Tue, 30 Jun 2009
In the works ...
We haven't posted much development news lately, but there are several significant projects that should soon see the light of day ...
- onboard depth mapping for the SVS (stereo vision system) - we have a port in the works of Bob Mottram's Sentience stereo vision code to the SRV-1 Blackfin processors. this is a feature-based mapping approach that computes distances to various object features in the overlapping stereo cameras fields of view. the project is progressing nicely, and we hope to make a firmware update with this capability available soon.
- GPS + compass + tilt + 8-channel A/D board - we have working prototypes of the new version with uBlox5 gps and new 3-axis Honeywell compass, with I2C interfaces to all onboard devices. once we have nailed down a production schedule for these modules, details will be posted. production prototype photos here (final pcb will be red):
- optical flow - we have integrated some optical flow functions into the core SRV-1 firmware, and just need to create a graphical display of results and some functions in picoC to access the vector data. this should emerge in a few weeks in a firmware release.
- autorun function for picoC - we have a tested version of code which enables the SRV-1 to launch directly into a picoC script from flash storage on system startup, and just need to generate a release version of firmware that includes this feature.
- ruggedized robot base - Inertia Labs has developed several prototypes of larger SRV-1 robot bases with 4WD, planetary gearhead motors, shaft encoders, larger battery, etc. we don't have a production schedule or pricing yet, but these new bases look GREAT, and we look forward to getting them into production. here's a photo of the latest prototype with SVS and pan/tilt head:
Posted Tue, 30 Jun 2009 12:53 | HTML Link | see additional stories ...
Sun, 28 Jun 2009Carnegie Mellon "RoboGuard"
"RoboGuard" is a project at Carnegie Mellon University using the SRV-1 Blackfin robot as a development platform for automation of security personnel personnel functions. A variety of sensors have been added to the base SRV-1, including:
- IR based line following
- Motion detection
- Compass
- RFID reader
- Battery monitoring
Video of a test run is shown here:
Posted Sun, 28 Jun 2009 14:26 | HTML Link | see additional stories ...
Thu, 25 Jun 2009Status of new SRV-1 RCM 20 servos / 16 analog in / 16 gpio / micro-SD expansion board
The SRV-1 RCM expansion board has gone into production. An initial batch of 100 boards has been ordered with delivery scheduled for end of July, though 50 boards have already been allocated.
Schematics are found here - Preliminary user guide is found here - The RCM has been priced at $175 ($157.50 to education customers). If interested in ordering, please contact support@surveyor.com. As noted above, only 50 boards are currently available from this initial batch.
Posted Thu, 25 Jun 2009 10:23 | HTML Link | see additional stories ...
Fri, 12 Jun 2009Surveyor + RoboRealm bundle !
Starting next week, we will begin bundling CDROM's with a registered version of RoboRealm robotic vision software at no additional cost (an $89 value) with purchases of the Surveyor SRV-1 Blackfin Robot, SRV-1 Blackfin Camera + Wifi, and SVS stereo vision system from the Surveyor online store.
RoboRealm has been customized for the Surveyor robot controllers, and they have introduced a series of tutorials for the Surveyor robots and controllers called "Fun with Surveyor". The tutorials include keyboard driving, joystick driving, chasing a light, chasing a red ball, chasing movement, finding a target, and following lines.
Target finding:
Line following:
Visit "Fun with Surveyor" for more details.
Posted Fri, 12 Jun 2009 20:00 | HTML Link | see additional stories ...
Thu, 11 Jun 2009Some price increases on Monday, June 15
Due in large part to the falling US dollar, we need to make a few pricing adjustments. Effective Monday, June 15, 2009, the following price changes will take effect:
- SRV-1 Blackfin Robot - $495 (up from $475)
- SRV-1 Blackfin Camera + Wifi - $350 (up from $325)
Posted Thu, 11 Jun 2009 23:52 | HTML Link | see additional stories ...
Mon, 01 Jun 2009We now have a twitter feed
twitter.com/surveyorcorp
Posted Mon, 01 Jun 2009 12:29 | HTML Link | see additional stories ...
Fri, 22 May 2009Updated 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 ...
Tue, 28 Apr 2009A really small system for SRV-1/SVS code development ...
For an upcoming trip, I wanted to create a very compact SRV-1/SVS code development environment, so I picked up an Eee PC 901 netbook and a DLink DWL-G370AP wifi access point.
It doesn't get much smaller than this. In the photo, behind the robot with SVS is a little black rectangle that is the wireless access point - it is powered by the computer's USB. There is a full size Mac keyboard further in the background that gives some sense of scale. The Eee keyboard is cramped, but certainly functional.
The Eee came with the Xandros Linux distribution, but I replaced it with Ubuntu's Eee version (called "easy peasy" for unknown reasons), and had little difficulty installing the Blackfin gcc toolchain, Java SDK, and SDL libraries. Still on the list is to add the Google Android SDK. Other than the normal set of hassles with migrating to a new system, the setup was relatively painless. Thus far, perhaps 4GB of the available 20GB solid state disk has been used.
Posted Tue, 28 Apr 2009 20:04 | HTML Link | see additional stories ...
Tue, 21 Apr 2009New expansion board for SRV-1 Blackfin supports 20 servos, 16 analog in, 16 gpio and micro-SD
We have a couple of expansion cards in the works. One which we will discuss in a few days is intended for robot GPS navigation, while another, called the RCM, is designed to greatly expand the capabilities of the SRV-1 Blackfin Camera for robot control.
The RCM, short for "robot control module", creates a fully functional augmented microcontroller (video, audio and data streaming and control, wifi, comm. ports, multiple I/O and servo controllers) geared toward education and hobby robots that could replace embedded PC104 and mini-ITX computers. Inspiration for this project came from multiple years of participation in robotic competitions, the most recent (and most demanding) being the RoboCup Rescue Robot League.
Developers of the RCM wanted to create a system that fit well into the learning goals of a high school engineering program from LEGO; through the SHARP IRs, and R/C servo motors; on up to IFI Victor and Dimension Engineering Sabertooth motor controllers, and Hokuyo laser scanners. The result is an expansion board for the SRV-1 Blackfin that supports 20 servos, 16 12-bit analog input channels, 16 GPIO signals, additional I2C and SPI expansion channels, and a micro-SD memory card slot. Voltage level converters provide support for 5V devices, and an external 5V supply can be added to drive large numbers of servos.
The schematic for the RCM can be found here. The RCM is expected to be priced at $150 ($135 to education customers), and production volumes should be available in 4-6 weeks. For further information, please contact support@surveyor.com.
Posted Tue, 21 Apr 2009 01:46 | HTML Link | see additional stories ...
Sun, 19 Apr 2009Just how large are the SRV-1 Blackfin Camera and SRV-1 Blackfin Robot ?
We often hear the comment from our users that the SRV-1 Blackfin Camera and SRV-1 Blackfin Robot are a lot smaller than expected. Although we publish dimensions in millimeters and inches for our various products, sometimes the numbers don't register. So here are a couple of photos that might help with perspective.
The hand holding the camera boards and robot is normal size (medium-large male glove), if that helps with calibration.
Posted Sun, 19 Apr 2009 16:43 | HTML Link | see additional stories ...