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1. 4 Z gt Figure 22 The BetaCortex This cortex is a first approach to the idea of the dynamic network construction Its purpose is to test and demonstrate the idea on a very simple base It does not correct any errors but only constructs the network On that way it is of course of no practical relevance Tests showed that it would work in such a perfect world For more information refer to the document The cortex a first approach Start The BetaCortex is started on the command line by entering the command java cortex Beta
2. Logging f Position Errors Gyroscope Orientation 10 0 Orientation SOL Cameras Detection 1 0 Recognition 0 1 Distance 1 0 Drive Control Speed 25 0 Speed 15 0 Set errors Figure 5 Koala error rates This panel provides access to the error rates of all sensors They try to simulate the stochastic and systematic errors of the real world sensors Every sensor has an upper and a lower deviation which can be set individually If you want to set a systematic error like the speed of the Koala is always 10 slower you need to set the upper deviation to 10 and the lover deviation to 10 If S is considered to be the original speed then the speed of the Koala is now Gaussian distributed between 0 9 S 0 9 S which corresponds to 0 9 S This is exactly the 10 speed we wanted Some sensors have more sophisticated error functions like the cameras For a detailed description of please refer to the document Error specification User manual 1 O Koala shadows Shadows Logging Position Errors Koala Shadows 127 0 0 1 16436 add Figure 6 Koala shadows Shadows are views on path integrators In this panel one can add several path integrators to the simulator The view will then display the orientation of all shadows on the map This helps to see how accurate a path integrator is It serves as well as a comparison base for the cortices
3. be sent Alternatively if the user knows the correct port he can directly communicate with the socket by prefixing the command with the port number lt port gt lt command gt Useful to see what happens on the communication layer and to manually test functions of the Koala without having to start the Eukalyptus display Start The KoalaCommunicator is started on the command line by entering the command java eukalyptus KoalaCommunicator lt koala_host gt koala Nogt Hostname or IP address of the koala User manual 2 6 The cortices These are first approaches to the map building task They are completely experimental The AlphaCortex fx x MERI i a ot Figure 21 The AlphaCortex The alpha cortex is actually not blessed with any intelligence Its purpose is to test the functionality of the underlying components SensoryCortex Cortex PathIntegrator optical system Whenever the Koala perceives a landmark a spot in the corresponding color will be plotted on the screen Start The AlphaCortex is started on the command line by entering the command java cortex Alpha User manual 2 7 The BetaCortex Threshold 2 0 x 12 115 y 12 17 alpha 0 9076 Neurons Detail 26 5283 E 24 1471 21 1454 18 7445 15 9966 112 12 Total neurons 47 Lowest energy 0 144 LM 2 0 LM 1 0 0581 LM 5 0 3874 M6 0 729 Dm 0 im 4 LM 3 LM 0 coo
4. position of the koala y Y coordinate of the initial position of the koala orient Initial orientation of the koala When all parameters are supplied Eukalyptus will start immediately Otherwise it will show a start up dialog to query the remaining information User manual 5 Figure 1 Start up display The application can be started in two different modes e Simulation e Display Furthermore you can either load a previously saved emp file or import a gif file For information on how the picture has to be please refer to the document User Manual Map blueprint User manual 6 The simulation Main screen Eukal Koala Simulator Load ave Import h Base ratio 1 0 01 Start tracking Shadows Logging i Position Errors Speed Left Speed Right Position X Position Y Orientation Set Location Magnetic Fields Landmarks new magnetic field Figure 2 The main screen The main screen is divided in four parts 1 Control panel 2 Koala control panel 3 Environment control panel 4 View User manual 7 Control Panel Load Save Import Base ratio 1 0 01 Start tracking Figure 3 The control panel The control panel is meant to control the application and the view e Save Save the map e Load Load a new map emp file e Import Import a new map gif jpg file e Zoom Zoom in out e Base rat
5. tadbopebdads Sal thasbegubaedsaal usbeosbiedeas 26 The AlphaCorte caia 26 The Beta ote at is a a a ii secas 27 User manual 4 Introduction This document provides the user of the Eukalyptus system with required information Terminology Some data such as live video streaming cannot possibly be provided by the simulator So it is Sometimes essential to distinguish between the real robot and the virtual agent We will use the following terminology e Koala agent agent refers to the virtual Koala e Koala robot robot refers to the real robot e Koala refers to both Installation Eukalyptus is pure Java so it runs on every computer with Java VM installed The version of the virtual machine should be 1 4 2 or higher Start The user can launch Eukalyptus on the command line by typing the following command in the Eukalyptus project directory java eukalyptus Eukalyptus s lt map file gt d lt map file gt koala lt koala gt lc lt localizer gt Id lt lm detection gt vb lt vision base gt x lt x gt y lt y gt orient lt orient gt S Start in simulation mode map file Path to the emp file to be used as the map d Start in display mode map file Path to the emp file to be used as the map koala IP address of the koala to monitor lc IP address of the remote localizer ld IP address of the landmark detection vb IP address of the vision base X X coordinate of the initial
6. the display can be switched between these groups Absolute positional errors Relative positional errors Absolute orientation errors Relative Orientation errors Position The fifth group is the position of the Koala x y over time or in other words the movement of the Koala User manual 2 1 solutePositional Errors Relative Positional Errors Absolute Orientation Errors Relative Orientation Errors Position Figure 17 Plot of the movement of the Koala Start Graffity is started on the command line by entering the command java graffity Graffity lt log gt log the log file to be analyzed User manual 2 2 The Dispatcher The purpose of this application is to transparently dispatch incoming commands to multiple clients It is used to control both the Koala agent and the Koala robot at the same time Start The Dispatcher is started on the command line by entering the command java eukalyptus Dispatcher lt host1 gt lt host2 gt lt hostN gt NOST Lo oN the hosts to dispatch the data to User manual 2 3 The KoalaCalibrator F Eukaly pp E K Cal Cmd setSpeed L 10 R 10 Figure 18 the KoalaCalibrator To reproduce the movement of the Koala robot in the agent most accurate one needs to empirically evaluate the systematic and stocha
7. Eukalyptus Koala Environment Simulator User Manual Thabo Beeler University of Applied Sciences Rapperswil HSR User manual 2 Revision History Version When What Who 0 1 02 06 2004 Initial version Thabo Beeler 0 2 10 06 2004 Added screenshots Thabo Beeler 0 3 12 06 2004 Added screenshots Thabo Beeler 0 4 23 06 2004 Applied corrections proposed from J rg Thabo Beeler Conradt User manual 3 Table of contents UWL 5 COTS 10 616 0 0 DEA rine eR ar ent ec SP oe T 4 o O 4 A A RN 4 A NON 4 MASA A latdelenssteasaas 6 E NO 6 Control Panini A A A A 7 Koala control pal i 8 Kola properties E aes aaa cei nace SEAGER eR ee 8 Koala CTO TALES ANA LA Pas a T a 9 Koala shido WS a lan e da 10 E E er Rn 11 Environment control Panel uni A aa 12 EA O O 12 DOS E A A A A ete 13 Magnetic field control pasea 14 The VIEW ii Aa 15 MRSA A ata es alae has ela oe cin aes acre oa Sa asec Re 16 A ECT nt nea ee een te eon eT a 17 Camera Vie Wer E EE PENE E E A Se Sasa eat Ses ees ains aaa a E EA 18 Stale VIEW ta a 19 Additional a eu eens 20 A A 20 The Dispatcher ii A lan 22 The KoalaCalibrator arruinan a ae arias lisis caches ei ad Boss NA 23 The KoalaCommander s ee A BE ee Ns EE 24 The KoalaCommunicatol cccccccccssssseseccceceeccessssseeecccceeccssuseeeeeceseeesaussesesecceseeeeeuaaaeseeeeees 25 The COTLICES i s sss4ccssedetiatiesssdedsseledansegsboedsanlsuasbagsbaudedaldagssagsbandaaal
8. To add a shadow enter its IP address and port number and push add Once added you can reset the position of the path integrator or remove it again The checkbox to the left of a shadow control whether the shadow will be displayed in the view or not User manual Log module Shadows Logging Position Errors Log File lation Eukalyptus log csv browse start Frequency Hz 1 0 Figure 7 The log view The log module is used to save information over time The produced log files can be displayed and analyzed in the Graffity application See the chapter Graffity for more information The logged data is Koala location x y orientation Gyroscope angle Magnetic compass angle Positions of all shadows x y orientation The data will be saved n times per second where n is the configurable frequency 11 User manual 1 2 Environment control panel This panel contains all the information related to the environment The information is grouped in e Landmarks e Doors e Magnetic fields Landmarks Magnetic Fields f Landmarks Doors landmark 2 v id 12 x l8 01 m y 119 m angle 58 32 deg viewAngle s deg Figure 8 Landmarks control panel The drop down menu at the top contains a list of all landmarks The fields may be used to control the appearance of a landmark One can control the id the positio
9. ing on it Blue doors refer to closed doors while green doors represent open doors User manual 14 Magnetic field control panel Magnetic Fields Landmarks Doors magnetic field 0 v x 22 75 m dy 42 8 m range 7 31m a Figure 10 Magnetic field control panel Magnetic fields are fields emitted by electronic devices They have different powers and therefore different outreach The panel offers access to the position and power of the fields Alternatively magnetic fields can be controlled on the view e To create a field hold down ctrl and click on the view e To move a field drag and drop it e To modify the power of a field hold down shift and drag the field User manual 1 5 The View landmarks landmark is perceived magnetic field Figure 11 The view field The view contains all the graphical elements These are the Koala landmarks Im magnetic fields mf doors obstacles Rulers in the metric system provide an intuition of the dimension User manual 1 6 The display Eukalyptus Koala Simulator Load Save Import A Base ratio 1 0 01 Stop tracking State Shadows Logging Position Video Speed Left Speed Right _ Position X Position Y Orientation Set Location start observing ConnectionLogger Y E Eras v Incoming DriveControl vi G
10. ion The base ratio pixel in the imported map image file corresponds to this ratio in meters In the above screenshot 1 pixel corresponds to 0 01 m 1 cm e Track Start Stop tracking the koala When on the Koala agent will be centered at any time User manual 8 Koala control panel Various different information need to get displayed in tight space therefore the panel offers a selection of tabs Each displays a subset of the available information The subsets are e Koala properties Koala error rates Koala Shadows Log module We will describe them in detail here Koala properties Shadows Logging Position Errors 13 Speed Left 0 m s Speed Right 0 m s Position X 4 76 m Position Y 7 2m Orientation 30 Set Location stop observing Figure 4 The Koala properties screen This panel contains a detailed top view on the Koala and its sensors It shows graphically e The orientation of the Koala The angle of the gyroscope The direction of the compass The distance to object information from the whiskers The turning angle pan of the cameras In addition it provides direct access to the position and orientation of the Koala agent Displaying of all these properties is performance consuming So the view can be turned on off via the Start observing button User manual Koala error rates Shadows
11. n the orientation and the view angle The view angle is the angle under which a landmark may be perceived The button in the lower left corner serves to prevent user errors This button becomes enabled as soon as an established landmark is inside an obstacle and cannot possibly be perceived by the Koala A click on the button moves the landmark to the next visible spot to it s front The buttons in the lower right corner create or remove a landmark Alternatively a landmark may be created and modified interactively on the view e To create a landmark hold down ctrl and click on the view e To move a landmark drag and drop it in the view e To rotate a landmark hold down shift and drag the landmark User manual 1 3 Doors Room 59 lt gt Room 58 Room 59 lt gt Room 58 open Room 58 lt gt Room 57 open Room 57 lt gt Student lab closed Figure 9 Door control panel Doors cannot be created They have to be imported in the map file They have to be color encoded These colors are the default e Ox0000FF blue closed door e Ox00FFOO green open door A door may have an identifier like Door room to room 2 and has a state which is either Open or closed You can select more than one door from the list by holding down shift and then toggle them all at once Alternatively a door can be selected on the view and toggled by double click
12. s send to the display Outgoing The outgoing stream is the data the display sends to the remote objects sensors User manual Camera viewer Left amp Right Pe A stop capturing Figure 14 Camera live streaming view This view shows either the left the right or both cameras of the Koala Video streaming extensively uses the bandwidth and therefore should only be enabled when needed 18 User manual State view Figure 15 Koala state view This view is meant to display state information It is not interactive At the moment the battery voltage is the only information displayed 19 User manual 2 O Additional Tools The following tools facilitate working with the Koala and the Eukalyptus Graffity E e a x AbsolutePositional Errors Relative Positional Errors Absolute Orientation Errors Relative Orientation Errors Position 14 779 22 168 Load Figure 16 Main panel This tool is useful to display and analyze the log files the Eukalyptus produces It interprets the files and displays the contained data as curves on the screen The same calculations could easily be done in a spreadsheet calculation application like StarOffice but it is more convenient to use Graffity The data displayed by Graffity needs to be in different coordinate systems Therefore
13. stic error rates This tool sends a command speed command to the Koala for a given time After that it sends the stop command Start The KoalaCalibrator is started on the command line by entering the command java eukalyptus KoalaCalibrator lt host gt host the host to calibrate IP or HOST name User manual 24 The KoalaCommander Or El K Move i up k down j left l right Space stop Figure 19 The KoalaCommander Useful when one does not have a joystick at hand It enables a user to control the Koala with the keyboard It is not convenient though so one should use the joystick whenever possible The keys are 1 move forward e k move backward e turn right e j turn left e space stop Start The KoalaCommander is started on the command line by entering the command java eukalyptus KoalaCommander lt koala_host gt koala host Hostname or IP address of the koala User manual 2 5 The KoalaCommunicator Eukalyptus Koala Communicator Welcome to Eukalyptus communicator Bend command getBattery oltage getBatteryVoltage getBattery oltage Figure 20 The KoalaCommunicator Visualizes network traffic The user can either choose a command from the pull down menu or manually type commands and send them to the Koala The KoalaCommunicator sends only commands available in the pull down menu because it needs to know on what socket the command needs to
14. yroscope vi Outgoing v Compass x clear _ Whiskers Punuman amare robotAngle M 0 robotAngle G 30 getLocation location x 3 y 10 orient 0 A Figure 12 The display mode Optically the Eukalyptus display mode does not differ much from the Eukalyptus simulation mode These are the differences e The display does not have the panel to control the error rates of the Koala e Also the environment editor panels are not present Map editing has to be done in the Eukalyptus simulation mode e Instead it has a panel to visualize the network traffic between the stubs and the Koala This is very useful for debugging The panel is called connection log e When connected to the Koala robot it displays the images of the two cameras on the cameras panel So the operator may see what the Koala robot perceives The images are streamed to the display in YUV 4 2 1 format transformed to RGB 24 bit and displayed e A state view to display state information is available User manual 1 7 Connection log ConnectionLogger So lv Incoming DriveControl Gyroscope lv Outgoing Compass Whiskers PORTA AR robotAngle M 0 robotAngle G 30 getLocation location x 3 y 10 orient 0 EX clear O RlRlDoOR Figure 13 Connection log control panel The user can choose the streams incoming outgoing and the sensors to be logged Incoming The incoming stream is the data the remote objects sensor

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