User:Jpereira: Difference between revisions
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* '''Bio-Inst Project''': | |||
Confirmed participation on further tasks of the Bio-Inst project, focusing on the tasks regarding institutional task and modeling. | |||
* '''Formalization of Institutions (PN work)''': | |||
Presented initial ideas about formalization of institutions as Petri Net Plans and some examples using the corridor case-study. | |||
* '''Corridor Case-Study''': | |||
Real robots experiments on the corridor case-study were not performed. This was due to the inability of combining camera operations and infrared message exchange operations on the e-puck robot (both being too demanding on the dsPIC processor). This problem can now be bypassed with the use of the new infrared boards for the e-puck. These possess a separate processor dedicated to deal with all aspects of message exchange. This allows the e-puck original dsPIC to be able to handle the camera operations. | |||
Being that a previous version of the case-study, where the camera was not used, was implemented, the following steps might lead to the implementation of the latest version of the experiment on real robots: | |||
# switch infrared message library so that message exchange is performed using the infrared board instead of the robots' proximity sensors; | |||
# implement wall-following mechanism using the camera (in order to keep a distance with neighboring robots); | |||
# basic camera functions (pixel color, image color) already implemented but need to be well calibrated, either on a static way (with constant light conditions every time the experiment is performed) or in dynamic way (running a calibration algorithm in the beginning of the experiment); | |||
# combine previous bullets into one single controller; | |||
# cross fingers and run the experiment. | |||
Latest revision as of 13:13, 19 November 2010
Meeting Summaries
October 8, 2010
Summary of meeting between Prof. Pedro Lima and José Nuno Pereira on October 8, 2010.
Topics:
- Bio-Inst Project:
Confirmed participation on further tasks of the Bio-Inst project, focusing on the tasks regarding institutional task and modeling.
- Formalization of Institutions (PN work):
Presented initial ideas about formalization of institutions as Petri Net Plans and some examples using the corridor case-study.
- Corridor Case-Study:
Real robots experiments on the corridor case-study were not performed. This was due to the inability of combining camera operations and infrared message exchange operations on the e-puck robot (both being too demanding on the dsPIC processor). This problem can now be bypassed with the use of the new infrared boards for the e-puck. These possess a separate processor dedicated to deal with all aspects of message exchange. This allows the e-puck original dsPIC to be able to handle the camera operations.
Being that a previous version of the case-study, where the camera was not used, was implemented, the following steps might lead to the implementation of the latest version of the experiment on real robots:
- switch infrared message library so that message exchange is performed using the infrared board instead of the robots' proximity sensors;
- implement wall-following mechanism using the camera (in order to keep a distance with neighboring robots);
- basic camera functions (pixel color, image color) already implemented but need to be well calibrated, either on a static way (with constant light conditions every time the experiment is performed) or in dynamic way (running a calibration algorithm in the beginning of the experiment);
- combine previous bullets into one single controller;
- cross fingers and run the experiment.