Content-Centric Embedded ~Treasure Hunting Robot~ for LinuxCon Japan 2012
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Transcript of Content-Centric Embedded ~Treasure Hunting Robot~ for LinuxCon Japan 2012
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©SIProp Project, 2006-2008 1
Content-Centric Embedded~ Treasure Hunting Robot ~
Noritsuna Imamura
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©SIProp Project, 2006-2008 2
Agenda
1st
About meToday’s goal
2nd
Auto Chasing TurtleTreasure Hunting Robot
Little how to make
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©SIProp Project, 2006-2008 3
My Bio
SpecialNetworking technology (P2P)
Community (OSS)SIProp.orgJapan Android GroupLinaro
CompanyNPO OESF (Open Embedded Software Foundation)
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©SIProp Project, 2006-2008 4
Current work
WorkIndustrial Technology Research Institute.Making a testing center for Android Devices.
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©SIProp Project, 2006-2008 5
Japan Android Group : 2008-
Prof.Maruyama & I started up this community.
At Apr/2008
DetailThe most famous & largest Community in JapanURL: http://www.android-group.jp/Since: Sep/2008Members: over 20,000Branch: over 20
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©SIProp Project, 2006-2008 6
Linaro: 2010-
http://linaro.org/
MissionOptimize for each SoC & Platform
Contributor for community!
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©SIProp Project, 2006-2008 7
Android’s tools
NyARToolkit for AndroidI made a based-program for this OSS community
http://en.sourceforge.jp/projects/nyartoolkit-and/
OpenCV for Android NDKThis program is included in Android 4.0.1 .
http://tools.oesf.biz/android-4.0.1_r1.0/search?q=SIProp
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©SIProp Project, 2006-2008 8
Today’s Topic
Noritsuna Imamura
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©SIProp Project, 2006-2008 9
What do you want to make?
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©SIProp Project, 2006-2008 10
Need a lot of money…
How to get?Make a Startup CompanyGet a Sponsor
Kinds of SponsorsProduct Sponsors
Get their products
Service SponsorsExpand their service
Extra SponsorsGet office
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©SIProp Project, 2006-2008 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
Hardwarebeagleboard-xMArduinoKinect
SoftwareLinux KernelAndroid
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©SIProp Project, 2006-2008 12
Content-Centric Embedded
Content-Centric NetworkingIt 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 EmbeddedWhen make products, it thinks from hardware.
This philosophy thinks them from Contents.
Ex: Kindle
http://en.wikipedia.org/wiki/Content-centric_networking
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Auto Chasing Turtle
Noritsuna Imamura
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©SIProp Project, 2006-2008 14
Summary
This product is an "Auto Chasing Turtle".By autonomous control, this robot recognizes people's face and approaches to the detected human.
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©SIProp Project, 2006-2008 15
Hardwares & Softwares
HardwaresBase computer
Beagleboard-xMTI
Depth SensorKinect
RobotKONDO Animal
Kondo science
SoftwaresUbuntu & Android
Linaro10.03Linaro
Depth SensorofxKinect
UI FrameworkopenFrameworksAndroid
OESF
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©SIProp Project, 2006-2008 16
How to make
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3 Points for Developing
Detect the Face
Calculate the course
Calculate the distance
1. detect
2. course
3. distance
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Detect the face
How to recognizing a human’s face?Using KINECT RGB Image
KINECT Image
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©SIProp Project, 2006-2008 19
How to recognizing a human’s face
FaceDetector detector = new FaceDetector(w, h, faces.length);int numFaces = detector.findFaces(bitmap, faces);
Android’s APIs.
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©SIProp Project, 2006-2008 20
3 Points for Developing
Detect the Face
Calculate the course
Calculate the distance
1. detect
2. course
3. distance
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Calculate the course
1. Calculate a center position of face.2. Calculate a position of the face from 4-
sections separation KINECT’s image.640px
160px
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Calculate the course
faces[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}
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©SIProp Project, 2006-2008 23
3 Points for Developing
Detect the Face
Calculate the course
Calculate the distance
1. detect
2. course
3. distance
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©SIProp Project, 2006-2008 24
Calculate the distance
Distance of from Robot to detected human
Can be gotten by KINECT.
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Calculate the distance
Depth camera’s range is 0~65565.
int dist = OFAndroid.getDistance(pointX, pointY); // Use depth camera
if (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();
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©SIProp Project, 2006-2008 26
Treasure Hunting Robot
Noritsuna Imamura
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©SIProp Project, 2006-2008 27
Summary
This is an "AR(augmented reality) Treasure Hunting Game“
You get virtual treasures by controlling real robot!
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©SIProp Project, 2006-2008 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 leftNormal -> Go towardRelax -> Turn right
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©SIProp Project, 2006-2008 29
Hardwares & Softwares
HardwaresBase computer
PandaboardTI
Brain Wave SensorMindWave
Depth SensorXtion pro live
DisplayAiRscoter
Brother Industries
Walking RobotKHR-3WL
Kondo science
SoftwaresUbuntu & Android
Linaro11.11Linaro
Depth SensorOpenNI
Bone skeleton tracker
NITE for ARM
UI FrameworkopenFrameworksAndroid
OESF
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©SIProp Project, 2006-2008 30
How to make
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©SIProp Project, 2006-2008 31
Hardwares’ photo
AiRscouter
MindWave
Pandaboard
Xtion
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©SIProp Project, 2006-2008 32
Softwares’ photo
Brain WaveLine
GraphBone skeleton
Tracking Window
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©SIProp Project, 2006-2008 33
Calculate robot position
Recognizing a robot by bone skeleton.Using OpenNI + NITE
Calculate direction & position of robot.Calculate by length of bone.
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©SIProp Project, 2006-2008 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/
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©SIProp Project, 2006-2008 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.
Linaro Kernel for Ubuntu&Android on Pandaboard
UserLand: Linaro/Ubuntu (NITE runs on this userland)
UserLand: Linaro/Android (Run on Ubuntu by chroot)
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©SIProp Project, 2006-2008 36
Download source code
We release all source code on our site.http://www.siprop.org/en/2.0/index.php?product%2FTreasureHuntingRobot
Do It Yourself ⇒Do It With Others!
If you want to try it, please ask me!You can experience like Google Glass!
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©SIProp Project, 2006-2008 37
Events & Conferences~ Show Demonstration &
Speech ~
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©SIProp Project, 2006-2008 38
Taiwan & China
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©SIProp Project, 2006-2008 39
OSDC.tw 2012 (Apr/2012)
One of the largest OSS conference in Taiwan
TargetTaiwanese Engineer
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©SIProp Project, 2006-2008 40
COSCUP 2011&2012 (Aug)
One of the largest OSS conference in Taiwan
TargetTaiwanese Engineer
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©SIProp Project, 2006-2008 41
Computex 2011&2012 (June)
The largest hardware business show.Target
Hardware Engineer & Company
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©SIProp Project, 2006-2008 42
Mini Maker Faire 2012 ShenZhen
The first Maker Faire in ChinaTarget
DIY(DIwO) Engineer
About Maker FaireThe most famous DIwO
conference
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Yuan Pei Univ.
TargetTaiwanese StudentsEducation
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Ma An Shan Univ.
TargetChinese StudentsEducation
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Japan
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©SIProp Project, 2006-2008 46
ABC 2012 Spring
The largest Android User Community in JapanTarget
Japanese Android Engineer
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©SIProp Project, 2006-2008 47
NicoNico Gakkai
The largest Otaku conference in Japan.
TargetJapanese DIY(DIwO)
Engineer
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LinuxCon Japan 2012
TargetLinux Embedded Engineer
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©SIProp Project, 2006-2008 49
One more thing
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©SIProp Project, 2006-2008 50
Why do you work?
For money?
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©SIProp Project, 2006-2008 51
No money economy
The money economy is made by single value.
One thing has one priceNo physical thing has no price
True???
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Ex: Simeji 1/2
One of Android applicationMade by 2 Japanese guys.
As hobby work.
Taken over by 百度2-3M UDS
.
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©SIProp Project, 2006-2008 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 pointOne of most famous developer in Japanese Android Community.
百度 wants to get respect in Japanese community.
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©SIProp Project, 2006-2008 54
This was predicted in 2006
IBM Global Innovation Outlook 2.0 (06’)
http://domino.research.ibm.com/comm/www_innovate.nsf/pages/world.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.
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©SIProp Project, 2006-2008 55
Why are they free?
MAKE:style (Do It With Others Style)
Hardwarebeagleboard-xMArduinoKinect
Do It Yourself ⇒Do It With Others!
SoftwareofxDroidKinect
Linaro KernelAndroid
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©SIProp Project, 2006-2008 56
Thank you!