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Innovative Experiment Co.,Ltd.

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Innovative Experiment Co.,Ltd.

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Innovative Experiment Co.,Ltd.

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5.2 NCK à» ¹¢ Í¤ÇÒÁµÍºÃÑº·Õâè Á´ÙÅ iV-CAM Ê §¡ÅÑºÁÒÂÑ§¤ÍÁ¾ÔÇàµÍÃ ËÃ×äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ à¾×Íè á¨ §ãË ·ÃÒºÇ Ò âÁ´ÙÅ iV-CAM äÁ Ã¨Ù ¡Ñ ¤íÒÊÑ§è ËÃ×ÍÃÙ»áºº¢ ÍÁÙÅ·ÕÊè § ÁÒ¡ Í¹Ë¹ Ò

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5.4 á¾ç¡à¡çµ¢ ÍÁÙÅáºº M (Type M packet) à» ¹ÃÙ»áºº¢ ÍÁÙÅ·Õèä´ ¨Ò¡¤íÒÊÑè§µÃÇ¨¨ÑºÊÕ (color tracking command) «Öè§ÁÕ¡ÒÃ¾Ô¨ÒÃ³Ò¶Ö§ ¨Ø´¡Öè§¡ÅÒ§¢Í§¾×é¹·ÕèÊÕ·ÕèµÃÇ¨¨ÑºËÃ×Í middle mass ÁÕ¡ÒÃ¨Ñ´àÃÕÂ§¢ ÍÁÙÅ´Ñ§¹Õé M mx my x1 y1 x2 y2 pixels confidence\r

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- ¾Ô¡´Ñ ÁØÁ¢ÇÒã¹á¹ÇÃÐ¹Òº (á¡¹ X) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃÇ¨¨Ñºä´ y2 - ¾Ô¡´ Ñ ÁØÁ¢ÇÒã¹á¹ÇµÑ§é (á¡¹ Y) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃÇ¨¨Ñºä´ pixels - ¨íÒ¹Ç¹¾Ô¡à«Å¢Í§¾×¹ é ·Õ·è µÕè ÃÇ¨¨Ñº ÁÕ¤Ò ÊÙ§ÊØ´ 255 â´Â»ÃÑºÍÑµÃÒÊ Ç¹¨Ò¡ ¨íÒ¹Ç¹¾Ô¡à«Å¨ÃÔ§·ÕèµÃÇ¨¨Ñºä´ µÒÁ¤ÇÒÁÊÑÁ¾Ñ¹¸ (¨íÒ¹Ç¹¾Ô¡à«Å¨ÃÔ§ +4)/8 confidence - à» ¹¢ ÍÁÙÅ¢Í§¾×¹ é ·ÕÊè ·Õ µÕè ÃÇ¨¨Ñº·Õ¾è ¨Ô ÒÃ³Òã¹¡ÃÍºÊÕàè ËÅÕÂè Á¼×¹¼ Ò·Õè ÁÕ¤ Ò¢Í§¡ÒÃµÃÇ¨¨Ñº·Õè 255 â´Â¢ ÍÁÙÅ¹Õé¤íÒ¹Ç³¨Ò¡ ¨íÒ¹Ç¹¾Ô¡à«Åµ Í¾×¹é ·Õè x 256 \r - à» ¹ÃËÑÊ¢Í§¡ÒÃ» ´ªØ´¢ ÍÁÙÅ x2

5.5 á¾ç¡à¡çµ¢ ÍÁÙÅáºº N (Type N packet) à» ¹ÃÙ»áºº¢ ÍÁÙÅ·Õèä´ ¨Ò¡¤íÒÊÑè§µÃÇ¨¨ÑºÊÕ (color tracking command) «Öè§ÁÕ¡ÒÃ¾Ô¨ÒÃ³Ò¶Ö§ ¨Ø´¡Öè§¡ÅÒ§¢Í§¾×é¹·ÕèÊÕ·ÕèµÃÇ¨¨ÑºËÃ×Í middle mass áÅÐá¨ §µíÒáË¹ §¢Í§à«ÍÃ âÇÁÍàµÍÃ ¤Å ÒÂ¡Ñº á¾ç¡à¡çµ¢ ÍÁÙÅáºº M µ §¡Ñ¹·Õãè ¹áºº N ¨ÐºÃÃ¨Ø¢Í ÁÙÅ¢Í§µíÒáË¹ §à«ÍÃ âÇÁÍàµÍÃ ã¹¢³ÐµÃÇ¨ ¨Ñº¨Ø´¡Öè§¡ÅÒ§¢Í§¾×é¹·ÕèÊÕ ÁÕ¡ÒÃ¨Ñ´àÃÕÂ§¢ ÍÁÙÅ´Ñ§¹Õé N spos mx my x1 y1 x2 y2 pixels confidence\r

»ÃÐ¡Íº´ ÇÂ - µíÒáË¹ §¢Í§à«ÍÃ âÇÁÍàµÍÃ »¨ ¨Øº¹Ñ mx - ¾Ô¡´ Ñ ã¹á¹ÇÃÐ¹Òº (á¡¹ X) ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃÇ¨¨Ñº my - ¾Ô¡´ Ñ ã¹á¹ÇµÑ§é (á¡¹ Y) ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃÇ¨¨Ñº x1 - ¾Ô¡´ Ñ ÁØÁ« ÒÂã¹á¹ÇÃÐ¹Òº (á¡¹ X) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃÇ¨¨Ñºä´ y1 - ¾Ô¡´ Ñ ÁØÁ« ÒÂã¹á¹ÇµÑ§é (á¡¹ Y) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃÇ¨¨Ñºä´ x2 - ¾Ô¡´ Ñ ÁØÁ¢ÇÒã¹á¹ÇÃÐ¹Òº (á¡¹ X) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃÇ¨¨Ñºä´ y2 - ¾Ô¡´ Ñ ÁØÁ¢ÇÒã¹á¹ÇµÑ§é (á¡¹ Y) ¢Í§¾×¹é ·ÕÊè ·Õ µÕè ÃÇ¨¨Ñºä´ pixels - ¨íÒ¹Ç¹¾Ô¡à«Å¢Í§¾×¹ é ·Õ·è µÕè ÃÇ¨¨Ñº ÁÕ¤Ò ÊÙ§ÊØ´ 255 â´Â»ÃÑºÍÑµÃÒÊ Ç¹¨Ò¡ ¨íÒ¹Ç¹¾Ô¡à«Å¨ÃÔ§·ÕèµÃÇ¨¨Ñºä´ µÒÁ¤ÇÒÁÊÑÁ¾Ñ¹¸ (¨íÒ¹Ç¹¾Ô¡à«Å¨ÃÔ§ +4)/8 confidence - à» ¹¢ ÍÁÙÅ¢Í§¾×¹ é ·ÕÊè ·Õ µÕè ÃÇ¨¨Ñº·Õ¾è ¨Ô ÒÃ³Òã¹¡ÃÍºÊÕàè ËÅÕÂè Á¼×¹¼ Ò·Õè ÁÕ¤ Ò¢Í§¡ÒÃµÃÇ¨¨Ñº·Õè 255 â´Â¢ ÍÁÙÅ¹Õé¤íÒ¹Ç³¨Ò¡ ¨íÒ¹Ç¹¾Ô¡à«Åµ Í¾×¹é ·Õè x 256 \r - à» ¹ÃËÑÊ¢Í§¡ÒÃ» ´ªØ´¢ ÍÁÙÅ spos

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5.6 á¾ç¡à¡çµ¢ ÍÁÙÅáºº S (Type S packet) ´Ñ§¹Õé

à» ¹ªØ´¢ ÍÁÙÅ·ÕèãË ÃÒÂÅÐàÍÕÂ´à¡ÕèÂÇ¡Ñº¡ÒÃµÃÇ¨¨ÑºÀÒ¾¢Í§âÁ´ÙÅ¡Å Í§ ÁÕ¡ÒÃ¨Ñ´àÃÕÂ§¢ ÍÁÙÅ S Rmean Gmean Bmean Rdeviation Gdeviation Bdeviation\r

»ÃÐ¡Íº´ ÇÂ - ¤ Òà©ÅÕÂè ¢Í§ÊÕá´§ (Red) ËÃ×Í Cr (à» ¹¤ Òâ´Â»ÃÐÁÒ³¢Í§¤ ÒÊÕá´§ - ÊÕà¢ÕÂÇ : r-g) ã¹Ë¹ Òµ Ò§» ¨¨Øº¹Ñ Gmean - ¤ Òà©ÅÕÂ è ÊÕà¢ÕÂÇ (Green) ËÃ×Í ¤ Ò¤ÇÒÁà¢ ÁáÊ§ (Y) ã¹Ë¹ Òµ Ò§» ¨¨Øº¹Ñ Bmean - ¤ Òà©ÅÕÂ è ¹ÊÕ¹Òéí à§Ô¹ (Blue) ËÃ×Í Cb (à» ¹¤ Òâ´Â»ÃÐÁÒ³¢Í§¤ ÒÊÕ¹Òéí à§Ô¹ - ÊÕ à¢ÕÂÇ : b-g) ã¹Ë¹ Òµ Ò§» ¨¨Øº¹Ñ Rdeviation - ¤ Ò¤ÇÒÁàºÕÂ è §àº¹¢Í§ÊÕá´§ (Red) ËÃ×Í Cr ã¹Ë¹ Òµ Ò§» ¨¨Øº¹Ñ Gdeviation - ¤ Ò¤ÇÒÁàºÕÂ è §àº¹¢Í§ÊÕà¢ÕÂÇ (Green) ËÃ×Í ¤ Ò¤ÇÒÁà¢ ÁáÊ§ (Y) ã¹ Ë¹ Òµ Ò§» ¨¨ØºÑ¹ Bdeviation - ¤ Ò¤ÇÒÁàºÕÂ è §àº¹¢Í§ÊÕ¹Òéí à§Ô¹ (Blue) ËÃ×Í Cb ã¹Ë¹ Òµ Ò§» ¨¨Øº¹Ñ ¤ Ò¤ÇÒÁàºÕèÂ§àº¹ ËÁÒÂ¶Ö§ ¤ Òà©ÅÕèÂÊÑÁºÙÃ³ ¢Í§¤ÇÒÁáµ¡µ Ò§ÃÐËÇ Ò§¨íÒ¹Ç¹¾Ô¡à«Å¡Ñº¤ Ò à©ÅÕÂè ¢Í§¾×¹é ·Õè Rmean

6. ªØ´¤íÒÊÑ§è àº×Íé §µ ¹ (Basic Command Set) ã¹¡ÒÃÂ¡µÑÇÍÂ Ò§»ÃÐ¡Íº¤íÒÍ¸ÔºÒÂ¢Í§áµ ÅÐ¤íÒÊÑ§è ¨Ðãª â»Ãá¡ÃÁ RS-232 Terminal ã¹¡ÒÃ áÊ´§¼Å¡ÒÃ·íÒ§Ò¹ â´ÂÁÕ¢ Í¡íÒË¹´ã¹¡ÒÃµÔ´µ Í´Ñ§¹Õé ºÍ´àÃµ 9,600 ËÃ×Í 115,200 ºÔµµ ÍÇÔ¹Ò·Õ â´Âµ Í§¡íÒË¹´¨ÑêÁà»ÍÃ àÅ×Í¡ºÍ´àÃµ ¢Í§âÁ´ÙÅ iV-CAM ãË µÃ§¡Ñ¹´ ÇÂ l

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6.1 \r ËÃ×Í¡´¤ÕÂ enter ËÃ×Í¡´¤ÕÂ return

à» ¹¤íÒÊÑ§è ·ÕÊè § ä»ÂÑ§âÁ´ÙÅ iV-CAM à¾×Íè ¡íÒË¹´ãË ÍÂÙã ¹ÀÒÇÐÊ§ºËÃ×ÍäÍà´ÔÅ àÁ×Íè âÁ´ÙÅ iVCAM ä´ ÃºÑ ¤íÒÊÑ§è ¹Õé áÅÐµÕ¤ÇÒÁä´ ¨ÐÊ §¢ Í¤ÇÒÁ ACK µÍºÃÑº¡ÅÑºÁÒ ¢Ö¹é ºÃÃ·Ñ´ãËÁ áÅÐµ Í´ ÇÂ à¤Ã×Íè §ËÁÒÂ : áÊ´§µÑÇÍÂ Ò§ä´ ´§Ñ ¹Õé : ACK :

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6.2 GM\r à» ¹¤íÒÊÑ§è Í Ò¹¤ Òà©ÅÕÂè ÊÕ¢Í§ÀÒ¾ã¹» ¨¨Øº¹Ñ ·Ñ§é ÀÒ¾ â´ÂÁÕ¤Ò 16 ¶Ö§ 240 ÃÙ»áºº¢ ÍÁÙÅ·Õäè ´ ¨Ò¡ ¤íÒÊÑ§è ¹Õàé » ¹á¾ç¡à¡çµáºº S ÊÒÁÒÃ¶ãª ¤Òí ÊÑ§è ¹Õµé ÃÇ¨¨Ñº¡ÒÃà»ÅÕÂè ¹á»Å§ã¹áµ ÅÐ©Ò¡ÍÂ Ò§ÍÑµâ¹ÁÑµäÔ ´ µÑÇÍÂ Ò§ :SW 1 1 40 143

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ACK :GM ACK S 89 90 67 5 6 3

ÀÒ¾ÁÕ¤Ò à©ÅÕÂè ÊÕá´§ 89, ÊÕà¢ÕÂÇ 90, ÊÕ¹Òéí à§Ô¹ 67, ¤ ÒàºÕÂè §àº¹ÊÕá´§ 5, ¤ ÒàºÕÂè §àº¹ÊÕà¢ÕÂÇ 6, ¤ ÒàºÕÂè § àº¹ÊÕ¹Òéí à§Ô¹ 3 àÁ×Íè âÁ´ÙÅ iV-CAM ·íÒ§Ò¹ã¹âËÁ´ÊÕ RGB

6.3 L1 value\r à» ¹¤íÒÊÑ§è ¤Çº¤ØÁ¡ÒÃ·íÒ§Ò¹¢Í§ LED ÊÕàËÅ×Í§ã¹µíÒáË¹ § Tracking. ÊÒÁÒÃ¶¡íÒË¹´¤ Òä´ ·Õ¾è ÒÃÒÁÔàµÍÃ value 3 ¤ Ò¤×Í 0 : » ´¡ÒÃ·íÒ§Ò¹¢Í§ LED 1 : ¢ÑºãË LED µÔ´ÊÇ Ò§ 2 : ¡íÒË¹´ãË ·Òí §Ò¹ã¹âËÁ´ÍÑµâ¹ÁÑµÔ àÁ×Íè µÃÇ¨¨ÑºÀÒ¾ä´ LED ¨Ö§µÔ´ÊÇ Ò§

µÑÇÍÂ Ò§ à¢ÕÂ¹¤íÒÊÑ§è à¾×Íè à» ´áÅÐ» ´ LED ã¹µíÒáË¹ § Track :L1 2 ACK :L1 0 ACK

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6.4 MM mode\r

à» ¹¤íÒÊÑè§¤Çº¤ØÁ¡ÒÃ·íÒ§Ò¹ã¹âËÁ´µÃÇ¨¨Ñº¨Ø´¡Öè§¡ÅÒ§¾×é¹·ÕèÊÕËÃ×Í Middle Mass â´Â ¡íÒË¹´¤ Ò¼ Ò¹·Ò§¾ÒÃÒÁÔàµÍÃ mode ´Ñ§¹Õé 0 : äÁ àÅ×Í¡¡ÒÃ·íÒ§Ò¹ã¹âËÁ´µÃÇ¨¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ 1 : àÅ×Í¡¡ÒÃ·íÒ§Ò¹ã¹âËÁ´µÃÇ¨¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ (à» ¹¤ ÒµÑ§é µ ¹) àÁ×Íè µÃÇ¨¨Ñº´ ÇÂ¤íÒÊÑ§è TC ¨Ðä´ ¢Í ÁÙÅá¾ç¡à¡çµáºº M 2 : àÅ×Í¡¡ÒÃ·íÒ§Ò¹ã¹âËÁ´µÃÇ¨¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè ¾Õ Ã ÍÁ¡Ñº¤Çº¤ØÁà«ÍÃ âÇÁÍàµÍÃ ã¹âËÁ´ ¹Õàé ËÁÒÐÊíÒËÃÑº¡ÒÃ¤Çº¤ØÁãË ¡Å Í§ËÁØ¹à¾×Íè µÃÇ¨¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ â´Âµ Í§µÔ´µÑ§é âÁ´ÙÅ¡Å Í§à¢ Ò¡Ñºá¡¹ËÁØ¹ ¢Í§à«ÍÃ âÇÁÍàµÍÃ ´Ç Â 4 : àÅ×Í¡ãË Á¡Õ ÒÃµÔ´µÒÁµíÒáË¹ §¢Í§á¡¹à«ÍÃ âÇÁÍàµÍÃ 8 : àÅ×Í¡ãË áÊ´§µíÒáË¹ §¢Í§à«ÍÃ âÇÁÍàµÍÃ â´ÂáÊ´§ÃÙ»áºº¢ ÍÁÙÅà» ¹á¾ç¡à¡çµáºº N 14 : à» ¹¡ÒÃ¡íÒË¹´ãË ·Òí §Ò¹ã¹âËÁ´µÃÇ¨¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè ¾Õ Ã ÍÁ¡Ñº¤Çº¤ØÁà«ÍÃ âÇÁÍàµÍÃ ãË µ´Ô µÒÁ¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè Õ ¾Ã ÍÁ¡Ñ¹¹Ñ¹é ÂÑ§ãË áÊ´§¤ ÒµíÒáË¹ §¢Í§à«ÍÃ âÇÁÍàµÍÃ ã¹¢³Ð·íÒ§Ò¹´ ÇÂ

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µÑÇÍÂ Ò§·Õè 2

:MM 1 àÅ×Í¡à» ´¡ÒÃµÃÇ¨¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ ACK :TC ACK M 29 44 2 1 71 141 82 16 M 25 83 2 1 72 143 148 30

µÑÇÍÂ Ò§·Õè 3

:MM 14 àÅ×Í¡à» ´¡ÒÃµÃÇ¨¨Ñº¨Ø´¡Ö§è ¡ÅÒ§¾×¹é ·ÕÊè Õ ¾Ã ÍÁ¡Ñº¢Ñº, µÔ´µÒÁ áÅÐáÊ´§µíÒáË¹ §à«ÍÃ âÇÁÍàµÍÃ ACK :TC ACK N 91 34 47 2 1 80 83 77 25 N 88 31 32 2 1 80 80 145 48

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6.5 NF active\r à» ¹¤íÒÊÑ§è ¤Çº¤ØÁ¡ÒÃ·íÒ§Ò¹¢Í§Ç§¨Ã¡ÃÍ§ÊÑÒ³Ãº¡Ç¹ â´Â¡íÒË¹´¼ Ò¹¾ÒÃÒÁÔàµÍÃ active 0 - àÅ×Í¡ãË Ç§¨Ã¡ÃÍ§ÊÑÒ³Ãº¡Ç¹äÁ ·Òí §Ò¹ 1 - àÅ×Í¡ãË Ç§¨Ã¡ÃÍ§ÊÑÒ³Ãº¡Ç¹·íÒ§Ò¹ à» ¹¤ ÒµÑ§é µ ¹

µÑÇÍÂ Ò§ à¢ÕÂ¹¤íÒÊÑ§è à¾×Íè ËÂØ´¡ÒÃ·íÒ§Ò¹¢Í§Ç§¨Ã¡ÃÍ§ÊÑÒ³Ãº¡Ç¹ :NF 0 ACK :

6.6 PM mode\r à» ¹¤íÒÊÑè§·Õè¡íÒË¹´ãË âÁ´ÙÅ iV-CAM ·íÒ§Ò¹ã¹âËÁ´â¾Å (Poll Mode) â´Â¡íÒË¹´¼ Ò¹ ¾ÒÃÒÁÔàµÍÃ mode 0 - àÅ×Í¡ãË âÁ´ÙÅ iV-CAM äÁ ·Òí §Ò¹ã¹âËÁ´â¾Å à» ¹¤ ÒµÑ§é µ ¹ 1 - àÅ×Í¡ãË âÁ´ÙÅ iV-CAM ·íÒ§Ò¹ã¹âËÁ´â¾Å

ã¹âËÁ´¹Õàé » ¹¡ÒÃ¡íÒË¹´ãË âÁ´ÙÅ iV-CAM Ê §¢ ÍÁÙÅÀÒ¾ÍÍ¡ÁÒà¾ÕÂ§Ë¹Ö§è á¾ç¡à¡çµ à¾×Íè ª ÇÂ ãË äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ ¤ÇÒÁàÃçÇµèÒí ·Õ¹è Òí ÁÒµ ÍÃ ÇÁ´ ÇÂÊÒÁÒÃ¶ÃÑº¢ ÍÁÙÅÀÒ¾ä´ ·¹Ñ áµ ¹¹Ñè Â ÍÁÊ §¼Å ¶Ö§¤ÇÒÁàÃçÇã¹¡ÒÃµÃÇ¨¨ÑºÀÒ¾ (frame rate) Å´Å§ ¨Ö§·íÒãË äÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ ÊÒÁÒÃ¶à¡çº¢ ÍÁÙÅ ÀÒ¾ä´ ÍÂ Ò§¨íÒ¡Ñ´ ´Ñ§¹Ñé¹àÁ×èÍ·íÒ§Ò¹ã¹âËÁ´¹Õé¡ÑºäÁâ¤Ã¤Í¹â·ÃÅàÅÍÃ ¤ÇÒÁàÃçÇµèíÒ¤ÇÃàÅ×Í¡ãª ã¹ ¡ÒÃµÃÇ¨¨ÑºÀÒ¾·ÕÁè ¤Õ ÇÒÁ¹Ô§è áÅÐÁÕ¤ÇÒÁáµ¡µ Ò§äÁ ÁÒ¡ ÃÇÁ¶Ö§¤ÇÃà» ¹ÀÒ¾·ÕÁè ÊÕ àÕ ´ÕÂÇ·Õªè ´Ñ à¨¹áÅÐ â´´à´ ¹ µÑÇÍÂ Ò§ :PM 1 ACK :TC 50 20 90 130 70 255 ACK :

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6.7 RM bit_flags\r à» ¹¤íÒÊÑè§àÅ×Í¡âËÁ´¡ÒÃ¶ ÒÂ·Í´¢ ÍÁÙÅ´Ôº¢Í§ÀÒ¾·ÕèµÃÇ¨¨ÑºáººÍ¹Ø¡ÃÁ â´Â¡íÒË¹´¼ Ò¹ ¾ÒÃÒÁÔàµÍÃ bit_flags ÁÕ¢¹Ò´ 3 ºÔµ ´Ñ§¹Õé ºÔµ 0 ¡íÒË¹´ãË âÁ´ÙÅ¡Å Í§Ê §¢ ÍÁÙÅàÍÒµ ¾µØ à» ¹¢ ÍÁÙÅ´ÔºÃÐ´Ñºäºµ (raw byte) ºÔµ 1 ¡íÒË¹´ãË âÁ´ÙÅ¡Å Í§äÁ µÍ §Ê §ÃËÑÊ ACK áÅÐ NCK à¾×Íè µÍºÃÑº¤íÒÊÑ§è ºÔµ 2 ¡íÒË¹´ãË âÁ´ÙÅ¡Å Í§ÃÑº¢ ÍÁÙÅÍÔ¹¾Øµà» ¹¢ ÍÁÙÅ´ÔºÃÐ´Ñºäºµ àÁ×Íè ¡íÒË¹´ãË ·Òí §Ò¹ã¹âËÁ´ ¹ÕËé ÅÑ§¨Ò¡à¢ÕÂ¹¤íÒÊÑ§è à¾×Íè ¡íÒË¹´âËÁ´ã¹ 2 äºµ áÃ¡áÅ Ç ÁÕ¡ÒÃà¢ÕÂ¹¤íÒÊÑ§è à¾×Íè ¡íÒË¹´¨íÒ¹Ç¹¢ ÍÁÙÅ·Õµè Í §¡ÒÃÃÑº áÅ Ç ¢ ÍÁÙÅ·ÕÊè § ä»ÂÑ§âÁ´ÙÅ¡Å Í§¡çäÁ µÍ §Ê §ÃËÑÊ RETURN µ Í· ÒÂÍÕ¡

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:rs ACK CMUcam v1.12 :

6.9 SW [x

y x2 y2] \r

à» ¹¤íÒÊÑè§¡íÒË¹´¢¹Ò´¢Í§Ë¹ Òµ Ò§·ÕèµÃÇ¨¨ÑºÀÒ¾¢Í§âÁ´ÙÅ¡Å Í§ ´ ÇÂ¡ÒÃ¡íÒË¹´¾Ô¡Ñ´·Ñé§ á¹ÇµÑ§é áÅÐá¹Ç¹Í¹ ·íÒãË à¡Ô´¡ÃÍºÊÕàè ËÅÕÂè Á¢Ö¹é â´Â¡ÒÃ¡íÒË¹´¾Ô¡´Ñ ¹Ñ¹é ¨ÐàÃÔÁè ¨Ò¡¾Ô¡´Ñ ÁØÁ« ÒÂº¹ (x,y) áÅÐ¢ÇÒÅ Ò§ (x2, y2) Ê Ç¹¨Ø´àÃÔèÁµ ¹¢Í§ÀÒ¾¨Ð¶Ù¡Â ÒÂä»ÂÑ§¨Ø´º¹« ÒÂ¢Í§¾Ô¡Ñ´·Õè¡íÒË¹´¢Öé¹ ãËÁ ¤íÒÊÑè§¹Õéµ Í§¶Ù¡¡íÒË¹´¡ Í¹·Õè¨ÐàÃÔèÁµ ¹¡ÃÐºÇ¹¡ÒÃ»ÃÐÁÇÅ¼ÅÀÒ¾ ¶ ÒËÒ¡äÁ ÁÕ¡ÒÃ¡íÒË¹´ ¾ÒÃÒÁÔàµÍÃ µ Í· ÒÂ¤íÒÊÑè§ ¢¹Ò´¢Í§Ë¹ Òµ Ò§·ÕèµÃÇ¨¨ÑºÀÒ¾¨Ðà» ¹¢¹Ò´ÊÙ§ÊØ´¤×Í 80 x 143 ¨Ø´ ¹Ñè¹ ¤×Í 1,1,80,143 µÑÇÍÂ Ò§ :SW 35 65 45 75 ACK :

à» ¹¤íÒÊÑ§è àÅ×Í¡¾×¹é ·Õµè Ã§¡ÅÒ§¢Í§¨ÍÀÒ¾·Ñ§é ËÁ´ (x=35, y=65, x2=45, y2=75)

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6.10 TC [Rmin

Innovative Experiment Co.,Ltd.

Rmax Gmin Gmax Bmin Bmax]\r

à» ¹¤íÒÊÑ§è ¡íÒË¹´ãË âÁ´ÙÅ¡Å Í§µÃÇ¨¨ÑºÊÕ·ÊÕè ¹ã¨ «Ö§è µ Í§·íÒ§Ò¹µ Í¨Ò¡¤íÒÊÑ§è TW â´Â¤íÒÊÑ§è TC ¨ÐãË ¤Ò µèÒí ÊØ´áÅÐÊÙ§ÊØ´¢Í§ÊÕã¹âËÁ´ RGB ËÃ×Í CrYCb ¢Ö¹é ÍÂÙ¡ ºÑ ¡ÒÃ¡íÒË¹´¡ Í¹Ë¹ Ò¹Õé Ê Ç¹ ÃÙ»áºº¢Í§¢ ÍÁÙÅÁÕ´Ç Â¡Ñ¹ 2 áºº¤×Í á¾ç¡à¡çµ M áÅÐ C «Ö§è ¡íÒË¹´ÁÒ¨Ò¡¤íÒÊÑ§è MM ËÒ¡äÁ Á¡Õ ÒÃ ¡íÒË¹´ÃÙ»áºº¢ ÍÁÙÅà» ¹¾ÔàÈÉ ã¹¡ÒÃ¡ÃÐ·íÒ¤íÒÊÑè§ TC ¨ÐãË ¼ÅÅÑ¾¸ à» ¹á¾ç¡à¡çµ M «Öè§ÁÕÃÙ»áºº ´Ñ§¹Õé M mx my x1 y1 x2 y2 pixels confidence

¶ ÒËÒ¡ä´ ¤ Ò¡ÅÑºÁÒà» ¹ 00 áÊ´§Ç Ò äÁ ÁÕÊÕ·Õèµ Í§¡ÒÃµÃÇ¨¨Ñº ÊíÒËÃÑº¤ Ò¤ÇÒÁÁÑè¹ã¨ËÃ×Í Confidence à» ¹ÍÑµÃÒÊ Ç¹¢Í§¨íÒ¹Ç¹¾Ô¡à«ÅÊÕ·Õè¹Ñºä´ ÀÒÂã¹¾×é¹·Õè·ÕèµÃÇ¨¨Ñº¡Ñº¾×é¹·ÕèÃÇÁ·Ñé§ËÁ´ â´Â¤ Ò·ÕÊè § ¡ÅÑºÁÒ¹Ñ¹é ÁÕ¤Ò ÍÂÙÃ ÐËÇ Ò§ 0 ¶Ö§ 255 ÀÒÂãµ ¡ÒÃ·íÒ§Ò¹ã¹ÀÒÇÐ»¡µÔ¤Ò Confidence ¹Õ¨é Ð ÁÒ¡¡Ç Ò 50 áµ ¶Ò ËÒ¡ä´ µÒèí ¡Ç Ò 8 ¶×ÍÇ Ò ¤Ø³ÀÒ¾¢Í§ÀÒ¾¹Ñ¹é äÁ ´Õ ¹Í¡¨Ò¡¹Ñ¹é ÂÑ§áÊ´§¼Å¡ÒÃ·íÒ§Ò¹·Ò§ÎÒÃ ´áÇÃ ¼Ò ¹·Ò§ LED ã¹µíÒáË¹ § Track ´ ÇÂ â´Â àÁ×èÍµÃÇ¨¨Ñº¾ºàÁç´ÊÕ·ÕèÊ¹ã¨ LED ¨ÐµÔ´ÊÇ Ò§ my my

my my mx

¨Ø´¡Öè§¡ÅÒ§¢Í§¾×é¹·ÕèÊÕ·ÕèÊ¹ã¨ (middle mass of color) ¤ Ò¾Ô¡Ñ´¤×Í mx, my

¤íÒÊÑè§ Track Color (TC) à» ¹¡ÒÃ¡íÒË¹´ãË âÁ´ÙÅ¡Å Í§µÃÇ¨¨ÑºÀÒ¾·ÕèÍÂÙ µÃ§Ë¹ Ò·ÕèÁÕ¤ ÒµÃ§¡Ñº¤ Ò¢Í§¢ ÍÁÙÅÊÕ·Õèä´ ÁÒ¨Ò¡¤íÒÊÑè§ Track Window ¡ Í¹Ë¹ Ò¹Õéà· Ò¹Ñé¹ â´Â¨ÐÊ¹ã¨·Õè¨Ø´¡Öè§¡ÅÒ§¢Í§¾×é¹·ÕèÊÕ·ÕèÊ¹ã¨ (middle mass of color)

µÑÇÍÂ Ò§ :TC 130 255 0 0 30 30

à» ¹¡ÒÃàÅ×Í¡µÃÇ¨¨ÑºÊÕá´§ (R) ã¹ª Ç§ 130 ¶Ö§ 255, äÁ µÃÇ¨¨ÑºÊÕà¢ÕÂÇ, µÃÇ¨¨ÑºÊÕ¹Òéí à§Ô¹·ÕÁè ¤Õ Ò 30 ACK M 50 80 38 82 53 128 35 98

ä´ ¨´Ø ¡Ö§è ¡ÅÒ§ÊÕà· Ò¡Ñº¾Ô¡´Ñ x=50, y=80 ¾×¹é ·Õ·è µÕè ÃÇ¨¨Ñºä´ ÍÂÙã ¹¡ÃÍº·ÕÅè Í Á´ ÇÂ¾Ô¡´Ñ (x1,y1) = (38,82) ¡Ñº (x2,y2) = (53,128) ¤ Ò¾Ô¡à«Åà· Ò¡Ñº 35 áÅÐ Confidence à· Ò¡Ñº 98

Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙÅµÃÇ¨¨ÑºÀÒ¾

6.11 TW \r à» ¹¤íÒÊÑè§µÃÇ¨¨ÑºÊÕ·ÕèµíÒáË¹ §¡Öè§¡ÅÒ§¢Í§Ë¹ Òµ Ò§ÀÒ¾» ¨¨ØºÑ¹ ËÅÑ§¨Ò¡ä´ ÁÕ¡ÒÃµÃÇ¨¨Ñº ÀÒ¾à¢ ÒÁÒã¹âÁ´ÙÅ¡Å Í§áÅ Ç ¤íÒÊÑ§è ¹Õ¨é Ð¶Ù¡àÃÕÂ¡ãË ·Òí §Ò¹à¾×Íè à¡çº¢ ÍÁÙÅ¨Ø´ÊÕ ´Ñ§¹Ñ¹é àÁ×Íè ÁÕ¡ÒÃ¡ÃÐ·íÒ ¤íÒÊÑ§è TW ¹Õé µ Í§¹íÒÇÑµ¶ØÊ·Õ µÕè Í §¡ÒÃµÃÇ¨¨ÑºÁÒÇÒ§äÇ Ë¹ ÒâÁ´ÙÅ¡Å Í§ ¾Ã ÍÁ¡Ñ¹¹Ñ¹é LED ã¹µíÒáË ¹ § Track ¨ÐµÔ´¤ Ò§ à¾×èÍà¡çº¢ ÍÁÙÅàÁç´ÊÕ ¨¹¡Ç Ò¨ÐËÂØ´¡ÒÃ·íÒ§Ò¹ «Öè§·íÒä´ â´Â¡ÒÃÊ §ÃËÑÊáÍÊ¡Õé ¢Í§»ØÁ Return ËÃ×Í Enter «Ö§è à· Ò¡Ñº 13 (°Ò¹ÊÔº) Ê Ç¹ÃÙ»áºº¢Í§¢ ÍÁÙÅÁÕ´Ç Â¡Ñ¹ 3 áºº¤×Í á¾ç¡ à¡çµ S, M áÅÐ Câ´Âá¾ç¡à¡çµ S ¨Ðà» ¹ÃÙ»áºº¢Í§¢ ÍÁÙÅªØ´áÃ¡·ÕÍè Í¡ÁÒ¡ Í¹àÊÁÍ ¨Ò¡¹Ñ¹é ¢ ÍÁÙÅ ã¹á¾ç¡à¡çµµ Íä»¨Ðà» ¹á¾ç¡à¡çµ M (à» ¹¤ ÒµÑé§µ ¹) ËÃ×Í C «Öè§¡íÒË¹´ÁÒ¨Ò¡¤íÒÊÑè§ MM ËÒ¡äÁ ÁÕ ¡ÒÃ¡íÒË¹´ÃÙ»áºº¢ ÍÁÙÅà» ¹¾ÔàÈÉ ã¹¡ÒÃ¡ÃÐ·íÒ¤íÒÊÑè§ TC ¨ÐãË ¼ÅÅÑ¾¸ à» ¹á¾ç¡à¡çµ M ¤íÒÊÑè§ Track Window (TW) à» ¹¡ÒÃ¡íÒË¹´ãË âÁ´ÙÅ¡Å Í§ µÃÇ¨¨ÑºÀÒ¾·ÕèÍÂÙ µÃ§Ë¹ ÒµÒÁ¢¹Ò´·Õè¡íÒË¹´ ¨Ò¡¤íÒÊÑè§ Set Window (SW) áÅÐà¡çº¢ ÍÁÙÅã¹áµ ÅÐ¾Ô¡à«Å ¨Ò¡¹Ñé¹ ¹íÒÁÒ¤íÒ¹Ç³à¾×èÍËÒ¤ ÒÊÕ¢Í§ÀÒ¾

ÍÂ Ò§äÃ¡çµÒÁ¡ Í¹¡ÃÐ·íÒ¤íÒÊÑè§¹Õé ¤ÇÃÁÕ¡ÒÃ¡íÒË¹´¾×é¹·ÕèµÃÇ¨¨ÑºÀÒ¾àÊÕÂ¡ Í¹´ ÇÂ¤íÒÊÑè§ SW ËÒ¡äÁ ÁÕ ¤ ÒµÑ§é µ ¹¢Í§¾×¹é ·Õ·è µÕè ÃÇ¨¨Ñº¨Ðà· Ò¡Ñº 80 x 143 ¨Ø´ µÑÇÍÂ Ò§ :TW ACK S 240 50 40 12 7 8 C 2 40 12 60 10 70 C 3 41 12 61 11 70 C 2 40 12 60 13 70 C 3 42 12 62 9 70 C 4 45 12 60 8 70

iV-CAM âÁ´ÙÅµÃÇ¨¨ÑºÀÒ¾

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7. ¡ÒÃ·´ÊÍºâÁ´ÙÅ iV-CAM ¡Ñº i-Stamp ºÍÃ ´àºÊÔ¡áÊµÁ» 2SX µÑÇÍÂ Ò§·Õè¨Ð¹íÒàÊ¹Íµ Íä»¹ÕéÁÕ´ ÇÂ¡Ñ¹ 3 ÅÑ¡É³Ð¤×Í 1. ¤Çº¤ØÁ¡ÒÃáÊ´§¼Å¢Í§ LED ã¹µíÒáË¹ § Track ¢Í§âÁ´ÙÅ iV-CAM 2. µÃÇ¨¨ÑºÇÑµ¶Øà» ÒËÁÒÂáÅ ÇÍ Ò¹¤ ÒàÁç´ÊÕ 3. µÃÇ¨¨ÑºÇÑµ¶Øà» ÒËÁÒÂáÅÐ·íÒ¡ÒÃ¤ ¹ËÒÇ Ò ¢³Ð¹ÕéÇÑµ¶Øà» ÒËÁÒÂÍÂÙ ã¹µíÒáË¹ §ã´ ¡ÒÃ·´ÊÍº¡Ñº i-Stamp ÊÒÁÒÃ¶¡ÃÐ·íÒä´ ¡ºÑ 3 ºÍÃ ´¤×Í JX-2SX plus ºÍÃ ´¾Ñ²¹Òâ¤Ã§§Ò¹ ÊíÒËÃÑº i-Stamp, RBX-Stamp24 ºÍÃ ´¤Çº¤ØÁËØ¹ Â¹µ ÊÒí ËÃÑº i-Stamp áÅÐ NX-BS2SX ºÍÃ ´·´ÅÍ§ àÍ¹¡»ÃÐÊ§¤ ÊÒí ËÃÑº i-Stamp â´Â·Ñ§é ÊÒÁºÍÃ ´¹Ñ¹é µ Í§µÔ´µÑ§é i-Stamp Å§º¹ºÍÃ ´´ ÇÂ ¡ÒÃàª×Íè Áµ Í ·Ñ§é ËÁ´¨Ðãª Ç§¨Ãà´ÕÂÇ¡Ñ¹ à¾ÃÒÐ·Ñ§é 3 ºÍÃ ´¹Ñ¹é ä´ ¡Òí Ë¹´¢Ò¾ÍÃ µ¢Í§ i-Stamp ãË ãª §Ò¹ä´ ÍÂ Ò§ à» ¹ÍÔÊÃÐÍÂÙá Å Ç Ç§¨Ã¡ÒÃàª×Íè Áµ ÍáÊ´§´Ñ§ÃÙ»·Õè 3

7.1 ¡ÒÃàµÃÕÂÁ¡ÒÃÊíÒËÃÑºâÁ´ÙÅ iV-CAM (1) »Å´¨ÑÁê à»ÍÃ BD1 áÅÐ BD2 à¾×Íè àÅ×Í¡ºÍ´àÃµ 115,200 ºÔµµ ÍÇÔ¹Ò·Õ (2) µ ÍâÁ´ÙÅ iV-CAM à¢ Ò¡Ñº¾ÍÃ µÍ¹Ø¡ÃÁ¢Í§¤ÍÁ¾ÔÇàµÍÃ áÅ Çà» ´â»Ãá¡ÃÁ CMUcam2GUI à¾×èÍàµÃÕÂÁ¡ÒÃ»ÃÑº¤ÇÒÁ¤ÁªÑ´ËÃ×Í»ÃÑºâ¿¡ÑÊ (3) ¹íÒÇÑµ¶Øà» ÒËÁÒÂÁÒÇÒ§äÇ ·ËÕè ¹ ÒàÅ¹Ê ¢Í§âÁ´ÙÅ iV-CAM ã¹ÃÐÂÐµÒÁµ Í§¡ÒÃ áµ äÁ ¤ÇÃ ÇÒ§ã¡Å ÁÒ¡à¡Ô¹ä» (4) ¨ ÒÂä¿àÅÕÂé §á¡ âÁ´ÙÅ iV-CAM ´íÒà¹Ô¹¡ÒÃµÃÇ¨¨ÑºÀÒ¾ÁÒáÊ´§·Õâè »Ãá¡ÃÁ CMUcam2GUI à¾×èÍµÃÇ¨ÊÍº¤ÇÒÁªÑ´ ËÒ¡ÂÑ§äÁ ä´ ãË »ÃÑº¡ÃÐºÍ¡àÅ¹Ê áÅ ÇµÃÇ¨¨ÑºÀÒ¾ÍÕ¡¤ÃÑé§ ·íÒàª ¹¹Õé¨¹ ¡ÃÐ·Ñè§ä´ ÀÒ¾·Õè¤ÁªÑ´ (5) » ´ä¿àÅÕÂé § áÅÐ»Å´ÊÒÂàª×Íè Áµ Í¾ÍÃ µÍ¹Ø¡ÃÁÍÍ¡ áÅ Çµ Í¨ÑÁê à»ÍÃ BD1 áÅÐ BD2 à¾×Íè àÅ×Í¡ºÍ´àÃµà» ¹ 9,600 ºÔµµ ÍÇÔ¹Ò·Õ

7.2 ¡ÒÃ·´ÊÍº -1 : ¤Çº¤ØÁ LED ·Õµè Òí áË¹ § Track ¢Í§âÁ´ÙÅ iV-CAM (1) àª×Íè Áµ ÍâÁ´ÙÅ iV-CAM ¡Ñº i-Stamp â´Âµ Í RX ¢Í§âÁ´ÙÅ iV-CAM à¢ Ò¡Ñº P2 áÅÐ TX à¢ Ò¡Ñº P3 (2) à» ´â»Ãá¡ÃÁàºÊÔ¡áÊµÁ» àÍ´ÔàµÍÃ (àÇÍÃ ª¹Ñ 2 ¢Ö¹é ä») áÅ Çà¢ÕÂ¹â»Ãá¡ÃÁµ Íä»¹Õé

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µ Í¨ÑÁê à»ÍÃ BD2 áÅÐ BD1 à¾×Íè àÅ×Í¡ºÍ´àÃµ 9,600 ºÔµµ ÍÇÔ¹Ò·Õ

¢Ò¾ÍÃ µ¢Í§ i-Stamp º¹ Stamp-BOX DEMO

5V TX RX GND VISION

BD1 BD2 SLAVE

SERVO Vin +

iV-CAM firmware

RS-232

µ Íä¿àÅÕÂé § +6V ±5% àÅ×Í¡µ Í·Õãè ´·ÕËè ¹Ö§è

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áºµàµÍÃÕè 1.5V ¢¹Ò´ AA 4 ¡ Í¹*

* äÁ á¹Ð¹íÒãË ãª áºº»ÃÐ¨Øä´ à¾ÃÒÐÁÕáÃ§´Ñ¹ÃÇÁà¾ÕÂ§ 4.8V ¤ÇÃãª áººÍÑÅ¤ÒäÅ¹ (alcaline) ËÃ×ÍÍÍ¡«ÔäÃ´ (oxyride) ÃÙ»·Õè 3 áÊ´§¡ÒÃµ ÍÇ§¨Ãà¾×Íè ·´ÊÍºâÁ´ÙÅ iV-CAM ¡Ñº i-Stamp ºÍÃ ´àºÊÔ¡áÊµÁ» 2SX

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Innovative Experiment Co.,Ltd.

' {$STAMP BS2sx} baud CON 240 tx CON 3 rx CON 2 PAUSE 1000 ' Send "reset" to sync CMUcam and Stamp SEROUT tx, baud, ["RS", CR] SERIN rx, baud, [WAIT (":")] PAUSE 100 Main: ' Flash the tracking LED ' Send command - Turn on track LED SEROUT tx, baud, ["L1 1",CR] SERIN rx, baud, [WAIT (":")] PAUSE 100 DEBUG "LED on ACK: received OK",CR PAUSE

500

' Wait 1/2 second

' Send command - Set track LED back to auto mode SEROUT tx, baud, ["L1 2",CR] SERIN rx, baud, [WAIT (":")] PAUSE 100 DEBUG PAUSE

"LED off ACK: received OK",CR 500

GOTO

Main

(3) ºÑ¹·Ö¡ä¿Å ªÍ×è CAMTST01.BSX (4) ¨ ÒÂä¿ãË á¡ ·§Ñé i-Stamp áÅÐâÁ´ÙÅ iV-CAM (5) ´ÒÇ¹ âËÅ´â»Ãá¡ÃÁä»ÂÑ§ i-Stamp Ë¹ Òµ Ò§ Debug Terminal ¶Ù¡à» ´¢Öé¹ÁÒ ¾Ã ÍÁ¡ÑºáÊ´§¼Å¡ÒÃ·íÒ§Ò¹¢Í§ LED ·Õµè Òí áË¹ § Track ´Ñ§ÃÙ» ã¹¢³Ð·Õè LED ÊÕàËÅ×Í§·Õµè Òí áË¹ § Track ¨ÐµÔ´¡Ð¾ÃÔºÊÑÁ¾Ñ¹¸ ¡ºÑ ¡ÒÃÊ § ¢ Í¤ÇÒÁä»áÊ´§·ÕËè ¹ Òµ Ò§ Debug Terminal

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7.3 ¡ÒÃ·´ÊÍº -2 : Í Ò¹¤ ÒàÁç´ÊÕ¨Ò¡¡ÒÃµÃÇ¨¨ÑºÀÒ¾¢Í§âÁ´ÙÅ iV-CAM (1) ÂÑ§¤§àª×Íè Áµ ÍâÁ´ÙÅ iV-CAM ¡Ñº i-Stamp àËÁ×Í¹¡Ñº¡ÒÃ·´ÊÍº - 1 â´Âµ Í RX à¢ Ò¡Ñº P2 áÅÐ TX à¢ Ò¡Ñº P3 ¢Í§ i-Stamp (2) à» ´â»Ãá¡ÃÁàºÊÔ¡áÊµÁ» àÍ´ÔàµÍÃ áÅ Çà¢ÕÂ¹â»Ãá¡ÃÁµ Íä»¹Õé RcvData baud tx rx

VAR CON CON CON

Byte(10) 240 3 2

‘ Pause 1 second for CMUcam startup PAUSE 1000 ‘ Send “reset” to sync CMUcam and Stamp SEROUT tx, baud, [“RS”, CR] SERIN rx, baud, [WAIT (“:”)] DEBUG “Reset” ,CR PAUSE 1000 ‘ Track SEROUT SERIN PAUSE

LED on tx, baud, [“L1 1”,CR] rx, baud, [WAIT (“:”)] 100

‘ Turn on auto adjust for 5 seconds DEBUG “Auto Adjusting...” , CR SEROUT tx, baud, [“CR 18 44”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 ‘ Pause 5 seconds for CMUcam to auto adjust to lighting conditions PAUSE 5000 ‘ Turn off auto adjust SEROUT tx, baud, [“CR 18 44 19 32”,CR] SERIN rx, baud, [WAIT (“:”)] DEBUG “Finish..”, CR PAUSE 100 ‘ Track LED auto mode SEROUT tx, baud, [“L1 2”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 DEBUG

“Place color target”, CR

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Innovative Experiment Co.,Ltd.

‘ Give user time to place color target close in front of camera PAUSE 5000 ‘ Send command - Set poll mode - only sends one return packet ‘ of data after each command - reduces data flow DEBUG “Finish.” , CR SEROUT tx, baud, [“PM 1”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 ‘ Send command - Set raw data mode - also suppress Ack:/Nak: to ‘ further reduce serial data SEROUT tx, baud, [“RM 3”,CR] PAUSE 100 ‘ Track Window command looks at the center of CMUcam image ‘ grabs the color information and sends to the Track Color function ‘ Send command - Track window SEROUT tx, baud, [“TW”,CR] ‘ Display the S Statisics packet from TW command SERIN rx, baud, [STR RcvData\8] ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘

Raw mode S packet data format: 0 Byte always 255 1 Byte always Character S 2 Byte Red Mean 3 Byte Green Mean 4 Left Blue Mean 5 Left Red Deviation 6 Right Green Deviation 7 Right Blue Deviation

‘ Display all returned camera S Statistics packet data to PC debug screen DEBUG “Red Mean ”,DEC RCVData(2) ,CR DEBUG “Green Mean ”,DEC RCVData(3) ,CR DEBUG “Blue Mean ”,DEC RCVData(4) ,CR DEBUG “Red Deviation ”,DEC RCVData(5) ,CR DEBUG “Green Deviation ”,DEC RCVData(6) ,CR DEBUG “Blue Deviation ”,DEC RCVData(7) ,CR DEBUG “ ”, CR ‘ Ignore the first M packet from TW PAUSE 2000

Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙÅµÃÇ¨¨ÑºÀÒ¾

Main: PAUSE 100 ‘ Send command - Track color (with no arguments) ‘ will track last color grabbed by TW command SEROUT tx, baud, [“TC”,CR] ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘ ‘

Raw mode M packet data format: 0 Byte always 255 1 Byte always Character M 2 Byte Middle Mass X 3 Byte Middle Mass Y 4 Left corner X 5 Left corner Y 6 Right corner X 7 Right corner Y 8 Byte is Pixels 9 Byte is Confidence

SERIN rx, baud, [STR RcvData\10] ‘ Display all returned camera M Track Color packet data to PC debug screen DEBUG CLS DEBUG “Middle Mass X ”,DEC RCVData(2) ,CR DEBUG “Middle Mass Y ”,DEC RCVData(3) ,CR DEBUG “Left Corner X ”,DEC RCVData(4) ,CR DEBUG “Left Corner Y ”,DEC RCVData(5) ,CR DEBUG “Right corner X ”,DEC RCVData(6) ,CR DEBUG “Right Corner Y ”,DEC RCVData(7) ,CR DEBUG “Pixels ”,DEC RCVData(8) ,CR DEBUG “Confidence ”,DEC RCVData(9) ,CR GOTO Main

(3) ºÑ¹·Ö¡ä¿Å ªÍ×è CAMTST02.BSX (4) ¨ ÒÂä¿ãË á¡ ·§Ñé i-Stamp áÅÐâÁ´ÙÅ iV-CAM (5) ´ÒÇ¹ âËÅ´â»Ãá¡ÃÁä»ÂÑ§ i-Stamp (6) Ë¹ Òµ Ò§ Debug Terminal ¶Ù¡à» ´¢Ö¹é à¾×Íè áÊ´§ÊÀÒÇÐ¡ÒÃ·íÒ§Ò¹ i-Stamp Ê §¤íÒÊÑ§è ä» ÃÕà«çµâÁ´ÙÅ iV-CAM áÅ ÇÃÍÃÑº¡ÒÃµÍº¡ÅÑº¨Ò¡âÁ´ÙÅ iV-CAM àÁ×Íè ä´ ÃºÑ ¡ÒÃµÍºÊ¹Í§ i-Stamp ¨ÐáÊ´§ ¢ Í¤ÇÒÁ Reset ·ÕËè ¹ Òµ Ò§ Debug Terminal (7) ¨Ò¡¹Ñ¹é i-Stamp ¨ÐÊ §¤íÒÊÑ§è ä»¤Çº¤ØÁãË LED ·Õµè Òí áË¹ § Track µÔ´ÊÇ Ò§ µ Í´ ÇÂ¤íÒÊÑ§è ¡íÒË¹´ãË âÁ´ÙÅ¡Å Í§»ÃÑº¤ Ò¤ÇÒÁÊÇ Ò§¢Í§¨ÍÀÒ¾ÍÑµâ¹ÁÑµÔ «Ö§è ãª àÇÅÒ 5 ÇÔ¹Ò·Õ â´ÂáÊ´§¡ÒÃ·íÒ§Ò¹ ¼ Ò¹·Ò§Ë¹ Òµ Ò§ Debug Terminal ´ ÇÂ¢ Í¤ÇÒÁ Auto Adjusting àÁ×Íè ¤Ãº 5 ÇÔ¹Ò·Õ i-Stamp ¨ÐÊ § ¤íÒÊÑ§è » ´¡ÒÃ·íÒ§Ò¹ÍÑµâ¹ÁÑµÔ àÁ×Íè âÁ´ÙÅ¡Å Í§µÍºÃÑº i-Stamp ¨ÐÊ §¢ Í¤ÇÒÁ Finish ä»·ÕËè ¹ Òµ Ò§ Debug Terminal

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Innovative Experiment Co.,Ltd.

(8) ¨Ò¡¹Ñ¹é à¢ÕÂ¹¤íÒÊÑ§è à»ÅÕÂè ¹âËÁ´¡ÒÃ·íÒ§Ò¹¢Í§ LED µíÒáË¹ § Track à» ¹âËÁ´ÍÑµâ¹ÁÑµÔ àÁ×Íè âÁ´ÙÅ¡Å Í§µÍºÃÑº i-Stamp ¨ÐÊ §¢ Í¤ÇÒÁ Place color target ÁÒáÊ´§·ÕËè ¹ Òµ Ò§ Debug Terminal ¶Ö§¨Ñ§ËÇÐ¹Õé¼Ù ãª §Ò¹ÁÕàÇÅÒÊíÒËÃÑº¹íÒÇÑµ¶Øà» ÒËÁÒÂÁÒÇÒ§äÇ Ë¹ ÒàÅ¹Ê ¢Í§âÁ´ÙÅ¡Å Í§ 5 ÇÔ¹Ò·Õ â´Â i-Stamp ¨ÐÊ §¢ Í¤ÇÒÁ Finish ÁÒáÊ´§·ÕËè ¹ Òµ Ò§ Debug Terminal ÍÕ¡¤ÃÑ§é à¾×Íè á¨ §ãË ·ÃÒºÇ Ò ËÁ´àÇÅÒáÅ Ç à¾×Íè àµÃÕÂÁà¢ ÒÊÙ¡ ÃÐºÇ¹¡ÒÃµÃÇ¨¨ÑºÀÒ¾µ Íä» (9) i-Stamp Ê §¤íÒÊÑ§è PM ä»ÂÑ§âÁ´ÙÅ¡Å Í§¡íÒË¹´ãË ·Òí §Ò¹ã¹âËÁ´â¾Å (poll mode) à¾×Íè ãË Ê §¢ ÍÁÙÅÀÒ¾ÁÒ·ÕÅÐá¾ç¡à¡çµ (10) ¨Ò¡¹Ñ¹é Ê §¤íÒÊÑ§è RM à¾×Íè ¡íÒË¹´âËÁ´¢Í§¢ ÍÁÙÅ´Ôº¢Í§ÀÒ¾·Õµè ÃÇ¨¨Ñºà» ¹âËÁ´ 3 (11) µ Íä»Ê §¤íÒÊÑ§è TW à¾×Íè ÊÑ§è ãË âÁ´ÙÅ¡Å Í§µÃÇ¨¨ÑºÀÒ¾·ÕÍè ÂÙµ Ã§Ë¹ Ò áÅ ÇÃÍÃÑº¢ ÍÁÙÅÀÒ¾ ¨Ò¡âÁ´ÙÅ iV-CAM ¨Ðä´ ¢Í ÁÙÅ´Ôºã¹á¾ç¡à¡çµáÃ¡ 6 ¤ Ò «Ö§è à» ¹¤ Òà©ÅÕÂè ¢Í§ÊÕá´§, à¢ÕÂÇ, ¹éÒí à§Ô¹ áÅÐ ¤ ÒàºÕÂè §àº¹¢Í§ÊÕá´§, à¢ÕÂÇ, ¹éÒí à§Ô¹ â´Â¢ ÍÁÙÅã¹á¾ç¡à¡çµáÃ¡¹Õàé » ¹¢ ÍÁÙÅá¾ç¡à¡çµ S áÅÐ¤ Ò·Ñ§é ËÁ´ ¹Ñ¹é i-Stamp ¨Ð¹íÒä»áÊ´§·ÕËè ¹ Òµ Ò§ Debug Terminal ´Ñ§ÃÙ»

ã¹·Ò§»¯ÔºµÑ âÔ Á´ÙÅ iV-CAM ¨ÐÊ §¢ ÍÁÙÅÀÒ¾ã¹á¾ç¡à¡çµ M µ ÍÁÒ´ ÇÂ áµ ã¹â»Ãá¡ÃÁ¹Õ¨é Ð äÁ Ê¹ã¨¨Ö§·íÒ¡ÒÃË¹ Ç§àÇÅÒä» 2 ÇÔ¹Ò·Õ à¾×Íè ãË ¾¹ ª Ç§àÇÅÒ¢Í§¢ ÍÁÙÅá¾ç¡à¡çµ M ·ÕÊè § µ ÍÁÒ

Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙÅµÃÇ¨¨ÑºÀÒ¾

(12) ¶Ö§¢³Ð¹Õâé Á´ÙÅ iV-CAM ä´ ¨´¨íÒÀÒ¾áÅÐàÁç´ÊÕ¢Í§ÇÑµ¶Øà» ÒËÁÒÂäÇ áÅ Ç ã¹ÅíÒ´Ñºà» ¹ ¡ÒÃÊ §¤íÒÊÑ§è TC à¾×Íè µÃÇ¨¨ÑºáÅÐµÔ´µÒÁ¢ ÍÁÙÅ¢Í§ÊÕà» ÒËÁÒÂ â´Â¢ ÍÁÙÅ·Õäè ´ ¨Ò¡âÁ´ÙÅ iV-CAM ÁÕ ÃÙ»áººà» ¹á¾ç¡à¡çµ M 8 ¤ Ò «Ö§è á¨ §¶Ö§ ¾Ô¡´Ñ ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ » ÒËÁÒÂ, ¾Ô¡´Ñ ¢Í§¾×¹é ·ÕÊè Õ à» ÒËÁÒÂ, ¤ Ò¾Ô¡à«Å áÅÐ¤ Ò¤ÇÒÁÁÑ¹è ã¨ ËÃ×Í Confidence «Ö§è i-Stamp ¨Ð¹íÒ¤ Ò·Ñ§é ËÁ´¹Ñ¹é ÁÒáÊ´§ ·ÕËè ¹ Òµ Ò§ Debug Terminal ´Ñ§ÃÙ»

7.4 ¡ÒÃ·´ÊÍº -3 : µÃÇ¨¨ÑºáÅÐ¤ ¹ËÒÇÑµ¶Øà» ÒËÁÒÂ µÑÇÍÂ Ò§¡ÒÃ·´ÊÍº¹Õ¨é Ð¤Å ÒÂ¡Ñº¡ÒÃ·´ÊÍº -2 â´Âã¹ª Ç§áÃ¡¢Í§¡ÒÃ·íÒ§Ò¹¨ÐàËÁ×Í¹¡Ñ¹ ¹Ñ¹è ¤×Í àµÃÕÂÁ¤ÇÒÁ¾Ã ÍÁá¡ âÁ´ÙÅ iV-CAM µÃÇ¨¨ÑºÊÕ¢Í§ÇÑµ¶Øà» ÒËÁÒÂ ¨Ò¡¹Ñ¹é ·íÒ¡ÒÃµÃÇ¨¨ÑºáÅÐ µÔ´µÒÁ´ ÇÂ¤íÒÊÑ§è TC áµ ·àÕè ¾ÔÁè àµÔÁà¢ ÒÁÒ¤×Í ¡ÒÃº §ºÍ¡¶Ö§µíÒáË¹ §ÍÂ Ò§¤Ã ÒÇæ ¢Í§¾×¹é ·ÕÊè àÕ » ÒËÁÒÂ â´ÂµÃÇ¨ÊÍº¨Ò¡¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ » ÒËÁÒÂËÃ×Í middle mass Ç ÒÍÂÙã ¹´ Ò¹ã´¢Í§¨ÍÀÒ¾ áÅ Ç á¨ §·Ñé§¤ Ò¢Í§¨Ø´¡Öè§¡ÅÒ§¢Í§¾×é¹·ÕèÊÕà» ÒËÁÒÂ áÅÐ·ÔÈ·Ò§¢Í§¾×é¹·ÕèÊÕà» ÒËÁÒÂ¹Ñé¹ (1) ÂÑ§¤§àª×Íè Áµ ÍâÁ´ÙÅ iV-CAM ¡Ñº i-Stamp àËÁ×Í¹¡Ñº¡ÒÃ·´ÊÍº - 1 â´Âµ Í RX à¢ Ò¡Ñº P2 áÅÐ TX à¢ Ò¡Ñº P3 ¢Í§ i-Stamp (2) à» ´â»Ãá¡ÃÁàºÊÔ¡áÊµÁ» àÍ´ÔàµÍÃ áÅ Çà¢ÕÂ¹â»Ãá¡ÃÁµ Íä»¹Õé

iV-CAM âÁ´ÙÅµÃÇ¨¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

RcvData VAR Byte(10) baud CON 240 tx CON 3 rx CON 2 n VAR Byte Confid VAR Byte ‘ Pause 1 second for CMUcam startup PAUSE 1000 ‘ Send SEROUT SERIN PAUSE

“reset” to sync CMUcam and Stamp tx, baud, [“RS”,CR] rx, baud, [WAIT (“:”)] 1000

‘ Track LED on SEROUT tx, baud, [“L1 1”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 ‘ Turn SEROUT SERIN PAUSE

on auto adjust for 5 seconds tx, baud, [“CR 18 44”,CR] rx, baud, [WAIT (“:”)] 100

‘ Pause 5 seconds for CMUcam to auto adjust to lighting conditions PAUSE 5000 ‘ Turn SEROUT SERIN PAUSE

off auto adjust tx, baud, [“CR 18 44 19 32”,CR] rx, baud, [WAIT (“:”)] 100

‘ Track LED auto mode SEROUT tx, baud, [“L1 2”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 ‘ Give user time to place color target close in front of camera PAUSE 5000 ‘ Send command - Set poll mode - only sends one return packet ‘ of data after each command - reduces data flow SEROUT tx, baud, [“PM 1”,CR] SERIN rx, baud, [WAIT (“:”)] PAUSE 100 ‘ Send command - Set raw data mode - also suppress Ack:/Nak: to ‘ further reduce serial data SEROUT tx, baud, [“RM 3”,CR] PAUSE 100 ‘ Track Window command looks at the center of CMUcam image ‘ grabs the color information and sends to the Track Color function ‘ Send command - Track window SEROUT tx, baud, [“TW”,CR] ‘ Ignore the S packet and M packet from TW

Innovative Experiment Co.,Ltd.

PAUSE

iV-CAM âÁ´ÙÅµÃÇ¨¨ÑºÀÒ¾

2000

Main: ‘ Send command - Track color (with no arguments) ‘ will track last color grabbed by TW command SEROUT tx, baud, [“TC”,CR] SERIN

rx, baud, [STR RcvData\10]

Confid = RcvData(9) ‘ 45 is aprox H center Find : IF RCVData(2) > IF RCVData(2) < IF RCVData(8) < IF RCVData(8) >

65 AND Confid > 20 THEN Right 25 AND Confid > 20 THEN Left 150 AND Confid > 25 THEN Fwd 150 AND confid > 25 THEN StopM

GOTO Main Left: DEBUG CLS,”Middle Mass X “, DEC RCVData(2) , CR DEBUG “Middle Mass Y “, DEC RCVData(3) , CR DEBUG “Go left”, CR GOTO main Right: DEBUG CLS,”Middle Mass X “, DEC RCVData(2) , CR DEBUG “Middle Mass Y “, DEC RCVData(3) , CR DEBUG “Go right”, CR GOTO main Fwd: DEBUG CLS,”Middle Mass X “, DEC RCVData(2) , CR DEBUG “Middle Mass Y “, DEC RCVData(3) , CR DEBUG “Forward”, CR GOTO main StopM: DEBUG CLS,”Middle Mass X “, DEC RCVData(2) , CR DEBUG “Middle Mass Y “, DEC RCVData(3) , CR DEBUG “Stop”, CR GOTO main

(3) ºÑ¹·Ö¡ä¿Å ªÍ×è CAMTST03.BSX (4) ¨ ÒÂä¿ãË á¡ ·§Ñé i-Stamp áÅÐâÁ´ÙÅ iV-CAM ¹íÒÇÑµ¶Øà» ÒËÁÒÂä»ÇÒ§äÇ ´Ò ¹Ë¹ ÒàÅ¹Ê ¢Í§ âÁ´ÙÅ¡Å Í§ (5) ´ÒÇ¹ âËÅ´â»Ãá¡ÃÁä»ÂÑ§ i-Stamp

iV-CAM âÁ´ÙÅµÃÇ¨¨ÑºÀÒ¾

Innovative Experiment Co.,Ltd.

(6) Ë¹ Òµ Ò§ Debug Terminal ¶Ù¡à» ´¢Öé¹ à¾×èÍàµÃÕÂÁáÊ´§¤ Ò¢Í§¨Ø´¡Öè§¡ÅÒ§¢Í§¾×é¹·ÕèÊÕ à» ÒËÁÒÂ áÅÐ·ÔÈ·Ò§¢Í§¾×¹é ·ÕÊè àÕ » ÒËÁÒÂ·Õäè ´ ¨Ò¡¡ÒÃà»ÃÕÂºà·ÕÂº¡Ñº¾×¹é ·Õ·è §Ñé ËÁ´ áµ ¡Ç Ò·Õ¨è ÐáÊ ´§¤ Ò¹Ñ¹é âÁ´ÙÅ iV-CAM µ Í§ä´ ÃºÑ ¤íÒÊÑ§è ¤Çº¤ØÁ¾ÍÊÁ¤ÇÃ «Ö§è ¨ÐàËÁ×Í¹¡Ñº¢Ñ¹é µÍ¹·Õè 6 ¶Ö§ 11 ¢Í§¡ÒÃ ·´ÊÍº -2 áµ ¨ÐäÁ Á¡Õ ÒÃáÊ´§¼Åã´æ ¼ Ò¹·Ò§Ë¹ Òµ Ò§ Debug Terminal ¨¹¡ÃÐ·Ñ§è àÃÔÁè ¡ÒÃµÃÇ¨ ¨Ñº¾×¹é ·ÕÊè àÕ » ÒËÁÒÂ ¹Ñ¹è ¤×Í ÁÕ¢¹Ñé µÍ¹´Ñ§¹Õé (6.1) i-Stamp Ê §¤íÒÊÑ§è ä»ÃÕà«çµâÁ´ÙÅ iV-CAM áÅ ÇÃÍÃÑº¡ÒÃµÍº¡ÅÑº¨Ò¡âÁ´ÙÅ iV-CAM àÁ×Íè ä´ ÃºÑ ¡ÒÃµÍºÊ¹Í§ i-Stamp ¨ÐÊ §¤íÒÊÑ§è ä»¤Çº¤ØÁãË LED ·Õµè Òí áË¹ § Track µÔ´ÊÇ Ò§ µ Í´ ÇÂ Ê §¤íÒÊÑ§è ¡íÒË¹´ãË âÁ´ÙÅ¡Å Í§»ÃÑº¤ Ò¤ÇÒÁÊÇ Ò§¢Í§¨ÍÀÒ¾ÍÑµâ¹ÁÑµÔ «Ö§è ãª àÇÅÒ 5 ÇÔ¹Ò·Õ (6.2) àÁ×Íè ¤ÃºàÇÅÒ i-Stamp ¨ÐÊ §¤íÒÊÑ§è » ´¡ÒÃ·íÒ§Ò¹ÍÑµâ¹ÁÑµÔ àÁ×Íè âÁ´ÙÅ¡Å Í§µÍº ÃÑº i-Stamp ¨Ðà¢ÕÂ¹¤íÒÊÑ§è à»ÅÕÂè ¹âËÁ´¡ÒÃ·íÒ§Ò¹¢Í§ LED µíÒáË¹ § Track à» ¹âËÁ´ÍÑµâ¹ÁÑµÔ (6.3) i-Stamp Ê §¤íÒÊÑ§è PM ä»ÂÑ§âÁ´ÙÅ¡Å Í§¡íÒË¹´ãË ·Òí §Ò¹ã¹âËÁ´â¾Å (poll mode) à¾×Íè ãË Ê§ ¢ ÍÁÙÅÀÒ¾ÁÒ·ÕÅÐá¾ç¡à¡çµ ¨Ò¡¹Ñ¹é Ê §¤íÒÊÑ§è RM à¾×Íè ¡íÒË¹´âËÁ´¢Í§¢ ÍÁÙÅ´Ôº¢Í§ÀÒ¾·Õè µ Í§¡ÒÃµÃÇ¨¨Ñºà» ¹âËÁ´ 3 (6.4) µ Íä»Ê §¤íÒÊÑ§è TW à¾×Íè ÊÑ§è ãË âÁ´ÙÅ¡Å Í§µÃÇ¨¨ÑºÀÒ¾·ÕÍè ÂÙµ Ã§Ë¹ Ò ã¹·Ò§»¯ÔºµÑ Ô âÁ´ÙÅ iV-CAM ¨ÐÊ §¢ ÍÁÙÅÀÒ¾ã¹á¾ç¡à¡çµ M µ ÍÁÒ´ ÇÂ áµ ã¹â»Ãá¡ÃÁ¹Õ¨é ÐäÁ Ê¹ã¨¨Ö§·íÒ¡ÒÃË¹ Ç§ àÇÅÒä» 2 ÇÔ¹Ò·Õ à¾×Íè ãË ¾¹ ª Ç§àÇÅÒ¢Í§¢ ÍÁÙÅá¾ç¡à¡çµ M ·ÕÊè § µ ÍÁÒ (6.5) ¶Ö§¢³Ð¹ÕéâÁ´ÙÅ iV-CAM ä´ ¨´¨íÒÀÒ¾áÅÐàÁç´ÊÕ¢Í§ÇÑµ¶Øà» ÒËÁÒÂäÇ áÅ Ç ã¹ ÅíÒ´Ñºµ Íä»à» ¹¡ÒÃÊ §¤íÒÊÑè§ TC à¾×Íè µÃÇ¨¨ÑºáÅÐµÔ´µÒÁ¢ ÍÁÙÅ¢Í§ÊÕà» ÒËÁÒÂ (7) ¢ ÍÁÙÅ·Õäè ´ ¡ÅÑºÁÒ¨Ò¡âÁ´ÙÅ iV-CAM àÁ×Íè ¡ÃÐ·íÒ¤íÒÊÑ§è TC ÁÕÃ»Ù áººà» ¹á¾ç¡à¡çµ M 8 ¤ Ò «Öè§á¨ §¶Ö§ ¾Ô¡Ñ´¢Í§¨Ø´¡Öè§¡ÅÒ§¢Í§¾×é¹·ÕèÊÕà» ÒËÁÒÂ, ¾Ô¡Ñ´¢Í§¾×é¹·ÕèÊÕà» ÒËÁÒÂ, ¤ Ò¾Ô¡à«Å áÅÐ¤ Ò ¤ÇÒÁÁÑè¹ã¨ËÃ×Í Confidence áµ ã¹¡ÒÃ·´ÊÍº¹Õé¨Ð¹íÒ¤ Ò¢Í§¾Ô¡Ñ´¢Í§¨Ø´¡Öè§¡ÅÒ§¢Í§¾×é¹·ÕèÊÕà» Ò ËÁÒÂä»áÊ´§à· Ò¹Ñ¹é (8) ¢ ÍÁÙÅ·ÕÊè ¹ã¨ÍÕ¡µÑÇË¹Ö§è ¤×Í ¤ Ò¤ÇÒÁÁÑ¹è ã¨ËÃ×Í Confidence ã¹¡ÒÃ·´ÊÍº¹Õ¨é Ðãª ¤Ò ¤ÇÒÁ ÁÑ¹è ã¨¹Õàé » ¹µÑÇºÍ¡¶Ö§µíÒáË¹ §·ÔÈ·Ò§¢Í§¾×¹é ·ÕÊè àÕ » ÒËÁÒÂ â´Âã¹â»Ãá¡ÃÁ¡íÒË¹´¤ Ò¡Ö§è ¡ÅÒ§äÇ à· Ò ¡Ñº 45 ¨Ò¡¹Ñ¹é ¹íÒ¤ Ò¹Õäé »µÃÇ¨ÊÍºÃ ÇÁ¡Ñº¾Ô¡´Ñ X ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ » ÒËÁÒÂáÅÐ¤ Ò¾Ô¡à«Å ´ ÇÂ¡ÃÐºÇ¹¡ÒÃáÍ¹´ ¢Í ÁÙÅã¹â»Ãá¡ÃÁÂ ÍÂ Find â´ÂÁÕÃÒÂÅÐàÍÕÂ´¡ÒÃµÃÇ¨ÊÍº´Ñ§¹Õé (8.1) ËÒ¡¾Ô¡´Ñ X ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ » ÒËÁÒÂÁÕ¤Ò ÁÒ¡¡Ç Ò 65 áÅÐ¤ Ò¤ÇÒÁ ÁÑ¹è ã¨ÁÒ¡¡Ç Ò 20 áÊ´§Ç Ò ¢³Ð¹Õ¾é ¹×é ·ÕÊè àÕ » ÒËÁÒÂÍÂÙ· Ò§¢ÇÒ ãË ¡ÃÐâ´´ä»·íÒ§Ò¹·ÕÅè ÒàºÅ Right

Innovative Experiment Co.,Ltd.

iV-CAM âÁ´ÙÅµÃÇ¨¨ÑºÀÒ¾

(8.2) ËÒ¡¾Ô¡´Ñ X ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ » ÒËÁÒÂÁÕ¤Ò ¹ ÍÂ¡Ç Ò 25 áÅÐ¤ Ò¤ÇÒÁ ÁÑ¹è ã¨ÁÒ¡¡Ç Ò 20 áÊ´§Ç Ò ¢³Ð¹Õ¾é ¹×é ·ÕÊè àÕ » ÒËÁÒÂÍÂÙ· Ò§« ÒÂ ãË ¡ÃÐâ´´ä»·íÒ§Ò¹·ÕÅè ÒàºÅ Left (8.3) ËÒ¡¤ Ò¾Ô¡à«Å¹ ÍÂ¡Ç Ò 150 áÅÐ¤ Ò¤ÇÒÁÁÑ¹è ã¨ÁÒ¡¡Ç Ò 25 áÊ´§Ç Ò ¢³Ð¹Õ¾é ¹×é ·Õè ÊÕà» ÒËÁÒÂÍÂÙ¢ Ò §Ë¹ Ò ãË ¡ÃÐâ´´ä»·íÒ§Ò¹·ÕÅè ÒàºÅ Forward (8.4) ËÒ¡¤ Ò¾Ô¡à«ÅÁÒ¡¡Ç Ò 150 áÅÐ¤ Ò¤ÇÒÁÁÑ¹è ã¨ÁÒ¡¡Ç Ò 20 áÊ´§Ç Ò ¢³Ð¹Õäé Á ¾º¾×¹é ·ÕÊè àÕ » ÒËÁÒÂ ãË ¡ÃÐâ´´ä»·íÒ§Ò¹·ÕÅè ÒàºÅ StopM ËÒ¡¤ Ò·Õäè ´ äÁ µÃ§µÒÁà§×Íè ¹ä¢¡ç¨Ð¡ÅÑºä»Ç¹Í Ò¹¤ Òµ Íä» (9) ·Õâè »Ãá¡ÃÁÂ ÍÂ Right, Left, Forward áÅÐ StopM ¨ÐÁÕ¡ÒÃ·íÒ§Ò¹àËÁ×Í¹¡Ñ¹¤×Í áÊ´§¤ Ò¾Ô¡´Ñ ¢Í§¨Ø´¡Ö§è ¡ÅÒ§¢Í§¾×¹é ·ÕÊè àÕ » ÒËÁÒÂº¹Ë¹ Òµ Ò§ Debug Terminal ¾Ã ÍÁ¡ÑºáÊ´§¢ Í ¤ÇÒÁ¢Í§µíÒË¹ §ã¹áµ ÅÐâ»Ãá¡ÃÁÂ ÍÂ¹Ñ¹é â´Ââ»Ãá¡ÃÁÂ ÍÂ Left ¡çáÊ´§¢ Í¤ÇÒÁ Left à» ¹ µ ¹ áÅÐ·Õâè »Ãá¡ÃÁÂ ÍÂ StopM ¨ÐáÊ´§¢ Í¤ÇÒÁ Stop ´Ñ§ÃÙ»

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Innovative Experiment Co.,Ltd.