Proj-2013-2014-BrasRobot-Handicap-1 - Revision history

RICM4-prj14-grp12: /* Week 6 (February 17th- February 23th) */

2014-04-13T16:10:05Z

Week 6 (February 17th- February 23th)

← Older revision		Revision as of 16:10, 13 April 2014
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	== Week 6 (February 17th- February 23th) ==		== Week 6 (February 17th- February 23th) ==
	For this week, after making our first tests of real-time detection, we must renew them but this time with the webcam at our disposal.		For this week, after making our first tests of real-time detection with our 1600x900 integrated webcam, we must renew them but this time with the webcam at our disposal.
	In Aruco, more generally in OpenCV, we have a type VideoCapture from the class of the same name that manages the video stream. It provides an open function whose signature is as follows:		In Aruco, more generally in OpenCV, we have a type VideoCapture from the class of the same name that manages the video stream. It provides an open function whose signature is as follows:
	[[File:open_videocapture.png\|200px\|thumb\|center]]		[[File:open_videocapture.png\|200px\|thumb\|center]]
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	We find that the closer the distance, the greater the chances of detecting a marker. The optimal distance is estimated at 14 cm or less , and that under favorable conditions ( well calibrated light, visible marker) . We also conducted tests on the number of markers needed . We generated a matrix of markers and we tested detection :		We find that the closer the distance, the greater the chances of detecting a marker. The optimal distance is estimated at 14 cm or less with our integrated webcam , and that under favorable conditions ( well calibrated light, visible marker) . We also conducted tests on the number of markers needed . We generated a matrix of markers and we tested detection :
	[[File:markersmatrixsuccess.png\|300px\|thumb\|center]]		[[File:markersmatrixsuccess.png\|300px\|thumb\|center]]

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	Based on these parameters, we can describe a first draft screenplay . The robot detects the marker. By applying the Pythagorean theorem , we can determine the coordinates of the central point. Once these coordinates obtained, the robot performs a translation to this point, as in the diagram below:		Based on these parameters, we can describe a first draft screenplay . The robot detects the marker. By applying the Pythagorean theorem , we can determine the coordinates of the central point. Once these coordinates obtained, the robot performs a translation to this point, as in the diagram below:
	[[File:diagram1.png\|300px\|thumb\|center]]		[[File:diagram1.png\|300px\|thumb\|center]]


	== Week 7 (February 24th- March 2nd) ==		== Week 7 (February 24th- March 2nd) ==

RICM4-prj14-grp12: /* Related Documents */

2014-04-11T14:42:02Z

RICM4-prj14-grp12: /* Related Documents */

2014-04-11T14:41:21Z

RICM4-prj14-grp12: /* Related Documents */

2014-04-11T14:40:55Z

Adji-Ndeye-Ndate.SAMBE: /* Documents */

2014-04-10T01:47:53Z

Documents

← Older revision		Revision as of 01:47, 10 April 2014
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	= Documents =		= Related Documents =
	The Software Requirements Specification (SRS) can be found		* The Software Requirements Specification (SRS) can be found
	[http://air.imag.fr/index.php/Proj-2013-2014-BrasRobotique-1/SRS here]		[http://air.imag.fr/index.php/Proj-2013-2014-BrasRobotique-1/SRS here]

	SPADE's user manual		* SPADE's user manual
	[https://pythonhosted.org/SPADE here]		[https://pythonhosted.org/SPADE here]

Adji-Ndeye-Ndate.SAMBE: /* Documents */

2014-04-10T01:47:17Z

Documents

← Older revision		Revision as of 01:47, 10 April 2014
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	SPADE's user manual		SPADE's user manual
	[https://pythonhosted.org/SPADE here]		[https://pythonhosted.org/SPADE here]

			* Github repository : [https://github.com/sambea/PL-BrasRobotique1-2014]

	= Steps =		= Steps =

RICM4-prj14-grp12: /* Week 10 (March 17th- March 23th) */

2014-04-09T23:57:22Z

Week 10 (March 17th- March 23th)

← Older revision		Revision as of 23:57, 9 April 2014
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	== Week 10 (March 17th- March 23th) ==		== Week 10 (March 17th- March 23th) ==
	We continued the implementation of sockets. After meeting with the second group, we noticed that the method we used seemed complicated. Therefore, we contacted our distributed applications teacher M. Philippe MORAT trying to see if there exists a way to do otherwise and more simpler. Following a discussion with him and thanks to TP on the system of agents in ~~java~~, we decided to use the model with agents because this model cut off from any language and is one of model of low-level simulations based on a channel.		We continued the implementation of sockets. After meeting with the second group, we noticed that the method we used seemed complicated. Therefore, we contacted our distributed applications teacher M. Philippe MORAT trying to see if there exists a way to do otherwise and more simpler. Following a discussion with him and thanks to the practical work on the system of agents in Java, we decided to use the model with agents because this model cut off from any language and is one of model of low-level simulations based on a channel.

	We have also proposed this solution to the 2nd group who approved it		We have also proposed this solution to the 2nd group who approved it.

	== Week 11 (March 24th- March 30th) ==		== Week 11 (March 24th- March 30th) ==

RICM4-prj14-grp12: /* Week 9 (March 10th- March 16th) */

2014-04-09T23:55:12Z

Week 9 (March 10th- March 16th)

← Older revision		Revision as of 23:55, 9 April 2014
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	== Week 9 (March 10th- March 16th) ==		== Week 9 (March 10th- March 16th) ==
	The results of the detection ~~of marker~~ are edited in a text file. To send the recovered data, we decided to convert this file into a XML file in python. That may facilitate reading and data retrieval. To do this, we used the python module xml.dom. Here is an excerpt from a example of a XML file with the coordinates of the detected marker:		The results of the marker detection are edited in a text file. To send the recovered data, we decided to convert this file into a XML file in python. That may facilitate reading and data retrieval. To do this, we used the python module xml.dom. Here is an excerpt from an example of a XML file with the coordinates of the detected marker:

	<?xml version="1.0" ?> <br />		<?xml version="1.0" ?> <br />

RICM4-prj14-grp12: /* Week 12 (March 31th- April 6th) */

2014-04-09T23:48:35Z

Week 12 (March 31th- April 6th)

← Older revision		Revision as of 23:48, 9 April 2014
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	* We have subsequently made the development of a GUI that may simulate the behavior of the robotic arm after detection of the marker. To do this, we used the python module Tkinter. In our simulator, we represent the robot by a blue circle and a marker by a green circle. Thus, in the interface, the marker position is retrieved from the XML file provided by the server. The robot is then guided to this destination from the keyboard.		* We have subsequently made the development of a GUI that may simulate the behavior of the robotic arm after detection of the marker. To do this, we used the python module Tkinter. In our simulator, we represent the robot by a blue circle and a marker by a green circle. Thus, in the interface, the marker position is retrieved from the XML file provided by the server. The robot is then guided to this destination from the keyboard.

	[[File:InterfaceSimulation.png\|~~300px~~\|thumb\|center]]		[[File:InterfaceSimulation.png\|250px\|thumb\|center]]

	== Week 13 (April 7th- April 09th) ==		== Week 13 (April 7th- April 09th) ==

RICM4-prj14-grp12: /* Week 12 (March 31th- April 6th) */

2014-04-09T23:48:25Z

Week 12 (March 31th- April 6th)

← Older revision		Revision as of 23:48, 9 April 2014
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	* We have subsequently made the development of a GUI that may simulate the behavior of the robotic arm after detection of the marker. To do this, we used the python module Tkinter. In our simulator, we represent the robot by a blue circle and a marker by a green circle. Thus, in the interface, the marker position is retrieved from the XML file provided by the server. The robot is then guided to this destination from the keyboard.		* We have subsequently made the development of a GUI that may simulate the behavior of the robotic arm after detection of the marker. To do this, we used the python module Tkinter. In our simulator, we represent the robot by a blue circle and a marker by a green circle. Thus, in the interface, the marker position is retrieved from the XML file provided by the server. The robot is then guided to this destination from the keyboard.

	[[File:InterfaceSimulation.png\|~~400px~~\|thumb\|center]]		[[File:InterfaceSimulation.png\|300px\|thumb\|center]]

	== Week 13 (April 7th- April 09th) ==		== Week 13 (April 7th- April 09th) ==

← Older revision		Revision as of 14:42, 11 April 2014
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	* Github repository : [https://github.com/sambea/PL-BrasRobotique1-2014]		* Github repository : [https://github.com/sambea/PL-BrasRobotique1-2014]

		⚫	* [[Media:FallSambe_ProjetBrasRobotique1_rapport.pdf\|Report]]
	* Report
⚫	[[Media:FallSambe_ProjetBrasRobotique1_rapport.pdf\|~~report~~]]

	= Steps =		= Steps =

← Older revision		Revision as of 14:41, 11 April 2014
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	* Report		* Report
	[[Media:FallSambe_ProjetBrasRobotique1_rapport.pdf\|~~rapport~~]]		[[Media:FallSambe_ProjetBrasRobotique1_rapport.pdf\|report]]

	= Steps =		= Steps =

← Older revision		Revision as of 14:40, 11 April 2014
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	* Github repository : [https://github.com/sambea/PL-BrasRobotique1-2014]		* Github repository : [https://github.com/sambea/PL-BrasRobotique1-2014]

			* Report
			[[Media:FallSambe_ProjetBrasRobotique1_rapport.pdf\|rapport]]

	= Steps =		= Steps =