CSE Design Lab – Milestone 2

James Hopkins Dave Festa Dennis O’Flaherty Karl Schwirz

Milestone 2 Overview Project review

MSRS Robotics application Service abstraction Lego NXT

Scope of work Project definition Budget Timeline

Present robot

Project Review Implement Microsoft Robotics Studio

Development platform for robotics community

Users Hardware Scenarios

Addresses challenges for developing robot applications

Concurrency and distribution Scalability Code reuse and reliability

What is a Robotics Application?What is a Robotics Application?

An application is a An application is a compositioncomposition of loosely- of loosely-coupled components concurrently coupled components concurrently executingexecuting Orchestration of sensors/actuatorsOrchestration of sensors/actuators User interfaceUser interface Controlled/Autonomous behaviorControlled/Autonomous behavior

A service is the unit of orchestrationA service is the unit of orchestration

MotorBumper 1(Sensor)

Orchestrator

MotorBumper 2(Sensor)

Infrared detector(Sensor)

Message Box

(Actuator)

Service AbstractionService Abstraction Services can represent any Services can represent any

computationcomputation Hardware: Sensors, actuators,…Hardware: Sensors, actuators,… Software: UI, Storage,…Software: UI, Storage,… Aggregation: Sensor fusion,…Aggregation: Sensor fusion,…

Authoring tools Simulation visualization tool

High resolution 3D rendering Visual and physical views Enables prototyping and debugging

Highly Diverse Market…Highly Diverse Market…

Lego NXT

Lego NXT Why Lego NXT?

Not electrical engineers Not mechanical engineers Demonstrated technology

Microcontroller Sensors Servos

Budget Scalable and customizable

Scope of Work Project definition

Develop software platform to coordinate robot activity

Manual control with UI Autonomous operation Integrate sensor data (distance to nearest object) into UI

Provide visual representation Support manual control interface Enhance autonomous operation

*Implement 2-robot control application Build robot using Lego NXT

Robust 360 degree movement Touch sensor for obstacle avoidance Ultrasonic sensor for movement control

Budget 2 Lego NXT Kits: $500 2 Bluetooth's: $64 12 AA batteries: $10 MSRS: $0

Timeline

Robot Presentation

The Ultrasonic Sensor measures distance. It is able to measure distances from 0 to 255 centimeters with a precision of +/- 3 cm.

Each motor has a built-in Rotation Sensor which measures motor rotations in degrees or full rotations [accuracy of +/- one degree].

The Touch Sensor gives your robot a sense of touch. The Touch Sensor detects when it is being pressed by something and when it is released again.

Questions Thanks for your attention