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Fri, 22 May 2009
Updated version of software-based horizon finder for SRV-1 Blackfin camera
Here's an updated version of the software-based horizon finder for SRV-1 Blackfin. An actual slope and intercept is now being computed, and some filtering has been added ...
Posted Fri, 22 May 2009 18:22 | HTML Link | see additional stories ...
Wed, 20 May 2009Nintendo DS control console for SRV-1 Blackfin
Peter Dove has written a nice tutorial on how to control the Surveyor SRV-1 Blackfin Camera from a Nintendo DS game console. He is using DevKitPro to build the NDS application, generating the SRV-1 commands as defined in the SRV_protocol, and using a JPEG decode library on the NDS to display the live video feed from the SRV-1, similar to what we did for the SRV-1 control console for the Google Android G1 phone.
Full NDS / SRV-1 project details are found here - http://roboticjourney.blogspot.com/
Posted Wed, 20 May 2009 15:26 | HTML Link | see additional stories ...
Sat, 16 May 2009Software based horizon finder for SRV-1 Blackfin camera
Noting the interesting discussion about optical flow and horizon finders in this DIYdrones thread, we undertook to add a simple horizon finder to the SRV-1 Blackfin Camera firmware. The algorithm uses a basic edge detection function that is already build into the SRV-1, dividing the image into 16 columns and searching from top-to-bottom for first edge hits. From the video, it appears that the edge threshold could be set a bit lower, but the results are pretty good without any tuning or filtering.
The Google Code project is here - http://code.google.com/p/surveyor-srv1-firmware/ . Next step is to add a least-squares fit to draw a line through the edge segments, then compute pitch and roll angles based on the line slope and intercept.
Posted Sat, 16 May 2009 13:29 | HTML Link | see additional stories ...
Wed, 13 May 2009Update to Delphi SRV-1/SVS console for Windows
There have been major additions to Andrew Hutchison's DelphiSRV console for Windows users of the SRV-1 and SVS.
Besides fully stereo viewing support and customizable command keys, he has added full support for i2c devices:
and an especially nice edit mode for onboard C interpreter programs:
The DelphiSRV console can be downloaded from www.surveyor.com/stereo/DelphiSRV.zip
Posted Wed, 13 May 2009 13:08 | HTML Link | see additional stories ...
Sat, 09 May 2009SRV-1/SVS navigation module provides GPS, compass, 3-axis tilt and 8-channel 12-bit analog input
We just received the prototypes of a new sensor board we developed for outdoor navigation. This navigation module includes a Honeywell HMC6352 compass, ST LISLV02DQ 3-axis tilt sensor, Analog Devices AD7998 8-channel A/D, and interface to GPS (we're using the Locosys LS20031). Interfaces to the compass, tilt sensor and A/D are via I2C bus, and interface to the GPS is via UART. Everything runs at 3.3V. The board measures 31mm x 38mm (1.25" x 1.5"), and weighs around 5gm without GPS (18gm with GPS).
The 8-channel A/D enables interface to other navigations sensors such as gyros, barometric pressure, thermopiles, infrared range sensors, etc, supporting the development of a complete IMU solution. The prototype module, as seen above with the Locosys GPS, has an unfinished appearance without solder mask or silk screen, but these features will be present in the production version. We will likely ship the board without headers, but the prototype is functioning properly and is already supported in SRV-1/SVS firmware.
The schematic is found here.. Component placement is shown below:
The navigation module is expected to be priced at $150 including Locosys LS20031 5Hz GPS, and we should have production quantities available in 30 days. If interested, please send an email to support@surveyor.com
Posted Sat, 09 May 2009 12:00 | HTML Link | see additional stories ...
Tue, 05 May 2009Robot Learning with a Biologically-Inspired Brain (BECCA)
A group at Sandia National Labs has used the SRV-1 Blackfin robot as the platform for development of a learning model based on exploration of an environment. The robot's software "brain" is BECCA, a brain-emulating cognition and control architecture. BECCA gives the robot the ability to learn from its experience and to develop very simple problem solving strategies.
Source code for the project is published at becca.sourceforge.net
A description of the underlying robot learning model, called "S-learning", is found here - RohrerICCBR09ms.pdf
Posted Tue, 05 May 2009 17:35 | HTML Link | see additional stories ...