1. Final Presentation

3.  Software / hardware combination  Implement Microsoft Robotics Studio  Lego NXT Platform  Flexible Platform

4.  Purchase and configure the Lego Mindstorms NXT platform to include design and construction of the robot and testing the sensors/servos.  Install MSRS and Microsoft Visual Studio or Microsoft Visual C#  Develop UI for manual control  Develop autonomous operation  Integrate mapping sensor data (distance to nearest object and touch sensor being pressed) to provide visual representation of the sensor data to be used in the manual control interface, and to enhance autonomous operation by using stored mapping data.

6.  Sensors, motors, “brick”  Communication link

7.  Microsoft Robotics Studio  Microsoft Visual Studio 2008  Windows XP  Verbose Text to Speech

9.  Handling obstacles  Fluid, normal speed, reaction time  Understanding Lego NXT Capabilities / Limitations  Autonomous Operation Algorithm

10.  Ultrasonic sensor  Provides “vision” for robot using sonar  Has 30 degree field of vision  Will turn even though it appears to be clear -30 degrees +30 degrees 24 inches opening Robot width 6 inches Distance to robot 15 inches: Threshold met, make a turn

11.  Limited by the parts in the Lego NXT Kit  Limited to flat surfaces  Only one touch sensor  Ultrasonic not laser vision  Program parameters static, environment is dynamic ▪ Example, carpet vs. hard floor = $820,000,000 $820,000,000 $300 $300

12.  Challenge due to concurrency, orchestration of sensors/actuators  Example: Touch sensor pressed ▪ Action required, reverse ▪ If reverse touch sensor now false ▪ Must capture state  Automation Algorithm  Move forward while distance >40cm && Touch = False  If Touch = true reverse  If Distance <40cm turn left ▪ If Distance is still <40cm turn right ▪ If Distance is still < 40cm reverse in an arch

13.  Expectations  Why choose XBOX Controller?  Features

16.  Robot Communication  DSS Commands  Orchestration, logic analysis

17.  Programs are compiled  Sent to brick unit streamed in real time, link must exist  Bluetooth Protocol