Timeline and Laboratory Notes

070417 The plate had to be manipulated from the original image for the full effect. It was the first recognizable painting, being of Tom Mooney.
070414 The plate has to be hand done. Going to 12" x 16" will improve resolution. Best viewing distance is 12 feet.
070410 Color wheel needs to be tighter. Tom has developed a way for the computer program to break down any image into 8 distinct colors, Blue, Turquoise, Green, Yellow, Red, Violet, White & Black. The software uses colors in the image it analyses. The color used for printing are made.
070123 Leaning towards designing a robot that is like the skycams above sports events. It seems the quickest way to address many points without touching the surface. Should make this robot a sort of automatic brush much like my earlier ones but with more power to do a lot of work on its own.
070115 Writing the code for the plotter. All math in the program running on the computer. Building the machine. Writing the math for the plotter so it prints in both directions. The information is fed to the RCX in a stream that cannot be stopped. To have the arm recycle to the left takes too much time so I must adjust the math to deliver the next rows information in reverse.
070105 At 9:23I connected the computer image to the RCX.
070101 Finally came to my senses and started working on the simplest plotter. Using the Get Pixel Color Command I now can feed the information to containers. This is the culmination of years of study just getting the image info to the RCX. The trick was was unbundling the information. Now my problem is getting the RCX brick to run the plotter using commands from the computer. The direct mode seems to be the only way but you cannot use loops. The program running on the computer works with the one on the RCX. My new plotter is a wondrous machine that uses extremely simple ways to lay down wax on a hot surface.
060618 Using a USB RS232 com port communication from the camera to the RCX was established.
February 2005
https://www.legoeducationstore.com/ Get the new version of RoboLab 2.5 2/2005
National Instruments Newsletter
http://www.ni.com/pdf/niweek/us/081503_show_daily.pdf

Robotics Research
http://auc.uow.edu.au/conf/conf00/papers/AUC2000_McKerrow.pdf
ROBOLAB Translation Package
For ROBOLAB 2.5.1 http://www.geocities.com/john_paul_osborne/
The aim of this assignment is to develop an image processing application, and program it using Labview and Imaq.
http://www.uow.edu.au/~phillip/Subjects/944/as4.html dvernier@vernier.com
Plotter: http://www.hostsrv.com/webmab/app1/MSP/quickmath/02/pageGenerate?site=mathcom&s1=graphs&s2=equations&s3=basic
Scalene Triangle
A triangle with no two sides equal.
(Note that the following formulas work with all triangles, not just scalene triangles.)
P = a + b + c
s = (a+b+c)/2
K = aha/2 = ab sin(C)/2 =
a2 sin(B) sin(C)/[2 sin(A)] =
sqrt[s(s-a)(s-b)(s-c)]
(Heron's or Hero's Formula)
ha = c sin(B) = b sin(C) = 2K/a
ma = sqrt(2b2+2c2-a2)/2
ta = 2bc cos(A/2)/(b+c) =
sqrt[bc(1-a2/[b+c]2)]
R = abc/4K =
a/[2 sin(A)] =
b/[2 sin(B)] =
c/[2 sin(C)]

r = 2K/P = K/s =
sqrt[(s-a)(s-b)(s-c)/s] =
c sin(A/2)sin(B/2)/cos(C/2) =
ab sin(C)/(2 s) =
(s-c)tan(C/2)
http://mathforum.org/dr.math/faq/formulas/
http://www.scienceu.com/geometry/facts/formulas/
February 2004
I will have a lot more images as soon as I deliver the robots first show. The newer work are things you can actually see. The original works where exercises in basic application.
The screw threads are regular store bought 3/16 treaded rod. I have since added Lego ends to them to help move the robot easier.
I look forward to doing the geometry of the angles to match a x,y model in the computer. It’s all a bit heady but I can do it.
I am working on a thinking robot artist.
Neural Network: Use 29 global variables to hold the inputs and make suggestions on what to paint. This thinking will be paint stroke direction from the inputs
Memory: A library of masks would be applied to an image determining what it sees and then applied a library of color to the blobs.
I have had to postpone using the robot to paint off the image in the computer. The learning curve is just too much. Every February I work on the robot and in March it has its first show of its art. I can see the project working out but the RoboLab software is top notch software and that means complicated. I love the graphical interface. Slowly I will be able to do this. I have been producing quite a number of paintings from the x,y robot and made improvements.
http://tomlohre.com/wax.htm
Tuffs http://www.ceeo.tufts.edu/robolabatceeo/ and http://www.convict.lu/Jeunes/Robo_Soccer/CamPos.htm

are my saving grace.
2003 Robot Artist
This robot used the traditional pantograph to apply color.
Previous Work
http://www.convict.lu/Jeunes/Robo_Soccer/CamPos.htm
September 2003
search: Robolab IMAQ Vision
The Robolab-designers introduced some very powerful multimedia-features in version 2.5. Among others those programs permit strong LEGO-camera functions and picture-analysis.
http://www.convict.lu/Jeunes/Robo_Soccer/CamPos.htm
Key Robolab Information
http://www.geocities.com/john_paul_osborne/
July 2003
Started assembling the RoboLab Program
RU-SMART
http://www.cs.uu.nl/groups/IS/archive/rest/RobResinU.html
RU-SMART is an acronym for RoboLab Utrecht’s Smart Multi-purpose Autonomous Robot Toolkit. The toolkit, which is still in development, supports the design and implementation of robotic control for intelligent behaviour of real-world robots. The requirements set for the system include robot- and application-independancy, fast, robust control and easy implementation of behaviour[3]. Its open architecture allows implementation of different control structures. RU-SMART consist of a parallel modules for perception and world modelling, task execution, communication and motor control[4]. The task execution module can be constructed in different ways (while maintaining the rest). Approaches we have explored so far include a simple planning system and a behaviour-based subsumption architecture [5], which we used in the RoboCup application. Currently, we are exploring the possibilities to use evolutionary techniques in our robotic systems, e.g. evolutionary robotics [6]. In the near future, we are going to use a variety of neural networks and genetic algorithms to solve optimisation and action selection problems.