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