******************************************************************* *** *** *** *** *** DIALY LOGS - NALAKA KAHAWATTE *** *** *** *** November, 2006 *** *** *** ******************************************************************* ******************************************************************* Wedneday 11/29/2006 3.00 - 6.00 pm Paulene and I were modifying the indicator.py to see the different combinations of LEDs on the aibo which indicate different states. As discussed This is very useful indicators in debuggin process. ******** To the question why the aibo backs off and turns into circle is that.. according to a rUNSWift team member thesis ( Noboyuki Marioka's thesis. page 31 ) , the rUNSWift code is set such that the aibo backs off when it does not see any green on the screen, It assumes that it is in a 'scrum' situation. according to runswift team, they like to avoid scrum situation, because the dog wouldnt know whether the ball is in the scrum or not and there's no point of fighting if the ball is not in it. it would be better to back off a little bit and use another team mate to tell that dog whether the ball is near him or not. Read a further chapter on runswift documentation on behavior control by Noboyuki. I have to get my hands on Python. Read the first chapter on python. Planning to dig deeper on friday. ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- Monday 11/27/2006 2.00 pm - 5.00 pm I think it would be very helpful if we could go thru the thesis presented by the different rUNSWift members who concerntrated their efforts on developing each module. There are thesis documents available for all the modules seperately presented by different team members. They seem to be Undergraduate Students and the material is pretty simpler than the German Team documentation. So i decided to go thru each of the thesis documents while analyzing the code. I expect to finish one module a week. I went through the Behaviors module of rUNSWift code, behaviors/behaviors.cpp along with the rUNSWift documentation provided by one of the team mates Noboyuki Morioka who mainly forcuses on behavior module. how the information from the vision module and localization modules is used in decision making then the decision is sent to actuator module. It gave a very clear description of their software architecture and the different algorithms used in behavior control. THe documentation talked about using a Kalman Filter for self localization. There's a very informative article on the Kalman Filters on http://en.wikipedia.org/wiki/Kalman_filter ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ Wednesday 11/08/06 the code base was decided as Runswift. downloaded the code base. installed it. There was a error when trying to do the makestick. The progtram compiles with no errors but when the ./os command is used to write the code to memory stick, there;s an error, ' Syntax Error; Line 43; Unexpected End of File'. Downloaded and installed the latest Cygwin version, The version at Paulene;s logs and the one on the OpenR website. but the problem prevailed. ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- Monday 11/06/2006 As assigned by the Captain Paulene, daily Task is to study the UPenn code and try to figure out 1. The function of APMODE on WLANCONF.TXT 2. How network is set up on UPenn went thru the whole UPenn documentation. It does not talk about any directions or descriptions on WLAN setup. Useful Reference about WLAN configurations i gathered today. 1. German Team 2004 documentation. Page 116 2. OpenR-SDK tutorial in the lab. Please refer to page 10. APMODe : AP stands for Access Point mode. there are 3 possible modes as described on the OpenR tutorial. Apmode ; Use 0 When we connect AIBO using Ad Hoc demo Mode, 1 when we connect with Infrastructure mode. 2 when we want the AIBO to automatically detect the correct setting Please refer to page 10, 11 in OpenR SDK tutorial in the ISL Lab for further details. Specially read the Foot NOTES. ---------------------------------------------------------------------------------------------------------------------------------------------------------------- Friday 11/03/2006 2.30 - 6.00 pm Field seup on the OCNL 254. ---------------------------------------------------------------------------------------------------------------------------------------------------------------- Wednesday 11/01/2006 3.15 - 4.00 pm & 5.00pm - 7.00pm