Projects - Eeyore II

 

 

 

 

Overview

Welcome to the Eeyore II project home page. Eeyore was a large-size autonomous robot developed by graduate students in 1997. He was recently acquired by the robotics club. Our plan is to upgrade his hardware and use him for navigating the path from Lindley Hall to the observatory. You may check out the original Eeyore web site at http://www.cs.indiana.edu/eeyore/.

 


Picture of Eeyore II as of 30 October 2001


Updates

6 April 2002
 

Wow, it is hard to believe it has been an entire month since the last update. Eeyore's hardware has been upgraded to a Pentium 133 with 32 megs of RAM. He also now has a 2 gig hard drive and a network card (although it is not wireless, yet). Presently everything is working with the exception of a library discrepency which I believe is just due to the fact that I didn't compile Eeyore's library files when we upgraded to Redhat 7.1. Other than that we should be able to calibrate his camera this weekend thanks to Dave who is charging Eeyore's battery right now. (One day we'll implement self-sufficiency, right? : ) To calibrate his camera, we must assist Eeyore outside so he can view the path himself. Then we can take shots of the observatory path and move his camera until we have the perspective we want to program him for. This is completely disregarding the frame-of-reference problem, but I don't care as my only goal now is to get Eeyore to navigate the path so we can prove everyone wrong, especially the Graduate School. I'll probably end the update there so I don't swallow my own foot. Peace (hopefully next time will be an update that is highly positive and invites everyone to 'the big event').

1 March 2002
 

Update 2 March: I just got back from LH328. Eeyore now has a complete library (the one below is just a test visual lib). If you want to program Eeyore, here is a manual. Also, I tried out his visual system (I was blind as to what he saw), and it turns out that the lens wasn't focussed properly, but he still was able to recognize red objects. Hopefully we can get some code working now!

Libraries! Eeyore's vision is working like a charm. While his camera will be mounted in just hours, I have done tests and found cool results. You can check them out for yourselves below, but be warned that this was done inside, so that's why the results aren't that great. You can definitely distinguish a pattern though. Basically after I wrote the library, I made a test program that retrieved the first 32 lines and tested them for a red threshold. Any color with > 200 red, < 100 green and blue passed as being red. This will be much cooler when it gets outside. You may download the code and compiled program here in tar.gz linux format.


Real time image produced by the quick cam


Generated image with threshold values RGB = >200, <100, <100

25 February 2002
 

It has been decided that Eeyore will be further developed, even if it means we must use his current hardware. While working on the project, we hope to get at least a pentium board donated, and Dan has even volunteered to pay for the wireless ethernet (he really wants it, you know :). Currently, I have found working drivers for the camera in linux. Yes, it is color. The quality (as you see below) isn't the best, but it will probably be good enough to perform some scientific computing tasks. It's a start. All we need, really, is software. Here comes the fun empirical part. : )


From left to right: my colletion of DVD's, monitor and keyboard
 

If anyone is interested in working on this project, please send me an email!

17 December 2001
 

The proposal to the Graduate School for funding was not accepted. Consequently, Eeyore will rest in Lindley Hall for a while. I suppose we should have used a lot of big words in our proposal as suggested from Monzy. (Note, the proposal was rejected due to "lack of understanding of computer science" and "not a very good bond with the mentor")


17 November 2001
 

Eeyore now works after a few minor problems that needed to be fixed. It is cool to watch him move around (the motors are a tad noisy, but that is OK). Hopefully we will get the grant we applied for so we can upgrade his computer parts and make his custom electronics more efficient. But until then, Eeyore is a fully functional embodied robot.


27 October 2001
 

Eeyore has a home! Thanks to Steve Johnson and Bryce Himebaugh for making space in the Lindley Hall 328 Lab for Eeyore. We will finally be able to begin work on Eeyore. Our first task is to see how he runs in his current condition, and then we will be red esigning his electronics for efficiency. Updates soon!

We are also applying for an undergraduate research grant. We are asking for about $500 in order to upgrade Eeyore's computer parts and electronics. This is what Eeyore will have if we are granted the money: