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Content-Centric Embedded
~Treasure Hunting Robot
~



Noritsuna Imamura

                    ©SIProp Project, 2006-2008   1
Agenda

 1st
   About me
       Today’s goal
 2nd
   Auto Chasing Turtle
   Treasure Hunting Robot
       Little how to make



                            ©SIProp Project, 2006-2008   2
My Bio
 Special
   Networking technology (P2P)


 Community (OSS)
   SIProp.org
   Japan Android Group
   Linaro


 Company
   NPO OESF (Open Embedded Software Foundation)


                                     ©SIProp Project, 2006-2008   3
Current work


 Work
   Industrial Technology Research Institute.
   Making a testing center for Android Devices.




                                     ©SIProp Project, 2006-2008   4
Japan Android Group : 2008-
 Prof.Maruyama & I started up this
 community.
   At Apr/2008

 Detail
   The most famous & largest Community in Japan
   URL: http://www.android-group.jp/
   Since: Sep/2008
   Members: over 20,000
   Branch: over 20



                                     ©SIProp Project, 2006-2008   5
Linaro: 2010-
                 http://linaro.org/
                Mission
                  Optimize for each SoC & Platform
                  Contributor for
                  community!




                                    ©SIProp Project, 2006-2008   6
Android’s tools
 NyARToolkit for Android
   I made a based-program for this OSS
   community
     http://en.sourceforge.jp/projects/nyartoolkit-and/
 OpenCV for Android NDK
   This program is included in Android 4.0.1 .
     http://tools.oesf.biz/android-
     4.0.1_r1.0/search?q=SIProp




                                           ©SIProp Project, 2006-2008   7
Today’s Topic



Noritsuna Imamura

                    ©SIProp Project, 2006-2008   8
What do you want to make?




                            ©SIProp Project, 2006-2008   9
Need a lot of money…

 How to get?
   Make a Startup Company
   Get a Sponsor


 Kinds of Sponsors
   Product Sponsors
     Get their products
   Service Sponsors
     Expand their service
   Extra Sponsors
     Get office
                            ©SIProp Project, 2006-2008   10
Important point

 Quick making a prototype!
   Almost people can NOT image a new
   product without a real device.


 Do It Yourself ⇒Do It With
 Others!
   !Reinventing the wheel.
   MAKE:style
     Hardware           Software
       beagleboard-xM     Linux Kernel
       Arduino            Android
       Kinect                      ©SIProp Project, 2006-2008   11
Content-Centric Embedded
 Content-Centric Networking
   It was pioneered by Ted Nelson in 1979 and
   later by Brent Baccala in 2002.
   The old internet finds servers by IP-
   Address.
   This philosophy finds them by Contents.

 Content-Centric Embedded
    When make products, it thinks from
    hardware.
      This philosophy thinks them from
 Contents.
 http://en.wikipedia.org/wiki/Content-centric_networking
                                           ©SIProp Project, 2006-2008   12
Auto Chasing Turtle



Noritsuna Imamura

                    ©SIProp Project, 2006-2008   13
Summary
 This product is an "Auto Chasing Turtle".
   By autonomous control, this robot recognizes
   people's face and approaches to the detected
   human.




                                     ©SIProp Project, 2006-2008   14
Hardwares & Softwares
 Hardwares                 Softwares
   Base computer             Ubuntu & Android
     Beagleboard-xM            Linaro10.03
           TI                     Linaro
   Depth Sensor              Depth Sensor
     Kinect                    ofxKinect
   Robot                     UI Framework
     KONDO Animal              openFrameworks
           Kondo science       Android
                                  OESF




                                       ©SIProp Project, 2006-2008   15
How to make




              ©SIProp Project, 2006-2008   16
3 Points for Developing


 Detect the Face



 Calculate the course          1. detect

                                      3. distance


 Calculate the distance
                          2. course




                                ©SIProp Project, 2006-2008   17
Detect the face


 How to recognizing a human’s face?
   Using KINECT RGB Image




                            KINECT Image




                               ©SIProp Project, 2006-2008   18
How to recognizing a human’s
face



FaceDetector detector = new FaceDetector(w, h, faces.length);
int numFaces = detector.findFaces(bitmap, faces);


                                        Android’s APIs.




                                                  ©SIProp Project, 2006-2008   19
3 Points for Developing


 Detect the Face



 Calculate the course          1. detect

                                      3. distance


 Calculate the distance
                          2. course




                               ©SIProp Project, 2006-2008   20
Calculate the course
1. Calculate a center position of face.
2. Calculate a position of the face from 4-
   sections separation KINECT’s image.
                  640px
                          160px




                                  ©SIProp Project, 2006-2008   21
Calculate the course


faces[0].getMidPoint(midPoint);        //get center position of face
int pointX = (int)midPoint.x;


if (pointX > 0 && pointX < w/4) {
    DroidBot.getInstance().turnRight();          // right position
} else if (pointX >= w/4 && pointX <= 3*w/4) {
    ;                                             // center position
} else if (pointX > 3*w/4 && pointX <= w) {
    DroidBot.getInstance().turnLeft();           // left position
}




                                                     ©SIProp Project, 2006-2008   22
3 Points for Developing


 Detect the Face



 Calculate the course          1. detect

                                        3. distance


 Calculate the distance
                          2. course




                            ©SIProp Project, 2006-2008   23
Calculate the distance

 Distance of from Robot to detected
 human
  Can be gotten by KINECT.




                            ©SIProp Project, 2006-2008   24
Calculate the distance



int dist = OFAndroid.getDistance(pointX, pointY);    // Use depth camera

if (dist < 100)             DroidBot.getInstance().walkBack4();
else if (dist >= 100 && dist < 150) DroidBot.getInstance().walkToward4();
else if (dist >= 150 && dist < 200) DroidBot.getInstance().walkToward8();
else if (dist >= 200 && dist < 300) DroidBot.getInstance().walkToward16();
else if (dist >= 300)          DroidBot.getInstance().walkToward32();

                     Depth camera’s range is 0~65565.



                                                        ©SIProp Project, 2006-2008   25
Treasure Hunting
Robot


Noritsuna Imamura

                    ©SIProp Project, 2006-2008   26
Summary
 This is an
  "AR(augmented reality) Treasure Hunting Game“
     You get virtual treasures by controlling
    real robot!




                                     ©SIProp Project, 2006-2008   27
Manual
 Look at radar window like dragon radar.
   Show the treasure on radar as red star.
   Center is a place in which a robot is
   present.
     The Blue arrow is direction of robot..


 Look at line graph. This is brain wave
 line graph.
   You control the robot to the treasure point
   by your brain wave.
     Exciting -> Turn left
     Normal -> Go toward
     Relax -> Turn right
                                              ©SIProp Project, 2006-2008   28
Hardwares & Softwares
 Hardwares              Softwares
   Base computer          Ubuntu & Android
     Pandaboard             Linaro11.11
        TI                     Linaro
   Brain Wave Sensor      Depth Sensor
     MindWave               OpenNI
   Depth Sensor           Bone skeleton
     Xtion pro live       tracker
   Display                  NITE for ARM
     AiRscoter            UI Framework
        Brother             openFrameworks
        Industries
                            Android
   Walking Robot               OESF
     KHR-3WL
        Kondo science
                                     ©SIProp Project, 2006-2008   29
How to make




              ©SIProp Project, 2006-2008   30
Hardwares’ photo
 Xtion
                    MindWave




                 AiRscoute
Pandaboar            r
    d




                               ©SIProp Project, 2006-2008   31
Softwares’ photo

                    Brain
                     Wave
                     Line
   Bone skeleton    Graph
  Tracking Window




                            ©SIProp Project, 2006-2008   32
Calculate robot position
 Recognizing a robot by bone skeleton.
   Using OpenNI + NITE


 Calculate direction & position of robot.
   Calculate by length of bone.




                                  ©SIProp Project, 2006-2008   33
Recognizing bone skeleton 1/2
 Using OpenNI + NITE
   OpenNI is a Kinect & Xtion’s driver as OSS.
   NITE is a bone skeleton tracking software
   for OpenNI.
     http://75.98.78.94/




                                    ©SIProp Project, 2006-2008   34
Recognizing bone skeleton 2/2
  NITE is NOT OSS!
     Only binary for ARM/Ubuntu.
     Want to use Android&openFrameworks UI.


  Made dual boot OS for Ubuntu&Android.


 UserLand: Linaro/Android (Run on Ubuntu by chroot)

UserLand: Linaro/Ubuntu (NITE runs on this userland)

   Linaro Kernel for Ubuntu&Android on Pandaboard
                                       ©SIProp Project, 2006-2008   35
Download source code
 We release all source code on our site.
   http://www.siprop.org/en/2.0/index.php?produ
   ct%2FTreasureHuntingRobot


      Do It Yourself ⇒Do It With
               Others!

 If you want to try it, please ask me!
   You can experience like Google Glass!



                                     ©SIProp Project, 2006-2008   36
Events & Conferences
~Show Demonstration & Speech~




                       ©SIProp Project, 2006-2008   37
Taiwan & China



            ©SIProp Project, 2006-2008   38
OSDC.tw 2012 (Apr/2012)
 One of the largest OSS conference in
 Taiwan

 Target
   Taiwanese Engineer




                                ©SIProp Project, 2006-2008   39
COSCUP 2011&2012 (Aug)




 One of the largest OSS conference in
 Taiwan

 Target
   Taiwanese Engineer




                                ©SIProp Project, 2006-2008   40
Computex 2011&2012 (June)
 The largest hardware business show.
 Target
   Hardware Engineer & Company




                                 ©SIProp Project, 2006-2008   41
Mini Maker Faire 2012 ShenZhen
 The first Maker Faire in China
 Target
   DIY(DIwO) Engineer


 About Maker Faire
   The most famous DIwO
    conference




                                  ©SIProp Project, 2006-2008   42
Yuan Pei Univ.




 Target
   Taiwanese Students
   Education




                        ©SIProp Project, 2006-2008   43
Ma An Shan Univ.
 Target
   Chinese Students
   Education




                      ©SIProp Project, 2006-2008   44
Japan



        ©SIProp Project, 2006-2008   45
ABC 2012 Spring
 The largest Android User Community in
 Japan
 Target
   Japanese Android Engineer




                                ©SIProp Project, 2006-2008   46
NicoNico Gakkai




 The largest Otaku
   conference in Japan.
 Target
   Japanese DIY(DIwO)
     Engineer

                          ©SIProp Project, 2006-2008   47
LinuxCon Japan 2012
 Target
   Linux Embedded Engineer




                             ©SIProp Project, 2006-2008   48
One more thing




                 ©SIProp Project, 2006-2008   49
Why do you work?




        For money?


                   ©SIProp Project, 2006-2008   50
No money economy

 The money economy is made
 by single value.

   One thing has one price
   No physical thing has no
   price


           True???     ©SIProp Project, 2006-2008   51
Ex: Simeji 1/2
 One of Android application
     Made by 2 Japanese guys.
       As hobby work.
     Taken over by 百度
       2-3M UDS


 .




                                ©SIProp Project, 2006-2008   52
Ex: Simeji 2/2

 Why did 百度 take over it?
   A technology for input method?
     Developers don’t have a technology for
     input method.
       Because base is OpenIME as engine.
   Installing user base?
     Only used by developers. No used by normal
     people.
 Their strong point
   One of most famous developer in
   Japanese Android Community.
     百度 wants to get respect in Japanese
                                            ©SIProp Project, 2006-2008   53
This was predicted in 2006

IBM Global Innovation Outlook 2.0
(06’)
   http://domino.research.ibm.com/comm/www_innovate.nsf/pages/wor
   ld.gio2004.html


 The "one man company" will appear
 billions.
   Collaboration environment based on a
   contribution.


 The role of a company is supporting
 to an individual creator and group.
   A new product is made by them.                                            54
                                                ©SIProp Project, 2006-2008
Why are they free?

 MAKE:style (Do It With Others
 Style)              Software
                      ofxDroidKinect
   Hardware
                         Linaro Kernel
     beagleboard-xM
     Arduino             Android
     Kinect




   Do It Yourself ⇒Do It With  ©SIProp Project, 2006-2008   55
Thank you!




             ©SIProp Project, 2006-2008   56

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Content-Centric Embedded ~Treasure Hunting Robot~ for LinuxCon Japan 2012

  • 1. Content-Centric Embedded ~Treasure Hunting Robot ~ Noritsuna Imamura ©SIProp Project, 2006-2008 1
  • 2. Agenda 1st About me Today’s goal 2nd Auto Chasing Turtle Treasure Hunting Robot Little how to make ©SIProp Project, 2006-2008 2
  • 3. My Bio Special Networking technology (P2P) Community (OSS) SIProp.org Japan Android Group Linaro Company NPO OESF (Open Embedded Software Foundation) ©SIProp Project, 2006-2008 3
  • 4. Current work Work Industrial Technology Research Institute. Making a testing center for Android Devices. ©SIProp Project, 2006-2008 4
  • 5. Japan Android Group : 2008- Prof.Maruyama & I started up this community. At Apr/2008 Detail The most famous & largest Community in Japan URL: http://www.android-group.jp/ Since: Sep/2008 Members: over 20,000 Branch: over 20 ©SIProp Project, 2006-2008 5
  • 6. Linaro: 2010- http://linaro.org/ Mission Optimize for each SoC & Platform Contributor for community! ©SIProp Project, 2006-2008 6
  • 7. Android’s tools NyARToolkit for Android I made a based-program for this OSS community http://en.sourceforge.jp/projects/nyartoolkit-and/ OpenCV for Android NDK This program is included in Android 4.0.1 . http://tools.oesf.biz/android- 4.0.1_r1.0/search?q=SIProp ©SIProp Project, 2006-2008 7
  • 8. Today’s Topic Noritsuna Imamura ©SIProp Project, 2006-2008 8
  • 9. What do you want to make? ©SIProp Project, 2006-2008 9
  • 10. Need a lot of money… How to get? Make a Startup Company Get a Sponsor Kinds of Sponsors Product Sponsors Get their products Service Sponsors Expand their service Extra Sponsors Get office ©SIProp Project, 2006-2008 10
  • 11. Important point Quick making a prototype! Almost people can NOT image a new product without a real device. Do It Yourself ⇒Do It With Others! !Reinventing the wheel. MAKE:style Hardware Software beagleboard-xM Linux Kernel Arduino Android Kinect ©SIProp Project, 2006-2008 11
  • 12. Content-Centric Embedded Content-Centric Networking It was pioneered by Ted Nelson in 1979 and later by Brent Baccala in 2002. The old internet finds servers by IP- Address. This philosophy finds them by Contents. Content-Centric Embedded When make products, it thinks from hardware. This philosophy thinks them from Contents. http://en.wikipedia.org/wiki/Content-centric_networking ©SIProp Project, 2006-2008 12
  • 13. Auto Chasing Turtle Noritsuna Imamura ©SIProp Project, 2006-2008 13
  • 14. Summary This product is an "Auto Chasing Turtle". By autonomous control, this robot recognizes people's face and approaches to the detected human. ©SIProp Project, 2006-2008 14
  • 15. Hardwares & Softwares Hardwares Softwares Base computer Ubuntu & Android Beagleboard-xM Linaro10.03 TI Linaro Depth Sensor Depth Sensor Kinect ofxKinect Robot UI Framework KONDO Animal openFrameworks Kondo science Android OESF ©SIProp Project, 2006-2008 15
  • 16. How to make ©SIProp Project, 2006-2008 16
  • 17. 3 Points for Developing Detect the Face Calculate the course 1. detect 3. distance Calculate the distance 2. course ©SIProp Project, 2006-2008 17
  • 18. Detect the face How to recognizing a human’s face? Using KINECT RGB Image KINECT Image ©SIProp Project, 2006-2008 18
  • 19. How to recognizing a human’s face FaceDetector detector = new FaceDetector(w, h, faces.length); int numFaces = detector.findFaces(bitmap, faces); Android’s APIs. ©SIProp Project, 2006-2008 19
  • 20. 3 Points for Developing Detect the Face Calculate the course 1. detect 3. distance Calculate the distance 2. course ©SIProp Project, 2006-2008 20
  • 21. Calculate the course 1. Calculate a center position of face. 2. Calculate a position of the face from 4- sections separation KINECT’s image. 640px 160px ©SIProp Project, 2006-2008 21
  • 22. Calculate the course faces[0].getMidPoint(midPoint); //get center position of face int pointX = (int)midPoint.x; if (pointX > 0 && pointX < w/4) { DroidBot.getInstance().turnRight(); // right position } else if (pointX >= w/4 && pointX <= 3*w/4) { ; // center position } else if (pointX > 3*w/4 && pointX <= w) { DroidBot.getInstance().turnLeft(); // left position } ©SIProp Project, 2006-2008 22
  • 23. 3 Points for Developing Detect the Face Calculate the course 1. detect 3. distance Calculate the distance 2. course ©SIProp Project, 2006-2008 23
  • 24. Calculate the distance Distance of from Robot to detected human Can be gotten by KINECT. ©SIProp Project, 2006-2008 24
  • 25. Calculate the distance int dist = OFAndroid.getDistance(pointX, pointY); // Use depth camera if (dist < 100) DroidBot.getInstance().walkBack4(); else if (dist >= 100 && dist < 150) DroidBot.getInstance().walkToward4(); else if (dist >= 150 && dist < 200) DroidBot.getInstance().walkToward8(); else if (dist >= 200 && dist < 300) DroidBot.getInstance().walkToward16(); else if (dist >= 300) DroidBot.getInstance().walkToward32(); Depth camera’s range is 0~65565. ©SIProp Project, 2006-2008 25
  • 26. Treasure Hunting Robot Noritsuna Imamura ©SIProp Project, 2006-2008 26
  • 27. Summary This is an "AR(augmented reality) Treasure Hunting Game“ You get virtual treasures by controlling real robot! ©SIProp Project, 2006-2008 27
  • 28. Manual Look at radar window like dragon radar. Show the treasure on radar as red star. Center is a place in which a robot is present. The Blue arrow is direction of robot.. Look at line graph. This is brain wave line graph. You control the robot to the treasure point by your brain wave. Exciting -> Turn left Normal -> Go toward Relax -> Turn right ©SIProp Project, 2006-2008 28
  • 29. Hardwares & Softwares Hardwares Softwares Base computer Ubuntu & Android Pandaboard Linaro11.11 TI Linaro Brain Wave Sensor Depth Sensor MindWave OpenNI Depth Sensor Bone skeleton Xtion pro live tracker Display NITE for ARM AiRscoter UI Framework Brother openFrameworks Industries Android Walking Robot OESF KHR-3WL Kondo science ©SIProp Project, 2006-2008 29
  • 30. How to make ©SIProp Project, 2006-2008 30
  • 31. Hardwares’ photo Xtion MindWave AiRscoute Pandaboar r d ©SIProp Project, 2006-2008 31
  • 32. Softwares’ photo Brain Wave Line Bone skeleton Graph Tracking Window ©SIProp Project, 2006-2008 32
  • 33. Calculate robot position Recognizing a robot by bone skeleton. Using OpenNI + NITE Calculate direction & position of robot. Calculate by length of bone. ©SIProp Project, 2006-2008 33
  • 34. Recognizing bone skeleton 1/2 Using OpenNI + NITE OpenNI is a Kinect & Xtion’s driver as OSS. NITE is a bone skeleton tracking software for OpenNI. http://75.98.78.94/ ©SIProp Project, 2006-2008 34
  • 35. Recognizing bone skeleton 2/2 NITE is NOT OSS! Only binary for ARM/Ubuntu. Want to use Android&openFrameworks UI. Made dual boot OS for Ubuntu&Android. UserLand: Linaro/Android (Run on Ubuntu by chroot) UserLand: Linaro/Ubuntu (NITE runs on this userland) Linaro Kernel for Ubuntu&Android on Pandaboard ©SIProp Project, 2006-2008 35
  • 36. Download source code We release all source code on our site. http://www.siprop.org/en/2.0/index.php?produ ct%2FTreasureHuntingRobot Do It Yourself ⇒Do It With Others! If you want to try it, please ask me! You can experience like Google Glass! ©SIProp Project, 2006-2008 36
  • 37. Events & Conferences ~Show Demonstration & Speech~ ©SIProp Project, 2006-2008 37
  • 38. Taiwan & China ©SIProp Project, 2006-2008 38
  • 39. OSDC.tw 2012 (Apr/2012) One of the largest OSS conference in Taiwan Target Taiwanese Engineer ©SIProp Project, 2006-2008 39
  • 40. COSCUP 2011&2012 (Aug) One of the largest OSS conference in Taiwan Target Taiwanese Engineer ©SIProp Project, 2006-2008 40
  • 41. Computex 2011&2012 (June) The largest hardware business show. Target Hardware Engineer & Company ©SIProp Project, 2006-2008 41
  • 42. Mini Maker Faire 2012 ShenZhen The first Maker Faire in China Target DIY(DIwO) Engineer About Maker Faire The most famous DIwO conference ©SIProp Project, 2006-2008 42
  • 43. Yuan Pei Univ. Target Taiwanese Students Education ©SIProp Project, 2006-2008 43
  • 44. Ma An Shan Univ. Target Chinese Students Education ©SIProp Project, 2006-2008 44
  • 45. Japan ©SIProp Project, 2006-2008 45
  • 46. ABC 2012 Spring The largest Android User Community in Japan Target Japanese Android Engineer ©SIProp Project, 2006-2008 46
  • 47. NicoNico Gakkai The largest Otaku conference in Japan. Target Japanese DIY(DIwO) Engineer ©SIProp Project, 2006-2008 47
  • 48. LinuxCon Japan 2012 Target Linux Embedded Engineer ©SIProp Project, 2006-2008 48
  • 49. One more thing ©SIProp Project, 2006-2008 49
  • 50. Why do you work? For money? ©SIProp Project, 2006-2008 50
  • 51. No money economy The money economy is made by single value. One thing has one price No physical thing has no price True??? ©SIProp Project, 2006-2008 51
  • 52. Ex: Simeji 1/2 One of Android application Made by 2 Japanese guys. As hobby work. Taken over by 百度 2-3M UDS . ©SIProp Project, 2006-2008 52
  • 53. Ex: Simeji 2/2 Why did 百度 take over it? A technology for input method? Developers don’t have a technology for input method. Because base is OpenIME as engine. Installing user base? Only used by developers. No used by normal people. Their strong point One of most famous developer in Japanese Android Community. 百度 wants to get respect in Japanese ©SIProp Project, 2006-2008 53
  • 54. This was predicted in 2006 IBM Global Innovation Outlook 2.0 (06’) http://domino.research.ibm.com/comm/www_innovate.nsf/pages/wor ld.gio2004.html The "one man company" will appear billions. Collaboration environment based on a contribution. The role of a company is supporting to an individual creator and group. A new product is made by them. 54 ©SIProp Project, 2006-2008
  • 55. Why are they free? MAKE:style (Do It With Others Style) Software ofxDroidKinect Hardware Linaro Kernel beagleboard-xM Arduino Android Kinect Do It Yourself ⇒Do It With ©SIProp Project, 2006-2008 55
  • 56. Thank you! ©SIProp Project, 2006-2008 56