Progress

[Simon Engler]

Hi Angelo,

Are you are back on the ranch working on the space farm?

Can you provide us all with some updates as to what is going to happen
with the system?

I will be returning in a few months, and may be able to contribute
further. I would like to see a publication to justify the time/money
spent on it thus far, if possible. I can possibly proceed with the 3d
Model of the arm and start looking at autonomous controls. However,
I'm only willing to put more time into it if we have a good plan for
moving forward.

Last I was aware, Ileana was marking the system to allow orientation
of the arm. Also, the damaged servo and arm needed to be replaced.
What is the status of that?

Best,

Simon

[Angelo Vermeulen]

Hi Simon,

I will be returning to the ranch tomorrow. I'm planning to have a closer
look at the space farm and see what short experiments I can still set up.

My main focus is to test the LED lights and grow new seedlings under
them (I'm suspicious about their spectrum), and to get the arm back to
work. After that, practicing with remote-operation of the arm seems key.
Ileana did indeed work on a marking system and that made things
definitely easier during the very last test. However, the arm was moving
way too fast so we'll have to adjust that.

The hydroponics system is not ideal because of the spiral design:
nutrients get depleted towards the end of the water circulation. But I'm
guessing that the lack of light is the biggest issue (and that has
nothing to do with the spiral design). Hopefully my lighting test will
clarify that.

I only have three weeks, so there's only so much I can do. But I will
talk with Henk about the future of the system on the ranch.

We probably should come up with a list of robot arm operation tests. Do
you have any publications available in which robotic systems are tested?
I would love to see how this is approached and published.

Cheers,
Angelo

[Jean Hunter]

Thanks for the updates. If there is anything I can do from here, or during my visit October 10-14, please don't hesitate to ask. 

Best,

Jean

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[Angelo Vermeulen]

Thanks Jean! Will do.

Cheers,
Angelo

On 8/31/2013 6:35 AM, Jean Hunter wrote:

[Simon Engler]

Below are some references for robotic arms relevant to the kind of arm
system we need to implement.

I have spoken about this arm with some members of my lab (Martin
Walker and Dr. Leung), and I believe we have constructed plan to move
forward with the control/AI development of this system. I will send a
separate email for that.

Simon

J. Bohren, R. B. Rusu, E. G. Jones, E. Marder-Eppstein, C. Pantofaru,
M. Wise, L. Mosenlechner, W. Meeussen, and S. Holzer, \Towards
autonomous robotic butlers: Lessons learned with the pr2," in Robotics
and Automation (ICRA), 2011 IEEE International Conference on. IEEE,
2011, pp. 5568{5575.

B. Graf, U. Reiser, M. Hagele, K. Mauz, and P. Klein, \Robotic home
assistant careo-bot 3-product vision and innovation platform," in
Advanced Robotics and its Social Impacts (ARSO), 2009 IEEE Workshop
on. IEEE, 2009, pp. 139{144.

A. J. Ijspeert, J. Nakanishi, and S. Schaal, \Movement imitation with
nonlinear dynamical systems in humanoid robots," in Robotics and
Automation, 2002. Proceedings. ICRA'02. IEEE International Conference
on, vol. 2. IEEE, 2002, pp. 1398{1403.

B. Kosko, \Fuzzy cognitive maps," International journal of man-machine
studies, vol. 24, no. 1, pp. 65{75, 1986.

N. Ganganath, M. Walker, and H. Leung, \Fuzzy cognitive map based
situation assessment framework for navigation goal detection," in
Systems, Man, and Cybernetics (SMC), 2013 IEEE International
Conference on. IEEE, 2013.

J. J. Steil, F. R othling, R. Haschke, and H. Ritter, \Situated robot
learning for
multi-modal instruction and imitation of grasping," Robotics and
Autonomous Systems, vol. 47, no. 2, pp. 129{141, 2004.