nxnathania-blog

[nxnathania-blog]

Reflection

First of all, I still can’t believe that I got to finish my drawing robot. I started with not knowing what generative and parametric design means and now being able to create a mind driven robot. I also wouldn’t be able to finish it if it wasn’t for Karen’s help.

I learned a lot in this whole studio class, but regarding my project, it felt like I had to learn another language. Every bit of my robot, from assembling, from knowing the parts that I needed was all new for me. As for the code, Karen helped me a lot in most of it. Some snippets of code were taught by tutorials online.

Throughout the process, I kept on being stressed because I kept on being stuck in so many things. At times when the internet did not know what help I needed; I would start being anxious. I would ask other people if they could help, and towards the end it was Karen that would know. I really enjoyed having to experience this kind of studio environment that everybody got to help each other in many different aspects. Towards the end, it felt like we were all doing one whole project together.

If I had more time on this project, I would improve the placement of the pen. Maybe having a more stable/solid section for the pen to stand up straight. Also, I would want to add an ultrasonic sensor to it. I had this in mind in the beginning, however since the process of translating the data from the Mindwave headset to Processing and Arduino took a long time, I couldn’t be able to. When everything works well, I can have a bigger working area for the robot to draw.

Overall, I am proud of my work and also proud to everyone and their projects. We went through this together!

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Exhibition Day

Karen helped me build the Processing code that the Mindwave headset could read on exhibition day. After going through many trial and errors, we finally did it. With Trumpet (Bluetooth module) already being programmed, it was easier for us to use. When it was the first time the robot moved, both Karen and I was shocked and very excited it actually works. The robot was moving, mostly backwards and very slow. When we got it on top of the paper,  I was satisfied with the output, as many people volunteered in creating this design.

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Processing and Arduino

Had the final Arduino and Processing code working for my robot to work. Trumpet (Bluetooth module) helped me connect the Mindwave Mobile headset to it and this allowed Processing and Arduino to work at the same time. With both Trumpet and the Mindwave headset connected to my computer everything went well. There was difficulties with connecting with Trumpet because every time it disconnects I had to change the serial input number in Processing. 

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Exhibition Preparations

For the exhibition I had to prepare a border so that my robot would stay in one area. I used plain cardboard and assemble them into rectangular boxes.

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Week 12: Research, Research, Research...

After going through everything online about mind waves, I collected information that might be useful for me to understand each values of the raw data. I receive 8 values of information from the Mindwave headset, and at first I thought each of them means the different brain waves: delta, theta, alpha, beta, and gamma. However these brain waves is measured in Hz with values under 100. This did not make any sense since the values I receive can go up to 200 and highest 255. I kept on looking around and even going through Youtube to see other peoples experience with the Mindwave Mobile headset. After a whole day of research, I finally found this guy named Phillip, sharing his project with a Mindwave Mobile headset. He had a whole report written about everything I was looking for. So glad I came across this guy because from there I understood even deeper about the functions and meanings of the values of data.

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Week 12: Simple Read

Week 12 and still not there done yet. So stressed and tired at the same time because I cant seem to do anything at home, other than googling “How to….?” and of course emailing Karen 24/7 (sorry). In class today I got the chance to talk to Karen and started working on the data that the Mindwave Mobile headset receives. We step backed from Arduino and used Processing. Using the SimpleRead library in Processing, we were able to read/receive the data from the Mindwave when connected to Bluetooth. I saw that the only data that I could use was the 6th, 7th, and 8th value. 6th value jumping from 0 to 255 and 7th-8th was more of a gradual increase/decrease. This was where we started forming up the code, and testing if the values would translate correctly on what I wanted it to do. I had the values translated to the commands of forward, backward, left, right, and the speed.

We realised that I cant just choose any of those values and not knowing what it means because we want to be able to control the robot on a steady flow of data. This means we could not move forward and try connecting with an Arduino via the Bluetooth module. However I am super happy that we got to be able to see the code working in Processing when we told it to printIn the commands.

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Week 12

This is just a short video of my robot running based on a simple sketch I uploaded on Arduino. Testing if both of my motors work well after I attached to the chassis.

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Week 10-11: Building

After a couple of rough days in the Maker Space, I finally got the chance to laser cut my robot chassis. It took 3 days of trying to get it done, because the demand for the laser cut machine is high. I forced myself to get to Maker Space before it was open, so that I would at least get the second spot. (even someone was waiting before me).

I got the chassis laser cut and super glued my dc motors and batteries. I successfully attached my Arduino and Motor Shield to the motors/batteries and could get the simple forward, backward, right/left turn code to run.

Now that this is working, I had to chance to try to control the motors with a joystick. With the help of Karen, she gave multiple of codes that would help me control it. However, it wasn't working because i couldn't understand what it was doing, therefore could not transfer bits of my dc motor code to the joystick code. Overall, I am happy that I tried my best on trying this, but I got to move on and keep on trying new things.

[nxnathania-blog]

Week 10: DC Motors

So happy I finally got the DC motor sketch running. Had to check multiple tutorials on Youtube to get it working. Also there was some problems with the connection of the DC motor wires so i had to do some soldering iron to get it fixed.

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Week 10: Test Print

For the first time I tried on laser cutting and it was actually really fun. Pretty happy with the results, the chassis came out easily. The laser had to go around 3x with 100% power in order to go through the plywood.

Having my design printed on a laser cutter made me identify the dimensions in real life, which will be further used as the placement of screws or cables. I notice the hole that was designated for the balancing ball was too far apart, so I have to change that. Also, I realise the legs that holds the upper part is too short, so the Arduino and the Motor Shield does not fit.

I tested with this design just because I wanted to focus on the dimensions of the details. Next test print will be a more unique shape chassis with the right dimensions.

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Week 9: AVRDUDE ERRORS

So this happened....

While having my robot chassis designed, i tried running my ultrasonic sensor code since last week and Arduino wont let me. I had an avrdude error in the program and this didnt allow me to upload my code. Had a few chats with Karen through email to help me identify/resolve this problem, however the avrdude error is still happening.

I think this problem is from the usb converter that I am using right now, because when we tried as a class last week, I borrowed my classmates one and it worked just fine.

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Week 9: Sensors

Beginning of the class, we were asked to identify what type of sensor we have. Karen gave out multiple of small sensors that looked the 'same', but detects different sorts of things. This activity allowed us to learn more about the different types of sensors there is.

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Week 8: Raw Data

With the help from Yi Chieh, I collected some data of my brain activity using this Mindwave Mobile 2 headset. Yi Chieh had a code running on Processing that gave out results in frequencies of my brain activity.  

After collecting the data from Processing, I placed them in a XL sheet and divided into parts. I realise the each set of data would start from 248 and end with 2. However as the code is running, 248 would slowly increase. The first 3 datas of each set changes but the following 5 is constant.

Each of these data would then be used for the movement of the robot.

248 - 255 Speed

0 - 245 Forward- Backward

133 - 248 Left/Right Turn

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Week 8

This week we did a mini-workshop introducing using Arduino, basic electronics, wiring and sensors. In pairs we started building the circuit to connect an ultrasonic (distance) sensor to the Arduino and used the code given from the Arduino site. This code allowed us to read the distance that was calculated by our sensor. There was two different kinds of output that we can use as data, one was numerical results, and the other was a graph.

With the data from the Arduino program we ran a code in Processing that was able to read the data flowing in from the Arduino. This data is then used to change the size/scale and position of an image (dog)  in Processing based off the reading from the distance sensor. Also, the code could draw different color/size ellipses in the given x,y axis.

All of this is very new to me, so all this codes and how Arduino works is still cloudy to me. I need to apply this skill for my robot making as i also need to use a ultrasonic sensor to avoid my robot to crash to any objects. 

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Week 7

Something fun today was building a prototype of my drawing robot with some cardboard provided. This is a very basic model of what my robot is going to be like. My final piece would have sensors, an Arduino, servo motor and many more. This was easy to make compared to the real one that would work.

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Week 7

Karen always find ways for us to concentrate and contribute in class presentations, and this is one of the activities we had to do as a group, mapping each presentations to a certain topic within Output, Input, System, and Tools.

We found that some people has similar topics and this map would help people find each other and help one another.

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Week 6: Project Pitch

My Idea

Utilizing a head piece that detects brain activity and record EEG signals as the controllers of the robot.

When concentrating, the robot will start moving, creating lines and curves.

Inspiration

Star Wars Force Trainer

The wireless headset that you slip over your head reads your brainwaves through a small sensor that gets placed lightly on your forehead.

The sensor then determines the difference between your alpha, beta, gamma and delta waves. This allows a chip inside the Force Trainer base unit to use a mathematical algorithm to interpret the data and translate it into physical action

Field of practice

This idea of having our brains controlling robots is practiced in a couple of fields including the medical field.

One example is called The Modular Prosthetic Limb

Capable of effectuating almost all of the movements as a human arm and hand and with more than 100 sensors in the hand and upper arm

Johnny Matheny is the first person to attach a mind-controlled prosthetic limb directly to his skeleton.

Another field of practice is in the robotics world:

Rethink Robotics : Brain controlled robots

https://www.youtube.com/watch?v=Zd9WhJPa2Ok

A team from MIT’s Computer Science and Artificial Intelligence Laboratory and Boston University is working on this problem, creating a feedback system that lets people correct robot mistakes instantly with nothing more than their brains. http://news.mit.edu/2017/brain-controlled-robots-0306

They use EEG signals as the raw data

The system looks for brain signals called error-related potentials,” which are generated when the brain notices a mistake.

If it detects these signals, the robot changes its action

If not, the robot continues with its planned action

Technology and Equipment

These are some technological equipment for the robot to run and be connected to the computer.

And these are the head piece from the Star Wars force trainer, as this is what I could access for now, and markers.

Building a robot

I would have to learn how to build the robot that a marker would be attached to. Also, I need to be able to control the movement of the pen as I do not want the pen to the touch the paper when the robot is not moving.

Arduino

Arduino will be the brain of the robot which runs on my computer linking it to the head piece that measure brain activity.

System

So, the system will be running in Processing and it will record brain activities using the sensors from the head piece. As it collects data, the system will use mathematical algorithm to interpret the data and translate it into physical action.

Potential outcomes

The final product would be random as I cannot predict what it would exactly look like but overall it would turn out to be a piece of paper with lots of lines.