<html><head><meta http-equiv="Content-Type" content="text/html charset=utf-8"></head><body style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space;" class=""><div class="">I suppose the way to keep from running over animals and children is to do some optical voodoo and recognize that something around the mower isn’t grass. That’s not something I’ve done before. </div><div class=""><br class=""></div><div class="">Here’s John Deere’s solution. Some of the engineering for this was done in Cary. I know a FW Eng who worked on it. Lives in north Raleigh. </div><div class=""><a href="https://www.deere.com/en_INT/products/equipment/autonomous_mower/tango_e5/tango_e5.page" class="">https://www.deere.com/en_INT/products/equipment/autonomous_mower/tango_e5/tango_e5.page</a></div><div class=""><br class=""></div><div class=""><br class=""></div><div class="">I’m having difficulty getting my email posted on the yahoo groups. I think I must have registered with a different email address, but the messages are being forwarded to me. </div><div class=""><br class=""><div class="">
<div style="color: rgb(0, 0, 0); letter-spacing: normal; orphans: auto; text-align: start; text-indent: 0px; text-transform: none; white-space: normal; widows: auto; word-spacing: 0px; -webkit-text-stroke-width: 0px; word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space;" class=""><div style="color: rgb(0, 0, 0); letter-spacing: normal; orphans: auto; text-align: start; text-indent: 0px; text-transform: none; white-space: normal; widows: auto; word-spacing: 0px; -webkit-text-stroke-width: 0px; word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space;" class=""><div style="letter-spacing: normal; orphans: auto; text-align: start; text-indent: 0px; text-transform: none; white-space: normal; widows: auto; word-spacing: 0px; -webkit-text-stroke-width: 0px; word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space;" class=""><div class=""><font face="Menlo" color="#011373" class=""><b class="">Tadd / KA2DEW</b></font></div><div class=""><font face="Menlo" color="#011373" class=""><b class=""><a href="mailto:tadd@mac.com" class="">tadd@mac.com</a></b></font></div><div class=""><font face="Menlo" color="#011373" class=""><b class="">Raleigh NC FM05pv</b></font></div><div class=""><font face="Menlo" color="#011373" class=""><b class=""><br class=""></b></font></div><div class=""><font face="Menlo" color="#011373" class=""><b class="">“Packet networking over ham radio": <a href="http://tarpn.net/t/packet_radio_networking.html" class="">http://tarpn.net/t/packet_radio_networking.html</a></b></font></div><div class=""><font face="Menlo" color="#011373" class=""><b class=""><br class=""></b></font></div></div></div></div><br class="Apple-interchange-newline">
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<br class=""><div><blockquote type="cite" class=""><div class="">On Jul 27, 2016, at 10:34 PM, Scott Tillman <<a href="mailto:speedbump0619@gmail.com" class="">speedbump0619@gmail.com</a>> wrote:</div><br class="Apple-interchange-newline"><div class=""><p dir="ltr" style="font-family: Helvetica; font-size: 14px; font-style: normal; font-variant-caps: normal; font-weight: normal; letter-spacing: normal; orphans: auto; text-align: start; text-indent: 0px; text-transform: none; white-space: normal; widows: auto; word-spacing: 0px; -webkit-text-stroke-width: 0px;" class="">It seems like, from a liability perspective, the problem isn't location. It's environmental factors. Dogs and cats, squirrels and turtles, little Timmy's baseball, and little Timmy himself (he's too curious for his own good). I might look into using a slow reel mower rather than that "spinny blade". In general slower is safer with consumer items.</p><p dir="ltr" style="font-family: Helvetica; font-size: 14px; font-style: normal; font-variant-caps: normal; font-weight: normal; letter-spacing: normal; orphans: auto; text-align: start; text-indent: 0px; text-transform: none; white-space: normal; widows: auto; word-spacing: 0px; -webkit-text-stroke-width: 0px;" class="">In either case I'd want to be able to visualize and feature detect the unit's immediate vicinity (at least for identifying and tracking any moving agents). Once you can do that you're halfway to SLAM anyway...</p><p dir="ltr" style="font-family: Helvetica; font-size: 14px; font-style: normal; font-variant-caps: normal; font-weight: normal; letter-spacing: normal; orphans: auto; text-align: start; text-indent: 0px; text-transform: none; white-space: normal; widows: auto; word-spacing: 0px; -webkit-text-stroke-width: 0px;" class="">-Scott<span class="Apple-converted-space"> </span>Tillman</p><div class="gmail_quote" style="font-family: Helvetica; font-size: 14px; font-style: normal; font-variant-caps: normal; font-weight: normal; letter-spacing: normal; orphans: auto; text-align: start; text-indent: 0px; text-transform: none; white-space: normal; widows: auto; word-spacing: 0px; -webkit-text-stroke-width: 0px;">On Jul 27, 2016, at 10:00 PM, "Alex Stewart<span class="Apple-converted-space"> </span><a href="mailto:kingsquirrel@gmail.com" class="">kingsquirrel@gmail.com</a><span class="Apple-converted-space"> </span>[trianglerobotics]" <<a href="mailto:trianglerobotics@yahoogroups.com" target="_blank" class="">trianglerobotics@yahoogroups.com</a>> wrote:<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left-width: 1px; border-left-style: solid; border-left-color: rgb(204, 204, 204); padding-left: 1ex;"><div id="ygrp-mlmsg" style="font-size: 13px; font-family: Arial, helvetica, clean, sans-serif; position: relative;" class=""><div id="ygrp-msg" style="line-height: 1.22em; z-index: 1;" class=""><div id="ygrp-text" style="line-height: 1.22em; font-family: Georgia;" class=""><div style="line-height: 1.22em; margin: 0px 0px 1em;" class=""><br class="webkit-block-placeholder"></div><div style="line-height: 1.22em;" class="">One thing that jumps to my mind is ins of some sort fused with gps location by Kalman filter to produce a stable position estimate. Maybe? (Probably still not quite precise enough for a thing with a spinny blade ;) )</div><div style="line-height: 1.22em;" class="">-Alex <span class="Apple-converted-space"> </span><br style="line-height: 1.22em;" class=""><br style="line-height: 1.22em;" class="">Sent from my iPhone</div><div style="line-height: 1.22em;" class=""><br style="line-height: 1.22em;" class="">On Jul 27, 2016, at 9:32 PM, Ken Boone<span class="Apple-converted-space"> </span><a href="mailto:kensrobots@gmail.com" style="line-height: 1.22em;" class="">kensrobots@gmail.com</a><span class="Apple-converted-space"> </span>[trianglerobotics] <<span class="Apple-converted-space"> </span><a href="mailto:trianglerobotics@yahoogroups.com" style="line-height: 1.22em;" class="">trianglerobotics@yahoogroups.com</a>> wrote:<span class="Apple-converted-space"> </span><br style="line-height: 1.22em;" class=""><br style="line-height: 1.22em;" class=""></div><blockquote type="cite" style="margin: 0px 0px 0px 4px; line-height: 1.22em;" class=""><div style="line-height: 1.22em;" class=""><span style="line-height: 1.22em;" class=""> </span><div id="ygrp-text" style="line-height: 1.22em; font-family: Georgia;" class=""><div style="line-height: 1.22em; margin: 0px 0px 1em;" class=""><br class="webkit-block-placeholder"></div><p dir="ltr" style="line-height: 1.22em; margin: 0px 0px 1em;" class="">I already have a lawn mowing robot test bed I built back in the 80s. The optical beacon navigation i designed proved to be too inaccurate. The mower is described on<span class="Apple-converted-space"> </span><a href="http://kensrobots.com/" style="line-height: 1.22em; font-family: Verdana;" class="">kensrobots.com</a>.</p><p dir="ltr" style="line-height: 1.22em; margin: 0px 0px 1em;" class="">After a while when bench testing or displaying my fixed wing UAV the ground station displays a wobbly path taken around its fixed location.<span class="Apple-converted-space"> </span></p><p dir="ltr" style="line-height: 1.22em; margin: 0px 0px 1em;" class="">A question? For mowing navigation could a fixed GPS receiver at my house be used to increase mower location accuracy with an identical receiver on the mower.</p><p dir="ltr" style="line-height: 1.22em; margin: 0px 0px 1em;" class="">First average fixed location readings to establish the fixed receiver location. Then use differences to correct mower location?<span class="Apple-converted-space"> </span></p><p dir="ltr" style="line-height: 1.22em; margin: 0px 0px 1em;" class="">I've been experimenting with the mower because I have grass and it is a neat challenge. Too much liability envolved in mowing to want to develop a product.<span class="Apple-converted-space"> </span><br style="line-height: 1.22em;" class="">Ken</p><p dir="ltr" style="line-height: 1.22em; margin: 0px 0px 1em;" class="">On Jul 27, 2016 5:17 PM, "Tadd Torborg" <<a href="mailto:tadd@mac.com" style="line-height: 1.22em; font-family: Verdana;" class="">tadd@mac.com</a>> wrote:<br style="line-height: 1.22em;" class="">><br style="line-height: 1.22em;" class="">> Firmware has to be pretty stable and well done since the transponder end has to turn around and answer. Counter/timers needs to be very good/fast/well-understood.<span class="Apple-converted-space"> </span><br style="line-height: 1.22em;" class="">><br style="line-height: 1.22em;" class="">> There are other off-the shelf solutions already. Look for Decawave TREK1000. I don't think Decawave is open source. <span class="Apple-converted-space"> </span><br style="line-height: 1.22em;" class="">><br style="line-height: 1.22em;" class="">> Range will be like cheap Wifi stations talking to each other, i.e. no nice antennas. Good enough for lawn mower if you have two anchors line of site visible to the lawn mower at all times. Put the intelligence on the lawn mower or in the house, and make solar powered anchors, look like driveway-light pedestals. <span class="Apple-converted-space"> </span><br style="line-height: 1.22em;" class="">><br style="line-height: 1.22em;" class="">> Tricky project. I'm less scared of the range finding than I am of the robotics part of running a lawn mower around, so maybe it's not so hard. Anybody want to get together on the lawn mower? <span class="Apple-converted-space"> </span><br style="line-height: 1.22em;" class="">><br style="line-height: 1.22em;" class="">> Tadd<br style="line-height: 1.22em;" class="">><br style="line-height: 1.22em;" class="">> On Jul 27, 2016, at 09:32 AM, Ken Boone via TriEmbed <<a href="mailto:triembed@triembed.org" style="line-height: 1.22em; font-family: Verdana;" class="">triembed@triembed.org</a>> wrote:<br style="line-height: 1.22em;" class="">><br style="line-height: 1.22em;" class="">>> Kickstart info below this comment.<br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> I started out experimenting/learning with a Knight-Kit 10 in 1 vacuum tube kit.<br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> It's amazing what technologies and resources are now available for students, hobbyists and garage/basement experimenters/inventors.<br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> More on the ranging modules.<br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> The modules uses fixed location nodes for xyz ranging of moving nodes or for your swarm distances between moving nodes.<br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> Wonder what's the maximum range? <br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> Might need to resurrect my robotic lawnmower which needed a better ranging system.<br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> From site:<span class="Apple-converted-space"> </span><a href="https://www.kickstarter.com/projects/subpos/subpos-ranger-indoor-positioning-system/description" style="line-height: 1.22em; font-family: Verdana;" class="">https://www.kickstarter.com/projects/subpos/subpos-ranger-indoor-positioning-system/description</a><br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> "The Ranger Boards accurately determine the distance between one and other through phase shift/difference measurement and accurate timing techniques in the onboard Atmel AT86RF233 chipset. This is similar to how laser range finders work, except instead of light it uses 2.4GHz radio frequencies. The multiple antennas on board allow for multiple out of phase measurements to mitigate multipath effects, to best determine the distance between the Ranger Boards."<br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> Create - dream, imagine, experiment - Create. .............<br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> Ken Boone<span class="Apple-converted-space"> </span><br style="line-height: 1.22em;" class="">>><br style="line-height: 1.22em;" class="">>> _______________________________________________<br style="line-height: 1.22em;" class="">>> Triangle, NC Embedded Computing mailing list<br style="line-height: 1.22em;" class="">>><span class="Apple-converted-space"> </span><a href="mailto:TriEmbed@triembed.org" style="line-height: 1.22em; font-family: Verdana;" class="">TriEmbed@triembed.org</a><br style="line-height: 1.22em;" class="">>><span class="Apple-converted-space"> </span><a href="http://mail.triembed.org/mailman/listinfo/triembed_triembed.org" style="line-height: 1.22em; font-family: Verdana;" class="">http://mail.triembed.org/mailman/listinfo/triembed_triembed.org</a><br style="line-height: 1.22em;" class="">>> TriEmbed web site:<span class="Apple-converted-space"> </span><a href="http://triembed.org/" style="line-height: 1.22em; font-family: Verdana;" class="">http://TriEmbed.org</a><br style="line-height: 1.22em;" class=""></p><div style="line-height: 1.22em; margin: 0px 0px 1em;" class=""><br class="webkit-block-placeholder"></div></div></div></blockquote><div style="line-height: 1.22em; margin: 0px 0px 1em;" class=""><br class="webkit-block-placeholder"></div></div><div style="line-height: 1.22em; color: rgb(255, 255, 255); height: 0px;" class="">__._,_.___</div><div style="line-height: 1.22em; clear: both;" class=""></div><div id="fromDMARC" style="line-height: 1.22em; margin-top: 10px;" class=""><hr style="line-height: 1.22em; height: 2px; border-width: 0px; color: rgb(227, 227, 227); background-color: rgb(227, 227, 227);" class="">Posted by: Alex Stewart <<a href="mailto:kingsquirrel@gmail.com" style="line-height: 1.22em;" class="">kingsquirrel@gmail.com</a>><span class="Apple-converted-space"> </span><hr style="line-height: 1.22em; 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