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What's this? †

  • This is an "AR(augmented reality) Treasure Hunting Game"
    • You get virtual treasures by controlling real robot!
hirotaka.JPG
all01.PNG
3personview.jpg
displayview.jpg
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Rule †

  1. Look at radar window like dragon radar.
    1. Show the treasure on radar as red star.
    2. Center is a place in which a robot is present.
      1. Blue arrow is direction of robot.
  2. You control the robot to the treasure point by your brain wave.
    1. Look at line graph. This is brain wave line graph.
    2. If you feel some feeling, you control the robot by each feelings.
      1. Exciting -> Turn left
      2. Normal -> Go toward
      3. Relax -> Turn right
rule.PNG
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Why to make? †

  • A product world is trying to change focusing on "Content-Centric". Like a Kindle which is designed by "E-Book Centric". Then, it is necessary to design our products by "Content-Centric". For that purpose, it is necessary to perform a trial production and a products design quickly flexibly. 
  • Therefore we created one robot based on the soul of "DIwO(Do It with Others)" used as basic concepts, such as Make, in order to realize it.
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Materials †

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Video †

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Presentation †

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Source code & Binary †

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Speech & Show demonstration †

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Demonstration †

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Speech †

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Media †

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The items to prepare †

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Hardware †

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Software †

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How To Build †

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Source code & Binary †

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Hardware †

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Robot †

  1. Setup Wi-Fi
    1. Login "KCB-3WL" board 
      ID: root
Password: access
    2. Use "sx_console" command 
      SXCON> set wl ssid treasure01
SXCON> set wl mod ad
SXCON> set ip address 192.168.0.1
SXCON> set ip router 192.168.0.1
SXCON> set ip method static
SXCON> set ip subnet 255.255.255.0
SXCON> sh ip
SXCON> sh wl
SXCON> save
SXCON> init
SXCON> exit
  2. Setup program of controlling robot
    1. Send "Rcb4UdpServer?"
      1. Get Rcb4UdpServer.gz
      2. Use tftp
    2. Setting Auto Run
      1. Edit "/etc/init.d/rcW"

        Add the following line before "exit 0"

        /usr/bin/Rcb4UdpServer &
  3. Setup Robot motion
    1. Connect "RCB-4HV" to your PC
    2. Start "HeartToHeart4"
      1. Load "Hello_KHR3.xml" from our source repository

        Get Hello_KHR3.xml

      2. Save "Hello_KHR3.xml" to your Robot
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Pandaboard †

  1. Install Linaro/Ubuntu11.10
    1. Install Manual from Linaro
  2. Download & Build Linaro/Android11.10
    1. Get Source Code. notes: How to Make the Build Environment 
      export MANIFEST_REPO=git://android.git.linaro.org/platform/manifest.git
export MANIFEST_BRANCH=linaro-android-11.10-release
export MANIFEST_FILENAME=staging-panda.xml
export TARGET_PRODUCT=pandaboard
export TARGET_SIMULATOR=false
export TARGET_TOOLS_PREFIX=`pwd`/android-toolchain-eabi/bin/arm-eabi-
repo init -u ${MANIFEST_REPO} -b ${MANIFEST_BRANCH} -m ${MANIFEST_FILENAME}
    2. Edit ".repo/manifest.xml"
      1. Delete "<project name="people/pawelmoll/gator" path="external/gator" remote="linaro-other" revision="6a8c3b8a1871100bba3abe92446233a991cc2ed6"/>" line
      2. Change revision of "<project name="people/kwerner/libunwind" path="external/libunwind" remote="linaro-other" revision="c144104907084bc219e6233cebb1e957d2002190"/>" to "309eed21cf3f44736a2e6bcb5beb920d5da73e9f"
    3. Get Source Code 
      repo sync
    4. Edit "kernel/
      1. Edit kernel config 
        cd [Linaro/Android Source Dir]/kernel/
make ARCH=arm CROSS_COMPILE=../prebuilt/linux-x86/toolchain/arm-eabi-4.4.3/bin/arm-eabi- defconfig android_omap4_defconfig
make ARCH=arm CROSS_COMPILE=../prebuilt/linux-x86/toolchain/arm-eabi-4.4.3/bin/arm-eabi- menuconfig+++ Use Wi-Fi
x   Location:
x     -> Device Drivers
x       -> Network device support (NETDEVICES [=y])
x         -> Wireless LAN (WLAN [=y])
x           -> TI wl12xx driver support (WL12XX_MENU [=y])
      2. Use Old Display Driver (for AiRScouter) 
        x   Location:
x     -> System Type
x       -> TI OMAP2/3/4 Specific Features
x         -> TI OMAP4 (ARCH_OMAP4 [=y])
x           -> Use .35 based video framework for acc video (OMAP4_USE_OLD_API_VIDEO [=y])
      3. Use USB Serial Adapter (for MindWave?) 
        x   Location:
x     -> Device Drivers
x       -> USB support (USB_SUPPORT [=y])
x         -> USB Serial Converter support (USB_SERIAL [=y])
x           -> USB Serial Console device support (USB_SERIAL [=y])
x           -> USB Winchiphead CH341 Single Port Serial Driver (USB_SERIAL_CH341 [=y])
    5. Build Andorid 
      cd [Linaro/Android Source Dir]
sudo apt-get install autoconf libtool texlive uboot-mkimage
make
  3. Setup Environment of Dual Boot
    1. Setup "uInitrd" from Linaro/Ubuntu for Linaro/Android Kernel
      1. Copy "uInitrd" from Linaro/Ubuntu
      2. Unpack "uInitrd" 
        dd if=uInitrd bs=64 skip=1 of=initrd_uboot.gz
gzip -d initrd_uboot.gz
mount -o loop ./initrd_uboot /media/initrd
      3. Copy "files of initrd" to "root partition of Linaro/Ubuntu"
    2. Re-Build "boot.scr"
      1. Create "boot.txt". note: please change "UUID" to "your UUID of root partition of Linaro/Ubuntu". eg. ls -l /dev/disk/by-uuid | grep sdb2 
        setenv initrd_high "0xffffffff"
setenv fdt_high "0xffffffff"
setenv bootcmd "fatload mmc 0:1 0x80200000 uImage; fatload mmc 0:1 0x81600000 uInitrd; bootm 0x80200000 0x81600000"
setenv bootargs "console=tty0 console=ttyO2,115200n8  root=UUID=af10642e-8ac4-4597-bcd5-699b2a9a6b55 rootwait ro earlyprintk fixrtc nocompcache vram=48M omapfb.vram=0:24M,1:24M mem=456M@0x80000000 mem=512M@0xA0000000 androidboot.console=ttyO2 omapfb.mode=dvi:800x480MR-16@60"
boot
      2. Build new "boot.scr" 
        mkimage -A arm -O linux -T script -C none -a 0 -e 0 -n "pandaboard" -d boot.txt boot.scr
    3. Copy Kernel of Android 
      cp [Linaro/Android Source Dir]/kernel/out/arch/arm/uImage [Boot partition of Linaro/Ubuntu]/
    4. Copy UserLand? of Andoird 
      mkdir [UserLand partition of Linaro/Ubuntu]/andoird
cd [Android Source Dir]/out/target/product/pandaboard
cp -Rdpf root/* [UserLand partition of Linaro/Ubuntu]/andoird/
cp -Rdpf system/* [UserLand partition of Linaro/Ubuntu]/andoird/system/
cd [UserLand partition of Linaro/Ubuntu]/andoird/
sudo chown -R root.root .
sudo chmod 777 -R system/usr/keychars
sudo chmod 777 -R system/usr/keylayout
sudo chmod 777 system/etc/dhcpcd/dhcpcd-run-hooks
  4. Change Linaro/Ubuntu settings
    1. Delete "GUI" softwares
      1. Boot Linaro/Ubuntu
      2. Login Linaro/Ubuntu 
        ID:linaro
Password:linaro
      3. Delete "X11" 
        apt-get remove x11-common
    2. Setup Wi-Fi
      1. Edit "/etc/network/interfaces" 
        auto wlan0
iface wlan0 inet static
address 192.168.0.2
broadcast 192.168.0.255
netmask 255.255.255.0
gateway 192.168.0.1
wireless-mode ad-hoc
wireless-essid treasure01
wireless-channel 11
    3. Setup USB FS
      1. Edit "/android/init"

        Add a following line under "on boot"

        mount usbfs none /proc/bus/usb -o devmode=0666
    4. Setup Auto Boot for Android

      Edit "/root/bashrc"

      chroot /android ./init &
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Software †

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OpenNI †

  1. Run Linaro/Ubuntu
  2. Make directories 
    mkdir /usr/etc/primesense
mkdir /var/lib/ni
  3. Setup "OpenNI & NITE" binaries
    1. Get "OpenNI & NITE" binaries from our repository

      ・openni-bin-dev-linux-arm-v1.5.2.4.tar.bz2

      ・sensor-bin-linux-arm-v5.1.0.22.tar.bz2

      ・nite-bin-linux-arm-v1.5.0.1.tar.bz2

    2. Install "OpenNI & NITE" binaries 
      tar -jxvf openni-bin-dev-linux-arm-v1.5.2.4.tar.bz2
cd OpenNI-Bin-Dev-Linux-Arm-v1.5.2.4
sh install.sh
cd ..
tar -jxvf sensor-bin-linux-arm-v5.1.0.22.tar.bz2
cd Sensor-Bin-Linux-Arm-v5.1.0.22
sh install.sh
cd ..
tar -jxvf nite-bin-linux-arm-v1.5.0.1.tar.bz2
sh install.sh
  4. Build "NiSkeletonServer?"
    1. Get config file & source code

      ・Config File

      ・Source Code

    2. Copy config file & source code to "/usr/etc/primesense/"
    3. Make Source Code 
      cd /usr/etc/primesense/NiSkeletonServer
make all
    4. Setup Auto Run

      Edit "/root/bashrc"

      /usr/etc/primesense/NiSkeletonServer/NiSkeletonServer &
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openFrameworks for Android †