W/BO projectW/BO projectWi-Fi over AIBOWi-Fi over AIBO
2005-20062005-2006RÉANT GillesRÉANT GillesFrench Erasmus studentFrench Erasmus student
SummarySummary
Gilles RÉANTThursday 6 April 2006
● aims of the project● project review● tools used● evolution of the algorithm● result● demonstration● problems encountered● next● questions
Aims of this projectAims of this project
see what's possible using Wi-Fi & the AIBO
Gilles RÉANTThursday 6 April 2006
● which equipment is compatible?
● what can we do?
● security?
Wi-Fi sniffer
the W/IBO project in itself
Gilles RÉANTThursday 6 April 2006
Aims of this projectAims of this project
Open-R SDK
another idea
finding the access point to which it is connected
report
● avoiding the inappropriate SDKs
● setting-up a connection between a computer & AIBO
● starting doing basic movements
Gilles RÉANTThursday 6 April 2006
Aims of this projectAims of this project
● good start for using the AIBO
● in 2 hours
Work from October 2005 to April 2006
● reportGilles RÉANTThursday 6 April 2006
Project reviewProject review● AIBO● Wi-Fi● tests of coding
● wireless connection for telnet
● infrastructure mode
● SDK● algorithm
Tools usedTools used
Mind 2
wireless access point
AIBO ERS-7
computer
Thursday 6 April 2006 Gilles RÉANT
tests
● important result: effect(orientation) >> effect(distance)
pentagon
first implementation of the rotation
second implementation of the rotation
finding something else
Gilles RÉANT
Evolution of the algorithmEvolution of the algorithm
Thursday 6 April 2006
approximately constant angle
recording the last measurements
if in local minimum, than forward!
Evolution of the algorithmEvolution of the algorithm
Thursday 6 April 2006 Gilles RÉANT
Evolution of the algorithmEvolution of the algorithmother problems
● scattered measures
● solution 1● solution 2
● low mean
● remaining problems● what if we stay in the problem state for too long?● reflection of the waves
Thursday 6 April 2006 Gilles RÉANT
ResultResult
not so bad in noisy environment + low power signal
better results with
● one single signal
● high power
● no reflection of the waves
Thursday 6 April 2006 Gilles RÉANT
DemonstrationDemonstration
● 100% alone
● values monitored on the PC
Thursday 6 April 2006 Gilles RÉANT
???
Problems encounteredProblems encountered
Thursday 6 April 2006 Gilles RÉANT
URBI
learning from scratch
script
numerous bugs
not fully implemented
ad-hoc
connection to the CS wireless network
02/05/06 Gilles RÉANT 1
W/BO projectW/BO projectWi-Fi over AIBOWi-Fi over AIBO
2005-20062005-2006RÉANT GillesRÉANT GillesFrench Erasmus studentFrench Erasmus student
Good afternoon, thanks for comingMy name is Gilles RÉANT, I'm a Senior Sophister
Erasmus student from France, & I'm going to talk to you about my final year project, name the W/BO project
02/05/06 Gilles RÉANT 2
SummarySummary
Gilles RÉANTThursday 6 April 2006
● aims of the project● project review● tools used● evolution of the algorithm● result● demonstration● problems encountered● next● questions
02/05/06 Gilles RÉANT 3
Aims of this projectAims of this project
see what's possible using Wi-Fi & the AIBO
Gilles RÉANTThursday 6 April 2006
● which equipment is compatible?
● what can we do?
● security?
PC under Windows & LinuxMacPocket PCLaptopSmartphones
inner web servertelnetfull pack of functionalities on Windows:
● play CDs● record videos● create precoded movements● see through the camera● text to speech● ...
02/05/06 Gilles RÉANT 4
Wi-Fi sniffer
the W/IBO project in itself
Gilles RÉANTThursday 6 April 2006
Aims of this projectAims of this project
Open-R SDK
another idea
finding the access point to which it is connected
built-in wireless 802.11b cardbased on an idea from my tutorget, no set1 single connexion defined in the memory card
02/05/06 Gilles RÉANT 5
report
● avoiding the inappropriate SDKs
● setting-up a connection between a computer & AIBO
● starting doing basic movements
Gilles RÉANTThursday 6 April 2006
Aims of this projectAims of this project
● good start for using the AIBO
● in 2 hours
in a word, preventing other people from loosing as much time as I lost
02/05/06 Gilles RÉANT 6
Work from October 2005 to April 2006
● reportGilles RÉANTThursday 6 April 2006
Project reviewProject review● AIBO● Wi-Fi● tests of coding
● wireless connection for telnet
● infrastructure mode
● SDK● algorithm
choose AIBOthemea few testsad-hoc doesn't work
02/05/06 Gilles RÉANT 7
Tools usedTools used
Mind 2
wireless access point
AIBO ERS-7
computer
Thursday 6 April 2006 Gilles RÉANT
latest generation of AIBOmind 2 just for starting test, can't use mind & coding
your own software
02/05/06 Gilles RÉANT 8
R-CodeR-Code
Gilles RÉANTThursday 6 April 2006
Tools usedTools used
finally chose URBI
02/05/06 Gilles RÉANT 9
tests
● important result: effect(orientation) >> effect(distance)
pentagon
first implementation of the rotation
second implementation of the rotation
finding something else
Gilles RÉANT
Evolution of the algorithmEvolution of the algorithm
Thursday 6 April 2006
Easy to show the live variation of the signal with URBI
first important result: the effect of the orientation of the AIBO is much more important than the distance to the access point
so, thought of a pentagon tesselation of the areastop, making a measurement, rotating of 72°, 5 times,
then decide which is the best direction to takedidn't give any good result, because the algorithm of
rotation precoded in URBI gave a approximate rotation (the robot wasn't rotating around itself)
used another algorithm, which couldn't rotate of a precise enough angle (imprecision of more than 20%)
so I had to give up this idea, & find something else
02/05/06 Gilles RÉANT 10
approximately constant angle
recording the last measurements
if in local minimum, than forward!
Evolution of the algorithmEvolution of the algorithm
Thursday 6 April 2006 Gilles RÉANT
recording the 5 last measurements
02/05/06 Gilles RÉANT 11
Evolution of the algorithmEvolution of the algorithmother problems
● scattered measures
● solution 1● solution 2
● low mean
● remaining problems● what if we stay in the problem state for too long?● reflection of the waves
Thursday 6 April 2006 Gilles RÉANT
02/05/06 Gilles RÉANT 12
ResultResult
not so bad in noisy environment + low power signal
better results with
● one single signal
● high power
● no reflection of the waves
Thursday 6 April 2006 Gilles RÉANT
02/05/06 Gilles RÉANT 13
DemonstrationDemonstration
● 100% alone
● values monitored on the PC
Thursday 6 April 2006 Gilles RÉANT
???
the access point is herethe AIBO will stop when the signal's power reaches
80% (Sony's unit)first time I do this in this room, can't assure that it will
work
02/05/06 Gilles RÉANT 14
Problems encounteredProblems encountered
Thursday 6 April 2006 Gilles RÉANT
URBI
learning from scratch
script
numerous bugs
not fully implemented
ad-hoc
connection to the CS wireless network
02/05/06 Gilles RÉANT 15
NextNext
what can be improved?
what will be done?
& after?
Thursday 6 April 2006 Gilles RÉANT