11.21.2008

  • Topics
    • trac
      • Added breadcrumbs for navigation
      • Any additional features you would like to see?
    • robot hardware
      • encoders - why so many half-working robots?
    • Mapping - Meeting w/ George on 11/24
      • Book: Probabilistic Robotics - Thrun, Burgard, Fox
      • Possible Approaches
        • Expectation Maximization - use line segments, assign points to line (iteratively)
        • Probability Occupancy Grids (for creating map), Particle Filters (for localization)
      • Performing real-time calculations on the server
        • Look into shared memory and/or sockets in MATLAB and/or python
  • Status Updates
    • Mapping - Chris, Abe
      • Produced from pushing robot around, sending data to server, running matlab function
      • Show picture, matlab plot -- need to make movie
      • Realtime plotting of position/rangefinders almost works (bug in receiving floats) -- Tudor
    • IR rangefinder testing (Nico)
      • Found a rough conversion factor for IR units to mm.
      • There is more than the usual error after 19cm from the robot
      • Add macro to library to convert linearized range data to mm
      • Check return codes
    • I2C Communication (Nolan, Tim, Abhinav, Casey)
      • Finally got something to work on bayboards--plan to extend functionality and printing out data
      • Still need to test on the chargeboards on the robot and make it talk with the processor on the robot
      • Many thanks to various Roboclub members for the help!
    • Scheduling (Evan)
      • XBee detection works
      • scheduling coming soon pending I2C
    • Lights/Orbs - Kevin
      • two possible solutions
        • Motors -> timer0, lights -> timer1
        • lights -> timer2 (w/ buzzer)
    • Recharging
      • Charge Boards - Emily, Austin
        • New inductors working
          • Charge regulation 'funky' - incorrect current detection
          • Need to get this working before testing charging at 500 mA
      • Charge Bays - Rich
        • Porting code to new charge bays
          • Use I2C for communication, not DIO
    • BOM covers - Jimmy
      • Will be built soon
    • Colonet - Ryan
      • Fixed some wireless bug(s)
      • Working on client-server communication (images)
    • Odometry - Justin, Bradley
      • Works for driving in reverse
      • Values drift to zero
      • Possible rounding problem