Hacking Robots for Fun and Profit
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The document outlines a presentation by Chad Udell on hacking robots for fun and profit, specifically focusing on the integration of Flash and hardware for creating interactive experiences. It discusses various technical aspects, including the use of a Rovio robot and methods for video streaming and computer vision to enhance user interaction. Key lessons emphasize the importance of testing, system stability, and utilizing affordable technology in these projects.
![Getting the Video
• Rovio sends via MJPEG via HTTP (CGI script)
• Set a loader’s source to the URL
Camera Control – GetData.cgi
Description
The basic command for acquiring MJPEGGrammar
/ChangeResolution.cgi?ResType=value[&RedirectUrl=sUrl] Input Parameter
None
Privilege
None
Return Value
An instance captured motion image.
• Results were marginal (12-15 fps)](https://image.slidesharecdn.com/flashandthecity-100517204737-phpapp02/85/Hacking-Robots-for-Fun-and-Profit-16-320.jpg)
Hacking Robots for Fun and Profit
- 1. Hacking Robots for Fun and Profit presented by Chad Udell at Flash and the City, 2010
- 2. Hacking Robots for Fun and Profit • Flash is eminently hackable and ideal for building UIs for experiences that integrate with hardware • Tons of devices are coming with web connections • Hardware is getting cheaper and easier to get • Hobbyist techniques can be adapted for real world
- 3. A History of Hacking Flash with Hardware
- 4. About the Adler Planetarium Exhibit Project • Planet Explorers: 13 Experiences • X-Rovers are one of 7 interactive pieces
- 5. Planet Explorers: X-Rovers • What is it? • How does it work? • What is the experience? • Demos • Code Samples
- 6. What is it? • Emulating a Mars Rover like experience • Has to have a “mission” • Has to be easy to use
- 7. Definition of the Experience • Origins (KUD) ‣ Remote Exploration is the Concept • Key Points ‣ No Crying Children ‣ Some Learning ‣ Ages 3-8
- 8. First Thoughts • Custom R/C • T1 • Imperial Droid
- 9. Basic Limitations • Skillset - We aren’t robotics engineers or electricians • Budget - Every client is conscious of this - duh • Scope - Need to integrate a timer, controls, basic computer vision, long term maintenance solution • Quality - Uptime is crucial. “Out of Order” is not an option
- 10. Choosing a Robot • Essentially we need a connected webcam • Needs to be cheap • Needs to be hackable Enter, Rovio.
- 11. A Diagram of the system 2 Stations, each containing: !"#$%&'()*+,-./+*0) UPS (APC BR1200) APC AV C2 Happ Kiosk Amp and Speakers 1"234&+56(!11(.7 Rovio Charger Happ Controls Server (Red 5) Netgear Wireless Access Point WG-102 Switch Rovio
- 12. Rovio to the Rescue • Skillset - Essentially like building a mashup (documented API, built in webserver) • Budget - They are inexpensive and readily available (important for uptime) • Scope - many of the requirements are handled in some built in fashion already (wayfinding, charging). • Quality - We have a company backing it
- 13. Flash to the Rescue • Skillset - We like it. • Budget - No extra expensive hardware to be designed, no expensive proprietary SDKs. • Scope - Still some questions here. Going to have to manage the client’s expectations. • Quality - Debugging and remote config is easy
- 14. Controlling the Rovio • Rovio responds via HTTP (CGI script) • Use of key listeners to trigger API calls. /rev.cgi?Cmd=nav&action=value&drive=d_value&speed=s_value Input Parameter value = 18 d_value = 0 (Stop) 1 (Forward) 2 (Backward) 3 (Straight left) 4 (Straight right) 5 (Rotate left by speed) 6 (Rotate right by speed) 7 (Diagonal forward left) 8 (Diagonal forward right) 9 (Diagonal backward left) 10 (Diagonal backward right) 11 (Head up) 12 (Head down) 13 (Head middle) 14 (Reserved) 15 (Reserved) 16 (Reserved) 17 (Rotate left by 20 degree angle increments) 18 (Rotate right by 20 degree angle increments) s_value = 1 (fastest) – 10 (slowest)
- 15. Controlling the Rovio Demo 1: Sending Commands to Rovio
- 16. Getting the Video • Rovio sends via MJPEG via HTTP (CGI script) • Set a loader’s source to the URL Camera Control – GetData.cgi Description The basic command for acquiring MJPEGGrammar /ChangeResolution.cgi?ResType=value[&RedirectUrl=sUrl] Input Parameter None Privilege None Return Value An instance captured motion image. • Results were marginal (12-15 fps)
- 17. Getting the Video Demo 2: MJPeg stream in a Loader
- 18. Deeper Research on Video/Image Processing Simple color detection - • http://www.interactionfigure.nl/2009/colour-tracking-with-the-webcam-in-flash/ Color detection in Processing • http://jamesalliban.wordpress.com/2008/11/16/colour-detection-in-processing/ Haar training for object detection • http://note.sonots.com/SciSoftware/haartraining.html Modified facial detection • http://www.quasimondo.com/archives/000687.php
- 19. Technology Evaluations • Shopping = Fun • Reading Electrical Engineer Documents = Not so Fun • Wiring Boards = Fun for some • Building PoCs = Super fun!
- 20. Prototype • Software Proof of Concept • Hardware Hacking and Integration
- 21. Happ Config 1
- 22. Happ Config 2
- 23. Prototype Demo 3: Happ Controls
- 24. Alpha • Video was ok, but needed some juice. • Computer vision was deemed better than AR or object detection • Play control overall was very pleasing • Testing, Testing, Testing
- 26. Enter Red 5/Xuggle • Transcode the Video to H264 (SteamStream) • Replace the MJPEG loader with a Netstream object • Better results. Lower latency. • Approaching 24-30fps • There is a bit of a hiccup with the initialization of the stream.
- 27. Enter Red 5/Xuggle Demo 4: Red5/Xuggle
- 28. Processing the video • Considered AR • Too Inflexible - Markers weren’t attractive • Considered Object Detection (Haar Cascades/ OpenCV) • A tad slow-ish • Attempted using simple ColorBoundsRect
- 30. Finding the Targets Demo 5: Computer Vision
- 31. What does that get you? (The Good)
- 32. What does that get you? (The Bad)
- 33. How about Creating a Unique Target? • Eliminate False Positives (was better, but not perfect) • Ensure Speedy Detection (was a little slower) Not Unique A Lot More Unique
- 34. Processing the video • Settled on Color Detection via Thresholding • Tomek’s Blob Detection • http://play.blog2t.net/fast-blob-detection • Soulwire’s Color Averaging • http://blog.soulwire.co.uk/code/actionscript-3/ extract-average-colours-from-bitmapdata
- 35. Fixing the Video Demo 5: Revised Computer Vision
- 36. In Action
- 37. In Action
- 38. In Action
- 39. In Action
- 40. In Action
- 41. In Action
- 42. Buttoning it up • Charging handoff • Locking the kiosks down • C++ Socket Server for the Lights • Startup, shutdown • Training for the switchover
- 43. Lessons Learned • SWF to EXE is not needed anymore. AIR 2! • Test early! Test Often! Test Under lots of Conditions! • Static Electricity Sucks (installation is crazy) • Your Kiosk Can Never Be Too Stable (Bullet Proof Your Kiosks) • Logging, Logging, Logging • Buy Lots of Extras
- 44. Other stuff to hack! • Security/WiFi Cameras - http://www.axis.com • Tons of X10 Stuff - http://www.smarthome.com • Other Robots - http://www.spykeeworld.com/ • Rocket Launcher - http://www.thinkgeek.com/ geektoys/warfare/8bc4/?cpg=cj • Ultimarc Controls - http://www.ultimarc.com/
- 45. More info, code samples, etc. • http://electricpineapple.net/ - Erik Peterson’s blog • http://ionagroup.com/labs - Iona’s Blog • http://visualrinse.com - My Blog Questions?
- 46. Thank you • Find Us on: THE IONA GROUP 620 West Jackson Street • Morton, Illinois 61550 P: 309.263.4662 • F: 309.263.8262 • 888.644.IONA www.ionagroup.com