26 February 2004

• To compile Tekkotsu set the path to the java SDK bin directory in your PATH environment variable.
• When creating the memorystick using the 'make install' command in the Tekkotsu projects directory some files on the memory stick might be 'read-only' as is printed. Remove the 'read-only' properties of these files and again type 'make install'.
• The Tekkotsu manual states you have to start './ControllerGUI? <IP-addres of Aibo>' to start the GUI but the executable should be called 'ControllerGUI?.sh' instead.
• In oder to connect the 'nb-avmovie' laptop to the robolab.science.uva.nl wireless network the IEEE 802.1x authentication should be disables. When experiencing connection problems retype the 'Network key' in the 'netwerk properties' configuration menu.

24 February 2004

• You can stop the Aibo scrolling through its root-menu (port 10001) by moving its head.
• The joints are not switched off in the MS-file \open-R\mw\conf\design.cfg, because Speed Racer has the same design.cfg.
• No contact with Aperios via port 59000, is it moved to 59001 in \open-R\mw\conf\robotgw.cfg? No, it is the Gateway Proxy (see page 14 installation-guide)!
• ftp 192.168.0.112 works, see \open-R\mw\conf\passwd for username (no anonymous). Only via shell, not via browser.
• Found the switching-off. In Tekkotsu_2.0.1\Shared\Ers7info.h the Max Output Speed is set to zero for all joints (see http://www-2.cs.cmu.edu/~tekkotsu/dox/namespaceERS7Info.html#a64 ).
• The oscilation were due to a hardware difference between the ERS-2xx and the ERS-7. The ERS-7 has only one shift-register for all PID-controls. See https://openr.aibo.com/cgi-bin/openr/e_regi/im_trbbs.cgi?uid=general&df=bbs.dat&prm=TAN&pg=3&no=0894#0894 for details.

23 February 2004

• DHCP via wireless network and arena now also working for nb-avmovie. DHCP option set for wireless network at nb-avmovie.
• Changed ip-address to 192.168.0.112 (Lewy) in Matlab config file Tekkotsu_2.0.1/tools/mon/config.m
• Needed Matlab version 6.5 for Tekkotsu. Installed Matlab 6.5 at nb-avmovie.
• According to the Tekkotsu mailing list (December 2003) the joint-control of the ERS-7 is switched-off due to oscillation (see http://groups.yahoo.com/group/tekkotsu_dev/message/129).

20 February 2004

• daisy@land.lab.decis.nl 192.168.1.47
• The Controller grafic user interface van Tekkotsu werkt blijkbaar niet samen met een Aibo met Speedracer memorystick.
• Op de memorystick van Tekkotsu staan de configurations van Tekkotsu. Het Vision gedeelte heeft andere settings voor de ERS-2* en de ERS-7, doch de Motion niet (o.a. max_head_roll_speed=3.0 i.p.v. tilt2).

18 February 2004

• Edwin found package with Java source-code that works as web-cam: http://www.tekkotsu.org/
• Bas has gained experience as Robotcontrol user. The Gt software now also works from the fileserver carol (as long as there is a local C:\cygwin path).

16 February 2004

• Aibo's now accessible by their names on the intranet.
• At this moment nb-avmovie uses a fixed ip address for the wireless network : 192.168.0.114. Dhcp via arena for this notebook is still not working, will work on it.
• Speedracer (http://www.aibohack.com/openr_sdk/speedracer.htm) application downloaded on lewy and works via the robolab intranet.

5 February 2004

• Build Simgt2003 in C:\cygwin\home\aabbo. Had to change the directories under Tools->Option->Execute files from C:\programs\cygwin\bin to C:\cygwin\bin (error message was wrong version of cygbin1.dll).
• Physicalrobot.scn crashes on Routerctr.cpp. Gt2003.scn works.
• Downloaded Matlab interface from Pennsylvania. This software works with the Tcp-gateway:

These Matlab functions are used to implement an interface between the Upenn Sony Aibo robots and an external Matlab process. First you should compile tcpopen for your Matlab platform with:

  mex -O tcpopen.c

The resulting Mex function allows you to open a connection to a TCP server, and returns a Matlab file identifier that can be used with fread, fwrite.

All the routines communicate with the open-r objects via Tcp-gateway on the dog with the Recv_array.m and Send_array.m functions. The Upenn code uses a common array structure in all the objects, and these functions allow Matlab to translate the open-r arrays.

You should modify the initialization routine Initrobots.m with the hostnames of your robots.

3 February 2004

Wireless accesspoint installed and running 128 bit WEP encryption. The Aibo's can now be accessed via the Uva Robosoccer intranet.

• Mina 192.168.0.109
• Bobby 192.168.0.110
• Moos 192.168.0.111
• Lewy 192.168.0.112
• aibonet 192.168.0.113

2 February 2004

• Manfred creates Documentation site http://carol.science.uva.nl/~mstnstra/projects/2004/aibo/
• Tim stores CMU resources at shared workspace of the Dutch Team
• Edwin installs a Sitecom wireless accesspoint at arena, replacing water.lab.decis.nl

30 January 2004

• Succesfull mini-symposium, with an audience from Decis, TU Delft en University Utrecht.
• Peter van Lith borrows one ERS-7 (moos).

5 January 2004

Start Autonomous Systems project

• Labbook German Team http://ack.dwerg.net/wiki/index.pl?LabBoek
• Labbook CMU Pack http://gene.science.uva.nl/~talerven/uva/aibo/index.php?DailyJournal

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