1. CSE Design Lab – Milestone 2 James Hopkins Dave Festa Dennis O’Flaherty Karl Schwirz

2. Milestone 2 Overview Project review MSRS Robotics application Service abstraction Lego NXT Scope of work Project definition Budget Timeline Present robot

3. 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

4. What is a Robotics Application? An application is a composition of loosely- coupled components concurrently executing An application is a composition of loosely- coupled components concurrently executing Orchestration of sensors/actuators Orchestration of sensors/actuators User interface User interface Controlled/Autonomous behavior Controlled/Autonomous behavior A service is the unit of orchestration A service is the unit of orchestration

5. Service Abstraction Services can represent any computation Services can represent any computation 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

6. Highly Diverse Market… Lego NXT

7. Why Lego NXT? Not electrical engineers Not mechanical engineers Demonstrated technology Microcontroller Sensors Servos Budget Scalable and customizable

8. 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

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

10. Timeline

11. 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.

12. Questions Thanks for your attention