Date post: | 02-Jan-2016 |
Category: |
Documents |
Upload: | frank-gibbs |
View: | 213 times |
Download: | 0 times |
The Mitre Meteor Robot Control Software
“Simulate As You Operate”
Presented by Darrell L Sims
Richard M. WeatherlyFrederick S. KuhlRobert H. Bolling
Robert J. Grabowski
Overview
Background Information
Approach Goals Software
Employment Phases The Tortuga
Framework Conclusion
Background Information
The Defense Advancement Research Projects Agency (DARPA) challenge
Mitre a non profit engineering company
Construct and Implement code within 11 months
Develop and created a software known as Meteor
Approach Employ commercial solutions
Tortuga Framework Java thread agent Apply main focus to certain areas and fan out
the rest Incremental “model-simulate test”
Model by simulating and replaying Test in real situation
Craft the control software and execution environment Receiving maximum utility from software
developement
Software Employment Phases
Primary Goal: Create a single body of code that employed operational, developmental and analytical phases
The development team must achieve three goals Build real time code Support robot control algorithms Record operational data from the field
Operational Employment
Produce vehicle command control and populate agent process sensor inputs
Look outs -I/0 with physical sensors
Watch officers Receive Data
Executives Assess the system state Wait time to pass
Development Employment
Laser Sensor Model Evaluates changing vehicle location and
orientation values to produce geometric values
Determines whether static collection of obstacles
GPS models Compute velocity, orientation, and location
Wheel Rotation Model Analysis of acceleration values to convey
displacement
Analytical Employment
Record Messages using the “Replayer” Managed sensors removed from the
software Using controls found in Tortuga, which
set the ratio from simuation time to real time
Tortuga Framework A product of Mitre sponsored simulation
software Written in Java and incorporates third party
open source software Used as simulation software for air traffic
control and military analysis
Features of Tortuga
Action methods and triggers Action methods
Issued upon a simulation entity Represent the occurrences of exogenous
events or interruptions Ex: arrival of messages
Triggers Boolean predicate Wait in system until a certain condition arises Ex: Entities being with range of a sensor
Conclusion
The simulation structure “process-interaction” method
Future Event List for movement upon arrival
Achieve the employment transparency by a single body of code
Messages communicated through Java Threads
Lost the race