AIBO Blog

ERS-7 porting progress

2004-11-14T21:30:00.000-05:00

1. Ad-hoc wireless is working now, as stated in AiboPet's reply in the forum:

| >>> APMODE=0
| >Sorry I missed this the first time.
| >
| >Don't set the mode to 0, keep it to 2 (automatic) for all uses
| >APMODE=2
| >
| >It will automatically work in either Infrastructure (when within range of an
| >access point) or Ad-Hoc.
| >
| >In the Ad-Hoc case, the PC WiFi card
| >+ must be setup to Ad-Hoc as well
| >+ must be on the same channel
| >+ same SSID, WEP etc of course
| >
| >AND MOST IMPORTANT:
| >+ must be running BEFORE you boot AIBO (ie. Link light on or flashing)

But it is still unstable, need to tweak a lot everytime.

2. Now it is able to control ERS-7's head by mouse. However, the legs are not working.

3. All the motions are modified for ERS-7. Since legs are not working, can't really test them.

The major differences between ERS7 and ERS210A

2004-11-08T10:55:00.000-05:00

Beside the differences in shapes, they also differ in following aspects:

The software limitation for joint angle in legs.
The roll joint for neck in ERS210A is removed in ERS7, another titl joint is added.
Pressure based touch sensors are changed to static eletric based touch sensors in ERS7 (?)
The joints for tail is not changed, execept the position of the joints.

These are obvious changes I have noticed. Porting software from ERS210A to ERS7 are mainly based on these changes.

Problems also found in MovingLegs7.cc from the given samples

2004-11-08T10:51:00.000-05:00

I am currently working on porting the software written for ERS-210A to ERS-7 from McMaster University Engineering Office.

I've just read the sample program MovingLegs7.cc and found that:

const double BROADBASE_ANGLE[] = {
120, // RFLEG J1
90, // RFLEG J2
30, // RFLEG J3

120, // LFLEG J1
90, // LFLEG J2
30, // LFLEG J3

-120, // RRLEG J1
70, // RRLEG J2
30, // RRLEG J3

-120, // LRLEG J1
70, // LRLEG J2
30 // LRLEG J3
};

Since the lower bound for LRLEG J1 is -115 degrees, according to the Model
Information documents for ERS-7, how is that possible for LRLEG J1 to be -120
degrees?

Since the upper bound for RFLEG J1 is 115 degrees, according to the same Model
Information documents, how is it possible for RFLEG J1 to be 120 degrees?

I do suspect it is a typo error in the Model Information for ERS7

APPENDIX: Software Limitations of Joint Motions from Model Information for ERS7:

2.1.1 Single Joints Parts Range (Unit: degree)
Neck tilt1 (-75, 0)
Neck pan (-88, 88)
Neck tilt2 (-15, 45)
Mouth (-55, -3)
Left leg(front/rear)J1 (-115, 130)
Left leg(front/rear)J2 (-10, 88)
Left leg(front/rear)J3 (-25, 122)
Right leg(front/rear)J1 (-130, 115)
Right leg(front/rear)J2 (-10, 88)
Right leg(front/rear)J3 (-25, 122)
Tail tilt (5, 60)
Tail pan (-45, 45)

Can I control the DoStart() startup order for all objects by using IsReady()?

2004-07-26T14:51:00.000-04:00

As replied in OPEN-R BBS by aibopet:

Well you aren't controlling the startup order of the objects.
The 'IsReady' logic is meant to handle any possible startup order, and the
multi-tasking nature of the operating system.
The technique can be used to fix other possible startup conflicts [but can be
hard to test]

The order can be random, and what happens before an object is ready to receive
notifications depends on how the object is implemented. The order of the
OBJECT.CFG file usually decides the order, but it isn't always that simple.

Other alternatives:
[ie. the fewer calls to IsReady, the better IMHO]
If you are building more complicated objects communicating to eachother,
another solution is to not send notifications until everything is up and
running (ie. all objects have returned from DoStart).
Then you can have one object start the real behavior.

Finally there is an undocumented? feature of the .OCF file where you can set
the priority for an object. The default is 128. Objects with larger numbers
are loaded first. I would only play with that as a last resort if you have
race condition problems.

Video Streaming Implemented.

2004-06-09T20:45:00.000-04:00

Screenshot:

Screenshots before the bugs were fixed:

Two methods of sending TCP/IP packets in OPEN-R Internet Programming

2004-06-04T13:42:00.000-04:00

I've asked a question about sending TCP/IP packets in OPEN-R, and the reply from AiboPet is:

[two replies merged]
> Here is my Snd() routine:...
> I didn't follow the way the samples did.

> sndMsg.Call(IPStack, sizeof(TCPEndpointSendMsg));

That's one way to do it. It *should* block until the SendMsg is processed.
That may cause problems since this can take a long time.

However, in this case I'm not sure if all other notifications are blocked.
I had some strange problems trying to use Call before (and went back to using
Send and a second callback)

------
>What happens after the following statement is executed?
>sendMsg.Send(ipstackRef, myOID_, Extra_Entry[entrySendCont],
>sizeof(TCPEndpointSendMsg));

That's the other way - and the way I use all the time (also in the samples)
and is recommended.
The statement returns immediately. When the request is completed, it will call
your routine "SendCont".

In this case there are two radically different "Send"s
The sendMsg structure contains the TCP/IP Send request (ie. send data from
AIBO to PC).
The "Send" function being called is the OPEN-R object communication notion of
send (ie. send data from your process to the TCP/IP handler/stack)

I suggest reworking the code to use this technique, and I suspect the
collision problem will go away.

2004-06-03T13:47:00.000-04:00

RE:video streaming from Aibo to PC

I posted a question about video streaming from Aibo to PC in OPEN-R forum:

| Hi,

| In past weeks I tried to implement the video streaming from Aibo to PC. The main

| idea is to have a buffer (array of 44x38x3) in the Aibo storing the YUV data

| received from Camera. Every time the main program is notified by FbkImageSensor,

| it send the whole buffer to the client by TCP/IP connection. The client does the

| YUV2RGB convertion.

| The problem is, the video received by the client is corrupted. Here are 3

| screenshots:

| http://msw.mcmaster.ca/~wangy/temp/s1.png

| http://msw.mcmaster.ca/~wangy/temp/s2.png

| http://msw.mcmaster.ca/~wangy/temp/s3.png

| However, if I make the server only transmit the first frame, the image received

| by client is fine.

| The wireless mode for Aibo and PC is ad-hoc, so I think the network delay can be

| ignored.

| Here is the code of Notify() to be called by subject FbkImageSensor:

| void gEye::Notify(const ONotifyEvent& event)

| {

| if (gEyeState == _IDLE) {

| return;

| //do nothing

| }

| static int x, y;

| OFbkImageVectorData* fbkImageVectorData

| = (OFbkImageVectorData*)event.Data(0);

| OFbkImageInfo* info = fbkImageVectorData->GetInfo(layer);

| byte* data = fbkImageVectorData->GetData(layer);

| OFbkImage current_Y(info, data, ofbkimageBAND_Y);

| OFbkImage current_Cr(info, data, ofbkimageBAND_Cr);

| OFbkImage current_Cb(info, data, ofbkimageBAND_Cb);

| gEye_snd_data.width = info->width;

| gEye_snd_data.height = info->height;

| if ((current_Y.IsValid() == true)

| && (current_Cr.IsValid() == true)

| && (current_Cb.IsValid() == true)){

| for (y = 0; y < info->height - 1; y++){

| for (x = 0; x < info->width; x++){

| gEye_snd_data.image[x][y][0] =

| current_Y.Pixel(x, y);

| gEye_snd_data.image[x][y][1] =

| current_Cr.Pixel(x, y);

| gEye_snd_data.image[x][y][2] =

| current_Cb.Pixel(x, y);

| }

| Snd();

| }

| observer[event.ObsIndex()]->AssertReady(event.SenderID());

| }

| Any helps are appreciated.

| Yu

And it got replied from aibopet:

My guess is the old data has not being completely transmitted before the next

Image notification comes in (and over-writes the old data).

This will depend what is going on in your 'Snd()' routine. It should lock out

the buffer access until all the data is transmitted, and/or copy it to the

TCP/IP buffer first.

In most of the other TCP/IP samples (eg: EchoServer/Client) copy the data to a

transmit buffer before starting the send process ('SetSendData' or something

like that, followed by 'Send'). The transmission is not complete until

the 'SendCont' callback is called.

AIBO Camera resolutions

2004-05-18T11:53:00.000-04:00

Searched from here:
https://openr.aibo.com/cgi-bin/openr/e_regi/im_trbbs.cgi?uid=general&df=bbs.dat&prm=TAN&pg=-1&no=0832#0832
"
H Layer - 176x144 (or 208x160 for the ERS-7)
M Layer - half that 88x76 (or 104x80 for the ERS-7)
L Layer - half that again 44x38 (or 52x40 for the ERS-7)

The C Layer (color detection) is the same resolution as the M layer. One byte per pixel.

With the latest SDKs (1.1.4 for 2x0 and 1.1.5 for ERS-7) it captures additional bands where you can combine to build a double-H layer (called "HR" layer in the sample)

Synthetic "HR" Layer - 352x244 (or 416x320 for the ERS-7)
"

[BBS] How are RCRegion, OShmPtrBase and OShmPtr related?

2004-05-16T10:58:00.000-04:00

RE:How are RCRegion, OShmPtrBase and OShmPtr related? AiboPet [2004/05/16-01:36]

>Could anyone tell me what are the relations between RCRegion, OShmPtrBase and
>OShmPtr? What is MemID? Are there any documentations other than the reference
>guide talking about these concepts?

These are mostly undocumented internals of OpenR. You can figure most of them
out by looking at the headers.

MemID (MemoryRegionID) is the lowest level memory allocation chunk (like a
memory handle in other operating systems) - for sharing memory between
processes.
RCRegion is a C++ class that encapsulates a MemID and includes other features
like reference counting and memory offset addressing
OShmPtr is a C++ template class that encapsulates a MemID and includes C++
type-safe access to the data
OShmPtrBase is used to help implement OShmPtr

My general advice is to use them when needed for other APIs (usually RCRegion
when calling SetData etc), and ignore them otherwise.
Inside your own program, use any memory allocation technique you want (eg:
normal C++ operator new/delete)

Guide for studying Tekkotsu

2004-05-13T18:17:00.000-04:00

1. Read the OPEN-R SDK Programmer's Guide

2. Read the overview of Tekkotsu Framework:

http://www-2.cs.cmu.edu/~tekkotsu/Overview.html

3. (Optional) Review C++:

http://www-2.cs.cmu.edu/~tekkotsu/CPPReview.html

4. Go through BehaviorBase class:

http://www-2.cs.cmu.edu/~tekkotsu/dox/classBehaviorBase.html

5. Read the tutorials:

http://www-2.cs.cmu.edu/~tekkotsu/Tutorials.html

McMaster Aibo Software Development Project

2004-03-19T15:39:00.000-05:00

Now we are collecting volunteers to join our project.

This project is a great oppotunity to learn different aspects of software developing, including Multimedia, TCP/IP, GUI, PID Control, as well as group working.

Send me an email about yourself, if you want to join the project!

My email address is wangy22 at mcmaster dot ca

Thinking of using GTK2 Pixbuf to implement the video display.

2004-01-30T02:27:00.000-05:00

In gtk-demo under any GTK installed Linux, there is a demo of pixbuf, which is somehow an eye-candy thing. The source code might be helpful for implementing the stream video module on Gaibo Client.

BTW, A new screenshot is here:

A question posted on OPEN-R BBS got a anwser today.

2003-08-09T12:05:00.000-04:00

Question:

| I wrote a server for AIBO to send back the statistics, such as acceleration
| value and joint angle, to the client on my PC.
|
| After a while the server is executed, I found following errors:
| ...
| [oid:80000033,prio:1] OObjectRegistry::SendWithRBoxObjects() : Receive() oid
| 80000045 selector 1 error 28
| ...
| [oid:80000033,prio:1] OObjectRegistry::SendWithRBoxObjects() : Receive() oid
| 80000045 selector 2 error 28
| ...
|
| In the object table:
|
| No. Name Context OID
| -------------------------------------------
| ...
| 41 oobjectManager 0x80216a40 0x80000033
| ...
| 60 gSensor 0x8021b500 0x80000045
|
| where gSensor is the server program.
|
| I tried to look into the include directory and find out what "error 28" is, but
| nothing was found.
|
| Can anybody help me?

Answer:

Hi,

"selector 1" is DoStart().
"selector 2" is DoStop().
"error 28" is sTIMEOUT which is defined in MCOOPError.h.

We cannot say why the timeout occurred.
If you make a program that never returns from DoStart(),
the time out will occur. For example,

DoStart()
{ while (1){}}

Thank you,

OPEN-R SDK Support

A strange problem is solved today.

2003-08-09T12:03:00.000-04:00

Problem: The AIBO plays a sad sound and execute nothing when power button is pressed.

Solution: Copy /usr/local/OPEN_R_SDK/OPEN_R/MS/WCONSOLE/nomemprot/OPEN-R
(or in WLAN or in BASIC) to Memorystick again before installing any program to the Memorystick

Reply from OPEN-R BBS (Post: 0665)

2003-07-11T11:48:00.000-04:00

I'm sorry, the example in "OPEN-R Internet Protocol Version4" may
confuse you. Please refer to the EchoClient and EchoServer sample programs.

In the "OPEN-R Internet Protocol Version4" document;
1. Initialize() must be invoked in DoStart().
2. "Extra : Initialize()" in stub.cfg is not needed. (useless)
3. Page.20
receiveMsg.Send (
IPStackRef,
myOID,
Entry_ReceiveCont,
sizeof(TCPEndpointReceiveMsg)
);

Page. 21
receiveMsg.Send (
IPStackRef,
myOID, Entry_SendCont,
sizeof(TCPEndpointReceiveMsg)
);

are wrong. They must be

Page.20
receiveMsg.Send (
IPStackRef,
myOID,
Extra_Entry[entryReceiveCont],
sizeof(TCPEndpointReceiveMsg)
);
Page. 21
receiveMsg.Send (
IPStackRef,
myOID,
Extra_Entry[entrySendCont],
sizeof(TCPEndpointReceiveMsg)
);

// entryReceiveCont and entrySendCont are generated by stubgen2

* This is a diagram of the EchoClient sample program.

DoStart() // Do initialization
|
Connect() ==> IPStack
ConnectCont() <== IPStack
|
Send() ==> IPStack
SendCont() <== IPStack
|
Receive() ==> IPStack
ReceiveCont() <== IPStack
|
If ERROR -> Close() ==> IPStack
Stop ............. CloseCont() <== IPStack
|
|
If !ERROR -> Send() ==> IPStack
Continue Loop .............. SendCont() <== IPStack

Thank you.
OPEN-R SDK Support Staff

The application's name is decided to be Gaibo

2003-07-10T15:45:00.000-04:00

G stands for GNU
aibo stands for AIBO

2003-06-22T15:30:00.000-04:00

Now I can control both the LEDs and the Ears of Bigmac.

All sourcecodes have been imported to CVS at zonker.

2003-06-18T15:29:00.000-04:00

I changed the NUM_LEDS from 9 to 8 and then execute again. The failure is now disappeared.

According to the Model Information for ERS-210, there are two LEDs, one is Blue and one is Orange, in the tail.
So my new guess is that only one LED can be initialized using OPENR::OpenPrimitive() at the same time.

2003-06-18T15:09:00.000-04:00

Today I have finished the program OLedControl. It is to turn on all the LED on the AIBO Dog.
The debug information is recorded:
...
57 powerMonitor 0x801c8420 0x80000042
58 oLedControl 0x801ca1e0 0x80000043
[oid:80000043,prio:1] OLedControl::OpenPrimitives() : OPENR::OpenPrimitive() FAILED 6
[OPowerStatus]
robotStatus : 0x00008040
batteryStatus : 0x00c0
remainingCapacity : 44
temperature : 3024
fullyChargedCapacity : 2300
voltage : 7665
current : -174
timeDif : 0
volume : 3
[ORobotStatus]
BATTERY_CONNECTED
OPEN_R_POWER_GOOD
[OPowerStatus]
robotStatus : 0x00008041
batteryStatus : 0x00c0
remainingCapacity : 44
temperature : 3021
fullyChargedCapacity : 2300
voltage : 7629
current : -611
timeDif : 0
volume : 3
[ORobotStatus]
PAUSE
BATTERY_CONNECTED
OPEN_R_POWER_GOOD
#########################
### SYSTEM SHUTDOWN ###
#########################

Notice that a failure occured when executing OPENR:OpenPrimitve()

My guess is that, the last two LED, which is located in the tail, cannot be turn ON at the same time. Or it will not know which color, blue or orange, to be used.

2003-06-05T10:10:00.000-04:00

In BBS of OPENR-SDK, I asked:
| In Sample MovingHead.h:
|
| static const word TILT_PGAIN = 0x000a;
| static const word TILT_IGAIN = 0x0008;
| static const word TILT_DGAIN = 0x000c;
|
| static const word PAN_PGAIN = 0x000d;
| static const word PAN_IGAIN = 0x0008;
| static const word PAN_DGAIN = 0x000b;
|
| static const word ROLL_PGAIN = 0x000a;
| static const word ROLL_IGAIN = 0x0008;
| static const word ROLL_DGAIN = 0x000c;
|
| static const word PSHIFT = 0x000e;
| static const word ISHIFT = 0x0002;
| static const word DSHIFT = 0x000f;
|
| In Sample MovingLeg.h:
|
| static const word J1_PGAIN = 0x0016;
| static const word J1_IGAIN = 0x0004;
| static const word J1_DGAIN = 0x0008;
|
| static const word J2_PGAIN = 0x0014;
| static const word J2_IGAIN = 0x0004;
| static const word J2_DGAIN = 0x0006;
|
| static const word J3_PGAIN = 0x0023;
| static const word J3_IGAIN = 0x0004;
| static const word J3_DGAIN = 0x0005;
|
| static const word PSHIFT = 0x000e;
| static const word ISHIFT = 0x0002;
| static const word DSHIFT = 0x000f;
|
| What is GAIN? SHIFT? What do these hexdecimal numbers stand for?

And a user ejt replied:

I'm assuming you know what PID control is already since you are asking about the
gain and shift specifically.

I believe the formula used for each of the P, I, and D parameters is:
param = GAIN * pow(2,SHIFT-0x10)

and then the PID param values are used as you would expect. The SHIFT and
GAIN values are similar to the exponent and mantissa of a regular
IEEE floating point number, respectively, except that it seems that SHIFT
is only 4 bit precision and GAIN is 16 bit precision, yielding a 20 bit
floating point value. I'm assuming that the API takes the parameters in
this format because that's what the underlying hardware takes.

On a related note, the updatePIDs function of our Tekkotsu framework's
MotionManager will do the inverse operation - convert a single floating
point value to the appropriate gain and shift values to pass to the system.
(Motion/MotionManager.cc:372)

2003-05-29T17:36:00.000-04:00

In past few days, I was reading one of the sample program from the SDK, MoNet. This sample reads the MTN file, which contains a serie of motions for the AIBO Dog.

Currently, I have difficulties in understanding this sample program, since it has not comments in the statements and it involves many complex concepts of C++.

The related files are:

MTNFile.h
MoNetData.h
ODA.h
MoNetCommandInfoManager.h
MoNetCommandInfo.h
DirectedGraph.h
CommandNode.h
CommandArc.h
As well as thier corresponding .cc files.

2003-05-28T16:15:00.000-04:00

1. You should always check if the actions you wanna play may have overwrite execution or not. If not, you should add "WAIT" after play this kind of action to ensure no overwrite execution occurs.
2. sometimes when the power is not enough, or u need to restart AIBO, it won't complete some of the hard jobs, it will simply ignore it.
3. the wireless LAN connection for Master studio is not quite stable...sometimes it has to restart AIBO.
4. when it is sitting, its back sensor becomes too sensitive that it will continue as if its back is being pushing all the time. sometimes we have to press the other sensors to "wake it up from this looping"
5.when we are using the the if statement to adjust the time the back sensor was pressed, don't release it until the time reaches.
6.AIBO is kinda not accurate in counting the time which sensors were pressed, so avoid using this kinda commands as possible.
7. u cannot connect two different applications(such as master studio and action composor) to AIBO at the same time.
8. while we want AIBO to lift up one or both of its hands, u'd better let it sit for both hind legs, coz that will make the balance much more easier.
9. we can save any sensor variables and do some math to them as well.
10.if there is another ongoing command, we should use "AND WAIT=1 " as well to make sure the required side command is still being excuted.
11.if u want aibo to hear something nicely and do some actions, do not put any actions (especially moving its ears while it is listening), that will disturb the voice recognition system.
11.sometimes the motion of aibo will stuck, u have to restart the wireless connection or restart aibo.

2003-05-28T16:14:00.000-04:00

1.use USB card reader to change the 2 configure files on the AIBO Master Studio MS.
as the files in the MS folder here.
2.configure notebook to be auto-configure
3.open AIBO Master Studio Setup, and set the Wireless LAN to be

IP Address of AIBO:192.168.0.213 User ID:bigmac
Subnet Mask: 255.255.255.0 Password:****
Default Gateway: 192.168.0.1 Confirm Password:****
Host Name:AIBO
SSID: cas-wlan1 //NOTICE u should manual type this in every time, coz this software won't save it if u click "ok"
WEP key:
Action Mode: 2:Auto Mode
Wireless Channel: 3

2003-05-28T12:09:00.000-04:00

Type definitions are stored in:

/usr/local/OPEN_R_SDK/OPEN_R/include/Types.h

...
typedef unsigned char byte; /* must be 8-bit quantity */
typedef unsigned short word; /* must be 16-bit quantity */
typedef unsigned long longword; /* must be 32-bit quantity */
typedef char sbyte; /* must be signed 8-bit quantity */
typedef short sword; /* must be signed 16-bit quantity */
typedef long slongword; /* must be signed 32-bit quantity */
typedef byte* pbyte; /* must be 8-bit addressing unit */
typedef word* pword; /* must be 16-bit addressing unit */
typedef int* plongword; /* must be 32-bit addressing unit */
...

2003-05-20T14:51:00.000-04:00

The websites related to AIBO and AIBO SDK:

OPEN-R SDK Homepage
Tekkotsu Development Framework for AIBO Robots
AIBO
[AiboHack] ERS-210 and ERS-220 Stuff
Other Aibo stuff

2003-05-20T12:08:00.000-04:00

Notes for using AIBO Master Studio

*The AIBO Master Studeio User's Guide is not clear explaining this method on page 50. I redefined the way to include an user defined action in Behavior Arranger:

Step 1: In Action Composer, create one library which includes all user actions that you want to use later by clicking Actoin->Add Action.
Step 2: Connect USB MS Reader/Writer with a MS and then click File->Save Library To Memory Stick.
Step 3: Open Behavior Arranger, insert an action box.
Step 4: In the Action Properties window, choose PLAY under Main, ACTION under Sub, then all the user actions will appear under Name.

2003-05-13T13:26:00.000-04:00

The output of HelloWorld project:

[oid:0x80000040] /MS/OPEN-R/SYSTEM/OBJS/EMGCYMON.BIN
[oid:0x80000041] /MS/OPEN-R/SYSTEM/OBJS/NETCONFS.BIN
[oid:0x80000042] /MS/OPEN-R/SYSTEM/OBJS/ANTTCPIO.BIN
[oid:0x80000043] /MS/OPEN-R/SYSTEM/OBJS/HOOKACT.BIN
[RobotDesign:ERS-210,odrexecMODE3]
[oid:0x80000044] /MS/OPEN-R/MW/OBJS/POWERMON.BIN
[oid:0x80000045] /MS/OPEN-R/MW/OBJS/HELLO.BIN
No. Name Context OID
-------------------------------------------
1 systemCore 0x80207c20 0xffffffff
2 (Handler) 0x80208a20 ----------
3 mCOOPReflector 0x8020c200 0x8000000b
4 uniMailer 0x8020c360 0x8000000c
5 mCOOPFaultHandle 0x8020c4c0 0x8000000d
6 mDriveFaultHandl 0x8020c620 0x8000000e
7 registryManager 0x8020c780 0x8000000f
8 addressManager 0x8020c8e0 0x80000010
9 kernelModeLib 0x8020ca40 0x80000011
10 mCoreReflector 0x8020cba0 0x80000012
11 idle 0x8020cd00 0x80000013
12 exceptionHandler 0x8020ce60 0x80000014
13 analyzer 0x8020cfc0 0x80000015
14 mDriveReflector 0x80211fc0 0x80000016
15 obletManager 0x80211e60 0x80000017
16 installer 0x80211d00 0x80000018
17 driverManager 0x80211ba0 0x80000019
18 objectManager 0x80211a40 0x8000001a
19 mClassReflector 0x802118e0 0x8000001b
20 memoryRegionMana 0x80211780 0x8000001c
21 sharedMemoryMana 0x80211620 0x8000001d
22 mSystemReflector 0x802114c0 0x8000001e
23 mAVFaultHandler 0x80211360 0x8000001f
24 mAVReflector 0x80211200 0x80000020
25 mAVInit 0x802157c0 0x80000021
26 avManager 0x80215660 0x80000022
27 eventManager 0x80215500 0x80000023
28 downloader 0x80214f80 0x8000002a
29 fileSystemManage 0x80214e20 0x8000002b
30 openrBusManager 0x80214cc0 0x8000002c
31 (Handler) 0x8021b7c0 ----------
32 bmnDriver 0x80214b60 0x8000002d
33 (Handler) 0x80216620 ----------
34 fbkDriver 0x80214a00 0x8000002e
35 cardManager 0x80216fc0 0x8000002f
36 (Handler) 0x80219a00 ----------
37 memoryStickDrive 0x80216e60 0x80000030
38 (Handler) 0x80216780 ----------
39 fatFileSystem 0x80216d00 0x80000031
40 memoryStickWatch 0x80216ba0 0x80000032
41 oobjectManager 0x80216a40 0x80000033
42 aperiosClass 0x802168e0 0x80000034
43 opowerManager 0x802153a0 0x80000035
44 oserviceManager 0x80215240 0x80000036
45 ovirtualRobot 0x802150e0 0x80000037
46 odesignedRobot 0x802164c0 0x80000038
47 osystemLogger 0x80216360 0x80000039
48 ovirtualRobotCom 0x80216200 0x8000003a
49 ovirtualRobotAud 0x8021a7c0 0x8000003b
50 IPStack 0x8021a500 0x8000003c
51 OrinocoDriver 0x8021a3a0 0x8000003d
52 (Handler) 0x8021a660 ----------
53 OrinocoEnabler 0x8021a240 0x8000003e
54 hookConsoleIO 0x8021a0e0 0x8000003f
55 emergencyMonitor 0x80219f80 0x80000040
56 netconf 0x80219e20 0x80000041
57 anttcpio 0x80219cc0 0x80000042
58 hookConsoleIOAct 0x80219b60 0x80000043
59 powerMonitor 0x8021b660 0x80000044
60 helloWorld 0x8021b500 0x80000045
!!! Hello World !!!

2003-05-12T17:52:00.000-04:00

(Dundas): This afternoon I have already connected the dog with AIBO Master Studio, setting up AIBO Master Studio Setup with the same configuration described before, then exported the system file to the MS and tested both the

2003-05-12T16:41:00.000-04:00

Today Dundas has started learning the software MasterStudio came with AIBO. I keep reading the SDK Programmer's Guide. Since there are several concepts in the Guide about programming the AIBO using C++ are what I am not familiar with, I also read the book about C++ Programming. At the end of the day, we inserted the AIBO Life 2 into AIBO Dog and found that the dog is able to recognize the pink ball now, that is, it is in the third stage of Baby Mode.

2003-05-10T00:43:00.000-04:00

Actually, nothing too much was done today(Friday). I have been reading the installation guide and other documentations for whole day. Jingjing borrowed a laptop from his friend and had Windows and Linux installed in it. We took a videoclip of the AIBO dog at the end. The address is: http://www.cas.mcmaster.ca/~wangy22

2003-05-08T18:27:00.000-04:00

Today we tested the wireless LAN in several ways:
such as outside the ITB building because we doubt that the access point in the building may cause interferance, but it didn't affect at all. We finally got the wireless LAN working by re-configuring the LAN Card Settings, and successfully utilized the AIBO Navigator 2 to do required actions and movements, ball tracking, and the video and audio streams are smooth.
One thing to remind ourselves is that we have to unlock the AIBO Life 2 memory stick if we want to raise the baby dog and keep increasing its experience.

2003-05-08T17:51:00.000-04:00

HOWTO: Set up the wireless LAN between notebook and AIBO.
JingJing Deng (dengjj@mcmaster.ca)
Yu Wang (wangy22@mcmaster.ca)

1. Introduction:
SONY AIBO 210A is an entertainment product which is able to be controlled remotely via IEEE 802.11 AIBO wireless LAN card. This document explains how to set up this wireless connection.

2. Hardware requirements:
SONY AIBO 210A with AIBO wireless LAN card
Laptop (CPU>500MHz, RAM>128M)
Wireless PC Card (PCMCIA TYPE II)
Memory Stick reader/writer

3. Software requirements:
AIBO Navigator 2
Windows 9x/2k/XP

4. Installation and Configuration
A. Notebook
Acer Travelmate 332t
a) Operation System: windows 98
b) Network Setting:TCP/IP->Netgear MA401 Wireless LAN Card
NetBEUI->Netgear MA401 Wireless LAN Card
Microsoft Network Client
Microsoft Shared Services
c) Make sure to specify the following TCP/IP configuration:
IP Address: 10.0.1.101
Subnet Mast: 255.255.255.0
Gateway: 10.0.1.1
d) Logon as Microsoft Network Client.
B. Netgear MA401 Wireless LAN Card
a) Install Driver in windows 98.
b) Set the "Encryption (WEP)" to be 64bits
c) Manually add the "Alphanumeric WEP Key" to be AIBO2. (Case sensitive)
If only Hexadecimal WEP Key is asked, then you have to convert AIBO2 to hexadecimal.
d) Choose "Network Mode" to be 802.11 Ad-hoc (Computer to Computer).
e) Set "SSID" to be AIBONET. (Case sensitive)
f) Choose "Tx Rate" (Transfer Rate) to be Fully Automatic.
g) Set "Channel" to be 3. (If channel 3 is occupied, then you have to set a same new channel in both LAN Card)

C. Dazzle Memory Stick Reader/Writer
Connected to Laptop via USB port.
D. AIBO 210A
a) Plug in the AIBO navigator 2 memory stick in the USB reader/writer.
b) Run AIBO Navigator 2 Wireless LAN Setup as following:
Set "path to" to the Memory Stick removable drive.
Set up "owner information" and "password" and press "Update" beside it. (Optional)
Set "IP Address" to 10.0.1.100
"Subnet Mask" to 255.255.255.0
"Default Gateway" to 10.0.1.1
Set "SSID" to AIBONET. (Case sensitive)
Set "Hostname" to AIBO. (Case sensitive)
Enable "WEP Enable"
Set "WEP Key" to AIBO2.
Choose "Operation Mode" to be Auto
Set "Wireless Channel" to be 3
Press "Update" at the bottom right.
c) Install the AIBO Wireless LAN Card into AIBO 210A
Please refer to the Installation Guide come with the LAN Card.
d) Unplug the memory stick from the reader/writer and plug into the AIBO 210A.
Please refer to the Installation Guide of AIBO 210A User Manual
e) Press the Power Up on AIBO 210A

5. Conclusion
After AIBO 210A is powered up, use the Netgear Configuration Utility to scan the radio, if you can successfully receive throughput, then open AIBO Navigator 2 and input your owner's name and password if you have set them in the AIBO wireless LAN Card. If an communication error comes up, you have to check the IP address for AIBO 210A is correctly set to 10.0.1.100. Finally you can utilize the software to order AIBO 210A to do the listed movements and actions as desired.

2003-05-08T12:40:00.000-04:00

I have installed a IDE, SourceEdit, for future development.
I have installed AIBO Master Studio and Navigator. Since the wireless connection still cannot be set up between AIBO and notebook, Navigator cannot be used currently. I am will waiting the answer from BBS in AIBO's website.

2003-05-08T12:36:00.000-04:00

The AIBO is still in the baby stage. To demostrate most of the features, I need to raise it up. Currently it can only take pictures and react to the words "Good boy/girl/AIBO", "Don't do it", "Go for it".

2003-05-08T11:18:00.000-04:00

How to access Sony AIBO Memorystick using Dazzle USB Memorystick Reader under Linux.

Yu Wang (wangy22@mcmaster.ca)

INTRODUCTION

Dazzle Memorystick Reader allows people access information of a memorystick media, which is mainly produced by Sony, via USB port. This documentation shows simple steps of accessing the Sony AIBO Memorystick using this read under Linux operation environment.

It is tested in Redhat 9 on Acer Travelmate 332t laptop computer. The kernel version is 2.4.20-8.

MOUNTING THE MEMORYSTICK

It is recommended to plug the usb reader into the USB port before turn on the power of the computer, although most of the linux distributions support hotplug technology for USB devices. Make sure the Sony AIBO Memorystick is correctly plugged into the usb reader.

After log into the bash shell, make sure that the usb reader is recognized by the system. You can check it by typing:

$ cat /proc/bus/usb/devices | grep S:

and you will probably see something like this:

S: Product=USB OHCI Root Hub
S: SerialNumber=ccacb000
S: Manufacturer=SCM Microsystems Inc.
S: Product=eUSB MemoryStick Reader
S: SerialNumber=0000000011CF

Now we can mount the memorystick into the system by the following steps:

1. Create a empty directory to which be mounted, ex. /mnt/usb:
$ mkdir /mnt/usb

2. And then mount the memorystick (You must have supervisor privilege first)
$ mount /dev/sda1 /mnt/usb

USING THE MEMORYSTICK

After mount the memorystick to the specified directory(/mnt/usb), you can use it just like other storage device, such as harddrive. Most of the filesystem command, such as ls, mkdir, cat, etc., can be applied.

When you "ls" the memorystick for the firsttime, you will find a file names memstick.ind already existing in the memorystick. DO NOT delete it, since this memorystick is to be used by the Sony AIBO robotic dog.

If you find any errors or anything can be improved in this HOWTO documentation, please notify me by email. Thanks!

2003-05-08T11:04:00.000-04:00

Installed the AIBO wireless card.
Tried to set up the wireless connection between AIBO and the notebook, but it just keep scanning and find nothing.
I have posted the question to the BBS of OPEN_R Website, waiting for anwser.