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ARNEIS project journal - dev-cw10

As I announced in a previous post

Your team “B-AROL-O Bottling Systems” and project “ARNEIS: Automated Recognizer, Network-Enabled, Items Sorter” have been selected as one of just 50 teams to move on to Phase 2 of OpenCV Spatial AI Contest. Your team name and region are listed on the official webpage at https://opencv.org/opencv-spatial-ai-contest/​

Here is the report of our progress in the ARNEIS project after the end of CW10-2022.

What did we accomplish this week?

In Sprint dev-cw10 we closed 16 issues or Pull Requests - not many in quantity, but high in quality!

Let's now dig into some of the major results we achieved during last week.

New release of the LEGO® design for ARNEIS

This conveyor is used to move "mignon" bottles. The main idea is to use a chain where some kind of pushers are used to move bottles over a flat surface.

The chain is not used as a base surface for the bottles due to the difficulty of ensuring that it will stay horizontal during the movement.

A special support is designed to hold the OAK-D-Lite AI Camera used in this project. It is possible to change the tilt of the camera by using the dedicated linear extender arm.

The white wall acts as a background for taking better snapshots of the bottles during their trip on the conveyor.

arneis-conveyor-20220312.gif

Please look at https://github.com/B-AROL-O/ARNEIS/tree/main/mocs/project for details.

Progress in controlling the LEGO® Powered Up devices

Under the /code folder of the ARNEIS repository on GitHub I have uploaded poweredupapp-flash-move. This folder contains a simple project, complete with the instructions for loading it on the LEGO® Powered Up app.

poweredupapp-flash-move

This project can be used as a starting point for programming a more complex behaviour of the sensors and motors of a MOC.

I have also added more information and resources to the HOWTO guide available at

https://arneis.readthedocs.io/en/latest/howto/howto-control-rpi-poweredup.html

Multi-agent support to the Kubernetes cluster

After some unsuccesful attempts I eventually managed to attach a few additional hosts to act as Agent Nodes on the K3s cluster we created for the ARNEIS project:

root@arneis-vm01:~# kubectl cluster-info
Kubernetes control plane is running at https://127.0.0.1:6443
CoreDNS is running at https://127.0.0.1:6443/api/v1/namespaces/kube-system/services/kube-dns:dns/proxy
Metrics-server is running at https://127.0.0.1:6443/api/v1/namespaces/kube-system/services/https:metrics-server:https/proxy

To further debug and diagnose cluster problems, use 'kubectl cluster-info dump'.
root@arneis-vm01:~# kubectl get nodes
NAME           STATUS   ROLES                  AGE     VERSION
hw0943         Ready    <none>                 2d19h   v1.22.7+k3s1
arneis-vm02    Ready    <none>                 4d20h   v1.22.7+k3s1
arneis-vm01    Ready    control-plane,master   5d      v1.22.7+k3s1
hw0911         Ready    <none>                 2d20h   v1.22.7+k3s1
gmpowerhorse   Ready    <none>                 47h     v1.22.7+k3s1
root@arneis-vm01:~#

You can find the detailed instructions, as well as some troubleshooting tips, in the updated HOWTO published at

https://arneis.readthedocs.io/en/latest/howto/howto-install-k3s-for-arneis.html

Next week plans

Our plan for next week is available on GitHub: https://github.com/B-AROL-O/ARNEIS/milestone/9.

Thanks for reading up to here!

If you want to help or just say hello, please get in touch with us through GitHub or Twitter.

Gianpaolo on behalf of the B-AROL-O Team.