1. Laboratory 2 Group 19 The Group of Destiny

2. User Interface - Debugging Objectives:  Display: Sensor data (telemetry) – including IR sensors, status of gripper arm, etc Internal variables of on-board system Camera images/footage Command log displaying the commands sent to the robot  Functionality: Emergency stop button – cancels all pending commands Single-step-through button – steps through commands on internal stack one at a time

3. Debugger Mock-up

4. SRS Document Based off of Heninger document (A7 Specification) Outline:  Hardware interfaces – the ThinkPad will connect to the robot API and to the control center via Telnet.  Software functions – description of sample commands, desired functionality of system  Timing constraints – hard to say at this point – in a sequence of actions, each action must execute at its proper time?

5. SRS Document (cont’d)  Response to undesired events loss of communication should be handled, should stop and wait for message from control station Incorrect commands should be noticed and rejected, and the commanding system should be notified of the error  Subsets – gripper, cameras, IR sensor system, movement, control center communication – linked via the laptop’s code  Fundamental assumptions – the API works as described in the documentation, that incoming commands will fit our decoding assumptions  Add-ons (e.g., video link to control station, real time control)

6. Use Cases Actors  Human  Control Station  Robot Actor Goals  Human – explore hazardous areas  Control Station Real-time motion control of the robot. Display video from the robots cameras. Display/monitor robot status telemetry. Deal with system failure situations

7. Use Cases (cont’d) Actor Goals (cont’d)  Robot Real-time motion based on immediate commands from the control station. Operate peripherals (IR proximity sensors, gripper, etc.). Capture and transmit video and images. Protect itself from damage. Deal with problems such as loss of communications. Monitor system status (battery voltages, software status, etc.) Extensive facilities for remote debugging of the on-board software. A user interface that provides control-station access to the on-board debugging system. An on-board autopilot capability, i.e., plan motion paths and follow them. An image library, i.e., a capability to display, archive, and search received images. Create, check, store, retrieve and uplink motion, peripheral, and camera command sequences. A VCR mechanism for camera video. Create map containing previous movements

8. Use Cases (cont’d) Sample Use Case Use Case Numbe r 1 ApplicationFrom Control Station Use Case Name Connect to Robot Use Case Descrip tion This use case is the process that will be taken to connect the control station to the robot Primary Actor Control Station PreconditionRobot and Control station are turned on TriggerHuman wants to control the robot Basic Flow Human starts control station software Human enters robot IP address into control station Control station opens connection to robot Robot acknowledges connection from control station Control station confirms connection to robot to human Control station waits for user input Robot waits for input Alternate Flows While trying to connect the connection times out

9. Communications Protocol Description  Connectivity via telnet  Messages “Stay alive” command Telemetry stream Message format Debuggery  Group synergy  Milestones

10. Management Report Meeting Reports Group Contributions Results of Lab Time Pledge/Approval Sheet