RoboRealm Forum

Obstacle avoidance (help)

Wed, 31 Dec 1969 18:12:59 EST

Hello Mr. Steven
I have prepared a new robo file so that i can use it to do obstacle avoidance for my mini robot. At the moment i am using serial module to communicate to arduino mega. I have adopted few codes from this forum.

But i have noticed that the behavior of the robot is not as desired. At times it does obstacle avoidance and at times it bumps into it. I have attached the robo file, the arduino sketch and the picture of the scene which i will be using in real time and the path which i wish to attain with my web cam. Could you please have a look and fine tune so that i can get a better performance.

Obstacle avoidance (help)

Wed, 31 Dec 1969 18:12:59 EST

Circle Tracking and Alignment Check

Wed, 31 Dec 1969 18:12:59 EST

hi everyone,

i'm working on a system to check in real-time the alignment of a small circle within a larger circle, as shown in the attached images.

at the moment i prep the image with a threshold, close, smooth hull and canny edge detector, which is working well.

there are two things i'm hoping to improve on:

1) i'm using 'circles' to find the large circle. i extract the centre and diameter information and put it in a new variable using python. then, i use circles a second time to find the small circle, and compare the variables in python. is there a more efficient way to do this?

2) the circles module seems a bit uncertain about the centre of the circles, fluctuating 1-2 pixels even on a static image. is there any way to trim up the variation on this output? at the moment i've been filtering variables to the average over the last 10 frames, but if i can reduce the variation of the module, that would be better.

thanks!

detecting multiple balls with different colour

Wed, 31 Dec 1969 18:12:59 EST

Hi:
I'm trying to make a score keeping system for snooker. I'll need my system to detect different coloured balls at once and some how track their movement (in order to track ball collision). Just wondering how do I detect all the circles in my image and I'll need my system to be able to tell what colour of each ball.

I'm really new to roborealm, any help will be greatly appreciated.

Thank you very much
Simon

PS: I attached a image, it contains four different colour balls. I'll need to be able to tack them all at once AND tell the different colours. Just wondering if its possible.

detecting multiple balls with different colour

Wed, 31 Dec 1969 18:12:59 EST

Sparkfun_Mega

Wed, 31 Dec 1969 18:12:59 EST

Hi
I am using the program for obstacle avoidance and the motor controllers are connected to arduino mega. But when i try to control the motors, they are very slow. In my VB script the speeds are 200 but i am not get that output from PWM pins. I have loaded the sketch file given under mega module.

Am i doing anything wrong? The direction pins give me 5V but i only get 0.55V from PWM pins. Please advise. Attached is my robo file.

Your help will be highly appreciated.

Sparkfun_Mega

Wed, 31 Dec 1969 18:12:59 EST

No Title

Wed, 31 Dec 1969 18:12:59 EST

I am using the Scale_Variable module and still not able to move my servos. I have varified my servo and everything else as good & working. I know that not all servos are built the same but I noticed that 0-255 works with alot of them. Apparently, I need this servo, Futaba S9157 because of the torque needed to run my project. Maybe I'm using the wrong values. I spoke to the support department and they inform me that it is 1ms to 2ms with 1.5ms as being the middle. Please help.

Inconsistency in getVariable results

Wed, 31 Dec 1969 18:12:59 EST

Hi,

I have been observing an inconsistency in results obtained from the getVariable method.

I used the processing code in the API. I have attached the code and the robofile. If you run it for a while (8-10 mins), you will see that the matchedPath, confidence, objects etc get mixed up or takes some junk value after the getVariable method is called in the draw function.

Here is an example of the incorrect results:

82.00000,70.55245,62.77851,130.16505,67.66449,125.44756,125.22149,65.83495,120.33550,114.00000,100.00000,92.81251,7.55041,3.00000,22.00000 : 1 : \\5Jacquilene_Jacob.png : 82
Face/faces found: 84.00000,69.22789,61.64665,129.34392,64.31030,126.77211,122.35336,66.65609,119.68970,114.00000,100.00000,93.37502,7.55041,3.00000,22.00000 : 1 : MAGE_PROCESSED : 84

MAGE_PROCESSED was returned instead of Jacquilene_Jacob.png.
It gets worse for x,y points or confidence or names, when I get multiple people recognized and use the Objects list.

I think the error is happening at the server side when it forms the response.
Please let me know if you have a fix to this problem.

-Jacquilene

No Title

Wed, 31 Dec 1969 18:12:59 EST

Let me know if this helps..

training images

Wed, 31 Dec 1969 18:12:59 EST

hi,
i tried to train a simple image from a folder but roborealm closes when i start training... what is the solution for this?

No Title

Wed, 31 Dec 1969 18:12:59 EST

Hi I thought to attach what the fiducial filter returns on the screen. As you can see from the FiducialFilter image the recognition is great. However, from the txt file I am saving I can't understand what those numbers are. They don't make too much sense to me. I saving the following information for each frame I am collecting:
[IMAGE_TIME],[FPS]<cr><lf>[FIDUCIALS]<cr><lf>[FIDUCIALS_PATH]<cr><lf>

The variable "Fiducials" is not exactly as I thought. I thought that it was supposed to be with 17 numbers. I am not sure it is. Please if you see that I am doing something wrong, please let me know.

Thank you in advance, Massimo.

No Title

Wed, 31 Dec 1969 18:12:59 EST

10 txt file (images of 10 layer) of the specimen have been attached.

No Title

Wed, 31 Dec 1969 18:12:59 EST

I mean a stack of images that created by a Micro CT scan. Each image of the satck is related to one layer. Please refer to example which is attched.

Thanks alot

image processing

Wed, 31 Dec 1969 18:12:59 EST

how to Identify the intersection points (T-joints, X-joints) from an image?

No Title

Wed, 31 Dec 1969 18:12:59 EST

the blob filter modules are to get an array with the X and Y coords of every blob to compare them for our conditions....

I am experimenting another stressful problem, I would like also Steven to look at it....
it seems that the Lowest_Middle and Highest_Middle variables have some sort of bug so that they don't appear on the middle....
please look at the attached demo file: the mouse is placed on the point that the coords indicate, but the X mark is showed on another (the right) point.

We are getting the lowest and highest points of the blue and yellow blobs to compare the X variable to see if the line is horizontal (if not, the robot will rotate).

No Title

Wed, 31 Dec 1969 18:12:59 EST

Both 'atol' and 'atoi' were able to work as well.  Thank you....

I though it was odd  that the Visual Studio Convert:: routines were not able to convert values when they were negative.  The MSDN documentation says that they should and advocates their use.

I've been impressed with the joystick module so far.  I am using a hacked original XBOX controller ported through a HID gamepad driver and the module has picked up every button on the controller and associated it correctly with its intended function.  I was fully expecting  to have to port this driver into my bot program until I stumbled on this gem of a module.  That would have made the third USB driver in my program thus far. Good work!!!
Because of the Joystick API program I am able to send all of the controller data over the RR API that I have already integrated into my code.

There are a few odd things I have noticed with the joystick driver module that I have encountered that may be worth noting.  The first is that if I disconnect my controller and then try to launch the RR program that uses it, RR will not even open and I get a dialog box on the screen from RR referencing some missing memory address that it wants.  This was fixed by plugging the controller back in.
Second is that all of the X/Y Joystick quadrants are rotated 90 degrees clockwise from how one might expect them to be.  I overlooked this and it caused me several hours of troubleshooting my program before catching this.
A weird fact about xbox controllers is that all of the buttons on them are analog instead of digital.   My guess is that this feature was intended to be used to set a sensitivity threshold for what validates a pressing a button intentionally or unintentionally.  I'm surprised that RR doesn't report the actual (0-255)value...It only shows a bool value.

For those of you guys looking looking to find a cheap solution for a controller I would recommend trying your xbox controller.  If your not comfortable programming there is a site out there that host a driver made that may work with RR.  If your familiar with with USB drivers/ Win DDK,  this controller is about as easy as it gets once you get the device enumerated correctly.   In our project we have replaced a pair of 400$, completely un-hackable/proprietary, spektrum DX9 airplane controllers for my dust ridden bottom of my closet xbox controller that was free. Not to mention RR does half the work for you once you get it connected.

problem with lego nxt example

Wed, 31 Dec 1969 18:12:59 EST

hello sir ,

there is a problem in running the example (lego ) . every time i run , only " 0 " is displayed in my lego . even though i had changed the COG_Y values from (150 to 350 ) it is moving only backwards . i am using the 2.37.16 trial version . i am attaching my files , please see it and reply me .

thanking you .

kiran .

problem with lego nxt example

Wed, 31 Dec 1969 18:12:59 EST

No Title

Wed, 31 Dec 1969 18:12:59 EST

The format of universal messages for robotics has already been created by the military. As a matter of fact, if you follow the JAUS message architecture you can use RoboRealm to control military robots, road vehicles, drone airplanes, under water robots/vehicles....

http://www.openjaus.com/support/jaus-documents

This is a standard like SAE; incidentally, it is an SAE standard.

JAUS also includes security encryption in a Java format so that each device is protected from hacking.

Now reverse this. Make a device with RoboRealm that is JAUS compliant, and you can now market your device to Defense Contractors like General Dynamics, Honeywell, Air Force Research Laboratories...

JAUS is a natural remote interface because it does not matter what the electrical interface is (USB, RS-232, RS-485, parallel port, infrared, Wi-Fi, bluetooth...), the message architecture is the same.

I believe a national database is available to upload device drivers for various devices already developed.

Rather than starting from scratch, you can jump onboard with a host of experts providing you with support by using the JAUS remote robotic control message architecture.

http://www.openjaus.com/support/forums

circles module

Wed, 31 Dec 1969 18:12:59 EST

I'm new to this so please forgive me if this is answered somewhere and I just didnt manage to find it. My learning project was to throw some coins on the table to see if I could identify each and just for the vb experience, see if I could total the $ result. It works ok The camera is Orbit AF and I used canny, circles, vbscript I would like to replace the radius number that is displayed in the center of each identified circle with a variable, in this case the quarter would say .25 the dime .10 etc is there a reasonable way to pass a variable from vbscript to replace the radius number displayed on each identified circle?
While I'm at it I am getting a lot of jitter in the image (maybe from compact flourescent light source?) I tried average and temporal median which each helped somewhat but if possible I'd rather do it with hardware to keep from loosing any more fps due to old slow pc, any tips?
And while I am still at it I made the decision to go from trial to liscence at my brother's house and had him to order it for me software came up registered to his email too late to fix that? Awesome software the ideas for application are coming fast and furious!

No Title

Wed, 31 Dec 1969 18:12:59 EST

STeven,

Thanks for your reply.  I have set things up as you suggested and can easily isolate the 1 or more targets (humans) to the same number of blobs.  That really helped me much.

My problem now is that I can't seem to grasp how to get the cogx and cogy for each target one at a time.  I am using the CScript extension and it seems that getArrayVariable would be the way to go.  I tried:

int blobs[20];
getArrayVariable("Blobs", blobs, 20);

but did not seem to succeed.  One of my if statements was :

if (blobs[0])....

and I never got past this.  I just wanted to be sure there was a target before I continued.

Part of my objective is to focus on a each blob for 2-3 seconds.

I attached the .robo and script I am using.  Video file is quite large, but we usually use live video anyway.

No Title

Wed, 31 Dec 1969 18:12:59 EST

No Title

Wed, 31 Dec 1969 18:12:59 EST

I have included the a 3d picture of the drone that is half completed and with RR the software is ready for when the last components go in. The design has changed some as i have installed 4 flaps and some other modifications. This is a personal project which i decided on after the floods but i had already started the project late last year

No Title

Wed, 31 Dec 1969 18:12:59 EST

servo driver

Wed, 31 Dec 1969 18:12:59 EST

I got one 16 channels servo driver module.
But I got no idea how to make it interface with roboRealm software.
It will be good if it got it own .robo module like CCS got now.

sorry for the bad English.

Stepper motor control

Wed, 31 Dec 1969 18:12:59 EST

Hi , i am new to use the roborealm software. I am building a robot using vision system to identify a green ball and approach it. Successfully, i was able to detect the color and find the gravity centroid of the ball.
I am using the Cscript module to interface the output of the object centroid to determine the appropriate movement of the robot.

My robot has two stepper motors with UCN5804 as the controller to control the stepper motor speed. The microcontroller used to as interface between the embedded system and the stepper motor controller. The serial UART is used to transmit and receive data from the embedded system into the microcontroller.

My question is , how can I send the data ( gravity variables) from the embedded system into the microcontroller which in turn signals the stepper controller to either inform the motor to move right , forward or left. How can i assign the appropriate ports from the dsPIC microntroller into the stepper motor controller?

would suggest me any tutorials for using Cscript since I could not get more information from the roborealm documentation.

thank you.

Stepper motor control

Wed, 31 Dec 1969 18:12:59 EST

No Title

Wed, 31 Dec 1969 18:12:59 EST

Here it is... it is florescent orange (McMaster Part #7833T2)

http://www.mcmaster.com/#catalog/117/2112/=b5ut7b

No Title

Wed, 31 Dec 1969 18:12:59 EST

I'm not very skillful when it comes to programming but I get my experience from reading online references. I am currently having an issue with my robot. I'm using roborealm to locate an object. The camera is mounted on the base and the wheels are programmed to rotate and find the object's center mass. Once this is complete, I would like the robot to move forward or backwards to a designated distance. I have my code, everything works great except for moving forward or backwards. I know I'm doing something wrong but not sure what it is. I would appreciate any feedback, thank you.

No Title

Wed, 31 Dec 1969 18:12:59 EST

Yes it works now. it needed some changes but i got it working. Both servo's are turning now.

Weld defect detecting

Wed, 31 Dec 1969 18:12:59 EST

Steven,

I bought RoboRealm software and made many expremients concerning weld detection issue in dampers. Now I'm experimenting with the issue to find the 2 points where the weld ends and calculate the distance between, and answer as "OK" or "NOK" welded part. The RIO background is completelly white, so now is easier to evaluate.

Attached is my robo file, and some images: OK part, NOK part, and one showing the RIO.

Also I'm having problems using the socket base communication, because I have to call/load the program every time that I need to evaluate the part in order to refresh variables. The reason of using socket communicacion is that currently is only one model type, but there will be 28 different models, so I need a way to call the appropiate program for each one. I was thinking in one program only, but using IF statements to check for different ranges of weldings depending on the model type, say: If "A"..., If "B"..., If "C"..., and so on...

I also need to send the results to a PLC through serial or parallel, etc?

Any ideas to improve the current robo file? Any ideas to test different models?

Thank you!

"Internal Error- Could not access dll's name."

Wed, 31 Dec 1969 18:12:59 EST

Steve,

When I try to expand the functions in the Contents panel by clicking on the '+' symbols I get a dialog box with the error "Internal Error-Could not access dll's name." I am running RoboRealm eval version 2.30.3 on Windows XP Pro.

Examples are clicking on the "Adjust" or "Analysis" '+' symbol.

Log file is attached.

No Title

Wed, 31 Dec 1969 18:12:59 EST

OK, The latest 30.02 has worked much better. I got it to come on and work about 4 times. When it works , it works beautiful. But it did not want to stop working. Rebooting does nothing to make it run. When I turn on roborealm, I get a blinking green light. Then, a little later a squigley little red laser light. Then a short time after, the popups comeup and say about errors in synch, lens, tag,rgb, ect. all values are -5 except one is -1. The only way to get out of that is CTRL-ALT-DEL and then stop RR in the task manager. When it decides to work, everything in it works. We are making progress, I believe. Got to get some sleep. work WED. now midnight.

Have a Blessed Night!!! God Bless You!

Mel

No Title

Wed, 31 Dec 1969 18:12:59 EST

ok. there they are. i can validate them as i said before if i put the correct size in Filter size min. but the last image (s5) is size 8% and the others 26%, and i need to validate all of them.

thanks in advance steven

No Title

Wed, 31 Dec 1969 18:12:59 EST

I am going to try to attach the file that made the video go through to me.

No Title

Wed, 31 Dec 1969 18:12:59 EST

No Title

Wed, 31 Dec 1969 18:12:59 EST

I have tried many scripts but below is the best one. I does receive the value but also the second value. so if i ask to blink the led when value is higher than 300, it also light up when the second value is >300.

I have (evantually) a array of 10 values in one string. for now i have two. MOUSE_X and MOUSE_Y.

CON
_clkmode = xtal1 + pll16x
_xinfreq = 5_000_000

rxpin = 31 ' Receive on I/O pin 1 <- black from master black txpin p1
txpin = 30 ' Transmit on I/O pin 0 -> red to master red rxpin p0

VAR
LONG myInput
LONG txVal_1, txVal_2 ' transmit
LONG rxVal_1, rxVal_2 ' receive from master and PST

{************************************************* *****************}
OBJ

serial : "Extended_FDSerial" '' "FullDuplexSerial"
f : "Float32Full"

{************************************************* ****************}
PUB Main | DutyCycle ' new stuff DutyCycle

serial.start(rxpin,txpin,%0000, 115200) '- rxpin,txpin,mode,Baud

  REPEAT

    Receiver
    Transmitter
    IF rxVal_1 > 300
      BlinkLeds
    else
      outa[1] := %011110

PUB BlinkLeds

    dira[1]~~

    outa[1] := %100001
    waitcnt(clkfreq/4 + cnt)
    outa[1] := %011110
    waitcnt(clkfreq/4 + cnt)
    outa[1] := %100001
    waitcnt(clkfreq/4 + cnt)
    outa[1] := %011110
    waitcnt(clkfreq/4 + cnt)
    outa[1] := %100001
    waitcnt(clkfreq/4 + cnt)
    outa[1] := %011110
    waitcnt(clkfreq/4 + cnt)


RETURN

PUB RECEIVE_FW_DATAS
' receive datas as integers
myInput := serial.rxDec

PUB Receiver

rxVal_1 := serial.rxDec

RETURN
PUB forwardTransmitter

txVal_1 := 6
serial.dec(rxVal_1)
serial.tx(13)
RETURN
PUB Transmitter

serial.dec(rxVal_1)
serial.tx(13)
RETURN

No Title

Wed, 31 Dec 1969 18:12:59 EST

Sir
I am doing my project on automated detection and classification of bone fracture.I need some support and help.My project submission date is on next month 14th.But it is not ready.Plz send some suggestions and codes for my project
Regards
Elisabeth Sneha George

Using two different mailboxes, Bluetooth and NXT

Wed, 31 Dec 1969 18:12:59 EST

Hello Roborelm help forum,

I've built myself a self balancing robot with NXT and I've mounted an IP camera on it. I'm trying to use TWO mailboxes to send two different driving commands via BT. Ultimately, I want to tell my robot two pieces of information.

1. How far away an object is (using the CoG Box Size)
2. Which way to turn using CoG_X

I want to send the value of both of these variables to my robot using two different mailboxes.

To simulate this working, I've built a very basic RoboRelm program and NXC program containing only the BT communication (without a video feed) - but it works unexpectedly:

I can only get data from one mailbox and not the other.

I'm sending the number 8 to mailbox #1 and sending the number 20 to mailbox #2. My program only shows number 8 and receives zero at mailbox #2.

Attached are my NXC and RoboRelm programs.

I've also tried putting some Timers in to make the program wait a while before reading the next mailbox in RoboRelm but they also don't seem to work...

Hoping someone can help me.

Cheers,

Jay

No Title

Wed, 31 Dec 1969 18:12:59 EST

I've added a couple files to show what my problem is.

Here is a much slimmed down version of my robo file that includes an index.html file showing video with three buttons to control recording and play back. When you hit record a red dot appears in the video window, and when you play back a green dot appears. So I know the if statements work. And I do get a video recorded, I just can't get it to play back like it used to.

thanks,
-spacehermit

Floor Finder tweaking

Wed, 31 Dec 1969 18:12:59 EST

I've been working on several techniques to enable my Rovio to wander around my cluttered basement.  I am having trouble tuning the floor finder to differentiate between the floor and vertical surfaces that have a similar color / texture.  I'm hoping for some feedback from the gang here.

My floor is a beige berber carpet.  I have a cardboard box and an old beige computer case which are (evidently) similar enough in color to the floor so that it confuses this module.

My process is:
Grab an image
Process via floor finder
Dilate it by 5
Negative
Side_Fill
Smooth Hull
Point_location

The point location is ending up in the wrong spot because Floor Finder is confused.

Is there anything special to tuning this module?  Can the wall finder somehow be used to build a stronger line at the floor / vertical joint?

See attached photos.

All input is welcome (and needed)...

-Mike

No Title

Wed, 31 Dec 1969 18:12:59 EST

I have connected one end of LED to "DATA 0" and other to "GROUND" there where 11 GROUND pin so i have to test in each pin once but after that all also, it doesn't work.I was having a lot of hope from Parallel port with RR.
Actually, I have a external parallel port(USB to Parallel port) and it is 36 pin i think because of that only it is not working . I get the pin arrangment from "http://www.lammertbies.nl/comm/cable/parallel.html"(Right side picture.) .
I have uploaded the picture of my port properties there is no resource tab from where i can get its address.

convert only the black numbers into white

Wed, 31 Dec 1969 18:12:59 EST

In my example i want the black numbers changed into white numbers.

With the "shape_Match" i can then identify the numbers of the watercounter.

Thx for the solution

invert only black numbers to white

Wed, 31 Dec 1969 18:12:59 EST

I don't find a solution to invert only the black numbers to white.
Because with the module "shape_Match" the numbers have to be white on a black background...

Thx for the solution.
Kind regards

No Title

Wed, 31 Dec 1969 18:12:59 EST

its really difficult to extract features to segment the bone. Plzzzzz hlp me to figure out this.

is it possible to detect fracture area without segmenting the bone from x-ray???

Leg bone fracture detection using x-ray images

Wed, 31 Dec 1969 18:12:59 EST

am doing a project on leg bone (Tibia) fracture detection using image processing. I am using digital x-Ray bone fracture images to deal with this project. I was not able to find a proper method to identify bone fractures on above mentioned bone due to the high noise and variations of the fracture types.

and the color of the bone area is not identical each and every image. so its really hard to find a global threshold value for all images. So plzzz suggest me a proper segmenting and fracture detection method to move on this project....

Does anyone have any idea how to handle this project using x-ray bone fracture images??? i have attached an image of that bone.

Thankx..

No Title

Wed, 31 Dec 1969 18:12:59 EST

Hi Steven,
Sorry to bother you again.
I have attached the log file and cpp file.
I'm trying to get simple variable from RR in order to do that later but from the wifibot.

No Title

Wed, 31 Dec 1969 18:12:59 EST

Hi Steven,
Sorry to bother you again.
I have attached the log file and cpp file.
I'm trying to get simple variable from RR in order to do that later but from the wifibot.

No Title

Wed, 31 Dec 1969 18:12:59 EST

Let's try that again...