18 Augustus 2004

• Moos has been picked up by DHL and is send to the Aibo clinic.

 Address :
 Alsage plant,
 Usine d' Alcase,
 Zone d' activites du Muehlbach,
 Ribeauville Cedex 68153

 Reference number for repair : 1359713
 Contact phone Aibo Clinic : UK: +44 (0)207 365 2937
 Airwaybill number DHL : 4263458732

13 Augustus 2004

• Compiled within Visual Studio all the projects in the DT2004 code. For details on this see the German Team description appendix A.3 (GT2003.pdf). Compiled a MS with the DT2004 code and tested it with Bobby. Within the RobotControl? application created a new connection for the UvA? robosoccer lab. Added pc-zoran MS drive letter to the copyfiles.bash script.

To compile a DT2004 code MS do :

• Insert a MS into MS drive.
• Start the RobotControl? application.
• Selectt "Wlan->Add connection" to add the connections.
• Press "cp" to copy all the needed files to the MS.

To test the use of the DT2004 code do the following :

• Insert a MS compiled with the DT2004 code in an Aibo.
• Switch on the Aibo and check with the ping command for a wireless connection.
• Start the router software within cygwin. Example for Bobby (./start1.bash 192.168.0.110 &)
• Start the RobotControl? application and press "connect" on the "Wlan" toolbar.
• Drag out the Debug Keys toolbar and press the "N times" button and enter "1" in the edit box.
• To check for an image from the Aibo, click on the most left double arrow in the toolbar and select under "View" the "Image viewer".
• Now click on "Send" in the "Debug Keys" toolbar.
• After a few seconds an image from the Aibo should now appear in the left upper window.
• The Aibo is now ready for use.

• The RobotControl? application is very buggy. It will crash (hang) after a few minutes.

11 Augustus 2004

• Response from Sony abou the system clock:

The 'info-openr-sdk@sony.co.jp' is for asking customer registration and no technical issue.

Please ask on the BBS about technical question.

"system clock 96 Mhz, pipeline clock 576 Mhz" is correct. Please refer some book about mips RISC architecture.

'system clock' means memory access clock, it is called 'BUS clock' in the Intel architecture mother board.

'pipeline clock' means CPU internal (cash access) clock.

• So according to Sony we could access the cache with 576 MHz. The measurements indicate different numbers, but they can be wrong. For instance, I didn't warm up the cache.

4 Augustus 2004

• Created the memorymountain for the ERS-7. The results are written to screen, not the file, but that is not impossible. The measurements were only done once, without warming up the cache, but are not that noisy. The L1-cache is clearly visible at 32Kb, but no trace of the L2-cache at 256 Kb (maybe due to the cold start). I doubt that the ERS-7 is equipped with optional L3-cache. The golden truth is difficult to find, because I couldn't find any reference to a 576 Mhz R7000 processor, other than the Aibo. According to http://www.brainyencyclopedia.com/encyclopedia/m/mi/mips_architecture.html, the R7000 processor is a side-track in the main MIPS development. The troughput that I found are low compared with compare Pentiums (max 145 MB/s). So low, that I don't believe that the test-program was running on the system clock (576 MHz), but on the pipeline clock (96 MHz). 145 MB/s means that one word is loaded from the L1-cache in 3 ticks of pipeline clock, or 18 ticks of the system clock. 18 cycles is much to long for a level 1 cache.

3 Augustus 2004

• Lewy now reports its sleeping time, as csapp::mhz.

        /* Tekkotsu */
	{
	TimeET? start, now, diff;

	start.Set();
	Wait(1000000); /* 1ms is 10^6 nanoseconds */
	now.Set();

        diff = now - start;
	sout->printf("start %f sec\n", start.Value());
	sout->printf("wait for 1 millisec\n");
	sout->printf("end %f sec\n", now.Value());
	sout->printf("diff %f sec\n",diff.Value()); 

        }
	/* Tekkotsu */

• Lewy now reports its cpuinfo, although slightly wrong: system clock 96 Mhz, pipeline clock 576 Mhz (OPEN-R 1.1.5 r2 bug).

        FindDesignData?("SYS_CPUINFO", &dataID, &data, &bytes);
	if (bytes && data != NULL)
	{
	    OCPUInfo *info;
            info = (OCPUInfo *)data;
	    sout->printf("system clock %d Hz, pipeline clock %d Hz\n", info->sclk, info->pclk);
	} else {
	    sout->printf("unknown system and pipeline clock\n");
	}

• Moos and Bobby wilden niet opstarten met dezelfde memorystick. Bobby zijn batterij was op, maar Moos is nog een raadsel.

29 July 2004

• Tried to measure the Memory Mountain of an Aibo. Tekkotsu looks the most promising.
• Made a copy of Tekkotsu in /home/software
• Replace "Behaviors/Controls?/FreeMemReportControl?.h" and "Behaviors/Controls?/FreeMemReportControl?.cc"
• Tried the original FreeMemReport? on Lewy first: cd tools/mon/; ./ControllerGUI? 192.168.0.112 | telnet 192.168.0.112 10001 -> Back -> StatusReport? -> FreeMemReport? -> Refresh
• Tried to do a 'make install' on Moos: didn't work, direct copy of Lewy's stick worked.
• Tried to do a 'make newstick' on Moos: didn't work, wrong wlandflt, and no data or conf directory.
• In project/Makefile? was a direct reference to the original Tekkotsu. Make now starts building.
• Make complains about global variable data, and its size of 1 Mb. But make isntall works, and FreeMemReportControl? can be called. Now the rest of the mountain code in this function.
• Rest of the mountain code depends on the clock-routines, which are machine-dependent.
• Maybe GetSystemTime? in OPEN_R/include/MCOOP.h or TimeEventInfoWithRelativeTime?. See also the work of the Twente-students.

• Installed (at pc-zoran) the Robosoccer software in use by the Dutch Aibo Team at the RoboCup? worldchampionship in Lisbon 2004. Although the installation is not straight forward it compiled and run. Further setup has to be done to get the Aibo's playing soccer. Installed WinRar? to unpack the rar archive.

27 July 2004

• Moos right back leg is out of order. Moos has to be sent back to Sony.

April, May, June 2004

• See June 2004

Januari, February, March 2004

• See http://www.science.uva.nl/~arnoud/research/aibo/March2004.html

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