OpenFrameworks Visualization Development

Technical discussion about visualizing tentacle search patterns and building control systems

Initial Visualization Requirements

T.W. proposed using OpenFrameworks to visualize the search patterns from the H1XYXY_1_1.ino code, which implements V31 territorial exploration with compound curvature on an Arduino Uno using dual XY servo systems.

OpenFrameworks identified as suitable for:

• Real-time graphics visualization
• Serial data communication with Arduino
• 2D and 3D pattern rendering
• Interactive control system development

3D Space Mapping Discussion

Initial Question: Mapping 2D servo positions to 3D tentacle space as a function of segment length, knuckle diameter, and filament wheel size.

Technical Structure Clarification: After multiple corrections, the tentacle structure was identified as:

• 8 knuckles total (2 large, 4 medium, 2 small)
• 11mm spacing between each knuckle
• Structure: B-X-X-X-X-X-X-X-X (B=base, X=knuckle, -=11mm spine)
• No spine extending past knuckle 8
• Total length ~25cm

Control Zones:

• Base XY controls knuckles 1-4 (2 large + 2 medium using outer thread position)
• Tip XY controls knuckles 5-8 (2 medium using inner thread position + 2 small)

Kinematic Modeling Approach

Forward Kinematics Concept: Each knuckle creates a bend point influenced by cable tension from the dual XY servo system. The compound curvature emerges from:

• Base XY setting primary curve through first 4 knuckles
• Tip XY modulating through knuckles 5-8
• Threading position affecting mechanical advantage

Expected Movement Qualities:

• CONCORDANT mode: Flowing S-curves
• OPPOSITIONAL mode: Tension where tip works against base
• Compound influence zones with different leverage ratios

Control System Development Goals

T.W. expressed interest in building an OpenFrameworks control system to:

• Test tentacle positioning systematically
• Understand actual kinematics vs theoretical models
• Manually drive servos and observe mechanical behavior
• Verify influence zones and mechanical limits

Testing Priorities:

1. Individual servo effects (Base X only, Base Y only, etc.)
2. Actual influence zones and propagation
3. Mechanical limits and binding conditions
4. Thread position differences on medium knuckles

Visualization Strategy

Primary Objective: Verify movement mechanics match expectations before visualizing spatial coverage patterns

Implementation Options:

• OF sending serial commands to Arduino for direct control
• Pure simulation for theoretical kinematics understanding
• Real-time visualization of V31 algorithm execution
• Hybrid approach combining simulation and hardware feedback

Validation Requirements:

• Confirm kinematics model accuracy
• Test compound curvature modes
• Verify territorial exploration pattern representation
• Ensure mechanical constraints properly modeled

Technical Implementation Considerations

Serial Communication:

• Parse Arduino debug output for state data
• Handle Base XY and Tip XY position streaming
• Manage energy levels and behavioral state transitions

3D Rendering:

• Segment-based representation of tentacle structure
• State-dependent coloring (REST/SEEK/SEARCH/RETURN)
• Real-time position updates
• Interactive control interface

Kinematic Chain:

• 8-segment structure with 11mm spacing
• Influence distribution between control zones
• Servo angle to bend angle conversion
• Mechanical constraint enforcement

Next Development Steps

1. Basic Control Interface: Manual servo positioning to understand mechanics
2. Kinematic Validation: Compare theoretical vs actual movement
3. Algorithm Visualization: Real-time V31 pattern rendering
4. Spatial Analysis: Territory coverage and search efficiency metrics

The development emphasizes validation of mechanical understanding before implementing complex behavioral visualization, ensuring accurate representation of the actual cybernetic coupling dynamics.