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This 21 page Class Notes was uploaded by Jada Daniel on Wednesday September 23, 2015. The Class Notes belongs to MEM380 at Drexel University taught by HarryKwatny in Fall. Since its upload, it has received 11 views. For similar materials see /class/212404/mem380-drexel-university in Mechanical Engineering at Drexel University.
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Date Created: 09/23/15
AUTONOMOUS SYSTEMS INTRODUCTION Harry G Kwatny Department of Mechanical Engineering amp Mechanics Drexel UnIversity OUTLINE PRELIMINARIES Practical Information COURSE CONTENT Course Objectives Basic Issues HARDWARE Equipment PLAN First Steps CONTACT INFORMATION gt Professor Kwatny 3151A hkwatnycoedrexeledu gt Course URL httpwwwpagesdrexeledu hgk22 7 I E COURSE OBJECTIVES gt This is a hands on course You will work in teams to assemble a vehicle to perform a simple mission gt Mission Locate an object in a room with obstacles approach it stop and communicate its location LAGR platform Robotics Institute CMU m up woqu BASIC ISSUES IN AUTONOMOUS GROUND VEHICLES gt Vehicle mobility gt speed control gt maneuvering gt terrain gt High level sensing amp communication gt sion gt Rangefinding Infrared ultrasonic laser gt Global positioning system GPS gt Inertial measurement system IMU gt Wireless communication Bluetooth 80211bg WiFi gt Basic Maneuvers gt Path following gt Waypoint control gt Obstacle avoidance gt Motion coordination gt Formation control gt Coordinated positioning Bowman BASIC CONFIGURATION gt Truck Traxxis EMaxxTamiya TXT 1 Possible modifications gt Springsamptires gt steering servos gt motor drive gt Computing gt Low level Parallax Propeller onboardservo controller gt High level Dell Vostro laptop or Dell Mini gt Communication via bluetooth Parallax Transceiver gt Sensors gt Sonar Parallax Ping gt Vision CMU Cam gt Optical encoders US Digital EDEUMt FIRST STEPS FIRST STEPS gt Remote speed control forward stop reverse gt Remote steering control gt Operational acoustic sensors gt Obstacle avoidance gt Path following gt Vision gt Go to color target gt Track color target CMUcamZ Graphical User Interface Overview Introduction This guide provides a brief overview of the CMUcam2 Graphical User Interface GUI The CMUcam2 GUI is a java program designed to allow you to explore many of the functions of the CMUcam2 that would normally be hard to visualize For example it would be impossible to understand the output from a send frame command or a line mode packet in a terminal program It is also designed to allow you to quickly and easily prototype and explore dilTerent CMUcam2 con gurations that might aid in accomplishing your vision tasks Recommended System Requirements Java 140 or higher 142 will give a signi cant speed increase 64 Mb of RAM Pentium 2 350 Mhz or better 50 Mb of disk space forjava Windows Installation The rst step is to determine if your computer already has java installed The easiest way to do this is to go to the start menu and select run Inside the run dialog type command to get a dos prompt Now try typing Java ver sion into your command line If a message that says Java version 1x xx appears then java is installed If instead you get command not found or some similar message then you need to go to httpjavasuncom and down load a copy of Java JZSE JDK JRE are all valid things to install Sun should have platform speci c instructions on how to install java Also be sure that your version of Java version 140 or newer If it is not then you will need to download a new copy of Java Unix and Mac OS Installation The rst step is to determine if your computer already has java installed The easiest way to do this is to open a shell or other command prompt Now try typing Java version into your command line If a message that says Java version 1x xx appears then java is installed If instead you get command not found or some similar message then you need to go to javasun com and download a copy of Java JZSE JDK JRE are all valid things to install Sun should have platform speci c instructions on how to install java Also be sure that your version of Java is version 140 or newer If it is not then you will need to download a new copy of Java First Steps Once you have Java installed download a copy of the latest CMUcam2GUI Java program Unzip the CMUcam2GUIzip le Open up the standalone folder In Windows double click on the CMUcam2GUI jar le In unix navi gate to the CMUcam2GUI directory and type java jar CMUcam2GUI to execute the GUI g Serial Port Se Select serial part 1 You should now see a dialog box that asks you to select the correct serial COM port In windows type in the number of the COM port that the CMU cam2 is connected to and press the Ok button In unix make sure that the path to your com port is correct and then press Ok In general the path shold be in the form devttySO where ttySO denotes com port 1 The CMUcam2GUI should now open and display the message CMUcam version 2 type X ready in the Console box That means that the CMUcam2GUI found and was able to communicate with the camera The X should either be a 6 or a 7 corresponding to the type of camera module that is connected If you are using an OV6620 module then a 6 should appear If you are using an OV7630 module then a 7 should ap pear Note that the Windows default baudrate is always 115200 so make sure that none of the CMUcam2 baudrate jumpers are set In unix you need to run a program to con gure the serial port to whatever baudrate the CMUcam2 is set on 115200 baud default with no ow control 8 data bits with 1 stop bit and no parity Included is a linux program called serialcon g that does just that Another option would be to use minicom a freely available unix terminal program Focusing the Camera Once you see this main screen click on Grab Frame button Command Dialog Box 2 CMUcamZ GUI rue Image H stop M an H a H 5 H Ww cum linnf leum rmsmm m syn rsm 39CnlanIckeri suemmmmlza clezr n n n ymhm yimmm A Click here to send a frame Rotate here to focus CMUcam Lens Mount Once you have the ability to send frames from the camera you should be able to rotate the front part of the CMUcam lens and see the image change Try to get the picture to be as sharp as possible by dumping frames and changing the position of the lens a small amount each time Usually the camera is in focus when the lens is a few rotations away from the base Om Sums Image Facused Image Camera View Panel Send the text that is in the console dialog box to the camera Stops the camera from clear any text that There is no check on processing by sending Reset the camera by is in the command ifthis is avalid r and looking for an sending the RS dialog box so that command The text Tab Panel ACK command you can write in your is sent as is out the 39 39 39 39 own command serial port clicking on them CMUcamz GUI FIIE lmzde clicking on a color in the main boxes e ColorTab The selected colorwill become Cy Sets the values that bound the selected color when the are entered into the Track Color Box on the Color Tab clears the cunent color selection from ve window so u can select to Calls the send frame Lets you save the that you can see the cursor in the above send only a single command above image as a image nndemeath the window channel with this jpeg cyan shaded region 39I L39L L I that is under the menu for faster send me Con g Panel This panel allows you to con gure all of the CMUcam2 parameters except for servo controls Each button calls one of the camera con guration com mands and sets it With the associated Value Below is a cross reference for each button With the corresponding CMUcam2 command that can be found In the CMUcam2 Manual amp CMUcam2 GUI rue Imade H stop H RESH H our H San quot fqameiglngw conua com r nrHiggoram quot CR command see page 26 in the CMUcam2 Manual cnlnrsnace Rea 39 lt Also see Notes on Better Tracking on page 19 ofthe CMUcam2 Manual wnne Balance on v 4 AmnGam on CameraResnlullnn an H H eenR A 33 C he camera 39 anuonerene on H rm 4 n c ie cameram I umeneauaekrna on H 1 ee 11 Framestream on H D unemneon on H i do Dmchannel creen H ee LmeMndes on v 4 eel M 35 C ie camera Manna amn H HeeBM unsure 2 unmumnnans F uudimenu nnual mndn ann samrund x AXIS 1 YAxIs39 1 ann sample eeNr L 1 In 9 nnwpvr L39 391 In update all ofthe con guration parameters See VW command on page 50 ofthe camera manual See DS command on page 28 ofthe cameramanual Color Panel This panel lets you test the color tracking functionality of the camera To en able and disable line modes see the con g panel H stop H teen H on H San ssm39 sewnj red dot repre sents the centroid of the tracked object The blue box repre sents the bounding box retumed from color tracking These boxes hold by clicking on the image in the Camera View Tab This label shows the frame rate while the mmJEHCHCImMEHCHCI 7526 garrison trackm ndnw This button calls the This button calls the Track Color TC com Track window TW mand See page 48 in command See page 49 the camera manual in the earnerarnanuai Line Mode Color Legend I Line mode 1 bitmap of tracked object E Linemode 2 minmax per line Values I Linemode 2 Middle Mass per line Motion Panel This panel lets you test the frame differencing functionality of the camera To enable and disable line modes see the con g panel Gray scale boxes may also appear representing intensities of regions during linemodes 2 and 3 H H sash H ow H so u This box sets the threshold value that is sent to the frame ra T This button calls LF which can be found on page 34 of t This button calls FD which can be found on page 29 of t then click on Frame Di Press this a eryou have loaded afmme Color Legend for Motion Panel Bounding box of tracked region Linemode 1 changed region Centroid of changed region Histogram Panel This panel lets you test the histogram functionality of the camera A histo gram With pixel differencing enabled gives you interesting data about the distribution of sharp edges in an image This can be used to determine focus as Well as the amount of texture found in a scene The height ofthe bars represent the nurnber ofpixels that fall into at bin u snip H REsEr H bun H sin i Histuuram ms 17 Rsntcn v g i gurgm This menu selects the This button calls the e camera manual The bars themselves represent the actual bins The lower values are on the le and larger valued bins are on the right Stats Panel This panel lets you test the statistics functionality of the camera Different ljne modes can be enabled on the con g panel 2 CMUcamZ GUI This column shows the This column shows the eht strips going down the bar eht strips going down the bar The middle bar repre ofthe bar because These boxes show you the mean This button calls the GM com Value Written out in text m that can be found on page 31 C L Servo Panel This panel lets you test and con gure different servo propeI es See the SO V SP SM and ST commands in the CMUcamZ manual for more informa tion This option calls the s command found on automatic servo track 0quot l g v f cMUcumz GUI rue Image H sion H msn H cm H sen i am Vin W s 39 SEW l Amn Sewn Sewn 1 127 These slider bars call th V command found on page 48 ofthe CMUcamZ Manual to set the current servo positions semz 4 lII 4 127 um Sewn 3 sewn a 4 control law works See SP comman CMUcamZ manual for more infonnation d on page 47 ofthe amameon is a nausea 5 unmnuelzr 3n inmmenem is e yiomsim i These elds con gure the dif This button sends the ferent parameters that alter the SP c mmand found on my e automatic sewoing meters from the elds above This is the CMUcarn2 GUI Overview v10 for the CMUcarn2 GUI v101 For more information go to httpWWWcscmueduNcmucarn or contact us at cmucarncscmuedu Copyright 2003 Anthony Rowe and Carnegie Mellon University All Rights Reserved
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