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Project 2: Recomposable Distributed Project 2: Recomposable Distributed Embedded System: Battle of RobotsEmbedded System: Battle of Robots

Yinong Chen and Wei-Tek Tsai

Computer Science & Engineering DepartmentComputer Science & Engineering Department

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Embedded Systems

Bio-informatics

CommandandControlSystems

Service-OrientedSystem Engineering

Infrastructure

Modeling Simulation

Testing

SOA-Based Recomposable Embedded Systems

Service-OrientedArchitectureSoftwareHardwareDesign

E-Business

Service-OrientedEnterprise

Project 1

ReliabilityEvaluation

Robotics

Re-composableEmbedded Systems

Project 2

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Service-Oriented Computing ParadigmSeparation Publishing Open Standards

Loosely coupled Search Protocols

ƒ Found

Registry

Service brokers

Registry

‚ Find Publishing

Application builder Service providers

Service agentsApplications„ SOAP call

… Results

Internet

Directory servicesUDDI / WSDL / SOAP

ebXML / CPPOntology

Computing servicedevelopment:.NetJ2EE

Programminglanguages:C++, C#Java

Web and data service developmentXML, RDF, OWL,

Application development platformSpecification language

CompositionCode generation

White page

Yellow page

Green page

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System Overview

Remote Maintenance Center (RMC)

PDA

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Simulating and monitoring

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Application Builder

Componentrequirement

Service Provider

UDDI Server

Search

FoundPublish

Create servicesBased onrequirements

On-boardcontroller

http://www.microsoft.com/downloads/details.aspx?FamilyID=9d467a69-57ff-4ae7-96ee-b18c4790cffd&displaylang=en

http://sourceforge.net/projects/soapuddi/

C# / .NetJava / J2EE

http://www.parallax.com/

Last semester project

SOAP calls

results

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Robot Construction and Programming

(X0, y0)

(xt, yt)

obstacle

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PDA-based Remote Controller

Features:Remote ControlProgrammableAuto-RunIA

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A B

C

Single Robot Application (Example)

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Multi-Robot Application (Example)

A

B

C

A and B cooperate to try to move through the gate.C tries to block them.

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Task AllocationTask No CSE423 Recomposable Embedded System Task Definition Responsible Working Platform

1 Define move patterns of two or three robots All together pencil and paper

2 Define different recomposable components for Sumobots All together pencil and paper

3 Preparation (learn languages and read existing code) Individuals Reading

4 Sumobot Coding of the required components A Sumobot

5Pocket PC programming and communication with Sumobot and RMC B Pocket PC

6 TCP/IP based communication between Pocket PC and other PC B PC

7 Atomic Web service writing and wrapping of SumoBot components A Service Provider PC

8 UDDI service directory (download and install UDDI first) C UDDI Server

9 Initial application composition using atomic WS D RMC

10 Data analyses and application re composition D RMC

11 Simulation / Monitoring E RMC

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General ReferencesTurley. “Embedded Processors by the Numbers”. 2005. http://www.embedded.com/1999/9905/9905turley.htmThis website was used for information on embedded processors in introduction

Fahey. “C# OpenGL Wrapper”.http://www.colinfahey.com/opengl/csharp.htm

Terragen. “Terrain Generator”.http://www.planetside.co.uk/

Lloyd. “C# Tutorial for Beginners”. 2004. http://www.csharphelp.com/archives2/archive402.html-This website was a basic tutorial on C#.

“W3Schools: Learn XML.” 2005.http://www.w3schools.com/xml/default.asp-This website was a basic tutorial on XML

“Direct3D Tutorials” 2005.http://www.two-kings.de/tutorials/d3d.html-This site has tutorials on Direct3D basics

“Purple# - a shader-driven open source 3d game engine in C#” 2005.http://www.bunnz.com/index.php-This site has information on using Purple#

“GDI+ FAQ main index” 2005.http://www.bobpowell.net/faqmain.htm-This site has help for programming in GDI+

“MSDN Library” 2005.http://msdn.microsoft.com/library/default.asp-This site has help for programming in Visual Studios .Net

Download UDDI service directory:.Net based: http://www.microsoft.com/downloads/details.aspx?FamilyID=9d467a69-57ff-4ae7-96ee-b18c4790cffd&displaylang=enJava-based: http://sourceforge.net/projects/soapuddi/

http://asusrl.eas.asu.edu/EmbeddedExplorer/experiment.htmlhttp://whoknows.eas.asu.edu/~wwsong/sumoshow.htm