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York Jong

MetaCricket: A designer's kit for making computational devices - 0 views

www.research.ibm.com/...martin.html

5star cricket martin robot

shared by York Jong on 16 Jun 07 - Cached
  • All Cricket devices have a built-in bidirectional infrared communications channel, which is used for Cricket-to-desktop communication (when downloading programs to a Cricket, or viewing sensor data) and Cricket-to-Cricket communication.
  • Cricket Logo is based on an iterative, interactive model of project development. It includes a “command center” window; instructions typed into this window are instantaneously compiled, downloaded to a Cricket, and executed, giving the system the flavor of an interpreted software environment such as LISP, BASIC, or FORTH.
  • The MetaCricket software system is based on a virtual machine, written in PIC assembly language and running on the Cricket, and a compiler for the virtual machine running on a desktop development computer
  • ...13 more annotations...
  • It is straightforward to implement an interpreter-like interface, where user commands are transparently compiled, downloaded, and executed.
  • The Cricket virtual machine is burned into the PIC microprocessor's internal ROM
  • The user's code resides in a serial EEPROM
  • Built-in infrared communications routines include a protocol for reading and writing to this external EEPROM, and for asking the virtual machine to begin execution of byte codes already loaded into the EEPROM.
  • Users write programs for the Cricket in Cricket Logo, a dialect of Logo specialized for the Cricket virtual machine. Essentially, there is a one-to-one mapping between statements in Cricket Logo and primitive functions built into the virtual machine. This makes the implementation of the compiler far simpler than typical compilers.
  • The infrared protocol includes the following capabilities: Check that a Cricket is present and ready for other commands. Write a byte to the Cricket's EEPROM. Read a byte from the Cricket's memory. Begin program execution from a particular memory address.
  • we have found that a debugger is not necessary because of the interactive and incremental style of project development that occurs when using the Cricket.
  • The compiler includes an interactive mode—a text window where user expressions are compiled, downloaded, and executed in one step when the user presses the return key. A portion of the Cricket's memory is set aside for these dynamic programs.
  • User-level primitive functions compile to one, two, or three bytes of object code for the Cricket virtual machine.
  • The Cricket virtual machine has two process threads: a foreground process and a background daemon. In most Cricket programs, the foreground thread handles all the work, but for some tasks, the background daemon is valuable. For example, the background daemon can be used to instigate a periodic activity, or take action when some event occurs.
  • There are hardware-specific primitives for interacting with on-board Cricket hardware. Motor commands set state (on or off), direction, and power levels for each of the two integrated motor drivers. Analog sensor primitives (sensora and sensorb) return a value (0 to 255) for each of the two voltage inputs. These inputs also may be interpreted as digital values using the switcha and switchb primitives. There is a pair of primitive functions for generating tones on the piezo beeper: beep and note, the latter taking pitch and duration arguments.
  • there is a background millisecond timer that is updated every four milliseconds
  • One foreground thread plus one background daemon Daemon fires when provided Boolean expression makes false-to-true transition
York Jong

Robotics -- Logo Products - 0 views

el.media.mit.edu/...robotics.html

5star collection logo robot toy

shared by York Jong on 19 Jun 07 - Cached
  • Many Logo-based and other robotics products produced by LEGO are distributed to schools in the USA by Pitsco.
  • This free-range turtle does not require connection to a computer. All the controls are on board.
  • The Cricket is a tiny computer, suitable for all kinds of robotics projects, that you can program using Logo.
  • York Jong on 19 Jun 07
     
    Logo has long been used to control mechanical turtles and other robotic devices. Here are some sources of equipment and related software.
York Jong

ROBOT SENSOR INTERPRETATION - 0 views

www.societyofrobots.com/sensors_interpret.shtml

robot sensor

shared by York Jong on 14 Jun 07 - Cached
  • how to interpret sensor data into a mathematical form readable by computers
  • There are only 3 steps you need to follow: Gather Sensor Data (data logging) Graph Sensor Data Generate Line Equation
  • Some sensors (such as sonar and Sharp IR) do not work properly at very close range
  • ...1 more annotation...
  • The way to get rid of noise is get a bunch of readings, then only keep the average. Make sure you test for noise in the actual environment your robot will be in
  • York Jong on 14 Jun 07
     
    Most roboticists understand faily well how sensors work. They understand that most sensors give continuous readings over a particular range. Most usually understand the physics behind them as well, such as speed of sound for sonar or sun interference for IR. Yet most do not understand how to interpret sensor data into a mathematical form readable by computers.
marketngedwisor

How to become Data Scientist in 2019? | edWisor - 0 views

blog.edwisor.com/...ecome-a-data-scientist-in-2019

scientist job demands data course role

shared by marketngedwisor on 03 Aug 19 - No Cached
  • marketngedwisor on 03 Aug 19
     
    Are you starting for your career as a data scientist? To become an expert in data science you need to begin from the ground up. And you need to get a step-by-step guide to becoming a data scientist and for learning a particular skill. Instead of jumping for a master program in computer science you need to focus mathematics, python,r-programming or statistics or develop a skill in data science. If you are looking out for such a learning institute then you could also take a walk for edwisor.com as it works for enrolled students in data science career program as well as in the hiring process and gets 4 Guaranteed interviews at top organizations.
Filip Bártek

Recursive Bayesian estimation - Wikipedia, the free encyclopedia - 0 views

en.wikipedia.org/...Recursive_Bayesian_estimation

shared by Filip Bártek on 18 May 15 - No Cached
  • is constant relative to
  • is constant relative to
  • is constant relative to
  • ...13 more annotations...
  • Markov assumption
  • conditionally independent of the other earlier states
  • measurement at the k-th timestep is dependent only upon the current state
  • proportional
    • Filip Bártek
      Filip Bártek on 18 May 15
       
      It is proportional with the factor \alpha. \alpha = 1 / p(z_k|z_{1:k-1}) A way to compute the value of \alpha is shown below. It is common to all the updated states x_k at a given time k and measurement z_k.
  • predicted
  • marginalising out the previous states
  • predicted state
    • Filip Bártek
      Filip Bártek on 18 May 15
       
      p(x_k|z_{1:k-1})
  • update
  • predict and update steps
  • measurement likelihood
    • Filip Bártek
      Filip Bártek on 18 May 15
       
      p(z_k|x_k)
  • is constant relative to
  • can usually be ignored in practice
    • Filip Bártek
      Filip Bártek on 18 May 15
       
      We are typically interested in relative probabilities of the states. Equivalently [?], the p(x_k|z_{1:k}) across all the estimated states x_k is a probability distribution: \Sum_{x_k}{p(x_k|z_{1:k})} = 1
  • simply normalized, since its integral must be unity
York Jong

"Hacking" a floppy disk eject motor - 0 views

www.solarbotics.net/...tutorials_omron_hack.html

guide motor salvage

shared by York Jong on 31 May 07 - Cached
  • York Jong on 31 May 07
     
    A fair number of BEAMbots use a surplus Macintosh computer floppy eject motor (in particular, the eject motor from Sony-manufactured Mac floppy drives) as a gear motor.
York Jong

Inside The Ugobe Pleo - Organic Robot Life - 0 views

www.botmag.com/...02-26-07_Ugobe_Pleo.shtml

calebchung pleo robot toy ugobe

shared by York Jong on 12 Aug 07 - Cached
  • CALEB CHUNG: Of course we could have used micro-servo motors to accomplish the motion of Pleo, but we aren’t able to use expensive motors. So we had to engineer it with a high-speed motor with high gearing and no backlash for control purposes and have it all fit within the muscle envelope of Pleo.
  • So what we did was go after a lot of ethology research. How do animals really handle the complexity of their environment? We built a virtual brain—a whole system that decides how Pleo will react in various situations.
  • CALEB CHUNG: Pleo will reset thresholds and adjust his idea of what he thinks is normal. Let’s say you get Pleo and you take him home to your shag carpet. When Pleo walks, the carpet will drag on his feet. So his force feedback sensors will realize that he is spending too much energy to walk around. Pleo will try different things to reduce the energy spent. Eventually, he will have the idea to step higher. Your Pleo compared to my Pleo will walk with a higher step.
  • ...8 more annotations...
  • Eventually, we got to the point where we don’t know what Pleo will do next because he learns. If Caleb and I went to your house to see your Pleo, we couldn’t predict a lot of the things he would do, even though we know everything we put in him. Pleo has the ability to change and figure things out on his own.
  • Consumers will be able to download and customize Pleo later this year or early next year. We want to give the user the ability to change Pleo’s personality, animations and tricks. We also want to allow developers and hobbyists to take the SDK and motion system and behavior system and choreograph advanced features and animations for new AI functionality.
  • We didn’t include a camera (or voice recognition) in Pleo because of the price point for the product. Pleo is probably a good hack for a CMU camera, and we want people to develop these sorts of things.
  • The only way you can create life is to give it choice. Life is very complex, and it has to evolve, otherwise it is a robot. The only way to get complex systems to work is to let them chose for themselves.
  • York Jong on 12 Aug 07
     
    Pleo is UGOBE's first designer Life Form and is based on the Camarasaurus dinosaur. He is made up of an amazing array of sensors, motors  (14!), and distributed computing with an ARM-7 processor commanding it all.
York Jong

Getting Started With Crickets - 0 views

llk.media.mit.edu/...getting_started.html

cricket logo robot tutorial

shared by York Jong on 09 Sep 07 - Cached
  • the Cricket's yellow LED flashes when the Cricket is sending infrared signals.
  • You can type any Cricket Logo instruction in the Cricket Logo Command Center, and it will be immediately transferred to the Cricket and executed.
  • ...3 more annotations...
  • the Cricket's green LED light goes on while the Cricket is executing commands.
  • You can "launch" a procedure directly from the Cricket by pressing the white button on the Cricket.
  • You can send information from the Motor/Sensor Cricket back to the computer using the send instruction.
York Jong

BASIC Stamp - Wikipedia, the free encyclopedia - 0 views

en.wikipedia.org/BASIC_Stamp

basic-stamp pic robot

shared by York Jong on 09 Sep 07 - Cached
  • The BASIC Stamp is a microcontroller with a small, specialized BASIC interpreter (PBASIC) built into ROM.
  • The third variant is the Javelin stamp. This stamp uses Sun Microsystem's Java programing language instead of Parallax's PBasic
  • all current PICs are Flash-based, and support in-circuit programming.
  • ...2 more annotations...
  • The Basic Stamp > interprets instructions in real-time, essentially running a virtual machine on the PIC. This means that it is much slower
  • The Stamp implements a complete solution on a single PCB. In comparison, a bare PIC requires a separate power regulator and substantial decoupling on its output.
York Jong

《机器人》第三章－能力和显现 - 0 views

www.yrobot.net/...71_820.html

5star ai book computer memory robot trend

shared by York Jong on 17 Feb 08 - Cached
  • 三十年的计算机视觉的历程表明，1 MIPS的机器能从实时图像中提取简单的特征量───在杂色背景里跟踪白线或白点。10 MIPS的机器能跟随复杂的灰度区，巡航导弹、灵巧炸弹和早期的自驾驶大蓬车证实了这点。100 MIPS的机器恰好能追踪路面上不可预测的特征量，Navlab在长距离的行程证实了这点。1000 MIPS的机器完全能识别三维空间中带纹理的粗糙物体，某些中分辨率的立体视觉程序解释了这个问题，也包括我的程序。几个“垃圾箱挖掘”程序认为，10000 MIPS的机器能从杂乱中找到三维物体，并且高分辨率的立体视觉程序用10 MIPS的机器在1小时内演示了这一点。随着计算机速度和内存的增大，数据量问题逐渐不再是问题。
  • 除了纯粹的运算规模，也得考虑其他因素。对1 MIPS的机器，最适用的程序是能有效处理检测数据的手工程序。
  • 机器人视觉程序想要聪相应图像中得到一个边缘检测或移动检测数据的话，需执行100条计算机指令。一百万次检测则对应执行一亿条指令，1000MIPS的机器1秒能重复十次上述过程，基本上可与人的视网膜相比，新型高端个人计算机刚好能达到这个性能。
  • ...11 more annotations...
  • 程序的实现不但取决于机器的速度，而且还受内存的制约。令人惊奇的是，在计算机发展史中，内存和速度比是非常恒定的
  • 我们将内存容量除以速度定义为“时间常数”，粗略表示计算机扫描内存一次需要的时间。1兆字节/1 MIPS表示的结果是1秒。若机器的内存不能满足速度要求，这是新机器典型的情况，似乎运算速度很快，但会不必要地局限于小程序。若机器内存相对速度过剩，可以说它的商业可行性到了尽头，虽能运算大程序，但出奇的慢
  • 先前已得出一亿MIPS能模仿人的功能这一结论，在这里做比较的话，前面所述的兆字节/MIPS的原则似乎在神经系统中也成立！交互的机器好象是神经系统的外延，遵从同样的时间常数。与其用机器与外界交互，不如让不同速度/存储比的人来完成
  • 视听处理器和高性能飞行器等的控制器需要反就迅速，所以每兆字节相应很多MIPS。自动数据库和时变的安全摄像等问题涉及到慢速机器，每个MIPS会对应很多兆字节
  • 飞虫似乎比人类反应快好几倍，MIPS的相对量要大一些。动物的情况也是这样，细胞间靠电化学和酶的方式传递信号。尽管植物细胞与动物神经元有本质的区别，一些植物细胞间似乎也能通讯。有一天，我们可能发现植物能记忆许多信息，但处理缓慢
  • 二战后，计算机容量每两年翻一番。但进入20世纪80年代，每18个月计算机性能就要翻倍，20世纪90年代后期似乎缩短为12个月
  • 通用性的实现是需要代价的。一个通用机器需要十倍或十倍以上的资源来完成一项专用任务。如果任务改变，通用机器可以被重新编程，而专用机器就得被淘汰。
  • 以目前的发展速度，类似人的机器人所需要的计算机将在21世纪20年代出现。
  • 实现高级计算的关键是微型化，因为小部件的惯性小，在同等能量下运行更快，在给定空间中能集成更多内容
  • 集成芯片不但在持续发展，而且在加速前进。制作集成电路的短波长的光被替代，制作中使用了更精确方法来嵌入混杂成份。集成电路的电压在减小，采用了更好的绝缘体、屏蔽方法、散热手段，电路上出现了更有效的晶体管、更密的管腿模式和不辐射的包装材料。如果有钱来刺激的话，总会有办法。事实上，方法在实验室里早有了。因为工程师们当时还没注意这些，他们正在完善已有的技术。当根本问题出现，他们才感到忧虑。当需求的呼声很高时，巨大研究成果会转变为现实的生产。
  • 传统晶体管电路依赖于大量电子的流动，当规模很小时，会引起状态波动。但采用单电子晶体管和量子设备可以解决这项难题，它们的工作原理是量子波干涉。这些新设备越小，工作得就越好。干涉图式很适用目前的电路规模，它只用很小能量就可将电子从一边撞到另一边，从而完成操作。因此，这些电路可以在温度很低的环境下工作。这种方法能集成到0.01微米，量子交换在室温下就能进行。
  • York Jong on 17 Feb 08
     
    计算能力和思维的关系就像火车机车和火车的关系。如果机车太小，火车不会行驶。机车只有恰当地与道路相配，才能有效发挥其作用。18世纪，机车工程师清楚速度、拉力、机车大小、传输比之间的关系，毫无疑问，这与马车运载有所不同。
York Jong

《机器人》第三章－能力和显现 - 0 views

www.yrobot.net/...71_820.html

5star ai book computer memory robot trend

shared by York Jong on 15 Sep 07 - Cached
  • 三十年的计算机视觉的历程表明，1 MIPS的机器能从实时图像中提取简单的特征量───在杂色背景里跟踪白线或白点。10 MIPS的机器能跟随复杂的灰度区，巡航导弹、灵巧炸弹和早期的自驾驶大蓬车证实了这点。100 MIPS的机器恰好能追踪路面上不可预测的特征量，Navlab在长距离的行程证实了这点。1000 MIPS的机器完全能识别三维空间中带纹理的粗糙物体，某些中分辨率的立体视觉程序解释了这个问题，也包括我的程序。几个“垃圾箱挖掘”程序认为，10000 MIPS的机器能从杂乱中找到三维物体，并且高分辨率的立体视觉程序用10 MIPS的机器在1小时内演示了这一点。随着计算机速度和内存的增大，数据量问题逐渐不再是问题。
  • 机器人视觉程序想要聪相应图像中得到一个边缘检测或移动检测数据的话，需执行100条计算机指令。一百万次检测则对应执行一亿条指令，1000MIPS的机器1秒能重复十次上述过程，基本上可与人的视网膜相比，新型高端个人计算机刚好能达到这个性能。
  • ...15 more annotations...
  • 程序的实现不但取决于机器的速度，而且还受内存的制约。令人惊奇的是，在计算机发展史中，内存和速度比是非常恒定的。
  • 我们将内存容量除以速度定义为“时间常数”，粗略表示计算机扫描内存一次需要的时间。1兆字节/1 MIPS表示的结果是1秒。若机器的内存不能满足速度要求，这是新机器典型的情况，似乎运算速度很快，但会不必要地局限于小程序。若机器内存相对速度过剩，可以说它的商业可行性到了尽头，虽能运算大程序，但出奇的慢。
  • 先前已得出一亿MIPS能模仿人的功能这一结论，在这里做比较的话，前面所述的兆字节/MIPS的原则似乎在神经系统中也成立！交互的机器好象是神经系统的外延，遵从同样的时间常数。与其用机器与外界交互，不如让不同速度/存储比的人来完成。
  • 视听处理器和高性能飞行器等的控制器需要反就迅速，所以每兆字节相应很多MIPS。自动数据库和时变的安全摄像等问题涉及到慢速机器，每个MIPS会对应很多兆字节。
  • 飞虫似乎比人类反应快好几倍，MIPS的相对量要大一些。动物的情况也是这样，细胞间靠电化学和酶的方式传递信号。尽管植物细胞与动物神经元有本质的区别，一些植物细胞间似乎也能通讯。有一天，我们可能发现植物能记忆许多信息，但处理缓慢。
  • 二战后，计算机容量每两年翻一番。但进入20世纪80年代，每18个月计算机性能就要翻倍，20世纪90年代后期似乎缩短为12个月。
  • 除了纯粹的运算规模，也得考虑其他因素。对1 MIPS的机器，最适用的程序是能有效处理检测数据的手工程序。　　100 MIPS的机器能权衡输入数据，有很多算法参数待定，采用学习算法要比程序员调节效果好。
  • 通用性的实现是需要代价的。一个通用机器需要十倍或十倍以上的资源来完成一项专用任务。如果任务改变，通用机器可以被重新编程，而专用机器就得被淘汰。
  • 以目前的发展速度，类似人的机器人所需要的计算机将在21世纪20年代出现。
  • 实现高级计算的关键是微型化，因为小部件的惯性小，在同等能量下运行更快，在给定空间中能集成更多内容
  • 集成芯片不但在持续发展，而且在加速前进。制作集成电路的短波长的光被替代，制作中使用了更精确方法来嵌入混杂成份。集成电路的电压在减小，采用了更好的绝缘体、屏蔽方法、散热手段，电路上出现了更有效的晶体管、更密的管腿模式和不辐射的包装材料。如果有钱来刺激的话，总会有办法。事实上，方法在实验室里早有了。因为工程师们当时还没注意这些，他们正在完善已有的技术。当根本问题出现，他们才感到忧虑。当需求的呼声很高时，巨大研究成果会转变为现实的生产。
  • 传统晶体管电路依赖于大量电子的流动，当规模很小时，会引起状态波动。但采用单电子晶体管和量子设备可以解决这项难题，它们的工作原理是量子波干涉。这些新设备越小，工作得就越好。干涉图式很适用目前的电路规模，它只用很小能量就可将电子从一边撞到另一边，从而完成操作。因此，这些电路可以在温度很低的环境下工作。这种方法能集成到0.01微米，量子交换在室温下就能进行
  • York Jong on 15 Sep 07
     
    计算能力和思维的关系就像火车机车和火车的关系。如果机车太小，火车不会行驶。机车只有恰当地与道路相配，才能有效发挥其作用。18世纪，机车工程师清楚速度、拉力、机车大小、传输比之间的关系，毫无疑问，这与马车运载有所不同。
York Jong

機器人控制電子學 - 1 views

www.china-pub.com/...info.asp

book choice robot

shared by York Jong on 24 Mar 08 - Cached
  • York Jong on 24 Mar 08
     
    本書從製作機器人所需的電子元器件及相關的基礎知識入手，主要介紹微控製器的基礎知識，直流電機和步進電機的結構、基礎知識、控制方法，傳感器的基礎知識、常見傳感器的工作原理和使
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