Team Evolution1 R.O.M.P Robot Orientation Mapping Project Peri Subrahmanya: Lead Designer Michael Lazar: Project Manager Sean Hogan: Lead Designer Joe Hackstadt: Lead Programmer Sean Williams: Documentation & Testing

Team Evolution2 Clients Dr. Jerry Weinberg Associate Professor Andrew Lamonica Instructional Specialist

Team Evolution3 Equipment Taz Marvin (Test Robot)

Team Evolution4 Problem Where is Taz? –Users need to know where they are! –Users need to know where they can go! Flexibility –More controls to facilitate better user experience

Team Evolution5 Existing System

Team Evolution6 Solution Orientation –Develop a mapping feature to go on the existing web interface, that allows intuitive orientation of the robot and it’s location within it’s environment Flexibility –Develop intuitive camera controls to allow panning, tilting, and zooming of the robot camera to the existing web interface, while keeping camera bearing and robot heading orientation

Team Evolution7 Users School Children –For education and entertainment Prospective Students –Show an interesting aspect of computer science School of Engineering –Promote the University, and the School of Engineering

Team Evolution8 Functional Requirements Provide controls to allow the camera pan, tilt, and zoom to the existing web interface Provide mapping feature to the existing web interface Run on existing framework (Java)

Team Evolution9 Non-Functional Requirements Camera Controls –Provide good feedback of control response –Provide good ‘mapping’ of control to function Mapping –Provide enough detail to gain orientation –Assist in robot navigation Misc. –Develop robust and modular designs –Use efficient coding techniques –Users must have internet connection of 56Kbps+ –Support all Java 1.1 capable browsers

Team Evolution10 Prototype

Team Evolution11 Existing Architecture User Person wanting to control robot Robot Robot to be controlled Web Browser Applet Generates and updates user interface Middle Man Coordinates communication request among all applets and the client Manages user time slices Client Interprets and relays high-level commands from Middle Man to low-level P2OS server Contains and uses grid map P2OS Directly Controls Robot Hardware

Team Evolution12 Mapping Subsystem - How does Taz navigate? Digital map of EB 1 st Floor Series of nodes and edges Laser localization used to identify Taz’s location

Team Evolution13 Mapping Subsystem + X - X - Y + Y Origin (0,0) - How can we locate Taz? { X coor (mm), Y coor (mm), theta ( º ) }

Team Evolution14 Mapping Subsystem Representing the Map –Create accurately scaled EB floor plan –Identify scale (mm/pixel) –Identify the origin on our map image –Shade permitted area Representing the Robot –Arrow shape indicates direction

Team Evolution15 Mapping Subsystem Mapping Classes Map Class Image mapImage double scaleFactor int originOffset int zoomLevel plotRobot(x,y,θ) zoomMap(+/-) update(robot) Robot Class Image robotImage float xPos, yPos float theta update(x,y,θ) getPosition( )

Team Evolution16 Control Applet Connection Handler Map Canvas Middle Man Server Robot Server Send commands to middle man Retrieve position information from robot Receive command from middle man Plot robot 1. Update Robot Position Robot Object If command contains position information 2. Update Map

Team Evolution17 Camera Control Design

Team Evolution18 Applet Generates and updates user interface Middle Man Coordinates communication request among all applets and the client Manages user time slices Client Interprets and relays high-level commands from Middle Man to low-level P2OS server Contains and uses grid map P2OS Directly Controls Robot Hardware Existing Architecture User Person wanting to control robot Robot Robot to be controlled User | Applet Interface Applet | Middleman Interface Middleman | Client Interface Client | P2OS Interface Robot | P2OS Interface Web Browser Java C++ / Aria

Team Evolution19 Applet Generates and updates user interface Middle Man Coordinates communication request among all applets and the client Manages user time slices Client Interprets and relays high-level commands from Middle Man to low-level P2OS server Contains and uses grid map P2OS Directly Controls Robot Hardware Architecture Modifications Mapping Camera Control Control Implementation Communication (via connHandler) Implementation of new commands Validation of new commands Communication (via connHandler) Polling for position information Localization feedback

Team Evolution20 Integration Into Existing System Movement Controls Connection Handler Middleman Server ROBT TURN LEFT Camera Controls Mapping CAM PAN LEFT X, Y, Theta Robot Control Panel Prototype 1 Prototype 2 Prototype 3

Team Evolution21 Evolutionary Delivery Control and Mapping implementation Control and Mapping interface

Team Evolution22 Evolutionary Delivery Subprojects Detailed Design Coding and Debugging Subsystem Testing Detailed Design Coding and Debugging Subsystem Testing Control Subproject Mapping Subproject Detailed Design Coding and Debugging Subsystem Testing Middleman Modification Subproject Integration Testing Deliver the Version Customer Feedback Incorporate Feedback Develop a version Final Release

Team Evolution23 Organization Chart Peri Subrahmanya Lead Designer/Web Administrator Sean Williams Documentation/Testing Mike Lazar Project Manager Joe Hackstadt Lead Programmer Sean Hogan Lead Designer Andrew Lamonica Client Dr. Blythe Upper Management Dr. Weinberg Upper Management/Client

Team Evolution24

Team Evolution25 Project Risks Difficult learning curve Incompatibility with Aria Poor scheduling Unforeseen dependencies Personnel Problems Risk Probability Impact (weeks) Risk exposure (weeks) 40% 50% 15% 20% 10% –

Team Evolution26 Risk Management Difficult learning curve –Reading Java and graphics books –Reading the existing code –Working with Andrew Lamonica Incompatibility with Aria –Working with Andrew Lamonica –Code that works with Saphria

Team Evolution27 Risk Management (contd.) Overly optimistic scheduling –Built in buffer time throughout –Buffer time at end Unforeseen dependencies –Adequate buffer time scheduled Personnel problems –Follow conflict resolution plan

Team Evolution28 Stakeholders Team Evolution CS Department School of Engineering Client (Dr. Weinberg) Upper Management (Dr. Weinberg, Dr Blythe)

Team Evolution29 Development Tools Eclipse Aria Visual Source Safe MS Project Professional MS Word 2002 Macromedia Dreamweaver 2004

Team Evolution30 Project Status Camera control design complete Mapping design complete Documentation complete Working Java prototype

Team Evolution31 Questions