©siprop project, 2006-2008 1 content-centric embedded ~ treasure hunting robot ~ noritsuna...
TRANSCRIPT
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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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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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Today’s Topic
Noritsuna Imamura
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What do you want to make?
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Need a lot of money…
How to get?Make a Startup CompanyGet a Sponsor
Kinds of SponsorsProduct Sponsors
Sale their products
Service SponsorsExpand their service
PatronSupport a cool guy (Ex. Kickstarter)
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Treasure Hunting Robot
AiRscouter
MindWave
Pandaboard
Xtion
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©SIProp Project, 2006-2008 12
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 13
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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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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What do you want to make?
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Auto Chasing Turtle
Noritsuna Imamura
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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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YouTubehttp://www.youtube.com/watch?v=8EgfAk5RBVo
Source Code & detail explanationhttp://www.siprop.org/ja/2.0/index.php?product%2FAutoChasingTurtle
KeywordAutoChasingTurtle
Movie
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©SIProp Project, 2006-2008 19
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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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 recognize a human’s face?Using KINECT RGB Camera as Sensor
KINECT Image
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How to recognizing a human’s face
FaceDetector detector = new FaceDetector(w, h, faces.length);int numFaces = detector.findFaces(bitmap, faces);
Android’s APIs.
60-80% Product!
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©SIProp Project, 2006-2008 24
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 27
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 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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Treasure Hunting Robot
Noritsuna Imamura
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Summary
This is an "AR(augmented reality) Treasure Hunting Game“
You get virtual treasures by controlling real robot!
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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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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 34
Hardwares’ photo
AiRscouter
MindWave
Pandaboard
Xtion
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Softwares’ photo
Brain WaveLine
GraphBone skeleton
Tracking Window
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Some Problems ・・・
Cool UILibraryMobileConnect Sensors
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Made by ofxDroidLinaro 1/2
An ALL in ONE developing environment.
Made by 3 Layers
Device :
Library&Driver :
App Framework :
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Made by ofxDroidLinaro 2/2
Make Program easily&quickly by AndroidMake Cool UI by openFrameworks
Use a lot of Libraries&Drivers for Linux
Mobile & Connect to sensors (Ex,Kinect) by ARM
App Framework :
Library&Driver :
Device :
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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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Events & Conferences~ Show Demonstration &
Speech ~
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China
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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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Ma An Shan Univ.
TargetChinese StudentsEducation
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Taiwan
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OSDC.tw 2012 (Apr/2012)
One of the largest OSS conference in Taiwan
TargetTaiwanese Engineer
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COSCUP 2011&2012 (Aug)
One of the largest OSS conference in Taiwan
TargetTaiwanese Engineer
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Computex 2011&2012 (June)
The largest hardware business show.Target
Hardware Engineer & Company
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Yuan Pei Univ.
TargetTaiwanese StudentsEducation
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Singapore
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Mini Maker Faire 2012 Singapore
The first Maker Faire in SingaporeTarget
DIY(DIwO) Engineer
About Maker FaireThe most famous DIwO
conference
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Hong Kong
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Mini Maker Faire 2012 Hong Kong
The first Maker Faire in Hong KongTarget
DIY(DIwO) Engineer
About Maker FaireThe most famous DIwO
conference
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USA
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Linaro Demo Friday 2012.Q2
The Making Linux Kernel for ARM ProjectTarget
ARM Embedded Engineer
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Embedded Linux Con 2012
TargetLinux Embedded Engineer
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Maker Faire 2012 BayArea
The biggest Maker FaireTarget
DIY(DIwO) Engineer
About Maker FaireThe most famous DIwO
conference
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Japan
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ABC 2012 Spring
The largest Android User Community in JapanTarget
Japanese Android Engineer
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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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One more thing
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Why do you work?
For money?
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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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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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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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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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Thank you!