ads (bioloid deployment)

Department of Computer Science and Engineering

The University of Texas at Arlington

FRIED Board

Version 1.2

Heracleia Bioloid System Deployment

Team Members:

Brian Edgar

David Castellanos

Kyle Witt

Raul Sieberath Jr

Ryan Wilson

Copy Printed:

Kyle on 9/16/2008 11:00:00 PM

Contents

1 General...........................................................................................................................................7

2 Layer Definition Section Description.............................................................................................7

2.1 Bioloid Software GUI Layer..........................................................................................................7

2.2 Bioloid Software System Layer......................................................................................................7

2.3 Communication Layer....................................................................................................................7

2.4 Mobile Robot Layer.......................................................................................................................8

2.5 Base Station Layer..........................................................................................................................8

2.6 TOP Layer......................................................................................................................................8

3 Inter-Subsystem Dataflow..............................................................................................................9

4 Bioloid Software GUI Subsystems Descriptions.........................................................................12

4.1 Control Subsystem........................................................................................................................12

4.1.1 General....................................................................................................................................12

4.1.2 Assumptions............................................................................................................................12

4.1.3 Responsibilities.......................................................................................................................12

4.1.4 Subsystem Interface................................................................................................................12

4.2 Top Subsystem.............................................................................................................................13

4.2.1 General....................................................................................................................................13

4.2.2 Assumptions............................................................................................................................13



4.3 Authentication Subsystem............................................................................................................13

4.3.1 General....................................................................................................................................13

4.3.2 Assumptions............................................................................................................................13



5 Bioloid Software System Subsystems Descriptions.....................................................................14

5.1 Video Stream Subsystem..............................................................................................................14

5.1.1 General....................................................................................................................................14

5.1.2 Assumptions............................................................................................................................14



5.2 TOP Management Subsystem......................................................................................................14

5.2.1 General....................................................................................................................................14

5.2.2 Assumptions............................................................................................................................14



5.3 Navigation Subsystem..................................................................................................................15

5.3.1 General....................................................................................................................................15

5.3.2 Assumptions............................................................................................................................15



5.4 Scheduler Subsystem....................................................................................................................16

5.4.1 General....................................................................................................................................16

5.4.2 Assumptions............................................................................................................................16



5.5 Storage Subsystem........................................................................................................................16

5.5.1 General....................................................................................................................................16

5.5.2 Assumptions............................................................................................................................17



6 Communication Subsystems Descriptions...................................................................................17

6.1 Server Communication Subsystem...............................................................................................17

6.1.1 General....................................................................................................................................17

6.1.2 Assumptions............................................................................................................................17



6.2 Base Station Communication Subsystem.....................................................................................18

6.2.1 General....................................................................................................................................18

6.2.2 Assumptions............................................................................................................................18



6.3 Robot Interface Module Subsystem.............................................................................................18

6.3.1 General....................................................................................................................................18

6.3.2 Assumptions............................................................................................................................18



6.4 Robot Communication Subsystem...............................................................................................19

6.4.1 General....................................................................................................................................19

6.4.2 Assumptions............................................................................................................................19



6.5 TOP Communication Subsystem.................................................................................................19

6.5.1 General....................................................................................................................................19

6.5.2 Assumptions............................................................................................................................20



7 Robot Subsystems Descriptions...................................................................................................20

7.1 Robot Power Subsystem...............................................................................................................20

7.1.1 General....................................................................................................................................20

7.1.2 Assumptions............................................................................................................................20



7.2 Robot Control Subsystem.............................................................................................................20

7.2.1 General....................................................................................................................................20

7.2.2 Assumptions............................................................................................................................21



8 Base Station Subsystems Descriptions.........................................................................................21

8.1 Charger Subsystem.......................................................................................................................21

8.1.1 General....................................................................................................................................21

8.1.2 Assumptions............................................................................................................................21



8.2 Top Loader Subsystem.................................................................................................................22

8.2.1 General....................................................................................................................................22

8.2.2 Assumptions............................................................................................................................22



9 TOP Subsystems Descriptions.....................................................................................................22

9.1 Camera Subsystem.......................................................................................................................22

9.1.1 General....................................................................................................................................22

9.1.2 Assumptions............................................................................................................................22



9.2 Thermometer Subsystem..............................................................................................................23

9.2.1 General....................................................................................................................................23

9.2.2 Assumptions............................................................................................................................23



9.3 Lift Subsystem..............................................................................................................................23

9.3.1 General....................................................................................................................................23

9.3.2 Assumptions............................................................................................................................23



9.4 Flashlight Subsystem....................................................................................................................24

9.4.1 General....................................................................................................................................24

9.4.2 Assumptions............................................................................................................................24



1 General

The basic outline of the architecture description is

Introduction Layer Definitions Inter-Layer Dataflow Inter-Subsystem Dataflow Subsystem Definitions

2 Layer Definition Section Description

Figure 1 – High level layer diagram

2.1 Bioloid Software GUI Layer

This layer is the main interface between the end user and the Bioloid System. It serves the end user and consumes data from the Bioloid Software System.

2.2 Bioloid Software System Layer

The Bioloid Software System Layer serves as a bridge between the Bioloid Software GUI Layer and the Communication Layer. It also provides data storage and retrieval.

2.3 Communication Layer

The Communication Layer is responsible for relaying messages between the server and the lower layers in the system.

2.4 Mobile Robot Layer

The Mobile Robot Layer is responsible for the functions of the robot itself. It will contain two subsystems, power and control. It will handle robot movement as well as provide power to other layers as needed.

2.5 Base Station Layer

The Base Station Layer is responsible for providing services to the mobile robot. These services include top storage and charging. They are reflected in the layers two subsystems, charging and TOP loading.

2.6 TOP Layer

The TOP Layer provides data to the Bioloid Software System Layer. There are three types of data provided: High-quality video stream, Infrared video stream and temperature readings.

3 Inter-Subsystem Dataflow

Figure 2 - Bioloid Architectural Dataflow Diagram

Data Element

Descriptions

1 TOP commands from the GUI, and TOP information to the GUI

2 Scheduler information to the GUI

3 Navigation information to the GUI

4 Commands from the scheduler to load or unload a TOP

5 Commands from the scheduler to move the Mobile Robot

6 Data between the server and TOPs or base station

7 Navigation data between the server and the Mobile Robot

8 Data between the RIM and the TOPs

9 Data between the RIM and the Bioloid Software System

10 Data between the RIM and the Mobile Robot

11 Data between the Bioloid Software System and the Base Station

12 Power to the RIM

13 Commands for robot movement and control

14 Commands for the TOP Loader subsystem

15 Battery power status

16 Charging power to the Mobile Robot

17 Power to the TOPs

18 Data flow to and from the TOPs

19 Streaming video from the high-quality camera top

20 Streaming video to the GUI of the high-quality camera

21 Authentication Data

22 Navigational Camera Stream to the Bioloid Software System

23 Navigational Camera Stream to the Bioloid Software GUI

24 Route and Schedule Data

25 User Command Data

26 User Top Data

27 User Authentication Data

Table 1 - Inter-Subsystem Data Element Descriptions

Producer

Consumer Softw

are

GUI

Con

trol

Com

m. B

ase

Stat

ion

Com

m.

Softw

are

GUI

Top

Softw

are

GUI

Aut

hent

icatio

n

Softw

are

Syst

em T

op M

anag

emen

t

Softw

are

Syst

em S

ched

uler

Softw

are

Syst

em N

avig

atio

n

Softw

are

Syst

em V

ideo

Stre

am

Softw

are

Syst

em S

tora

ge

TOP

Flas

hlig

ht

TOP

Lift

TOP

Ther

mom

eter

TOP

Cam

era

Mob

ile R

obot

Pow

er

Mob

ile R

obot

Con

trol

Mob

ile R

obot

Nav

igat

iona

l Cam

era

Base

Sta

tion

Tops

Loa

der

Base

Sta

tion

Char

ger

Com

m. S

erve

r Com

m.

Com

m. R

obot

Inte

rface

Mod

ule

Com

m. T

ops

Com

m.

Com

m. R

obot

Com

m.

Publ

ic: B

rows

er

Software GUI: Control 1 2 3 23 25

Software GUI: Top 20 26

Software GUI: Authentication 21 27

Software System: Top Manage-ment 1 4 6

Software System: Scheduler 2 24

Software System: Navigation 3 5 7

Software System: Video Stream 23 20 19 22

Software System: Storage 21 24

TOP: Flashlight 17 18

TOP: Lift 17 18

TOP: Thermometer 17 18

TOP: Camera 19 17 18

Mobile Robot: Power 16

Mobile Robot: Control 13

Mobile Robot: Navigational Camera 22

Base Station: Tops Loader 14

Base Station: Charger

Comm.: Server Comm. 11 6 7 9

Comm.: Robot Interface Module 12 9 8 10

Comm.: Tops Comm. 18 18 18 18 8

Comm.: Robot Comm. 15 13 10

Comm.: Base Station Comm. 14 11

Public: Browser 25 26 27

Table 2 – Producer/Consumer Relationships

4 Bioloid Software GUI Subsystems Descriptions

4.1 Control Subsystem

4.1.1 General

The Control Subsystem is responsible for the input from the end user. Moreover, it requests data from the Bioloid Software System and consumes data from it.

4.1.2 Assumptions

It is assumed the user is computer literate.

4.1.3 Responsibilities

Display navigational camera feed Receive commands from the user and forward to the appropriate Bioloid Software System

Subsystem Display status information for all subsystems

4.1.4 Subsystem Interface

Method Description Information Required

Information Returned

cameraFeed Request navigational camera feed StreammoveRobot Request Mobile Robot to move Direction Acceptance

DistanceturnRobot Request Mobile Robot to turn Direction Acceptance

DegreescameraLift Request Camera to change its height Height AcceptancecameraTurn Request Camera to turn from its Degrees Acceptancethermometer Request Thermometer to change its Degrees Acceptancethermometer Request Thermometer reading ReadingloadTop Request to load TOP TOP ID AcceptanceunloadTop Request to unload TOP AcceptancecameraStart Request camera to start streaming StreamcameraEnd Request camera to end streaming AcceptancecameraSnapS Request camera to take a snapshot PicturenewSchedule Create a new autonomous schedule Route Acceptance

DateTimeRecurrence

editShedule Edit existing autonomous schedule Schedule AcceptanceDateTimeRecurrence

Table 3 - Interface Control Subsystem

4.2 Top Subsystem

4.2.1 General

The TOP Subsystem is responsible for handling the stream from the camera TOP.

4.2.2 Assumptions

None


Display data from TOPs


Method Description Information

Required


Start Start showing stream from StreamEnd End video stream AcceptancetakeSnapshot

Take a picture Current Picture

saveStream

Save video stream Current Video

Table 4 - Interface TOP Subsystem

4.3 Authentication Subsystem

4.3.1 General

The Authentication Subsystem provides user authentication.

4.3.2 Assumptions

None


Authenticate user


Method

Description

Information Required


login Login Username AcceptancePassword

logout Logout Acceptance

Table 5 - Interface Authentication Subsystem

5 Bioloid Software System Subsystems Descriptions

5.1 Video Stream Subsystem

5.1.1 General

The Camera Subsystem will manage connections to the Navigation Video Camera, High Quality Video Camera, and Infrared Video Camera. It will provide an interface for the GUI Layer to stream data from the cameras.

5.1.2 Assumptions

None


Connect to cameras Maintain the connections to cameras Stream video data from cameras Make video streams available to the GUI Layer


Method Description Information Required


Start Starts camera Current Stream

Status Retrieves status of Camera

Current Status

End Close camera Current Acceptance

takeSnapshot

Take a picture Current Picture

saveStream

Save video stream Current Video

Table 6 - Interface Camera Subsystem

5.2 TOP Management Subsystem

5.2.1 General

The TOP Management Subsystem will manage control and data flow to the Tops. It will use the Communications Layer to send and receive information to the individual Tops and Base Station.

5.2.2 Assumptions

None


Command Base Station to Unload/Load Top from Mobile Robot Retrieve Status from active Top Send Commands to Tops



Required


topStatus Retrieves the status of the active TOP.

Status

loadTop Commands the Base Station to load a top onto the Mobile Robot.

ID Acceptance

unloadTop Commands the Base Station to unload TOP from Mobile Robot.

Acceptance

changeAngle Sends command to current TOP to change angle.

Angle Acceptance

changeHeight Sends command to current Top to change height.

Height Acceptance

getTempReading

Retrieves the temperature Reading from the Thermometer Top.

Reading

Table 7 - Interface TOP Management Subsystem

5.3 Navigation Subsystem

5.3.1 General

The Navigation Subsystem receives movement commands and relays them to the Mobile Robot through the Communication Layer. It also handles creation and interpretation of routes.

5.3.2 Assumptions

None


Sending movement commands to Mobile Robot Recording a string of movement commands Conversion of movement commands into a route Conversion of a route into movement commands



Required


sendCommand

Send commands to the Mobile Robot.

Command Acceptance

startRoute Start to record commands. -None AcceptancestopRoute Stop to record commands -None Route

Table 8 - Interface Navigation Subsystem

5.4 Scheduler Subsystem

5.4.1 General

The Scheduler Subsystem handles management of scheduled actions.

5.4.2 Assumptions

None


Creation of new scheduled actions Editing of existing scheduled actions Deletion of existing scheduled actions Executing scheduled actions



Required


newEvent Creates a new scheduled action. - Event Data

AcceptancemodifyEvent

Modifies an existing scheduled action.

- Event Data

Acceptance

deleteEvent

Deletes a scheduled event. - Event ID Acceptance

Table 9 - Interface Scheduler Subsystem

5.5 Storage Subsystem

5.5.1 General

Storage Subsystem handles storage and retrieval of data.

5.5.2 Assumptions

None


Storage of data Retrieval of data



Required


storeData

Accepts data to storage. -Data Acceptance

loadData

Retrieves data from storage.

-Data ID -Data

Table 10 - Interface Storage Subsystem

6 Communication Subsystems Descriptions

6.1 Server Communication Subsystem

6.1.1 General

The Server Communication Subsystem handles data flow to and from the Server Layer. It interfaces with the Robot Interface Module, and the Base Station Communication Subsystems.

6.1.2 Assumptions

None


Establish a connection with the Robot Interface Module Subsystem Establish a connection with Base Station Communication Subsystem Exchange messages with subsystems within the Base Station Layer through the Base Station

Communication Subsystem. Exchange messages with the Mobile Robot and Tops Layers through the Robot Interface

Module Subsystem. Process messages received.


Method

Description Information

Required


SendDa Sends data from the • Data • Status• Size

Table 11 - Interface Server Communication Subsystem

6.2 Base Station Communication Subsystem

6.2.1 General

The Base Station Communication Subsystem handles data flow to and from the Base Station Layer. It interfaces with the Server Communication Subsystem.

6.2.2 Assumptions

None


Establish a connection with the Server Communication Subsystem Exchange messages with subsystems within the Base Station Layer Process messages received.



Required


SendDa Sends data from the base • Data • Status• Size Acceptance

Table 12 - Interface Base Station Communication Subsystem

6.3 Robot Interface Module Subsystem

6.3.1 General

The Robot Interface Module Subsystem handles dataflow between the server, robot, and tops. It interfaces with the Server Communication, Robot Communication, and Tops Communication Subsystems

6.3.2 Assumptions

None


Establish a connection with the Server Communication Subsystem Establish a connection with the Robot Communication Subsystem Establish a connection with the Tops Communication Subsystem Exchange and route messages between the Server, Robot, and Tops Communication

Subsystems


Method


Required


sendData

Sends data to the server

Data Acceptance

Table 13 - Interface Robot Interface Module Subsystem

6.4 Robot Communication Subsystem

6.4.1 General

The Robot Communication Subsystem handles data flow to and from the Robot Layer. It interfaces with the Robot Interface Module Subsystem.

6.4.2 Assumptions

None


Establish a connection with the Robot Interface Module Subsystem Exchange messages with subsystems within the Robot Layer Process messages received


Method


Required


sendDa Sends data from the Data Acceptance

Table 14 - Interface Robot Communication Subsystem

6.5 TOP Communication Subsystem

6.5.1 General

The Robot Communication Subsystem handles data flow to and from the Robot Layer. It interfaces with the Robot Interface Module Subsystem.

6.5.2 Assumptions

None


Establish a connection with the Robot Interface Module Subsystem Exchange messages with subsystems within the Tops Layer Process messages received


Method


Required


SendDa Sends data from the Data Acceptance

Table 15 - Interface TOP Communication Subsystem

7 Robot Subsystems Descriptions

7.1 Robot Power Subsystem

7.1.1 General

The Robot Power Subsystem will be responsible for providing power to other subsystems.

7.1.2 Assumptions

None


Provide power to the Robot Interface Module Subsystem Provide power to the TOPs Layer Send a periodic battery status message to the Bioloid Software System


This subsystem provides electric energy.

7.2 Robot Control Subsystem

7.2.1 General

The Robot Control Subsystem is responsible for controlling the robot movements.

7.2.2 Assumptions

None


Accept movement commands, and react accordingly



Required


moveForwa Moves the robot Speed StatusMilliSec

moveRever Moves the robot in Speed StatusMilliSec

moveTurn Turns the robot. Speed StatusMilliSec

moveStop Stops all robot Status

Table 16 - Interface Robot Control Subsystem

8 Base Station Subsystems Descriptions

8.1 Charger Subsystem

8.1.1 General

The Charger Subsystem provides power used to charge other subsystems.

8.1.2 Assumptions

None


Provide power to recharge other subsystems Notifies user of charging problems


This subsystem does not communicate with any other subsystems.

8.2 Top Loader Subsystem

8.2.1 General

The Top Loader Subsystem loads and stores Tops. It is controlled by the Bioloid Software Subsystem through the Base Station Communication Subsystem.

8.2.2 Assumptions

None


Store Tops for later use Load Tops onto Robot Subsystem Manages top location Notifies user and server of loading problems



Required


loadTop Attempts to load TOP onto the Mobile Robot.

ID Acceptance

unloadTop

Attempts to unload TOP from the Mobile Robot and store it.

ID Acceptance

Table 17 - Interface Top Loader Subsystem

9 TOP Subsystems Descriptions

9.1 Camera Subsystem

9.1.1 General

The Camera Sub System controls the sending of a video feed back to the server from the HQ camera and the infrared camera.

9.1.2 Assumptions

None


Sends video feed to the server


Method Description Informatio Information cameraO Sends power to the • video feedcameraO Cuts off power to the Acceptance

Table 18 - Interface Camera Subsystem

9.2 Thermometer Subsystem

9.2.1 General

The Thermometer Sub System will take readings from a target and send the results to the RIM.

9.2.2 Assumptions

None


Take temperature readings Move up and down



Required


takeReading

Turns on the thermometer to take reading

• sec •temperaturemoveUp Moves thermometer up • degrees AcceptancemoveDow Moves thermometer down • degrees Acceptance

Table 19 - Interface Thermometer Subsystem

9.3 Lift Subsystem

9.3.1 General

Lift the camera up to three feet and can rotate a full circle.

9.3.2 Assumptions

None


Rotate Move vertically



Required


MoveUp Moves the lift up. Sec AcceptanceMoveDo Moves the lift Sec AcceptanceRotate Rotates the lift. Degrees Acceptance

Table 20 - Interface Lift Subsystem

9.4 Flashlight Subsystem

9.4.1 General

The Flashlight Subsystem turns on a LED light to help the high quality camera video quality.

9.4.2 Assumptions

None


Turn on/off Move up/down



Required


TurnOn Turns on the LED AcceptanceTurnOff Turns off the LED AcceptanceMoveUp Moves the LED up Degrees AcceptanceMoveDo Moves the LED Degrees Acceptance

Table 21 - Interface Flashlight Subsystem

ads (bioloid deployment)

Documents

subsystem interface

control subsystem

authentication subsystem

management subsystem

bioloid software system

bioloid software gui

communication layer

intersubsystem dataflow