Archive for June, 2008

Randomly Corrupting msobj80.dll file solution

Thursday, June 19th, 2008

So apparently the fltk dll files and one of the microsoft DLLs can occasionally get into fights and the microsoft file generally loses and gets corrupted.  The solution for a corrupted msobj80.dll is to download another copy of it from a dll library archive site and then to install in it into “C:\Program Files\Microsoft Visual Studio 8\Common7\IDE”.

Review – A Robust Layered Control System for a Mobile Robot

Wednesday, June 18th, 2008

Rodney Brooks

1986 IEEE

Brooks presented the initial research on the subsumption architecture here. Subsumption was originally designed to provide several benifits to the programers of mobile robots. It is supposed to allow the user to design modular reusable components, handle multiple sensor input, and deal with possibly inaccurate sensor results. The utility of subsumption was demonstraighted with the construction of both a physical agent capable of navigating a dynamic enviroment as well as a software simulation. The initial robot was only programed for navigation but additional tasks were planned to further show off the capabilities of subsumption. Subsumption was also shown to be very reusable and able to overcome noisy sensor data.

 

Link: A Robust Layered Control System for a Mobile Robot – PDF

 

Bibtex:

@article{basicSubsump,

Author = {Rodney Brooks},

Date-Modified = {2008-04-07 17:18:04 -0400},

Journal = {IEEE JOURNAL OF ROBOTICS AND AUTOMATION},

Number = {1},

Pages = {14–23},

Publisher = {IEEE},

Title = {A Robust Layered Control System for a Mobile Robot},

Year = {1986}}

 

Review – Integration of Representation Into Goal-Driven Behavior-Based Robots

Wednesday, June 18th, 2008

by – Maja J Mataric

Summary This paper presents a method of developing a landmark based navigation method for robotic agents. The agents are programmed with a subsumption architecture capable of encoding information about things they have seen with there sensors to form a self improving navigation map. This development of a navigation map is preformed in real time using just the robots sensor systems. This was the first subsumption architecture to allow for spacial planning while remaining fully reactive and one of the first to implement the behavior controls.

 

*** I am not sure if this is the paper that presents the behavior based system fully. They seem to gloss over the implementation of the behavior system.

*** The agents generated by this system seem to have something of sense of place which might make them something interesting to look into for the DEACCON work.

 

Link:Integration of Representation Into Goal-Driven Behavior-Based Robots – PDF

 

Bibtex:

@article{bControl,

Author = {Maja J Mataric},

Date-Modified = {2008-04-07 17:18:04 -0400},

Journal = {IEEE Transactions on Robotics and Automation},

Number = {3},

Pages = {304–312},

Publisher = {IEEE},

Title = {Integration of Representation Into Goal-Driven Behavior-Based Robots},

Year = {1992}}

 

Review: Belmont Report

Wednesday, June 18th, 2008

Summary:

This report is a well written and extremely thought out examination of the ethics and responsibilities of researchers who want to do work with human subjects and what standards they should be held to. The basic principles can primarily be condensed into 3 concepts: First being that there needs to be respect for the human test subjects. They need to be clear and true volunteers who have as full an understanding of the research they will be participating in as possible. Next the beneficence of the work needs to be examined. The risks presented to the study participants need to be minimized down as far as possible and the benefits to the participant or society need to be maximized. Finally the there is the question of Justice. The application of the research should be spread as far as possible and not limited to small groups and the actual performance of human trials should not be restricted to any small groups unless so dictated by the research itself.  Personally I found the first two principles to be kinda obvious however the third principle was moderately thought provoking.

Link: Official Site   Want to convert to pdf before making local copy

Bibtex: Coming

How to setup FLTK on windows system

Wednesday, June 18th, 2008

 Visual Studio Setup for fltk assuming I or anyone else ever needs to do this again.

1) get Visual studio full versions – The express ones don’t work.
2)download the fltk package and then build the solution file present in the vc2005 directory.  This will populate the /lib directory with real libraries for the current system.
3)create your project solution in a different directory
4)copy the following directories from the fltk package directory into the directory with your projects .sln file – (/lib, /zlib, /png, /vc2005, /FL)
5) in the general tab of your  projects properties add the following additional include directories (..\vc2005;..\zlib;..\png;..\jpeg;)
6)in the input field of the linker add the following required libraries (fltkd.lib wsock32.lib comctl32.lib glu32.lib opengl32.lib wsock32.lib fltkgld.lib)
7)add the following additional  library directory (..\lib) 8) in the general tab of the linker change incremental linking to  “no”
9) finally if you are on vista and wish to use  openGL you probably have to install the platform SDK from Microsoft.

Gonna need some help on monday

Sunday, June 15th, 2008

I have ran into an issue I have no idea how to get around. Even after I removed all the circular referencing from my code it is still complaining about multiple definitions of the same class. I have double checked everything and it shouldn’t be giving me the errors it is. My header files all have the guards on them that should prevent it from ever defining things multiple times and I am being careful how I including things but it isn’t helping me at all. I really need an expert to take a look at what is going wrong cause bashing my head against it more isn’t a profitable use of time in my opinion.

Solution and better problem description.  – The problem was actually an improperly declared method signiture for the overloaded comparision operator.  I was declaring them outside the class they were supposed to be used with when in fact they needed to be inside the class definition just like any other method.

C++ is evil

Saturday, June 14th, 2008

I cut my trip home a touch short so I could hopefully finish the DEACCON stuff before I leave this week.  Right now the biggest problem is the massive amount of C++ junk that keeps jumping up in front of me whenever I get good progress going.   I miss our lab C++ expert already and it seems nobody else knows anything about it that works in the lab.  Good news is I get to hit Priyesh’s party.

6/11/08 AIIDE accepted/DEACCON progressing

Wednesday, June 11th, 2008

Looks my first real paper was accepted.  Again two out of three people liked it, and one of them thought it was amazingly groundbreaking.  We also got beat on for our limited number of testing runs which is really, really beginning to annoy me given I spend a solid week making those and each one requires me to do a tone of by hand stuff for the other decomp methods. Finally let me put it in writing that Dr. Y was right the last page with the comparisons of the decomps did seem to go over well.

DEACCON is starting to move foward now that everything is compiling(and more importantly – Linking).  I am building my openGL window at the moment.

Got it working

Wednesday, June 11th, 2008

Well looks like I am gonna owe vista an apology, the os wasn’t causing fltk not to work.  It turns out that the express edition of C++ installed on my machine doesn’t handle external programing libaries correctly.  Working on the DEACCON conversion into C++ now.  Hopefully everything will be smooth sailing now though I will need to see if I can get visual studio full version installed on my machine in the lab.  I should have realized the problem sooner given I had the exact same problem with the TAO(opengl .net wrapper allowing it to be used in forms) libraries not working in express edition when I tried to use them last year.

C++ woes 6/9 – 6/10 2008

Tuesday, June 10th, 2008

I have been trying to get fltk to compile in the lab on my machine without success.  I spent most of the last two days bashing my head against it and getting about 8198 link errors.  I decided to try a different approach and tried on my home machine with visual studio full version and windows XP and it works great.  I plan on trying the XP legacy machine in the lab tomorrow real fast and if that doesn’t work by lunch just doing the conversion at home.  I tried every trick I know to help out the linker from redudant path variables and manually including refs to the library as well as dumping files into the working the directory but nothing worked so far.  I also tried all the solutions I could find on the fltk forums without success.  I think there is possibly something wonky on vista or possibly my install of vista since I know that there is something wrong there since a few other programs don’t work.