CSE Design Lab Milestone V

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CSE Design Lab Milestone V

• Final Presentation

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1. Microsoft Robotics Studio Lego Robotics NXT
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1.1 Background

• Software / hardware combination
• Implement Microsoft Robotics Studio
• Lego NXT Platform
• Flexible Platform

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1.2 Completition of Proposed Specs

• 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.

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2. Tools of the Trade
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2.1 Hardware

• Sensors, motors, brick
• Communication link

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2.2 Software

• Microsoft Robotics Studio
• Microsoft Visual Studio 2008
• Windows XP
• Verbose Text to Speech

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3. Features
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3.1 Autonomous Operation

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

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3.2 Lego NXT Capabilites

• 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
Robot width 6 inches
24 inches opening
Distance to robot 15 inches Threshold met, make
a turn
-30 degrees
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3.3 Lego NXT Limitations

• 820,000,000

• 300

• 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

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3.4 Assumptions and Dependencies

• 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
• If Distance is still
• If Distance is still

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3.5 Manual Control

• Expectations
• Why choose XBOX Controller?
• Features

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3.6 Manual Control (continued)
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4. Making the Magic Happen
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4.1 Runtime

• Robot Communication
• DSS Commands
• Orchestration, logic analysis

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4.2 Behind the Scenes

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

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5. Wall-E 5 In Action
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6. Questions / Comments?