandaboard.
--Brain wave sensor(http://www.neurosky.com/)
--2-leg Robot
--see-through display(http://www.brother.com/en/news/2011/airscouter/index.htm)
--Xtion(http://www.asus.com/Multimedia/Motion_Sensor/Xtion_PRO/)
-Software
--Android
--openFrameworks(http://www.openframeworks.cc/)

This is an "AR(augmented reality)-Treasure Hunting Game“
You get virtual treasures by controlling real robot!
Rule:
-Look at radar window like dragon radar.
--Show the treasure on radar as red star.
--Center is a place in which a robot is present.
---Blue arrow is direction of robot.
-Look at line graph. This is brain wave line graph.
--You control the robot to the treasure point by your brain wave.
--If you feel some feeling, you control the robot by each feelings.
---Exciting -> Turn left
---Normal -> Go toward
---Relax -> Turn right

Such a reason, it is possible to make trial production and commercial production quickly.

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  • 1. Content-Centric Embedded~Treasure Hunting Robot~Noritsuna Imamura ©SIProp Project, 2006-2008 1
  • 2. Agenda 1st About me Today’s goal 2nd Auto Chasing Turtle Treasure Hunting Robot Little how to make ©SIProp Project, 2006-2008 2
  • 3. My Bio Special Networking technology (P2P) Community (OSS) SIProp.org Japan Android Group Linaro Company NPO OESF (Open Embedded Software Foundation) ©SIProp Project, 2006-2008 3
  • 4. Current work Work Industrial Technology Research Institute. Making a testing center for Android Devices. ©SIProp Project, 2006-2008 4
  • 5. Japan Android Group : 2008- Prof.Maruyama & I started up this community. At Apr/2008 Detail The most famous & largest Community in Japan URL: http://www.android-group.jp/ Since: Sep/2008 Members: over 20,000 Branch: over 20 ©SIProp Project, 2006-2008 5
  • 6. Linaro: 2010- http://linaro.org/ Mission Optimize for each SoC & Platform Contributor for community! ©SIProp Project, 2006-2008 6
  • 7. Android’s tools NyARToolkit for Android I made a based-program for this OSS community http://en.sourceforge.jp/projects/nyartoolkit-and/ OpenCV for Android NDK This program is included in Android 4.0.1 . http://tools.oesf.biz/android- 4.0.1_r1.0/search?q=SIProp ©SIProp Project, 2006-2008 7
  • 8. Today’s TopicNoritsuna Imamura ©SIProp Project, 2006-2008 8
  • 9. What do you want to make? ©SIProp Project, 2006-2008 9
  • 10. Need a lot of money… How to get? Make a Startup Company Get a Sponsor Kinds of Sponsors Product Sponsors Get their products Service Sponsors Expand their service Extra Sponsors Get office ©SIProp Project, 2006-2008 10
  • 11. Important point Quick making a prototype! Almost people can NOT image a new product without a real device. Do It Yourself ⇒Do It With Others! !Reinventing the wheel. MAKE:style Hardware Software beagleboard-xM Linux Kernel Arduino Android Kinect ©SIProp Project, 2006-2008 11
  • 12. Content-Centric Embedded Content-Centric Networking It was pioneered by Ted Nelson in 1979 and later by Brent Baccala in 2002. The old internet finds servers by IP- Address. This philosophy finds them by Contents. Content-Centric Embedded When make products, it thinks from hardware. This philosophy thinks them from Contents. http://en.wikipedia.org/wiki/Content-centric_networking ©SIProp Project, 2006-2008 12
  • 13. Auto Chasing TurtleNoritsuna Imamura ©SIProp Project, 2006-2008 13
  • 14. Summary This product is an "Auto Chasing Turtle". By autonomous control, this robot recognizes peoples face and approaches to the detected human. ©SIProp Project, 2006-2008 14
  • 15. Hardwares & Softwares Hardwares Softwares Base computer Ubuntu & Android Beagleboard-xM Linaro10.03 TI Linaro Depth Sensor Depth Sensor Kinect ofxKinect Robot UI Framework KONDO Animal openFrameworks Kondo science Android OESF ©SIProp Project, 2006-2008 15
  • 16. How to make ©SIProp Project, 2006-2008 16
  • 17. 3 Points for Developing Detect the Face Calculate the course 1. detect 3. distance Calculate the distance 2. course ©SIProp Project, 2006-2008 17
  • 18. Detect the face How to recognizing a human’s face? Using KINECT RGB Image KINECT Image ©SIProp Project, 2006-2008 18
  • 19. How to recognizing a human’sfaceFaceDetector detector = new FaceDetector(w, h, faces.length);int numFaces = detector.findFaces(bitmap, faces); Android’s APIs. ©SIProp Project, 2006-2008 19
  • 20. 3 Points for Developing Detect the Face Calculate the course 1. detect 3. distance Calculate the distance 2. course ©SIProp Project, 2006-2008 20
  • 21. Calculate the course1. Calculate a center position of face.2. Calculate a position of the face from 4- sections separation KINECT’s image. 640px 160px ©SIProp Project, 2006-2008 21
  • 22. Calculate the coursefaces[0].getMidPoint(midPoint); //get center position of faceint pointX = (int)midPoint.x;if (pointX > 0 && pointX < w/4) { DroidBot.getInstance().turnRight(); // right position} else if (pointX >= w/4 && pointX <= 3*w/4) { ; // center position} else if (pointX > 3*w/4 && pointX <= w) { DroidBot.getInstance().turnLeft(); // left position} ©SIProp Project, 2006-2008 22
  • 23. 3 Points for Developing Detect the Face Calculate the course 1. detect 3. distance Calculate the distance 2. course ©SIProp Project, 2006-2008 23
  • 24. Calculate the distance Distance of from Robot to detected human Can be gotten by KINECT. ©SIProp Project, 2006-2008 24
  • 25. Calculate the distanceint dist = OFAndroid.getDistance(pointX, pointY); // Use depth cameraif (dist < 100) DroidBot.getInstance().walkBack4();else if (dist >= 100 && dist < 150) DroidBot.getInstance().walkToward4();else if (dist >= 150 && dist < 200) DroidBot.getInstance().walkToward8();else if (dist >= 200 && dist < 300) DroidBot.getInstance().walkToward16();else if (dist >= 300) DroidBot.getInstance().walkToward32(); Depth camera’s range is 0~65565. ©SIProp Project, 2006-2008 25
  • 26. Treasure HuntingRobotNoritsuna Imamura ©SIProp Project, 2006-2008 26
  • 27. Summary This is an "AR(augmented reality) Treasure Hunting Game“ You get virtual treasures by controlling real robot! ©SIProp Project, 2006-2008 27
  • 28. Manual Look at radar window like dragon radar. Show the treasure on radar as red star. Center is a place in which a robot is present. The Blue arrow is direction of robot.. Look at line graph. This is brain wave line graph. You control the robot to the treasure point by your brain wave. Exciting -> Turn left Normal -> Go toward Relax -> Turn right ©SIProp Project, 2006-2008 28
  • 29. Hardwares & Softwares Hardwares Softwares Base computer Ubuntu & Android Pandaboard Linaro11.11 TI Linaro Brain Wave Sensor Depth Sensor MindWave OpenNI Depth Sensor Bone skeleton Xtion pro live tracker Display NITE for ARM AiRscoter UI Framework Brother openFrameworks Industries Android Walking Robot OESF KHR-3WL Kondo science ©SIProp Project, 2006-2008 29
  • 30. How to make ©SIProp Project, 2006-2008 30
  • 31. Hardwares’ photo Xtion MindWave AiRscoutePandaboar r d ©SIProp Project, 2006-2008 31
  • 32. Softwares’ photo Brain Wave Line Bone skeleton Graph Tracking Window ©SIProp Project, 2006-2008 32
  • 33. Calculate robot position Recognizing a robot by bone skeleton. Using OpenNI + NITE Calculate direction & position of robot. Calculate by length of bone. ©SIProp Project, 2006-2008 33
  • 34. Recognizing bone skeleton 1/2 Using OpenNI + NITE OpenNI is a Kinect & Xtion’s driver as OSS. NITE is a bone skeleton tracking software for OpenNI. http://75.98.78.94/ ©SIProp Project, 2006-2008 34
  • 35. Recognizing bone skeleton 2/2 NITE is NOT OSS! Only binary for ARM/Ubuntu. Want to use Android&openFrameworks UI. Made dual boot OS for Ubuntu&Android. UserLand: Linaro/Android (Run on Ubuntu by chroot)UserLand: Linaro/Ubuntu (NITE runs on this userland) Linaro Kernel for Ubuntu&Android on Pandaboard ©SIProp Project, 2006-2008 35
  • 36. Download source code We release all source code on our site. http://www.siprop.org/en/2.0/index.php?produ ct%2FTreasureHuntingRobot Do It Yourself ⇒Do It With Others! If you want to try it, please ask me! You can experience like Google Glass! ©SIProp Project, 2006-2008 36
  • 37. Events & Conferences~Show Demonstration & Speech~ ©SIProp Project, 2006-2008 37
  • 38. Taiwan & China ©SIProp Project, 2006-2008 38
  • 39. OSDC.tw 2012 (Apr/2012) One of the largest OSS conference in Taiwan Target Taiwanese Engineer ©SIProp Project, 2006-2008 39
  • 40. COSCUP 2011&2012 (Aug) One of the largest OSS conference in Taiwan Target Taiwanese Engineer ©SIProp Project, 2006-2008 40
  • 41. Computex 2011&2012 (June) The largest hardware business show. Target Hardware Engineer & Company ©SIProp Project, 2006-2008 41
  • 42. Mini Maker Faire 2012 ShenZhen The first Maker Faire in China Target DIY(DIwO) Engineer About Maker Faire The most famous DIwO conference ©SIProp Project, 2006-2008 42
  • 43. Yuan Pei Univ. Target Taiwanese Students Education ©SIProp Project, 2006-2008 43
  • 44. Ma An Shan Univ. Target Chinese Students Education ©SIProp Project, 2006-2008 44
  • 45. Japan ©SIProp Project, 2006-2008 45
  • 46. ABC 2012 Spring The largest Android User Community in Japan Target Japanese Android Engineer ©SIProp Project, 2006-2008 46
  • 47. NicoNico Gakkai The largest Otaku conference in Japan. Target Japanese DIY(DIwO) Engineer ©SIProp Project, 2006-2008 47
  • 48. LinuxCon Japan 2012 Target Linux Embedded Engineer ©SIProp Project, 2006-2008 48
  • 49. One more thing ©SIProp Project, 2006-2008 49
  • 50. Why do you work? For money? ©SIProp Project, 2006-2008 50
  • 51. No money economy The money economy is made by single value. One thing has one price No physical thing has no price True??? ©SIProp Project, 2006-2008 51
  • 52. Ex: Simeji 1/2 One of Android application Made by 2 Japanese guys. As hobby work. Taken over by 百度 2-3M UDS . ©SIProp Project, 2006-2008 52
  • 53. Ex: Simeji 2/2 Why did 百度 take over it? A technology for input method? Developers don’t have a technology for input method. Because base is OpenIME as engine. Installing user base? Only used by developers. No used by normal people. Their strong point One of most famous developer in Japanese Android Community. 百度 wants to get respect in Japanese ©SIProp Project, 2006-2008 53
  • 54. This was predicted in 2006IBM Global Innovation Outlook 2.0(06’) http://domino.research.ibm.com/comm/www_innovate.nsf/pages/wor ld.gio2004.html The "one man company" will appear billions. Collaboration environment based on a contribution. The role of a company is supporting to an individual creator and group. A new product is made by them. 54 ©SIProp Project, 2006-2008
  • 55. Why are they free? MAKE:style (Do It With Others Style) Software ofxDroidKinect Hardware Linaro Kernel beagleboard-xM Arduino Android Kinect Do It Yourself ⇒Do It With ©SIProp Project, 2006-2008 55
  • 56. Thank you! ©SIProp Project, 2006-2008 56