29.10.15

Thesis:

I am still working on the opening parts of my thesis, I am following my study guide to determine exactly what I need to discuss in the part of the literature. It is important to outline everything that this research project covers but I also want to include the approaches I implemented as I think it quite an important part of the research process. I also need to work on my acknowledgements as I have a lot of people to thank for their insights and help with my project. I will look into the most appropriate format for this section as I really want to include as much info as I can and exactly who has helped in my research. 

Practical Project:

This session is focused on the operation of the fingers working together. Each individual finger is independently rigged up to a dedicated 9kg spektrum servo. To transfer the pull/torque of each servo effectively each strand has its own path supported via pulleys. The pulley system works really well, I have used miliput to keep the L brackets I used to support the pulleys in place. I chose this method over themoplastic as I think it will bond better with the surface of the aluminium plates. I have come to the conclusion that miliput is great for keeping things in place that may need to be re-positioned during the setting process and themo plastic is best used when securing elements that dont need extra manipulation due to its very quick solidifying process. 

Another thing I have noticed is that the hand actually has a lot of grip in it, I did of experimentation getting the robotic hand to grip various objects and it can hold things if placed in the palm of it hand then let go of them. It does however struggle to pick up objects as it does not have any grip on the ends of the fingers. I do not intend to adapt the hands to include this it is merely an observation that they have a lot of power in them for something that is made of plastic cables ties and fishing wire. 

Two fingers working together

Internal workings of hand system

all finger operation using spektrum controller. 

Feelings: I am very happy with the robot at the moment, it is really starting to come together well and the hand feels well...like a robots hand. 

Evaluation: This sessions has been, for lack of a better word..amazing. I really have enjoyed seeing this project come to life and see my kids enjoy the project and help in controlling and playing with it. I really think its something that they will remember doing and I hope they have enjoyed the journey so far just as much as I have. In terms of progression things are moving on at a really fast rate, I am starting to put together the arm for the right hand of the robot using the same structure as the left. I am going over to uni soon so I am trying to decide what part of the robot to take over first. The head seems the most likely option as it is now complete, but then again I need to work on neck alignment and testing, which would be a lot easier here in my workshop than in the post grad room at uni. 

Analysis: The current situation of the project make sense to me, it is important that I now get my thesis finished and spend the next few days checking my spelling and proof read what I can. I will not lie this is not my strongest area at all, but I will try my best to go through it as thoroughly as I can with what tools I have to hand. I really do not want to blow this whole thing over a few spelling mistakes as I really want the project to be taken seriously as an academic study.  

Conclusion: In conclusion, I am really happy with how the project has turned out so far. I keep looking back over things and remember some of the issues I had in my last project and how I used my reflective space to over come those issues. In light of this I am going to purchase some back up servos, leads and batteries for the robot as I feel these are the weaker elements of the project as they have in the past proven to be unpredictable. 

Action Plan: The action plan for the new few days is to get my thesis finished, then secondly look at programming the fingers.,. well adapting the code at least it should just be a case of altering the start and finish position of each servo. 

27.10.15

Thesis:

I am getting there now with finishing up my appendices, it has been quite a difficult task to get these in the order I think best flows. I need to now start writing some parts of the opening body of the thesis that I have left till last. I wanted to leave these parts till the very end as it is all about summarising and breaking down the main parts of the study into a few paragraphs. I addition I also need to finish doing the contents page, I have been doing this as I have gone along sort of but there has been changes to titles and chapters numbers have moved up and down with text expansion and formatting. I have also run the main text through turn it in to check for any issues concerning plagiarism, I cannot see anything that pops out at me as I have made sure that I meticulously reference and record all my source usage. 

Model:

This session is based around attaching the robotic hand and arm to the internal aluminium chassis of the robot. The arm is operated manually via hand but is capable of full rotation and outwards movement. The parts finally arrived from over sees and the box was about the size of a small child so I can now see why it took so long to turn up. The main part of the inner structure is formed simply by connecting aluminium robotics brackets together using hex bolts. It only took a few hours to complete this as it was all pretty straight forward and I had already worked out exactly how many parts I would need using the internal dimensions on the body armour. The arm is connected to the body using two long U brackets that are normally used to attach servos to multinational robot brackets. I decided to construct the arm this was as it is a strong, durable and cost effective material. It also aesthetically fits in with the rest of the structure as it is made and painted using the same processes. 

I have also purchased a speaker stand to fit the robot on top of, this came with a flat top with holes in which after a bit of adaptation with a drill fit the holes on the aluminium body perfectly, I used L brackets to secure the body to the stand and long hex bolts and nuts to keep it in place. It feels really sturdy but at the same time quiet light considering its size. I think this is the bonus of using aluminium instead of other metals or materials. 

Feelings

I feel very happy at the moment, my long awaited package has arrived and things have moved on super quick with the project. I just hope I do not need any more parts from China as its pretty clear that they will most likely not arrive before the deadline. 

Evaluation

The body and arm look great, I need to think of a way to attach the neck to the upper torso, I think the best way to do this is to copy the same formula as I used for attaching the body to the base of the speaker stand. However, when I have lined up the robotic rotational neck base to the top of the torso there is a bit of overlap on each side. This may prove problematic when trying to fit this flush on to the body. Another possible way of doing this may be to use metal bonding glue but because the aluminium is painted black I think that the glue will more likely stick to this coating that the actual metal itself which would leave an insecure bond. 

Analysis

The current situation of the project makes sense, I believe that both elements are now running at the same pace and its getting to the point now where its becoming very exciting. I am still however playing catch up a bit with the delays in shipping, but i am sure that I can soon get back on track now I have all the materials and tools I need at my disposal. 

Conclusion

In conclusion, the arm and the body look really neat and its starting to feel like a real robot. I held the head above the body roughly where I think it will go and at what height and I think this will be a beast when its all connected together. I guess its going to be around the 6ft-7ft height range. This may prove difficult when I ship it all over to uni, but I will cross that bridge when I come to it.. I can always buy him his own seat on the train I guess. 

Action Plan

I need to finish of some bits and bobs on the arm so I can wire the cables up to the hand. Its just a case of securing the pulleys I purchased on line. I will get to that in the next few days after I have finished drafting the intro summary of my thesis. 

19.10.15

Thesis

I am still working on my appendices, I am having some issues with my copy of word as it seems to keep removing the lines on my charts which is becoming a tad annoying. I need to get things done as soon as possible so I can start going through it and proof reading my chapters. I had an idea of creating my own front cover for the thesis but I have decided that maybe this is not the best move at this stage.  

Model

This session looks at the positioning and operations of the touch sensitive controls situated on the back of the robot. The idea is that this panel and be operated with the puppeteers right hand and the arm operated simultaneously with the left. I am having some issues with the touch sensitive modules that I purchased. It appears that only some of them work, and even more annoying is that they all seem to operate at different sensitivity rates. I have managed to solve this at a programmatic level with one of two of the sensors but ultimately I am going to have to send them back and get alternatives. I do not think these are of the best quality anyway as all the labels on the sensors where stuck on back to front so ground was signal and signal was ground. This did take a few hours to figure out as I was questioning my own abilities rather than the product I was using. 

Regardless of this I now have a working prototype of the sensor activating a servo and returning the servo to its original position on release. This set up actually works really well and I think using touch sensors gives the model a better operational feel than using say buttons or switches. 

First test of the touch sensor control system. 

Feelings: I feel pretty happy with how things are moving on at the moment, the touch sensitive controllers give really good reaction to operation. 

Evaluation: I am still stressing about my package from China, its getting to the point now where I am considering trying to source the parts I need from an English company. I have avoided doing this so far as the national companies seem to charge over 5 times the price as china do for the same product. This is becoming indicative of this type of system construction as I had the same problems with my last robot.  

Analysis: The current situation of the project makes sense to me. I really like the idea of adding elements of manual puppetry into the model as this was covered in my theoretical work as an important element of embodiment and depth.  

Conclusion: In conclusion the sensors I bought are a pile of rubbish and will need replacing, I purchased them in consideration of budget rather than quality and have inevitably paid the price for this. I'd say this is something I will learn from but I don't think it is. Every now and then you get some absolute gems and they form an important part of your arsenal, but to find them you have to trawl through all the rubbish.  

Action Plan: I will continue to work on the programming for the hands as I can do this without actually having the physical sensors in front of me. Then when the new sensors arrive I will just adapt the script to support the new hardware. 

14.10.15 Voice Recognition Test Using Kinect Micophones Built into Chassis

Thesis: I am still working on my appendices, I realised that I did not put my filmography into alphabetical order... school boy error. I tried to use word to put this in order for me but alas it just messed everything up so I am going to have to do all this manually.

Robot:

This session is focused on the vocal recognition software that will be used as human interaction interface. The response will be outputted into processing / eliza chat allowing the robot to respond to questions. I wanted to add this in as an optional extra, people always seem blown away with voice rec but I always find it difficult to implement in busy spaces. I am using the kinects internal mic set up for this and just changing the mic setting in my system prefs. The all I did was use a program 'google voice' in this case but you can use mac in built voice rec system. Then all you do is write a short bit of script that measures the pauses in the audio as a string of audio.. fox example 7 seconds of silence after an initial sentence and then you use this to trigger the enter command in processing. Again this only really works if you are in a quiet room as without silence at the end of a sentence it will not work. Audio contamination is also an issue when recording as loud noise can interrupt the voice recognition process. 

However, I really wanted to include this element as an adaption from the last project. I think once this technology becomes more adaptable and capable it will provide a very useful communication and interaction framework for animatronic character systems. 

Feelings: I am still waiting on parts from over sees and its really becoming a bit of a drag having to put things on hold whilst they are in transit. This is still making me feel pretty anxious in regards to the deadline of this project. 

Evaluation: I really like the idea of adding voice recognition into the project, but voice rec is still at its infancy stage and getting hold of software that is capable of delivering precise dictation is still .. not quite there yet. I am hoping that this will change quickly and that there will be a package available that can cope with multiple voice and contamination in time for my next project. It is a shame that this element does not quite function how I would like it to as it was covered in my thesis a possible advancement in animatronics and I really wanted to include it in this project. That said, it does work if you are in a silent room, but if the application of this system is for filmic engagement and interaction getting perfect silence is not really going to be an option. 

Analysis: The current situation of the project makes sense, the delays are sort of forcing me to think of other things that I can be prototyping and adding to the model while i am in wait of my package. 

Conclusion: In Conclusion there is most certainly use for voice recognition software in animatronics and maybe even such platforms as interactive theatre and other live action formats. However, the technology is not quite good enough yet to implement this in a working model. I am however, really please that I did try this and the fact that it does work is something that is worth expanding on in future projects.

Action Plan: I will continue to work on various parts of the project until my shipment arrives. I will look at writing the script for the hand system it should be pretty straight forward. 

Voice test reciting Asimov's robotic laws.

Thesis

I am still working on my appendices, I have asked my participants if it is OK to include their questionnaire answers in my thesis as full text. I need to format all of this so it all flows and corresponds and is clear for everyone to see in context.  

Animatronic

I have been working on programming some responses in the eliza chat scripture, I have always wanted to include Asimov's laws of robotics in a project as it sort of reminds me of robo cop for some reason so I took this opportunity to write a new voice app and put the laws as a simple trigger in eliza. I like the result so much i am tempted to keep it.

Feelings: I am still pretty annoyed at my China shipment, i am starting to think it has got lost in the post. I have emailed the company and they have assured me it is on its way so I will just have to take their word for it at this stage.

Evaluation: I am really happy with how the voice app is sounding, I changed the whole script and tried to model it a little bit on the ED2000 robot from robo cop.. I dont know how close I got to it in reality but it sounds ok to me. I will start programming some of the features in arduino and hopefully get a video of all the automated elements working together very shortly.

Analysis: The current state of the project makes sense to me, now I have the thesis almost finished bar reading through it for typos and maybe adding a few bits in here and there.

Conclusion: In conclusion I have enjoyed doing some programming today, its always a good feeling as its like giving the model a personality and starting from a blank slate gives endless possibilities so my mind is kind of on fire at the moment.

Action Plan: Keep programming and working on my thesis until my shipment arrives.

13.10.15

Thesis: I have now finished my IBDM data base and I am working on the picture references I have made in the text. Unlike the reference list for the literature I did not compile the information for the pictures I had collected. So this was a bit of an oversight and I have had to go through google image search trying to locate the destination and copy write information for each of my pictures. 

Project: I have now finished the palm of the robots hand, I started using while miliput for this but it became quickly apparent that this was the wrong material to use. I did not set quick enough and the plastic tubes seemed to have a life of their own so it just ended up as one big mess. I decided to start over again and use thermoplastic for this also. I was lucky enough to have plenty of the material left over from the fingers ect so it was no trouble sourcing the plastic. It worked so much better than the milliput and I even managed to embed some grips into the palm of the hand and secure them in place with small black m2 screws. The grips where left over from an old computer mouse I had and they look pretty cool on the hand.

Feelings: Frustrated !!! I am still waiting on my brackets to arrive from China its been over 5 weeks now and I paid for fast shipping so its slightly annoying as the project is basically at a stand still in terms of the practical building of the project at this point until my shipment arrives. 

Evaluation: I need to start testing the fingers using the spektrum r.c control now the hand and arm are finished. I may also start programming some bits of the head since I have time to do that now. I think the programming side of things is not really the issue here its getting the physical build finished. At the end of the day I can do programming sat on the train or in the bath I cant build on the road so to speak. 

Analysis: The current situation of the project makes sense, I think both the elements of the project work really well together now and a lot of the outcomes of the thesis can be observed in the practical model. This was always the intention from the start, that the writing should lead the physical build.  

Conclusion: In conclusion, this is a very unbalanced time to be in, time is ticking and waiting around for parts is just soul destroying at this stage. That said I am very happy with the progress that has been made during this session and I am trying to remain positive that I will get the parts I need in the post shortly and I can crack on and get the robot finished and sent off to uni.

Action Plan: Start programming and finish off doing my images for thesis.  

8.10.15

Thesis: I am still working on the tables for the IBDM data base rank/category information. I was not going to include this at the start but I think it really adds authentication to what I was trying to get at in the literature review concerning the horror and sci-fi genres.  

Project: I am currently working on wiring up the fishing line to the servos in the forearm. The tri-bind fishing wire is super strong and can hold 100 lbs in weight, which is more than enough for my purposes. The wire is also coated in a nano web designed to stop the wire from freying or ripping so this will come in useful when running through the pulleys and tubes of the arm and finer mechanisms. 

 My Son testing out the skeleton tracking rig.

Feelings

I am still feeling pretty happy with how things are turning out, I just really need my brackets from China to turn up in the next couple of days as I have ordered enough to finish the body and other arm. This should not take long to do at all its just like fancy lego at the end of the day. 

Evaluation

I think its important to get the hand finished so I can replicate it for the other hand. I may start on the other hand if my brackets do not arrive shortly. I need to make the palms of the hands and insert plastic tubing into the thermoplastic so the fishing wire can travel along them. I should get this done tomorrow hopefully. Once this is done I can move on straight away to testing how the fingers function using the servos, I will use the r.c remote of this as its just quicker and easier to set up than programming an arduino board to trigger the fingers. 

Analysis

The current state of the project makes sense, I do feel like time is really against me at the moment but this may be because I have been waiting so long for the brackets to arrive from China. I did go a bit mad and have almost certainly ordered more stuff than I need. The size and weight of the package me ultimatum be what is slowing it down in transit. 

Conclusion 

In conclusion, this has been a very chilled session but I am nervous about my shipment coming on time. This is the biggest problem I have had in the past when ordering from China it is a very unreliable way of going about things. I have had wrong items sent out before and even had packages go missing all together. It never fills me with confidence when they supply you with a shipping code that does not work on the tracking system either.

Action Plan

Finish the IBDM data base stuff for good and get the hand finished off. 

5.10.15

Thesis: I am now working on the appendices of my thesis, my main focus has been getting the filmography done as its pretty extensive and I want to make sure I include every single film from the literature.  

Model: The model is coming along nicely I have fitted 5 servos into the fore arm, I managed to measure this out perfectly as they all fitted in the groove of the arm perfectly. It is always a bit hit and miss when you are using other people measurements before you actually have the physical parts in front of out but it all seemed to have gone to plan. There is now quite a bit of weight in the arm now so i am going to have to think carefully about how I am going to attach it to the body, my first thought is to order some more aluminium brackets from China but I dont know if my time scale will allow for this as I already have two massive shipments of brackets on the way. 

Feelings: The robot is looking awesome which is really great after so much time spent on getting the head to look how I wanted it. The hand and arm was really quick and simple to put together. It is basically the same system I used for the tongue but this time using a slightly thicker cable tie. I am also pleased to have finished all the major parts of my thesis and its pretty nice to just sit down and work on the appendices at my own leisure. 

Evaluation: Now the thesis is pretty much finished I feel like a massive weight has been lifted and I can now get on with the robot. Once my new brackets arrive things should move on really quickly. I also need to think how I am going to get this all over to uni and where I am going to be able to store it. 

Analysis: Things are pretty much all in place now, which is good as time is running out. I feel that the two elements of the project have come together really well and sort of interact really well.

Conclusion: In conclusion I am very pleased to be in this situation at the moment, ive had no major issues with either parts of the project and I feel its coming together like how I first imagined it would at the start of the project. 

Action Plan: Finish filmography and move on to writing up the tables of rank / genre from the IBDM data base stuff. 

03.10.15 - Making the hand.

Thesis: 

I am now nearing the end of my discussion chapter, I need to go over it again and make sure that iv'e not missed anything but i am feeling pretty happy with how it currently stands. 

Robot:

The robots hand is made from a core of white epoxy resin with large cable ties set into the plastic. The whole hand is then coated in a layer of thermoplastic set with hardener. Running from the tips of the fingers and through the center of the hand is a collection of thin plastic tubing set out in the configuration of the fingers. through these tubes 100lb test wire pulls each individual finger toward the center of the palm.  

Point Tracking. 

This video demonstrate the character ability to track movement using point tracking, as in my last project this will allow the character to follow movements of objects with its head and eyes. 

Feelings: I am very optomistic at the moment, Its basically 4 weeks till the dead line for both parts of the project and I think that its douable if I can get my thesis finished ahead of schedule. 

Evaluation: The kinect sensor works pretty well set inside the robots armour, there is slighting clipping of the sensor range giving the view on the monitor a sort of vinyet effect but it does not appear to affect the functioning of the sensor in any way. I really like the look of the hand and it was pretty simple to put together, once I had made the palm of the hand in while milliput it was simple to mold the thermoplastic around it. I had to cut small slits in the finger joints (cable ties) as they where pretty hard to bend using the fishing line but after this it was really easy to get nice movement out of them. To cover up the slits I simply applied a thing coat of silicone which sort of looked a bit like skin so it actually worked quite well. The arm is made out of robotic aluminium brackets I love these things as they are super cheap and really sturdy, its just the shipping time from china that puts a bit of a set back on things but I cant complain as they also look really nice. 

Analysis: I understand the current situation of the project, I know deadlines are now looming and I have just filled out a form to secure my submission in the university so no turning back or asking for extensions now.

Conclusion: In conclusion I am very happy with how things are working out there is still lots to be done but I think two months is plenty of time for this. I seem to be on a bit of a winning streak with my thesis and there has been no major faults with the robot as of yet so fingers crossed.

Action Plan: I need to wire up the servos into the forearm of the robot, these will control the fingers.