Changes between Version 35 and Version 36 of Other/Summer/2023/RobotTestbed
- Timestamp:
- Jul 31, 2023, 3:59:55 PM (15 months ago)
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Other/Summer/2023/RobotTestbed
v35 v36 73 73 **[https://docs.google.com/presentation/d/1IYKcQdG27xSXlZqqyma7TG-OmXAVHhU-KHgzNXne9zE/edit?usp=sharing Week 1 Presentation]** 74 74 75 The main priority for week one was getting familiar with the focused topics of the project. Since all the group members had little to no knowledge of these topics, a variety of relevant research papers were passed. These papers included topics such as the encoder-decoder architecture the large language model would be built upon and the research paper the previous group wrote regarding ''!SenseScape''.75 The main priority for Week One was getting familiar with the focused topics of the project. Since all the group members had little to no knowledge of these topics, a variety of relevant research papers were passed. These papers included topics such as the encoder-decoder architecture the large language model would be built upon and the research paper the previous group wrote regarding ''!SenseScape''. 76 76 77 77 In addition to reading, the group was introduced to the robot, which had the potential to be used a mobile sensor in the indoor testing environment. For a few days that week, the group met at the Computing Research & Education Building (CoRE), located on Rutgers- Busch Campus, in order to see and interact with the robot. To learn more about the way the robot worked, the group was able to set up ROS (Robotic Operating System) on Ubuntu distro and even ran elementary python scripts on robot following a talker/listener architecture. … … 81 81 **[https://docs.google.com/presentation/d/1QW5UYQB5ktRmmwNGVY43LUMOT2xoVWsmm7XsQQUSX9M/edit?usp=sharing Week 2 Presentation]** 82 82 83 For week two, the group worked on starting the website designing process by first brushing up on HTML (!HyperText Markup Language), a markup language a few of the members had previous experience with. To do so, this included watching tutorials, practicing on Code Academy, and even creating a simple website.83 For Week Two, the group worked on starting the website designing process by first brushing up on HTML (!HyperText Markup Language), a markup language a few of the members had previous experience with. To do so, this included watching tutorials, practicing on Code Academy, and even creating a simple website. 84 84 85 85 {{{#!html … … 116 116 117 117 118 For week four, the group again spent the time splitting up tasks.118 For Week Four, the group again spent the time splitting up tasks. 119 119 120 120 The first task done was adding functionality to the website; this included adding the backend/appointment system. By doing so, the user is able to submit their code using the website. The website then sends an email to the professor, including their name, appointment time, and the code they wish to conduct. It is up to professor to allow them permission. … … 130 130 **[https://docs.google.com/presentation/d/1c5EtgELOf6aDRE73iHUt2_Uq74TGIWMUXo0xngeD5ac/edit?usp=sharing Week 5 Presentation]** 131 131 132 Week five started off with a meeting with the professor about what the group needed the Raspberry Pis to do. To work towards his objectives, the group automated the process of connecting the Pis to wifi as well checking the connection by pinging Google. This was done by writing python scripts and adding them to the rc.local file located on the Pi, which runs the scripts every time the Pi reboots. In addition, the group studied creating a tunnel between the Raspberry Pi and the professor's server since they are on two different ip addresses; however, it was found that the Pis already contained a script which created that tunnel. Lastly, the foundation of the interactive grid was added to the website. This grid would display real time information about the MAESTROs, including their name, online status, the last time data was collected, and the continuous streaming data coming in.132 Week Five started off with a meeting with the professor about what the group needed the Raspberry Pis to do. To work towards his objectives, the group automated the process of connecting the Pis to wifi as well checking the connection by pinging Google. This was done by writing python scripts and adding them to the rc.local file located on the Pi, which runs the scripts every time the Pi reboots. In addition, the group studied creating a tunnel between the Raspberry Pi and the professor's server since they are on two different ip addresses; however, it was found that the Pis already contained a script which created that tunnel. Lastly, the foundation of the interactive grid was added to the website. This grid would display real time information about the MAESTROs, including their name, online status, the last time data was collected, and the continuous streaming data coming in. 133 133 134 134 **WEEK SIX** … … 140 140 In addition, the group continued to look into utilizing Unity by creating an environment where Unity and ROS could connect. The first step was setting up a remote desktop on the orbit node at WINLAB. The end goal is to hopefully create a demo which integrates SLAM (Simultaneous Localization And Mapping). SLAM describes a robot attaining a certain degree of environmental awareness through the use of external sensors - and is one of the most studied areas in autonomous mobile robotics. 141 141 142 [[Image(remote_desktop.png, 350px)]] 143 142 144 **WEEK SEVEN** 143 145 144 146 **[https://docs.google.com/presentation/d/1p9R_rovMCXBW7BP6RejAyDSZmvj82NZ5OZdMKCCgQeA/edit?usp=sharing Week 7 Presentation]** 145 147 146 * Set up PTP on Pi's 148 Starting Week Seven, the group attempted to connect a Raspberry Pi to PTP. It was found that the Raspberry Pi Model 3B+ did not have IEEE1588, the protocol which enables PTP, and also had no hardware timestamping feature. This meant PTP had to be achieved through software emulation, by aiming the Raspberry Pi to a boundary server. To start, the group walked through the following Github: https://github.com/twteamware/raspberrypi-ptp 147 149 148 → Pi's do not have hardware timestamping 149 → No IEEE 1588 , must aim Pi at boundary server 150 → Solution: use software emulation 151 → Build kernel that allows ptp4l to run 150 After following all the steps on a Pi containing the data collecting scripts, the PTP software was not successful. 152 151 152 In addition to PTP, the group started to work on using the Raspberry Pi Camera Module, which WINLAB provided. The group was able to successfully capture videos and view them using VLC, a free and open-source media player. 153 153 154 * Looked into using Raspberry Pi cameras for camera data155 → Successfully captured videos and viewed them using VLC156 154 [[Image(raspberry-pi-camera-pinout-camera-2.png, 250px)]] 157 158 * Created the coordinate system for the test room 159 → Discussed the predetermined activities and based layout on them & outlet placement 160 → Turn on Light 161 → Walk in/out of room 155 156 Lastly, the group created the coordinate system for the six Raspberry Pis being placed in the test room. The placement of the Pis depended on the predetermined activities that the group wanted to conduct, such as turning on/off the light and walking in/out of the room. The location of the outlets in the room was also acknowledged. 157 162 158 [[Image(Preliminary Floorplan - IoT Testbed.png, 550)]] 163 159