1. Microsoft Robotics Studio
4/25/2017 2:21 AM
Microsoft Robotics Studio
Runtime, Simulation & VPL
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

2. Microsoft Robotics Studio Runtime, Simulation & VPL Overview
4/25/2017 2:21 AM
Microsoft Robotics Studio Runtime, Simulation & VPL Overview
Zeddy Iskandar Academic Developer
Microsoft Indonesia
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

3. Presentation Outline Microsoft Robotics Studio Runtime
4/25/2017 2:21 AM
Presentation Outline
Microsoft Robotics Studio Runtime
Overview, Components and Concepts
Decentralized Software Services (DSS)
A lightweight, service oriented application model based around state manipulation
Concurrency and Coordination Runtime (CCR)
A message based model enabling fine grained concurrency and coordination without resorting to threads, locks while avoiding traditional asynchronous programming pitfalls
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

4. Highly Diverse Market…
Microsoft Robotics SDK
April
4/25/2017 2:21 AM
Highly Diverse Market…
© 2005 Microsoft Corporation. All rights reserved. This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary. 4
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

5. 4/25/2017 2:21 AM
Shared Challenges… Input from industry, hobbyists, academia, research, …
Configuring sensors and actuators in running system
Coordinating sensors and actuators asynchronously
Starting and stopping components dynamically
Monitoring/Interacting/Debugging running system
Development when access to robot is limited
Span multiple compute units
Re-use of components across hardware platforms and devices
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

6. Overall Runtime Goals Distributed Application Model (DSS)
Simple, flexible, and service oriented
Coarse grained and loosely coupled
Compatible with existing Web infrastructure
Concurrent Programming Model (CCR)
Focus on coordination of messages
Hide traditional threads and locks primitives
Enable non thread blocking sequential execution between I/O, avoiding nesting/callback chains

7. The definition of a Robotics application
DSS Application Model
The definition of a Robotics application

8. What is a Robotics Application?
Microsoft Robotics SDK
4/25/2017 2:21 AM
April
What is a Robotics Application?
An application is a composition of loosely-coupled components concurrently executing
Orchestration of sensors/actuators
User interface
Controlled/Autonomous behavior
A service is the unit of orchestration
© 2005 Microsoft Corporation. All rights reserved. This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary. 8
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

9. Anatomy of a Service Service Properties Uniform Behavior Identity
Microsoft Robotics SDK
April
4/25/2017 2:21 AM
Anatomy of a Service
Service Properties
Identity
Structured State
Composition through partnering
Uniform Behavior
State retrieval and manipulation
Service creation & Termination
Event notifications
Port
State
Handlers
Service
FIFO
© 2005 Microsoft Corporation. All rights reserved. This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary. 9
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

10. Service Abstraction Services can represent any computation
Hardware: Sensors, actuators,…
Software: UI, Storage,…
Aggregation: Sensor fusion, mash-ups,…
Reuse through composition
Separate State from Behavior (don’t hide state!)

11. Sample Bumper Service Structured State
Non-structured state handled out of band
Uniform Operations
Define operations over the state
GET, QUERY, UPDATE, DELETE, DROP, SUBSCRIBE

12. Sample Partner Relationship
Orchestrator Service subscribes to bumper Service waiting for sensor input
A service can partner with arbitrary number of other services

13. Runtime, Hosting Environment, and System Services
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Service Interactions
Runtime, Hosting Environment, and System Services
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

14. Service Interaction Service Interaction happens through protocols
HTTP is available for interactions from Web browser and for providing UI
Enables deep integration with existing Web infrastructure
DSSP is a SOAP-based protocol available for inter-service communication
Augments HTTP model with structured data manipulation and event notifications

15. Distributed Applications
Services can run directly on a single robot
Services can run on swarms of collaborating robots
Services can run on computers in the network
Applications typically a mix

16. Runtime Performance Service-to-Service message throughput:
Same process (with full cloning): 50,000 msgs/second
Cross node,cross machine: 3,000 msgs/sec
Numbers from dual core 1.8GHz, 2GB RAM
Performance allows consistent use of service model for both local and distributed case

17. The foundation for writing Robotics Applications
CCR Programming
The foundation for writing Robotics Applications

18. The CCR Runtime Asynchronous Programming model
A concurrency model without manual threading, locks, semaphores, etc.
Based on asynchronous message passing
Focus on coordination primitives
Sequential execution but with no thread blocking, with no need for callbacks, when necessary
Execution context for services
Isolation from infrastructure
Isolation from other services

19. Messages, Ports, and Arbiters
Messages are sent to Ports
Port<int> myPort = new Port<int>() ; myPort.Post (42) ;
Ports contain
A FIFO data-structure holding values in a port
A list of continuations that can be executed pending message arrival and arbitration
A continuation is represented by a C# delegate
Can either be named or anonymous
Arbiters
Implement common concurrency constructs like join patterns and interleaved calculations
A continuation is represented by a
Named C# delegate
Anonymous delegate

20. Example: Iterators make a difference
IEnumerator<ITask> MultistageIterator() {
bool result = false;
Port<bool> port = new Port<bool>();
// Stage A, send request
port.Post(true);
yield return Arbiter.Receive(false, port, delegate(bool b) {result=b; });
// Stage B, received first result, send second request
port.Post(result);
// Stage C, received second result, print it
Console.WriteLine(result); }

21. Example: Choice
PortSet<int, string> port = new PortSet<int, string>();
Activate( Arbiter.Choice(port, MyIntHandler, MyStringHandler) );
void MyIntHandler(int i) {
Console.WriteLine("Received: " + i); }
void MyStringHandler(string s)
Console.WriteLine("Received: " + s);

22. Example: Dynamic Join PortSet<Result,Exception> resultsPort =
new PortSet<int>();
// parallel computation by posting requests
For (int i=0;i<N;i++) {
computePort.Post(new DoWork(someData,resultsPort)); }
// requests complete asynchronously with unknown number
// of failures vs. successes
Activate(
Arbiter.MultipleItemReceive(resultsPort,
delegate (ICollection<Result> successes,
ICollection<Exception> failures)
foreach(Result r in results) ……
});

23. Declarative Coordination for Services
[ServiceHandler(ServiceHandlerBehavior.Concurrent)]
public IEnumerator<ITask> GetHandler(Get get) {
get.ResponsePort.Post(_state);
yield break; }
[ServiceHandler(ServiceHandlerBehavior.Exclusive)]
public IEnumerator<ITask> UpdateHandler(Update update)
_state.CurrentResult += update.Body.Value;
update.ResponsePort.Post(new UpdateResponse());

24. Because hardware is expensive 
Simulation
Because hardware is expensive 

25. Why a Simulator? Robotics hardware is expensive
Hardware can be difficult to debug
Hard for a team to work concurrently with limited hardware

26. Why a Simulator? Benefits
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Why a Simulator? Benefits
Low barrier to entry
Staged approach
Easy prototyping
Useful for education
Good learning and research tool 26
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

27. Why a Simulator? Limitations
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4/25/2017 2:21 AM
Why a Simulator? Limitations
Lack of noisy data
Incomplete or inaccurate models
Accurate tuning takes time 27
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

28. Simulator Architecture The Simulator Engine Service
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4/25/2017 2:21 AM
Simulator Architecture The Simulator Engine Service
Simulation
Engine
Service
XNA
Graphics
Library
Display
Hardware
Ageia
Physics
User Interface / Editor
Implemented as a service
Maintains world state
Manages input devices
3D rendering using XNA
Ageia Physics Simulation
Graphical User Interface
Editor for modeling and debugging 28
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

29. Visual Programming Language
Rapid Robot Prototyping

30. Microsoft Visual Programming Language
Visual programming environment
Simple programming with drag and drop
Application are diagrams
Blocks
Connections
Integrated into Microsoft Robotics Studio
Switch to VPL and briefly tour the IDE
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

31. 4/25/2017 2:21 AM
Guided Tour
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

32. Hello, World!

33. How does it work? Exchange of messages between activities Activities
Perform an action on input message
Send result of the action as output message
Connections
Make output of one activity input of second
Input message
Output message

34. How does it work? Exchange of messages between activities Activities
Perform an action on input message
Send result of the action as output message
Connections
Make output of one activity input of second
Input message

35. Data Activity Output message is a new data value
Ignores content of input message
Different types of data
int, string, double, bool, …

36. Service Activities SimpleDialog is a DSS Service
All DSS services are activities in VPL
Provide access robot hardware, input devices, behavior …
You can add your own activities!

37. Service Activities Services can have multiple actions, e.g.
AlertDialog, PromptDialog, ConfirmDialog
Most actions have two output messages
Success – may contain output values
Fault – action could not complete

38. Selecting Services Services appear in the Services toolbox
Use the search box to quickly find services.

39. Making Connections
Drag output message of first activity …

40. Making Connections … to second activity
Possible targets are highlighted

41. Selecting Actions
When connecting an activity with multiple actions, select the desired action.
Selects the output message that is used as input message for the action.
Selects the action to which to send the message.

42. Data Connections
Service actions define format required for input message
Data Connections format messages
AlertDialog requires an input value called AlertText.
Selects the part of the input message that is used for the target.

43. Hello, World! Revisited

44. Hello, World! Revisited
Not connected. Automatically receives an empty input message.
Value:

45. Hello, World! Revisited
Value:
“Hello, World!”
(string)

46. Hello, World! Revisited
Value:
“Hello, World!”
(string)

47. Hello, World! Revisited
Data connections formats the input message before it is sent to the activity
Value:
AlertText = “Hello, World!”
(AlertText  string)

48. Hello, World! Revisited Not connected. Output message is ignored.
Value:
Empty
(Success)

49. Example 1
Create a new activity that translates the thumb-stick value of the XBox360 controller to left and right power values of a differential drive.
User defined activities

50. XBox360 Controller ThumbsticksChange notification
X, Y coordinates for both thumb-sticks:
LeftX, LeftY
RightX, RightY
float
1.0 Y
-1.0
1.0 X
-1.0

51. Generic Differential Drive
Very simple drive system
Controlled by applying different power to left and right motor
SetDrivePower Action
LeftWheelPower, RightWheelPower: values between -1.0 and 1.0 (double)

52. Conversion Activity ?

53. User Activities Similar to service activities Multiple actions
Can send notifications
Have their own state

54. Implementing Actions Inside an Activity

55. Implementing Actions Inside an Activity
Double-click opens the activity and shows its implementation.

56. Implementing Actions Inside an Activity

57. Implementing Actions Inside an Activity
Selects the current action that is shown.

58. Implementing Actions Inside an Activity
Output message of the action.
Input message of the action.

59. Implementing Actions Inside an Activity
Input message of the action.
Output message of the action.

60. Implementing Actions Action Properties
Output message of the action.
Input message of the action.

61. Implementing Actions Action Properties
Shows more properties of the action and allows to add and delete actions.

62. Implementing Actions Action Properties
Shows more properties of the action and allows to add and delete actions.
List of actions in the activity.

63. Implementing Actions Action Properties
Change name and description to something useful.

64. Implementing Actions Action Properties
Add input values for the thumb-stick coordinates.

65. Implementing Actions Action Properties
Add output values for the left and right drive power.

66. Implementing Actions Connecting the Input Message
Use the input message like any other message.

67. Implementing Actions Connecting the Input Message
Input values become part of the message.

68. Implementing Actions Connecting the Input Message

69. Implementing Actions Creating the Output Message
Must put two messages into one message.
Must put two message into one message.

70. Implementing Actions Creating the Output Message
Join combines two or more messages.

71. Implementing Actions Creating the Output Message
Value:
0.3251
(float)
Value:
-0.73
(float)

72. Implementing Actions Creating the Output Message
Join only creates the output message if there are two input messages.
Value:
Left = Right = -0.73
(Left float, Right Float)

73. Implementing Actions Sending the Output Message
Connect the result message to the right border.

74. Implementing Actions Sending the Output Message

75. Implementing Actions Sending the Output Message

76. Conversion Activity ?

77. Using your Activity

78. Control Robot with Wiimote
4/25/2017 2:21 AM
Control Robot with Wiimote
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

79. Control Robot with Speech
4/25/2017 2:21 AM
Control Robot with Speech
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.

80. Additional Resources Web site Community Newsgroup Princeton MSRS Page
Community Newsgroup
Princeton MSRS Page

81. 4/25/2017 2:21 AM © 2006 Microsoft Corporation. All rights reserved.
© 2006 Microsoft Corporation. All rights reserved. Microsoft, Windows, Windows Vista and other product names are or may be registered trademarks and/or trademarks in the U.S. and/or other countries.
The information herein is for informational purposes only and represents the current view of Microsoft Corporation as of the date of this presentation. Because Microsoft must respond to changing market conditions, it should not be interpreted to be a commitment on the part of Microsoft, and Microsoft cannot guarantee the accuracy of any information provided after the date of this presentation. MICROSOFT MAKES NO WARRANTIES, EXPRESS, IMPLIED OR STATUTORY, AS TO THE INFORMATION IN THIS PRESENTATION.
© 2006 Microsoft Corporation. All rights reserved.
This presentation is for informational purposes only. Microsoft makes no warranties, express or implied, in this summary.